JP5678204B2 - Endoscope shaft - Google Patents

Description

  The present invention relates to an endoscope, and more particularly to an endoscope shaft.

  US Pat. No. 6,749,560 (B1), which is incorporated herein by reference in its entirety, discloses an endoscopic shaft having a superelastic material and a tube comprising a plurality of straight slots. Yes. US Pat. No. 6,485,411 (B1), which is incorporated herein by reference in its entirety, describes an endoscopic shaft having a tube of superelastic material and a single helical slot. Disclosure.

  The following summary is intended to be exemplary only. This summary is not intended to limit the scope of the claimed invention.

US Pat. No. 6,749,560 (B1) specification US Pat. No. 6,485,411 (B1) US Pat. No. 6,749,560 US Pat. No. 5,938,588

  According to one embodiment of the present invention, an endoscope is provided that includes a control portion and a shaft extending from the control portion. The shaft includes a frame with an integral tube. The tube includes at least one slot that enters the tube to form spaced portions on either side of the slot. The first portion of the portion includes at least one protrusion, and the protrusion extends into the at least one pocket of the second portion of the portion, whereby the protrusion and the pocket. Forms an overtravel limiting device for limiting relative movement of the first and second portions in at least one direction relative to each other. The unitary tube has a plurality of protrusions and a plurality of pockets, the plurality of protrusions being arranged to surround the longitudinal axis of the tube in a generally spiral pattern.

  In accordance with another embodiment of the present invention, an endoscope shaft frame member is provided that has an integral tube with a plurality of slots that enter the tube along at least a portion of the tube. The at least one slot has a non-linear shape to form at least one protrusion formed by the slot, and the protrusion extends into at least one pocket formed by the slot so that the tube is axial The protrusion is adapted to contact the pocket when subjected to deformation due to directional torsion, thereby forming an overtravel limiting device for limiting deformation due to axial twisting of the tube. The unitary tube has a plurality of protrusions and a plurality of pockets. The plurality of protrusions are arranged around the longitudinal axis of the tube in a generally helical pattern.

  According to another embodiment of the present invention, the method includes providing a unitary tube and creating at least one slot that enters the tube so that at least a portion of the tube is highly flexible. Forming a protrusion formed by the slot, wherein the protrusion extends into a pocket formed by the slot, wherein the at least one slot comprises a slot having a non-linear shape, Protrusions and pockets form an overtravel limiter to limit deformations that twist the tube in the axial direction, and the tube is created so that the protrusions are arranged around the longitudinal axis of the tube in a generally helical pattern Is done.

  The above aspects and other features of the present invention are described in the following description in conjunction with the accompanying drawings.

It is a side elevational view of an endoscope. It is sectional drawing of the shaft of the endoscope shown by FIG. FIG. 3 is a side elevational view of a tube used in the shaft frame shown in FIG. 2. FIG. 4 is an enlarged perspective view of a part of the tube shown in FIG. 3. FIG. 5 is a side view of a portion of the tube shown in FIGS. 3-4 showing the bend of the tube. FIG. 10 is a side view of the distal end of an alternative embodiment of an endoscope without an outer cover. FIG. 7 is an enlarged perspective view of a portion of the distal end shown in FIG. 6. FIG. 5 is a cross-sectional view of an alternative embodiment of a protrusion of the twist limiting device shown in FIG. 4. FIG. 5 is a cross-sectional view of another alternative embodiment of a protrusion of the twist limiting device shown in FIG. 4. FIG. 5 is a top plan view of another alternative embodiment of the protrusion and pocket of the twist limiter shown in FIG. 4. FIG. 5 is a top plan view of another alternative embodiment of the protrusion and pocket of the twist limiter shown in FIG. 4. FIG. 5 is a top plan view of another alternative embodiment of the protrusion and pocket of the twist limiter shown in FIG. 4. FIG. 2 is a perspective view of a portion of an alternate embodiment of a tube used as part of the shaft frame of the tool shown in FIG. 1. FIG. 14 is an enlarged view of a portion of the tube shown in FIG. 13. FIG. 15 is an enlarged view of one of the protrusion and pocket pairs formed by the slot shown in FIG. 14. FIG. 2 is a perspective view of a portion of an alternate embodiment of a tube used as part of the shaft frame of the tool shown in FIG. 1. FIG. 17 is an enlarged view of a portion of the tube shown in FIG. 16, showing one of the protrusion and pocket pairs formed by the slot shown in FIG. FIG. 6 is a perspective view of a portion of another alternative embodiment of a tube used as part of the shaft frame of the tool shown in FIG. 1. FIG. 2 is a perspective view of a portion of an alternate embodiment of a tube used as part of the shaft frame of the tool shown in FIG. 1. FIG. 20 is a side view of the tube shown in FIG. 19.

  Referring to FIG. 1, a side view of an endoscope 10 is shown. Although the present invention will be described with reference to the exemplary embodiments shown in the drawings, it should be understood that the present invention can be embodied in many alternate forms of embodiments. In addition, any suitable size, shape or type of element or material may be utilized.

  The endoscope 10 is a ureteral endoscope. However, in alternative embodiments, the endoscope may be any suitable type of endoscope. The endoscope 10 generally includes a handle or control device 12 and a flexible or semi-flexible shaft 14 connected to the handle 12. The shaft 14 includes a passive deflection portion 16 and an active deflection portion 18 at the distal end of the shaft 14. A control system 22 for controlling the active deflection portion 18 extends from the handle 12 to the active deflection portion 18. Referring also to FIG. 2, the control system 22 generally includes a pair of control wires 24a, 24b or at least one control wire, two wire sheaths 50a, 50b, and an actuator 28. The wires 24a, 24b are connected at one end to the actuator 28 and at the second end to the active deflection portion 18.

  In the preferred embodiment, the handle 12 has a user-actuated slide or lever 30. The lever 30 is connected to the actuating device 28. Actuator 28 is adapted to pull or loosen the two wires 24a, 24b of control system 22. When the lever 30 is moved by the user, the actuator 28 is moved. Actuator 28 may be a drum or pulley that is rotatably connected to handle 12 to pull one wire wire 24a, 24b and optionally loosen the other wire. In an alternative embodiment, the actuator may be any suitable type of device, for example a rocker arm adapted to pull or loosen the wires of the control system 22. In another alternative embodiment, the control system may have more than one pair of control wires, and the handle has an additional actuator and a corresponding control device to drive the additional control wire pair. Let In yet another alternative embodiment, the handle may be a knob with a control device for a rack and pinion mechanism or other suitable user-actuated control system.

  The shaft 14 is supported by a cantilever from the handle 12. The flexible shaft 14 includes control wires 24 a, 24 b of the control system 22, a fiber optic image bundle 37 or sensor cable, at least one fiber optic illumination bundle 36, and a working channel 38. A port 60 for inserting an instrument (not shown) into the channel 38 is positioned on the handle 12. In addition, the handle 12 has an electrical cable 63 for connection to another device, such as a video monitor. In an alternative embodiment, instead of the cable 63, the endoscope may have an eyepiece. In an alternative embodiment, the flexible shaft may house a different system therein.

  The shaft 14 generally includes a frame 26, a cover 32, and an objective head 34. Still referring to FIG. 3, the frame 26 generally comprises an integral tube 40. However, in alternative embodiments, the frame may be composed of one or more tubes, such as multiple tubes connected in series, and may include additional members. Tube 40 is preferably constructed of a shape memory alloy material such as tinel or nitinol. Shape memory alloy materials, even when the degree of strain of the material causing plastic deformation in common metals approaches 4%, or when it reaches a magnitude that exceeds the typical yield strain of 0.4% Even so, it is utilized by its superelastic properties that deflect and exhibit the ability to elastically return to its original or predetermined position. Thus, the term “superelastic alloy” is used to refer to this type of material. However, the tube 40 can use any durable material. The wire sheaths 50a, 50b may also be constructed of this type of material as disclosed in US Pat. No. 5,938,588, which is incorporated herein by reference in its entirety. In an alternative embodiment, the tube may not be composed of a superelastic alloy.

The tube 40 has a central channel 42 with an open front end and rear ends 44, 45 and a slot 46 along at least a portion of its length. In this embodiment, the slot 46 extends over more than half of the tube. However, in alternative embodiments, one or more slots may not extend over more than half of the tube. In this embodiment, the slots have different patterns along different portions or lengths of the tube. More specifically, in this embodiment, the slot 46 is configured to be three portions, 52, 54, 56. Each part has a different pattern of slots 46. The pattern of the slot 46 can be configured based on the following variables, for example.
The distance or spacing between adjacent slots,
The direction of the slot entering the tube 40,
The depth of the slot entering the tube,
・ Slot width,
The effect of mixing the different shapes of the slot along the length of the tube, and along a certain length of the tube.

  In alternative embodiments, the tube 40 may have more or less than three, for example, only one or two different slot patterns. In addition, instead of abrupt transitions between parts of different slot patterns, the tube may have a transition area of gradually or mixed slots between the parts. In this embodiment, the tube 40 also has two portions 58, 59 that do not include slots therein.

  Referring also to FIG. 4, an enlarged view of the front end of the tube 40 is shown. The slot 46 includes a first slot 46a and a second slot 46b. The first slot 46a is substantially straight and extends into the tube approximately perpendicular to the central longitudinal axis of the tube 40. The second slot 46b has a non-linear shape. In this exemplary embodiment, the second slot 46b is generally three-dimensional curved and generally zigzag shaped. Such a shape forms the protrusion 64 and the pocket 66. The slot forms spaced portions 48 on either side of each slot 46b, the first portion of which includes one of the protrusions 64, which is the opposite second of the portions. Extends into the pocket 66 of the portion 48 of the. Each second slot 46b has an end 47 opposite the opposite sides of the tube, which are aligned and substantially perpendicular to the central axis of the tube. The first slots 46a have no pockets or protrusions because they are straight.

  Referring also to FIG. 5, the slot 46 can bend the tube 40. The protrusion 64 can slide back and forth in the longitudinal direction in the pocket 66 during the bending operation. The side surface 68 of the protrusion 64 is typically slightly spaced from the side surface 70 of the pocket 66. However, when the tube 40 is subjected to an axial torque or twisting force, the side surfaces 68, 70 can be in contact with each other and the movement of adjacent portions 48 twisting relative to each other can be limited. Thus, the protrusion and the pocket limit the relative movement of the first and second portions in at least one direction relative to each other, forming an overtravel limiting device. In this particular example, the limiting device limits axial twisting or deformation of the tube 40.

  In FIGS. 6 and 7, shown in an alternative embodiment of the present invention, the tube 40 'is provided only at the distal end of the shaft (the outer cover of the shaft is not shown for purposes of understanding only). ). In this exemplary embodiment, the second slot 46b is only provided in the rear portion of the tube 40 'proximate to the joint 72 having the remaining portion of the shaft. In addition to this, the second slot 46 b is only provided on one side of the tube 40. The first slots 46a are on the other side of the tube, are alternately disposed with the second slots 46b, and are disposed in front of the second slots 46b on the same side. Any suitable arrangement of the first and second slots 46a, 46b relative to each other can be formed. There may be additional slots shaped differently, or the tube may have only a second slot 46b.

  FIG. 4 shows the protrusion 64 as a cantilever rectangular shape as a whole. However, one or more protrusions 64 may have different shapes. FIG. 8 shows a protrusion 64 'with a tip 74 molded inwardly. FIG. 9 shows a protrusion 64 ″ with a central portion 76 molded inside. FIG. 10 shows a protrusion 78 in the pocket 66, where the protrusion has an inclined side surface 68 '. Depending on the longitudinal position of the protrusion 78 within the pocket 66 (eg, based on the amount of bending of the tube), this embodiment can be used to vary the amount of axial twist allowed.

  FIG. 11 shows another embodiment, in which the shape of the pockets 80 and protrusions 82 is utilized to limit the longitudinal movement 88 (when the sides 84, 86 are pushed against each other). In addition, the amount of axial twist (relative motion in direction 90) can be limited. Thereby, the bending of the tube can be limited.

  FIG. 12 shows another embodiment, in which the protrusion 92 has a spring portion 94 that is elastically deflectable to provide a spring action to the overtravel limiting device.

  In accordance with the present invention, a method includes providing a tube of superelastic alloy and forming a plurality of slots into the tube such that at least a portion of the tube is highly flexible. Each slot having a non-linear shape, thereby forming a protrusion extending into the pocket, the protrusion being movable longitudinally with respect to the pocket. Once the lateral movement within the pocket is limited, the protrusion and pocket form an overtravel limiting device to limit the deformation that twists the tube in the axial direction. The method of creating the slot can include forming the slot in the tube, for example with a laser.

  A conventional endoscope having a tube frame member is made of a superelastic alloy having a slot orthogonal to a deflection surface, and this endoscope is known as described above. Such slot geometries correspond to the requirements required for deflection elastic forces. Slotted tubes, which in some cases are made from laser-cut tube material, are used in the actively deflecting part of a flexible ureteroscope and have been successful for several years. I came. In general, slotted tubes are designed to deflect in one or both directions, with the maximum length of the slotted tube being on the order of 2 inches.

  Newer designs of endoscopes have been utilized that utilize longer slotted tubes with similar deflection forces in two opposing directions, but such longer types of slotted tubes are There has been some tendency to break at the proximal end. It is now understood that the longer slotted tube is the proximal end when the endoscope tip at the distal end is manipulated (twisted) sideways in a medical procedure. Is more susceptible to higher torque forces (as compared to shorter slotted tubes in previous designs). The previous design appeared to be more flexible at the proximal end of the deflection portion of the endoscope, so that the deflection portion utilizing a longer slotted tube (approximately 3 inches long) There is no flexibility of such a proximal portion. Such a stronger torque force can strongly twist the proximal part of the longer slotted tube and deform it, which makes use of super elastic material as the frame of the slotted tube Despite this, it can lead to material fatigue. Existing slotted tube frame members work well against deflection loads, but with higher “deflection flexibility” and lower “torque resistance stability”, the angular load (torque) Can't stand.

  In the case of the longer slotted tube described above, the proximal end of the slotted tube (before bending) appears to absorb twists and in that region enters the adjacent slot from the bottom of the open slot. The tube structure seems to prevent the twist from propagating to the tip.

  One of the objects of the present invention is to suppress the deformation of the material in the proximal portion of the slotted tube due to the strong twisting action, thereby eliminating a major source of material fatigue. The fundamental difference in the proposed design is that the ring (portion 48) between the slots has a protrusion or tab oriented along the axis of the slotted tube at the center of the slot, which Having an associated notch on the subsequent coil (portion 48). The protrusion or tab 64 can function as a key. Since the position of the pocket 66 is orthogonal to the deflection surface, the durability of the slotted tube is enhanced. This solution is intended to resolve the physical contradiction between greater deflection flexibility and lower torque resistance stability. The implementation of the proposed slotted tube key design not only increases the torque resistance of the tube, but it also makes the slotted tube more stable in deviation from the flexure.

  Conventional slotted tube frame member rings / coils, when twisted, may be laterally displaced relative to each other, thereby deforming the web of material between adjacent slots, and possibly tubes. Wrinkles will be created where the material is stressed. On the other hand, according to the present invention, when a portion having interdigitated tabs (keys) is twisted, the tabs transmit a torsional force to the next ring (portion 48) with very little relative lateral displacement. To do. This substantially eliminates excessive material deformation and associated excessive stress. Tab 64 extends sufficiently into adjacent slit 66 so that when the slotted tube is deflected there, the tab still engages the slot. Changing the geometry of the tabs (keys) can change the overall design of the tube, but the basic purpose is retained and the minimum size relative between the existing portions 48 is retained. The torsional force can be transferred to the next ring (portion 48) due to the lateral displacement and thereby the minimal amount of material deflection and associated stress.

  The unitary tube 40 makes it possible to assemble the shaft much more easily than a tube composed of a plurality of coupling parts or rings connected by pins or rivets. Quality control is also much more consistent with monolithic tubes than multiple connections or rings connected by pins or rivets. However, unlike other monolithic tubes used as a shaft frame in an endoscope, the torsion overtravel limiting device formed by the protrusions / pockets of the illustrated embodiment is further enhanced by adding additional components. It may be possible to utilize an integral tube without the need for torsional stability. The cover no longer needs to provide torque stability as is required for conventional endoscope shafts with an integral tube frame. Therefore, the shaft 14 can be made thinner than the shaft of a conventional endoscope by using an integral tube frame.

  Referring now to FIGS. 13-15, another alternative embodiment of a tube used in at least a portion of the endoscope 10 frame is shown. The tube 100 is a unitary member made of a suitable material such as plastic, metal or metal alloy. Tube 100 has a plurality of slots 102 therein. FIG. 14 is an enlarged view of a portion of the tube 100, and FIG. 15 is an enlarged view of one of the pair of protrusions / pockets 64/66. Each slot 102 forms one protrusion 64, one pocket 66, and portions 67, 69 on opposite sides of the pair of protrusions / pockets 64/66, each of which includes 67, 69 respectively. The opposite ends of the slots are formed. The slots 102 form spaced apart portions 65 on either side of each slot 102, the first portion of which extends into the opposite second pocket 66 of this portion 65. One of the protruding protrusions 64 is provided. In an alternative embodiment, a slot may include more than one protrusion 64 and a pocket 66. Each protrusion / pocket 64/66 can face forward or backward, or multiple protrusion / pocket 64/66 pairs can face both forward and backward of the tube. In this exemplary embodiment, four patterns of slots 102 are repeated, which are arranged along the length of the tube in a generally helical pattern and are rotated approximately 90 degrees relative to each other. With each protrusion / pocket.

  The portions 67, 69 are aligned to be generally orthogonal to the central axis 104 of the tube 100, but may be angled in an alternative embodiment. The pair of protrusions / pockets 64/66 extend generally parallel to the central axis 104, but in an alternative embodiment they may be angled with respect to the central axis 104. In this exemplary embodiment, as described above, the pair of protrusions / pockets 64/66 in one slot is offset by 90 degrees relative to the adjacent slot 102 by a fixed angle of rotation about the axis 104. ing. Thus, the first pair of protrusions / pockets 64/66 is arranged with a reference angle of 0 (zero), followed by the second pair of protrusions / pockets 64/66 with a reference angle of 90 degrees, The subsequent third pair of protrusions / pockets 64/66 is disposed at a reference angle of 180 degrees, and the subsequent fourth pair of protrusions / pockets 64/66 is disposed at a reference angle of 270 degrees; The subsequent fifth pair of protrusions / pockets 64/66 is placed back to a reference angle of 0 (zero) degrees. Thus, in this embodiment, the slot 102 provides a generally helical pattern for the protrusion / pocket 64/66 arrangement on the tube 100. In alternate embodiments, any suitable amount of rotation angle difference may be provided between adjacent protrusions / pockets 64/66, such as 120 degrees or 72 degrees, for example. In addition, the rotation angle may not be uniform.

  Although the embodiment of FIGS. 13-15 has been described with reference to a generally rectangular protrusion 64 and a generally rectangular pocket 66, the protrusion and pocket may differ in shape. For example, the examples shown in FIGS. 13-15 may utilize shapes such as those shown in FIGS. Alternatively, other alternative shapes may be used for the protrusions and pockets.

  Referring also to FIGS. 16 and 17, another alternative embodiment of a tube used in at least a portion of the endoscope 10 frame is shown. The tube 110 is a unitary member made of a suitable material such as plastic, metal or metal alloy. Tube 110 has a plurality of slots 112 therein. Referring also to FIG. 17, each slot 112 forms a protrusion 114, a pocket 116, and portions 67, 69 on either side of the pair of protrusions / pockets 114/116. In an alternative embodiment, a slot may include more than one protrusion 114 and a pocket. Each protrusion / pocket 114/116 can face forward or backward, or multiple protrusions / pockets 114/116 can face both forward and backward of the tube.

  The portions 67, 69 are aligned to be generally orthogonal to the central axis 104 of the tube 100, but may be angled with respect to the central axis 104 in an alternative embodiment. Although the pair of protrusions / pockets 114/116 extend generally parallel to the axis 104, in an alternative embodiment, they may be angled with respect to the center axis 104. In this exemplary embodiment, the protrusion / pocket 114/116 pair in one slot is offset by 120 degrees with respect to the adjacent slot 112 by a fixed angle of rotation about the axis 104. Thus, the first pair of protrusions / pockets 114/116 is positioned at a reference angle of 0 (zero), followed by the second pair of protrusions / pockets 114/116 at a reference angle of 120 degrees, The subsequent third pair of protrusions / pockets 114/116 is positioned at a reference angle of 240 degrees, and the subsequent fourth pair of protrusions / pockets 114/116 is at a reference angle of 0 (zero) degrees. Placed back. Thus, in this embodiment, slots 112 provide a generally helical pattern for the arrangement of protrusions / pockets 114/116 on tube 100. In alternative embodiments, any suitable amount of rotation angle difference may be provided between adjacent protrusions / pockets 114/116. Also, the rotation angles may not be uniformly uniform, i.e. the angles may change.

  The protrusion 114 in this exemplary embodiment is generally “T-shaped” in shape. The pocket 116 is also generally “T-shaped” in shape. “T” shaped protrusions / pockets 114/116, in addition to limiting the twisting action of twisting the tube, can limit the axial bending action of the tube. The protrusion is movably arranged in the pocket so that it can move in the longitudinal direction in the pocket, and the protrusion and the pocket are engaged with each other, so that the protrusion moves in the longitudinal direction. Restrict getting out of your pocket. In this embodiment, one or more protrusions 114 from one side of the cut are positioned in the cavity 116 on the adjacent side of the cut, thereby providing relative movement on both sides of the cut. Acts to control. They act as overtravel limiting devices. This embodiment further controls the relative motion of the two sides of the cut by restricting one or more protrusions from exiting their associated cavities when bending the tube. Increases reliability. In addition, this embodiment limits the maximum axial deflection of the tube because one or more protrusions can contact its associated cavity.

  In an alternative embodiment, each slot can have a generally helical shape. Each such slot has a patterned shape, so that a plurality of protrusions 114 and pockets 116 can be formed in one or more slots. In certain alternative embodiments, the slot can rotate more than 360 around the axis 104, for example, twice (720 degrees). In this exemplary embodiment, each slot can form two pairs of protrusions / pockets 114/116 that are spaced approximately evenly about the axis 104, eg, spaced approximately 180 degrees apart. The Successive slots can be interleaved and they begin and end so that the protrusion / pocket 114/116 pairs are staggered approximately 90 degrees apart. Some of the adjacent slots can be mixed with each other or inserted between them. The protrusions / pockets may also have different shapes (they need not have the same shape). In certain alternative embodiments, the generally helical slot may have only a pair of protrusions / pockets.

  Referring also to FIG. 18, another alternative embodiment of a tube for use in at least a portion of the endoscope 10 frame is shown. The tube 120 is a unitary member made of a suitable material such as plastic, metal or metal alloy. The tube 120 has a portion with a slot 122 therein. The slot 122 has a generally spiral pattern that circles about the central longitudinal axis of the tube. Slot 122 is not straight. Instead, the slot has a patterned shape to form a plurality of protrusions 64 and pockets 66. In this exemplary embodiment, the slots form a pair 124 protruding forward of the protrusion / pocket 64/66 and a pair 126 protruding rearward of the protrusion / pocket 64/66. The slot 122 provides a generally helical pattern for the protrusion / pocket 64/66 arrangement on the tube 120.

  In this embodiment, one or more protrusions from one side of a cut are captured in a cavity on the adjacent side of the cut so as to control the relative movement of both sides of the cut. Works. In this embodiment, one cut is represented as a spiral along the length of the tube. In an alternative embodiment, the protrusions may be designed to contact each cavity similar to that shown in FIG. Such an overtravel “T” shaped restriction device restricts one or more protrusions from exiting their associated cavities when bending a tube, thereby providing a Reliability can be increased by controlling relative motion. In addition, because one or more protrusions are in contact with their respective associated cavities, this can limit the maximum deflection of the axial tube. The slot 122 forms spaced portions 123 on opposite sides of the slot 122, the first portion of which includes at least one of the protrusions / pockets 64 and / or 66, of which At least one opposing second portion 123 includes at least one respective intermeshing protrusion 64 and / or pocket 66.

  Although the embodiment of FIG. 18 has been described with reference to a generally rectangular or square protrusion 64 and a generally rectangular or square pocket 66, the shape of the protrusion and pocket may vary. For example, the example shown in FIG. 8 may utilize shapes such as those shown in FIGS. Alternatively, other alternative shapes may be used for the protrusions and pockets.

  Referring also to FIGS. 19-20, another alternative embodiment of a tube used for at least a portion of the frame of the shaft of the endoscope 10 is shown. The tube 220 is a unitary member made of a suitable material such as plastic, metal or metal alloy. The tube 220 has a portion with a slot 222 therein. The slot 222 has a generally spiral pattern that circles about the central longitudinal axis of the tube. Slot 222 is not straight. Instead, the slot has a patterned shape to form a plurality of protrusions 264, 265 and pockets 266. In this exemplary embodiment, the protrusion / pocket 264/266 pair functions as a torsion overtravel limiting device. Protrusions 265 can contact the opposite sides of the slot as stand-off and bendable restrictors instead of extending into the pockets either. The slot 222 provides a generally helical pattern in the placement of the protrusions / pockets 264/266 of the tube 220 and the protrusions 265 of the tube 220.

  In this embodiment, one or more protrusions from one side of a cut are captured in a cavity on the adjacent side of the cut so as to control the relative movement of both sides of the cut. Works. In this embodiment, one cut is represented as a spiral along the length of the tube. The slot 222 forms spaced portions 223 on opposite sides of the slot 222, a first portion of which includes at least one of a protrusion 264 and / or a pocket 266, and at least one of the portions. One opposing second portion 223 includes at least one respective intermeshing protrusion / pocket 264 and / or 266.

  An exemplary embodiment of the present invention can provide an endoscope with a control portion 12 and a shaft 14 extending from the control portion 12, where the shaft 14 comprises an integral tube 100, Includes a frame comprising 110, 120, 220, the tube comprising first slots 102, 112, 122, 222 that enter the tube along at least one length of the tube, the first slot being A plurality of protrusions 64, 114, 264 and respective pockets 66, 116, 266 are formed in the tube, and the protrusions extend into the pockets to limit the overtravel limiting device. Formed and sized and shaped to limit relative movement of portions of the tube relative to each other in at least one direction. The first slot may extend more than 360 degrees around the longitudinal axis 104 of the tube. The first slot can have a generally helical shape about the longitudinal axis of the tube. The pockets and protrusions can have a generally square or rectangular shape. The slot can form a pocket with at least three pairs of protrusions. The pairs can be spaced substantially evenly around the axis of rotation of the first slot. The protrusions can include a first protrusion extending generally in the forward direction and a second protrusion extending generally in the rearward direction. Each protrusion may have a generally “T” shape. Each pocket may have a generally “T” shape. The tube can comprise a plurality of first slots. The tube can include a second slot in the tube, which has no protrusions and pockets. In this case, the second slot has an outer winding path of at least 180 degrees.

  An exemplary embodiment of the present invention may provide an endoscope shaft frame member with an integral tube 100, 110, 120, 220, where the tube is a portion of the length of the tube. Along the length of the tube 102, 112, 122, 222, the slot having a generally helical shape surrounding the longitudinal axis of the tube along its length. By forming a protrusion and this protrusion being placed in the pocket, the protrusion and pocket form an overtravel limiting device that is sized to limit deformation due to axial twisting of the tube. Are molded. The slot can form a plurality of pairs of protrusions and pockets. The protrusions can include a first protrusion extending generally in the forward direction and a second protrusion extending generally in the rearward direction. The slot can extend more than 360 degrees around the longitudinal axis of the tube. The pockets and protrusions can have a generally square or rectangular shape. The protrusion may have a generally “T” shape. The pocket may have a generally “T” shape. The tube may comprise a plurality of slots.

  One exemplary embodiment of the present invention forms a tube and at least a portion of the tube having high flexibility by creating a slot 102, 112, 122 or 222 that enters the tube. Wherein the slot is a specific shape that forms a plurality of protrusions and respective pockets (eg 64/66, 114/116 or 264/266) in the tube. And the protrusion extends into the pocket to form an overtravel limiting device that is sized to limit relative movement of portions of the tube relative to each other in at least one direction. Determined and molded.

  Exemplary embodiments of the present invention do not require a braid that provides torque stability or strut strength. The illustrated embodiment only requires a cover to form a seal between the interior of the shaft and the external environment. This cover can additionally be significantly thinner than conventional covers since the cover does not need to provide strut strength or torque stability functions. The overall advantage is that the walls are thinner with better torque stability and strut strength. Proposed embodiments of shaft frames for use in flexible endoscopes include shaft frames made from any elastic material such as plastic or metal. The shaft frame can have a slotted tube with at least one slot on the shaft. The one or more slots can also be angled with respect to the longitudinal axis of the shaft. In the illustrated embodiment, the slots have three patterns that are helically arranged (but not limited to) along the axis of the shaft and are equally spaced circumferentially. Each slot includes at least one protrusion “tab” and at least one mating pocket “notch”. At least one tab interengages with at least one notch to achieve the required torque stability. Alternatively, the flexibility for bending in different directions can be adjusted by changing the axial spacing, depth or shape of a particular slot, or the pattern that cuts one slot.

  The one slot embodiment is not limited to a spiral. The width of each slot, the number of slots, and the respective orientation and axial spacing on the shaft may be designed to achieve the minimum required shaft bending radius. In a preferred embodiment, the minimum bend radius of the shaft decreases with the distal distance along the shaft. Bending radius variation can be adjusted by adjusting the spacing of individual slot widths and by the pattern of slot spacing along the shaft. The width of each slot and the axial spacing of the tabs and notches are the same, affecting the strength of the shaft struts. The slot, tab and notch shaft structure has a significantly higher axial compression resistance (compared to the helical shaft structure) and applies axial compression only to one open slot side during closure. It is done.

In the use of a flexible endoscope, an optimal shaft frame design achieves all of the following objectives.
-Improved torque stability with the required shaft flexibility-Thinner overall shaft wall-Maximum strut strength without compromising shaft flexibility.

  When a torsional force is applied, the torsional displacement of adjacent portions of each slot is limited by the side gaps between the interengaging tabs and notches of this slot. In the case of a known gap width (as small as required), the overall twist angle of the shaft is predictable and is adjusted. In such a shaft structure, a wire assembly as a structural member is not necessary, but it is used as an exterior element under the shaft cover tube to simply cover the shaft's characteristic features (slots and tabs and notches). There is also a case.

  Such an exemplary embodiment shows multiple slots, but a similar function can be achieved by a single cut (not necessarily helical) extending around the tube around it. it can. The tube need not have a circular cross section as shown in the drawings. The cross section of the tube may be rectangular or elliptical, for example.

  In the exemplary embodiment shown in FIG. 18, one end of slot 122 is positioned at a different longitudinal length of the tube than the opposite end of the slot. Thus, this exemplary embodiment includes a first end located at the first longitudinal length of the tube and a second end opposite the slot at a different longitudinal length. It can be shown that one or more slots can be provided. This can be achieved by the generally helical shape of the slot along the length of the tube. However, in an alternative embodiment, the slot may not be a spiral slot, such as a stepped slot or a serpentine slot. The shape may be irregular as long as the different lengths of the slots (eg, their opposite ends, etc.) are located at different longitudinal positions of the tube.

  It should be understood that the above description is merely illustrative of the invention. Various alternatives and modifications can be devised by those skilled in the art without departing from the invention. For example, the features listed in the various dependent claims can be combined with each other in any suitable combination. In addition, features from the various embodiments described above can be selectively combined in new embodiments. Accordingly, the present invention is intended to embrace all such alternatives, modifications and variations that fall within the scope of the appended claims.

DESCRIPTION OF SYMBOLS 10 Endoscope 12 Handle 14 Shaft 22 Control system 24a, 24b Control wire 26 Frame 28 Actuator 30 Lever 37 Cover 38 Working channel 40, 40 ', 100, 110, 120, 220 Tube 42 Central channel 44 Front end 45 Back End 46a, 46b Slot 48 Spaced portion 47 End 52, 54, 56 Part of slot 59 Part not including slot 64, 64 ', 64''Protrusion 66 Pocket 68, 68' Side of protrusion 70 Side of pocket 72 Joint 78 Projection 80 Pocket 82 Projection 84, 86 Side 88 Longitudinal direction of movement 90 Direction of relative movement 92 Protrusion 94 Spring portion 102, 112, 122, 222 Slot 114, 264, 265 Projection 116, 266 Pocket 124 Forward Protruding pair 12 Pair 223 spaced portions projecting rearwardly

Claims (14)

A control part;
A shaft extending from the control portion;
An endoscope comprising:
The shaft includes a frame with an integral tube, the tube comprising at least one slot in the tube to form spaced portions on opposite sides of the slot, the first of the portions Of the portion comprises at least one projection extending into at least one pocket of the second portion of the portion, whereby the projection and pocket form an overtravel limiting device, and at least one Limiting relative movement of the first part and the second part relative to each other in a direction;
The one-piece tube has a plurality of the protrusions and a plurality of the pockets, the plurality of protrusions being arranged around the longitudinal axis of the tube in a spiral pattern;
The slot forms at least one additional protrusion, the additional protrusion extends from the first portion and contacts the second portion, and the at least one additional protrusion is the An endoscope that does not extend into the pocket of the second part . The at least one slot includes a slot along a length of the tube, the slot having a shape forming a plurality of protrusions and respective pockets in the tube ; The endoscope according to claim 1, wherein a protrusion extends into the pocket.   The endoscope according to claim 1, wherein the at least one slot extends more than 360 degrees around a longitudinal axis of the tube.   The endoscope according to claim 1, wherein the at least one slot has a helical shape surrounding a longitudinal axis of the tube.   The endoscope according to claim 1, wherein the at least one slot forms at least two pairs of protrusions and pockets. The endoscope according to claim 5 , wherein the pairs are evenly spaced about a rotation axis. The endoscope according to claim 5 , wherein the protrusion includes a first protrusion extending in a forward direction and a second protrusion extending in a backward direction.   The protrusion is movably disposed in the pocket so that the protrusion can move in the longitudinal direction in the pocket, and the protrusion and the pocket have a shape that meshes with each other, so that the protrusion is in the longitudinal direction. The endoscope of claim 1, wherein the endoscope is restricted from moving out of the pocket.   The endoscope according to claim 1, wherein the at least one direction is an axial twist direction.   The endoscope according to claim 1, wherein the protrusion is configured to slide longitudinally forward and backward in at least a portion of the pocket.   The endoscope according to claim 1, wherein a side surface of the protrusion is arranged to contact an opposite side surface of the pocket when the tube is twisted in an axial direction.   The endoscope according to claim 1, wherein the at least one slot comprises a three-dimensional curved zigzag shaped slot. An endoscope shaft frame member comprising an integral tube,
The tube comprises a plurality of slots in the tube along at least one portion of the tube ;
At least one of the slots has a non-linear shape, thereby forming at least one protrusion formed by the slot, the protrusion extending into at least one pocket formed by the slot; An overtravel limiting device for limiting deformation due to axial twisting of the tube, wherein the projection is adapted to contact the pocket when the tube undergoes deformation due to axial twisting; Forming,
The unitary tube has a plurality of protrusions and a plurality of pockets, the plurality of protrusions being arranged around the longitudinal axis of the tube in a spiral pattern;
An endoscope shaft frame member , wherein the slot forms at least one additional protrusion, and the at least one additional protrusion does not extend into the pocket . Providing an integral tube;
By creating at least one slot in said tube, and forming so as to have at least a portion high flexibility of the tube,
A method comprising:
The at least one slot comprises a slot having a non-linear shape to form a protrusion formed by the slot, and the protrusion extends into a pocket formed by the slot; A pocket forms an overtravel limiting device to limit deformations that axially twist the tube;
The tube is created such that the protrusions are arranged around the longitudinal axis of the tube in a spiral pattern;
The method wherein the slot forms at least one additional protrusion and the at least one additional protrusion does not extend into the pocket .

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