ENDOSCOPE

Abstract

An endoscope having a distal end, a proximal end and a longitudinal axis extending from the proximal end to the distal end, the endoscope comprising: a flexible elongate tube, an illumination source positioned at the distal end for illuminating a lumen of a patient, an image sensor for capturing images within the illuminated lumen of the patient, a working channel extending through the elongate tube and terminating at the distal end, an articulation assembly including at least one steering cable operably coupled to the distal end such that movement of the at least one steering cable induces the flexible elongate tube to articulate relative to the longitudinal axis, is characterized by a head being arranged at the distal end, said head carrying at least the illumination source and the image sensor and comprising a distal section of the working channel, said head being rotatable relative to the flexible elongate tube about the longitudinal axis.

Claims

1. An endoscope having a distal end, a proximal end and a longitudinal axis extending from the proximal end to the distal end, the endoscope comprising: a flexible elongate tube, an illumination source positioned at the distal end for illuminating a lumen of a patient, an image sensor for capturing images within the illuminated lumen of the patient, a working channel extending through the flexible elongate tube and terminating at the distal end, an articulation assembly including at least one steering cable operably coupled to the distal end such that movement of the at least one steering cable induces the flexible elongate tube to articulate relative to the longitudinal axis, characterized in that a head is arranged at the distal end, said head carrying at least the illumination source and the image sensor and comprising a distal section of the working channel, said head being rotatable relative to the flexible elongate tube about the longitudinal axis.

2. The endoscope according to claim 1, characterized in that a compensation unit is provided for adjusting an effective length of the at least one steering cable as a function of a rotation angle of the head.

3. The endoscope according to claim 1, characterized in that a rotation drive is provided for rotating the head relative to the flexible elongate tube.

4. The endoscope according to claim 1, characterized in that a sensor is provided for sensing a rotation angle of the head relative to the flexible elongate tube, wherein the sensor is connected to a compensating unit for providing a signal that is representative of the rotation angle to the compensating unit.

5. The endoscope according to claim 2, characterized in that the compensation unit comprises a control unit and a motor for driving an adjustment mechanism for adjusting the effective length of the at least one steering cable, wherein the control unit is configured to control the motor as a function of the signal received from the sensor.

6. The endoscope according to claim 1, characterized in that the articulation assembly comprises at least one rotating wheel that operably couples to the at least one steering cable such that rotation of the at least one rotating wheel moves the at least one steering cable to articulate the flexible elongate tube relative to the longitudinal axis thereof.

7. The endoscope according to claim 6, characterized in that the at least one rotating wheel is operably coupled to at least one winding shaft on which the at least on steering cable is wound up or unrolled depending on a direction of rotation of the rotating wheel.

8. The endoscope according to claim 1, characterized in that the articulation assembly comprises first and second pairs of steering cables adapted to effect articulation of the flexible elongate tube in first and second planes respectively parallel to the longitudinal axis of the flexible elongate tube, the first and second planes being oriented perpendicular to each other.

9. The endoscope according to claim 8, characterized in that the steering cables within each of the first and second pairs of steering cables are each wound up in opposite directions on separate winding shafts.

10. The endoscope according to claim 6, characterized in that first coupling means are provided for selectively coupling and de-coupling the rotating wheel from the at least one steering cable.

11. The endoscope according to claim 1, characterized in that second coupling means are provided for selectively coupling and de-coupling a drive connection between a motor, for driving an adjustment mechanism for adjusting an effective length of the at least one steering cable, and the at least one steering cable via the adjustment mechanism.

12. The endoscope according to claim 2, characterized in that the compensating unit is comprised of third coupling and decoupling means adapted to couple and decouple at least one winding shaft into subsections each provided with a pinion, a second coupling and decoupling means adapted to couple and decouple a spur gear adapted to be brought in and out of engagement with the pinions on the subsections of the at least one winding shaft and a motor for driving the spur gear.

13. The endoscope according to claim 2, characterized in that a sensor is provided for sensing the rotation angle of the head relative to the flexible elongate tube, wherein the sensor is connected to the compensating unit for providing a signal that is representative of the rotation angle to the compensating unit.

14. The endoscope according to claim 4, characterized in that the compensation unit comprises a control unit and a motor for driving an adjustment mechanism for adjusting an effective length of the at least one steering cable, wherein the control unit is configured to control the motor as a function of the signal received from the sensor.

15. The endoscope according to claim 10, characterized in that second coupling means are provided for selectively coupling and de-coupling a drive connection between a motor, for driving an adjustment mechanism for adjusting an effective length of the at least one steering cable, and the at least one steering cable via the adjustment mechanism.

16. The endoscope according to claim 7, characterized in that the compensating unit is comprised of third coupling and decoupling means adapted to couple and decouple the at least one winding shaft into subsections each provided with a pinion, a second coupling and decoupling means adapted to couple and decouple a spur gear adapted to be brought in and out of engagement with the pinions on the subsections of the at least one winding shaft and a motor for driving the spur gear.

Description

[0024] The present invention will now be exemplified in more detail by way of an exemplary embodiment represented in the drawing, in which

[0025] FIG. 1 shows a schematic sectional view of the rotating head of the inventive endoscope

[0026] FIG. 2 shows the rotating head in a schematic perspective view, and

[0027] FIG. 3 shows a schematic representation of the articulation assembly.

[0028] In FIG. 1, the rotating head is denoted by reference numeral 1 and it can be seen, that the rotating head 1 is generally comprised of an outer body 2 holding and rotatably guiding an inner body 3 therein. A rotation cable for rotating the inner body 3 with respect to the outer body 2 is denoted by reference numeral 4. The rotation cable 4 runs from the proximal end 7 of the endoscope 1, which proximal end 7 (not shown) is pointed at by arrow 7′, to the rotating head 1 and the rotation cable 4 is deflected by a deflection ring 5 and attached to the inner body 3 to allow for rotation of the rotating head 1 or more precisely the inner body 3 thereof upon moving or pulling the rotation cable 4. A working channel 6 coming from the proximal end 7 is extending through the head 1. A camera 8 is arranged at the distal end 9 of the head 1, i.e. the distal end 9 of the endoscope.

[0029] In FIG. 2, the rotating head 1 is shown to have further deflection rings 5 or guiding rings 5′ for the rotation cable 4, which is attached at an attachment ring 5″. An aperture 8′ of the camera or image sensor 8 is surrounded by a plurality of light or illumination sources 10.

[0030] Reference numeral 6′ denotes an orifice of the working channel 6. The outer body 2 and the inner body 3 slide on each other by the means of a ball bearing 11. In FIG. 2, the dimensions of the inner body 3 with respect to the outer body 2 are different from those in FIG. 1 without changing the principle of operation of the head 1.

[0031] The articulation assembly and the compensating unit are depicted in FIG. 3 and it can be seen, that a first pair 12′ of steering cables 13 and a second pair 12″ of steering cables 13 are wound up in opposite directions on winding shafts 14′, 14″ and 15′, 15″ as represented by the steering cables 13 being drawn in continuous lines and dashed lines respectively on the winding shafts 14, 14′, 15′, 15″. The winding shafts can each be operably connected to rotating wheels 16 and 17 adapted to rotate winding shaft 14′, 14″ and 15′, 15″ respectively.

[0032] Rotating the rotating wheel 16, for example in the sense of arrow 18, effects unrolling cable from winding shaft 14′ and rolling up cable onto winding shaft 14″ thereby causing a difference in length between the steering cables 13 within the first pair 12′, which causes the elongate tube 19 to articulate in a first plane. Equally, rotating the rotating wheel 17, for example also in the sense of arrow 18, effects unwinding cable from winding shaft 15′ and rolling up cable from winding shaft 15″ thereby causing a difference in length between the steering cables 13 within the second pair 12″, which causes the elongate tube 19 to articulate in a second plane perpendicular to the first plane. Upon actuation of the rotation cable 4 by means of a drive 21 for rotating the rotating head 1, the winding shafts 14′, 14″ and 15′, 15″ are decoupled from the rotating wheels 16 and 17 by first coupling means and decoupled into subsections to allow inverse rotation of the subsections of the winding shafts 14′, 14″ and 15′, 15″ while at the same time spur gears 22′ and 22″ are engaging in the pinions 30 by moving the spur gears 22′, 22″ in the direction of arrow 25 by second coupling and decoupling means 26′, 26″. Upon rotation of the spur gears by the aid of a motor 29 the pinions 30 will be rotated in opposite directions bringing about equal winding of both steering cables 13 of a pair 12′ or 12″ of steering cables 13 thus equally lengthening or shortening the steering cables 13 depending on the sense of rotation of the spur wheels 26′, 26″ without changing the difference in length between the two cables 13 that was effected when articulating the elongate tube 19. Rotating the spur gears 22′, 22″ is controlled by a control unit 27 in operating connection with a sensor 28 for sensing a rotation angle of the head 1 relative to the flexible elongate tube 19.