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US3670721A - Endoscope - Google Patents

Endoscope
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Publication number
US3670721A
US3670721AUS8776AUS3670721DAUS3670721AUS 3670721 AUS3670721 AUS 3670721AUS 8776 AUS8776 AUS 8776AUS 3670721D AUS3670721D AUS 3670721DAUS 3670721 AUS3670721 AUS 3670721A
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Prior art keywords
tubular
tube
braid
bendable
core
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Expired - Lifetime
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US8776A
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Masaharu Fukami
Toshiyuki Mori
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Olympus Corp
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Olympus Optical Co Ltd
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Abstract

Endoscope having a bendable tube connected to a forward end member adapted to be inserted into a hollow body portion to be inspected and controlled from a control housing and an elongated flexible tube connecting the bendable tube and the control housing. The flexible tube has a thin tubular synthetic resin layer having a tubular net-like braid of non-metallic fibers embedded therein and another thin tubular synthetic resin layer having a tubular net-like braid of metallic fibers embedded therein, the superimposed resin layers coaxially covering the flexible core of the flexible tube, and the bendable tube comprises a tubular, knitted net-like braid of crimped synthetic fibers closely enveloping a bendable tubular core and a pliable resin tube closely enveloping the braid, thus providing adequate wall thickness for the flexible tube and the bendable tube while retaining sufficient flexibility and twist-resisting property.

Description

United States Patent 51 June 20, 1972 Fukami et a1.
[ ENDOSCOPE [72] Inventors: Masaharu Fukami; Toshiyuki Morl, both of Tokyo, Japan [73] Assignee: Olympus Optical Co., Ltd., Tokyo, Japan [22] Filed: Feb. 5, 1970 [21] Appl. No.: 8,776
[52] US. C ..128/6 51 rm. Cl. ..A61b 1/06 [58] Field olSearch ..128/4,5,6, 7,8,9
[56] References Cited UNITED STATES PATENTS 1,995,196 3/1935 Wolf ....l28/7 2,453,862 11/1948 Sausbury ....128l9 2,243,992 6/1941 Wappler ....l28/8 3,256,875 6/1966 Tsepelev et al. ..l28/8 Primary Examiner-Lucie H. Laudenslager AttomeyKelman and Berman ABSTRACT Endoscope having a bendable tube connected to a forward end member adapted to be inserted into a hollow body portion to be inspected and controlled from a control housing and an elongated flexible tube connecting the bendable tube and the control housing. The flexible tube has a thin tubular synthetic resin layer having a tubular net-like braid of non-metallic fibers embedded therein and another thin tubular synthetic resin layer having a tubular net-like braid of metallic fibers embedded therein, the superimposed resin layers coaxially covering the flexible core of the flexible tube, and the bendable tube comprises a tubular, knitted net-like braid of crimped synthetic fibers closely enveloping a bendable tubular core and a pliable resin tube closely enveloping the braid, thus providing adequate wall thickness for the flexible tube and the bendable tube while retaining sufficient flexibility and twistresisting property.
2 Claims, 8 Drawing Figures P'ATENTEnJunzom2 sum 10F 2 PRIOR ART III I lllllh PATENTEDJUN 2 0 12172SHEET 3BF 2 g. 6 PRIOR ART M INVENTOR5. 'HQ U FuKa-lh;
QGEA/Tg mnoscorrz BACKGROUND OF THE INVENTION The present invention relates to an endoscope, and more particularly to the novel and useful construction of the elongated flexible tube and the controllably bendable tube connecting the control housing of the endoscope to the forward end member thereof to be inserted into a hollow portion of a living body to be inspected by the endoscope.
An endoscope comprises in general a forward end member connected to a control housing through a controllably bendable tube and an elongated flexible tube. The controllably bendable tube is located adjacent to the forward end member and must have sufficient bendability and also sufi'icient strength against collapsing so that it can be bent in the desired direction and by the desired angle thereby permitting the forward end member to be easily inserted through a passage having complicated curvatures into a hollow portion to be inspected and directed to an object for the proper inspection thereof, while the elongated flexible tube is made yieldable to follow the curvature of the passage but resists twisting.
Optical systems are provided in the forward end member for illuminating the object to an eyepiece in the control housing or photographed by a camera provided in the control housing.
Since the passage through which the forward end member is inserted is relatively thin, the diameter of the forward end member as well as the bendable tube and the flexible tube must be made as small as possible while the inner diameter of the bendable tube and the flexible tube must be as large as possible in order to accomodate the light and the image transmitting optical systems and other elements.
The present invention aims at providing improved flexible and bendable tubes for an endoscope.
SUMMARY OF THE INVENTION An object of the present invention is to provide an endoscope with an elongated flexible tube which is sufficiently flexible but resists twisting while the wall thickness thereof is reduced to a minimum.
Another object of the present invention is to provide an endoscope with a bendable tube of sufficient bendability while the wall thickness thereof is at a minimum.
The above objects are achieved in accordance with the present invention by an elongated flexible tube characterized by a thin tubular synthetic resin layer having a tubular net-like braid made of non-metallic fibers embedded therein and a thin tubular synthetic resin layer having a tubular net-like braid made of metallic fibers embedded therein, the two layers being superimposed and closely enveloping a flexible tubular metallic core member thereby affording sufficient flexibility and twist-resisting property to the elongated flexible tube at minimum wall thickness so that sufficient space is provided in the interior of the elongated flexible tube. The bendable tube has a tubular net-like braid knitted of crimped synthetic fibers and closely enveloping a bendable tubular core, a pliable resin tube being laid closely around the braid to provide sufficient bendability.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. I is a general side view of a conventional endoscope;
FIG. 2 is a fragmentary longitudinal sectional view of the elongated flexible tube'of the endoscope of FIG. 1;
FIG. 3 is a fragmentary longitudinal sectional view of another known flexible tube of an endoscope;
FIG. 4 is a fragmentary longitudinal sectional view of an elongated flexible tube constructed in accordance with the present invention;
FIG. 5 is a fragmentary plan view of the braid used in the tube shown in FIG. 4;
FIG. 6 is a fragmentary side view partly in section showing the construction of the bendable tube of a known endoscope;
FIG. 7 is a fragmentary side view of a bendable tube constructed in accordance with the present invention; and
FIG. 8 is a fragmentary side view shown the procedure of producing the braid used in the bendable tube of FIG. 7.
DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Referring to FIG. 1 showing a conventional endoscope, the elongated tubular endoscope element has a forward end member 1 connected tocontrol housing 2 through an elongated yieldablyflexible tube portion 3 and a controllablybendable tube portion 4. The controllablybendable tube 4 is located adjacent to the forward end member 1 and controlled by anoperating handle 5 through connecting means such as strings (not shown) so that the forward end member 1 is directed to the desired direction with respect to an object for the proper inspection thereof.
Aviewing window 6 and anilluminating window 7 are provided in the wall of the forward end member I. An elongated light conducting optical system (not shown) extends through thetube 4 and thetube 3 from the illuminating window while therearward end 8 thereof extends beyond thecontrol housing 2 so as to be connected to an external light source (not shown).
An objective lens and a reflecting prism (not shown) in the forward end member 1 at theviewing window 6 and an image transmitting optical system (not shown) permits an image to be viewed through an eyepiece 9 provided in thecontrol housing 2.
In the prior art construction of the elongatedflexible tube 3 shown in FIG. 2, a helically wound thin strip ofmetal 10 is laid closely around an oppositely helically wound thin strip ofmetal 11 so as to form the core of the elongatedflexible tube 3. Apliable tube 12 made of a material such as polyvinyl chloride resin is laid closely around the helically woundthin strip 10.
FIG. 3 shows another example of a knownflexible tube 3 which comprises a helically wound thin strip of metal 1 1 forming the core of the elongated flexible tube 3', a tubular net-like metallic braid l3 closely laid around thestrip 11 and apliable tube 12 laid closely around thebraid 13.
The elongatedflexible tube 3 of FIG. 2 has a relatively great wall thickness and poor yieldability. Thetube 3 of FIG. 3 has also a relatively great wall thickness although the yieldability is slightly improved in comparison with that of thetube 3.
In accordance with the present invention, an elongatedflexible tube 3" shown in FIG. 4 comprises a helically wound thin strip of metal ll similar to that shown in FIG. 2. A tubularnetlike braid 14 made of non-metallic fibers such as cotton, silk or plastic is laid coaxially around thestrip 11, and soft synthetic resin compound is applied to thebraid 14 by coating with or dipping in the molten resin compound so as to form athin resin layer 15 in which thebraid 14 is embedded and which engages the strip 1 1.
In the like manner, a tubularmetallic braid 16 of piano wires or stainless steel wires is laid closely around thelayer 15, and soft synthetic resin compound is applied to thebraid 16 by coating or dipping so as to form athin resin layer 17 in which thebraid 16 is embedded.
In a similar manner, athin resin layer 18 with a braid 19 of non-metallic fibers embedded therein is provided around theresin layer 17.
The number of layers may be increased so as to form the desired thickness of the-wall in which resin layers having embedded braids of non-metallic fibers and the resin layers having the braid of metallic fibers alternate.
FIG. 5 shows an example of the braid used in the present invention.
As to the resin compound, any resin compounds can be used insofar as they have sufficient pliability and are harmless to the living body.
The elongatedflexible tube 3" has appropriate flexibility and resiliency as well as sufficient yieldability and twist resistance while its wall thickness is held to a minimum. The longitudinal end of thetube 3" remote from the bendable tube constitutes a terminal portion of the tubular endoscope element which is secured to thecontrol housing 2.
FIG. 6 shows a knownbendable tube 4 of an endoscope connected to the forward end member 1. It comprises a tubular core consisting of short tubular segments connected bypivot pins 20a, apliable tube 21 made of polyvinyl chloride or Neoprene laid closely around the core, ametallic braid 22 of stainless steel or piano wires closely laid around thepliable tube 21 and a pliableouter shell 23 made of an elastomeric material such as polyvinyl chloride or rubber, Therefore, the wall thickness of thetube 4 is relatively great thereby reducing the space utilizable to locate the various elements therein.
In accordance with the present invention, the bendable tube '4' shown in FIG. 7 is provided with a thin wall which affords sufficient bendability and resistance against collapsing and twisting.
The core of thetube 4 consists of atubular segments 20 joined bypivot pins 20a as in FIG. 6. Atubular braid 24 of knitted crimped synthetic fibers such as nylon fibers is laid closely around the core, and a pliable tube orouter shell 25 made of soft synthetic resin compound closely envelopes thebraid 24.
Thetube 4 has a relatively small wall thickness while it has sufficient bendability and resistance against collapsing and twisting.
Thepliable tube 25 may be formed by dipping thebraid 24 in the molten synthetic resin compound or by coating thebraid 24 so that the synthetic resin compound is impregnated into thebraid 24.
FIG. 8 shows an example of the process for fonning thebraid 24. Acylindrical form 26 having an inner diameter greater than the outer diameter of the core in the tube 4' is placed around the core, and the crimpedfibers 24a are wound around theform 26 so as to form a net-like structure. Thereafter, theform 26 is withdrawn, thereby permitting the net-like structure offibers 24a to contract into engagement with the core by the crimping effect or by appropriate heat treatment.
We claim:
1. In an endoscope including a control housing and an elongated tubular element having one longitudinally terminal portion secured to said housing, another longitudinally terminal portion remote from said housing and formed with a viewing window, and a longitudinal, flexible portion intermediate said terminal portions, said intermediate portion having a tubular, flexible, metallic core, the improvement of said intermediate portion which comprises:
a. a first, tubular, synthetic resin layer substantially coaxially engagingly superimposed on said core;
b. a second, tubular, synthetic resin layer substantially coaxially superimposed on said first layer;
c, a first tubular, net-like braid of non-metallic fibers embedded in one of said resin layers; and
d. a second tubular, net-like braid of metal fibers embedded in the other resin layer.
2. In an endoscope as set forth in claim 1, wherein the tubular element has a bendable portion longitudinally intermediate said other longitudinally terminal portion and said flexible portion thereof, the endoscope including operating means on said housing for bending said bendable portion, the bendable portion having a tubular core adapted to be bent by said operating means and an outer shell of elastomeric material, the improvement in said bendable portion which comprises a tubular, net-like braid of crimped synthetic fibers closely enveloping said core and being closely enveloped by said shell.
(SEAL) Attest:
Patent No.
Inventor(s) EDWARD M.FLETCHER ,JR. Attesting; Officer UNITED STATES PATENT OFFICE QERTIFICATE orCGRRECTION 3 670, 721. Dated June 20, 1972 MASAHARU FUKAMI and- TOSHIYUKI MORI is certified that error appears in the above-identified patent and that said Letters Patent are hereby corrected as shown below:
In the title page, after line [2l 7 insert Foreign Application Priority Data February 12, 1969, Japan 12,000/1969 Signed and sealed this 3rd day of October 1972.
ROBERT GOTI'SCHALK Commissioner of Patents

Claims (2)

1. In an endoscope including a control housing and an elongated tubular element having one longitudinally terminal portion secured to said housing, another longitudinally terminal portion remote from said housing and formed with a viewing window, and a longitudinal, flexible portion intermediate said terminal portions, said intermediate portion having a tubular, flexible, metallic core, the improvement of said intermediate portion which comprises: a. a first, tubular, synthetic resin layer substantially coaxially engagingly superimposed on said core; b. a second, tubular, synthetic resin layer substantially coaxially superimposed on sAid first layer; c. a first tubular, net-like braid of non-metallic fibers embedded in one of said resin layers; and d. a second tubular, net-like braid of metal fibers embedded in the other resin layer.
US8776A1970-02-051970-02-05EndoscopeExpired - LifetimeUS3670721A (en)

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US877670A1970-02-051970-02-05

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Cited By (36)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
US3913565A (en)*1973-05-181975-10-21Olympus Optical CoGuide tube for a treating instrument to be inserted into body cavity
US3946727A (en)*1971-06-151976-03-30Olympus Optical Co., Ltd.Flexible tube assembly for an endoscope
US3948251A (en)*1972-10-251976-04-06Olympus Optical Co., Ltd.Flexible tube endoscope
US3960143A (en)*1973-08-311976-06-01Olympus Optical Co., Ltd.Endoscope with a tube for a medical treating instrument
US3998216A (en)*1973-10-041976-12-21Olympus Optical Co., Ltd.Bending tube for endoscope
US4236509A (en)*1976-12-281980-12-02Nagashige TakahashiCurving device in an endoscope
US4347837A (en)*1979-09-171982-09-07Olympus Optical Co., Ltd.Structure for preventing the breakage of end portions of a protective covering for the adjustable bend section of an endoscope
US4606331A (en)*1985-09-031986-08-19Monghan Medical CorporationElectrode for fiber optic scopes
US4714075A (en)*1986-02-101987-12-22Welch Allyn, Inc.Biopsy channel for endoscope
FR2606992A1 (en)*1986-07-161988-05-27Wolf Gmbh Richard LITHOTRIPSY PROBE
US4753222A (en)*1985-12-131988-06-28Olympus Optical Co., Ltd.Endoscopic flexible tube
US4770188A (en)*1979-06-301988-09-13Machida Endoscope Co., Ltd.Guide tube assembly for an endoscope
US4805595A (en)*1987-04-281989-02-21Olympus Optical Co., Ltd.Flexible tube assembly for endoscope
US4878492A (en)*1987-10-081989-11-07C. R. Bard, Inc.Laser balloon catheter
EP0359549A1 (en)*1988-09-131990-03-21Vance Products Incorporated Trading As Cook Urological IncorporatedFlexible cable construction
US5885207A (en)*1996-11-011999-03-23Asahi Kogaku Kogyo Kabushiki KaishaFlexible tube of endoscope
US6083152A (en)*1999-01-112000-07-04Welch Allyn, Inc.Endoscopic insertion tube
US6165140A (en)*1998-12-282000-12-26Micrus CorporationComposite guidewire
US6240231B1 (en)1997-12-222001-05-29Micrus CorporationVariable stiffness fiber optic shaft
US6352531B1 (en)1999-03-242002-03-05Micrus CorporationVariable stiffness optical fiber shaft
US20020168317A1 (en)*2000-03-032002-11-14Intramedical Imaging, LlcMethods and devices to expand applications of intraoperative radiation probes
US6520214B1 (en)*1999-04-132003-02-18Pentax CorporationFlexible tube for endoscope
US6887235B2 (en)1999-03-242005-05-03Micrus CorporationVariable stiffness heating catheter
US20070167676A1 (en)*2006-01-132007-07-19Olympus Medical Systems Corp.Overtube and medical procedure via natural orifice using the same
US20070167675A1 (en)*2006-01-132007-07-19Olympus Medical Systems Corp.Overtube and medical procedure via natural orifice using the same
US20070191886A1 (en)*2006-01-132007-08-16Olympus Medical Systems CorporationNeedle for endoscopic treatment and operative procedure via body orifice
US20070198000A1 (en)*2006-02-212007-08-23Olympus Medical Systems Corp.Overtube and operative procedure via bodily orifice
US20070197864A1 (en)*2006-02-232007-08-23Olympus Medical Systems Corp.Overtube and natural opening medical procedures using the same
US20070219411A1 (en)*2006-01-132007-09-20Olympus Medical Systems Corp.Overtube and endoscopic treatment system
US20080255423A1 (en)*2006-01-132008-10-16Olympus Medical Systems Corp.Medical device
US20080255422A1 (en)*2006-01-132008-10-16Olympus Medical Systems Corp.Medical device
EP1961368A3 (en)*2007-02-262010-07-28Machida Endoscope Co., LtdWire member for controlling a flexible endoscope and method for manufacturing the same
US20100249511A1 (en)*2007-02-262010-09-30Machida Endoscope Co., Ltd.Flexible endoscope suitable for mri
CN106725252A (en)*2016-12-232017-05-31上海长海医院The endoscope of the bendable end with passive bending connection
US9924960B2 (en)*2015-07-012018-03-27Olympus CorporationEndoscope treatment tool
US10765307B2 (en)2003-04-012020-09-08Boston Scientific Scimed, Inc.Endoscopic imaging system

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US1995196A (en)*1930-07-121935-03-19Firm Georg Wolf G M B HInstrument for examining tubes and cavities in the human and other bodies
US2243992A (en)*1939-09-091941-06-03Wappler Frederick CharlesFlexible operating instrument
US2453862A (en)*1947-06-021948-11-16Salisbury Peter FredericGastroscope
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US1995196A (en)*1930-07-121935-03-19Firm Georg Wolf G M B HInstrument for examining tubes and cavities in the human and other bodies
US2243992A (en)*1939-09-091941-06-03Wappler Frederick CharlesFlexible operating instrument
US2453862A (en)*1947-06-021948-11-16Salisbury Peter FredericGastroscope
US3256875A (en)*1963-05-171966-06-21Tsepelev Juri AlexeevichFlexible gastroscope

Cited By (51)

* Cited by examiner, † Cited by third party
Publication numberPriority datePublication dateAssigneeTitle
US3946727A (en)*1971-06-151976-03-30Olympus Optical Co., Ltd.Flexible tube assembly for an endoscope
US3948251A (en)*1972-10-251976-04-06Olympus Optical Co., Ltd.Flexible tube endoscope
US3913565A (en)*1973-05-181975-10-21Olympus Optical CoGuide tube for a treating instrument to be inserted into body cavity
US3960143A (en)*1973-08-311976-06-01Olympus Optical Co., Ltd.Endoscope with a tube for a medical treating instrument
US3998216A (en)*1973-10-041976-12-21Olympus Optical Co., Ltd.Bending tube for endoscope
US4236509A (en)*1976-12-281980-12-02Nagashige TakahashiCurving device in an endoscope
US4770188A (en)*1979-06-301988-09-13Machida Endoscope Co., Ltd.Guide tube assembly for an endoscope
US4347837A (en)*1979-09-171982-09-07Olympus Optical Co., Ltd.Structure for preventing the breakage of end portions of a protective covering for the adjustable bend section of an endoscope
US4606331A (en)*1985-09-031986-08-19Monghan Medical CorporationElectrode for fiber optic scopes
US4753222A (en)*1985-12-131988-06-28Olympus Optical Co., Ltd.Endoscopic flexible tube
US4714075A (en)*1986-02-101987-12-22Welch Allyn, Inc.Biopsy channel for endoscope
FR2606992A1 (en)*1986-07-161988-05-27Wolf Gmbh Richard LITHOTRIPSY PROBE
US4805595A (en)*1987-04-281989-02-21Olympus Optical Co., Ltd.Flexible tube assembly for endoscope
US4878492A (en)*1987-10-081989-11-07C. R. Bard, Inc.Laser balloon catheter
EP0359549A1 (en)*1988-09-131990-03-21Vance Products Incorporated Trading As Cook Urological IncorporatedFlexible cable construction
AU621660B2 (en)*1988-09-131992-03-19Vance Products IncorporatedFlexible cable construction
US5885207A (en)*1996-11-011999-03-23Asahi Kogaku Kogyo Kabushiki KaishaFlexible tube of endoscope
US6240231B1 (en)1997-12-222001-05-29Micrus CorporationVariable stiffness fiber optic shaft
US6165140A (en)*1998-12-282000-12-26Micrus CorporationComposite guidewire
US7014616B2 (en)1998-12-282006-03-21Micrus CorporationComposite guidewire
US6432066B1 (en)1998-12-282002-08-13Micrus CorporationComposite guidewire
US6595932B2 (en)1998-12-282003-07-22Micrus CorporationComposite guidewire
US6083152A (en)*1999-01-112000-07-04Welch Allyn, Inc.Endoscopic insertion tube
US6887235B2 (en)1999-03-242005-05-03Micrus CorporationVariable stiffness heating catheter
US7645275B2 (en)1999-03-242010-01-12Micrus CorporationVariable stiffness heating catheter
US6352531B1 (en)1999-03-242002-03-05Micrus CorporationVariable stiffness optical fiber shaft
US7066931B2 (en)1999-03-242006-06-27Micrus CorporationVariable stiffness heating catheter
US8282677B2 (en)1999-03-242012-10-09Micrus CorporationVariable stiffness heating catheter
US20100114270A1 (en)*1999-03-242010-05-06Micrus CorporationVariable stiffness heating catheter
US6520214B1 (en)*1999-04-132003-02-18Pentax CorporationFlexible tube for endoscope
US20020168317A1 (en)*2000-03-032002-11-14Intramedical Imaging, LlcMethods and devices to expand applications of intraoperative radiation probes
US11324395B2 (en)2003-04-012022-05-10Boston Scientific Scimed, Inc.Endoscopic imaging system
US10765307B2 (en)2003-04-012020-09-08Boston Scientific Scimed, Inc.Endoscopic imaging system
US20070191886A1 (en)*2006-01-132007-08-16Olympus Medical Systems CorporationNeedle for endoscopic treatment and operative procedure via body orifice
US20080255422A1 (en)*2006-01-132008-10-16Olympus Medical Systems Corp.Medical device
US20070219411A1 (en)*2006-01-132007-09-20Olympus Medical Systems Corp.Overtube and endoscopic treatment system
US20070167676A1 (en)*2006-01-132007-07-19Olympus Medical Systems Corp.Overtube and medical procedure via natural orifice using the same
US20070167675A1 (en)*2006-01-132007-07-19Olympus Medical Systems Corp.Overtube and medical procedure via natural orifice using the same
US8728121B2 (en)2006-01-132014-05-20Olympus Medical Systems Corp.Puncture needle and medical procedure using puncture needle that is performed via natural orifice
US8721657B2 (en)*2006-01-132014-05-13Olympus Medical Systems Corp.Medical instrument
US20080255423A1 (en)*2006-01-132008-10-16Olympus Medical Systems Corp.Medical device
US20070198000A1 (en)*2006-02-212007-08-23Olympus Medical Systems Corp.Overtube and operative procedure via bodily orifice
US7785333B2 (en)2006-02-212010-08-31Olympus Medical Systems Corp.Overtube and operative procedure via bodily orifice
US8241279B2 (en)2006-02-232012-08-14Olympus Medical Systems Corp.Overtube and natural opening medical procedures using the same
US20070197864A1 (en)*2006-02-232007-08-23Olympus Medical Systems Corp.Overtube and natural opening medical procedures using the same
US8696551B2 (en)2007-02-262014-04-15Machida Endoscope Co., Ltd.Flexible endoscope suitable for MRI
EP2116170A4 (en)*2007-02-262011-06-15Machida Endoscope Co Ltd FLEXIBLE ENDOSCOPE MIRROR FOR MRI
US20100249511A1 (en)*2007-02-262010-09-30Machida Endoscope Co., Ltd.Flexible endoscope suitable for mri
EP1961368A3 (en)*2007-02-262010-07-28Machida Endoscope Co., LtdWire member for controlling a flexible endoscope and method for manufacturing the same
US9924960B2 (en)*2015-07-012018-03-27Olympus CorporationEndoscope treatment tool
CN106725252A (en)*2016-12-232017-05-31上海长海医院The endoscope of the bendable end with passive bending connection

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