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EP3876815A1 - Instrument endoscopique - Google Patents

Instrument endoscopique

Info

Publication number
EP3876815A1
EP3876815A1 EP19805527.9A EP19805527A EP3876815A1 EP 3876815 A1 EP3876815 A1 EP 3876815A1 EP 19805527 A EP19805527 A EP 19805527A EP 3876815 A1 EP3876815 A1 EP 3876815A1
Authority
EP
European Patent Office
Prior art keywords
shaft
endoscopic instrument
distal
working channel
fluid channel
Prior art date
Legal status (The legal status 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 status listed.)
Pending
Application number
EP19805527.9A
Other languages
German (de)
English (en)
Inventor
Rudolf Heimberger
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Richard Wolf GmbH
Original Assignee
Richard Wolf GmbH
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.)
Filing date
Publication date
Application filed by Richard Wolf GmbH filed Critical Richard Wolf GmbH
Publication of EP3876815A1 publication Critical patent/EP3876815A1/fr
Pending legal-status Critical Current

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
    • A61B17/221—Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00066—Proximal part of endoscope body, e.g. handles
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00071—Insertion part of the endoscope body
    • A61B1/00078—Insertion part of the endoscope body with stiffening means
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • A61B1/00103—Constructional details of the endoscope body designed for single use
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00114—Electrical cables in or with an endoscope
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00117—Optical cables in or with an endoscope
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00119—Tubes or pipes in or with an endoscope
    • 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
    • A61B1/00131—Accessories for endoscopes
    • A61B1/00137—End pieces at either end of the endoscope, e.g. caps, seals or forceps plugs
    • 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
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • 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
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • 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
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
    • A61B1/0056—Constructional details of insertion parts, e.g. vertebral elements the insertion parts being asymmetric, e.g. for unilateral bending mechanisms
    • 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
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/015—Control of fluid supply or evacuation
    • 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
    • A61B1/012—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 characterised by internal passages or accessories therefor
    • A61B1/018—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 characterised by internal passages or accessories therefor for receiving instruments
    • 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
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0023—Surgical instruments, devices or methods disposable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00238—Type of minimally invasive operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/00234—Surgical instruments, devices or methods for minimally invasive surgery
    • A61B2017/00292—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means
    • A61B2017/00296—Surgical instruments, devices or methods for minimally invasive surgery mounted on or guided by flexible, e.g. catheter-like, means mounted on an endoscope
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B2017/0046—Surgical instruments, devices or methods with a releasable handle; with handle and operating part separable
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
    • A61B2017/22072—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other
    • A61B2017/22078—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for with an instrument channel, e.g. for replacing one instrument by the other for rotating the instrument within a channel, e.g. an optical fibre
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B17/00—Surgical instruments, devices or methods
    • A61B17/22—Implements for squeezing-off ulcers or the like on inner organs of the body; Implements for scraping-out cavities of body organs, e.g. bones; for invasive removal or destruction of calculus using mechanical vibrations; for removing obstructions in blood vessels, not otherwise provided for
    • A61B17/221—Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions
    • A61B2017/2212—Gripping devices in the form of loops or baskets for gripping calculi or similar types of obstructions having a closed distal end, e.g. a loop

Definitions

  • the disclosure relates to an endoscopic instrument for insertion into a patient's body, preferably as a disposable item for disposal after single use and preferably for minimally invasive diagnosis of kidney and ureter conductors and for kidney or urinary stone removal.
  • the starting point of the invention are ureterorenoscopes as are known, for example, from EP 2 986 237 B1.
  • a flare of the ureferorenoscope is inserted into a patient's body through the ureter to capture and remove a kidney or urinary stone with a distal grasping device such as a collecting basket or a dormia loop.
  • a distal grasping device such as a collecting basket or a dormia loop.
  • such ureterorenoscopes can be used not only therapeutically but also only diagnostically, since the treating person can use them to directly view and diagnose kidney or ureters. Visibility is usually improved by rinsing liquid, which emerges through a rinsing line through the shaft at the distal end of the shaft and sweeps away tissue that obstructs the view.
  • an endoscopic instrument for insertion into a body of a patient having a tubular shaft and at least two electrical, mechanical and / or optical lines running through the shaft ⁇ .
  • the instrument has a fluid channel and a sealant, which forms a proximal end of the fluid channel and has bushings for the lines ⁇ .
  • the sealing device can have, for example, an elastomer cellular foam block, which is arranged in a proximal end region of the shaft and / or in a flange handling device connected or connectable to a proximal end region of the shaft.
  • the cell foam block is preferably designed as a closed cell.
  • the lines can be led through bushings through the sealing device, the bushings each originally having a smaller diameter than the associated lead through, but being elastically widened by the lead through.
  • a sealing effect can thereby be achieved so that no fluid can flow axially through the bushings proximally outward from the shaft or into the handling device.
  • the fluid should preferably not flow axially, but laterally through a proximal fluid channel opening provided for this purpose, which is arranged laterally on the shaft and preferably distally from the sealing device.
  • a sealing device or a sealing means is provided in order to seal the lines with respect to the handling device.
  • the sealant consequently forms a proximal end of the fluid channel.
  • the sealant is preferably coupled to the shaft in a rotational test. The twisting of the shaft consequently leads to a twisting of the lines and the sealant, so that the relative positions of the lines passed through the sealant to the sealant remain unchanged.
  • the sealant is therefore not loaded by transverse forces, which could deform the material of the sealant elastically in such a way that a sealing effect is canceled, at least in some areas.
  • the rotationally fixed coupling can be realized by form-locking means which are formed in the sealant and in a seal receptacle to correspond to one another.
  • the sealant optionally has a disk-shaped, round shape.
  • the sealant can be easily pressed into a seal holder.
  • the form-locking means can optionally be implemented in the form of a tongue and groove arrangement on the circumference.
  • the groove can protrude into a peripheral surface of the sealant or be formed in the seal receptacle.
  • the spring could be formed in the seal receptacle or in the sealant as a radial projection.
  • the form-locking means are preferably arranged exclusively at a single, circumferential position, so that the sealant is correctly positioned even with an asymmetrically designed sealant.
  • the sealant can have at least two slots as bushings which penetrate a peripheral surface of the sealant and each partially extend through the sealant.
  • the slots can be provided to lead mechanical lines, such as pull wires, through the sealant.
  • the pull wires extend from of the handling device to the distal end of the shaft and can be used to bend the distal tip. If the tensile wires are designed as flat wires, they can also be reliably sealed through the sealant.
  • the sealant can optionally have four slots as feedthroughs which are arranged at a distance from one another in the sealant.
  • the sealant can consequently also be used to seal a fluid channel in a shaft of an endoscopic instrument, in which the tip can be angled in a main angling plane and can also be moved in a second angling plane.
  • the endoscopic instrument can consequently have four mechanical lines in the form of pull wires or the like, which are passed through the four slots and extend through the shaft.
  • the slots can be based on parallel-shifted radial lines which are offset by at least 90 ° to one another on a surface covered by the sealant.
  • the slots may protrude beyond a center line perpendicular to the respective slot and intersecting a center of the sealant. If four pull wires are used, four slots are required, which are then offset, for example, by 90 ° to one another. With only two pull wires, two slots could be sufficient, which are then offset, for example, by 180 ° to one another.
  • the sealant can be made from a material ⁇ that has polyethylene or cellular rubber ⁇ .
  • Cellular rubber can be based on a fluoropolymer, for example.
  • the endoscopic instrument which has the sealant shown above ⁇ , can have a shaft connection part that rotates in a control housing and that can be connected to the shaft is firmly connectable.
  • the shaft connection part can optionally have a connection piece which extends radially outwards from a shaft connection axis.
  • a sealing ring can optionally be arranged between a seal receptacle for receiving the sealant and the shaft connection part in order to achieve a seal.
  • the shaft connection part has guide devices for guiding pull wires.
  • the seal receptacle can also be supplemented in the distal direction with a cover facing away from the shaft connection part, the cover also being coupled to the shaft connection part in a rotational test.
  • the cover can also have guide devices with which pull wires can be guided.
  • the guide devices in the cover and in the shaft connection part are preferably aligned, so that the sealant only experiences axial forces of the pull wires.
  • the fluid channel can each directly surround the at least two lines running through the shaft. “Individually directly surrounded” here means that the lines do not have a common sheath within the fluid channel, but rather individually from the fluid in the fluid channel are immediately flushed ⁇ .
  • the cables can each be individually jacketed and insulated, for example, so “immediately” should not be misunderstood to mean that the cables must not have a jacket for themselves.
  • the lines can be optical in nature, for example as light guides for coupling and / or coupling light in at the distal end. In particular, the lines can have one or more laser light guides in order, for example, to bombard a kidney or urinary stone with laser light and thus vaporize it.
  • one or more of the lines electrical signals and / or electrical power transmitted and connected to a distal LED and / or a distal image sensor.
  • the lines can have one or more working channels through which shaft tools and / or a laser light guide can be pushed through to the distal shaft tip.
  • the lines can transmit mechanical control signals for angling and / or controlling the distal end of the creative line, for example as cable runs guided laterally in the shaft. All lines are individually directly surrounded by the fluid channel. "Surrounded" here means that at least the majority of the lines are flushed in cross-section. They do not have to be completely flushed through 360 ° in cross-section, but can laterally on the shaft or on one or more of the other lines.
  • a fluid line guided through the shaft can be saved with the endoscopic instrument disclosed here.
  • the entire cross section of the inner volume of the shaft, which the lines do not occupy, is made usable as a fluid channel ⁇ , so that the available cross section is better utilized. This enables a shaft outer diameter of 3 mm or less to be achieved.
  • the fluid channel can optionally serve as a supply and / or discharge channel.
  • irrigation fluid can be added to improve distant shaft vision at the distal end of the shaft, or irrigation fluid with disruptive tissue suspension can be removed proximally. Fluid can be returned proximally by active suction or passively without active suction, for example by overpressure in the patient's body.
  • the fluid channel can have a distal fluid channel opening and a proximal fluid channel opening, the proximal fluid channel nal opening is arranged laterally on the shaft and can be acted upon by fluid pressure or fluid vacuum.
  • a pressure or mammal pump can be connected to the proximal fluid channel opening or simply a fluid reservoir located at a height above the instrument can be connected, as in the case of a drip, so that hydrostatic pressure is present at the proximal fluid channel opening.
  • saline can serve as the rinsing liquid.
  • the instrument can have a handling device which is firmly connected to a proximal end of the shaft or can be releasably connected.
  • the handling device can preferably be designed ergonomically so that it can be gripped comfortably by a person handling it and lies comfortably in the hand ⁇ in order to control the instrument manually.
  • the handling device can be designed essentially Y-shaped with two rigid handle legs that converge distally towards the shaft ⁇ . The handling device can then either be gripped in such a way that both grip legs are gripped like a pair of pliers, or the thumb ball is guided between the grip legs.
  • the index finger In the first stance, the index finger can be placed under the stock on a trigger similar to a firearm to pull a cable.
  • the index finger In the second position, the index finger can be placed over the shaft on an upper trigger to pull an upper cable and the middle finger can be placed under the shaft on a lower trigger for pulling a lower cable.
  • the upper cable and the lower cable can be designed as sections of a cable which is deflected via a guide roller which is rotatably mounted in the handling device about a transverse to the longitudinal axis of the shaft. Depending on the direction of rotation of the guide pulley, the upper or lower cable pull is pulled proximally while the other cable pulls distally ⁇ .
  • the upper trigger and the lower trigger can each be directly connected to one another via the guide roller or directly coupled so that they move in opposite directions when actuated.
  • the second position in particular is ergonomic Mixing is particularly advantageous, since the longitudinal axis of the shaft runs coaxially to the longitudinal axis of the forearm, so that the instrument can be easily rotated about its longitudinal axis by supination and pronation of the forearm.
  • the distal creative end can simply be bent in two opposite directions by means of the upper or cable pull.
  • the handling device can be gripped by 180 ° in order to pull the other trigger with the index finger, or the instrument can be rotated by 180 ° about its longitudinal axis in order to bend the distal end of the creature into two opposite ends using the upper or cable pull Directions are effected.
  • the lines can be led through one or both of the handle legs of the handling device and each have a proximal-side connection at a proximal end of the handle leg (s).
  • a working channel is preferably led through one handle leg of the handling device and other lines through the other handle leg of the handling device.
  • the shaft can be elastically bent by more than 270 ° at least in one shaft section.
  • high torsional stiffness with a certain degree of flexibility is advantageous for precise control of the distal end of the creature.
  • the bending stiffness can be quantified by how deep the distal end of the shaft hangs when the instrument is in a horizontal position solely under the weight of the shaft. It has been found that it is particularly advantageous if the distal shaft end hangs down 5% to 60% of the shaft length when the instrument is in a horizontal position solely under the weight of the shaft.
  • the shaft is flexible enough to be able to penetrate the kidney and ureters as deeply and at the same time as minimally invasive, and rigid enough to be able to control the distal end of the shaft in a controlled manner.
  • the instrument or at least the shaft can be designed as a disposable item for disposal after a single use ⁇ .
  • the lines which are directly surrounded by the fluid channel, can be very filigree ⁇ and run through the fluid channel regardless of the formation of corners, edges and / or dead spaces that are difficult to clean. Due to the filigree design of the cables and the shaft itself, an outer shaft diameter of 2.7 mm or less can be achieved.
  • the cross-sectional area of the fluid channel can correspond to the cross-sectional area of a shaft interior formed by the shaft minus the sum of the cross-sectional area of all lines running through the shaft interior. This means that there is no unused cross-sectional area in the shaft and thus the inside of the shaft is optimally used.
  • the shaft can optionally have a plurality of slots in a distal region.
  • the slots can only extend in the circumferential direction over part of the shaft circumference.
  • the flexibility of the shaft can thus be increased locally, that is to say the bending radius can be reduced locally, in order to achieve a jointless bending of a distal end of the shaft by up to 300 °.
  • the slots can be arranged axially to one another in such a way that they lie alternately on a first lateral side of the shaft and a diametrically opposite the first second lateral side of the shaft.
  • the distal shaft end can thus be angled without joints in two opposite directions and, in the case of appropriately independently operable cable pulls, even perform two opposite curvatures in an S shape.
  • the slots are on the first side compressed ⁇ and the slots on a second side opposite the first side are pulled apart.
  • the slots on the second side are compressed and the slots on the first side are pulled apart.
  • the cable pulls then preferably run along the first or the second side in the shaft and engage the distal end of the shaft in order to bend the distal end of the shaft without a joint towards the corresponding side by pulling force.
  • the slots can serve on the one hand as a distal fluid channel opening for the fluid channel and on the other hand to locally increase the flexibility of the shaft for angled bending of a distal end of the creative end.
  • the irrigation fluid can then emerge laterally from the shaft proximally from the distal end of the shaft.
  • this has the advantage that more cross-section is available at the distal shaft end for functions such as an image sensor and / or at least one illumination LED.
  • the instrument can have at least one working channel running through the shaft and directly surrounded by the fluid channel.
  • a working channel can optionally be used differently.
  • such a working channel can be suitable for carrying through a shaft tool, such as, for example, a grass catcher insert or a pliers instrument.
  • a shaft tool such as, for example, a grass catcher insert or a pliers instrument.
  • the instrument does not already have an optical line as a laser light guide guided through the fluid channel ⁇ , such a laser light guide can be inserted through and preferably through a further working channel from a proximal working channel opening, for example at a proximal axial end of a handle leg of the handling device are pushed through the working channel to a distal working channel opening at the distal shaft end.
  • Laser light can be coupled in with the laser light guide, for example to vaporize a kidney or urinary stone and by means of rinsing liquid from the rinsing channel wash out.
  • the laser light guide can be pulled out of the working channel in order to release it for possible other uses.
  • a collecting basket insert or a dormia loop insert can be pushed through the working channel in order to capture a kidney or urinary stone at the distal end of the shaft.
  • the proximal working channel opening for example at a proximal axial end of a handle leg of the handling device, can have a Luer lock connection in order to fix a jacket of the catcher basket insert or the dormia loop insert against the instrument and by pushing one through the jacket guiding wire, which forms the collecting basket or the dormia loop on the distal side, to open the collecting basket or the dormia loop.
  • the grass catcher or the Dorma sling closes when the wire is pulled out when the sheath is locked in the Luer-Lock connector.
  • a first, preferably larger, working channel is provided for a shaft tool and a second, preferably smaller, working channel for a laser light guide. This means that the shaft tool and laser light guide can be used in parallel.
  • a working channel can serve as a supply and / or discharge channel with a flow direction opposite to the fluid channel. This is particularly advantageous if, with longer treatment times and larger amounts of rinsing liquid, this has to be drained out of the body again without interrupting the treatment.
  • a return of rinsing fluid on the outside of the shaft or through an additional insert ⁇ leads to additional tissue expansion and is disadvantageous with regard to a minimally invasive procedure.
  • excess pressure can build up, which counteracts the flow of detergent ⁇ .
  • the working channel can preferably be used as a supply line of rinsing liquid which is discharged via the fluid channel as a discharge line.
  • the flushing agent flow can be reversed, so that the working channel as the discharge channel and the fluid channel as the supply channel serve ⁇ .
  • the use of the working channel as a supply and / or discharge channel can facilitate continuous flushing.
  • the at least one working channel can run axially through the sealant. Analogously to the other lines, the working channel can thus be guided through an associated axial passage in the sealing device, which is designed, for example, in the form of an elastomer cell foam block.
  • the proximal working channel opening can optionally be arranged proximally from the proximal end of the fluid channel, preferably at a proximal axial end of a handle leg of the handling device. This means that the working channel is as versatile as possible and is as straight as possible or only has relatively large bending radii.
  • the distal working channel opening can optionally be arranged distally from a distal fluid channel opening of the fluid channel. In this way, a broken kidney or urinary stone can be removed through the working channel, the clear drainage through the fluid channel opening ensuring clear visibility through the lateral drain or outlet.
  • the cross section of the distal working channel opening can optionally be smaller than the cross section of the working channel. This reduces the risk of clogging of the working channel, since the smaller working channel opening acts like a filter for pieces of tissue that are too large and these cannot pass through the working channel opening.
  • the cross section of the working channel can optionally taper towards the distal working channel opening. This avoids an inside step or edge in front of the smaller working channel opening, in front of which one through the working channel inserted laser light guide, a grass catcher insert or a Dorma loop insert.
  • a flow direction and / or flow rate through the fluid channel can optionally be selected or set. This can be carried out, for example, via pressure control and / or by opening and closing a valve, preferably at the proximal fluid channel opening.
  • a distal creator can be controllably angled without joints. As described above, this can preferably be achieved by locally increasing the bending flexibility of the shaft due to lateral slots in the shaft and at least one cable pull acting laterally in the distal end of the shaft.
  • a dedicated working channel with an inner diameter can be used in a shaft of an endoscopic instrument with a distal tip that can be bent without joints , which is significantly smaller than the inside diameter of a conventional working channel. It is preferred that the inside diameter of a working channel for a light guide exceeds the outside diameter of a light guide by at most 30%. This allows a light guide to be moved in its working channel even when the distal tip of the endoscopic instrument is angled without a joint.
  • a relatively sharp-edged end of the light guide experiences only a relatively small angle of attack from its surface due to the specified diameter ratio, even when the working channel is curved, and does not injure it. As a result, the working channel and the endoscopic instrument do not become leaky and can be used for a further period.
  • a flushing performance is achieved by replacing a conventional working channel with a leaner working channel continued to improve.
  • the outer diameter of the light guide can be in a range from 0.4 mm to 0.7 mm, preferably in a range from 0.45 mm to 0.6 mm and particularly preferably from 0.45 to 0.5 mm.
  • the light guide can in particular be a laser light guide.
  • the material of the separate working channel for the light guide optionally has polyimide or polyamide.
  • the working channel for the light guide should consist of the hardest possible material and may only change its cross-section as little as possible when bent. This significantly reduces the risk of the light guide penetrating the inner surface of the working channel ⁇ .
  • the material for the working channel can be polyimide or polyamide (also known as nylon) with the corresponding hardness.
  • the wall of the separate working channel for the light guide can optionally have reinforcements. These can run in particular in the circumferential direction and prevent the cross section of the separate working channel from buckling.
  • the material of the separate working channel can also have a metallic material.
  • a metallic material can include Nitinol, which is a nickel-titanium alloy with super elastic properties at room temperature. This material can be named small diameters have the required and necessary elasticity / flexibility / bending ability.
  • an arrangement of first slots can be provided, which optionally alternate on a first lateral side of the shaft and one are located diametrically opposite the first, opposite, second lateral side of the shaft.
  • first slots can be provided, which optionally alternate on a first lateral side of the shaft and one are located diametrically opposite the first, opposite, second lateral side of the shaft.
  • second slots can optionally be attached proximally to the area with first slots, which are offset by 90 ° to the first slots.
  • the second slots can preferably extend only over part of the shaft circumference in the circumferential direction.
  • the second slots are further preferably arranged axially to one another in such a way that they lie alternately on a third lateral side of the shaft and a diametrically opposite the third fourth lateral side of the shaft. In this way, a second bending plane is formed, which lies transversely to the main bending plane.
  • the movability ⁇ can be set in the second angle. It is particularly advisable to choose the number of second slots in such a way that the distal end of the shaft can be moved in the second bending plane by an angular range of at least +/- 15 ° and preferably +/- 20 °. In particular, the accessibility of kidney stones in the lower calyx groups of the kidneys can be improved.
  • the movement of the distal end of the shaft in the second angled plane can be carried out by separate mechanical lines, in particular re pulling wires. These are coupled to the shaft directly distally in front of the area provided with second slots. A handling device mentioned above can be used to move the pulling wires.
  • a shaft tool for example with a collecting basket or pliers, can be attached to the.
  • the handling device can preferably have a working channel inlet, a first rotatable receiving part and a second rotating test connected to the first receiving part.
  • the first receiving part can be firmly coupled to a jacket element of the shank tool, for example via a Luer connection, but can nevertheless be slidably mounted for precise axial positioning relative to the working channel inlet.
  • the second receiving part can be coupled to a distal tool head, for example a collecting basket or pliers jaw parts, via a control wire guided through the sheath element of the shaft tool and can be axially displaceably mounted relative to the first receiving part.
  • the shaft tool can be pushed into different axial positions in the instrument by the first receiving part. This makes it possible to insert the shaft tool positioned at the distal shaft tip through the shaft so that it does not initially protrude beyond it ⁇ .
  • the distal tip of the shaft can therefore be moved to an operating area undisturbed and a risk of injury from a sharp-edged tool head is avoided.
  • the shaft tool can be pushed out of the distal shaft end by moving the first receiving part in the distal direction.
  • the wire which is coupled to the tool head, for example the collecting basket or pliers jaw parts, can then optionally be made by moving the second receiving part the shell element ⁇ of the shaft tool.
  • the creative tool can be rotated by means of a rotationally fixed coupling of the creative tool and the first receiving file and a rotationally rigid coupling between the second professional file and the first receiving file. This construction also makes it very easy to position and operate the creation tool by a single user. A coordination with a second user is therefore not necessary.
  • the first receiving part can optionally be displaced by a first displacement path in relation to the working channel inlet.
  • the second receiving part can be moved relative to the first receiving part via a second displacement path.
  • the length of the second displacement path can optionally exceed or fall below the length of the first displacement path.
  • the first displacement path is only intended to bring the shaft tool into a position lying axially outside the distal shaft tip. The tool head can thus be moved out of the distal tip without interference.
  • the length of the first displacement path could only be a few millimeters. It is conceivable to provide a displacement of approximately 5 mm. Depending on the design of the endoscopic instrument, the first displacement path can also be in a range from 2 mm to 10 mm.
  • the second displacement path depends on the type and size of the tool head and can, for example, be up to 20 or 25 mm.
  • the first receiving part and / or the second receiving part can optionally be held in a momentary axial and / or rotated position via latching means.
  • the first receiving part and / or the second receiving part could, for example, have a lateral surface which is provided with circumferential grooves arranged parallel to one another, the grooves each having a rounded profile cross section. If these are guided through an appropriately dimensioned opening, they can snap in between two successive grooves. The locked position can, however, also be released again by appropriate force transversely to the grooves.
  • the first receiving part and / or the second receiving part can also be provided with a shoulder ⁇ , each of which has a knurling. As a result, a user can grasp the relevant receiving part well and perform a twist sensitively and with direct, haptic feedback.
  • the handling device of an endoscopic instrument that is equipped with a shaft ⁇ can have a housing that has two legs at a proximal end that are arranged obliquely to one another and enclose a contact surface, at least a line is led out of one of the legs out of the handling device.
  • the manipulator can thus be designed like a Y or a V at a proximal end.
  • a user is enabled to grip the handling device in such a way that a ball of thumb of one hand rests on the contact surface and two further fingers of the hand, for example index finger and middle finger, can be guided to trigger or operating levers which are arranged distally.
  • the housing is designed such that the ball of the thumb can lie on the contact surface in such a way that the handling device forms a direct extension of the user's forearm. Rotation of the forearm leads to a direct and exclusive rotation of the handling device about the longitudinal axis of the shaft, so that the shaft attached to it is also rotated about its longitudinal axis.
  • At least one control disk which is preferably coupled on the radial side with pull wires and at least two pull-offs or operating levers for moving the at least one control disk, can optionally follow downstream of the two legs.
  • the control disc is preferably rotatable about an axis of rotation in the housing of the handling device in an angular range, preferably in two directions, the axis of rotation preferably running essentially perpendicular to a plane spanned by the legs.
  • the at least one control disk can optionally be fixed in its current position by means of a locking device.
  • the locking device could be implemented, for example, in the form of a knurled screw with which a user can lock a position of the at least one control disk that has been set once. An articulated bend caused by the pulling wires can consequently remain in its state without having to be maintained in a complex manner by permanent manual action.
  • FIG. 1 is a perspective view of an example of an embodiment of an endoscopic instrument disclosed herein;
  • 2a, b are perspective views of a distal end portion of an exemplary embodiment of an endoscopic instrument disclosed herein; 3a-c exploded views of parts of an exemplary embodiment of an endoscopic instrument disclosed herein;
  • FIGS. 4a, b are schematic cross-sectional views of a distal end section of a working channel of an exemplary embodiment of an endoscopic instrument disclosed herein;
  • FIG. 5 shows a cross-sectional view ⁇ of a proximal connector section of an exemplary embodiment of an endoscopic instrument disclosed herein; 6a-c are side views of a land use device with detailed views of the distal end of an exemplary embodiment of an endoscopic infusion disclosed herein;
  • FIG. 7a-f show various views on the shaft and in particular the distal shaft end of an exemplary embodiment of an endoscopic instrument disclosed herein;
  • FIG. 8a-e show further views on the shaft and in particular a curvilinear sheep section of an exemplary embodiment of an endoscopic infusion disclosed here;
  • FIG. 9a-d. 1 shows an example of an endoscopic instrument 1 which has a tubular shaft 3 for insertion into a body cavity.
  • the shaft 3 is connected at a proximal end 4 to a handling device 5 and forms a fluid channel 7 in its inner lumen.
  • a distal curvable sheep section ⁇ 9 the shaft 3 is at least partially flexible in order to be bent if necessary by the action of the handling device 5.
  • a first optical and / or electrical line 11 for the illumination at the distal shaft end 17, a second optical and / or electrical line 13 for the image recording a first working channel 15 and a second working channel 19 run at the distal shaft end 17.
  • An LED can be arranged as a light source at the distal end of the first line 11, the line 11 serving as the electrical power supply line for the LED.
  • an optical fiber coupling can be arranged as a light source at the distal end of the first line 11, the line 11 serving as an optical light guide.
  • a lens with an image sensor for image recording can be arranged at the distal end of the second line 13, the line 11 serving as an electrical power supply line for the image sensor and for signal transmission.
  • a light guide coupling can be arranged at the distal end of the second line 13, the line 13 serving as an optical light guide.
  • the first working channel 15 preferably has a cross section which is at least twice as large as the second working channel 19.
  • the first working channel 15 can optionally serve as an insertion channel for a shaft tool, for example a collecting basket, scissors or pliers. Alternatively or additionally, even when the shaft tool is inserted, the first working channel 15 can serve as a supply or discharge line for rinsing liquid.
  • the second working channel 19 can preferably be used as an insertion channel for a laser light guide to be able to smash kidney or urinary stones with laser light.
  • the inside diameter of the second, smaller working channel 19 should exceed the outside diameter of the laser light guide by at most 30%, at least in the bendable shaft section 9, in order to ensure a safe passage of the laser light guide.
  • All lines 1 1, 13, 15, and 19 are individually surrounded directly by the fluid channel 7.
  • the peculiarity of this arrangement lies in the fact that the four exemplary lines 11, 13, 15 and 19 are arranged individually in the fluid channel 7 and, if a fluid flows there, are consequently flushed directly through the fluid.
  • the entire free residual cross-sectional area of the fluid channel 7 can consequently be used for one fluid.
  • the cross-sectional area of the fluid channel 7 consequently corresponds to the cross-sectional area of a shaft interior formed by the shaft 3 minus the sum of the cross-sectional areas of all lines 11, 13, 15 and 19 running through the shaft interior and all other lines that are being considered.
  • the shaft 3 can consequently be provided with a particularly small outside diameter.
  • lines for transmitting electrical signals and / or electrical power are conceivable. About this can be distal
  • Arranged light-emitting diodes can be provided with electrical power or image signals can be transmitted by a distally arranged image sensor.
  • the lines 1 1, 13, 15 and 19 and all alternative or additional lines can each have their own sheathing. This can be particularly important in the case of electrical lines in order to insulate them.
  • mechanical lines in the form of control cables can be guided in the shaft, to bend the curvable shaft section 9 without joints or to control its shape in some other way.
  • the mechanical lines can be cable pulls or pull wires, for example, on lateral inner surfaces in the shaft 3.
  • the distal, curvable shaft section 9 as the distal region is provided with a plurality of slots 33, which give the curvable shaft section 9 its mobility.
  • the distal bendable shaft section 9 is consequently flexible or at least partially flexible, that is to say semi-flexible.
  • the shaft section 9 can be made flexible by targeted slitting by at least ⁇ one axis of curvature.
  • the slots are preferably cut into the shaft 3 in the circumferential direction ⁇ , extend over the entire material thickness of the shaft jacket and extend over more than half of the circumference, for example by up to 270 °.
  • the sheep ⁇ 3 endeavors to return to its straight shape.
  • the slots 33 are arranged axially relative to one another in such a way that they lie alternately on a first lateral side of the shaft 3 and on a diametrically opposite first lateral side of the shaft 3.
  • the slots 33 can be made into the shaft 3 by a machining device, which preferably uses a laser ⁇ . This enables rapid, inexpensive processing, which does not prevent the instrument 1 from being designed as a consumable. By means of a suitable beam guidance of the laser, very filigree structures can be produced.
  • the clear width of the slits 33 can be dimensioned so small that tissue does not penetrate into the slits 33 and the shaft 3 can be moved undisturbed into the operating area.
  • the slots 33 can be rounded in their profile.
  • the shaft 3 can be coated with a sliding coating.
  • the slotted, bendable shaft section 9 is preferably surrounded by a protective tube 199 (see FIG. 7f).
  • the protective tube can, for example, be fabric reinforced ⁇ and / or shrunk on.
  • the protective tube can have, for example, biocompatible plastic.
  • the fluid channel 7 in the inner lumen of the shaft 3 can serve as an inlet and / or outlet channel for a rinsing liquid which is conveyed through the free remaining cross section. It is conceivable that irrigation fluid for improving the view at the distal end 17 is supplied distally from the slots 33, which then act as distal fluid channel openings, or that irrigation fluid with disruptive tissue suspension is removed proximally. If the fluid channel 7 is used exclusively without the first working channel 15 as a supply and / or discharge channel, it is conceivable to either only supply or temporarily flush liquid just dissipate.
  • the flushing liquid can be supplied, for example, actively by an external pump or passively by hydraulic pressure from a drip connected higher.
  • the removal can be done by generating an overpressure in the operating area owing to the rinsing, through which the rinsing liquid can then again soak out along the shaft 3 proximally outwardly soapy.
  • the first working channel 15 preferably serves as the feed channel and the fluid channel 7 as the discharge channel, or vice versa. As a result, an undesirable fluid flow on the outside of the flap 3 can be largely reduced or completely avoided.
  • the first working channel 15 which extends through the fluid channel 7 as required ⁇ and has a first distal working channel opening 18 ⁇ , as the supply and / or discharge channel.
  • the cross section of the first distal working channel opening 18 can be smaller than the cross section of the first working channel 15, so that the blockage of the first working channel 15 by tissue which enters via the distal working channel opening 18 is prevented.
  • the cross section of the first working channel 15 can taper towards the distal working channel opening 18.
  • the first working channel 19 can be continuously supplied with rinsing liquid by an external pump or in the flange-holding device 5 or from a higher drip connected drip, which is directed distally and exits directly at the distal shaft end 17.
  • the first working channel 15 is consequently a feed channel. Due to the resulting overpressure, the flushing liquid passes through the slots 33 and / or lateral flushing openings 203 (see FIGS. 7b, c) into the fluid channel 7 and flows back proximally from there. This is indicated in FIG. 1 by the flow lines 21, which lead from a purely axial, distally directed outflow from the distal shaft end 17 to a lateral inflow through the slots 33 and / or lateral flushing openings. The direction of flow in the first working channel 15 is consequently opposite to that of the fluid channel 7.
  • the handling device 5 is only shown as an example in FIG. 1. Further handling devices are shown in FIGS. 6a-c ff. All variants of handling devices can be combined with the advantageous embodiments of the shaft 3 described here. Other handling devices are also conceivable which differ in shape from the variants shown here.
  • a housing 23 is shown in the handling device 5 in FIG. 1, which, for example, has a handle opening 25 for the passage of a thumb and is designed such that the ball of the thumb of one hand then on a support surface 27 directed towards the shaft 3 lies on.
  • a handle opening 25 for the passage of a thumb and is designed such that the ball of the thumb of one hand then on a support surface 27 directed towards the shaft 3 lies on.
  • two operating levers or deductions 29, 31 arranged on opposite lateral sides of the housing 23. If the ball of the thumb is located on the contact surface 27, the lower trigger 29 can be operated with a middle finger, while an index finger lies on the upper trigger 31.
  • the two cable pulls could each be designed as a section of an individual cable pull, which is connected between see the two deductions 29, 31 runs. If the lower trigger 29 is moved, for example, the first cable 1 1 could be pulled, the upper trigger 31 being moved in the opposite direction and thereby releasing the second cable 13.
  • the two deductions 29, 31 could be connected to one another via the guide roller (not shown here) or indirectly coupled, so that they automatically move in opposite directions when actuated.
  • the first, larger working channel 15 can run on a side 37 of the handling device 5 facing the upper trigger 31, so that there is a first proximal working channel opening 39 for optional introduction of a rinsing liquid, for example NaCl solution, or a shaft tool ⁇ .
  • Other lines, for example the second, smaller working channel 19 for a laser light guide, can open out on a side 41 facing the lower trigger 29 in a corresponding second proximal second proximal working channel opening second proximal working channel opening 43a or 43b.
  • the fluid channel 7 has a proximal fluid channel opening 45 in the form of a connecting piece running transversely to the shaft 3, from which the flushing liquid flowing back then finally emerges.
  • a shaft 47 of an endoscopic instrument is shown in a partial view.
  • the view focuses on a flexible distal curvable shaft section 49 with a distal end 51 of the shaft 3, on which a first distal working channel opening 52 is arranged.
  • the cross section of this first distal working channel opening 52 can be smaller than that of the first working channel 15 not shown here.
  • the cross section of the first working channel 15 can taper to the first distal working channel opening 52.
  • the shaft 47 has a rigid, tubular section which is not visible here and which can be connected to a handling device 5. This can be seen in the handling device 5 from FIG. 1. speak or be designed as a handling device shown in FIGS. 6a-c.
  • a fluid channel 53 formed in the shaft 47 can be seen from the distal viewing direction.
  • the distal bendable shaft section 49 is designed such that it can be angled in the simplest possible way without requiring dedicated joints which protrude into the fluid channel 53 or lead to an enlarged outer diameter of the shaft 47.
  • the distal, curvable shaft section 49 is provided as a distal region with a plurality of first slots 55, which run parallel to one another and are spaced apart from one another and penetrate the material of the shaft 47 completely locally.
  • the first slots 55 extend, for example, over an angle of 270 ° in the circumferential direction and thereby run a main direction of extension of the shaft 47, which extends from a proximal end to the distal end 51.
  • successive or adjacent slots 55 are offset from one another by 180 ° in the circumferential direction.
  • the first slots 55 are accordingly arranged axially to one another in such a way that they lie alternately on a first lateral side of the shaft 47 and a diametrically opposite the first second lateral side of the shaft 47.
  • the distal, curvable shaft section 49 is given a very flexible shape.
  • Individual lamella-like parts of the shaft 47 which are separated from one another by the slots 55 can change their orientation to one another by widening or compressing the slots 55.
  • the bendable shaft section 49 is articulated without an angle of up to 300 °.
  • This movement of the bendable shaft section 49 can be influenced by mechanical tension wires 57 and 59, which run in the fluid channel 53. This allows targeted pulling and relieving of lateral sections of the curvable shaft section 49.
  • the entire shaft 47 can be designed in one piece ⁇ due to this advantageous embodiment, which has a particularly positive effect on the achievable, minimal outer diameter of the shaft 47 ⁇ .
  • two lamella-like parts which follow one another along the direction of extension of the shaft 47 and between which there is a slot 55 are consequently connected to one another by a web which in this case extends over 270 ° in the circumferential direction - stretches.
  • the webs remaining between the individual parts endeavor to assume an original unloaded position in which the shaft 47 preferably runs in a straight line. If the shaft 47 is consequently angled by the action of a tensile force through one of the mechanical lines 57 or 59, after the tensile force is released by the resilient webs, the shaft 47 tends to return to a straight shape.
  • the bendable shaft section ⁇ 49 therefore acts like a spring.
  • a protective tube surrounding the bendable shaft section 49 can support it in the spring action, which urges it into the originally straight shape.
  • second slots 64 are provided, which are offset in the circumferential direction by 90 ° to the first slots 55 in the first area.
  • the second region 63 extends over a significantly shorter distance than the first region 61, the distances between the slots 55 and 64 being preferably identical in both regions 61 and 63.
  • the second slots 64 are arranged axially relative to one another in such a way that they lie alternately on diametrically opposite sides of the shaft 47. Consequently, the second region 63 designed in this way allows restricted mobility ⁇ in a plane which is perpendicular to the main bending plane.
  • the mobility can be limited by the number of second slots 64 to an angular range of approximately +/- 20 °, for example.
  • a movement can be implemented by means of two further mechanical lines 65 and 67, which are coupled to the shaft 47 directly distal in front of the second region 63 and could also be designed as pull wires.
  • the combination of these two bends enables a laser fiber, for example, to scan a recognized object exactly in a relatively large working area.
  • FIGS. 3a to 3c show a detail of an endoscopic device which has a fluid channel ⁇ , which, as in the previous figures, can be designed as a fluid channel 7 or a fluid channel 53. In the figures, however, only a small part of the device is shown, so that a shaft and a fluid channel are not visible.
  • a part of a control housing 69 is shown, into which a shaft connection part 71 can be integrated, with which a shaft can be coupled.
  • This shaft is not shown here and can be designed according to the principles of FIGS. 1, 2a and 2b. However, it may also be advisable to couple a conventional sheep ⁇ to the shaft connection part 71, as long as it has a fluid channel mentioned above ⁇ .
  • a proximal fluid channel opening in the form of a connection piece 73 is arranged on the shaft connection part 71 and extends outwards on an outer circumference transversely to a shaft connection axis 75. Flushing liquid, which comes from the fluid channel 7, 53, can escape via the connecting piece 73.
  • the shaft connection part 71 is designed for integration into a cavity 77 of the control housing 69.
  • a lateral opening 79 adjoins the cavity 77, through which the connecting piece 73 extends to the outside.
  • a radial projection 81 is formed on a side of the shaft connecting part 71 that is arranged opposite the connecting piece 73 and can snap into correspondingly shaped locking openings 83 and 85 of a radial contour 87 of the cavity 77.
  • the latching openings 83 and 85 are, for example, offset from one another by 90 ° around the shaft connection axis 75.
  • the shaft connecting part 71 can consequently snap into two rotational positions, for example 90 ° apart.
  • the lateral opening 79 can be shaped accordingly.
  • the sheep ⁇ (not shown) is rotatably coupled to the shaft connection part 71, so that the shaft is also rotated by rotating the shaft connection part 71.
  • the direction of the angling of the distal curvable shaft section 9, 49 can thereby be influenced.
  • a sealant is in the form of a sealing device 89 provided. This is shaped like a disk and can be inserted into a seal receptacle 91, which in turn is firmly connected to the shaft connection part 71.
  • the sealing device 89 has four passages in the form of slots 93. Exactly four slots 93 are shown in this example, so that a shaft according to FIGS. 2a and 2b can also be coupled to this sealing device 89. If a different shaft is used, a different number of slots 93 can of course also be realized.
  • the slots 93 shown are based, for example, on parallel-shifted radial lines which are offset by 90 ° to one another on a circular area covered by the sealing device 89.
  • the slots 93 penetrate a peripheral surface 95 of the sealing device 89 and, for example, protrude beyond a center line which runs perpendicular to the respective slot 93 and intersects a center point of the sealing device. If the pull wires are designed as flat wires, they can each pass through a slot 93 between the shaft and the control housing 69 and are gently enclosed by the material of the sealing device 89.
  • the sealing device 89 is preferably made from a closed-cell foam ⁇ .
  • the dimensions of the sealing device 89 are preferably slightly larger than the dimensions of the seal receptacle 91 when not in use, so that the sealing device 89 has to be compressed somewhat when inserted and then always pushes into a relaxed, expanded position. Here, all the elements carried out are sealed.
  • the sealing device 89 also has further recesses 97, 99, 101 and 103, which can have different dimensions in accordance with the lines 11, 13, 15 and 19.
  • the sealing device 89 has a largest recess 97 which belongs to the first working channel 15, which can extend along the extension axis 75 through the control housing 69 to the first proximal working channel opening 39. Adjacent to the largest recess 97 are three further bushings 99, 101 and 103 in the form of recesses, which are used to feed the lines 11, 13 and the smaller second working channel 19.
  • the bushing 103 which has the smallest dimensions by way of example ⁇ , is suitable, for example, for the bushing of the smaller second working channel 19 with a dimension of clearly below 1 mm, for example 0.55 mm or less.
  • the two other bushings 99 and 101 belong to the electrical lines 11, 13 which are connected to the distal LED or to the image sensor.
  • the dimensions of the recesses 97, 99, 101 and 103 are each made somewhat smaller than the cross section of the associated line 11, 13, 15 and 19 passed through, in order to provide a sealing effect on the outside of the line 11, 13, 15 and 19 achieve.
  • the sealing device 89 is preferably designed as an elastic cell foam block made of ethylene-propylene-diene rubber (EPDM), so that the recesses 97, 99, 101 and 103 expand accordingly when the lines 11, 13, 15 and 19 are passed through and these enclose each sealingly.
  • EPDM ethylene-propylene-diene rubber
  • the sealing device 89 has a radial recess 105, which corresponds to a radial projection 107 in a sleeve like section 109 of the seal receptacle 91 is formed.
  • the rotational position of the sealing device 89 is always fixed, so that when the shaft connection part 71 is rotated, the sealing device 89 follows the rotation.
  • the sealing device 89 is therefore only loaded by an axial force of the pull wires.
  • the cover 11 is rotated on the seal receptacle 91.
  • the sleeve-like section 109 can have a radially external spring 113, which is aligned with a radially internal recess 115 of the cover 111.
  • an additional sealing ring 117 can be provided, which seals the seal receptacle 91 on the shaft connecting part 71.
  • the seal receptacle 91 has a sealing surface on an indentation 19 arranged opposite the sleeve-like section 109, which can be brought into abutment with the sealing ring 117 and an annular surface 121 of the shaft connection part 71.
  • the flushing liquid which flows proximally into the shaft connecting part 71 via the flushing channel, cannot pass the sealing device 89 proximally and flows off radially towards the connecting piece 73.
  • FIG. 4a shows a light guide 123, which is in particular a laser light guide in the form of a single fiber and has an exemplary diameter of 0.45 mm ⁇ .
  • This diameter can preferably include a protective layer of the light guide 123, the light-guiding core diameter being, for example, only 0.272 mm can.
  • the light guide 123 can also have an even smaller or a somewhat larger diameter.
  • the light guide 123 has a light exit end 125 which, for optimal radiation properties, runs as sharp as possible and perpendicular to the axis of extension of the light guide 123.
  • a light guide 123 it is difficult to push such a light guide 123 through a working channel 127, which has a diameter of about 1.2 mm or more ⁇ .
  • the sharp-edged light exit end 125 could tilt when pushed through the working channel 127 with its inner wall 129 and prevent the pushing through, or the light guide 123 could even kink.
  • the wall 129 could also be destroyed during tilting if the light exit end 125 drilled into the inner wall 129.
  • an alternative working channel 131 is prepared as a second, smaller working channel 19 for the light guide 123, which has an inner diameter of only a little more than at least in a section that can be bent the diameter of the light guide 123 (here 0.45 mm) has ⁇ and is, for example, 0.55 mm.
  • the light guide 123 At its light exit end 125, the light guide 123 only experiences a very small angle of attack to an inner wall 133 of the working channel 133, so that tilting is reliably prevented.
  • the diameters mentioned in the bendable section are only to be understood as examples.
  • the inside diameter of the working channel 131 should have an inside diameter, at least in the section which can be angled, for the passage of the light guide 123, which does not exceed the outside diameter of the light guide 123 too much ⁇ .
  • the difference between the two diameters should not be too great in the bendable section, since otherwise there is a risk of the working channel 131 becoming canted and / or damaged. It has been found that there is a difference in diameter in the bendable section of a maximum of 30% can prevent damage to the working channel 131.
  • the inner diameter of the working channel 131 should therefore at least in the bendable section exceed the outer diameter of the light guide 123 by at most 30%, which is the case with the exemplary diameters mentioned.
  • FIGS. 5 to 6c show a handling device 135 to which a proximal end 138 of a shaft 137 is connected. This has a distal end 139, which is shown somewhat enlarged on the left in the plane of the drawing and has, for example, a first distal working channel opening 140 ⁇ .
  • a proximal fluid channel opening 142 and an electrical connection cable 146 are arranged on a lower side in the plane of the drawing, wherein a flushing liquid or the like can emerge from the proximal fluid channel opening 142.
  • a separate fluid inlet 148 is arranged on the upper side, through which the first working channel 15 can be flushed with flushing liquid.
  • the sheep ⁇ 137 can also have a distal curvable shaft section which is provided with slits as shown in the previous figures.
  • a first leg 141 and a second leg 143 are provided in a Y arrangement, between which an abutment surface 145 is provided for placing a ball of thumb on one hand.
  • a second proximal working channel opening 144 is provided on the second leg 143 as an example.
  • the user can consequently very conveniently turn the handling device 135 exclusively by means of supination and pronation of the forearm about the longitudinal axis of the shaft 137, without having to perform a more complex arm movement. This is not the case, in particular, with conventional pistol-like handling devices.
  • an upper trigger 147 and a lower trigger 149 which can be actuated by two fingers of the hand by pulling proximally and are each connected to a pull wire running distally.
  • the upper trigger 147 and the lower trigger 149 could also be coupled to one another, so that both deductions 147 and 149 execute opposite movements.
  • a guide roller is present between the pull-offs 147 and 149, around the pull wires mentioned in each case being designed as a section of a common pull wire which is guided around the guide roller.
  • a locking device 151 could be provided to lock a current position of the guide roller or the individual pull wires.
  • the locking device 151 is designed as a knurled screw which projects, for example, into a control disk and is clamped onto the outer surface of the handling device 135 by tightening.
  • a working channel inlet 153 on the first leg 141 on which proximally a first closure thread 155 is arranged.
  • a shaft tool in the form of a collecting basket insert is inserted and connected into the instrument 1 through the working channel inlet 153.
  • the grass catcher insert has an closure element 157, which is connected via a second closure thread 159, which is correspondingly formed with the first closure thread 155.
  • a first rotatable receiving part 161 is mounted on the connection element 157 of the collecting basket insert, which is connected to a hose 163 as a jacket element of the collecting basket insert.
  • the jacket element 163 of the grass catcher insert extends through the first working channel 15 through the shaft 3.
  • the first receiving part 161 has a first displacement section 165 which is provided with a raster 167 on the circumference. This allows snapping in different positions in an opening contour 169 of the connection element 157.
  • a first shoulder 171 is arranged in the form of a circumferential collar, which has a knurling 173 on the circumferential side ⁇ .
  • the peripheral raster 167 is therefore preferably in the form of grooves arranged parallel to one another, which have a rounded profile cross section. A manual shift in the distal or proximal direction can lead to the release and reaching of a snap.
  • a second receiving part 177 is arranged in an inner lumen 175 of the first receiving part 161. This has a second displacement area 179, with which the relative position of the second receiving part 177 to the first receiving part 161 can be adjusted. At the same time, the second receiving part 177 is connected to the first receiving part 161 via a non-rotatable, displaceable connection. The second receiving part 177 therefore follows the movement of the first receiving part 161 directly.
  • the second receiving part 177 is connected to a pulling wire 181, which extends through the jacket element of the catching element designed as a tube 163. basket insert extends ⁇ .
  • the second receiving part 177 furthermore has a second shoulder 183 in the form of a circumferential collar, which is also provided with a knurling 185. A user can therefore grip and twist the receiving parts 161 and 177 well. Because of the fixed connection between the components, the hose 163 and the pull wire 181 are also rotated.
  • the second receiving part 177 also has a grid 187, which can rust with an opening contour 189 of the first receiving part 161. The position of the second receiving part 177 can consequently always be set in a fixed manner with respect to the first receiving part 161.
  • a particularly advantageous construction of a collecting basket 191 can be realized by this configuration, which is arranged in the jacket element 163 of the collecting basket insert and is protected by it.
  • the collecting basket 191 is designed so that it is completely retractable into the casing element 163 and can be pushed out of it by distal movement, whereby it expands to its full size ⁇ .
  • a kidney stone or the like can be gripped, the gripping being carried out by pulling the pull wire 181 proximally and the collecting basket thereby being compressed again.
  • 6a shows ⁇ the first receiving part 161 and the second receiving part 177 locked in the proximal position ⁇ . This means that an actuating handle 193 is pulled out of the handling device 135 as far as possible.
  • the jacket element 163 of the collecting basket insert does not protrude beyond the distal shaft tip 139.
  • the tube 163 protrudes, for example, by about 5 mm from the distal shaft tip 139.
  • the collecting basket 191 can be pushed out of the hose 163 so that it unfolds. 5 mm could be suitable as a displacement path for the hose 163. It is conceivable that a considerably longer length is available for unfolding the collecting basket 191, for example 20 mm.
  • a laser light guide 123 can be guided through the second, smaller working channel 19 parallel to the grass catcher insert in the first working channel 15 to the distal shaft tip 17, in order, for example, to be able to smash a kidney stone by means of laser light.
  • the second, smaller working channel 19 ends on the proximal side at the second proximal working channel opening 144 on the second leg 143 of the handling device 135.
  • the sheep ⁇ 3 in particular the curvable sheep section ⁇ 9, 49 of the shaft 3 and the distal end of the shaft 1 7, 51, 139 is shown in more detail.
  • a distal end sleeve 195 is not shown in FIGS. 7a-c, which is shown in more detail in FIGS. 7d-f.
  • the distal shaft end 17, 51, 139 has a connecting sleeve 197, by means of which the end sleeve 195 is fastened in a form-fitting manner on the shaft 3 (see FIG. 7f).
  • the end sleeve 195 has a recess 199 and the connecting sleeve 197 has a bulge 201 correspondingly shaped to the recess 199, as a result of which a rotationally fixed, positive connection between the end sleeve 195 and the connecting sleeve 197 is achieved.
  • the connecting sleeve 197 overlaps the distal end of the slit, curvable shaft section 9, 49 in an overlap section.
  • lateral flushing openings 203 are present, here in the form of eight circumferentially distributed radial through-holes. Since the slots 33, 55, 64 of the bendable shaft section 9, 49 are surrounded here by a protective tube 205 (see FIG. 7f, not shown in FIGS. 7a-e), the flushing openings 203 serve as a distal flushing outlet or flushing inlet of the fluid channel 7 , 53.
  • the thickness of the connecting sleeve 197 corresponds approximately to the thickness of the protective tube 205, so that the radial outer surfaces of the protective tube 205, the connecting sleeve 197 and the end sleeve 195 are flush with one another when they are abutted (see FIG. 7f).
  • the 7b also shows the pull wires 57, 59, 65, 67, which extend diametrically opposite (here: above 57, 65 and below 59, 67) on the inner surface of the shaft through the shaft 3 around the curvable shaft section 9, 49 to be able to bend up and down without joints.
  • the slots 33, 55, 64 are wedge-shaped ⁇ , so that the clear width of the slots 33, 55, 64 in the middle, where the pull wires 57, 59, 65, 67 run, is largest and tapers towards the ends in the circumferential direction .
  • the ends of the slots 33, 55, 64 have round recesses in order to reduce the stresses when the shaft material is bent. like to reduce material cracks or the risk of plastic deformation of the shaft material.
  • the articulation of the shaft section 9, 49 without joints should take place through the most elastic possible deformation of the slotted shaft material, which has a restoring effect in the straight shaft shape.
  • FIG. 7d shows the arrangement of a light source in the form of an LED 207, a lens 209 with an image sensor behind it, the first distal working channel opening 18, 52, 140 of the first working channel 15 and a second distal working channel opening 21 1 of the second working channel 19 shown in the distal end sleeve 195 in a front view. Attention is drawn to the extremely small size ratios.
  • the outer diameter of the distal end sleeve 195 can survey 3 mm or less.
  • the LED 207 can be 0.55 mm wide and the image sensor 209 can be less than 1 mm wide.
  • the first distal working channel opening 18, 52, 140 can have an inner diameter of 1.2 mm or less and the second distal working channel opening 21 1 can have an inner diameter of 0.55 mm or less.
  • the dishalation-free light coupling out of a laser light guide 123 pushed through the second working channel 19 can be placed.
  • the tool head of a shaft tool that can be pushed through the first working channel 15, for example a grass catcher insert or a pliers or scissors instrument, can be guided out of the first distal working channel opening 18, 52, 140.
  • the first working channel 15 can also be used as a supply or discharge line for rinsing liquid which is correspondingly discharged or supplied via the lateral rinsing openings 203 and the fluid channel 7, 53.
  • a supply of clear rinsing liquid via the first working channel 15 and a discharge via the lateral rinsing openings 203 and the fluid channel 7, 53 is preferred, in order to have a clear view towards the inside.
  • 7e shows that the distal end sleeve 195 is chamfered on the front, so that in particular the first distal working channel opening 18, 52, 140 runs at an angle to the longitudinal axis of the shaft 3.
  • the second distal working channel opening 21 1 is also preferably beveled (not visible in FIG. 7e).
  • the corresponding distal openings in the end sleeve 195 for the LED 207 and the lens 209 can also be beveled in order to improve the respective illumination or the viewing angle.
  • the one or more bevels of the distal shaft tip 17, 51, 139 have the further advantage that the distal shaft tip 17, 51, 139 can be guided more easily through a urinary or kidney conductor or a trocar or catheter.
  • FIGS. 8a-e show the one-piece metallic tubular main body of the shaft 3, 47, which has the flushing openings 203, the slots 33, 55, 64 and the proximal fluid channel opening 45, 73, 142.
  • the bendable shaft section 9, 49 with the slits 33, 55, 64 preferably has at least two subsections Y, Z, the axial distances between the slits 33, 55, 64 in the subsections X, Z being different.
  • the distances between the slits 33, 55, 64 in a first subsection Y are preferably smaller than in a second subsection Z, the first subsection Y being arranged distally from the second subsection Z.
  • the first subsection Y is less rigid than the subsection Z, so that the curvable shaft section 9, 49 bends from the distal tip 17, 51 during the curvature , 139 from Einroll ⁇ .
  • particularly good mobility of the distal tip 17, 51, 139 and a particularly large angular range of up to 300 ° are achieved in a small space.
  • the clear width of the slots 33, 55, 64 in the first subsection Y can preferably be larger than in the second subsection Z. This can also support the curvature bark ⁇ shaft section 9, 49 which improves in the distal direction.
  • the light one Width and / or the slot spacings can vary gradually within and / or between the subsections Y, Z, so that the subsections Y, Z can run into one another.
  • the subsections Y, Z can be arranged adjacent to one another or separately from one another.
  • FIGS. 9a, b show a further design of the Y-shaped handling device 5, 135.
  • the instrument shown in FIG. 9b can be inexpensively manufactured as a factory-assembled and sterilized disposable product. It is clarified once again how, by pulling the trigger 147, 149, the distal shaft tip 17, 51, 139 can be curved upwards or downwards by up to 300 °.
  • 9c shows the distal shaft tip 17, 51, 139 in a perspective view with beveled working channel openings 18, 52, 140, 144.
  • FIG. 9d illustrates how a shaft tool in the form of an example pliers instrument 213 is pushed through the first working channel 15 can be and is axially positionable with a curved shaft portion 9, 49.
  • FIG. 10a, b show the interior of the Y-shaped handling device 5, 135 in more detail in longitudinal section. 10b shows an enlarged detail X.
  • FIG. 10c shows an enlarged illustration of the sealing device 89 in the form of a cell foam block, which is seated in the seal receptacle 91 and seals the fluid channel 7, 53 on the proximal side.
  • the sealing device 89 has recesses 97, 99, 101 and 103 for the passage of the lines 1 1, 13, 15 and 19, which have different dimensions corresponding to the lines 1 1, 13, 15 and 19.
  • the sealing device 89 has a largest recess 97, which belongs to the first working channel 15, which can extend along the extension axis 75 through the control housing 69 to the proximal working channel opening 39.
  • Adjacent to the largest recess 97 are three further bushings 99, 101 and 103 in the form of recesses which are used to feed the lines 11, 13 and of the smaller second working channel 19 is used.
  • the feedthrough 103 which has the smallest dimensions by way of example ⁇ , is suitable, for example, for the passage of the smaller second working channel 19 with a dimension of clearly below 1 mm, for example 0.55 mm or less.
  • the two other bushings 99 and 101 belong to the electrical lines 11, 13 which are connected to the distal LED 207 and to the image sensor 209, respectively.
  • the dimensions of the recesses 97, 99, 101 and 103 are each made somewhat smaller than the cross section of the associated line 11, 13, 15 and 19 passed through, in order to provide a sealing effect on the outside of line 11, 13, 15 and 19 achieve.
  • the sealing device 89 is preferably designed as an elastic cellular foam block made of ethylene-propylene-diene rubber (EPDM), so that the recesses 97, 99, 101 and 103 expand accordingly when the lines 11, 13, 15 and 19 are passed through and these enclose each sealingly.
  • EPDM ethylene-propylene-diene rubber
  • Slots 93 are used for the tight passage of the two cable pulls 57, 59.
  • the radial depression 105 serves to secure the sealing device 89 against rotation.
  • 10a also shows how the first working channel 15 can be supplied with rinsing liquid via the upper-side fluid inlet 148, so that the first working channel 15 can serve as a supply channel for rinsing liquid.
  • a T-connector 215 is arranged in the first working channel 15 within the tandem device 5, 135 and is connected to the upper-side fluid inlet 148 via a flushing line 217.
  • a suspended drip or a pump can thus be connected to the fluid inlet 148, so that flushing liquid runs through the flushing line 217 into the first working channel 15.

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Abstract

La présente divulgation concerne un instrument endoscopique (1) destiné à être introduit dans le corps d'un patient, ledit instrument (1) comprenant une tige tubulaire (3) et au moins deux lignes électriques, mécaniques et/ou optiques (11, 13, 15, 19, 57, 59, 65, 67, 123, 181) qui s'étendent à travers la tige (3). Selon l'invention, un canal de fluide (7, 53) est réalisé dans la tige (3, 47, 137) et l'instrument présente un moyen d'étanchéité (89) qui forme une extrémité proximale du canal de fluide (7, 53) et comporte des passages (93, 97, 99, 101, 103) pour les lignes (11, 13, 15, 19, 57, 59, 65, 67, 123, 181).
EP19805527.9A 2018-11-07 2019-11-07 Instrument endoscopique Pending EP3876815A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
DE102018218954 2018-11-07
PCT/DE2019/200125 WO2020094188A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique

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EP19805527.9A Pending EP3876815A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19808684.5A Pending EP3876816A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19809708.1A Withdrawn EP3876817A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19812673.2A Active EP3876819B1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19809709.9A Withdrawn EP3876818A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19812674.0A Withdrawn EP3876820A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique

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EP19808684.5A Pending EP3876816A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19809708.1A Withdrawn EP3876817A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19812673.2A Active EP3876819B1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19809709.9A Withdrawn EP3876818A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique
EP19812674.0A Withdrawn EP3876820A1 (fr) 2018-11-07 2019-11-07 Instrument endoscopique

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US (5) US20210386441A1 (fr)
EP (6) EP3876815A1 (fr)
CN (5) CN113164018A (fr)
PL (1) PL3876819T3 (fr)
WO (6) WO2020094190A1 (fr)

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EP3876818A1 (fr) 2021-09-15
WO2020094189A1 (fr) 2020-05-14
US20210386441A1 (en) 2021-12-16
CN112969400A (zh) 2021-06-15
US20220000350A1 (en) 2022-01-06
US20220000499A1 (en) 2022-01-06
CN112996425A (zh) 2021-06-18
WO2020094193A9 (fr) 2021-03-11
EP3876819B1 (fr) 2023-12-20
US20210386442A1 (en) 2021-12-16
WO2020094191A1 (fr) 2020-05-14
PL3876819T3 (pl) 2024-05-20
EP3876820A1 (fr) 2021-09-15
WO2020094192A1 (fr) 2020-05-14
WO2020094190A1 (fr) 2020-05-14
CN112969401A (zh) 2021-06-15
US20210386443A1 (en) 2021-12-16
WO2020094188A1 (fr) 2020-05-14
EP3876816A1 (fr) 2021-09-15
EP3876819A1 (fr) 2021-09-15
EP3876817A1 (fr) 2021-09-15
WO2020094193A1 (fr) 2020-05-14
CN113164018A (zh) 2021-07-23
CN113164019A (zh) 2021-07-23
CN112969400B (zh) 2024-08-09
EP3876819C0 (fr) 2023-12-20

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