Endoscope with a three-wire steering mechanism
An endoscope and a system including the endoscope and a monitor. The endoscope includes a handle; an insertion cord including an insertion tube, a bending section and a distal tip unit and defining an insertion cord axis; a steering mechanism configured to swivel the distal tip unit and including: a first input wheel and a second input wheel, both rotatably supported by the handle; and a first steering wire, a second steering wire and a third steering wire, all steering wires provided for controlling a bending movement of the bending section, connected to the first input wheel and/or the second input wheel, and extending through the insertion cord, and each steering wire radially spaced from the insertion cord axis and angularly spaced with respect to each other in the circumferential direction of the insertion cord.
1 . An endoscope comprising:
a handle;
an insertion cord extending from the handle and configured to be inserted into a patient's body cavity, the insertion cord comprising an insertion tube, a bending section and a distal tip unit and having an insertion cord axis;
a steering mechanism configured to swivel the distal tip unit by bending the bending section, the steering mechanism comprising:
a first input wheel comprising a first wheel portion having a first radius and a second wheel portion having a second radius different than the first radius, the first wheel portion being connected to the second wheel portion in a rotationally fixed manner;
a second input wheel comprising a third wheel portion having a third radius and a fourth wheel portion having a fourth radius different from the third radius, the third wheel portion being connected to the fourth wheel portion in a rotationally fixed manner, the first input wheel and the second input wheel being rotatably supported by the handle and being provided for receiving a rotational input by a user;
a connecting wire; and
exactly three steering wires, including a first steering wire, a second steering wire and a third steering wire, the three steering wires extending through the insertion cord to control a bending movement of the bending section,
wherein the first steering wire is connected to the first wheel portion,
wherein the second steering wire is connected to the third wheel portion,
wherein the connecting wire is connected to the second wheel portion and to the fourth wheel portion, and
wherein the first steering wire, the second steering wire and the third steering wire are each radially spaced from the insertion cord axis and are angularly spaced with respect to each other in a circumferential direction of the insertion cord.
2 . The endoscope of claim 1 , wherein the steering mechanism includes exactly two input wheels comprising the first input wheel and the second input wheel.
3 . The endoscope of claim 1 , wherein the steering mechanism further includes a redirecting member connected to the third steering wire, the connecting wire being guided via the redirecting member.
4 . The endoscope of claim 3 , wherein the redirecting member is positioned in the handle so as to be translationally movable in an extending direction of the third steering wire.
5 . The endoscope of claim 1 , wherein:
the first steering wire extends in a first circumferential direction of the first input wheel, the second steering wire extends in a first circumferential direction of the second input wheel, the connecting wire extends in a second circumferential direction of the first input wheel, and the connecting wire extends in a second circumferential direction of the second input wheel.
6 . The endoscope of claim 5 , wherein:
the second steering wire and the insertion cord axis extend to define a first reference plane,
a ratio of the first radius to the second radius defines a first radius ratio,
the first radius ratio essentially equals half a ratio of a minimum distance between the first steering wire and the first reference plane with respect to a minimum distance between the third steering wire and the first reference plane,
the first steering wire and the insertion cord axis extend to define a second reference plane,
a ratio of the third radius to the fourth radius defines a second radius ratio, and
the second radius ratio essentially equals half a ratio of a minimum distance between the second steering wire and the second reference plane with respect to a minimum distance between the third steering wire and the second reference plane.
7 . The endoscope of claim 1 , wherein:
the second radius is larger than the first radius, and
the fourth radius is larger than the third radius.
8 . The endoscope of claim 7 , wherein the first input wheel and/or the second input wheel is/are connected to a braking or locking mechanism which, during operation of one input wheel out of the first input wheel and the second input wheel is configured to brake or lock a rotation of the other one of the first input wheel and the second input wheel transmitted via the connecting wire.
9 . The endoscope of claim 8 , wherein the insertion cord axis and one of the first steering wire, the second steering wire and the third steering wire extend to define a symmetry plane and the other ones of the first steering wire, the second steering wire and the third steering wire are arranged symmetrically with respect to the symmetry plane.
10 . The endoscope of claim 9 , wherein an angle between two adjacent steering wires among the first steering wire, the second steering wire and the third steering wire with respect to the insertion cord axis is smaller than 180°.
11 . The endoscope of claim 10 , wherein an angle between the first steering wire and the second steering wire with respect to the insertion cord axis is between 85° and 95°.
12 . The endoscope of claim 1 , wherein the first input wheel and the second input wheel are translationally fixed with respect to the handle.
13 . The endoscope of claim 12 , wherein:
the first input wheel is configured to receive the rotational input by the user via a first manually operable element connected to the first input wheel via a first shaft, and
the second input wheel is configured to receive the rotational input by the user via a second manually operable element connected to the second input wheel via a second shaft.
14 . An endoscope comprising:
a handle;
an insertion cord extending from the handle and configured to be inserted into a patient's body cavity, the insertion cord comprising an insertion tube, a bending section and a distal tip unit and having an insertion cord axis;
a steering mechanism configured to swivel the distal tip unit by bending the bending section, the steering mechanism comprising:
a first input wheel and a second input wheel, the first input wheel and the second input wheel being rotatably supported by the handle and being provided for receiving a rotational input by a user; and
exactly three steering wires, including a first steering wire, a second steering wire and a third steering wire, the three steering wires extending through the insertion cord and being connected to the first input wheel and/or the second input wheel to controlling a bending movement of the bending section; and
a connecting wire comprising a first end connected to the first input wheel and a second end connected to the second input wheel,
wherein the first steering wire, the second steering wire and the third steering wire are each radially spaced from the insertion cord axis and are angularly spaced with respect to each other in a circumferential direction of the insertion cord, and
wherein:
the first input wheel comprises a first wheel portion having a first radius and a second wheel portion having a second radius different than the first radius,
the second input wheel comprises a third wheel portion having a third radius and a fourth wheel portion having a fourth radius different than the third radius,
the first steering wire is connected to the first wheel portion of the first input wheel and extends in a first circumferential direction of the first input wheel,
the second steering wire is connected to the third wheel portion of the second input wheel and extends in a first circumferential direction of the second input wheel,
the connecting wire is connected to the second wheel portion of the first input wheel and extends in a second circumferential direction of the first input wheel, and
the connecting wire is connected to the fourth wheel portion of the second input wheel and extends in a second circumferential direction of the second input wheel.
15 . An endoscope comprising:
a handle;
an insertion cord extending from the handle and configured to be inserted into a patient's body cavity, the insertion cord comprising an insertion tube, a bending section and a distal tip unit and having an insertion cord axis;
a steering mechanism configured to swivel the distal tip unit by bending the bending section, the steering mechanism comprising:
a first input wheel and a second input wheel, the first input wheel and the second input wheel being rotatably supported by the handle and being provided for receiving a rotational input by a user; and
exactly three steering wires, including a first steering wire, a second steering wire and a third steering wire, the three steering wires extending through the insertion cord and being connected to the first input wheel and/or the second input wheel to controlling a bending movement of the bending section; and
a connecting wire comprising a first end connected to the first input wheel and a second end connected to the second input wheel,
wherein the first steering wire, the second steering wire and the third steering wire are each radially spaced from the insertion cord axis and are angularly spaced with respect to each other in a circumferential direction of the insertion cord, and
the first input wheel comprises a first wheel portion having a first radius and a second wheel portion having a second radius larger than the first radius, the first steering wire being connected to the first wheel portion of the first input wheel and extending in a first circumferential direction, and the connecting wire being connected to the second wheel portion of the first input wheel and extending in a second circumferential direction that is opposite the first circumferential direction, and
the second input wheel comprises a third wheel portion having a third radius and a fourth wheel portion having a fourth radius larger than the third radius, the second steering wire being connected to the third wheel portion of the second input wheel and extending in the first circumferential direction, and the connecting wire being connected to the fourth wheel portion of the second input wheel and extending in the second circumferential direction.
16 . The endoscope of claim 15 , wherein the steering mechanism further includes a first shaft concentric with the third wheel portion about a rotational axis, the first shaft being connected, in a rotationally fixed manner, to the first input wheel, the first wheel portion, and the second wheel portion.
17 . The endoscope of claim 16 , wherein the steering mechanism further includes a redirecting member positioned in the handle and connected to the third steering wire, the redirecting member translating in the handle responsive to rotation of the first input wheel and/or the second input wheel.
18 . A system comprising the endoscope of claim 1 and a monitor connectable to the endoscope.