KR102725675B1 - Loading module, and insertion unit and detachable endoscope including the same - Google Patents

Abstract

One embodiment of the present invention provides a loading module including a body having a receiving space provided at a tip and a plurality of through holes penetrating both ends, a loading unit rotatably arranged in the receiving space, a first connecting pipe coupled to a first through hole among the plurality of through holes and communicating with the receiving space, and a second connecting pipe coupled to a second through hole among the plurality of through holes and having an operating wire connected to the loading unit inserted therethrough.

Description

{Loading module, and insertion unit and detachable endoscope including the same}

The present invention relates to a device, and more particularly, to a force module, an insertion unit including the same, and a detachable endoscope.

In general, procedures using endoscopy are performed by inserting an endoscope with a camera and surgical tools through a small hole without making a large incision in the body, and then examining the patient's affected area through the images captured by the endoscope inside the body. In particular, endoscopic procedures starting from laparoscopic surgery have the advantage of smaller incisions than open surgery, resulting in smaller scars, less bleeding, and faster recovery times for patients after the procedure.

In the past, a typical endoscope had an insertion part to be inserted into the human body and an operating part to control it as an integrated structure, and a number of conduits and guides were built in through the interior of each part, and in particular, an expensive imaging element such as a CCD was equipped at the tip of the insertion part to be inserted into the body, so there was a problem that it was difficult to separate the insertion part from the operating part and replace it with a new one. Accordingly, in line with the trend of strengthening the sanitary function of medical endoscopes, various types of detachable endoscopes are being used in which the insertion part to be inserted into the body and the operating part to operate the insertion part can be combined for use or stored separately.

The technical problem to be achieved by the present invention is to provide a detachable endoscope capable of minimizing the size of an insertion portion by configuring the tip of the insertion portion inserted into the body to have a circular cross-section rather than an oval shape.

The technical problems to be achieved by the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by a person having ordinary skill in the technical field to which the present invention belongs from the description below.

In order to achieve the above technical task, a loading module according to one embodiment of the present invention may include a body having a receiving space provided at a tip and a plurality of through holes penetrating both ends, a loading unit rotatably arranged in the receiving space, a first connecting pipe coupled to a first through hole among the plurality of through holes and communicating with the receiving space, and a second connecting pipe coupled to a second through hole among the plurality of through holes and having an operating wire connected to the loading unit inserted therethrough.

In one embodiment of the present invention, a third connecting tube coupled to a third through hole among the plurality of through holes is further included, and when coupled to the body, the second connecting tube and the third connecting tube can be arranged on both sides with the first connecting tube interposed therebetween.

In one embodiment of the present invention, the second connecting tube may have an insertion portion that is inserted and fixed into the second through hole, and an intermediate protrusion portion that protrudes radially outwardly to have a diameter larger than that of the insertion portion.

In one embodiment of the present invention, a cover may be further included that is coupled to cover the front end of the body and has a connecting portion that connects the receiving space with the outside when coupled with the body.

In one embodiment of the present invention, the body may have at least a partially circular cross-section.

In order to achieve the above technical task, a detachable endoscope insertion unit according to one embodiment of the present invention may include a force module arranged at a tip end.

In order to achieve the above technical task, a detachable endoscope according to one embodiment of the present invention may include an insertion unit having one end inserted into a body and a force module rotatably arranged on the one end, an operating unit coupled to the other end of the insertion unit and operating the one end of the insertion unit to perform a bending movement using an operating module, and a detachable unit that detachably couples the insertion unit to the operating unit.

According to embodiments of the present invention, the force module and the insertion unit and detachable endoscope including the same can be configured to have a circular cross-section by adjusting the arrangement of a plurality of through holes, a force section, and an illumination photographing section in the body of the force module to improve space efficiency. As a result, the size of the insertion end of the insertion unit inserted into the body can be minimized compared to a case where the cross-section has an oval shape.

The effects of the present invention are not limited to the effects described above, and should be understood to include all effects that can be inferred from the composition of the invention described in the description or claims of the present invention.

FIG. 1 is a plan view illustrating a detachable endoscope according to one embodiment of the present invention, and (a) of FIG. 1 is an enlarged perspective view illustrating an insertion end provided in an insertion unit.
FIG. 2 is a perspective view showing a state before the first detachable module and the second detachable module provided in the detachable unit according to one embodiment of the present invention are combined.
FIG. 3 is a perspective view illustrating a state in which a first detachable module and a second detachable module provided in a detachable unit according to one embodiment of the present invention are combined.
Figure 4 is a perspective view showing the inside of the first detachable module and the second detachable module of Figure 2.
Figure 5 is a perspective view showing the inside of the first detachable module and the second detachable module of Figure 3.
FIG. 6 is a perspective view illustrating a force module provided in a detachable endoscope according to one embodiment of the present invention.
FIG. 7 is a perspective view illustrating a cover and a force module with the cover separated, provided in a detachable endoscope according to one embodiment of the present invention.
FIG. 8 is a perspective view illustrating a force module with a separated cover according to one embodiment of the present invention, and (a) of FIG. 8 is a cross-sectional view viewed from the direction Ⅱ-Ⅱ'.
FIG. 9 illustrates some steps in the assembly process of a force module according to one embodiment of the present invention.
FIG. 10 illustrates another part of the assembly process of a force module according to one embodiment of the present invention.

Hereinafter, the present invention will be described with reference to the attached drawings. However, the present invention can be implemented in various different forms, and therefore is not limited to the embodiments described herein. In addition, in order to clearly describe the present invention in the drawings, parts that are not related to the description are omitted, and similar parts are assigned similar drawing reference numerals throughout the specification.

Throughout the specification, when a part is said to be "connected (connected, contacted, joined)" to another part, this includes not only the case where it is "directly connected" but also the case where it is "indirectly connected" with another member in between. Also, when a part is said to "include" a certain component, this does not mean that other components are excluded, unless otherwise specifically stated, but that other components can be included.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the present invention. The singular expression includes the plural expression unless the context clearly indicates otherwise. As used herein, the terms "comprises" or "has" and the like are intended to specify the presence of a feature, number, step, operation, component, part or combination thereof described in the specification, but should be understood to not exclude in advance the possibility of the presence or addition of one or more other features, numbers, steps, operations, components, parts or combinations thereof.

Hereinafter, an embodiment of the present invention will be described in detail with reference to the attached drawings.

FIG. 1 is a plan view illustrating a detachable endoscope according to one embodiment of the present invention, and (a) of FIG. 1 is a perspective view illustrating an enlarged insertion end portion provided in an insertion unit. FIG. 2 is a perspective view illustrating a state before a first detachable module and a second detachable module provided in a detachable unit according to one embodiment of the present invention are coupled. FIG. 3 is a perspective view illustrating a state in which a first detachable module and a second detachable module provided in a detachable unit according to one embodiment of the present invention are coupled. FIG. 4 is a perspective view illustrating the inside of the first detachable module and the second detachable module of FIG. 2. And FIG. 5 is a perspective view illustrating the inside of the first detachable module and the second detachable module of FIG. 3.

Referring to FIGS. 1 to 6, a detachable endoscope (10) may be a device for examining and performing procedures on organs inside the body. Here, the subject of the examination and procedure may be, for example, the duodenum.

A detachable endoscope (10) may include an operating unit (100), an insertion unit (200), and a detachable unit (300). In addition, the detachable endoscope (10) may further include a joint unit (not shown) electrically connected to an endoscope control management system (not shown).

The operating unit (100) is a part that a user operates to control the operation of the insertion unit (200), and may be equipped with an operating module (H). At this time, the operating module (H) may include a first operating unit (H10), a second operating unit (H20), and a third operating unit (H30).

A detachable insertion unit (200) can be selectively connected to one end (hereinafter, the first connection end) of the operating unit (100). When the insertion unit (200) is connected to the operating unit (100), the user can rotate the first operating unit (H10) left-right to cause the front end (hereinafter, the insertion end) of the insertion unit (200) to bend up and down, or rotate the second operating unit (H20) left-right to cause the insertion end to bend left-right.

The user can control the rotational operation of the force module (400) described later (e.g., rotation of the force unit (420)) by rotating the third operating unit (H30) in one direction.

The third operating unit (H30) may be connected to a lifting unit (not shown) arranged inside the operating unit (100). The lifting unit may be operated hydraulically, as an example. In this case, the lifting unit may include a hydraulic supply unit (not shown) and a linear movement shaft (not shown). At this time, the hydraulic supply unit may supply hydraulic pressure to the linear movement shaft connected to the intermediate connecting member (105) described later based on the operation of the third operating unit (H30).

At this time, when the third operating part (H30) is rotated in one of the left and right directions (hereinafter, the operating direction) by the user while the insertion unit (200) is coupled to the operating unit (100), the linear movement axis can move backward (in the -Y-axis direction) due to the hydraulic pressure supplied by the hydraulic supply part. Accordingly, the intermediate connecting member (105), the second intermediate connecting body (315), and the second insertion connecting body (345) and the second operating wire (205) coupled thereto move in the direction (hereinafter, the force direction) (e.g., the -Y-axis direction) in which they are pulled toward the operating unit (100), so that force can be applied to the applying module (400) connected to the second operating wire (205) in the force direction (in the -Y-axis direction). As a result, the applying module (400) can rotate, and a detailed description thereof will be described later.

Meanwhile, the present invention is not limited to the above-described embodiment, and the lifting unit may be operated in a manner other than the breast method so that the force module (400) can be operated to rotate. However, for the convenience of explanation, the following description will focus on an embodiment in which the lifting unit operates in a hydraulic manner.

During an endoscopic procedure, a portion (i.e., an insertion end) of the insertion unit (200) can be inserted into the body. At this time, the insertion end may be the end opposite to the end (hereinafter, the second joining end) that is joined to the operating unit (100) among the two ends of the insertion unit (200).

The insertion unit (200) may, as an example, be a thin and long cylindrical shape with a hollow space formed therein. At least a portion of the insertion unit (200) may be made of a flexible material so that the bending direction can be adjusted by the operating unit (100) as described above. For example, the cover forming the outer surface of the insertion unit (200) may be made of a flexible tube material such as a resin composition.

Meanwhile, the operating unit (100) may be equipped with an operating switch and an operating button for injecting or discharging liquid and gas used in an endoscopic procedure. A part of the insertion unit (200) (e.g., the second connecting end or its surroundings) that is detachably connected to the first connecting end of the operating unit (100) through the connecting/detaching unit (300) may be equipped with an entrance (510) for introducing and exiting a surgical tool, such as an endoscopic instrument having a clip, into and out of the insertion unit (200), and a cap (511) for opening and closing the entrance (510).

The detachable unit (300) can detachably connect the operating unit (100) and the insertion unit (200). At this time, the detachable unit (300) can include a first detachable module (300a) and a second detachable module (300b) that are detachably coupled to each other. The operating unit (100) and the insertion unit (200) can be connected or separated by coupling or decoupling the first detachable module (300a) and the second detachable module (300b).

The first detachable module (300a) is arranged to be inserted into the interior of the operating unit (100) and may include a first module body (310), a first intermediate connection portion, and a second intermediate connection portion. In addition, the second detachable module (300b) is arranged to be inserted into the interior of the insertion unit (200) and may include a second module body (330), a first insertion connection portion, and a second insertion connection portion.

Although the drawing numbers are not indicated in the drawing, for the convenience of explanation, the first intermediate connecting part will be referred to as drawing number 320 and the second intermediate connecting part will be referred to as drawing number 320' hereinafter. In addition, the first insertion connecting part will be referred to as drawing number 340 and the second insertion connecting part will be referred to as drawing number 340'.

The first module body (310) may be a housing in which a first intermediate hollow portion extending through both ends along the longitudinal direction (Y-axis direction) and a second intermediate hollow portion spaced apart from the first intermediate hollow portion are formed.

The first intermediate connecting part (320) can connect the operating module (H) and the insertion connecting part (340) via the first connecting wire (101, 102, 103, 104). At this time, the first intermediate connecting part (320) can be equipped with a first intermediate connecting body (311, 312, 313, 314) and a first connecting end (E1, E2, E3, E4).

The first intermediate connecting body (311, 312, 313, 314) is formed as a bar having an elongated cylindrical shape, for example, and can be inserted through the first intermediate hollow portion.

The first connecting end (E1, E2, E3, E4) can be detachably connected to the first engaging member (331, 332, 333, 334).

The first connecting end portion (E1, E2, E3, E4) may be provided with a first insertion groove (321, 322, 323, 324). The first insertion groove (321, 322, 323, 324) may be formed concavely inwardly in the longitudinal direction (e.g., in the -Y-axis direction) from the first connecting end portion (E1, E2, E3, E4). At this time, a penetration portion (N) penetrating the side surface of the first connecting end portion (E1, E2, E3, E4) may be formed in the first insertion groove (321, 322, 323, 324).

When the first detachable module (300a) and the second detachable module (300b) are combined, the first engaging member (331, 332, 333, 334) can be inserted into the first insertion groove (321, 322, 323, 324). Although not shown in the drawing, the first engaging member (331, 332, 333, 334) can move rearward (in the -Y-axis direction) while rotating around the longitudinal direction (in the Y-axis direction) while being inserted. In this case, one end portion (a 'catching projection portion' to be described later) of the first catching member (331, 332, 333, 334) is caught and fixed in the penetration portion (N), so that the first catching member (331, 332, 333, 334) and the first connecting end portion (E1, E2, E3, E4) can be connected.

The first connecting end (E1, E2, E3, E4) may be arranged at one end of the first intermediate connecting body (311, 312, 313, 314) so as to face the insertion unit (200). At this time, the other end of the first intermediate connecting body (311, 312, 313, 314) is connected to one end of the first connecting wire (101, 102, 103, 104), and the other end of the first connecting wire (101, 102, 103, 104) may be connected to the first operating unit (H10) or the second operating unit (H20).

In this case, by the user's manipulation of the first operating unit (H10) or the second operating unit (H20), the first connecting wire (101, 102, 103, 104) can reciprocate linearly in a direction parallel to the longitudinal direction (Y-axis direction). Accordingly, the first intermediate connecting body (311, 312, 313, 314) connected to the first connecting wire (101, 102, 103, 104) can reciprocate linearly in the same direction.

At this time, as described above, the first engaging member (331, 332, 333, 334) is engaged and fixed to the first connecting end (E1, E2, E3, E4), so that the first intermediate connecting part (320) and the first inserting end connecting part (340) are coupled to each other and can operate as one unit by the operation of the operating module (H).

The second intermediate connecting part (320') can connect the operating module (H) and the force module (400) via the intermediate connecting member (105). At this time, the second intermediate connecting part (320') can be equipped with a second intermediate connecting body (315) and a second connecting end (E5).

The second intermediate connecting body (315) can be inserted into the second intermediate hollow section. The second connecting end (E5) can be detachably connected to the second engaging member (335) when the first detachable module (300a) and the second detachable module (300b) are coupled.

The second connecting end (E5) may be arranged at one end of the second intermediate connecting body (315). At this time, an intermediate connecting member (105) may be provided at the other end of the second intermediate connecting body (315). At this time, the intermediate connecting member (105) may be connected to the third operating unit (H30) via a lifting unit.

The intermediate connecting member (105) may be formed to protrude rearward (in the -Y-axis direction) in parallel with the longitudinal direction (in the Y-axis direction) from the second intermediate connecting body (315), as exemplarily illustrated in the drawing. At this time, a hooking protrusion may be provided at the rear end of the intermediate connecting member (105) to be hooked and connected with the linear moving shaft of the lifting unit. In this case, after the intermediate connecting member (105) is inserted into a hooking groove (not shown) provided at the front end of the linear moving shaft, the hooking protrusion may be hooked and fixed within the hooking groove. Thereby, the intermediate connecting member (105) and the second intermediate connecting body (315) may be coupled to the lifting unit. Meanwhile, the present invention is not limited thereto, and as another embodiment, the intermediate connecting member (105) may be connected to the linear moving shaft via a connecting wire (not shown).

In this case, when the user operates the third operating unit (H30) in the operating direction, the linear movement shaft and the intermediate connecting member (105) connected thereto can move linearly in the direction of application (-Y-axis direction) by the hydraulic pressure supplied from the hydraulic supply unit. At the same time, the second intermediate connecting body (315) and the second connecting end (E5) can move linearly in the direction of application (-Y-axis direction).

The first intermediate connecting portion (320) may include two pairs of first intermediate connecting bodies (311, 312, 313, 314). Correspondingly, two pairs of first intermediate hollow portions may be formed in the first module body (310). In this case, one first intermediate connecting body (311, 312, 313, 314) may be inserted into each of the two pairs of first intermediate hollow portions.

The first intermediate connecting bodies (311, 312, 313, 314) may be arranged symmetrically with respect to each other in the width direction (X-axis direction) and/or height direction (Z-axis direction) within the first module body (310). More specifically, a pair of first intermediate connecting bodies (311, 312) may be arranged parallel to each other on the upper side within the first module body (310), and the other pair of first intermediate connecting bodies (313, 314) may be arranged parallel to each other on the lower side within the first module body (310).

In this case, the second intermediate hollow portion may extend past the 'internal space of the first module body (310)' defined and surrounded by the first intermediate connecting body (311, 312, 313, 314). At this time, the second intermediate connecting portion (320') penetrated and inserted into the second hollow portion may be located in the center of the first intermediate connecting body (311, 312, 313, 314).

The connecting ends of the first and second intermediate connecting bodies (311, 312, 313, 314, 315) (i.e., the first and second connecting ends (E1, E2, E3, E4, E5)) may be arranged to protrude outward from the first module body (310) toward the insertion unit (200). At this time, the first connecting wires (101, 102, 103, 104) may be respectively connected to the other ends of the first intermediate connecting bodies (311, 312, 313, 314) arranged on the opposite side to the first connecting ends (E1, E2, E3, E4). In addition, the intermediate connecting member (105) described above may be provided at the other end of the second intermediate connecting body (315) so as to be connected to a lifting unit.

As described above, the second detachable module (300b) may be equipped with a second module body (330), a first insertion connection part (340), and a second insertion connection part (340').

The second module body (330) may be a housing in which a first insertion end hollow portion extending through both ends along the longitudinal direction (Y-axis direction) and a second insertion end hollow portion spaced apart from the first insertion end hollow portion are formed.

The first insertion connection part (340) can transmit the force applied by the user's manipulation of the operation module (H) to the insertion part via the first operating wire (201, 202, 203, 204) so that the insertion part of the insertion unit (200) can perform a bending movement. At this time, the first insertion connection part (340) can be equipped with a first insertion connection body (341, 342, 343, 344) and a first engaging member (331, 332, 333, 334).

The first insertion connection body (341, 342, 343, 344) is formed as a bar having an elongated cylindrical shape, for example, and can be inserted through the first insertion connection cavity of the second module body (330).

The first insertion-connected body (341, 342, 343, 344) may be provided with a 'rack gear portion (L)' having a rack gear formed on one surface. The rack gear portion (L) may be arranged on a surface of the first insertion-connected body (341, 342, 343, 344) facing the center of the second module body (330). In addition, the rack gear portion (L) may extend along the longitudinal direction (Y-axis direction) of the first insertion-connected body (341, 342, 343, 344).

The first engaging member (331, 332, 333, 334) can be detachably connected by being inserted into the first insertion groove (321, 322, 323, 324) of the first connecting end (E1, E2, E3, E4).

The first engaging member (331, 332, 333, 334) is arranged at one end of the first insertion-end connecting body (341, 342, 343, 344) so that it can face the operating unit (100) when combined with the first detachable module (300a). At this time, one end of the first operating wire (201, 202, 203, 204) is connected to the other end of the first insertion-end connecting body (341, 342, 343, 344), and the other end of the first operating wire (201, 202, 203, 204) can be connected to the inside of the insertion end.

At this time, the first engaging member (331, 332, 333, 334) may be formed with a protrusion length similar to the concave depth in the longitudinal direction of the first insertion groove (321, 322, 323, 324), preferably with a shorter protrusion length. Accordingly, when the first engaging member (331, 332, 333, 334) is inserted into the first insertion groove (321, 322, 323, 324), a predetermined gap may exist between the first engaging member (331, 332, 333, 334) and the first insertion groove (321, 322, 323, 324).

The second insertion connection part (340') can transmit the force applied by the user's third operating part (H30) to the force module (400) via the second operating wire (205) so that the force module (400) can rotate. At this time, the second insertion connection part (340') can include a second insertion connection body (345), a curved connecting member (346), and a second engaging member (335).

The second insertion unit connecting body (345) can be inserted through a penetration into the second insertion unit hollow space spaced apart from the first insertion unit hollow space.

The curved connecting member (346) may have a hollow portion formed therein to accommodate the operating wire (205). At this time, the curved connecting member (346) may be arranged between the second insertion-end connecting body (345) and the force module (400). In this case, the operating wire (205) may be arranged to pass through the hollow portion inside the curved connecting member (346) and may extend from the second insertion-end connecting body (345) toward the force module (400). At this time, one end of the operating wire (205) may be connected to the second insertion-end connecting body (345), and the other end of the operating wire (205) may be connected to the force module (400), which will be described later.

The curved connecting member (346) may have a curved portion that is curved with respect to the longitudinal direction (Y-axis direction) of the second insertion connecting member (340'). Through this curved portion, the bending direction, bending degree, and other arrangement states of the operating wire (205) arranged inside the inner hollow portion of the curved connecting member (346) can be adjusted.

Specifically, the second operating wire (205) may have one end connected to the second insertion connection body (345) and the other end extended toward the insertion end. At this time, a portion between the one end and the other end of the second operating wire (205) may be extended while being curved along the curved connecting member (346). Accordingly, among the entire length of the second operating wire (205), a length portion extending past the curved connecting member (346) may be arranged to extend toward the insertion end so as to pass through the center of the insertion unit (200) in the longitudinal direction (Y-axis direction) within the insertion unit (200).

In addition, the second insertion connection part (340') can be positioned so as not to affect the first insertion connection part (340) extending in a straight line within a limited space inside the second module body (330) through the curved connection part (346), thereby improving space utilization.

As described above, the second catch member (335) can be inserted into the second insertion groove (325) of the second connecting end (E5) and can be detachably coupled. The second catch member (335) can be formed to protrude outward in the longitudinal direction (-Y-axis direction) at an end opposite to the curved connecting member (346) among the two ends of the second insertion connecting body (345). At this time, one end of the operating wire (205) can be connected to the other end of the second insertion connecting body (345), and the other end of the second operating wire (205) can be connected to the force module (400).

In this case, as the user operates the third operating unit (H30) in the operating direction, the linear movement shaft and the intermediate connecting member (105) and the second intermediate connecting body (315) connected thereto can move linearly in the direction of application (-Y-axis direction) by the hydraulic pressure supplied by the hydraulic supply unit.

At this time, the second connecting end (E5) is fixedly engaged with the second engaging member (335), so that the second intermediate connecting end (320') and the second insertion connecting end (340') are coupled to each other and can operate as one unit by the operation of the operating module (H). The specific features of the second intermediate connecting end (320') and the method of coupling with the second insertion connecting end (340') and the method of operation after coupling are the same as or similar to those of the first intermediate connecting end (320) described above, so that a redundant description thereof will be omitted.

The first insertion connection part (340) may include two pairs of first insertion connection bodies (341, 342, 343, 344). Correspondingly, two pairs of first insertion hollow sections may be formed in the second module body (330). In this case, one first insertion connection body (341, 342, 343, 344) may be inserted through each of the two pairs of first insertion hollow sections.

The first insertion-end connecting bodies (341, 342, 343, 344) can be arranged symmetrically with respect to each other in the width direction (X-axis direction) and/or height direction (Z-axis direction) within the second module body (330). More specifically, a pair of first insertion-end connecting bodies (341, 342) are arranged side by side as a pair on the upper side within the second module body (330), so that the rack gear parts (L) provided in the pair of first insertion-end connecting bodies (341, 342) can face each other. In addition, another pair of first insertion-end connecting bodies (343, 344) are arranged side by side as a pair on the lower side within the second module body (330), so that the rack gear parts (L) provided in the pair of first insertion-end connecting bodies (343, 344) can face each other.

At this time, the second insertion connection part (340') may be arranged in an area defined by surrounding two pairs of first insertion connection bodies (341, 342, 343, 344) in the internal space of the second module body (330) as described above. In this case, the second insertion connection body (345) may be positioned in the middle of the two pairs of 14th insertion connection bodies (341, 342, 343, 344).

The second module body (330) may be equipped with a pinion gear unit (P). At this time, the pinion gear unit (P) may include a first pinion gear (P10) and a second pinion gear (P20) (see FIGS. 4 and 5).

The first pinion gear (P10) is arranged between the first-first insertion-connection body (341) and the first-second insertion-connection body (342), and can be simultaneously meshed with the first rack gear portion (L) of the first-first insertion-connection body (341) and the second rack gear portion (L) of the first-second insertion-connection body (342). In this meshed state, the first pinion gear (P10) can rotate around the first central axis portion that is perpendicular to the longitudinal direction (Y-axis direction) according to the user's operation of the operation module (H).

The second pinion gear (P20) is arranged between the 1-3 insertion-connection body (343) and the 1-4 insertion-connection body (344), and can be simultaneously meshed with the third rack gear portion (L) of the 1-3 insertion-connection body (343) and the fourth rack gear portion (L) of the 1-4 insertion-connection body (344). In this meshed state, the second pinion gear (P20) can rotate around the second central axis portion that is perpendicular to the longitudinal direction (Y-axis direction) according to the user's operation of the operation module (H).

The second central axis portion may be arranged on the same line as the first central axis portion, but may be configured to be separated from each other and independently rotatable. Accordingly, the first pinion gear (P10) and the second pinion gear (P20) may not interfere with (or hinder) each other's rotational motion while rotating around the first central axis portion or the second central axis portion.

In the case described above, the second module body (330) may be provided with a guide hole (not shown) formed penetrating in the longitudinal direction (Y-axis direction) through the center of the internal space surrounded by the first insertion-connection bodies (341, 342, 343, 344). This 'guide hole' is arranged between the first pinion gear (P10) and the second pinion gear (P20), and at this time, the second insertion-connection body (345) is inserted and arranged inside the guide hole so as to reciprocate linearly parallel to the longitudinal direction (Y-axis). In this way, since the guide hole extends between the first pinion gear (P10) and the second pinion gear (P20) that rotate independently of each other, the rotation of the pinion gears (P10, P20) may not be impeded.

The second module body (330) may be provided with a straight guide slit (G) extending along the longitudinal direction (Y-axis direction) on its upper and lower surfaces. The straight guide slit (G) may include a pair of 'upper surface straight guide slits' provided on the upper surface of the second module body (330) to face the first-first insertion-connection body (341) and the first-second insertion-connection body (342), respectively, and a pair of 'lower surface straight guide slits' provided on the lower surface of the second module body (330) to face the first-third insertion-connection body (343) and the first-fourth insertion-connection body (344), respectively.

At this time, the first-first insertion-connection body (341) and the first-second insertion-connection body (342) may each be provided with an 'upper-surface guide protrusion member (I)' that extends upward and is inserted into an upper-surface linear guide slit (G). In addition, the first-third insertion-connection body (343) and the first-fourth insertion-connection body (344) may each be provided with a 'lower-surface guide protrusion member (I)' that extends downward and is inserted into a lower-surface linear guide slit (G). In this case, each guide protrusion member (I) can guide the reciprocating linear motion of the first insertion-connection body (341, 342, 343, 344) by moving along the corresponding linear guide slit (G).

A first engaging member (331, 332, 333, 334) may be provided at one end of each of the first insertion connecting bodies (341, 342, 343, 344). In addition, a first operating wire (201, 202, 203, 204) may be connected to the other end of each of the first insertion connecting bodies (341, 342, 343, 344).

During an endoscopic procedure, the surgical tool can be inserted into the insertion unit (200) through the entrance (510) provided in the insertion unit (200), pass through the internal passage (U1), and enter the patient's body through the insertion end.

At this time, a force module (400) may be placed at the insertion end of the insertion unit (200). The force module (400) may apply force to a surgical tool pulled out through the insertion end to bend the tip of the surgical tool so that it faces the surgical target, and this will be described in detail below.

FIG. 6 is a perspective view illustrating a force module equipped in a detachable endoscope according to an embodiment of the present invention. FIG. 7 is a perspective view illustrating a cover and a force module with the cover separated, equipped in a detachable endoscope according to an embodiment of the present invention. FIG. 8 is a perspective view illustrating a force module with the cover separated according to an embodiment of the present invention, and (a) of FIG. 8 is a cross-sectional view viewed from the direction Ⅱ-Ⅱ'. FIG. 9 illustrates some steps during the assembly process of a force module according to an embodiment of the present invention. FIG. 10 illustrates other steps during the assembly process of a force module according to an embodiment of the present invention.

Referring to FIGS. 6 to 10, the force module (400) may include a module body (400a) and a cover part (400b). At this time, the module body (400a) may include a body (410), a force part (420), a first connecting pipe (411), and a second connecting pipe (412).

The body (410) is a part where other components of the force module (400) are placed, and can be connected to the insertion end of the insertion unit (200) described above.

The body (410) may include a 'leading end (Ea)' positioned so as to face the outside of the insertion unit (200) in the longitudinal direction (Y-axis direction), and a 'rear end (Eb)' inserted and connected to the inside of the insertion unit (200). In addition, the body (410) may further include a 'protruding end (Eab)' positioned between the leading end (Ea) and the rear end (Eb).

The protrusion (Eab) may be a boundary portion that separates and partitions the front end (Ea) and the rear end (Eb). This protrusion (Eab) may protrude radially outward from the outer surface of the body (410) and may be formed in a ring shape that extends along the circumferential direction of the body (410) so that both ends meet each other.

The body (410) may have at least a partially circular cross-section. As an example, the tip portion (Ea) may have a circular cross-section when viewed in the direction Ⅱ-Ⅱ' of FIG. 8. At this time, the diameter (R) of the circular cross-section of the tip portion (Ea) may be 10.5 to 14.5 mm, and preferably 13.5 mm.

Meanwhile, in the drawing, the above-mentioned cross-section of the tip portion (Ea) is depicted as a shape corresponding to a portion of a 'circle', but the present invention is not limited thereto, and the above-mentioned cross-section of the tip portion (Ea) may be a complete circular shape. In this case, the protrusion portion (Eab) may have a circular shape with a larger diameter than the tip portion (Ea) when viewed from the same direction as above.

The tip portion (Ea) may have an accommodation space (A). This accommodation space (A) may be defined by a first plate portion (A10) and a second plate portion (A20) that protrude outwardly from the tip portion (Ea).

As an example, the first plate (A10) may be arranged on one side of the tip portion (Ea) and may be formed to protrude outward in the longitudinal direction (in the Y-axis direction). The second plate (A20) may be arranged at the center of the tip portion (Ea) or at a position adjacent thereto and may be formed to protrude outward in the longitudinal direction (in the Y-axis direction) so as to be spaced apart from the first plate (A10). At this time, the first plate (A10) and the second plate (A20) may be parallel to each other.

In this case, the receiving space (A) may be a space whose boundaries on both sides are defined by the first plate portion (A10) and the second plate portion (A20). Specifically, the receiving space (A) may be closed on both sides in the width direction (X-axis direction) by the first plate portion (A10) and the second plate portion (A20), while the upper and lower sides in the height direction (Z-axis direction) are open, thereby forming an open portion.

The body (410) may be provided with a plurality of through holes (H) formed by penetrating both ends of the body (410). In this case, the plurality of through holes (H) may be formed to extend from the rear end (Eb) along the longitudinal direction (Y-axis direction) and pass through the protrusion (Eab) to the front end (Ea). At this time, the plurality of through holes (H) may be arranged in parallel with each other.

As an example, three through holes (H) may be provided, and for convenience of explanation, these three through holes (H) are referred to as a first through hole (H1), a second through hole (H2), and a third through hole (H3) (see FIG. 8). At this time, the first through hole (H1), the second through hole (H2), and the third through hole (H3) may be formed with different diameters. For example, the first through hole (H1) may have the largest diameter.

The first through hole (H1), the second through hole (H2), and the third through hole (H3) can be arranged spaced apart from each other. At this time, the first through hole (H1) can be connected to the accommodation space (A) by being arranged on the same line as the accommodation space (A) along a direction parallel to the longitudinal direction (Y-axis direction).

As an example, the first through hole (H1) may be arranged to be biased to one side from the center of the body (410) when viewed in a direction parallel to the ZX plane of the drawing (i.e., the II-II' direction of FIG. 8). Specifically, the first through hole (H1) may be biased to the left (in the X-axis direction) with respect to the center of the body (410) with respect to the drawing, or may be biased to the left (in the X-axis direction) and downward (in the -Z-axis direction) at the same time [see the enlarged view (a) of FIG. 8].

The second through hole (H2) and the third through hole (H3) may be arranged on both sides of the first through hole (H1), with the first through hole (H1) interposed therebetween. As described above, when the first through hole (H1) is arranged to be biased to the left (in the X-axis direction) and downward (in the -Z-axis direction) with respect to the center of the body (410), the second through hole (H2) may be arranged to be biased to the left (in the X-axis direction) and upward (in the Z-axis direction) with respect to the first through hole (H1).

In addition, the third through hole (H3) may be arranged to be biased to the right (-X axis) and upward (Z axis direction) with respect to the center of the body (410). At this time, the third through hole (H3) may be arranged at a position adjacent to the lighting photographing unit (430) to be described later. More specifically, with respect to the up-down direction of the drawing, the third through hole (H3) may be arranged directly above the image sensor provided in the lighting photographing unit (430) [see enlarged view (a) of FIG. 8 and (b) of FIG. 10].

However, the present invention is not limited to the above-described embodiment, and the first through hole (H1) may be biased toward at least one of the right side (-X-axis direction) and the upper side (Z-axis direction), and accordingly, the second through hole (H2) and the third through hole (H3) may be biased in the opposite direction to that described above.

In this way, since the first, second, and third through-holes (H1, H2, H3) are arranged in different directions relative to the center of the body (410), a space can be secured between these through-holes (H1, H2, H3) for the loading unit (420) and the light-photography unit (430) to be described later to be arranged. Accordingly, the body (410) can be formed to have a circular cross-section as described above, with all of the through-holes (H1, H2, H3), the loading unit (420), and the light-photography unit (430) arranged therein. In this case, the body (410) can minimize the size of the insertion end of the insertion unit (200) by reducing the cross-sectional area compared to when it is formed in an oval shape.

The force module (400) may include a plurality of connecting pipes (411, 412, 413). These plurality of connecting pipes (411, 412, 413) may be in the form of a pipe with a hollow portion formed through both ends.

As an example, the force module (400) may include three connecting pipes corresponding to the through holes (H1, H2, H3), and for convenience of explanation, these three connecting pipes will be referred to as a first connecting pipe (411), a second connecting pipe (412), and a third connecting pipe (413).

The first connecting pipe (411) can be coupled to the first through hole (H1). Specifically, the front end of the first connecting pipe (411) can be inserted into the first through hole (H1) and coupled, and the rear end of the first connecting pipe (411) can be positioned so as to protrude toward the inside of the insertion unit (200) to which the force module (400) is coupled.

The above-mentioned rear end of the first connecting tube (411) can be connected to an internal passage (U1) arranged inside the insertion unit (200). The internal passage (U1) can be communicated with an entrance (510) provided in the insertion unit (200). In this case, a surgical device used for an endoscopic procedure can be inserted through the entrance (510). In addition, the insertion unit (200) can be provided with an additional entrance (not shown) arranged at a different position (for example, an opposite position) from the entrance (510) and can be connected to the above-mentioned internal passage (U1). A suction nozzle (not shown) of a suction device (not shown) can be inserted through this additional entrance. The inserted surgical device and/or suction nozzle can be pulled out of the force module (400) through the internal passage (U1) and the first connecting pipe (411) connected thereto to perform an endoscopic procedure or to suction and discharge contaminants (e.g., blood) generated during the procedure.

The second connecting pipe (412) can be connected to the second through hole (H2). The second connecting pipe (412) can communicate with the curved connecting member (346) via the intermediate connecting member connecting passage (U2) described later.

The second connecting tube (412) may have an insertion portion (412a), a connection portion (412b), and an intermediate protrusion portion (412c), as exemplarily illustrated in FIG. 9. The insertion portion (412a) may be a portion inserted into the second through hole (H2). The connection portion (412b) may be positioned as an end portion opposite to the insertion portion (412a) and protruding outward from the second through hole (H2).

An intermediate protrusion (412c) may be provided between the connecting portion (412b) and the insertion portion (412a). The protrusion (Eab) is formed to protrude radially outwardly from the second connecting tube (412), thereby determining the insertion length of the insertion portion (412a) into the second through hole (H2). The insertion portion (412a) and the connecting portion (412b) may be partitioned by this protrusion (Eab).

A connecting passage (U2) may be connected to the connecting portion (412b). The connecting passage (U2) is provided in the form of a pipe having a hollow portion inside, and may be connected to the hollow portion inside the second connecting pipe (412). Specifically, one end of the second connecting pipe (412) [i.e., the insertion portion (412a)] may be inserted into and joined to the second through hole (H2). In addition, a connecting passage (U2) may be joined to the other end of the second connecting pipe (412) [i.e., the connecting portion (412b)]. This connecting passage (U2) may extend rearward (in the -Y-axis direction) through the inside of the insertion unit (200) to which the force module (400) is joined, and may be connected to the curved connecting member (346) described above.

At this time, the hollow portion inside the second connecting pipe (412) can be connected to the hollow portion inside the curved connecting member (346) through the hollow portion inside the connecting passage (U2). Accordingly, the second operating wire (205) passing through the curved connecting member (346) can be connected to the applying member (420) by passing through the inside of the connecting passage (U2), being inserted into the second connecting pipe (412), and then extending toward the applying module (400).

The third connecting pipe (413) can be connected to the third through hole (H3). Specifically, the third connecting pipe (413) is inserted so as to penetrate the third through hole (H3), and accordingly, the front end of the third connecting pipe (413) can be arranged to protrude outwardly from the front end (Ea), and the rear end of the third connecting pipe (413) can be arranged to protrude outwardly from the rear end (Eb).

The aforementioned rear end of the third connecting pipe (413) may be connected to a 'fluid passage part (U3)' arranged to pass through the interior of the insertion unit (200). At this time, the fluid passage part (U3) may be connected to the internal passage part (U1) within the interior of the insertion unit (200), for example. As another example, the fluid passage part (U3) may mean the same configuration as the internal passage part (U1).

The injection nozzle of the supply device (not shown) can be inserted through the inlet (510) and then communicated with the third connecting pipe (413) through the fluid passage (U3). Accordingly, when performing a cleaning operation after the endoscopic procedure is completed, the water or air supplied from the supply device can be moved to the third connecting pipe (413). At this time, as described above, since the third through hole (H3) is arranged directly above the image sensor of the light photographing unit (430), the image sensor can be cleaned by the water or air discharged through the third connecting pipe (413).

The loading member (420) may be rotatably arranged in the body (410). As an example, the loading member (420) may be arranged in the receiving space (A) of the body (410) and may be rotatably coupled to the first plate (A10) and the second plate (A20). At this time, the loading member (420) may be provided with a loading groove (CH).

The loading groove (CH) may be formed to be concave toward the inside on the upper surface of the loading portion (420). Here, the upper surface of the loading portion (420) may be a surface of the loading portion (420) that faces upward based on the drawing. At this time, the loading groove (CH) may extend along the longitudinal direction of the loading portion (420) and have a length that is the same as or similar to that of the loading portion (420).

When the surgical tool is pulled out through the first connecting tube (411) and into the receiving space (A) through the first through hole (H1), it can face the applying groove (CH). Thereafter, when the applying portion (420) rotates to apply force to the surgical tool, the surgical tool is received in the applying groove (CH) and applied force while in contact with the inner surface of the applying groove (CH), thereby being bent.

The force member (420) can rotate around a rotation axis (C) perpendicular to the longitudinal direction (Y-axis direction) of the body (410). The force member (420) can rotate in the first rotation direction (R1) or the second rotation direction (R2) through the 'opening' of the aforementioned receiving space (A) (see FIG. 1). At this time, the rotational motion of the force member (420) can be operated in the following manner.

For example, when a user operates the third operating member (H30) in the operating direction, the intermediate connecting member (105) and the second operating wire (205) connected thereto can be pulled and moved backward (in the -Y-axis direction). Accordingly, the force member (420) connected to the tip of the second operating wire (205) can be pulled backward (in the -Y-axis direction), and thereby the force member (420) can be rotated in the first rotational direction (R1) about the rotational axis (C).

In this way, by manipulating the third operating unit (H30) during an endoscopic procedure to rotate the force unit (420) in the first rotational direction (R1), the procedure equipment (or suction nozzle) pulled out of the insertion end through the first connecting tube (411) can be applied to bend it in the first rotational direction (R1). At this time, by appropriately adjusting the rotational angle of the third operating unit (H30), the rotational radius of the force unit (420) and the procedure equipment (or suction nozzle) thereby can be adjusted.

As another example, when an endoscopic procedure is completed or when replacement of the procedure equipment is required, the user can remove the force applied to the third operating unit (H30) to return the force unit (420) to its original position.

At this time, an elastic member (not shown) may be provided in the third operating part (H30). This elastic member is compressed and deformed as the third operating part (H30) is rotated in the operating direction, and when the force applied to the third operating part (H30) is removed, it generates an elastic restoring force in the opposite direction to the operating direction, thereby returning the third operating part (H30) to the original position. Accordingly, the hydraulic pressure applied to the linear movement shaft is removed, so that the intermediate connecting member (105) and the second operating wire (205) can move again in the opposite direction to the applying direction (Y-axis direction). Accordingly, the applying part (420) rotates in the second rotational direction (R2) to return to the original position, thereby removing the force applied to the treatment device (or suction nozzle) and returning it to the state before bending.

The light photographing unit (430) may be equipped with a light source for illuminating the body and an image sensor for photographing the body during an endoscopic procedure. The light photographing unit (430) may be installed at the front end (Ea) of the body (410). As an example, the light photographing unit (430) may be coupled to the second plate portion (A20). In this case, the light photographing unit (430) may be arranged to face the receiving space (A) with the second plate portion (A20) interposed therebetween. At this time, the third through hole (H3) and the third connecting pipe (413) are arranged directly above the upper side (Z-axis direction) of the light photographing unit (430), thereby allowing multiple components to be densely arranged on the body (410) to improve space utilization.

The cover (400b) can cover and protect the exterior of the module body (400a). Specifically, the cover (400b) can have a receiving groove into which at least a part of the body (410) is inserted and received. In addition, the cover (400b) can have a connecting portion (B) that connects the receiving space (A) with the exterior.

Specifically, the tip end (Ea) of the body (410) or the tip end (Ea) and the protrusion (Eab) can be inserted into the receiving groove of the cover (400b). At this time, the communicating portion (B) can be arranged at a position corresponding to the receiving space (A) of the body (410) when the cover (400b) and the module body (400a) are combined. Accordingly, the receiving space (A) can maintain a state of being connected to the outside through the communicating portion (B) even when the cover (400b) is combined. The treatment equipment and the suction nozzle can be withdrawn to the outside of the force module (400) through the communicating portion (B). In addition, the force portion (420) can be rotated in the first rotational direction (R1) through the communicating portion (B).

According to the embodiments of the present invention as described above, the force module (400) and the insertion unit (200) including the force module and the detachable endoscope (10) can be configured to have a circular cross-section by improving space efficiency by adjusting the arrangement of a plurality of through holes (H1, H2, H3), a force section (420), and an illumination photographing section (430) in the body (410) of the force module (400). As a result, the size of the insertion end of the insertion unit (200) inserted into the body can be minimized compared to a case where the cross-section has an oval shape.

The above description of the present invention is for illustrative purposes, and those skilled in the art will understand that the present invention can be easily modified into other specific forms without changing the technical idea or essential characteristics of the present invention. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive. For example, each component described as a single component may be implemented in a distributed manner, and likewise, components described as distributed may be implemented in a combined form.

The scope of the present invention is indicated by the claims set forth below, and all changes or modifications derived from the meaning and scope of the claims and their equivalent concepts should be interpreted as being included in the scope of the present invention.

10: Detachable endoscope
100: Operating unit
200: Insertion Unit
300: Detachable Unit
400: Force module
H: Operation module

Claims (7)

In the force module,
A body having a receiving space at the tip and a plurality of penetration holes extending through both ends;
A load unit rotatably arranged in the above-mentioned receiving space;
A first connecting pipe connected to a first through hole among the plurality of through holes and communicating with the receiving space;
A second connecting tube connected to a second through hole among the plurality of through holes and through which an operating wire connected to the force unit is inserted; and
A third connecting tube coupled to a third through hole among the plurality of above through holes;
The first through hole and the second through hole are arranged at a position that is deflected to one side from the center of the vertical cross section of the body with respect to the longitudinal direction of the force module, and the third through hole is arranged at a position that is deflected to the other side from the center of the vertical cross section.
A force module, characterized in that the second through hole is located at a higher position than the first through hole, and the third through hole is located at a higher position than the second through hole. In the first paragraph,
A force module, wherein when combined with the above body, the second connecting tube and the third connecting tube are arranged on both sides with the first connecting tube in between. In the first paragraph,
The above second connecting pipe is,
A force module comprising: an insertion portion that is inserted and fixed into the second through hole; and an intermediate protrusion portion that protrudes radially outwardly so as to have a diameter larger than that of the insertion portion. In the first paragraph,
A force module further comprising a cover coupled to cover the tip of the body and having a connecting portion that connects the receiving space with the outside when coupled with the body. In the first paragraph,
A force module, wherein the body has at least a partially circular cross-section. A detachable endoscopic insertion unit comprising a force module according to any one of claims 1 to 5, arranged on a tip. An insertion unit having a force module according to claim 6, which is inserted into the body at one end and is rotatably arranged at the other end;
An operating unit coupled to the other end of the insertion unit and operating the one end of the insertion unit to perform a bending motion using an operating module; and
A detachable endoscope comprising: a detachable unit that detachably connects the above operating unit and the above insertion unit.