WO2023109977A2 - 前端可移动的内窥镜 - Google Patents

前端可移动的内窥镜 Download PDF

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Publication number
WO2023109977A2
WO2023109977A2 PCT/CN2023/075916 CN2023075916W WO2023109977A2 WO 2023109977 A2 WO2023109977 A2 WO 2023109977A2 CN 2023075916 W CN2023075916 W CN 2023075916W WO 2023109977 A2 WO2023109977 A2 WO 2023109977A2
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WO
WIPO (PCT)
Prior art keywords
endoscope
elastic deformation
imaging
main
movable front
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PCT/CN2023/075916
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English (en)
French (fr)
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WO2023109977A3 (zh
Inventor
谢天宇
严如岩
王燕涛
Original Assignee
北京大学
上海澳华内镜股份有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 北京大学, 上海澳华内镜股份有限公司 filed Critical 北京大学
Priority to CN202380015235.5A priority Critical patent/CN118434344A/zh
Publication of WO2023109977A2 publication Critical patent/WO2023109977A2/zh
Publication of WO2023109977A3 publication Critical patent/WO2023109977A3/zh

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
    • A61B1/07—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres

Definitions

  • the present disclosure relates to the technical field of endoscopes, in particular to an endoscope with a movable front end.
  • Endoscope is a commonly used medical device that integrates traditional optics, precision machinery, and electronic circuits. It can enter the stomach through the mouth or enter the body through other natural orifices, and is used to treat tissues and organs inside the human body, such as stomach , esophagus, duodenum, colorectum and other parts of the lesions can be observed by using the endoscope to see the lesions that cannot be displayed by other medical equipment such as CT, ultrasound and magnetic resonance imaging, so as to assist the doctor to make a more accurate diagnosis of the patient's condition diagnosis.
  • the end of the endoscope includes non-working channel functional devices such as cameras, lighting windows, and flushing nozzles. They occupy a large space. It is difficult to use working instruments with a large outer diameter during endoscopy, which increases the difficulty of treatment. Conversely, if a larger working channel size is ensured, the space occupied by the end of the endoscopic lens including the camera head, lighting window, flushing spout, etc. must be reduced, and a smaller image sensor can only be used, thereby reducing the imaging effect and It makes the selection of image sensor more difficult. If the size of the working channel or the size of the image sensor is increased by directly increasing the outer diameter of the endoscope mirror, it will take up more space in the natural cavity of the human body. Increased patient discomfort during speculum insertion.
  • the present disclosure aims to solve at least one of the technical problems existing in the related art.
  • the present disclosure proposes an endoscope with a movable front end.
  • the outlet end of the main tube is provided with an elastic deformation part, which can position the imaging part at the exit of the main tube lumen in a natural state.
  • the driving part switches the imaging unit between the first position and the second position.
  • the camera part When the endoscope is inserted into the human cavity, the camera part is located at the first position, without increasing the size of the endoscope, which is convenient for the endoscope to be inserted into the human cavity, and the patient's comfort is better, and the size of the camera part is larger, and the imaging effect is good ;
  • switching the camera part to the second position can free up a larger space for the working equipment, increasing the size and specification of the working equipment that can be placed in the main tube.
  • a main pipe the main pipe is formed with a through-piercing main chamber, and the main pipe is at least used for passing working tools;
  • the elastic deformation part is connected to the imaging part and is located at the exit end of the main tube, and the elastic deformation part makes the imaging part correspond to the exit of the main tube cavity;
  • the driving part acts on the elastic deformation part and/or the imaging part, and the driving part switches the imaging part between a first position and a second position;
  • the camera part corresponds to the outlet of the main lumen
  • the imaging portion at least partially avoids the outlet of the main lumen.
  • the side of the imaging unit facing the main pipe is provided with a pipeline connection piece, and a part of the connection section of the pipeline connection piece close to the imaging unit forms the elastic deformation portion.
  • the pipeline connector is passed through the main lumen, and the pipeline connector abuts against the lumen wall of the main lumen corresponding to the connecting section other than the elastic deformation portion. .
  • the pipeline connector is disposed on the outside of the main pipe, and is connected to the outer wall of the main pipe through a fixing piece.
  • an arc-shaped groove is formed on a side of the pipeline connector close to the outer wall of the main pipe, and the arc-shaped groove is attached to the outer wall of the main pipe.
  • the partial pipe wall end of the main pipe is provided with a protruding part, and the protruding part forms a stepped notch with the rest of the pipe wall end of the main pipe;
  • the imaging unit In the first position, the imaging unit is located at the stepped notch, and the protruding portion is flush with or recessed relative to the side of the imaging unit away from the main pipe.
  • the side of the protruding portion close to the camera portion is inclined toward the direction where the pipeline connector is located.
  • a first driving unit is provided between the side of the protruding portion close to the imaging unit and the imaging unit, and the first driving unit switches the imaging unit to a first position Or second position.
  • the elastic deformation part is provided at a partial pipe wall end of the main pipe facing the imaging part.
  • the pipe wall of the main pipe extends to the camera part corresponding to the remaining part of the pipe wall other than the elastic deformation part, the remaining part of the pipe wall is also elastic, and the remaining part of the pipe wall
  • the elastic modulus of the wall is smaller than or equal to the elastic modulus of the elastic deformation part.
  • the cross-sectional area of the end of the elastic deformation portion close to the imaging portion is larger than the cross-sectional area of the end of the elastic deformation portion away from the imaging portion .
  • the number of the elastic deformation parts is multiple, one of the multiple elastic deformation parts is connected to the imaging part, and the rest of the multiple elastic deformation parts correspond to each other one by one. Connects to multiple accessories.
  • the auxiliary part is an auxiliary shielding part or an auxiliary camera part.
  • the camera unit is arranged obliquely away from the side of the main pipe.
  • the side of the elastic deformation part close to the work tool is smoothly connected to the side of the imaging part, and the side of the elastic deformation part close to the work tool is connected to the side of the camera
  • the sides of the parts are all provided with chute suitable for the said work tool.
  • the driving component is a second driving unit connected to the imaging unit and/or the elastic deformation unit, and the second driving unit makes the imaging unit at the first position and the second position.
  • the camera unit includes at least one camera.
  • the imaging unit further includes a lighting unit and a flushing nozzle
  • the pipeline connector is provided with an optical fiber or wire connected to the lighting unit, a conduit connected to the flushing nozzle, and a conduit connected to the The wires of the camera.
  • the main pipe further includes a bent section for adjusting the direction of the front end of the main pipe.
  • the side surface of the imaging unit in the first position, is flush or concave with respect to the outer wall of the main pipe.
  • the endoscope with a movable front end includes a main pipe, an imaging part, an elastic deformation part, and a driving part; a through main pipe lumen is formed in the main pipe, and the main pipe lumen is at least used for penetrating working instruments; elastic The deformation part is connected to the imaging part and is located at the exit end of the main pipe, and the elastic deformation part makes the imaging part correspond to the exit of the main lumen; the driving part acts on the elastic deformation part and/or the imaging part, and the driving part makes the imaging part in the first position and the second position; in the first position, the imaging part corresponds to the exit of the main lumen; in the second position, the imaging part at least partly avoids the exit of the main lumen.
  • the imaging unit When the imaging unit is at the first position, the imaging unit is at the exit of the main lumen, and at this time the imaging unit does not increase the front end of the endoscope.
  • the operator can put the endoscope into the human cavity more easily, and at the same time reduce the discomfort of the patient; and the camera part is larger in size, and the imaging effect is better.
  • the driving part acts on the elastic deformation part and/or the imaging part, so that part or all of the imaging part avoids the exit of the main cavity. At this time, the exit of the main cavity is unobstructed , Larger-sized working tools can be placed in the main cavity.
  • the endoscope with a movable front end not only does not increase the size of the endoscope, but facilitates the placement of the endoscope, but also increases the size of the working tools that can pass through the main lumen and the size of the imaging unit, It is more flexible and convenient to use.
  • FIG. 1 is a schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 2 is a schematic structural diagram of a main tube of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • FIG. 3 is one of the schematic structural diagrams of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 4 is one of the schematic structural diagrams of the imaging part and the pipeline connector of the endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 5 is the second schematic structural diagram of the imaging part and the pipeline connector of the endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 6 is one of the top views of the imaging unit and the main tube of the endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 7 shows the imaging unit and main tube of the endoscope with a movable front end provided by the embodiment of the present disclosure.
  • Fig. 8 is the third top view of the imaging unit and the main tube of the endoscope with a movable front end provided by an embodiment of the present disclosure
  • FIG. 9 is a schematic structural diagram of a pipeline connector of an endoscope with a movable front end provided by an embodiment of the present disclosure.
  • Fig. 10 is the second schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 11 is the third schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 12 is the fourth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 13 is the fifth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 14 is the sixth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 15 is the seventh schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 16 is the eighth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 17 is a ninth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 18 is a tenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 19 is the eleventh schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 20 is the twelveth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 21 is the thirteenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 22 is the fourteenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 23 is the fifteenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 24 is the sixteenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 25 is the seventeenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 26 is the eighteenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 27 is a nineteenth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 28 is the twentieth schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 29 is the twenty-first schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Fig. 30 is the twenty-second schematic structural diagram of an endoscope with a movable front end provided by an embodiment of the present disclosure
  • Figure 31 is a cross-sectional view at A-A of Figure 28;
  • Fig. 32 is a schematic structural diagram of a movable front endoscope in the form of a split endoscope provided by an embodiment of the present disclosure
  • Fig. 33 is a schematic structural diagram of the second drive unit in the endoscope with a movable front end provided by an embodiment of the present disclosure.
  • Auxiliary flushing nozzle 174. Auxiliary pipeline connector; 18. Elastic deformation part; 19. The rest of the pipe wall; 2. Operation department; 21. Control unit; 22. Second locking member; 23. Second electrical connection unit; 24. Second power connection unit; 25. Second drive unit; Passage port; 32, water and air port; 33, fixing piece.
  • connection and “connected” should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary.
  • connection should be understood in a broad sense, for example, it can be a fixed connection or a detachable connection, Or integrated connection; it can be mechanical connection or electrical connection; it can be direct connection or indirect connection through an intermediary.
  • the first feature may be in direct contact with the first feature or the first feature and the second feature pass through the middle of the second feature.
  • Media indirect contact Moreover, “above”, “above” and “above” the first feature on the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature.
  • “Below”, “beneath” and “beneath” the first feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is less horizontally than the second feature.
  • an endoscope with a movable front end provided by an embodiment of the present disclosure includes an insertion part 1 and an operation part 2 .
  • the entire endoscope also includes unlisted devices such as video monitors, which will not be repeated here.
  • the endoscope with a movable front end provided according to an embodiment of the present disclosure includes a main tube 11 , an imaging part 12 , an elastic deformation part 18 and a driving part.
  • the main pipe 11 is a pipe section at the front end of the insertion part 1 , and a through main pipe cavity 114 is formed in the main pipe 11 , and the main pipe bore 114 is at least used for penetrating the working tool 13 .
  • the insertion part 1 also includes an imaging unit 12 arranged at the outlet of the main pipe 11, wherein the main pipe 11 includes a front pipe section 111, a curved section 112 and a rear pipe section 113, and the curved section 112 is used to adjust the direction of the front end of the main pipe 11, so that the main pipe 11 can be adapted to Different types of human cavity.
  • the curved section 112 can extend into the natural orifice of the human body.
  • the curved section 112 can be composed of a hose or a snake bone.
  • the curved section 112 has a bending function in at least one direction.
  • the curved section 112 is connected to the control unit 21 through a pulling wire (not shown in the figure), and the pulling wire can be steel wire or other wire materials with certain strength and toughness.
  • the control unit 21 may be directly connected to the pulling wire, or connected to the pulling wire through an anti-slip buffer (not shown in the figure), and the anti-slip buffer may use a flexible piece to prevent the pulling wire from bending.
  • the main lumen 114 is at least used for inserting the working tool 13.
  • the working tool 13 can be a steerable catheter, biopsy forceps, injection needle, spray tube, electric knife, snare, mesh basket, hemostatic clip and the like.
  • the elastic deformation part 18 is connected to the imaging part 12, and the elastic deformation part 18 is located at the outlet end of the main pipe 11, such as inside, outside of the outlet end of the main pipe 11 or on the pipe wall of the outlet end.
  • the elastic deformation part 18 can make the imaging part 12 be positioned at the outlet of the main lumen 114 by its own elastic restoring force, that is, in front of the outlet of the main pipe 11.
  • the imaging part 12 is as close as possible to the The main pipes 11 are overlapped without increasing the occupation of space other than the outer wall of the main pipes 11.
  • the driving part acts on the elastic deformation part 18 and/or the imaging part 12, and the driving part makes the imaging part 12 switch between the first position and the second position.
  • connection form of the driving components in the present disclosure is not limited, and can act on the imaging unit 12 alone, or on the elastic deformation unit 18 alone, or act on the imaging unit 12 and the elastic deformation unit 18 at the same time.
  • the connection between the part 12 and the elastic deformation part 18 In a direct relationship the imaging unit 12 switches between the first position and the second position.
  • the driving methods of the driving components include but are not limited to magnetic drive, pneumatic drive, pull wire drive, electric screw drive, air bag drive (inflated and deflated state) or oil cylinder drive, etc. 11 in the radial direction of the force or force component, so that the imaging unit 12 switches between the first position and the second position.
  • the axial direction of the main pipe 11 refers to the direction from the inlet to the outlet of the main pipe 11
  • the radial direction of the main pipe 11 refers to the direction perpendicular to the axial direction of the main pipe 11
  • the radial cross section of the main pipe 11 is circular.
  • the working tool 13 can be used as a driving component.
  • the endoscope does not need to be provided with an additional driving structure, which can make the endoscope more compact.
  • the working tool 13 abuts against the elastic deformation part 18 at the exit of the main lumen 114, and the working tool 13 makes the imaging part 12 switch between the first position and the second position during the process of extending and retracting the main lumen 114 .
  • the process of extending and retracting the working tool 13 to the main lumen 114 corresponds to the actions of the working tool 13 before and after work.
  • the working tool 13 of the endoscope with a movable front end can be selected according to needs.
  • the position of the imaging unit 12 can be realized by using a variety of working tools 13. switch. As shown in FIG. 1 , the working tool 13 can be sent into the main lumen 114 from the working channel opening 31 , and at least one kind of working tool can pass through the main lumen 114 .
  • the imaging part 12 When in the first position, the imaging part 12 corresponds to the exit of the main lumen 114. At this time, part or all of the structure of the imaging part 12 is projected within the radial cross-sectional range of the main tube 11, and the size of the front end of the endoscope depends on the main tube 11. , and the outer wall of the main pipe 11 is arc-shaped or other arc-shaped structure, which is more convenient when it is put into the cavity of the human body.
  • the imaging unit 12 When in the second position, the imaging unit 12 at least partly avoids the exit of the main cavity 114. At this time, the main tube 11 has been placed in the corresponding inspection/treatment position of the human body cavity.
  • the working tool 13 When the working tool 13 is inserted into the main cavity 114, the working The appliance 13 pushes the elastic deformation part 18 to deform it, Further, the imaging part 12 is partly or completely avoided from the exit of the main cavity 114 , at this time, the working tool 13 can protrude along the exit of the main cavity 114 to realize inspection and/or treatment of the body cavity.
  • the human cavity has a certain degree of elasticity, and when the camera unit 12 avoids the exit of the main cavity 114 , the resistance it receives is relatively small, which does not affect the extension of the working tool 13 .
  • the imaging unit 12 when the imaging unit 12 is at the first position, the imaging unit 12 is at the exit of the main lumen 114. At this time, the imaging unit 12 does not increase the size of the front end of the endoscope, and the operator can put the endoscope more easily. It can be inserted into the cavity of the human body, while reducing the discomfort of the patient, and the size of the camera part 12 can be selected to be larger, and the imaging effect is better.
  • the operating tool 13 is extended along the exit of the main cavity channel 114, and the elastic deformation part 18 is squeezed by the working tool 13, so that part or all of the imaging part 12 avoids the main tube.
  • the outlet of the main cavity 114 is unobstructed at this time, and the working tool 13 of a larger size can be placed in the main cavity 114 .
  • the size of the endoscope is not increased during the insertion stage, which facilitates the placement of the endoscope, and the working tools that can pass through the main lumen 114 are increased during the inspection/treatment stage. 13 size, more flexible and convenient to use.
  • the side of the camera part 12 is flush with or inner than the outer wall of the main pipe 11. concave.
  • the imaging unit 12 in the first position, the outer surface of the imaging unit 12 is flush with the outer wall of the main tube 11 , and the imaging unit 12 is smoothly connected to the outer wall of the main tube 11 .
  • the imaging unit 12 does not increase the external size of the main tube 11, and the placement process is relatively smooth, which can reduce the user's discomfort.
  • the side of the imaging unit 12 is concave relative to the outer wall of the main tube 11. At this time, the size of the imaging unit 12 is smaller than the diameter of the main tube 11, which does not increase the size of the front end of the endoscope.
  • the elastic deformation part 18 can use silica gel, thermoplastic elastomer material, etc., such as TPE material, elastic and biocompatible.
  • the imaging unit 12 provided according to the embodiment of the present disclosure includes a front end surface 125 of the imaging unit and a rear end surface 126 of the imaging unit.
  • the rear end surface 126 of the imaging unit is arranged in a direction close to the main tube 11, and a camera 121 and an illumination unit are arranged on the side where the front end surface 125 of the imaging unit is located.
  • 122 and flushing spout 123 etc., are used for realizing functions such as photographing and illuminating.
  • the camera unit 12 includes at least one camera 121 .
  • the number of cameras 121 can be one or more.
  • the camera 121 includes a single camera, dual cameras or three cameras, and the single camera is a color camera.
  • the camera part 12 may have a larger end face, so a larger-sized color camera may be used.
  • the dual cameras can be two color cameras, or a color camera and a black-and-white camera.
  • the color camera records the color information of the image, and the black-and-white camera captures the details of the object.
  • the color information captured by the color camera is fused with the details captured by the black and white camera to obtain a higher quality image.
  • the dual camera can also be a color camera and an infrared camera, and the dual camera can perform 2D imaging or 3D imaging.
  • the three cameras include at least one black and white camera, infrared camera or fluorescent camera. Specifically, the three cameras can perform 2D imaging, 3D imaging, and fluorescence imaging.
  • the combination of the above cameras can be combined according to specific functional requirements, and will not be listed one by one here; the various combinations of the above cameras can also be used in the camera section of other embodiments, and will not be described in other embodiments given below.
  • the side of the camera part 12 facing the main pipe 11 is provided with a pipeline connector 124
  • the pipeline connector 124 is a strip-shaped structure
  • the pipeline connector 124 includes an optical fiber, a catheter (water and/or gas conduction) and wires, etc.
  • the pipeline connector 124 integrates various pipelines, which not only avoids space occupation due to complicated wiring, but also facilitates the assembly and use of the endoscope.
  • One end of the pipeline connector 124 is connected to the imaging unit 12, and the other end Connected to the operation part 2 and the water and air pipe, etc.
  • the connecting section of the pipeline connector 124 close to the imaging unit 12 forms an elastic deformation portion 18 , and the elastic deformation portion 18 is a part of the pipeline connector 124 at this time.
  • the pipeline connector 124 is arranged along the main pipe 11, and the elastic deformation part 18 is arranged at the outlet of the main pipe 11.
  • the elastic deformation part 18 can make the imaging part 12 be located at the outlet of the main pipe lumen 114, which minimizes endoscopic The size of the front end of the mirror.
  • the imaging unit 12 further includes a lighting unit 122 and a flushing nozzle 123, and the pipeline connector 124 is provided with a wire 1242 connected to the camera 121, a conduit 1243 connected to the flushing nozzle 123, and a wire connected to the lighting unit 122. 1242 or optical fiber 1244.
  • the lighting unit 122 uses optical fiber light guide or head-end LED lighting is an alternative implementation. If the optical fiber guides light, the lighting unit uses optical fiber 1244; if the head-end LED is used, the lighting unit needs wires 1242.
  • a front end 1241 of the pipeline connector 124 near the imaging unit 12 is formed, and a wire 1242 , a conduit 1243 and an optical fiber 1244 are connected to the imaging unit 12 at the front end 1241 of the pipeline connector.
  • the rinse nozzle 123 can be used to spray water and/or air to the camera 121. When the lens of the camera 121 is polluted, water and air can be sprayed through the rinse nozzle 123 to remove dirt attached to the lens and make the picture clearer.
  • the flushing nozzle 123 can also be used to spray water and air to the tissue in the human cavity, and clean the smaller bleeding point of the tissue during treatment.
  • the front end 1241 of the pipeline connector is used to connect with the imaging unit 12 , and the rear end of the pipeline connector is connected to a connector (not shown in the figure) in the operation unit 2 .
  • the connector has an electrical signal interface and an optical signal interface.
  • the connector can be set as a contact connector, and can also be split into a contact power connector and a wireless photoelectric connector, wherein the power interface is a contact type, and the signal interface is a wireless type.
  • the connector may be a detachable device, and the imaging section 12 may be separated from the operation section 2 after each use.
  • the separated imaging unit 12 can be installed and used repeatedly after high-level disinfection, reducing the cost of each use of the patient.
  • the main tube 11 can be made of low-cost disposable materials for one-time use, which solves the inconvenience of disinfection of the endoscope pipeline The problem.
  • the pipeline connector 124 is disposed in the main lumen 114 , and the elastic deformation part 18 is independent from the inner wall of the main tube 11 .
  • the pipeline connector 124 disposed in the main lumen 114 does not increase the external volume of the main pipe 11, and the endoscope is conveniently placed in the natural orifice of the human body during use.
  • the pipeline connector 124 integrates various pipelines and is located at one side of the main lumen 114 , so as to increase the space for passing the working tool 13 in the main lumen 114 as much as possible. It facilitates the insertion of the main pipe 11 without increasing the size of the endoscope, and also expands the scope of application of the size of the working tool 13 .
  • the pipeline connector 124 abuts against the inner wall of the main lumen 114 corresponding to the connecting section other than the elastic deformation part 18 .
  • the connecting section of the pipeline connector 124 corresponding to the elastic deformation part 18 can be arc-shaped or cylindrical, and attached to the lumen wall of the main lumen 114. At this time, the remaining size in the main lumen 114 Larger, it is conducive to the passage of working implements 13 of larger size.
  • the pipeline connector 124 is disposed outside the main pipe 11 , and the pipeline connector 124 is connected to the outer wall of the main pipe 11 through the fixing member 33 .
  • the pipeline connector 124 is arranged along the length direction of the main pipe 11 , and the number of the fixing member 33 can be one or more.
  • the connecting section of the pipeline connector 124 close to the imaging part 12 is formed with an elastic deformation part 18 , and the elastic deformation part 18 can maintain the imaging part 12 at the outlet of the main lumen 114 .
  • the entire main lumen 114 is used to pass through the work tool 13, and the applicable size of the work tool 13 is further improved. , and the shape of the working tool 13 is not affected by the pipeline connector 124 .
  • the size of the pipeline connecting piece 124 needs to be reduced as much as possible, and the size of the pipeline connecting piece 124 needs to be attached to the outer wall of the main pipe 11 .
  • the size of the endoscope does not increase or the size of the endoscope increases only slightly, it is possible to implement the insertion of a larger-sized working tool 13 , and the size of the imaging unit 12 is larger, so the imaging effect is better.
  • an arc-shaped groove 1245 is formed on a side of the pipeline connector 124 close to the outer wall of the main pipe 11 , and the arc-shaped groove 1245 fits on the outer wall of the main pipe 11 .
  • the overall size of the pipeline connector 124 and the main pipe 11 is relatively small, which facilitates the insertion of the endoscope into the cavity of the human body.
  • the pipeline connector 124 forms a cylindrical flexible sleeve corresponding to the connection section other than the elastic deformation part 18, and the cylindrical flexible sleeve is set on the outside of the main pipe 11. At this time, the optical fibers and wires in the pipeline connector 124 And the catheter is evenly arranged on the outside of the main pipe 11, and the overall size of the endoscope is small.
  • a part of the pipe wall end 1111 of the main pipe 11 is provided with a protruding part 1110, and the protruding part 1110 forms a stepped gap with the rest of the pipe wall end of the main pipe 11, please refer to Fig. 2, Fig. 3, Figure 11, Figure 12, Figure 28, Figure 29 and Figure 30.
  • the imaging unit 12 is located at the step-shaped gap, and the protruding portion 1110 is flush with or recessed relative to the side of the imaging unit 12 away from the main tube 11 .
  • a protruding part 1110 is provided at a part of the pipe wall end 1111 of the main pipe 11, and the protruding part 1110 forms a step-shaped gap with the remaining part of the pipe wall end of the main pipe 11, and the step-shaped gap constitutes a camera section 12 limit.
  • the camera part 12 Under the action of the elastic deformation part 18, the camera part 12 automatically moves to the step-shaped gap, and will not change its position arbitrarily during the process of being inserted into the human body cavity, which avoids the camera part 12 from colliding or touching the human body cavity, and improves the user experience. comfort.
  • the protruding portion 1110 is flush or concave with respect to the side of the imaging portion 12 away from the main pipe 11, that is, the protruding portion 1110 does not exceed the front end surface 125 of the imaging portion of the imaging portion 12, so that the protruding portion 1110 is prevented from being scratched or Squeeze the human cavity.
  • the front end surface 125 of the camera part is flush with or connected smoothly with the protruding part 1110, which reduces unnecessary corners of the endoscope.
  • the edge of the imaging part 12 and the protruding part 1110 is provided with a chamfer structure, so that the front end of the endoscope is smoother.
  • the side of the protruding portion 1110 close to the imaging unit 12 is inclined toward the direction where the pipeline connecting piece 124 is located.
  • the protruding part 1110 is located at the end part 1111 of the tube wall, and the two sides of the protruding part 1110 are set facing the camera part 12 .
  • the elastic deformation part 18 moves along the radial direction of the main tube 11 , and at this moment, the imaging part 12 moves laterally synchronously.
  • the side of the protruding part 1110 close to the imaging part 12 is inclined toward the direction of the pipeline connector 124, the size of the end of the imaging part 12 close to the main pipe 11 is smaller, and the imaging part 12 can flexibly avoid the pipe wall end 1111 when swinging. more convenient.
  • a first driving unit 1112 is disposed between the side of the protruding portion 1110 close to the imaging unit 12 and the imaging unit 12 , and the first driving unit 1112 switches the imaging unit 12 to the first position or the second position.
  • a first driving unit 1112 may be disposed on a side of the protruding portion 1110 .
  • the first driving unit 1112 may be magnetites that attract each other, or other devices with an adsorption function.
  • the imaging part 12 can be used to lightly touch the tissue of the human cavity, so that the elastic deformation part 18 is pushed inward along the radial direction of the main tube 11, and then the camera is Section 12 moves together.
  • the attraction force generated by the two first driving units 1112 makes the imaging unit 12 and the elastic deformation unit 18 block the main lumen
  • the front end of the endoscope is converted from the separated state to the closed state.
  • the closed state of the front end of the endoscope is shown in FIG. 3 , and the imaging part 12 and the elastic deformation part 18 block the outlet of the main lumen 114 in a natural state.
  • the working tool 13 can be used as an auxiliary driving unit inserted into the main lumen 114 .
  • the working tool 13 moves outside the main cavity 114 along the main tube axis to the front end of the endoscope, it pushes the elastic deformation part 18 to produce elastic deformation, so that the elastic deformation part 18 moves away from the main tube axis in the radial direction.
  • An outlet of the main lumen 114 An outlet of the main lumen 114 .
  • the driving component is the second driving unit 25, the imaging unit 12 and/or the elastic deformation unit 18 are connected to the second driving unit 25, and the second driving unit 25 makes the imaging unit 12 in the first position and the second position switch between.
  • a second drive unit 25 is provided on the main pipe 11, the second drive unit 25 can be a pull wire, one end of the second drive unit 25 is connected to the head end of the imaging unit 12 and the elastic deformation part 18, and the other end is connected to the control Unit 21.
  • the second driving unit 25 may be steel wire, nylon rope or other wire materials with certain strength and toughness.
  • the second driving unit 25 includes a separate pull wire 252 , and one end of the separate pull wire 252 is connected to the head end of the imaging unit 12 .
  • the elastic deformation part 18 is driven to move away from the exit of the main lumen 114, and the front end of the endoscope becomes separated. At this time, the working tool 13 can Stretch out of the outlet of the main lumen 114.
  • the first driving unit 1112 disposed on the side of the protruding portion 1110 may also be a repelling magnet, a spring device or other devices with a repelling force function.
  • the second driving unit 25 can be a closing pull wire 251 , and one end of the closing pull wire 251 is connected to the head end of the imaging part 12 and the elastic deformation part 18 .
  • the head end of the imaging part 12 can be pulled to move inward along the main pipe shaft by closing the pull wire 251, and the elastic deformation part 18 and the imaging part 12 are driven to block the main pipe.
  • the front end of the endoscope becomes a closed state.
  • a small hole can be set in the main pipe 11 to pass through the closing stay wire 251 or the separation stay wire 252 and provide support.
  • this hole has the characteristics of being convenient for pulling the wire and can withstand the friction of repeated pulling of the wire.
  • the driving part of the endoscope is the working tool 13 inserted into the main lumen 114, or the second driving unit 25 arranged on the main tube 11.
  • the power source of the driving unit can be manpower or electricity, etc.
  • the drive mode of the drive unit can be electric drive, pneumatic drive or hydraulic drive, as long as it can output drive force to the drive unit.
  • the setting of the driving unit of the endoscope and the setting of the driving force device can be freely combined.
  • the elastic deformation part 18 is outside the outlet of the main lumen 114 in a natural state, so a pull wire 251 is provided to close the endoscope when the endoscope is inserted.
  • the elastic deformation part blocks the outlet of the main lumen 114 in a natural state
  • the separate pull wire 252 can be set as the active drive unit
  • the working tool 13 can be set as the auxiliary drive unit
  • a driving force device with an attractive function can be optionally set. That is, the pulling force of the pull wire 252 and the pushing force of the working tool 13 make the elastic deformation part deform outside the outlet of the main lumen 114, and the attractive force of the driving force device and the restoring force of the elastic deformation part itself make the elastic deformation part 18 block the main lumen Exit on Road 114.
  • driving units and driving force devices By arranging one or more kinds of driving units and driving force devices, as long as the elastic deformation part 18 can be deformed and restored, and then the front end of the endoscope can be closed or separated, no one-by-one examples will be given here.
  • the local pipe wall end 1111 of the main pipe 11 facing the imaging unit 12 is provided with an elastic deformation part 18.
  • the elastic deformation part 18 belongs to a part of the pipe wall of the main pipe 11, and the pipeline connector 124 can be configured according to The corresponding structure needs to be set or not set.
  • the structure of the pipeline connector 124 remains uniform, and the space occupied in the main lumen 114 is reduced as much as possible. That is, the local pipe wall at the end of the main pipe 11 is elastic, and the elastic deformation part 18 can deform under the action of external force, and then move synchronously with the camera part 12 .
  • the pipeline connector 124 does not need to be provided with additional structures, and the overall size is small, and the size of the working tool 13 that can be placed in the main lumen 114 is relatively large.
  • the endoscope when the endoscope is put into the human cavity, the outer wall of the main tube 11 remains uniform as a whole, without additional structures, and the size is small, which improves the user's comfort.
  • This embodiment can minimize the size of the main tube 11 , maximize the size of the main tube lumen 114 , and maximize the size of the imaging part 12 .
  • the pipe wall of the main pipe 11 corresponds to the rest of the pipe wall except the elastic deformation part 18 Part of the pipe wall extends to the imaging unit 12 .
  • Fig. 19 to Fig. 22 when part of the pipe wall of the main pipe 11 forms the elastic deformation part 18, the remaining part of the pipe wall 19 of the main pipe 11 corresponding to the elastic deformation part 18 extends to the camera part 12, and the remaining part of the pipe wall 19
  • the side surface away from the main tube 11 relative to the imaging unit 12 is flush or concave.
  • the front end of the endoscope remains smooth, avoiding the formation of independent edges and corners of the imaging part 12 or the tube wall, avoiding the front end of the endoscope from scratching the human cavity, and the user's comfort is better.
  • the remaining part of the pipe wall 19 also has elasticity, and the elastic modulus of the remaining part of the pipe wall 19 may be greater than or less than or equal to the elastic modulus of the elastic deformation part 18 .
  • the elastic modulus of the rest of the tube wall 19 is greater than the elastic modulus of the elastic deformation part 18, when the working tool 13 protrudes out of the outlet of the main lumen 114, it is mainly or entirely deformed by the elastic deformation part 18, thereby making The imaging unit 12 at least partially avoids the exit of the main lumen 114 .
  • the elastic modulus of the remaining part of the pipe wall 19 is smaller than that of the elastic deformation part 18.
  • the remaining part of the pipe wall 19 is mainly deformed.
  • the position of the exit of the lumen 114 is moderately deflected, so that the imaging unit 12 at least partially avoids the exit of the main lumen 114 .
  • the elastic modulus of the rest of the tube wall 19 is equal to or close to the elastic modulus of the elastic deformation part 18, the elastic deformation part 18 and the rest of the tube wall 19 work together to make the imaging part 12 at least partially avoid An outlet of the main lumen 114 .
  • the ratio of the elastic modulus of the remaining part of the tube wall 19 to the elastic modulus of the elastic deformation part 18 can be adjusted to obtain a better deformation effect.
  • the cross-sectional area of the end of the elastic deformation portion 18 close to the imaging portion 12 is larger than that of the end of the elastic deformation portion 18 away from The cross-sectional area of one end of the imaging unit 12 .
  • the cross-sectional area of the end of the elastic deformation part 18 close to the imaging part 12 is greater than the cross-sectional area of the end of the elastic deformation part 18 far away from the imaging part 12.
  • the elastic deformation part 18 is connected to the main pipe 11. The smaller size facilitates the deformation of the elastic deformation portion 18 under the action of external force. Without additional driving components, the imaging unit 12 can be pushed against the elastic deformation portion 18 only by the working tool 13, so as to switch the imaging unit 12 between the first position and the second position.
  • the number of elastic deformation parts 18 is multiple, one of the multiple elastic deformation parts 18 is connected to the camera part 12, and the rest of the multiple elastic deformation parts 18 are connected to a plurality of auxiliary parts in one-to-one correspondence 17.
  • multiple elastic deformation portions 18 can be provided inside or outside the main pipe 11 , and in FIG. 15 to FIG. 18 , the pipe wall of the main pipe 11 can form multiple elastic deformation portions 18 .
  • One of the plurality of elastic deformation parts 18 is connected to the imaging part 12 to play a main function of imaging and lighting, and the rest of the plurality of elastic deformation parts 18 are connected to the plurality of auxiliary parts 17 in a one-to-one correspondence to play an auxiliary function.
  • the quantity of elastic deformation part 18 can be set as required, can be two, three or more, the size of adjacent elastic deformation part 18 can be different, for example, the size of elastic deformation part 18 that connects camera part 12 can be larger, connects The size of the elastic deformation portion 18 of the auxiliary part 17 may be smaller.
  • the plurality of elastic deformation parts 18 are connected to a plurality of driving components in one-to-one correspondence, such as pull wires, etc., so that the plurality of elastic deformation parts 18 can move simultaneously or separately.
  • the front end of the endoscope When the front end of the endoscope is separated, the front end of the endoscope has a plurality of elastic deformation parts 18, which can make each elastic deformation part 18 deform to a smaller degree than when there is only one elastic deformation part 18, so as to facilitate the extension and opening of the working tool 13. take back.
  • Multiple elastic deformation parts 18 can be arranged in various combinations, as long as the complete camera function and the opening and closing of the front end of the endoscope can be realized, no more examples will be given here.
  • the auxiliary part 17 may be an auxiliary shielding part or an auxiliary camera part.
  • the auxiliary part 17 is an auxiliary shielding part, at this moment, the function of the auxiliary part 17 is It is used to assist in shielding the exit of the main cavity 114.
  • the imaging unit 12 is located at the exit of the main cavity 114, and the auxiliary shielding member cooperates with the imaging unit 12 to shield the main cavity 114 as much as possible.
  • the entire outlet of the body can prevent the foreign matter in the human cavity from entering the main cavity 114 at this time.
  • the auxiliary part 17 is an auxiliary camera unit, and the auxiliary camera unit includes an auxiliary camera head 171 , an auxiliary lighting unit 172 , and an auxiliary flushing nozzle 173 ; or the auxiliary camera unit only includes the auxiliary lighting unit 172 .
  • the front end surface of the auxiliary camera part can be a plane or an inclined surface, and different angles of inclination of the front end face of the auxiliary camera part can provide different observation and illumination angles.
  • one or more cameras can also be installed in the auxiliary camera unit, and the types and numbers of cameras can be set as required.
  • the imaging unit 12 is arranged obliquely away from the side of the main pipe 11, that is, the front surface 125 of the imaging unit is inclined, please refer to FIG. 5, FIG. 17, FIG. 18, FIG. 21, FIG. 22 and FIG.
  • the camera unit 12 is inclined to the side facing away from the main pipe 11.
  • the camera 121, the lighting unit 122 and the flushing spout 123 at the front end surface 125 of the camera unit can provide different observation, illumination and flushing angles at different inclination angles, and the scope of application is wider.
  • the lighting unit 122 can be a head-end LED lighting, or a fiber optic light guiding lighting part.
  • the lighting window of the lighting unit 122 may be provided with a single-light window, or may be provided with a double-light window.
  • the inclination angle of the front end surface 125 of the imaging unit is set according to the deformation of the elastic deformation portion 18 to ensure that the direction of the front end surface 125 of the imaging unit just meets the usage requirements when the imaging unit 12 is in the second position.
  • the front end surface 125 of the imaging part is perpendicular to the axial direction of the main pipe 11, or the angle of the camera 121 is inclined to the cavity wall of the human cavity, so as to facilitate observation of lesions.
  • the side of the elastic deformation part 18 close to the working tool 13 and the imaging part The sides of 12 are smoothly connected, and the side of the elastic deformation part 18 close to the working tool 13 and the side of the imaging part 12 are provided with slide grooves 120 compatible with the working tool 13 .
  • the side of the imaging unit 12 is provided with a chute 120 compatible with the work tool 13 , and the chute 120 extends to the side of the elastic deformation part 18 close to the work tool 13 .
  • the working tool 13 extends out of the main lumen 114
  • the working tool 13 fits on the chute 120 and protrudes along the chute 120 .
  • the chute 120 reduces the resistance when the tool 13 is stretched out, and can also be sealed and connected with the outer wall of the tool 13 to prevent foreign matter in the human cavity from entering the main cavity 114, reducing the difficulty of cleaning and disinfecting the endoscope.
  • an elastic deformation part 18 is provided at the end 1111 of the pipe wall of the main pipe 11, and the pipe wall corresponding to the outside of the elastic deformation part 18 does not extend. At this time, a larger opening is formed at the outlet of the main pipe 11. .
  • the supporting device 131 can be inserted into the main lumen 114. Please refer to FIG. The foreign matter enters the main lumen 114, and the support device 131 can prevent the deformation of the elastic deformation part 18, which is beneficial to the insertion of the endoscope. After the endoscope is inserted, the support tool 131 is taken out, and then the working tool 13 is inserted into the main lumen 114 .
  • the embodiment of the present disclosure provides an endoscope with a movable front end, and the insertion part 1 and the operation part 2 of the endoscope may also adopt a split endoscope structure.
  • the split endoscope structure can adopt a structure in a "split endoscope device" disclosed in Chinese published patent CN111493795A.
  • the split endoscope includes a locking mechanism, the locking mechanism includes a first locking member 14 provided on the insertion part 1 and a second locking member 22 provided on the operating part 2, the first locking member 14 is detachably connected to the second locking member 22.
  • the first locking member 14 and the second locking member 22 may be connected by a plug and a socket, or may be connected by a thread.
  • the insertion part 1 is also provided with a working channel opening 31 and a water and air opening 32 .
  • the end of the pipeline connector 124 is divided into two branches, the conduit 1243 is connected to the water and air port 32 , the wire 1242 and the optical fiber 1244 are connected to the first electrical connection unit 15 . Power and telecommunications between the first electrical connection unit 15 and the second electrical connection unit 23
  • the numbers are interconnected by electrical signal connectors, and the optical signals are connected wirelessly by photoelectric modules.
  • the electrical signal connector may be an electrical connector in the form of Type-C or the like, or may be docked by means of electromagnetic coupling or contact connection.
  • the first power connection unit 16 in this embodiment may be directly connected to the pulling wire connected to the bending section 112 .
  • the number of the first power connection unit 16 is at least two groups, so that the bending section 112 can be bent in at least one direction and the working tool 13 can be moved.
  • the second power connection unit 24 is connected to the control unit 21 of the operating part. When the first locking member 14 and the second locking member 22 are engaged, the connection between the second power connection unit 24 and the first power connection unit 16 can be realized. power transmission.
  • a first electrical connection unit 15 is installed on the end surface of the insertion part 1, and the first electrical connection unit 15 can be divided into a first electrical signal connector and a first optical signal connector.
  • the first electrical signal connector can be set as a contact type connector, and can also be divided into a contact type power connector and a wireless photoelectric connector, wherein the power interface is a contact type, and the signal interface is a wireless type; the first optical signal connector Install lens or light cone and protective glass at the end of internal optical fiber.
  • a second electrical connection unit 23 is installed on the end surface of the operation part 2 . Specifically, the second electrical connection unit 23 can be divided into a second electrical signal connector and a second optical signal connector.
  • the second electrical signal connector can be set as a contact type connector, and can also be divided into a contact type power connector and a wireless photoelectric connector, wherein the power interface is a contact type, and the signal interface is a wireless type; the second optical signal connector Install lens or light cone and protective glass at the end of internal optical fiber.
  • the embodiment of the present disclosure provides a front-end movable endoscope, the insertion part 1 and the operation part 2 of the endoscope can also adopt a new electric endoscope structure, and the new electric endoscope structure can be disclosed by Chinese published patent CN110974125A
  • the disclosure requires high-level disinfection of reusable parts, and its disinfection content is: a disinfection method for killing all bacterial propagules including mycobacteria, viruses, fungi and their spores.
  • chemical methods include chlorine-containing preparations, chlorine dioxide, o-phthalaldehyde, peracetic acid, hydrogen peroxide, ethylene oxide, and the like.
  • the main pipe 11, the imaging unit 12, and the elastic deformation unit 18 can be made of single-use material, also can be made of reusable material that can carry out high-level disinfection.
  • the endoscope in the present disclosure may be a single-use endoscope or a reusable endoscope.
  • the endoscope with a movable front end includes a main tube, an imaging part, an elastic deformation part and a driving part;
  • a work tool is set;
  • the elastic deformation part is connected to the imaging part and is located at the outlet end of the main pipe, and the elastic deformation part makes the imaging part correspond to the exit of the main cavity;
  • the driving part acts on the elastic deformation part and/or the imaging part, and the driving part makes the imaging part
  • the camera part is switched between a first position and a second position; in the first position, the camera part corresponds to the exit of the main cavity; in the second position, the camera part at least partially avoids the exit of the main cavity.
  • the camera part When the camera part is in the first position, the camera part is at the exit of the main cavity, and the camera part does not increase the size of the front end of the endoscope, so the operator can put the endoscope into the body cavity more easily, and at the same time reduce the patient's Discomfort; and the size of the camera part is larger, and the imaging effect is better.
  • the driving part acts on the elastic deformation part and/or the imaging part, so that part or all of the imaging part avoids the exit of the main cavity. At this time, the exit of the main cavity is unobstructed , Larger-sized working tools can be placed in the main cavity.
  • the endoscope with a movable front end not only does not increase the size of the endoscope, but facilitates the placement of the endoscope, but also increases the size of the working tools that can pass through the main lumen and the size of the imaging unit, It is more flexible and convenient to use.

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Abstract

本公开涉及内窥镜技术领域，提供一种前端可移动的内窥镜，包括主管、摄像部、弹性变形部和驱动部件；主管内形成有贯通的主管腔道，主管腔道内至少用于穿设工作器具；弹性变形部连接于摄像部，且位于主管的出口端，弹性变形部使摄像部对应于主管腔道的出口；驱动部件使摄像部在第一位置和第二位置之间切换。在第一位置，摄像部没有增加内窥镜的前端尺寸，可以更容易地放入人体腔道内。驱动部件作用于摄像部和/或弹性变形部，进而使摄像部的部分或者全部避开主管腔道的出口，此时主管腔道的出口通畅，主管腔道内可以通过较大尺寸的工作器具。本公开不仅便于将内窥镜置入人体腔道内，而且增加了主管腔道内可通过的工作器具的尺寸。

Description

前端可移动的内窥镜
本申请要求于2021年12月17日提交的标题为“一种前端可移动内窥镜”的中国专利申请第202111548560.7号的优先权。上述申请的全部内容通过引用全部并入本申请。
技术领域
本公开涉及内窥镜技术领域，特别是涉及一种前端可移动的内窥镜。
背景技术
内窥镜是一种集传统光学、精密机械、电子电路等于一体的常用的医疗器械，可以经口腔进入胃内或经其他自然腔道进入体内，用于对人体内部的组织、器官，如胃、食管、十二指肠、结直肠等部位的病变进行观察，利用内窥镜可以看到CT、超声和核磁共振成像等其它医疗设备不能显示的病变，从而辅助医生对患者的病情进行更确切的诊断。
目前，内窥镜的端部包括摄像头、照明窗、冲洗喷口等非工作通道功能装置，它们占用空间较大，在内窥镜镜体外径一定的情况下，工作通道尺寸受限制，医生在操作内窥镜时难以使用外径较大的工作器具，增大了治疗难度。反之，若确保较大的工作通道尺寸，则必须减小内窥镜头端部中包括摄像头、照明窗、冲洗喷口等所占用的空间，只能使用更小的图像传感器，从而降低了成像效果并使得图像传感器的选用更加困难。若通过直接增大内窥镜镜体外径来增大工作通道尺寸或者图像传感器尺寸，则会占用更大的人体自然腔道的空间，在内 窥镜插入过程中给病人增加不适感。
发明内容
本公开旨在至少解决相关技术中存在的技术问题之一。为此，本公开提出一种前端可移动的内窥镜，主管的出口端设置有弹性变形部，弹性变形部可以在自然状态下使摄像部位于主管腔道的出口。驱动部件使摄像部在第一位置和第二位置之间切换。内窥镜插入人体腔道时，摄像部位于第一位置，未增加内窥镜的尺寸，便于内窥镜插入人体腔道，患者舒适性较好，且摄像部的尺寸较大，成像效果好；内窥镜工作时，将摄像部切换至第二位置，可以为工作器具腾出较大的空间，增加了主管内可以放置的工作器具的尺寸及规格。
根据本公开实施例提供的一种前端可移动的内窥镜，包括：
主管，所述主管内形成有贯通的主管腔道，所述主管腔道内至少用于穿设工作器具；
摄像部；
弹性变形部，连接于所述摄像部，且位于所述主管的出口端，所述弹性变形部使所述摄像部对应于所述主管腔道的出口；
驱动部件，所述驱动部件作用于所述弹性变形部和/或所述摄像部，所述驱动部件使所述摄像部在第一位置和第二位置之间切换；
在所述第一位置，所述摄像部对应于所述主管腔道的出口；
在所述第二位置，所述摄像部至少部分避开所述主管腔道的出口。
根据本公开的一个实施例，所述摄像部朝向所述主管的一侧设有管线连接件，所述管线连接件靠近所述摄像部的部分连接段形成所述弹性变形部。
根据本公开的一个实施例，所述管线连接件穿设于所述主管腔道内，且所述管线连接件对应于所述弹性变形部以外的连接段抵接于所述主管腔道的腔壁。
根据本公开的一个实施例，所述管线连接件设于所述主管的外侧，且通过固定件连接于所述主管的外侧壁。
根据本公开的一个实施例，所述管线连接件靠近所述主管的外侧壁的一侧形成有弧形槽，所述弧形槽贴合于所述主管的外侧壁。
根据本公开的一个实施例，所述主管的局部管壁端部设置有凸出部，所述凸出部与所述主管的其余部分管壁端部形成台阶状缺口；
在所述第一位置，所述摄像部位于所述台阶状缺口处，且所述凸出部相对于所述摄像部远离所述主管的侧面平齐或者内凹。
根据本公开的一个实施例，沿所述主管的出口至进口方向，所述凸出部靠近所述摄像部的侧面向所述管线连接件所在方向倾斜。
根据本公开的一个实施例，所述凸出部靠近所述摄像部的侧面与所述摄像部之间设置有第一驱动单元，所述第一驱动单元使所述摄像部切换至第一位置或者第二位置。
根据本公开的一个实施例，所述主管朝向所述摄像部的局部管壁端部设有所述弹性变形部。
根据本公开的一个实施例，所述主管的管壁对应于所述弹性变形部以外的其余部分管壁延伸至所述摄像部，所述其余部分管壁也具有弹性，且所述其余部分管壁的弹性模量小于等于所述弹性变形部的弹性模量。
根据本公开的一个实施例，沿所述主管的径向方向，所述弹性变形部靠近所述摄像部的一端的横截面积大于所述弹性变形部远离所述摄像部的一端的横截面积。
根据本公开的一个实施例，所述弹性变形部的数量为多个，多个所述弹性变形部的其中一个连接于所述摄像部，多个所述弹性变形部的其余几个一一对应连接于多个辅助件。
根据本公开的一个实施例，所述辅助件为辅助遮蔽件或者辅助摄像部。
根据本公开的一个实施例，所述摄像部背向所述主管的侧面倾斜设置。
根据本公开的一个实施例，所述弹性变形部靠近所述工作器具的一侧与所述摄像部的侧边平顺连接，且所述弹性变形部靠近所述工作器具的一侧与所述摄像部的侧面均设有与所述工作器具相适应的滑槽。
根据本公开的一个实施例，所述驱动部件为连接于所述摄像部和/或所述弹性变形部的第二驱动单元，所述第二驱动单元使所述摄像部在所述第一位置和所述第二位置之间切换。
根据本公开的一个实施例，所述摄像部包括至少一个摄像头。
根据本公开的一个实施例，所述摄像部还包括照明单元和冲洗喷口，所述管线连接件内设置有连接于所述照明单元的光纤或导线、连通于所述冲洗喷口的导管以及连接于所述摄像头的导线。
根据本公开的一个实施例，所述主管还包括用于调整所述主管的前端方向的弯曲段。
根据本公开的一个实施例，在所述第一位置，所述摄像部的侧面相对于所述主管的外侧壁平齐或者内凹。
本公开中的上述一个或多个技术方案，至少具有如下技术效果之一：
根据本公开实施例提供的前端可移动的内窥镜，包括主管、摄像部、弹性变形部和驱动部件；主管内形成有贯通的主管腔道，主管腔道内至少用于穿设工作器具；弹性变形部连接于摄像部，且位于主管的出口端，弹性变形部使摄像部对应于主管腔道的出口；驱动部件作用于弹性变形部和/或摄像部，驱动部件使摄像部在第一位置和第二位置之间切换；在第一位置，摄像部对应于主管腔道的出口；在第二位置，摄像部至少部分避开主管腔道的出口。摄像部位于第一位置时，摄像部处于主管腔道的出口处，此时摄像部没有增加内窥镜的前端尺 寸，操作人员可以更容易将内窥镜放入人体腔道内，同时降低患者的不适感；而且摄像部的尺寸较大，成像效果较好。内窥镜到达人体腔道内的对应位置后，通过驱动部件作用于弹性变形部和/或摄像部，进而使摄像部的部分或者全部避开主管腔道的出口，此时主管腔道的出口通畅，主管腔道内可以放置较大尺寸的工作器具。根据本公开实施例提供的前端可移动的内窥镜，不仅没有增加内窥镜的尺寸，便于内窥镜的放置，且增加了主管腔道内可通过的工作器具的尺寸以及摄像部的尺寸，使用时更加灵活方便。
附图说明
为了更清楚地说明本公开实施例或相关技术中的技术方案，下面将对实施例或相关技术描述中所需要使用的附图作简单地介绍，显而易见地，下面描述中的附图仅仅是本公开的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1为本公开实施例提供的前端可移动的内窥镜的示意性结构图；
图2为本公开实施例提供的前端可移动的内窥镜的主管的示意性结构图；
图3为本公开实施例提供的前端可移动的内窥镜的示意性结构图之一；
图4为本公开实施例提供的前端可移动的内窥镜的摄像部及管线连接件的示意性结构图之一；
图5为本公开实施例提供的前端可移动的内窥镜的摄像部及管线连接件的示意性结构图之二；
图6为本公开实施例提供的前端可移动的内窥镜的摄像部及主管的俯视图之一；
图7为本公开实施例提供的前端可移动的内窥镜的摄像部及主管 的俯视图之二；
图8为本公开实施例提供的前端可移动的内窥镜的摄像部及主管的俯视图之三；
图9为本公开实施例提供的前端可移动的内窥镜的管线连接件的示意性结构图；
图10为本公开实施例提供的前端可移动的内窥镜的示意性结构图之二；
图11为本公开实施例提供的前端可移动的内窥镜的示意性结构图之三；
图12为本公开实施例提供的前端可移动的内窥镜的示意性结构图之四；
图13为本公开实施例提供的前端可移动的内窥镜的示意性结构图之五；
图14为本公开实施例提供的前端可移动的内窥镜的示意性结构图之六；
图15为本公开实施例提供的前端可移动的内窥镜的示意性结构图之七；
图16为本公开实施例提供的前端可移动的内窥镜的示意性结构图之八；
图17为本公开实施例提供的前端可移动的内窥镜的示意性结构图之九；
图18为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十；
图19为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十一；
图20为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十二；
图21为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十三；
图22为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十四；
图23为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十五；
图24为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十六；
图25为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十七；
图26为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十八；
图27为本公开实施例提供的前端可移动的内窥镜的示意性结构图之十九；
图28为本公开实施例提供的前端可移动的内窥镜的示意性结构图之二十；
图29为本公开实施例提供的前端可移动的内窥镜的示意性结构图之二十一；
图30为本公开实施例提供的前端可移动的内窥镜的示意性结构图之二十二；
图31为图28的A-A处剖面图；
图32为本公开实施例提供的分体内窥镜形态下的前端可移动内窥镜的示意性结构图；
图33为本公开实施例提供的前端可移动的内窥镜内第二驱动单元的结构示意图。
附图标记：
1、插入部；
11、主管；111、前管段；1110、凸出部；1111、管壁端部；1112、
第一驱动单元；112、弯曲段；113、后管段；114、主管腔道；
12、摄像部；120、滑槽；121、摄像头；122、照明单元；123、
冲洗喷口；124、管线连接件；1241、管线连接件前端部；1242、导线；1243、导管；1244、光纤；1245、弧形槽；125、摄像部前端面；126、摄像部后端面；
13、工作器具；131、支撑器具；
14、第一锁紧件；15、第一电连接单元；16、第一动力连接单元；
17、辅助件；171、辅助摄像头；172、辅助照明单元；173、辅助冲洗喷口；174、辅助管线连接件；18、弹性变形部；19、其余部分管壁；
2、操作部；
21、控制单元；22、第二锁紧件；23、第二电连接单元；24、第
二动力连接单元；25、第二驱动单元；251、合起拉线；252、分开拉线；31、工作通道口；32、水气口；33、固定件。
具体实施方式
为使公开的目的、技术方案和优点更加清楚，下面将结合公开中的附图，对公开中的技术方案进行清楚地描述，显然，所描述的实施例是公开一部分实施例，而不是全部的实施例。基于公开中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于公开保护的范围。
在本公开实施例的描述中，需要说明的是，术语“中心”、“纵向”、“横向”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本公开实施例和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本公开实施例的限制。此外，术语 “第一”、“第二”、“第三”仅用于描述目的，而不能理解为指示或暗示相对重要性。
在本公开实施例的描述中，需要说明的是，除非另有明确的规定和限定，术语“相连”、“连接”应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或一体连接；可以是机械连接，也可以是电连接；可以是直接相连，也可以通过中间媒介间接相连。对于本领域的普通技术人员而言，可以具体情况理解上述术语在本公开实施例中的具体含义。
在本公开实施例中，除非另有明确的规定和限定，第一特征在第二特征“上”或“下”可以是第一和第二特征直接接触，或第一和第二特征通过中间媒介间接接触。而且，第一特征在第二特征“之上”、“上方”和“上面”可是第一特征在第二特征正上方或斜上方，或仅仅表示第一特征水平高度高于第二特征。第一特征在第二特征“之下”、“下方”和“下面”可以是第一特征在第二特征正下方或斜下方，或仅仅表示第一特征水平高度小于第二特征。
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本公开实施例的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不必须针对的是相同的实施例或示例。而且，描述的具体特征、结构、材料或者特点可以在任一个或多个实施例或示例中以合适的方式结合。此外，在不相互矛盾的情况下，本领域的技术人员可以将本说明书中描述的不同实施例或示例以及不同实施例或示例的特征进行结合和组合。
如图1所示，本公开实施例提供的前端可移动的内窥镜，包括插入部1和操作部2。此外，整个内窥镜还包括含视频监视器等未列出的装置，此处不再赘述。
根据本公开实施例提供的前端可移动的内窥镜，请参阅图1至图33，包括主管11、摄像部12、弹性变形部18以及驱动部件。
主管11为插入部1的前端的管段，主管11内形成有贯通的主管腔道114，主管腔道114内至少用于穿设工作器具13。插入部1还包括设置在主管11的出口的摄像部12，其中，主管11包括前管段111、弯曲段112以及后管段113，弯曲段112用于调整主管11的前端方向，可以使主管11适应不同类型的人体腔道。弯曲段112可以伸入人体自然腔道，具体地，弯曲段112可以采用软管或者蛇骨组成，弯曲段112具有至少一个方向的弯曲功能。弯曲段112通过牵引丝(图中未示出)连接至控制单元21，牵引丝可采用钢丝或者其他具有一定强度和韧性的丝线材料。具体地，控制单元21可以直接与牵引丝相连，或者通过防滑缓冲件(图中未示出)与牵引丝相连，防滑缓冲件可以采用柔性件防止牵引丝弯折。
主管腔道114至少用于插入工作器具13，具体地，工作器具13可以是可操纵导管、活检钳、注射针、喷雾管、电刀、圈套器、网篮、止血夹等。
弹性变形部18连接于摄像部12，且弹性变形部18位于主管11的出口端，例如主管11的出口端的内部、出口端的外部或者出口端的管壁上。在自然状态下，弹性变形部18依靠自身的弹性恢复力可以使摄像部12位于主管腔道114的出口处，即位于主管11的出口的前方，此时摄像部12在径向方向上尽量与主管11重合，未增加主管11的外侧壁以外的空间占用。
驱动部件作用于弹性变形部18和/或摄像部12，驱动部件使得摄像部12在第一位置和第二位置之间切换。
需要说明的是，本公开中驱动部件的连接形式不做限定，可以单独作用于摄像部12，也可以单独作用于弹性变形部18，或者同时作用于摄像部12和弹性变形部18，基于摄像部12与弹性变形部18之间的连 接关系，摄像部12在第一位置和第二位置之间切换。驱动部件的驱动方式包括但不限于磁力驱动、气动驱动、拉线驱动、电动螺杆驱动、气囊驱动(充气放气状态)或者油缸驱动等，驱动部件可以对摄像部12或者弹性变形部18产生沿主管11的径向方向的作用力或者分力，以使得摄像部12在第一位置和第二位置之间切换。
驱动部件的以上描述仅为本公开的较佳实施例而已，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。
本公开中主管11的轴向是指主管11的进口至出口方向，主管11的径向是指垂直于主管轴向的方向，且主管11的径向横截面为环形。
在一些情况下，工作器具13可以作为驱动部件，此时内窥镜不需要设置额外的驱动结构，可以使内窥镜更加精简。工作器具13在主管腔道114的出口处抵接于弹性变形部18，工作器具13在伸出和缩回主管腔道114的过程中使得摄像部12在第一位置和第二位置之间切换。需要说明的是，工作器具13伸出和缩回主管腔道114的过程对应于工作器具13开展工作前和完成工作后的动作。前端可移动的内窥镜的工作器具13可以根据需要选用，在主管11、弹性变形部18以及摄像部12的位置以及连接关系确定时，采用多种工作器具13均能够实现摄像部12的位置切换。如图1所示，工作器具13可以从工作通道口31送入主管腔道114内，主管腔道114内至少可以通过一种工作器具。
在第一位置时，摄像部12对应于主管腔道114的出口，此时摄像部12的部分或者全部结构投影在主管11的径向横截面范围内，内窥镜的前端尺寸取决于主管11，而主管11的外侧壁为圆弧形或者其它弧形结构，在放入人体腔道内时较为方便。
在第二位置时，摄像部12至少部分避开主管腔道114的出口，此时主管11已经放入人体腔道对应的检查/治疗位置，将工作器具13插入主管腔道114内时，工作器具13挤推弹性变形部18使之发生变形， 进而使得摄像部12部分或者全部避开主管腔道114的出口，此时工作器具13可以沿着主管腔道114的出口伸出，以实现对人体腔道的检查和/或治疗。需要说明的是，人体腔道具有一定的弹性，摄像部12避开主管腔道114的出口时，受到的阻力较小，不影响工作器具13的伸出。
根据上述内容可知，摄像部12位于第一位置时，摄像部12处于主管腔道114的出口处，此时摄像部12没有增加内窥镜的前端尺寸，操作人员可以更容易将内窥镜放入人体腔道内，同时降低患者的不适感，而且摄像部12的尺寸可以选择较大的规格，成像效果较好。内窥镜到达人体腔道内的对应位置后，将工作器具13沿着主管腔道114的出口伸出，利用工作器具13挤压弹性变形部18，进而使摄像部12的部分或者全部避开主管腔道114的出口，此时主管腔道114的出口通畅，主管腔道114内可以放置较大尺寸的工作器具13。根据本公开实施例提供的前端可移动的内窥镜，在插入阶段没有增加内窥镜的尺寸，便于内窥镜的放置，在检查/治疗阶段增加了主管腔道114内可通过的工作器具13的尺寸，使用时更加灵活方便。
在一些实施例中，为了尽可能减少内窥镜在进入人体腔道时的难度，提升用户的舒适度，在第一位置时，摄像部12的侧面相对于主管11的外侧壁平齐或者内凹。
请参阅图3至图26，在第一位置时，摄像部12的外侧面与主管11的外侧壁保持平齐，摄像部12与主管11的外侧壁保持平顺连接。内窥镜在放入人体腔道时，摄像部12没有增加主管11的外部尺寸，放置过程较为顺畅，可以降低用户的不适感。
在其它的情况下，摄像部12的侧面相对于主管11的外侧壁内凹，此时摄像部12的尺寸小于主管11的管径，不会增加内窥镜的前端尺寸。
具体地，弹性变形部18可使用硅胶、热塑性弹性体材料等，如TPE 材料，具有弹性和生物相容性。
根据本公开实施例提供的摄像部12包括摄像部前端面125和摄像部后端面126，摄像部后端面126靠近主管11所在的方向设置，摄像部前端面125所在侧设置有摄像头121、照明单元122以及冲洗喷口123等，用于实现摄像照明等功能。
在一些实施例中，摄像部12包括至少一个摄像头121。
请参阅图6至图8，摄像头121的数量可以为一个或者多个。摄像头121包括单摄像头、双摄像头或者三摄像头，单摄像头为彩色摄像头，本公开实施例中摄像部12可以有更大的端面，所以可以使用较大尺寸的彩色摄像头。双摄像头可以为两个彩色摄像头，也可以为一个彩色摄像头及一个黑白摄像头，彩色摄像头记录图像的彩色信息，黑白摄像头抓取物体的细节。彩色摄像头捕获的彩色信息和黑白摄像头抓取的细节进行融合，进而获得更高质量的图像。
双摄像头也可以为一个彩色摄像头和一个红外摄像头，双摄像头可以进行2D成像，也可以进行3D成像。三摄像头中至少包括一个黑白摄像头或者红外摄像头或者荧光摄像头。具体地，三摄像头可以进行2D成像也可以进行3D成像也可以进行荧光成像。上述摄像头的组合可以根据具体的功能需求进行组合，此处不再逐一列举；上述摄像头的各种组合也可以用于其他实施例的摄像部中，下文给出的其他实施例中不再赘述。
请参阅图1至图33，本公开提供了多种具体的实施例，以下针对每一种实施例详细进行说明。
在一些实施例中，请参阅图3至图4，摄像部12朝向主管11的一侧设有管线连接件124，管线连接件124为长条状的结构，管线连接件124内包括光纤、导管(导水和/或导气)以及导线等。管线连接件124将各种管线整合在一起，不仅避免线路复杂影响空间占用，也方便了内窥镜的组装和使用。管线连接件124的一端连接于摄像部12，另一端 连接于操作部2以及水气管等。管线连接件124靠近摄像部12的连接段形成弹性变形部18，此时弹性变形部18属于管线连接件124的一部分。
管线连接件124沿着主管11设置，弹性变形部18设置在主管11的出口处，在自然状态下，弹性变形部18可以使摄像部12位于主管腔道114的出口处，尽量减少了内窥镜前端的尺寸。在工作器具13伸出主管腔道114时，工作器具13挤推管线连接件124的弹性变形部18，可以使摄像部12部分或者全部避开主管腔道114的出口。
在一些实施例中，摄像部12还包括照明单元122和冲洗喷口123，管线连接件124内设置有连接于摄像头121的导线1242、连通于冲洗喷口123的导管1243以及连接于照明单元122的导线1242或者光纤1244。照明单元122用光纤导光或者头端LED照明是二选一的实施方案，若光纤导光则照明单元用光纤1244；若头端LED则照明单元需要导线1242。
请参阅图9，管线连接件124靠近摄像部12的一端形成有管线连接件前端部1241，导线1242、导管1243以及光纤1244在管线连接件前端部1241处连接于摄像部12。冲洗喷口123可用于对摄像头121喷水和/或喷气，当摄像头121的镜头受到污染时，可以通过冲洗喷口123喷出水气去除镜头上沾附的污物，使画面更清晰。冲洗喷口123也可以用于对人体腔道内的组织喷水喷气，在治疗中清洗组织较小的出血点。
管线连接件前端部1241用于与摄像部12相接，管线连接件后端部与操作部2中的连接器(图中未示出)相连，连接器具有电信号接口和光信号接口。连接器可设置为接触式连接器，也可拆分为接触式电源连接器和无线式光电连接器，其中电源接口为接触式，信号接口为无线式。连接器可以是可拆卸装置，在每次使用后摄像部12可以与操作部2分离。分离的摄像部12进行高水平消毒后可以重复安装使用，减少患者每次使用的成本，主管11可以用较低成本的一次性使用材料制成从而一次性使用，解决内窥镜管道消毒不方便的问题。
在一些实施例中，请参阅图3至图5，管线连接件124设置在主管腔道114内，弹性变形部18独立于主管11的内侧壁。
可以理解的是，设置在主管腔道114内的管线连接件124没有增加主管11的外侧体积，内窥镜在使用时便于放置在人体自然腔道内。与此同时，管线连接件124将多种管线整合在一起，且位于主管腔道114的一侧，尽可能提升了主管腔道114内用于通过工作器具13的空间。在不增加内窥镜尺寸的情况下方便了主管11的置入，还扩大了工作器具13的尺寸适用范围。
在一些情况下，为了尽可能通过较大的工作器具13，管线连接件124对应于弹性变形部18以外的连接段抵接于主管腔道114的内壁。
在一些情况下，管线连接件124对应于弹性变形部18以外的连接段可以成弧形或者圆筒形，贴附于主管腔道114的腔壁上，此时主管腔道114内剩余的尺寸更大，有利于更大尺寸的工作器具13通过。
在一些实施例中，管线连接件124设置于主管11的外侧，管线连接件124通过固定件33连接于主管11的外侧壁。
请参阅图27至图31，管线连接件124沿主管11的长度方向设置，固定件33的数量可以为一个或者多个。管线连接件124靠近摄像部12的连接段形成有弹性变形部18，弹性变形部18可以将摄像部12维持在主管腔道114的出口处。
相较于管线连接件124设置在主管腔道114内，管线连接件124设置在主管11的外侧时，整个主管腔道114全部用于穿设工作器具13，工作器具13的适用尺寸进一步得到提升，且工作器具13的形状不受管线连接件124的影响。
管线连接件124设置在主管11的外侧壁时，管线连接件124的尺寸需要尽可能减小，且贴合于主管11的外侧壁。内窥镜的尺寸不增加或者增加较小的情况下，就可以实现较大尺寸的工作器具13的置入，而且摄像部12的尺寸较大，成像效果较好。
在一些情况下，请参阅图31，管线连接件124靠近主管11的外侧壁的一侧形成有弧形槽1245，弧形槽1245贴合于主管11的外侧壁。此时，管线连接件124与主管11的整体尺寸较小，有利于内窥镜放入人体腔道。
在另一些情况下，管线连接件124对应于弹性变形部18以外的连接段形成圆筒状柔性套，圆筒状柔性套套设在主管11的外侧，此时管线连接件124内的光纤、导线以及导管均匀设置在主管11的外侧，内窥镜的整体尺寸较小。
在一些实施例中，主管11的管壁端部1111的局部设置有凸出部1110，凸出部1110与主管11的其余部分管壁端部形成台阶状缺口，请参阅图2、图3、图11、图12、图28、图29以及图30。在第一位置时，摄像部12位于台阶状缺口处，且凸出部1110相对于摄像部12远离主管11的侧面平齐或者内凹。
可以理解的是，在主管11的部分管壁端部1111处设置有凸出部1110，凸出部1110与主管11的其余部分管壁端部形成台阶状缺口，台阶状缺口构成对摄像部12的限位。在弹性变形部18的作用下，摄像部12自动运动至台阶状缺口处，且不会在插入人体腔道的过程中随意变化位置，避免了摄像部12碰撞或者接触人体腔道，提升了用户的舒适感。
与此同时，凸出部1110相对于摄像部12远离主管11的侧面平齐或者内凹，即凸出部1110不超过摄像部12的摄像部前端面125，避免了凸出部1110划伤或者挤压人体腔道。
在一些情况下，摄像部前端面125与凸出部1110保持平齐或者平顺连接，减少了内窥镜不必要的棱角。摄像部12与凸出部1110的边缘处设置有倒角结构，内窥镜的前端更加平滑。
在一些实施例中，沿主管11的出口至进口方向，凸出部1110靠近摄像部12的侧面向管线连接件124所在方向倾斜。
请参阅图27至图30，凸出部1110位于管壁端部1111处，凸出部1110的两个侧面朝向摄像部12设置。在工作器具13推挤弹性变形部18时，弹性变形部18沿主管11的径向方向运动，此时摄像部12同步侧向运动。凸出部1110靠近摄像部12的侧面向管线连接件124所在方向倾斜时，摄像部12靠近主管11的一端的尺寸较小，摄像部12在摆动时可以灵活避开管壁端部1111，使用时更加方便。
在一些实施例中，凸出部1110靠近摄像部12的侧面与摄像部12之间设置有第一驱动单元1112，第一驱动单元1112使摄像部12切换至第一位置或者第二位置。
请参阅图11至图12，凸出部1110的侧面可以设置第一驱动单元1112。具体地，第一驱动单元1112可以是相互吸引的磁铁石，或其他有吸附功能的装置。当工作器具13沿主管11轴向移动到主管腔道114里时，可以用摄像部12轻碰人体腔道组织，进而使弹性变形部18受到沿主管11径向向内的推力，进而和摄像部12一起移动。当摄像部12的侧面的第一驱动单元1112靠近凸出部1110的侧面的第一驱动单元1112时，两个第一驱动单元1112产生的吸引力使摄像部12和弹性变形部18遮挡主管腔道114的出口，内窥镜前端从分开状态转换为合起状态。内窥镜前端的合起状态如图3所示，摄像部12和弹性变形部18在自然状态下遮挡主管腔道114的出口。
当第一驱动单元1112为具有吸附功能的装置时，工作器具13可以作为插入在主管腔道114内的附属驱动单元。工作器具13在主管腔道114里沿主管轴向主管腔道114外移动到内窥镜前端时，挤推弹性变形部18以产生弹性变形，使弹性变形部18沿主管轴的径向移离主管腔道114的出口。
在一些实施例中，驱动部件为第二驱动单元25，摄像部12和/或弹性变形部18连接于第二驱动单元25，第二驱动单元25使摄像部12在第一位置和第二位置之间切换。
如图12所示，在主管11上设置有第二驱动单元25，第二驱动单元25可以是拉线，第二驱动单元25一端连接摄像部12的头端以及弹性变形部18，另一端连接控制单元21。具体地，第二驱动单元25可以是钢丝、尼龙绳或者其他具有一定强度和韧性的丝线材料。第二驱动单元25包括分开拉线252，分开拉线252的一端和摄像部12的头端相连。分开拉线252拉动摄像部12的头端沿主管轴径向向外移动时，弹性变形部18被驱动移离主管腔道114的出口，内窥镜前端变为分开状态，此时工作器具13可以伸出主管腔道114的出口处。
在另一些情况下，凸出部1110的侧面设置的第一驱动单元1112也可以是相排斥的磁铁石、弹簧装置或其他有排斥力功能的装置。第二驱动单元25可为合起拉线251，合起拉线251的一端和摄像部12的头端以及弹性变形部18相连。工作器具13沿主管轴向后移动收回主管腔道114内时，合起拉线251可以拉动摄像部12的头端沿主管轴径向向里移动，弹性变形部18和摄像部12被驱动遮挡主管腔道114的出口，内窥镜前端变为合起状态。
可以理解的是，可以在主管11内设置小孔为合起拉线251或分开拉线252穿过并提供支持力，合起拉线251或分开拉线252从主管11内穿过的孔由耐磨材料制成，比如表面光滑的陶瓷材料，或表面有耐磨镀层(镀铬)的不锈钢等，该孔具有方便丝线拉动，并且能承受丝线反复拉动的摩擦的特性。
在一些情况下，内窥镜的驱动部件如插入在主管腔道114内的工作器具13，或设置在主管11上的第二驱动单元25，该驱动单元的动力源可以为人力或电力等，驱动单元的驱动方式可采用电力驱动、气压驱动或者液压驱动等，只要能对驱动单元输出驱动力即可。此外，内窥镜的驱动单元设置和驱动力装置的设置可以自由组合，例如弹性变形部18在自然状态下处于主管腔道114出口的外侧，则设置合起拉线251，在内窥镜插入时拉紧合起拉线251让弹性变形部18遮挡在主管腔 道114的出口，在内窥镜需要工作时放松合起拉线251，弹性变形部变形回自然状态，让内窥镜前端变成分开状态；此时也可以再选择设置具有排斥力功能的驱动力装置，即驱动力装置的排斥力和弹性变形部18自身的恢复力让弹性变形部18移离主管腔道114出口，合起拉线251的拉力让弹性变形部18变形遮挡主管腔道114的出口。再例如弹性变形部在自然状态下遮挡在主管腔道114的出口，则可设置分开拉线252作为主动驱动单元，以及设置工作器具13作为附属驱动单元，可选择设置具有吸引力功能的驱动力装置，即分开拉线252的拉力和工作器具13的挤推力让弹性变形部变形处于主管腔道114出口的外侧，驱动力装置的吸引力和弹性变形部自身的恢复力让弹性变形部18遮挡主管腔道114的出口。通过设置其中一种或多种驱动单元和驱动力装置，只要能够实现对弹性变形部18的变形和复原，进而使内窥镜前端合起或分开即可，此处不再逐一举例。
根据本公开的一个实施例，主管11朝向摄像部12的局部管壁端部1111设有弹性变形部18，此时弹性变形部18属于主管11的管壁的一部分，管线连接件124上可以根据需要设置或者不设置相应的结构。
请参阅图15至图26，管线连接件124的结构保持均一，尽可能减少占用主管腔道114内的空间，弹性变形部18设置在主管11朝向摄像部12的管壁端部1111的局部，即主管11的端部的局部管壁具有弹性，弹性变形部18可以在外力作用下变形，进而与摄像部12同步运动。在这种情形下，管线连接件124不需要设置额外的结构，整体尺寸较小，主管腔道114内可以放置的工作器具13的尺寸较大。与此同时，在内窥镜放入人体腔道时，主管11的外侧壁整体保持均一，无其余额外结构，尺寸较小，提升了用户的舒适感。本实施例可以实现主管11尺寸的最小化，以及主管腔道114尺寸的最大化，以及摄像部12尺寸的最大化。
在一些实施例中，主管11的管壁对应于弹性变形部18以外的其余 部分管壁延伸至摄像部12。
请参阅图19至图22，在主管11的部分管壁形成弹性变形部18时，主管11对应于弹性变形部18以外的其余部分管壁19延伸至摄像部12处，其余部分管壁19的相对于摄像部12远离主管11的侧面平齐或者内凹。此时内窥镜的前端保持平顺，避免了摄像部12或者管壁形成独立的棱角，避免内窥镜前端划伤人体腔道，用户的舒适感较好。
在一些情况下，其余部分管壁19也具有弹性，且其余部分管壁19的弹性模量可以大于或者小于等于弹性变形部18的弹性模量。
请参阅图20，其余部分管壁19的弹性模量大于弹性变形部18的弹性模量，工作器具13伸出主管腔道114的出口时，主要或者全部由弹性变形部18发生变形，进而使得摄像部12至少部分避开主管腔道114的出口。
请参阅图22，其余部分管壁19的弹性模量小于弹性变形部18的弹性模量，工作器具13伸出主管腔道114的出口时，主要由其余部分管壁19发生变形，此时主管腔道114的出口的位置发生适度的偏转，进而使得摄像部12至少部分避开主管腔道114的出口。
可以理解的是，其余部分管壁19的弹性模量等于或者接近弹性变形部18的弹性模量时，弹性变形部18与其余部分管壁19共同发挥作用，以使得摄像部12至少部分避开主管腔道114的出口。使用时，可以调整其余部分管壁19的弹性模量与弹性变形部18的弹性模量的比值，以获取较佳的形变效果。
在上述实施例中，弹性变形部18与其余部分管壁19之间具有裂缝或者间隙，弹性变形部18在外力作用下变形时，不影响其余部分管壁。此时，其余部分管壁还用于引导工作器具13伸出或者缩回，起到了导向作用。
在一些实施例中，沿主管11的径向方向，即径向横截面方向，弹性变形部18靠近摄像部12的一端的横截面积大于弹性变形部18远离 摄像部12的一端的横截面积。
请参阅图17至图26，弹性变形部18靠近摄像部12的一端的横截面积大于弹性变形部18远离摄像部12的一端的横截面积，此时弹性变形部18与主管11连接的部分尺寸较小，有利于弹性变形部18在外力作用下发生变形。在没有额外驱动部件的情况下，仅通过工作器具13就可以使摄像部12挤推弹性变形部18，以实现摄像部12在第一位置和第二位置之间切换。
在一些实施例中，弹性变形部18的数量为多个，多个弹性变形部18的其中一个连接于摄像部12，多个弹性变形部18的其余几个一一对应连接于多个辅助件17。
请参阅图13至图14，主管11内侧或者外侧可以设置多个弹性变形部18，以及图15至图18，主管11的管壁可以形成多个弹性变形部18。
多个弹性变形部18的其中一个连接于摄像部12，发挥主要的摄像照明功能，多个弹性变形部18的其余几个一一对应连接于多个辅助件17，发挥辅助功能。弹性变形部18的数量可以根据需要设置，可以为两个、三个以及以上，相邻弹性变形部18的尺寸可以不相同，例如连接摄像部12的弹性变形部18的尺寸可以大一些，连接辅助件17的弹性变形部18的尺寸可以小一些。
需要说明的是，多个弹性变形部18一一对应连接于多个驱动部件，例如拉线等，可以实现多个弹性变形部18同时或者分别运动。
内窥镜的前端分开时，内窥镜前端具有多个弹性变形部18可以使每个弹性变形部18变形的程度比只有一个弹性变形部18时变形小，进而方便工作器具13的伸出和收回。多个弹性变形部18的设置可以有多种组合方法，只要能够实现完整的摄像功能和方便内窥镜前端的开合即可，此处不再逐一举例。
在一些情况下，辅助件17可以为辅助遮蔽件或者辅助摄像部。
请参阅图14至图16，辅助件17为辅助遮蔽件，此时辅助件17的作 用是协助遮蔽主管腔道114的出口，在内窥镜放入人体腔道时，摄像部12位于主管腔道114的出口，辅助遮蔽件与摄像部12相互配合，尽可能遮蔽主管腔道114的整个出口，此时可以防止人体腔道内的异物进入主管腔道114内。
请参阅图13及图17，辅助件17为辅助摄像部，辅助摄像部包括辅助摄像头171、辅助照明单元172以及辅助冲洗喷口173等；或者辅助摄像部只包括辅助照明单元172。辅助摄像部的前端面可以为平面也可以为斜面，辅助摄像部前端面的不同倾斜角度可提供不同的观察和照明角度。
需要说明的是，辅助摄像部也可以设置一个或者多个摄像头，摄像头的种类和数量可以根据需要设置。
在一些实施例中，摄像部12背向主管11的侧面倾斜设置，即摄像部前端面125倾斜设置，请参阅图5、图17、图18、图21、图22以及图26。
可以理解的是，在工作器具13或者其它驱动部件的作用下，弹性变形部18被挤推变形，此时摄像部12发生侧向移动以及适度的转动。摄像部12背向主管11的侧面倾斜设置，摄像部前端面125处的摄像头121、照明单元122以及冲洗喷口123在不同倾斜角度可提供不同的观察、照明以及冲洗角度，适用范围更广。照明单元122可以为头端LED照明，也可以为光纤导光照明部。照明单元122的照明窗可以设置单光窗，也可以设置双光窗。
在一些情况下，根据弹性变形部18的变形情况设置摄像部前端面125的倾斜角度，确保摄像部12在第二位置时，摄像部前端面125的方向正好满足使用需求。例如在第二位置时，摄像部前端面125垂直于主管11的轴向方向，或者摄像头121的角度向人体腔道的腔壁倾斜，便于观察病灶。
在一些实施例中，弹性变形部18靠近工作器具13的一侧与摄像部 12的侧边平顺连接，且弹性变形部18靠近工作器具13的一侧与摄像部12的侧面均设有与工作器具13相适应的滑槽120。
请参阅图24，摄像部12的侧面设有与工作器具13相适应的滑槽120，滑槽120延伸至弹性变形部18靠近工作器具13的一侧。在工作器具13伸出主管腔道114的过程中，工作器具13贴合于滑槽120，并沿着滑槽120伸出。滑槽120降低了工作器具13伸出时的阻力，同时还可以与工作器具13的外侧壁密封连接，避免人体腔道内的异物进入主管腔道114，降低了内窥镜清洗以及消毒的难度。
在一些实施例中，在主管11的管壁端部1111处设置有弹性变形部18，而对应于弹性变形部18以外的管壁未延伸，此时主管11的出口处形成有较大的开口。在这种情况下，可以在主管腔道114内插入支撑器具131，请参阅图23所示，内窥镜在插入人体腔道的过程中，将支撑器具131放入主管腔道114内，避免异物进入主管腔道114，同时支撑器具131可以防止弹性变形部18出现变形，有利于内窥镜的插入。待内窥镜插入完成后，将支撑器具131取出，然后再将工作器具13插入主管腔道114。
本公开实施例提供的一种前端可移动的内窥镜，内窥镜的插入部1和操作部2也可以采用分体内窥镜结构。分体内窥镜结构可采用中国公开专利CN111493795A公开的一种“分体式内窥镜装置”中的一种结构。如图32所示，分体内窥镜包括锁紧机构，锁紧机构包括设置于插入部1的第一锁紧件14以及设置于操作部2的第二锁紧件22，第一锁紧件14与第二锁紧件22可拆卸连接。具体地，第一锁紧件14和第二锁紧件22可以是插头和插座连接，也可以为螺纹连接。插入部1上还设置有工作通道口31、水气口32。其中水气口32数量为两个，分别用于提供给摄像头121冲洗所需的水和气。管线连接件124末端分两条支路，导管1243与水气口32相连，导线1242和光纤1244与第一电连接单元15相连。第一电连接单元15和第二电连接单元23之间的电源与电信 号采用电信号连接器互连，光信号采用光电模块无线连接。
具体地，电信号连接器可以采用Type-C等形式电连接器，或者通过电磁耦合或触点连接的方式对接。本实施例中的第一动力连接单元16可以直接与连接弯曲段112的牵引丝相连。
具体地，第一动力连接单元16的数量至少为两组，进而可以实现弯曲段112至少一个方向的弯曲，和实现对工作器具13的移动。第二动力连接单元24和操作部的控制单元21相连，当第一锁紧件14和第二锁紧件22卡接时，可以实现第二动力连接单元24和第一动力连接单元16之间的动力传递。
进一步地，插入部1的端面上安装有第一电连接单元15，第一电连接单元15可分为第一电信号连接器和第一光信号连接器。第一电信号连接器可设置为接触式连接器，也可拆分为接触式电源连接器和无线式光电连接器，其中电源接口为接触式，信号接口为无线式；第一光信号连接器在内部光纤头端加装透镜或光锥及保护玻璃。操作部2的端面上安装有第二电连接单元23。具体地，第二电连接单元23可以分为第二电信号连接器和第二光信号连接器。第二电信号连接器可设置为接触式连接器，也可拆分为接触式电源连接器和无线式光电连接器，其中电源接口为接触式，信号接口为无线式；第二光信号连接器在内部光纤头端加装透镜或光锥及保护玻璃。
本公开实施例提供的一种前端可移动内窥镜，内窥镜的插入部1和操作部2还可以采用新型的电动内窥镜结构，新型电动内窥镜结构可采用中国公开专利CN110974125A公开的一种“内窥镜用夹持控制装置”中的结构。本公开需要重复使用部分可进行高水平消毒，其消毒内容为：杀灭一切细菌繁殖体包括分枝杆菌、病毒、真菌及其孢子等的消毒方法。具体地，化学方法有含氯制剂、二氧化氯、邻苯二甲醛、过氧乙酸、过氧化氢、环氧乙烷等。
本公开实施例提供的主管11、摄像部12、弹性变形部18(包括其 连接部)可以用一次性使用材料制成，也可以用可进行高水平消毒的重复使用材料制成。本公开中内窥镜可以为一次性使用内窥镜，也可以为重复使用内窥镜。
综上所述，根据本公开实施例提供的前端可移动的内窥镜，包括主管、摄像部、弹性变形部和驱动部件；主管内形成有贯通的主管腔道，主管腔道内至少用于穿设工作器具；弹性变形部连接于摄像部，且位于主管的出口端，弹性变形部使摄像部对应于主管腔道的出口；驱动部件作用于弹性变形部和/或摄像部，驱动部件使摄像部在第一位置和第二位置之间切换；在第一位置，摄像部对应于主管腔道的出口；在第二位置，摄像部至少部分避开主管腔道的出口。摄像部位于第一位置时，摄像部处于主管腔道的出口处，此时摄像部没有增加内窥镜的前端尺寸，操作人员可以更容易将内窥镜放入人体腔道内，同时降低患者的不适感；而且摄像部的尺寸较大，成像效果较好。内窥镜到达人体腔道内的对应位置后，通过驱动部件作用于弹性变形部和/或摄像部，进而使摄像部的部分或者全部避开主管腔道的出口，此时主管腔道的出口通畅，主管腔道内可以放置较大尺寸的工作器具。根据本公开实施例提供的前端可移动的内窥镜，不仅没有增加内窥镜的尺寸，便于内窥镜的放置，且增加了主管腔道内可通过的工作器具的尺寸以及摄像部的尺寸，使用时更加灵活方便。
以上所述仅为本公开的较佳实施例而已，并不用以限制本公开，凡在本公开的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本公开的保护范围之内。

Claims (20)

  1. 一种前端可移动的内窥镜，其特征在于，包括：
    主管，所述主管内形成有贯通的主管腔道，所述主管腔道内至少用于穿设工作器具；
    摄像部；
    弹性变形部，连接于所述摄像部，且位于所述主管的出口端，所述弹性变形部使所述摄像部对应于所述主管腔道的出口；
    驱动部件，所述驱动部件作用于所述弹性变形部和/或所述摄像部，所述驱动部件使所述摄像部在第一位置和第二位置之间切换；
    在所述第一位置，所述摄像部对应于所述主管腔道的出口；
    在所述第二位置，所述摄像部至少部分避开所述主管腔道的出口。
  2. 根据权利要求1所述的前端可移动的内窥镜，其特征在于，所述摄像部朝向所述主管的一侧设有管线连接件，所述管线连接件靠近所述摄像部的部分连接段形成所述弹性变形部。
  3. 根据权利要求1所述的前端可移动的内窥镜，其特征在于，所述管线连接件穿设于所述主管腔道内，且所述管线连接件对应于所述弹性变形部以外的连接段抵接于所述主管腔道的腔壁。
  4. 根据权利要求1所述的前端可移动的内窥镜，其特征在于，所述管线连接件设于所述主管的外侧，且通过固定件连接于所述主管的外侧壁。
  5. 根据权利要求4所述的前端可移动的内窥镜，其特征在于，所述管线连接件靠近所述主管的外侧壁的一侧形成有弧形槽，所述弧形槽贴合于所述主管的外侧壁。
  6. 根据权利要求2所述的前端可移动的内窥镜，其特征在于，所述主管的局部管壁端部设置有凸出部，所述凸出部与所述主管的其余部分管壁端部形成台阶状缺口；
    在所述第一位置，所述摄像部位于所述台阶状缺口处，且所述凸出部相对于所述摄像部远离所述主管的侧面平齐或者内凹。
  7. 根据权利要求6所述的前端可移动的内窥镜，其特征在于，沿所述主管的出口至进口方向，所述凸出部靠近所述摄像部的侧面向所述管线连接件所在方向倾斜。
  8. 根据权利要求6所述的前端可移动的内窥镜，其特征在于，所述凸出部靠近所述摄像部的侧面与所述摄像部之间设置有第一驱动单元，所述第一驱动单元使所述摄像部切换至第一位置或者第二位置。
  9. 根据权利要求1所述的前端可移动的内窥镜，其特征在于，所述主管朝向所述摄像部的局部管壁端部设有所述弹性变形部。
  10. 根据权利要求9所述的前端可移动的内窥镜，其特征在于，所述主管的管壁对应于所述弹性变形部以外的其余部分管壁延伸至所述摄像部，所述其余部分管壁也具有弹性，且所述其余部分管壁的弹性模量小于等于所述弹性变形部的弹性模量。
  11. 根据权利要求9所述的前端可移动的内窥镜，其特征在于，沿所述主管的径向方向，所述弹性变形部靠近所述摄像部的一端的横截面积大于所述弹性变形部远离所述摄像部的一端的横截面积。
  12. 根据权利要求1至11任一项所述的前端可移动的内窥镜，其特征在于，所述弹性变形部的数量为多个，多个所述弹性变形部的其中一个连接于所述摄像部，多个所述弹性变形部的其余几个一一对应连接于多个辅助件。
  13. 根据权利要求12所述的前端可移动的内窥镜，其特征在于，所述辅助件为辅助遮蔽件或者辅助摄像部。
  14. 根据权利要求1至11任一项所述的前端可移动的内窥镜，其特征在于，所述摄像部背向所述主管的侧面倾斜设置。
  15. 根据权利要求1至11任一项所述的前端可移动的内窥镜，其 特征在于，所述弹性变形部靠近所述工作器具的一侧与所述摄像部的侧边平顺连接，且所述弹性变形部靠近所述工作器具的一侧与所述摄像部的侧面均设有与所述工作器具相适应的滑槽。
  16. 根据权利要求1至11任一项所述的前端可移动的内窥镜，其特征在于，所述驱动部件为连接于所述摄像部和/或所述弹性变形部的第二驱动单元，所述第二驱动单元使所述摄像部在所述第一位置和所述第二位置之间切换。
  17. 根据权利要求1至11任一项所述的前端可移动的内窥镜，其特征在于，所述摄像部包括至少一个摄像头。
  18. 根据权利要求17所述的前端可移动的内窥镜，其特征在于，所述摄像部还包括照明单元和冲洗喷口，所述管线连接件内设置有连接于所述照明单元的光纤或导线、连通于所述冲洗喷口的导管以及连接于所述摄像头的导线。
  19. 根据权利要求1至11任一项所述的前端可移动的内窥镜，其特征在于，所述主管还包括用于调整所述主管的前端方向的弯曲段。
  20. 根据权利要求1至11任一项所述的前端可移动的内窥镜，其特征在于，在所述第一位置，所述摄像部的侧面相对于所述主管的外侧壁平齐或者内凹。
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