EP3177198A1 - Endoscope and method for assembling an endoscope - Google Patents
Endoscope and method for assembling an endoscopeInfo
- Publication number
- EP3177198A1 EP3177198A1 EP15762479.2A EP15762479A EP3177198A1 EP 3177198 A1 EP3177198 A1 EP 3177198A1 EP 15762479 A EP15762479 A EP 15762479A EP 3177198 A1 EP3177198 A1 EP 3177198A1
- Authority
- EP
- European Patent Office
- Prior art keywords
- endoscope
- fiber
- fiber bundle
- tube
- opening
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Classifications
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2407—Optical details
- G02B23/2461—Illumination
- G02B23/2469—Illumination using optical fibres
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/00071—Insertion part of the endoscope body
- A61B1/0008—Insertion part of the endoscope body characterised by distal tip features
- A61B1/00096—Optical elements
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00064—Constructional details of the endoscope body
- A61B1/0011—Manufacturing of endoscope parts
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
- A61B1/00179—Optical arrangements characterised by the viewing angles for off-axis viewing
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0605—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for spatially modulated illumination
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/0623—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements for off-axis illumination
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/06—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements
- A61B1/07—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor with illuminating arrangements using light-conductive means, e.g. optical fibres
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2407—Optical details
- G02B23/2423—Optical details of the distal end
- G02B23/243—Objectives for endoscopes
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/26—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes using light guides
Definitions
- the invention relates to an endoscope according to the preamble of claim 1. Finally, the invention relates to a method for assembling an endoscope according to the preamble of claim 10.
- Endoscopes are used to observe a field of view, to which typically only a small opening allows access.
- the endoscope has an endoscope optical system with a lens.
- the endoscope optics can be designed as an independent component of the endoscope and inserted into the endoscope.
- optical fibers are used to illuminate the field of view.
- a bundle of many optical fibers is used, ie a fiber bundle, in order to provide sufficient light intensity.
- the fibers emit the light in a comparatively large angular range at their end region. Nevertheless, as far as possible all fibers should be aligned with their (main) beam direction on the field of view. Deviating fibers provide disturbing brightness differences in the field of vision.
- the fibers receive their appropriate orientation during assembly of the endoscope optics. To seal and fix their orientation, the fibers are glued at the distal end region by means of an adhesive and then polished.
- DE 10 2004 023024 B4 discloses an oblique-looking endoscope with endoscope optics which has an objective which is directed obliquely downward with respect to the longitudinal axis of the endoscope optics.
- endoscope optics are arranged laterally next to the actual optics and above optical fibers.
- the laterally arranged fibers are oriented parallel to the viewing direction of the lens obliquely downward looking.
- the upper fiber bundle runs parallel to the longitudinal extent of the endoscope optics.
- the optical fibers are arranged between an outer cladding tube or outer tube and an inner fiber tube.
- the fiber tube contains inside the actual optics with the distal obliquely downwards looking lens.
- recesses are provided on the outer portion of the fiber tube.
- the optical fibers are inserted, before then the outer tube is slipped over the distal end of the endoscope optics.
- the optical fibers are thus pressed through the outer tube into the recesses of the fiber tube and aligned. Subsequently, the optical fibers can be glued together at the end area of the endoscope optics, cut off and polished on the face side.
- US Pat. No. 4,850,342 discloses an endoscope optical system in which a fiber channel is provided between the fiber tube and the outer tube, which permits alignment of the ends of the optical fibers in the end region by assembling the outer tube and the fiber tube.
- the US 4576147 also relates to an endoscope optics in which alignment by forming a fiber channel between an inner fiber tube and an outer tube is achieved only during assembly of the endoscope optics.
- a disadvantage of the known endoscope optics is that the final alignment of the optical fibers is set only in the final positioning of the outer tube as a cladding of the fiber tube. The assembly is therefore very expensive and manual.
- the object of the present invention is to provide a generic endoscope with the field of view targeted illuminating optical fibers, in which facilitates the assembly and the alignment is improved.
- the distal end region of the fiber bundle is arranged in a distal opening in the fiber tube of the endoscope optics.
- the breakthrough is preferably surrounded all around by material of the fiber tube, so in particular has a closed edge.
- the fiber tube has a breakthrough, in which the optical fibers can be inserted.
- the aperture preferably passes through a wall of the fiber tube in a region having a thickening.
- the opening preferably passes through the end face and / or at least a partial section of the end face of the fiber tube.
- the breakthrough is designed in particular for receiving the entire fiber bundle.
- the optical fibers or the fiber bundle are fastened in particular in the opening.
- the optical fibers can be fixed, for example, by a clamping action, by frictional forces and / or tilting.
- This attachment is used in particular to prevent slippage of the optical fibers during assembly of the endoscope optics, in particular during assembly of the cladding tube.
- the attachment is further preferably permanent.
- an adhesive or the like can be used, so as to achieve a permanent fixation and sealing.
- the lens is obliquely oriented at an angle to the longitudinal central axis of the fiber tube down through the opening.
- Such an oblique-looking endoscope can be used to observe a field of vision lying away from the longitudinal center axis of the endoscope. This offers the advantage of optimized field of view illumination. At the same time an improved assembly of the endoscope or the endoscope optics is ensured.
- the longitudinal center axis of the opening and the longitudinal central axis of the distal end of the fiber bundle or of the optical fibers are aligned at least substantially parallel to one another.
- the longitudinal central axis of the distal end of the fiber bundle corresponds in particular to the beam direction of the optical fibers.
- the breakthrough dictates the orientation of the distal end of the fibers.
- the parallel or at least nearly parallel alignment of the longitudinal center axes of the fiber bundles and the viewing direction of the objective makes it possible to guide the fibers cleanly.
- the breakthrough must have a sufficient longitudinal extent in order to achieve sufficient guidance of the fiber bundle.
- the breakthrough opposite the longitudinal central axis of the fiber tube is arranged obliquely.
- the orientation of the fiber bundle deviates from the longitudinal central axis of the opening. This can be caused for example by a bending of the fibers become. Such a bend occurs in particular when the end regions of the fibers are oriented obliquely to the longitudinal extension of the endoscope.
- the oblique orientation is typically provided for better illumination of the field of view.
- the bending of the fibers preferably takes place in a bending region. Small deviations between the orientation of the aperture and the fiber ends can be compensated for example by a bias voltage.
- the longitudinal central axis of the aperture and the viewing direction of the objective or the longitudinal central axis of the fiber bundle preferably include an acute angle in the region in front of the objective.
- the desired direction is preferably parallel to the viewing direction of the objective for optimal illumination of the field of view, in particular in a region close to the objective.
- the main direction of the aperture is aligned obliquely than that of the objective. This gives the bent fibers optimal alignment. This is necessary because optical fibers typically deviate from ideal alignment in a bent configuration.
- the angle between the longitudinal central axis of the aperture or of the fiber bundle, in particular its beam direction, and the viewing direction of the lens is less than 20 °, preferably between 1 ° and 20 °, particularly preferably between 2 ° and 6 °.
- such a small, stronger inclination is already sufficient to compensate for a corresponding bending back of the fibers. This ensures optimum illumination of the field of view.
- the opening is formed at least substantially as a semicircular or crescent-shaped milling.
- a geometric shape offers the widest possible illumination field while optimally adapting to the generally round outer shape of the endoscope optics.
- the available space is optimally utilized.
- the opening is provided above the lens or the lens.
- the fiber bundle further preferably ends with the distal end region in the opening. Likewise, the fiber bundle can be flush with the leading edge of the fiber tube. Both orientations lead to the distal end region of the fiber bundle or of the optical fibers being arranged at the optimum position. At the same time the greatest possible protection of the sensitive end face of the fibers is achieved.
- the invention relates to a method for producing or mounting an endoscope or an endoscope optic for an endoscope, as described above.
- the procedure is characterized by the following steps:
- the fiber tube is inserted into the outer tube, in particular for fixing the
- both straight-looking and oblique-looking endoscopes can be used according to the invention.
- Fig. 1 is a side sectional view of an endoscope optical system according to the invention for a
- FIG. 2 is a perspective rear view of a fiber tube of the endoscope optics
- 3 is a front view of the objective of the endoscope optics
- 4 is a side sectional view of the endoscope optics during insertion of the fiber bundle
- Fig. 5 is a side sectional view with inserted fiber bundle.
- FIG. 1 shows an endoscope optical system 10 for an endoscope in the assembled state in a lateral sectional view.
- Such endoscope optics 10 is used in an endoscope, not shown here, and used together.
- the endoscope has a corresponding receptacle for the endoscope optics 10.
- the endoscope optics 10 has a fiber tube 11 which is surrounded by an outer tube 12. Diagonally to the longitudinal central axis of the endoscope optical system 10, the end face 14 of the endoscope optical system 10 is arranged. This end face 14 has an opening, such as a window opening 15, which is formed, for example, for receiving a round window 16. An optics, not shown, is arranged in the interior of the fiber tube 11. This optics looks obliquely down through the window 16.
- the cladding tube or outer tube 12 surrounds the entire endoscope optical system 10 at least in the distal region, in particular with the exception of the end face 14.
- a fiber bundle 17 is arranged in the upper region of the endoscope optical system 10.
- the fiber bundle 17 ends with a distal end region 18 on the end face 14 of the endoscope optical system 10.
- the fiber ends 18 essentially strike the end face 14 at substantially a right angle.
- Light coupled in at the proximal end region of the fiber bundle 17 passes through the fiber bundle 17 and emerges from it End face 19 for illuminating the field of view of the endoscope 10 from.
- the optics has an objective 22 in the area behind the window 15.
- the angle at which the objective 22 is aligned with its viewing direction 21 may, for example, be around 30 °. This angle can be selected depending on the field of application of the endoscope optics 10.
- the end face 14 with the window 16 built into the window opening 15 is arranged for this purpose usually at the same angle.
- a straight-looking optics may be used instead.
- the light exit from the fiber end 18 thus runs mainly in a beam direction 20.
- the optics or the lens 22 accordingly looks in a line of sight 21.
- the beam direction 20 and the viewing direction 21 are arranged at least substantially parallel to one another.
- the beam direction 20 can be arranged slightly inclined relative to the viewing direction 21.
- the beam direction 20 and the viewing direction 21 intersect in the region in front of the end face 14 of the endoscope optical system 10 at an acute angle.
- the angle is usually less than 20 °, in particular less than 10 °, preferably between 2 ° and 6 °.
- the fiber bundle 17 extends in a straight line and parallel to the longitudinal central axis 13 of the endoscope optical system 10. Only in the distal end region of the fiber bundle 17 extends in the beam direction 20 to illuminate the field of view.
- the fiber bundle 17 makes a bend in a bending region 23.
- the fiber bundle 17 consists of a multiplicity of individual optical fibers 24, which can accordingly be bent in a simple manner.
- the fibers 24 run parallel to each other.
- the optical fibers 24 of the fiber bundle 17 are held in the fiber tube 1 1 for bending between a lower contact surface 25 and an upper abutment surface 26 of the opening 27.
- the lower contact surface 25 is here as well as in the prior art part of the fiber tube 11. In the prior art, however, the upper abutment surface 26 is attached to the outer tube 12.
- the distance between the lower abutment surface 25 and the upper abutment surface 26 for mounting can be increased.
- the assembly is then carried out by pushing together fiber tube 1 1 and outer tube 12 in the correct position.
- both the lower abutment surface 25 and the upper abutment surface 26 are part of the fiber tube 11.
- an opening 27 is provided in the fiber tube 11.
- the opening 27 is formed in the embodiment as an arcuate slot or opening. It thus forms a lower contact surface 25 and an upper contact surface 26 for the Lichtleitfasen 24.
- optical fibers 24 of the fiber bundle 17 are inserted into the opening 27 of the fiber tube 11. This is shown in particular in FIG. 4. This introduction of the fiber bundle 17 can be done in more or less straight ways.
- the optical fibers 24 of the fiber bundle 17 are then bent slightly downwards and thus deposited on the upper side of the fiber tube 11.
- the fibers 24 bend due to a curved transition region provided in this region.
- This region is located between the lower contact surface 25 and a fiber tube side recess as part of a fiber channel 28 for receiving the optical fibers 24.
- This fiber channel 28 is after complete assembly of the endoscope optics 10 on the one hand by the top of the fiber tube 11 and on the other hand by the inside of the outer tube 12th educated.
- the fiber channel 28 provides sufficient space for a more or less loose guidance of the optical fibers 24 of the fiber bundle 17. Meanwhile, the optical fibers 24 in the opening 27 are tight, so that thereby a stable alignment of the fiber ends 18 is achieved.
Landscapes
- Health & Medical Sciences (AREA)
- Life Sciences & Earth Sciences (AREA)
- Physics & Mathematics (AREA)
- Surgery (AREA)
- Optics & Photonics (AREA)
- Engineering & Computer Science (AREA)
- Biomedical Technology (AREA)
- General Health & Medical Sciences (AREA)
- Pathology (AREA)
- Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
- Biophysics (AREA)
- Heart & Thoracic Surgery (AREA)
- Medical Informatics (AREA)
- Molecular Biology (AREA)
- Animal Behavior & Ethology (AREA)
- Radiology & Medical Imaging (AREA)
- Public Health (AREA)
- Veterinary Medicine (AREA)
- Astronomy & Astrophysics (AREA)
- General Physics & Mathematics (AREA)
- Manufacturing & Machinery (AREA)
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
DE102014111069.2A DE102014111069A1 (en) | 2014-08-04 | 2014-08-04 | Endoscope and method for mounting an endoscope |
PCT/EP2015/001529 WO2016020043A1 (en) | 2014-08-04 | 2015-07-24 | Endoscope and method for assembling an endoscope |
Publications (1)
Publication Number | Publication Date |
---|---|
EP3177198A1 true EP3177198A1 (en) | 2017-06-14 |
Family
ID=54072780
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP15762479.2A Withdrawn EP3177198A1 (en) | 2014-08-04 | 2015-07-24 | Endoscope and method for assembling an endoscope |
Country Status (5)
Country | Link |
---|---|
US (1) | US10564410B2 (en) |
EP (1) | EP3177198A1 (en) |
JP (1) | JP2017528184A (en) |
DE (1) | DE102014111069A1 (en) |
WO (1) | WO2016020043A1 (en) |
Families Citing this family (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
DE102016118102A1 (en) | 2016-09-26 | 2018-03-29 | Henke-Sass, Wolf Gmbh | Endoscope and method for fixing a bundle of optical fibers in a shaft of an endoscope |
DE102017111306A1 (en) | 2017-05-23 | 2018-11-29 | Karl Storz Se & Co. Kg | endoscope |
US11259694B2 (en) * | 2019-01-31 | 2022-03-01 | Canon U.S.A., Inc. | Window assembly for endoscopic probe |
CN114176491B (en) * | 2021-12-22 | 2024-06-18 | 青岛海泰新光科技股份有限公司 | Endoscope optical fiber lighting device capable of improving lighting uniformity |
Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5782751A (en) * | 1994-05-26 | 1998-07-21 | Asahi Kogaku Kogyo Kabushiki Kaisha | Side view endoscope |
JP2001292954A (en) * | 2000-04-13 | 2001-10-23 | Asahi Optical Co Ltd | Objective driving mechanism for endoscope |
Family Cites Families (15)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS5812642A (en) | 1981-07-16 | 1983-01-24 | オリンパス光学工業株式会社 | Hard endoscope |
JPS58190913A (en) | 1982-05-01 | 1983-11-08 | Olympus Optical Co Ltd | Strabismal hard endoscope |
JPH046513A (en) * | 1990-04-24 | 1992-01-10 | Olympus Optical Co Ltd | Lighting optical system for endoscope |
JP3012343B2 (en) * | 1991-01-23 | 2000-02-21 | オリンパス光学工業株式会社 | Endoscope system |
US5305736A (en) | 1991-04-26 | 1994-04-26 | Asahi Kogaku Kogyo Kabushiki Kaisha | Distal end part of endoscope |
JP3210404B2 (en) * | 1992-04-15 | 2001-09-17 | 株式会社町田製作所 | Optical fiber binding device |
US5573493A (en) * | 1993-10-08 | 1996-11-12 | United States Surgical Corporation | Endoscope attachment for changing angle of view |
JPH07181398A (en) * | 1993-12-24 | 1995-07-21 | Mitsubishi Cable Ind Ltd | Strabismic scope |
US6004263A (en) * | 1996-03-13 | 1999-12-21 | Hihon Kohden Corporation | Endoscope with detachable operation unit and insertion unit |
JPH09304693A (en) * | 1996-05-16 | 1997-11-28 | Olympus Optical Co Ltd | Hard mirror objective optical system |
US6248060B1 (en) | 1996-08-12 | 2001-06-19 | Mgb Endoskopische Geraete Gmbh Berlin | Rigid endoscope with second illumination system laterally offset from first illumination system |
DE102004023024B4 (en) | 2004-05-06 | 2007-03-01 | Olympus Winter & Ibe Gmbh | Endoscope optics with lateral fiber optic bundle |
JP2006034543A (en) * | 2004-07-26 | 2006-02-09 | Olympus Corp | Endoscope and repairing method of the same |
DE102007002042B4 (en) * | 2007-01-13 | 2008-09-18 | Olympus Winter & Ibe Gmbh | Endoscope optic with fiberoptic bundle |
DE102013112282A1 (en) * | 2013-11-07 | 2014-01-16 | Karl Storz Gmbh & Co. Kg | Method for manufacturing endoscope used in medical field, involves closing the distal end of lumen within outer shaft after the arrangement of optical devices of observation beam path within outer shaft |
-
2014
- 2014-08-04 DE DE102014111069.2A patent/DE102014111069A1/en active Pending
-
2015
- 2015-07-24 WO PCT/EP2015/001529 patent/WO2016020043A1/en active Application Filing
- 2015-07-24 JP JP2017504409A patent/JP2017528184A/en active Pending
- 2015-07-24 EP EP15762479.2A patent/EP3177198A1/en not_active Withdrawn
- 2015-07-24 US US15/329,794 patent/US10564410B2/en active Active
Patent Citations (2)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US5782751A (en) * | 1994-05-26 | 1998-07-21 | Asahi Kogaku Kogyo Kabushiki Kaisha | Side view endoscope |
JP2001292954A (en) * | 2000-04-13 | 2001-10-23 | Asahi Optical Co Ltd | Objective driving mechanism for endoscope |
Non-Patent Citations (1)
Title |
---|
See also references of WO2016020043A1 * |
Also Published As
Publication number | Publication date |
---|---|
DE102014111069A1 (en) | 2016-02-04 |
JP2017528184A (en) | 2017-09-28 |
US20170261742A1 (en) | 2017-09-14 |
WO2016020043A1 (en) | 2016-02-11 |
US10564410B2 (en) | 2020-02-18 |
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