阅读说明：本技术 内窥镜模块及包括其的模块化内窥镜装置 (Endoscope module and modular endoscope apparatus including the same ) 是由 千昞植 于 2019-08-29 设计创作，主要内容包括：根据一实施例的模块化内窥镜装置,其包括：底座部；驱动部,其设置在所述底座部；以及内窥镜模块,其包括(i)可拆卸地设置在所述底座部中的内窥镜外壳、(ii)具有可弯曲的弯曲部并连接到所述内窥镜外壳以可插入到受试者身体内部的插入管、及(iii)配置成传递力以弯曲所述弯曲部的弯曲导线,其中,所述内窥镜模块可拆卸地连接到所述底座部,并且,当所述内窥镜模块附着到所述底座部时,所述驱动部可以将动力传输到所述弯曲导线,当所述内窥镜模块从所述底座部分离时,所述驱动部可能无法向所述弯曲导线传输动力。(A modular endoscopic device according to an embodiment, comprising: a base part; a drive unit provided in the base unit; and an endoscope module including (i) an endoscope housing detachably provided in the base part, (ii) an insertion tube having a bendable bending part and connected to the endoscope housing to be insertable into an inside of a body of a subject, and (iii) a bending wire configured to transmit a force to bend the bending part, wherein the endoscope module is detachably connected to the base part, and the driving part may transmit power to the bending wire when the endoscope module is attached to the base part, and the driving part may not transmit power to the bending wire when the endoscope module is detached from the base part.)

1. A modular endoscopic device, characterized in that,

the method comprises the following steps:

a base part;

a drive unit provided in the base unit; and

an endoscope module including (i) an endoscope housing detachably provided in the base portion, (ii) an insertion tube having a bendable bending portion and connected to the endoscope housing to be insertable into an inside of a body of a subject, and (iii) a bending wire configured to transmit a force to bend the bending portion,

the endoscope module is detachably attached to the base portion, and the driving portion may transmit power to the bending wire when the endoscope module is attached to the base portion, and may not transmit power to the bending wire when the endoscope module is detached from the base portion.

2. The modular endoscopic device of claim 1,

the endoscope module includes:

a first clamping section which is movably provided with respect to the endoscope housing and clamps one side of the bending wire so as to be able to transmit a force to the bending wire; and

a second clamping section which is movably provided with respect to the endoscope housing and clamps the other side of the bent wire so as to be able to transmit a force to the bent wire,

the driving part includes:

a first drive coupler movably disposed with respect to the base portion and detachably connected to the first clamping portion; and

a second drive coupler movably disposed relative to the base portion and removably connected to the second clamping portion.

3. The modular endoscopic device of claim 2,

the drive section further includes:

a first driving source for slidably driving the first driving coupler in a longitudinal direction of the insertion tube; and

a second drive source for slidably driving the second drive coupler in a longitudinal direction of the insertion tube.

4. The modular endoscopic device of claim 2,

further comprising:

a control part driving the driving part to move the first clamping part and the second clamping part in different directions so that the insertion tube can be bent,

wherein the control portion repeatedly moves the first clamping portion and the second clamping portion within respectively set micro-displacement ranges to repeatedly translate the bent wire relative to the insertion tube.

5. The modular endoscopic device of claim 1,

the endoscope module further includes:

a coil sheath surrounding a circumference of the bent wire inserted into the insertion tube and guiding a path along which the bent wire is driven; and

a sheath stopper for supporting the coil sheath to prevent the coil sheath from retreating from the insertion tube.

6. The modular endoscopic device of claim 5,

further comprising:

a vibrating portion that vibrates the coil sheath by vibrating the sheath stopper to reduce a frictional force between the coil sheath and the bent wire.

7. The modular endoscopic device of claim 6,

further comprising:

a control part which controls the magnitude of the vibration force generated by the vibration part in proportion to the bending angle of the insertion tube.

8. The modular endoscopic device of claim 1,

further comprising:

a camera housing provided at the base part and having an imaging device; and

a camera tube detachably connected to the camera housing and connected to the imaging device to perform imaging in the curved portion of the insertion tube.

9. An endoscope module, characterized in that,

the method comprises the following steps:

an endoscope housing;

an insertion tube having a bendable bending portion and connected to the endoscope housing to be insertable inside a body of a subject;

a bending wire that transmits a force to bend the bending portion;

a coil sheath surrounding a circumference of the bent wire inserted into the insertion tube and guiding a path along which the bent wire is driven; and

a sheath stopper for supporting the coil sheath to prevent the coil sheath from retreating from the insertion tube; and

a vibrating portion that vibrates the coil sheath by vibrating the sheath stopper to reduce a frictional force between the coil sheath and the bent wire.

10. The endoscope module of claim 9,

further comprising:

a control part which controls the magnitude of the vibration force generated by the vibration part in proportion to the bending angle of the insertion tube.

Technical Field

The following description relates to an endoscope module and a modular endoscope apparatus including the same.

Background

Due to its flexible nature, flexible endoscopes, after entering natural orifices (e.g., mouth, anus, vagina, urethra, etc.), are inserted inside the human body along curved organs for examination by a physician while viewing the endoscope screen.

Typically, a flexible endoscope is inserted inside a patient's organ, cleaned after examination or surgery, and then may be reused. However, if not properly cleaned or disinfected, there is a risk that the contaminated instrument will contact the subject's mucosa and cause a fatal infection event.

In addition, since the flexible endoscope is required to enter the human body along the inside of a narrowly curved organ, the related instruments are required to have flexibility as well as rigidity to generate the force required for the operation. Therefore, a driving force is generally transmitted through such a flexible endoscope using a guidewire, and a length of the guidewire is maintained using a Tendon-Sheath Mechanism (Tendon-Sheath Mechanism) in which a Sheath wraps around the guidewire.

Referring to fig. 1a, the state in which stones formed in the kidney are removed by ureteroscopy can be confirmed. As shown in fig. 1a, when removing a stone formed deep in a kidney by an endoscope, an insertion tube of the endoscope may need to be bent at a large angle, for example, 180 ° to 270 °, along a path bent inside the kidney.

Thus, as shown in fig. 1a and 1b, when the insertion tube of the endoscope is bent approximately 270 °, a friction force between the guide wire for bending the insertion tube and the insertion tube or the sheath may be increased.

In the tendon-sheath mechanism, the control performance of such a flexible endoscope that bends in the body may be reduced because the friction between the guide wire and the sheath may reduce the transmission rate of the tension and reduce the control accuracy.

Accordingly, there is an increasing need to develop a disposable flexible endoscope that can fundamentally prevent infection problems caused by the reuse of the flexible endoscope and minimize the reduction of driving accuracy due to wire friction.

Disclosure of Invention

Technical problem to be solved

It is an object of an embodiment to provide a modular endoscopic device.

Means for solving the problems

A modular endoscopic device according to an embodiment, comprising: a base part; a drive unit provided in the base unit; and an endoscope module including (i) an endoscope housing detachably provided in the base part, (ii) an insertion tube having a bendable bending part and connected to the endoscope housing to be insertable into an inside of a body of a subject, and (iii) a bending wire configured to transmit a force to bend the bending part, wherein the endoscope module is detachably connected to the base part, and the driving part may transmit power to the bending wire when the endoscope module is attached to the base part, and the driving part may not transmit power to the bending wire when the endoscope module is detached from the base part.

The endoscope module may include: a first clamping section which is movably provided with respect to the endoscope housing and clamps one side of the bending wire so as to be able to transmit a force to the bending wire; and a second grip portion which is movably provided with respect to the endoscope housing and grips the other side of the bent wire so as to be able to transmit a force to the bent wire, and the driving portion may include: a first drive coupler movably disposed with respect to the base portion and detachably connected to the first clamping portion; and a second drive coupler movably disposed with respect to the base portion and detachably connected to the second clamping portion.

The driving part may further include: a first driving source for slidably driving the first driving coupler in a longitudinal direction of the insertion tube; and a second driving source for slidably driving the second driving coupler in a longitudinal direction of the insertion tube.

The modular endoscopic device further comprises: a control portion driving the driving portion to move the first clamping portion and the second clamping portion in different directions so as to bend the insertion tube, wherein the control portion may repeatedly move the first clamping portion and the second clamping portion within respectively set micro-displacement ranges to repeatedly translate the bent wire with respect to the insertion tube.

The endoscope module may further include: a coil sheath surrounding a circumference of the bent wire inserted into the insertion tube and guiding a path along which the bent wire is driven; and a sheath stopper for supporting the coil sheath to prevent the coil sheath from retreating from the insertion tube.

The modular endoscope apparatus may further include a vibrating portion that vibrates the coil sheath by vibrating the sheath stopper to reduce a frictional force between the coil sheath and the bent wire.

The modular endoscope apparatus may further include a control part controlling a magnitude of a vibration force generated by the vibration part in proportion to a bending angle of the insertion tube.

The modular endoscopic device may further comprise: a camera housing provided at the base part and having an imaging device; and a camera tube detachably connected to the camera housing and to the imaging device to perform imaging in the curved portion of the insertion tube.

An endoscope module according to an embodiment may include: an endoscope housing; an insertion tube having a bendable bending portion and connected to the endoscope housing to be insertable inside a body of a subject; a bending wire that transmits a force to bend the bending portion; a coil sheath surrounding a circumference of the bent wire inserted into the insertion tube and guiding a path along which the bent wire is driven; and a sheath stopper for supporting the coil sheath to prevent the coil sheath from retreating from the insertion tube; and a vibrating portion that vibrates the coil sheath by vibrating the sheath stopper to reduce a frictional force between the coil sheath and the bent wire.

The endoscope module may further include a control part controlling a magnitude of a vibration force generated by the vibration part in proportion to a bending angle of the insertion tube.

ADVANTAGEOUS EFFECTS OF INVENTION

According to the modular endoscope apparatus of an embodiment, since the endoscope module has a configuration that can be easily attached and detached and replaced in a modular manner, it is possible to prevent an infection problem caused by endoscopy. Further, since the endoscope module is disposable and then a new endoscope module is detached and installed and used, sterilization costs can be reduced, and in addition, the problem of reducing the bending angle due to the aging of instruments can be prevented.

According to the modular endoscope apparatus of an embodiment, the flexible insertion tube or the buckling sheath is bent by vibrating the sheath stopper by the vibrating portion, whereby frictional resistance generated between the wire and the sheath can be reduced, whereby efficiency of force transmission through the wire can be stably improved and control error can be reduced. According to this effect, it is possible to reduce the loss of the bending angle of the tube for insertion into the basket or the laser, thereby effectively extracting stones formed in the area of the intrarenal calyx (calyx) that can be reached only when the tube is bent by about 270 °.

Drawings

Fig. 1a and 1b are drawings showing a process of removing a stone inside a kidney through a ureteroscope endoscope.

FIG. 2 is a perspective view showing a modular endoscopic device according to an embodiment.

FIG. 3 is a block diagram showing a modular endoscopic device according to an embodiment.

FIG. 4 is a partial perspective view showing the interior of an endoscope module according to one embodiment.

Fig. 5a and 5b are sectional views showing a connection structure of a bent wire and a coil sheath according to an embodiment.

Fig. 6 is a sectional view showing a state where a bent wire is in contact with a coil sheath according to a bending motion of the bent wire in an embodiment.

FIG. 7a is a perspective view showing a configuration in which an endoscope module is detached according to an embodiment.

Fig. 7b is a drawing showing the lower surface of the region a shown in fig. 7 a.

Fig. 8 is an exploded perspective view illustrating a base part according to an embodiment.

Fig. 9 is a drawing showing a structure in which an endoscope module is bent in one direction according to an embodiment.

Fig. 10 is a drawing showing a structure in which an endoscope module is bent in another direction according to an embodiment.

Detailed Description

Embodiments are described in detail below with reference to the example drawings. When reference numerals are given to components in each drawing, the same components are denoted by the same reference numerals as much as possible even when they are shown in different drawings. In describing the embodiments, when it is judged that a detailed description of the related well-known art may unnecessarily obscure the embodiments, a detailed description thereof is omitted.

In addition, when describing the components of the embodiment, terms such as first, second, A, B, (a), (b), and the like may be used. These terms are only used to distinguish one constituent element from another constituent element, and are not used to limit the nature, order, and the like of the respective constituent elements. For example, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. Further, it should be understood that when one component is described in the specification as being "connected," "coupled," or "in contact with" another component, the third component may be "connected," "coupled," or "in contact" between the first component and the second component, although the first component can be directly connected, coupled, or in contact with the second component.

When a component has a function common to that of one embodiment, the component will be described with the same name in other embodiments. When no example is mentioned, the description of one embodiment can be applied to the other embodiments, and detailed description thereof is omitted.

FIG. 2 is a perspective view showing a modular endoscopic device according to an embodiment; FIG. 3 is a block diagram showing a modular endoscopic device according to an embodiment; FIG. 4 is a partial perspective view showing the interior of an endoscope module according to one embodiment; FIGS. 5a and 5b are sectional views showing a connection structure of a bent wire and a coil sheath according to an embodiment; fig. 6 is a sectional view showing a state where a bent wire is in contact with a coil sheath according to a bending motion of the bent wire in an embodiment.

Referring to fig. 2 to 6, a modular endoscope apparatus 1 according to an embodiment may include: a base part 11, a camera module 13, a surgical tool module 14, an endoscope module 12, a driving part 15, and a control part 16.

The base portion 11 may be a member to which the endoscope module 12 is mounted and which serves as a reference for the operation of the endoscope module 12. For example, camera module 13 and surgical tool module 14 may be mounted on base portion 11 for connection to endoscope module 12 and operation thereby.

For example, the base part 11 may include a surface on which the camera module 13, the surgical tool module 13, and the endoscope module 12 are mounted, and the surface may be referred to as a mounting part 111.

For example, the endoscope module 12 may be attached to the front surface of the camera module 13 and the surgical tool module 14 on the base unit 11 in a direction in which an insertion tube 124 of the endoscope module 12 described later protrudes.

The camera module 13 may include a camera housing 131 mounted on the base part 11 and a camera tube 132 formed to protrude to the outside of the camera housing 131.

The camera housing 131 may be mounted on the base part 11 and fixed thereto. For example, the camera housing 131 may have a means of performing imaging through the camera tube 132.

The camera tube 132 may be an optical fiber that transmits an image by being connected to an imaging device included in the camera housing 131. The camera tube 132 may be passed through the insertion tube 124 of the endoscope module 12 to perform imaging. The camera tube 132 is detachably connected to the camera housing 131, whereby the camera tube 132 can be easily replaced when the endoscope module 12 is detached from the base portion 11.

The surgical tool module 14 may include a surgical tool housing 141 mounted on the base unit 11, and a surgical tool tube 142 formed to protrude from the surgical tool housing 141 to the outside.

The surgical tool housing 141 may be mounted on and secured to the base portion 11. For example, the surgical tool housing 141 may include a separate drive for operating the surgical tool tube 142. The drive means should be interpreted to include both actively driven means and means manually driven by the user.

The surgical tool tube 142 may be a tube-type surgical tool formed to protrude from the surgical tool housing 141. For example, the surgical tools forming the surgical tool tube 142 may include various surgical tools for an endoscope, such as a basket, a cautery, scissors, or forceps, etc.

The surgical tool tube 142 may be passed through the insertion tube 124 of the endoscope module 12 to manipulate the surgical site, or to remove or capture stones.

The endoscope module 12 may perform endoscopy or surgery through an insertion tube 124, wherein the insertion tube 124 is mounted to the base portion 11 and inserted into the interior of the body of the subject.

The endoscope module 12 is detachably attached to the base portion 11. For example, the endoscope module 12 and the base portion 11 may be detachably provided by various methods known to those skilled in the art (e.g., an assembling method or a screw coupling), and a detailed description thereof will be omitted. The endoscope module 12 may include an endoscope housing 121, an insertion tube 124, a coil sheath 126, a bending wire 125, a sheath stopper 127, a vibrating portion 123, and a bending assembly 122.

The endoscope housing 121 may be a housing-type member detachably attached to the base portion 11. For example, the endoscope housing 121 may include a camera port 1211 accommodating the camera tube 132, a surgical tool port 1212 accommodating the surgical tool tube 142, and an insertion tube port 1213 accommodating the insertion tube 124, wherein the insertion tube 124 protrudes from the inside to the outside of the endoscope housing 121. Here, the direction in which the insertion tube 124 protrudes from the endoscope housing 121 may be referred to as "protruding direction".

For example, the insertion tube port 1213 may be formed in a portion of the endoscope housing 121 toward a direction of the protruding direction, and the camera port 1211 and the surgical tool port 1212 may be formed in a portion of the endoscope housing 121 toward a direction opposite to the protruding direction.

For example, as shown in fig. 2, the camera module 13 and the surgical tool module 14 are arranged at intervals in the opposite direction in which the insertion tube 124 protrudes based on the endoscope housing 121, and the insertion tube 124, the surgical tool tube 142, and the insertion tube 124 may be arranged in parallel with each other.

With this structure, by keeping the path as straight as possible on the path of introducing the camera tube 132 and the surgical tool tube 142 into the insertion tube 124, it is possible to reduce friction inside the insertion tube 124 while providing a compact structure. Thereby, the control performance of each of the camera tube 132 and the surgical tool tube 142 can be improved.

The insertion tube 124 may be a flexible tube that is connected from the endoscope housing 121 and inserted into the interior of the subject's body. For example, the insertion tube 124 may include a passage 1241 and a bend 1242.

The passage 1241 serves as a hollow formed inside in the longitudinal direction of the insertion tube 124, into which the camera tube 132 and/or the surgical tool tube 142 can be inserted and passed. For example, the passage 1241 may be formed as a single hollow for the camera tube 132 and the surgical tool tube 142 to pass through together, however, it may be formed as a plurality of hollows for accommodating the camera tube 132 and the surgical tool tube 142, respectively.

The bend 1242 is located at the end of the insertion tube 124 and may comprise a bendable structure. For example, the curved part 1242 may include a plurality of ring members having holes communicating with the passages 1241, and connection parts respectively disposed between the plurality of ring members and connecting adjacent ring members to rotate relative to each other. For example, the connecting portion may have a rotary joint structure. For example, the annular connection may be formed of a flexible material to allow adjacent annular members to rotate relative to each other. Methods known to those skilled in the art may be applied to curved portion 1242 unless otherwise noted, and the figures are only shown conceptually.

The insertion tube 124 may receive a bent wire 125 inserted along an outer peripheral portion of the longitudinal insertion passage 1241 and fixed to an end of the bent portion 1242, and a coil sheath 126 inserted along an outer peripheral portion of the longitudinal insertion passage 1241 and fixed to an initial portion of the bent portion 1242. In other words, holes may be formed at the outer edge portions of the passages 1241 for receiving the bent wires 125 and the coil sheaths 126.

The bent wire 125 may transmit a force for bending the bend 1242. As shown in fig. 5b, the bent wire 125 is driven by the bending assembly 122 and transmits a force to the end of the bent portion 1242, so that the bent portion 1242 can be bent. The bending part 1242 may perform a bending operation in a direction corresponding thereto according to a direction in which the bent wire 125 is pulled. In addition, "bent wire 125" herein does not necessarily mean a single strand. For example, although the drawings show that both ends of one bent wire 125 are fixed to both sides of each bent portion 1242 and a middle portion of the bent wire 125 is supported by the bending member 122, unlike the drawings, both ends of two bent wires 125 separated from each other may be fixed to both sides of the bent portion 1242 and the other ends may be supported by the bending member 122.

The coil sheath 126 may be harder than the insertion tube 124. The coil sheath 126 can reduce the probability of the insertion tube 124 being bent even when a high level of tension is applied to the bent wire 125, and can maintain the path lengths of the insertion tube 124 and the bent wire 125. In other words, the control accuracy by bending the bent portion 1242 of the wire 125 can be improved. In addition, the coil sheath 126 is disposed around the circumference of the bent wire 125, and the inner diameter of the coil sheath 126 may be larger than the outer diameter of the bent wire 125. By the coil sheath 126, it is possible to prevent friction that may be caused by direct contact of the outer face of the bent wire 125 with the inner face of the insertion tube 124, and to enable smooth driving of the bent wire 125. For example, the coil sheath 126 may be formed in the form of a coil extension while continuously surrounding the circumference of the bent wire 125.

One end of the coil sheath 126 may be fixed to the initial portion of the bent portion 1242, and the other end of the coil sheath 126 may be fixed to a sheath stopper 127 provided outside the insertion tube 124.

The sheath stopper 127 passes through the bent wire 125 protruding to the outside of the insertion tube 124, and may support the coil sheath 126 to prevent the coil sheath 126 from retreating from the insertion tube 124. The sheath stopper 127 may have a hollow through which the bent wire 125 passes. The diameter of the hollow may be larger than the diameter of the bent wire 125 and may be smaller than the diameter of the coil sheath 126. Accordingly, the bent wire 125 can be moved in the longitudinal direction without being interfered by the sheath stopper 127, and the coil sheath 126 can be interfered by the sheath stopper 127 and fixed thereto without being further moved in a direction in which the coil sheath 126 protrudes from the insertion tube 124.

The vibrating portion 123 may be connected to the sheath stopper 127 to vibrate the sheath stopper 127. For example, the vibrating portion 123 may include a vibrating mass 1232 connected to the sheath stopper 127 inside the endoscope module 12 and exposed from a portion where the endoscope module 12 is connected to the base portion 11; and a vibration actuator 1231 provided at the base part 11 and connected to the vibration mass 1232 to be capable of generating a vibration force.

For example, as shown in fig. 7a and 7b, the vibration actuator 1231 may have a protruding shape protruding to the outside of the mounting part 111, and the vibration block 1232 may have a groove such that a portion of the endoscope module 12 exposed to the mounting part 111 is engaged with the protruding portion of the vibration actuator 1231.

With this structure, when the endoscope module 12 is mounted on the base part 11, the vibration actuator 1231 and the vibrating block 1232 can be connected to each other, whereby the vibration generated in the vibration actuator 1231 can vibrate the sheath stopper 127 by the vibrating block 1232.

For example, the vibration actuator 1231 may include an ultrasonic vibrator, an actuator that vibrates in at least one direction, an eccentric motor that generates vibration by a rotational force, or the like.

The vibrating portion 123 may vibrate the coil sheath 126 with respect to the bent wire 125 by vibrating the sheath stopper 127 with respect to the bent wire 125, whereby a frictional force between the bent wire 125 and the coil sheath 126 may be reduced.

Fig. 6 exemplarily shows a state where buckling occurs due to a compressive force applied to the coil sheath 126 when the insertion tube 124 is bent at a certain angle or more or a tensile force of a certain magnitude or more is applied to the bent wire 125. As shown in the drawing, when the cross section of the linear material forming the coil shape of the coil sheath 126 is circular, slippage may easily occur at a portion close to the linear material due to a compressive force. As shown, when bent at a certain angle α, the unit distance of the coil member in the longitudinal direction of the bent wire 125 may be reduced from "2 r" to "2 r cos α". In this case, a relative length difference between the coil sheath 126 and the bent wire 125 may be caused, and a portion of the bent coil sheath 126 may apply a normal force to the bent wire 125, thereby increasing mutual friction. As a result, a tension transmission rate by bending the wire 125 may be reduced, and tension is irregularly formed according to a curvature at which the coil sheath 126 is bent, so that an error of a control amount by bending the wire 125 may be generated. However, it has been confirmed through experiments that when the coil sheath 126 is finely vibrated by the above-described vibrating portion 123, a frictional force generated between the coil sheath 126 and the bent wire 125 can be reduced. Thus, the force transmission efficiency of the bent wire 125 can be improved, and the control error can be effectively reduced. In the case of the existing endoscope, it is difficult to drive the bent wire 125 when bent at a certain angle (e.g., 180 ° to 270 °) due to such an internal friction force, and particularly, such a problem becomes more prominent as the endoscope ages. However, according to the embodiment, such a problem can be effectively solved, and as a result, it has been confirmed that the bending wire 125 can be driven without limitation even in a state where the endoscope is bent to 270 °.

FIG. 7a is a perspective view showing a configuration in which an endoscope module is detached according to an embodiment; FIG. 7b is a drawing showing the lower surface of region A shown in FIG. 7 a; FIG. 8 is an exploded perspective view illustrating a base portion according to one embodiment; FIG. 9 is a drawing showing a configuration in which an endoscope module is bent in one direction according to an embodiment; fig. 10 is a drawing showing a structure in which an endoscope module is bent in another direction according to an embodiment.

Hereinafter, a bending operation of the endoscope module 12 of the modular endoscope apparatus 1 according to an embodiment and elements provided in a modular manner to facilitate replacement will be described with reference to fig. 7a to 10. According to the modular endoscope apparatus 1 of an embodiment, only the endoscope module 12 that has been used is replaced and the relatively expensive driving portion 15 is maintained, so that it is possible to reduce an increase in cost while fundamentally blocking the problem of infection caused by the endoscope module 12.

The insertion tube 124 may be bent by a bending assembly 122, wherein the bending assembly 122 transmits force through a bent wire 125. A bending assembly 122 can be disposed within the endoscope housing 121 to grip a bent wire 125 that protrudes outside of the insertion tube 124. The bending assembly 122 may include a pulley 1221 from which the bent wire 125 is suspended, a first clamping portion 1222 clamping one side of the bent wire 125, and a second clamping portion 1223 clamping the other side of the bent wire 125.

The pulley 1221 may be located between the first grip 1222 and the second grip 1223 on a path through which the bent wire 125 passes, thereby supporting the bent wire 125.

For example, the first grip portion 1222 and the second grip portion 1223 may be provided to be connected to the driving portion 15, respectively, and movable with respect to the endoscope housing 121. The first and second clamping portions 1222 and 1223 may slide in a longitudinal direction of the bent wire 125, and the sliding direction may be parallel to the protruding direction. For example, the first and second clamping portions 1222 and 1223 may be spaced apart from each other side by side on both sides thereof with reference to a center line of the insertion tube 124 parallel to the protruding direction. The sliding direction of the first grip 1222 and the sliding direction of the second grip 1223 may be opposite to each other.

For example, the first clamping portion 1222 and the second clamping portion 1223 may be detachably connected to the driving portion 15 by an assembling method or the like. For example, portions of the first and second clamping portions 1222 and 1223 connected to the driving portion 15 may be exposed to the outside of the endoscope housing 121.

For example, as shown in fig. 7a and 7b, in the endoscope housing 121, a hole may be formed to be cut such that portions of the first and second clamping portions 1222 and 1223 connected to the driving portion 15 are exposed to the outside. Each clip 1222, 1223 can include a recess or protrusion that engages with the first and second drive couplers 1521, 1522, respectively, of the drive section 15 exposed on the mounting portion 111.

The driving portion 15 is provided at the base portion 11, and is connected to the endoscope module 12 to slide the first and second grip portions 1222 and 1223 in the protruding direction. The driving part 15 may bend the insertion tube 124 by sliding the first and second clamping parts 1222 and 1223 in opposite directions. For example, the driving part 15 may include a driving source 151 and a driving coupler 152.

The driving source 151 may transmit power to the clamping portions 1222, 1223 through the driving coupler 152. For example, the driving source 151 may be provided inside the mounting portion 111. The driving source 151 may be driven by, for example, oil pressure, air pressure, electric power, or the like.

The driving source 151 may include a first driving source 1511 for sliding the first clamping portion 1222 and a second driving source 1512 for sliding the second clamping portion 1223.

In the case of a linear type, for example, each of the driving sources 1511, 1512 may include a linear structure (such as a linear guide, a ball screw, or a cylinder, etc.) that transmits a translational motion force, and a slider 15111, 15121 that linearly moves in a direction parallel to a longitudinal direction of the linear structure, respectively.

In the case of the rotation type, for example, each of the driving sources 1511, 1512 may include a rotation pulley, a wire wound around the rotation pulley, and sliders 15111, 15121 connected to both sides of the wire, respectively. For another example, each of the driving sources 1511, 1512 may include a pinion, a rack engaged with both sides of the pinion, and sliders 15111, 15121 respectively coupled to the racks on both sides. In this regard, a description of a specific structure thereof will be omitted.

The driving coupler 152 is connected to the driving source 151, and it is external to the base part 11, thereby being connectable to the first and second clamping parts 1222 and 1223. The driving coupler 152 may include a first driving coupler 1521 connected to the first grip 1222 by a slider 15111 of a first driving source 1511, and a second driving coupler 1522 connected to the second grip 1223 by a slider 15121 of a second driving source 1512. As shown in fig. 7a and 7b, a cut hole may be formed in the mounting portion 111 such that the first and second driving couplers 1521 and 1522 are exposed to the outside.

For example, the first and second driving couplers 1521 and 1522 have a protruding shape protruding outside the mounting portion 111, and the first and second clamping portions 1222 and 1223 have a groove shape corresponding to the protruding shape, whereby they can be coupled to each other. Alternatively, as shown in fig. 7a and 7b, the first clamping portion 1222 and the second clamping portion 1223 may be arranged inside so as not to protrude outside the endoscope housing 121.

The control portion 16 may perform a bending operation of the insertion tube 124 and a vibration motion of the coil sheath 126. The control section 16 may drive the driving source 151 to perform the sliding operation of the first and second clamping sections 1222 and 1223. For example, the control section 16 may translationally drive the two drive sources 151 in opposite directions, thereby adjusting the bending direction of the insertion tube 124 and the degree of bending thereof.

For example, as shown in fig. 9, when the first linear operation part 1511 is moved forward while retreating the second linear operation part 1512 based on the protruding direction, the second grip part 1223 may stretch the bent wire 125 while the first grip part 1222 may guide the bent wire 125 to a position where it is further inserted into the insertion tube 124, and as a result, the insertion tube 124 may perform a bending operation in a direction of stretching the second grip part 1223 of the bent wire 125.

In contrast, as shown in fig. 10, when the second linear operation part 1512 is moved forward while retracting the first linear operation part 1511, the first grip 1221 may stretch the bent wire 125 while the second grip 1223 may guide the bent wire 125 to a position where it is further inserted into the insertion tube 124, and as a result, the insertion tube 124 may perform a bending operation in a direction in which the first grip 1222 of the bent wire 125 is stretched.

The control section 16 can vibrate the sheath stopper 127 by driving the vibrating section 123. For example, the control section 16 may generate a relative vibration motion between the bent wire 125 and the coil sheath 126 in a longitudinal direction of the bent wire 125 by the vibration section 123, thereby reducing a frictional resistance between the bent wire 125 and the coil sheath 126.

For example, the control part 16 may adjust the magnitude of the vibration force by the vibration part 123 in proportion to the bending angle of the insertion tube 124. By this, it is possible to flexibly respond to the varying frictional resistance between the bent wire 125 and the coil sheath 126 according to the degree of bending of the insertion tube 124. For example, the bending angle of the insertion tube 124 may be determined based on the relative distance between the sliders 15111, 15121 of each of the two drive sources 151.

For example, the control section 16 repeatedly moves the first and second clamping sections 1222 and 1223 through the driving section 15 within the respectively provided micro-displacement range, whereby the bent wire 125 can perform a repeated translational motion relative to the coil sheath 126 within the micro-displacement range.

Therefore, in addition to reducing the frictional resistance between the bent wire 125 and the coil sheath 126 by the vibration of the sheath stopper 127, the bent wire 125 can be repeatedly moved in the micro-displacement range by the driving part 15, thereby more effectively further reducing the frictional resistance.

In addition, friction can be reduced only by repeated translational movement of the bent wire 125 through the driving part 15 without requiring vibration of the sheath stopper 127.

According to the modular endoscope apparatus of an embodiment, since the endoscope module has a configuration that can be easily attached and detached and replaced in a modular manner, it is possible to prevent an infection problem caused by endoscopy.

According to the modular endoscope apparatus of an embodiment, the flexible insertion tube or the buckling sheath is bent by vibrating the sheath stopper by the vibrating portion, whereby frictional resistance generated between the wire and the sheath can be reduced, whereby efficiency of force transmission through the wire can be stably improved and control error can be reduced.

In summary, the embodiments have been described with limited reference to the accompanying drawings, and those skilled in the art will be able to make various modifications and variations based on the description. For example, the techniques described may be performed in a different order than the methods described, and/or components of systems, structures, devices, circuits, etc. described may be combined or combined in a different manner than the methods described, or may be replaced or substituted with other components or equivalents thereof, to achieve suitable results.