Patent Publication Number: US-10765306-B2

Title: Advanced 3-dimensional endoscopic system with real dynamic convergence

Description:
RELATED APPLICATIONS 
     This application claims the benefit of the priority filing date of PCT application number PCT/US2015/042585, filed on 29 Jul. 2015, which is incorporated here by reference in its entirety. 
     BACKGROUND 
     Technical Field 
     This invention relates to the field of medical sensor and treatment devices, specifically to an advanced endoscopic system, and methods for its use, that is adaptable for therapeutic applications, as well as sensor/diagnostic operation, and capable of obtaining 3-dimensional human vision simulated imaging with real dynamic convergence, not virtual convergence. It has more simplified construction than comparable prior art devices, fewer external moving parts for enhanced strength and durability, and less exposed parts for easier medical decontamination between uses. It is also lightweight, more user-friendly, and easier to control, with more interior space than comparable prior art devices for electrical cables that allows more diversified use. Although manual embodiments are identified in this invention disclosure, examples will also be given about contemplated robotic and automated operation for many of its functions. Applications of the advanced endoscopic system may include use in any space with a limited-access opening, including but not limited to, intra-abdominal cavities, intra-thoracic cavities, and intra-cranial cavities, as well as non-medical applications, such as but not limited to search/rescue, scientific research, and investigative applications. 
     The advanced endoscopic system comprises two movable probe arms that turn freely on the same axis toward and away from each other within a 180-degree range of movement from fully closed side-by-side positioning, and the hollow interior of its main tubular shaft provides a pathway for the belts, electrical wiring, and cables needed to transfer power, sensor information, mechanical movement, and other information between a gearbox and the cameras, lights, positioning sensors, and imaging probes that are predominantly mounted on the distal ends of the two moveable probe arms. Movement of probe arms and imaging probes can be initiated using rotatable controls on the gearbox, or computer-assisted means. A simple, sleek slider positioned for movement back and forth on the main tubular shaft, provides one source of movement affecting the imaging probes for their convergence or divergence on a visual target. Two or more imaging probes may be used at one time, and when this occurs at least two will be the same kind, with each same kind probe mounted onto a different probe arm. When high level of precision is needed, convergence of imaging probes on a visual target can be achieved via semi-automated or fully automated means. Although not limited thereto, operators of the advanced endoscopic system may view the images produced by its cameras or other imaging probes via a 3-dimensional display device, for example a head mount, wherein each of the operator&#39;s eyes is sent the images from the camera and/or other imaging probe mounted on a different probe arm that corresponds to this eye (preferably left camera images are transmitted to the left eye and right camera images are transmitted to the right eye). 
     Improvements Over Prior Art 
     This invention is an improvement over the invention disclosed in U.S. Pat. No. 8,105,233 B2 to the same inventor herein (2012), with the present invention advanced endoscopic system being more sophisticated, more user-friendly, less fragile, easier to control, and having fewer external moving parts that reduce contamination risk in medical applications, much of which is attributable to the replacement of the 2012 invention&#39;s outer shell, moving cylindrical sheath, and adjustment ring with a simple, sleek slider, or other simple positioning sensor that determines the location of the endoscope in relation to a target object, as well as the direction and amount of its movement toward and away from the target object, which can then be used by a computer component in combination with data collected from an endoscope-to-target distance sensor for automated imaging probe convergence. In addition, movement transmitting means and control means previously supported by the main tubular shaft in the 2012 patent mentioned above, are now reconfigured and housed in the gearbox, unless at least one automated function is present. No other endoscopic system and method adaptable for therapeutic and non-medical applications, as well as sensor/diagnostic operation, is known with the same structure as the present invention, to provide all of its benefits and advantages, and/or function in the same manner as the present invention to provide real dynamic convergence flexibility in spaced-apart probe distance adjustment that facilitates imaging probe use in a larger variety of applications and in different types of cavities or spaces while simultaneously giving its operator superior depth perception. 
     SUMMARY 
     The primary object of this invention is to provide an endoscopic system and method that is capable of obtaining 3-dimensional human vision simulated imaging with real dynamic convergence, and which is also adaptable for diagnostic/sensor operation, therapeutic applications, and other applications involving a limited access visual target. Another object of this invention is to provide an endoscopic system that is more sophisticated than prior art inventions, more user-friendly, less fragile, easier to control, and has fewer external moving parts for reduced contamination risk. It is also an object of this invention to provide an endoscopic system that is durably constructed and made from materials able to withstand without premature deterioration the repeated sanitizing procedures required for body cavity insertions. 
     The present invention, when properly made and used, provides an improved endoscopic system and method for obtaining 3-dimensional human vision simulated imaging with real dynamic convergence in therapeutic, diagnostic, and other applications. Its imaging probes are mounted on freely movable probe arms attached to the distal end of a main tubular shaft, and a simple, sleek slider (or other positioning sensor) moves back-and-forth on the shaft. This movement can be modified and redirected to the imaging probes for their convergence or divergence. However, for visual target selection, imaging probe convergence/divergence is optionally manual via a control associated with its gearbox. Probe arm movement through a combined 180-degree range movement can also be manually activated through use of a gearbox control. The first and second movement transmitting means respectively adapted to cause slider-initiated convergence of the imaging probes, or manual convergence thereof, each share at least one integrated movement element with the control means adapted for engaging and disengaging the first and second movement transmitting means. Furthermore, the present invention endoscopic system can be fitted with a wide variety of diagnostic and therapeutic systems, a computer can be connected to its gearbox when enhanced precision is required in an application, and the present invention can be adapted to work with robotic systems. 
     Since the description herein provides preferred embodiments of the present invention, and examples of invention structure and use, it should not be construed as limiting the scope of the present invention. Accordingly, components other than those specifically shown and described herein may be substituted, as long as they are able to effectively fulfill the intended function. Thus, the scope of the present invention should be determined by the appended claims and their legal equivalents, rather than being limited to the specific examples given. 
    
    
     
       BRIEF DESCRIPTION OF THE FIGURES 
         FIG. 1  illustrates a perspective view of the most preferred embodiment of the present invention; 
         FIG. 2 a    illustrates an exploded view of components in the first and second movement transmitting means of the invention shown in  FIG. 1  which relate to slider movement and movement of the imaging probes for convergence and divergence; 
         FIG. 2 b    is an exploded view of components in the first and second movement transmitting means of the invention shown in  FIG. 1  which relate to gearbox movement reduction and imaging probes convergence/divergence; 
         FIG. 2 c    includes side-by-side exterior and interior views of the gearbox in the invention shown in  FIG. 1 , with the interior view showing preferred bushings/brackets fixed to the gearbox backbone which are used for mounting and bracing portions of the control means that assist in controlling the engagement and disengagement of the first and second movement transmitting means; 
         FIG. 3  is an enlarged view of the same components shown in the top portion of  FIG. 2   a;    
         FIG. 4 . is a perspective view from the side of the distal end of the invention in  FIG. 1 , showing the movable connection between the probe arms and the distal end of the main tubular shaft, as well as the movable connection between each imaging probe and the probe arm supporting it, and further with the imaging probes having converged positioning; 
         FIG. 5  is a transparent side view of the most preferred embodiment of the present invention that is similar in content to that shown in  FIG. 4 , with preferred placement of belts/cables and pulleys in the second movement transmitting means now illustrated, and further with the imaging probes in their non-converged neutral positioning; 
         FIG. 6  is a perspective view of the invention similar to  FIGS. 4 and 5  showing the connection of the probe arms to the distal end of the main tubular shaft, the connection of the imaging probes to the probe arms, and the probe arms and imaging probes each in their closed positions; 
         FIG. 7  is a view of the most preferred embodiment of the present invention similar in content to that shown in  FIG. 6 , but rotated 90-degrees from the illustration in  FIG. 6  for a more detailed view of wiring, or conduit housing wiring, used to transmit electricity and data from/to a part of the imaging probes and/or a light source, which may also encase tubing that transmits fluids for irrigation purposes; 
         FIG. 8 a    is a sectioned view of a portion of the gearbox in the invention in  FIG. 1 , showing portions of the first, second, and third movement transmitting means that may be associated with the gearbox; 
         FIG. 8 b    is an enlarged view of a portion of the third movement transmitting means in  FIG. 8 a   , which more clearly shows the configuration, positioning, and engagement of several pulley stops and gears; 
         FIG. 9  is an exploded view of components in the gearbox of the invention shown in  FIG. 1  that relate to the convergence adjust button with elongated rod that is used for manual convergence of first and second imaging probes during selection of a visual target; 
         FIG. 10  is an enlarged side view of the same components shown in the top portion of  FIG. 1 , with probe arms unopened and the imaging probes having side-by-side closed positioning; 
         FIG. 11  is a transparent side view of the slider and main tubular shaft in  FIG. 10  showing preferred placement of belts/cables and pulleys related to slider movement on the main tubular shaft; 
         FIG. 12 a    is a perspective view of the first movement transmitting means used in the invention shown in  FIG. 1 ; 
         FIG. 12 b    is an enlarged view of the large dual groove pulley with helical gear shown in  FIG. 12   a;    
         FIG. 12 c    is an enlarged view of the slider shown in  FIG. 12 a   , with a belt/cable used for slider movement attached to one side of the slider&#39;s interior rail assembly; 
         FIG. 12 d    is a perspective view a roller that can be used with the slider shown in  FIG. 12 c    to assist its movement along the main tubular shaft or in a channel on the main tubular shaft; 
         FIG. 13 a    is a side view of the control means in the gearbox of the invention in  FIG. 1  showing the convergence mechanism core rod in its position of use with the first and second movement transmitting means disengaged, and a related reset button supported by a bushing/bracket that is secured to the gearbox backbone, with the reset button in a downwardly depressed position; 
         FIG. 13 b    is a sectioned view of the invention structure in  FIG. 13 a   , which shows the external teeth of convergence mechanism core rod only engaging the internal teeth of the imaging probes convergence-related gear, illustrating first and second movement transmitting means disengagement, which further shows the external teeth of the slider-related locking gear disengaged from the internal teeth of slider-related helical gear with external teeth; 
         FIG. 13 c    is a sectioned view of the invention structure shown in  FIG. 13 b   , except the convergence mechanism core rod and slider-related locking gear have been removed to reveal the internal teeth in the imaging probes convergence-related gear, in the slider-related helical gear, and also in the bushing/bracket fixed to the gearbox backbone; 
         FIG. 14 a    is a side view of the control means in the gearbox of the invention in  FIG. 1  showing the convergence mechanism core rod in its position of use with the first and second movement transmitting means engaged, and also showing the related reset button reset button supported by a bushing/bracket that is secured to the gearbox backbone, the reset button now with upward positioning as compared to that shown in  FIG. 13   a;    
         FIG. 14 b    is a sectioned view of the invention structure in  FIG. 14 a   , which shows the external teeth of the convergence mechanism core rod engaging both the internal teeth of the slider-related helical gear with external teeth and the internal teeth of the imaging probes convergence-related gear for first and second movement transmitting means engagement, which further shows the external teeth of the slider-related locking gear disengaged from the internal slider-related helical gear with external teeth; 
         FIG. 14 c    is a sectioned view of the invention structure shown in  FIG. 14 b   , except the convergence mechanism core rod and slider-related locking gear have been removed to reveal the internal teeth in the imaging probes convergence-related gear, in the slider-related helical gear, and also in a bushing/bracket fixed to the gearbox backbone; 
         FIG. 15 a    is a side view of the control means in the gearbox of the invention in  FIG. 1  showing the convergence mechanism core rod in its position of use for manual convergence and with the first and second movement transmitting means disengaged, also showing the slider-related locking gear engaging the slider-related helical gear with external teeth, and further showing the reset button in a downwardly depressed position similar to that in  FIG. 13   a;    
         FIG. 15 b    is a sectioned view of the invention structure in  FIG. 15 a   , which shows the external teeth of convergence mechanism core rod only engaging the internal teeth of imaging probes convergence-related gear and the bottom teeth of convergence adjust button engaging external top teeth of the convergence mechanism core rod for manual convergence, and also shows the slider-related locking gear engaging the slider-related helical gear with external teeth to lock it in place; 
         FIG. 15 c    is a sectioned view of the invention structure shown in  FIG. 15 b   , except the convergence mechanism core rod and slider-related locking gear have been removed to reveal the internal teeth in the imaging probes convergence-related gear, in the slider-related helical gear, and also in a bushing/bracket fixed to the gearbox backbone; 
         FIG. 16 a    is a perspective view of the second movement transmitting means used in the invention shown in  FIG. 1 ; 
         FIG. 16 b    is enlarged view of the large dual gear (larger/smaller gear combination) with pulley assembly that is shown in  FIG. 16 a   , which relates to imaging probes convergence, also showing a small diameter gear with pulley associated with the smaller gear in dual gear, with pulley assembly; 
         FIG. 16 c    is a perspective view of a pair of dual groove pulleys with cable crimp sleeves usable as a part of the invention in  FIG. 1  to fix cables/belts to their corresponding pulleys; 
         FIG. 16 d    is a perspective view of a single dual groove pulley with cable crimp sleeve usable as a part of the invention in  FIG. 1  and similar to the pair of dual groove pulleys shown in  FIG. 16   c;    
         FIG. 17 a    is a perspective view of the third movement transmitting means used in the invention shown in  FIG. 1 ; 
         FIG. 17 b    is an enlarged view of the probe arms in  FIG. 17 a   , and also showing the imaging probes connected to the probe arms having parallel positioning with respect to one another, providing a non-converged configuration; 
         FIG. 17 c    is a perspective view of one of the probe arms in  FIG. 17 b   , which more clearly shows its hinged and pulley-like opposing connective ends; 
         FIG. 18 a    is a perspective view of an alternative sturdy, non-slip pulley/cable system that is usable as a part of the most preferred embodiment of the present invention shown in  FIG. 1 ; 
         FIG. 18 b    is a side view of the pulley/cable system in  FIG. 18   a;    
         FIG. 19  is a schematic view of the invention in  FIG. 1  during use in a medical application; and 
         FIG. 20  is an enlarged view of the probe arms similar to that in  FIGS. 4 and 17   a , showing the imaging probes in a converged configuration and not parallel to one another, and also showing a unit fixed to the end of the main tubular shaft between the opened probe arms that can be used as a laser pointer, a endoscope-to-target distance sensor, or to serve another useful function; 
     
    
    
     DETAILED DESCRIPTION 
     The following description is presented to enable any person skilled in the art to make and use the invention, and is provided n the context of a particular application and its requirements. Various modifications to the disclosed embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be applied to other embodiments and applications without departing from the spirit and scope of the present invention. Thus, the present invention is not limited to the embodiments shown, but is to be accorded the widest scope consistent with the principles and features disclosed herein. 
     LIST OF COMPONENTS 
     1. Main tubular shaft [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIGS. 3-7 , respectively on Sheet 5-9/22;  FIG. 10 , Sheet 12/22; and  FIG. 20 , Sheet 22/22] 
     2. At least one longitudinal channel in the exterior surface of the main tubular shaft (# 1 ), which can guide the movement of slider (# 6 ) and can also represent at least part of a positioning sensor for determining the position of the endoscope (# 93 ) in relation to its surroundings and the direction and amount of its movement which may be used by a computer component (# 92 ) along with data collected from endoscope-to-target distance sensor (# 88 ) for automated imaging probe convergence [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22; and  FIG. 10 , Sheet 12/22] 
     3. Opening in the distal end of one of the two longitudinal channels (# 2 ) on main tubular shaft (# 1 ) allowing entry into main tubular shaft (# 1 ) of the slider cable/belt (# 8 ) [see  FIG. 2 a   , Sheet 2/22; and  FIG. 3 , Sheet 5/22] 
     4. Pin fixed at the distal end of the main tubular shaft (# 1 ) that engages the probe arms (# 9 , # 10 ) and can also mount unit (# 88 ) which can be a target-to-device distance sensor, laser pointer, and/or other device/system [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 4 , Sheet 6/22; and  FIG. 20 , Sheet 22/22] 
     5. Bore through opposing sides of the distal end of main tubular shaft (# 1 ) where pin (# 4 ) is fixed to movably mount the proximal ends of probe arms (# 9 , # 10 ) and the dual groove pulleys (# 11 , # 12 ) that transmit convergence movement to the two imaging probes (# 19 , # 20 ) supported respectively by probe arms (# 9 , # 10 ) [see  FIG. 2 a   , Sheet 2/22; and  FIG. 3 , Sheet 5/22] 
     6. Slider that moves smoothly back and forth on and across the exterior surface of main tubular shaft (# 1 ), and can be guided by at least one channel (# 2 ) [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 10 , Sheet 12/22;  FIG. 11 , Sheet 13/22; and  FIGS. 12 a  and 12 c   , Sheet 14] 
     7. Pulley for slider cable/belt (# 8 ) that is situated within main tubular shaft (# 1 ) close to opening (# 3 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 11 , Sheet 13/22; and  FIG. 12 a   , Sheet 14/22] 
     8. Slider cable/belt used with slider (# 6 ) and associated with main tubular shaft (# 1 ) and slider (# 6 ) for back and forth movement of slider (# 6 ) on and across the exterior surface of main tubular shaft (# 1 ), with the back and forth movement of slider cable/belt (# 8 ) guided by pulley (# 7 ) and one of the two path guide pulleys (# 26 ) [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIGS. 10-11 , Sheets 12-13/22; and  FIGS. 12 a  and 12 c   , Sheet 14/22] 
     9. First probe arm supporting first imaging probe (# 19 ) and connected by pin (# 4 ) to the distal end of main tubular shaft (# 1 ) [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIG. 3-5 , respectively in Sheet 5-7/22;  FIG. 9 , Sheet 9/22;  FIG. 10 , Sheet 12/22;  FIGS. 17 a  and 17 b   , Sheet 19/22,  FIG. 19 , Sheet 21/22; and  FIG. 20 , Sheet 22/22] 
     10. Second probe arm supporting second imaging probe (# 20 ) and also connected by pin (# 4 ) to the distal end of main tubular shaft (# 1 ) [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIG. 3-5 , respectively in Sheet 5-7/22;  FIG. 9 , Sheet 9/22;  FIG. 10 , Sheet 12/22;  FIGS. 17 a  and 17 b   , Sheet 19/22,  FIG. 19 , Sheet 21/22; and  FIG. 20 , Sheet 22/22] 
     11. First dual groove pulley mounted by pin (# 4 ) adjacent to first probe arm (# 9 ) at the distal end of main tubular shaft (# 1 ) that transmits convergence movement from cable/belt (# 21 ) to the first imaging probe (# 19 ) via engagement with path guide pulley (# 15 ) and first cable/belt (# 14 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 6 , Sheet 8/22; and  FIG. 16 c   , Sheet 18/22] 
     12. Second dual groove pulley mounted by pin (# 4 ) adjacent to probe arm (# 10 ) at the distal end of main tubular shaft (# 1 ) that transmits convergence movement from cable/belt (# 22 ) to the second imaging probe (# 20 ) via engagement with path guide pulley (# 17 ) and second cable/belt (# 13 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 6 , Sheet 8/22; and  FIGS. 16 a , 16 c , and 16 d   , Sheet 18/22] 
     13. Second cable/belt for transmitting convergence movement to second imaging probe (# 20 ) [see  FIG. 2 a   , Sheet 2/22;  FIGS. 3-6 , respectively on Sheets 5-8/22;  FIG. 16 a   , Sheet 18/22; and  FIG. 20 , Sheet 22/22] 
     14. First cable/belt for transmitting convergence movement to first imaging probe (# 19 ) [see  FIG. 2 a   , Sheet 2/22;  FIGS. 3-4 , respectively on Sheets 5-6/22;  FIGS. 6-7 , Sheets 8-9/22;  FIG. 16 a   , Sheet 18/22; and  FIG. 20 , Sheet 22/22] 
     15. Path guide pulley for first cable/belt (# 14 ) [see  FIG. 2 a   , Sheet 2/22;  FIGS. 3-5 , respectively on Sheets 5-7/22; and  FIG. 20 , Sheet 22/22] 
     16. Pin for mounting path guide pulley (# 15 ) to a hinge on first probe arm (# 9 ), which is similar in positioning and function to the hinge (# 29 ) identified in  FIG. 2 a    for second probe arm (# 10 ) [see  FIG. 2 a   , Sheet 2/22; and  FIG. 3 , Sheet 5/22] 
     17. Path guide pulley for second cable/belt (# 13 ) [see  FIG. 2 a   , Sheet 2/22  FIGS. 3-5 , respectively on Sheets 5-7/22; and  FIG. 20 , Sheet 22/22] 
     18. Pin for mounting path guide pulley (# 17 ) to hinge (# 29 ) on second probe arm (# 10 ) [see  FIG. 2 a   , Sheet 2/22;  FIGS. 3-4 , respectively on Sheets 5-6/22; and  FIG. 20 , Sheet 22/22] 
     19. First imaging probe (also may be referred to as first diagnostic/sensor probe), in the alternative this also can be referred to as first therapeutic probe (may include all or part of the following in any combination: medical systems, non-medical systems, diagnostic systems, therapeutic systems, mechanical systems, camera systems, optical systems, light sources, different light wavelengths sensors, and different light wavelengths transmitters, fiber-optic systems, light emitting diode (LED) systems, fluorescence imaging systems, ultrasound systems, magnetic resonance imaging (MRI) systems, radiation systems, radio-frequency systems, laser systems, devices using electrical power to function, devices using non-electrical forms of energy to function, distance sensors, position sensors, cautery systems, irrigation systems, anti-fogging materials, anti-smudging materials, fluid-repellant materials, scissors, graspers, clamps, and forceps) [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIGS. 3-5 , respectively on Sheets 5-7/22;  FIG. 7 , Sheet 9/22;  FIG. 10 , Sheet 12/22;  FIG. 16 a   , Sheet 18/22;  FIGS. 17 a  and 17 b   , Sheet 19/22; and  FIGS. 19-20 , Sheets 21-22/22] 
     20. Second imaging probe (also may be referred to as second diagnostic/sensor probe), in the alternative this also can be referred to as second therapeutic probe (may include all or part of the following in any combination: medical systems, non-medical systems, diagnostic systems, therapeutic systems, mechanical systems, camera systems, optical systems, light sources, different light wavelengths sensors, and different light wavelengths transmitters, fiber-optic systems, light emitting diode (LED) systems, fluorescence imaging systems, ultrasound systems, magnetic resonance imaging (MRI) systems, radiation systems, radio-frequency systems, laser systems, devices using electrical power to function, devices using non-electrical forms of energy to function, distance sensors, position sensors, cautery systems, irrigation systems, anti-fogging materials, anti-smudging materials, fluid-repellant materials, scissors, graspers, clamps, and forceps) [see  FIG. 1 , Sheet 1/22;  FIG. 2 a   , Sheet 2/22;  FIGS. 3-7 , respectively on Sheets 5-9/22;  FIG. 10 , Sheet 12/22;  FIG. 16 a   , Sheet 18/22;  FIGS. 17 a  and 17 b   , Sheet 19/22; and  FIGS. 19-20 , Sheets 21-22/22] 
     21. Cable/belt housed in main tubular shaft (# 1 ) and used with an extension (# 51 ) between gearbox casing (# 66 ) and dual groove pulley (# 11 ) to transmit convergence movement to first imaging probe (# 19 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 6 , Sheet 8/22; and  FIG. 16 a   , Sheet 18/22] 
     22. Cable/belt housed in main tubular shaft (# 1 ) and used with an extension (# 51 ) between gearbox casing (# 66 ) and dual groove pulley (# 12 ) to transmit convergence movement to second imaging probe (# 20 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 6 , Sheet 8/22; and  FIG. 16 a   , Sheet 18/22] 
     23. Cable/belt housed in main tubular shaft (# 1 ) and used with extension (# 52 ) between gearbox casing (# 66 ) and dual groove pulley (# 11 ) for opening and closing of first probe arm (# 9 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 6 , Sheet 8/22; and  FIG. 17 a   , Sheet 19/22] 
     24. Cable/belt housed in main tubular shaft (# 1 ) and used with extension (# 53 ) between gearbox casing (# 66 ) and dual groove pulley (# 12 ) for opening and closing of second probe arm (# 10 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22;  FIG. 6 , Sheet 8/22; and  FIG. 17 a   , Sheet 19/22] 
     25. Opening in the proximal end of one of the two longitudinal channels (# 2 ) on main tubular shaft (# 1 ) allowing entry into main tubular shaft (# 1 ) of slider cable/belt (# 8 ) [see  FIG. 2 a   , Sheet 2/22] 
     26. Set of two path guide pulleys positioned within the proximal end of the main tubular shaft (# 1 ) near the opening (# 25 ), one of its pulleys used with slider cable/belt (# 8 ) and the other of its pulleys used with extensions part  1  and  2  (# 44 , # 45 ) of slider cable/belt (# 8 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 11 , Sheet 13/22; and  FIG. 12 a   , Sheet 14/22] 
     27. Spring between convergence adjust button with rod (# 59 ) and the convergence mechanism core rod (# 57 ) [see  FIG. 2 b   , Sheet 3/22; and  FIG. 9  Sheet, 11/22; also unmarked in  FIGS. 13 a -14 c  and 15 c   , respectively on Sheets 15/22, 16/22, and 17/22] 
     28. Cable crimp sleeve to fix cables/belts (# 13 , # 14 , # 21 , # 22 ) respectively to the corresponding dual groove pulley (# 11  or # 12 ) [see  FIG. 2 a   , Sheet 2/22;  FIG. 3 , Sheet 5/22; and  FIGS. 16 c  and 16 d   , Sheet 18/22] 
     29. Hinge identified in probe arm (# 10 ) for mounting path guide pulley (# 17 ) with pin (# 18 ) for use with first imaging probe cable/belt (# 13 ) [see  FIG. 2 a   , Sheet 2/22; and  FIGS. 3-4 , Sheets 5-6/22] 
     30. Dual groove pulley related to probe arms adjust button (# 58 ) and used with cable/belt extensions (# 52 , # 53 ) and cables/belts (# 23 , # 24 ) for opening and closing of probe arms (# 9 , # 10 ) [see  FIG. 2 b   , Sheet 3/22; and  FIG. 17 a   , Sheet 19/22] 
     31. Bottom teeth of convergence adjust button with rod (# 59 ) which engage top teeth (# 60 ) of convergence mechanism core rod (# 57 ) [see  FIG. 2 b   , Sheet 3/22; and  FIG. 9 , Sheet 11/22] 
     32. Slider-related locking gear in the convergence mechanism combination, locks slider-related helical gear (# 35 ) during manual convergence of imaging probes (# 19 , # 20 ) initiated by Convergence adjust Button (# 59 ) after the introduction of main tubular shaft (# 1 ) into a cavity while choosing (converging on) a target object (# 94 ) as in  FIG. 15 b   , sheet 17/22 [see  FIG. 2 b   , Sheet 3/22;  FIGS. 8-9 , Sheets 10-11/22; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15-17/22] 
     33. Spring between slider-related locking gear (# 32 ) and bushing/bracket with internal teeth (# 76 ) [see  FIG. 2 b   , Sheet 3/22; and  FIGS. 8-9 , Sheets 10-11/22; also unmarked in  FIGS. 13 a -14 c   , Sheets 15/22 and 16/22] 
     34. Bushing/Bracket (without teeth) fixed to gearbox backbone (# 65 ) and used to mount the rod of convergence adjust button (# 59 ), in alternative configurations it can also represent an electromagnet, a battery, energy storage device, energy producing device, and/or energy receiving device [see  FIGS. 8-9 , Sheets 10-11/22] 
     35. Slider-related helical gear with external teeth (# 37 ) and internal teeth (# 36 ) in the convergence mechanism combination, with its helical external teeth (# 37 ) engaging the external teeth of helical gear (# 41 ) [see  FIG. 2 b   , Sheet 3/22;  FIGS. 8-9 , Sheets 10-11/22; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15-17/22] 
     36. Internal teeth of slider-related helical gear (# 35 ) which engage the external side teeth (# 61 ) of the convergence mechanism core rod (# 57 ) when it is simultaneously engaging Internal teeth (# 38 ) of imaging probes convergence-related gear (# 39 ) during convergence of imaging probes (# 19 , # 20 ) using the slider (# 6 ) (engaging first and second movement transmitting means) as see  FIG. 14 b   , sheet 16/22 [see  FIG. 2 b   , Sheet 3/22;  FIG. 9 , Sheet 11/22; and  FIGS. 13 c , 14 c , and 15 c   , respectively on Sheets 15-17/22] 
     37. Helical external teeth of slider-related helical gear (# 35 ) [see  FIG. 2 b   , Sheet 3/22; and  FIG. 9 , Sheet 11/22] 
     38. Internal teeth of imaging probes convergence-related gear (# 39 ) which engage the external side teeth (# 61 ) of the convergence mechanism core rod (# 57 ) during manual convergence of imaging probes (# 19 , 20 ) using convergence adjust button (# 59 ) as see  FIG. 15 b   , sheet 17/22, and can also engage the external side teeth (# 61 ) of the convergence mechanism core rod (# 57 ) when it is simultaneously engaging internal teeth (# 36 ) of slider related helical gear (# 35 ) during convergence of imaging probes (# 19 , 20 ) using the slider (# 6 ) (engaging first and second movement transmitting means) as see  FIG. 14 b   , sheet 16/22 [see  FIG. 2 b   , Sheet 3/22;  FIG. 9 , Sheet 11/22; and  FIGS. 13 c , 14 c , and 15 c   , respectively on Sheets 15-17/22] 
     39. Imaging probes convergence-related gear with external teeth (# 62 ) and internal teeth (# 38 ) in the convergence mechanism combination, with its external teeth (# 62 ) engaging the external teeth of gear (# 46 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 9 , Sheet 11/22; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15-17/22] 
     40. Large dual groove pulley with associated helical gear (# 41 ) situated in gearbox casing (# 66 ) and related to movement of slider (# 6 ) via cable/belt (# 8 ) and part  1  and  2  extensions (# 44 , # 45 ) of slider cable/belt (# 8 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIGS. 12 a  and 12 b   , Sheet 14/22] 
     41. Helical gear with external teeth associated with large dual groove pulley with helical gear (# 40 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIG. 12 b   , Sheet 14/22] 
     42. Reset button with rod used to engage/disengage first and second movement transmitting means [see  FIG. 1 , Sheet 1/22;  FIG. 2 b   , Sheet 3/22; and  FIGS. 8-9 , Sheets 10-11/22; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15-17/22] 
     43. Ring at the distal end of reset button with rod (# 42 ), engages the enlarged distal end of convergence mechanism core rod (# 57 ) to compress spring (# 54 ) against bushing/bracket (# 34 ), releasing the connection between the external side teeth (# 61 ) of the convergence mechanism core rod (# 57 ) and the internal teeth (# 36 ) of slider-related helical gear (# 35 ) [see  FIG. 2 b   , Sheet 3/22;  FIGS. 8-9 , Sheets 10-11/22; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15-17/22] 
     44. Extension part  1  of slider cable/belt (# 8 ) situated in gearbox casing (# 66 ), associated with set of two path guide pulleys (# 56 ) and extending between the set of two path guide pulleys (# 26 ) and the large dual groove pulley with helical gear (# 40 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIGS. 12 a  and 12 b   , Sheet 14/22] 
     45. Extension part  2  of slider cable/belt (# 8 ) situated in gearbox casing (# 66 ), associated with set of two path guide pulleys (# 55 ) and extending between the set of two path guide pulleys (# 26 ) and the large dual groove pulley with helical gear (# 40 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIGS. 12 a  and 12 b   , Sheet 14/22] 
     46. Dual gear with pulley related to imaging probes convergence (the smaller diameter gear is separately identified by the number  48 , and its pulley is separately identified by the number  78 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIG. 16 b   , Sheet 18/22] 
     47. Flat coiled spring for dual gear with pulley (# 46 ) [see  FIG. 2 b   , Sheet 3/22] 
     48. Small diameter gear with pulley in dual gear with pulley (:/ 146 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIG. 16 b   , Sheet 18/22] 
     49. Gear with pulley related to imaging probes convergence (its pulley is separately identified by the number  79 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIG. 16 b   , Sheet 18/22] 
     50. Pin for mounting gear with pulley (# 49 ) in working engagement with small diameter gear with pulley (# 48 ) [see  FIG. 2 b   , Sheet 3/2] 
     51. Extensions of cables/belts (# 21 , # 22 ) located in gearbox casing (# 66 ) which are used for imaging probe (# 19 , # 20 ) convergence and relate to the pulleys (# 79 , # 78 ) respectively associated with gear with pulley (# 49 ) and dual gear with pulley (# 46 ), which includes the smaller diameter gear (# 48 ) [see  FIG. 2 b   , Sheet 3/22; and  FIGS. 16 a  and 16 b   , Sheet 18/22] 
     52. Cable/belt located in gearbox (# 66 ) and related to dual groove pulley (# 30 ) which provides extension of the cable/belt (# 23 ) connected to the pulley-like structure (# 102 ) on the proximal end of first probe arm (# 9 ) and used concurrently with cable/belt (# 53 ) for opening and closing of probe arms (# 9 , # 10 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIG. 17 a   , Sheet 19/22] 
     53. Cable/belt located in gearbox (# 66 ) and related to dual groove pulley (# 30 ) which is an extension of the cable/belt (# 24 ) connected to the pulley-like structure (# 102 ) on the proximal end of second probe arm (# 10 ) and used concurrently with cable/belt (# 52 ) for opening and closing of probe arms (# 9 , # 10 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIG. 17 a   , Sheet 19/22] 
     54. Spring between the enlarged distal end of convergence mechanism core rod (# 57 ) and the bushing/bracket (# 34 ) secured to gearbox backbone (# 65 ) [see  FIG. 2 b   , Sheet 3/22;  FIGS. 8-9 , Sheets 10-11/2; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15-17/22] 
     55. Set of two path guide pulleys housed within gearbox casing (# 66 ) and used with extension part  2  (# 45 ) of slider cable/belt (# 8 ) and the large dual groove pulley (# 40 ) with associated helical gear (# 41 ) [see  FIG. 8 , Sheet 10/22; and  FIG. 12 a   , Sheet 14/22] 
     56. Set of two path guide pulleys housed within gearbox casing (# 66 ) and used with the extension part  1  (# 44 ) of slider cable/belt (# 8 ) and the large dual groove pulley (# 40 ) with associated helical gear (# 41 ) [see  FIG. 8 , Sheet 10/22; and  FIG. 12 a   , Sheet 14/22] 
     57. Convergence mechanism core rod [see  FIG. 2 b   , Sheet 3/22,  FIGS. 8-9 , Sheets 10-11/22; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15/22, 16/22, and 17/22] 
     58. Probe arms adjust button for opening and closing of probe arms (# 9 , # 10 ) [see  FIG. 1 , Sheet 1/22;  FIG. 2 b   , Sheet 3/22;  FIG. 8 , Sheet 10/22; and  FIG. 17 a   , Sheet 19/22] 
     59. Convergence adjust button with elongated rod for manual convergence of first and second imaging probes (# 19 , # 20 ) during selection of a visual target (# 94 ) [see  FIG. 1 , Sheet 1/22;  FIG. 2 b   , Sheet 3/22; and  FIGS. 8-9 , Sheets 10-11/2; and  FIGS. 13 b , 13 c , 14 b , 14 c , 15 b , and 15 c   , respectively on Sheets 15-17/22] 
     60. External top teeth of the convergence mechanism core rod (# 57 ) which engage bottom teeth (# 31 ) on convergence adjust button (# 59 ) [see  FIG. 2 b   , Sheet 3/22; and  FIG. 9 , Sheet 11/22; and  FIG. 15 b   , Sheet 17/22] 
     61. External side teeth of the convergence mechanism core rod (# 57 ) that can engage internal teeth (# 36  and # 38 ) respectively on slider-related helical gear (# 35 ) and imaging probes convergence-related gear (# 39 ) [see  FIG. 2 b   , Sheet 3/22;  FIG. 9 , Sheet 11/22; and  FIGS. 13 b , 14 b   , and  15   b , respectively on Sheets 15-17/22] 
     62. External teeth of imaging probes convergence-related gear (# 39 ) [see  FIG. 2 b   , Sheet 3/22; and  FIG. 8 , Sheet 10/22] 
     63. First shelf on backbone (# 65 ) of gearbox casing (# 66 ) used to mount path guide pulleys (# 55 ) for slider cable/belt part  2  (# 45 ) [see  FIG. 2 c   , Sheet 4/22] 
     64. Flat coiled spring associated with large dual groove pulley (# 40 ) with helical gear (# 41 ), and related to movement of slider (# 6 ) [see  FIG. 2 c   , Sheet 4/22; and  FIG. 8 , Sheet 10/22] 
     65. Backbone of gearbox casing (# 66 ) [see  FIG. 2 c   , Sheet 4/22; and  FIG. 8 , Sheet 10/22] 
     66. Gearbox casing [see  FIG. 1 , Sheet 1/22; and  FIG. 2 c   , Sheet 4/22] 
     67. Handle depending from gearbox casing (# 66 ) [see  FIG. 1 , Sheet 1/22; and  FIG. 2 c   , Sheet 4/22] 
     68. Second shelf on gearbox backbone (# 65 ) used to mount path guide pulleys (# 56 ) for slider cable/belt part  1  (# 44 ) [see  FIG. 2 c   , Sheet 4/22] 
     69. Flat coiled spring for returning the probe arms adjust button (# 58 ) used for opening and closing probe arms (# 9 , # 10 ) to the neutral position, placing probe arms (# 9 , # 10 ) in their closed position adjacent to one another [see  FIG. 2 c   , Sheet 4/22; and  FIG. 8 , Sheet 10/22] 
     70. Rail assembly inside of slider (# 6 ) engaging cable/belt (# 8 ) and channels (# 2 ) for support of slider (# 6 ) on the external surface of main tubular shaft (# 1 ), allowing slider (# 6 ) to move smoothly back and forth guided by the two channels (# 2 ), may also use rollers  99  for its engagement of channels  2  [see  FIG. 3 , Sheet 5/22; and  FIG. 12 c   , Sheet 14/22] 
     71. Representation of a camera in the second imaging probe (# 20 ), (may include all or part of the following in any combination: medical systems, non-medical systems, diagnostic systems, therapeutic systems, mechanical systems, camera systems, optical systems, light sources, different light wavelengths sensors, and different light wavelengths transmitters, fiber-optic systems, light emitting diode (LED) systems, fluorescence imaging systems, ultrasound systems, magnetic resonance imaging (MRI) systems, radiation systems, radiofrequency systems, laser systems, devices using electrical power to function, devices using non-electrical forms of energy to function, distance sensors, position sensors, cautery systems, irrigation systems, antifogging materials, anti-smudging materials, fluid-repellant materials, scissors, graspers, clamps, and forceps) [see  FIG. 4 , Sheet 6/22; and  FIGS. 6-7 , Sheets 8-9/22] 
     72. Light source which can be transmitted via fiber-optics or produced by light-emitting diodes (LED&#39;S), (may also include all or part of the following in any combination: medical systems, non-medical systems, diagnostic systems, therapeutic systems, mechanical systems, camera systems, optical systems, light sources, different light wavelengths sensors, and different light wavelengths transmitters, fiber-optic systems, light emitting diode (LED) systems, fluorescence imaging systems, ultrasound systems, magnetic resonance imaging (MRI) systems, radiation systems, radio-frequency systems, laser systems, devices using electrical power to function, devices using non-electrical forms of energy to function, distance sensors, position sensors, cautery systems, irrigation systems, anti-fogging materials, anti-smudging materials, fluid-repellant materials, scissors, graspers, clamps, and forceps) [see  FIG. 4 , Sheet 6/22;  FIGS. 6-7 , Sheets 8-9/22; and  FIG. 20 , Sheet 22/22] 
     73. Representation of a camera in the first imaging probe (# 19 ), (may include all or part of the following in any combination: medical systems, non-medical systems, diagnostic systems, therapeutic systems, mechanical systems, camera systems, optical systems, light sources, different light wavelengths sensors, and different light wavelengths transmitters, fiber-optic systems, light emitting diode (LED) systems, fluorescence imaging systems, ultrasound systems, magnetic resonance imaging (MRI) systems, radiation systems, radio-frequency systems, laser systems, devices using electrical power to function, devices using non-electrical forms of energy to function, distance sensors, position sensors, cautery systems, irrigation systems, anti-fogging materials, anti-smudging materials, fluid-repellant materials, scissors, graspers, clamps, and forceps) [see  FIGS. 6-7 , Sheets 8-9/22] 
     74. Light source which can be transmitted via fiber-optics or produced by light-emitting diodes (LED&#39;S), (may also include all or part of the following in any combination: medical systems, non-medical systems, diagnostic systems, therapeutic systems, mechanical systems, camera systems, optical systems, light sources, different light wavelengths sensors, and different light wavelengths transmitters, fiber-optic systems, light emitting diode (LED) systems, fluorescence imaging systems, ultrasound systems, magnetic resonance imaging (MRI) systems, radiation systems, radio-frequency systems, laser systems, devices using electrical power to function, devices using non-electrical forms of energy to function, distance sensors, position sensors, cautery systems, irrigation systems, anti-fogging materials, anti-smudging materials, fluid-repellant materials, scissors, graspers, clamps, and forceps) [see  FIGS. 6-7 , Sheets 8-9/22] 
     75. Flat coiled spring associated with dual gear with pulley (# 46 ) for returning imaging probes (# 19 , # 20 ) to neutral position [see  FIG. 8 , Sheet 10/22] 
     76. Bushing/Bracket with internal teeth fixed to gearbox backbone (# 65 ), used to mount the convergence mechanism combination, including the slider-related locking gear (# 32 ) while it assists in stopping slider-related helical gear (# 35 ) during manual convergence of imaging probes (# 19 , # 20 ) initiated by convergence adjust button (# 59 ) [see  FIG. 9 , Sheet 11/22; and  FIGS. 13 c , 14 c , and 15 c   , respectively on Sheets 15-17/22] 
     77. Bushings/Brackets fixed to gearbox backbone (# 65 ) to mount gears (# 35  and # 39 ) of the convergence mechanism combination [see  FIG. 9 , Sheet 11/22; and  FIGS. 13 b , 14 b , and 15 b   , respectively on Sheets 15-17/22] 
     78. Pulley of the small diameter gear with pulley (# 48 ), which is part of the dual gear with pulley (# 46 ) and related to imaging probes convergence [see  FIG. 16 b   , Sheet 18/22] 
     79. Pulley of the gear with pulley (# 49 ) related to imaging probes convergence [see  FIG. 16 b   , Sheet 18/22] 
     80. Hinge at the distal end of first probe arm (# 9 ) providing moving connection of first imaging probe (# 19 ) [see  FIG. 17 c   , Sheet 19/22] 
     81. First dual groove pulley engaged to second dual groove pulley (# 84 ) with  2  sets of cables (first cable (# 82 ) and second cable (# 83 )) where the end attachment of each (# 85  and # 86 ) is fixed to the independent winding groove it relates to and rolled in the opposite direction from the other cable (# 85  or # 86 ) in the related independent winding groove, this configuration providing a sturdy, non-slipping pulley cable system which is shown in part in large dual groove pulley (# 40 ) and can be used to replace other pulleys or gears in the present invention endoscope  93  [see  FIG. 18 a   , Sheet 20/22] 
     82. First cable/belt/wire engaged to first and second dual groove pulley (# 81  and  84 ) this configuration provide sturdy, non-slipping pulley cable system which is shown in part in large dual groove pulley (# 40 ) and can be used to replace other pulleys or gears in the present invention endoscope  93  [see  FIG. 18 a   , Sheet 20/22] 
     83. Second cable/belt/wire engaged to first and second dual groove pulley (# 81  and  84 ) this configuration provide sturdy non-slip pulley cable system which is shown in part in large dual groove pulley (# 40 ) and can be used in other pulleys in the present invention [see  FIG. 18 a   , Sheet 20/22] 
     84. Second dual groove pulley engaged to first dual groove pulley (# 81 ) with  2  sets of cables (first cable (# 82 ) and second cable (# 83 )) where the end attachment of each (# 85  and  86 ) is fixed to the independent winding groove it relates to and rolled in the opposite direction from the other cable (# 85  or # 86 ) in the related independent winding groove, this configuration providing a sturdy, non-slipping pulley cable system which is shown in part in large dual groove pulley (# 40 ) and can be used to replace other pulleys or gears in the present invention endoscope  93  [see  FIG. 18 a   , Sheet 20/22] 
     85. Cable/belt/wire end attachment point on first dual groove pulley (# 81 ), with a set of two on each pulley in a configuration that provides sturdy, non-slipping pulley cable system which is shown in part in large dual groove pulley (# 40 ) and can be used to replace other pulleys or gears in the present invention endoscope  93  [see  FIG. 18 a   , Sheet 20/22] 
     86. Cable/belt/wire end attachment point on second dual groove pulley (# 84 ), with a set of two on each pulley in a configuration that provides sturdy, non-slipping pulley cable system which is shown in part in large dual groove pulley (# 40 ) and can be used to replace other pulleys in the present invention [see  FIG. 18 a   , Sheet 20/22] 
     87. Aperture leading to optional channel (not shown) used for the insertion of an independent instrument (not shown) needed to manipulate the target object (# 94 ) during use of the present invention [see  FIG. 1 , Sheet 1/22] 
     88. Unit that can be used as a laser pointer, an endoscope-to-target distance sensor, or both, and/or may include all or part of the following in any combination: medical systems, non-medical systems, diagnostic systems, therapeutic systems, mechanical systems, camera systems, optical systems, light sources, different light wavelengths sensors, and different light wavelengths transmitters, fiber-optic systems, light emitting diode (LED) systems, fluorescence imaging systems, ultrasound systems, magnetic resonance imaging (MRI) systems, radiation systems, radio-frequency systems, laser systems, devices using electrical power to function, devices using non-electrical forms of energy to function, distance sensors, position sensors, cautery systems, irrigation systems, anti-fogging materials, anti-smudging materials, fluid-repellant materials, scissors, graspers, clamps, and forceps) [see  FIG. 19 , Sheet 21/22; and  FIG. 20 , Sheet 22/22] 
     89. Not-to-scale representation of visual display system [see  FIG. 19 , Sheet 21/22] 
     90. Not-to-scale representation of robotic systems [see  FIG. 19 , Sheet 21/22] 
     91. Not-to-scale representation of electric motor for automated convergence adjustment and 3-D endoscope functions control and in integration with robotic systems (# 90 ) [see  FIG. 19 , Sheet 21/22] 
     92. Not-to-scale representation of computer component for automated convergence adjustment and 3-D endoscope functions control and in integration with robotic systems (# 90 ) [see  FIG. 19 , Sheet 21/22] 
     93. Not-to-scale representation of the present invention 3-D endoscope [see  FIG. 19 , Sheet 21/22] 
     94. Not-to-scale representation of a visual target [see  FIG. 19 , Sheet 21/22] 
     95. Not-to-scale representation of robotic systems arms, tools and connections [see  FIG. 19 , Sheet 21/22] 
     96. Not-to-scale representation of wireless receiver/transmitter related to 3-D endoscope (# 93 ) [see  FIG. 19 , Sheet 21/22] 
     97. Not-to-scale representation of wireless receiver/transmitter related to visual display system (# 89 ) [see  FIG. 19 , Sheet 21/22] 
     98. Not-to-scale representation of wireless receiver/transmitter related to robotic systems (# 90 ) [see  FIG. 19 , Sheet 21/22] 
     99. Roller related to movement of slider (# 6 ) guided by channels (# 2 ) [see  FIG. 12 d   , Sheet 14/22] 
     100. Wire for second imaging probe (# 20 ) to transmit electricity and data from/to a part of second imaging probe (# 71 ) and light source (# 72 ) (may encase tubing that transmit fluids for irrigation) [see  FIG. 7 , Sheet 9/22] 
     101. Wire for first imaging probe (# 19 ) to transmit electricity and data from/to a part of first imaging probe (# 73 ) and light source (# 74 ) (may encase tubing that transmit fluids for irrigation) [see  FIG. 7 , Sheet 9/22] 
     102. Two pulley-like structures each depending from the proximal end of a different one of the two probe arms (# 9 , # 10 ) [see  FIG. 3 , Sheet 5/22; and  FIGS. 17 b  and 17 c   , Sheet 19/22] 
     103. Two pulley-like structures each depending from the proximal end of a different one of the two imaging probes (# 19 , # 20 ) [see  FIG. 3 , Sheet 5/22] 
     104. Pulley stop for imaging probe pulley (# 78 ) [see  FIG. 2 b   , Sheet 3/22,  FIG. 8 b   , Sheet 10/22, and  FIG. 16 b   , Sheet 18/22] 
     105. Pulley opposing stop for imaging probe pulley (# 78 ) attached to bracket/shelf (# 108 ) [see  FIG. 2 c   , Sheet 4/22 and  FIG. 8 b   , Sheet 10/22] 
     106. Pulley stop for for imaging probe pulley (# 79 ) [ FIG. 8 b   , Sheet 10/22] 
     107. Pulley opposing stop for imaging probe pulley (# 79 ) attached to bracket/shelf (# 108 ) [see  FIG. 2 c   , Sheet 4/22 and  FIG. 8 b   , Sheet 10/22] 
     108. Bracket/shelf carrying rod for probe arms adjust button (# 58 ) that works as an axle for dual groove pulley (# 30 ) and pulley (# 78 ) with its connected gear (# 48 /# 46 ) [see  FIG. 2 c   , Sheet 4/22] 
     Before structure in the most preferred embodiment of the present invention 3-D endoscope  93  is described using the accompanying  FIGS. 1-20  on drawing sheets 1-22, an example of a preferred method of use for the most preferred embodiment of the present invention endoscope  93  in a medical application will be described below for achieving 3-dimensional human vision simulated imaging with real dynamic convergence for a visual target  94  situated within a body cavity (not shown). It must be understood that the same steps, the same step sequence, and the same components identified in medical applications may also be applicable to many uses of the present invention 3-D endoscope  93  in search/rescue, scientific research, investigative, and other non-medical applications where 3-dimensional human vision simulated imaging with real dynamic convergence can assist in the observation/identification or other interaction with a visual target  94  accessible through a small or narrow opening in a wall or other access-restrictive barrier. It should also be appreciated that the disclosure herein of the present invention 3-D endoscope  93  and its methods of use only provide examples of selected embodiments and methods to enable one of ordinary skill to make and use its best modes, and many other variations, combinations, and equivalents also exist which are not specifically mentioned. The present invention should therefore not be considered as limited to the embodiments, methods, and examples specifically provided herein, but instead encompassing all embodiments and methods within the scope and spirit of the invention as disclosed and defined in the accompanying claims. Three movement transmitting means and one control means define the use of present invention 3-D endoscope  93  presented below, while it employs imaging probes  19  and  20  to achieve 3-dimensional human vision simulated imaging with real dynamic convergence for viewing a selected visual target  94 , both manually via convergence adjustment button  59  while selecting a visual target  94 , and as a consequence of the forward and backward movement of the slider  6  along main tubular shaft  1 . In the paragraphs immediately following, preferred structure associated with each of the first, second, and third movement transmitting means will be described, each followed by a related paragraph entitled Mechanism of Action. In contrast, the control means will be subsequently described in the context of three specific modes (A-C) of engagement/disengagement of the first and second movement transmitting means relating to convergence/divergence of imaging probes  19  and  20 . 
     First Movement Transmitting Means/Slider Mechanism—See  FIG. 11  on Drawing Sheet 13/22 and  FIGS. 12 a - d    on Drawing Sheet 14/22 
     It comprises the slider  6  that can move smoothly back and forth on the main tubular shaft  1 , aided in its movement by the sliding rail assembly  70 , and also preferably guided by the two channels  2  in the exterior surface of the main tubular shaft  1  and in other alternative configurations can include a combination rail and rollers  99 , or only rollers  99 . The slider  6  is connected to a cable  8  (and its continuing extensions  44  and  45 ) that extend between pulley  7  and a combined large dual groove pulley  40  and helical gear  41  that are located in the present invention gearbox casing  66 , with cable  8  and its extensions  44  and  45  guided by several sets of path guide pulleys, preferably as follows: one set of two pulleys  26  located close to the proximal end of the main tubular shaft and two additional sets ( 55  and  56 ) of two pulleys each, that are located within the gearbox casing  66 . 
     Mechanism of Action 
     When the main tubular shaft  1  of the present invention 3-D endoscope  93  is introduced inside an abdominal cavity (not shown), it goes through the access port in a cavity wall (not shown) without difficulty, but slider  6  does not pass through the access port because of its larger diameter. Should the 3-D endoscope  93  move forward inside the cavity toward a visual target  94 , the forward movement makes the slider  6  move backward on the main tubular shaft  1 . This movement of slider  6  is transmitted into the combined large dual groove pulley  40  with helical gear  41  in the gearbox casing  66  by the cable  8  and its continuing extensions ( 44  and  45 ), the movement of slider  6  making the combined large dual groove pulley  40  with helical gear  41  turn into one direction and cause a predetermined reduction in the slider  6  movement when transmitted by the smaller helical gear  41  associated with large dual groove pulley  40  to the external helical teeth  37  of the slider-related helical gear  35  of the control means/convergence mechanism combination (see  FIGS. 8 and 9 ), which in turn can control its transmission to the second movement transmitting means/imaging probes convergence mechanism (see  FIGS. 16 a - d    on Sheet 18/22) to achieve convergence when appropriate. 
     In the alternative, should the 3-D endoscope  93  move backward inside the cavity away from visual target  94 , the backward movement makes slider  6  move forward on main tubular shaft  1 . This movement of slider  6  is caused by the flat coiled spring  64  associated with the large dual groove pulley  40  with associated helical gear  41 . This movement of slider  6  is transmitted into the combined large dual groove pulley  40  with helical gear  41  in gearbox casing  66  by cable  8  and its continuing extensions  44  and  45 , the movement of slider  6  making the combined large dual groove pulley  40  with helical gear  41  turn into the direction opposite to the previous turning movement of the combined large dual groove pulley  40  with helical gear  41  that occurred as a consequence of the 3-D endoscope  93  moving forward inside the cavity toward a visual target  94 . Movement of the large dual groove pulley  40  with helical gear  41  in that opposite direction after having a predetermined reduction going through the smaller helical gear  41  is transmitted to the external helical teeth  37  of the slider-related helical gear  35  of the control means/convergence mechanism combination (see  FIGS. 8 and 9 ), and if the control means/convergence mechanism combination so allows, the predetermined reduction in slider  6  is further transmitted to the second movement transmitting means/imaging probes convergence mechanism (see  FIGS. 16 a - d    on Sheet 18/22) to achieve divergence in imaging probes  19  and  20 . 
     Second Movement Transmitting Means/Imaging Probes Convergence Mechanism—See  FIGS. 16 a - d    on Drawing Sheet 18/22 
     It comprises the first and second imaging probes  19  and  20  that are respectively movably mounted at the distal ends of the two probe arms  9  and  10 , which in turn are located at the distal end of main tubular shaft  1  and are each preferably mounted to move toward and away from one another approximately 90-degrees to establish an approximate 180-degree range of motion from a fully closed position when probe arms  9  and  10  are adjacent to one another. Pulley stops  104  and  106  and pulley opposing stops  105  and  107  associated with imaging probe pulleys  78  and  79  limit the motion of probe arms  9  and  10  to approximately 180-degrees. While pulley stops  104  and  106  are connected respectively to imaging probe pulleys  78  and  79 , pulley opposing stops  105  and  107  are each connected to a bracket/shelf  108  secured to gearbox backbone  65 . At their proximal ends, first and second imaging probes  19  and  20  each have an associated pulley-like structure  103  (see  FIG. 3 ) that are respectively connected by cables  14  and  13  to the dual groove pulleys  11  and  12  mounted at the distal end of main tubular shaft  1 . The dual groove pulleys  11  and  12  are respectively connected through cables  21  and  22  in the main tubular shaft  1 , in combination with their continuation cables  51  in the present invention gearbox casing  66 , that extend respectively to the pulley part  78  of the smaller dual gear  48  (part of a large/small gear combination with pulley  46 ) and are also connected to the pulley part  79  of the gear with pulley  49  that moves in the opposite direction to smaller dual gear  48 . The cables  13 ,  14 ,  21 , and  22  are preferably attached firmly to pulleys  11  and  12  by cable crimp sleeves  28 . In addition, cables  13  and  14  are guided into a path inside the two probe arms  9  and  10  respectively by the path guide pulleys  15  and  17  that are mounted on pins  18  and hinges  29  located near to the pulley-like structures  102  close to the proximal ends of probe arms  9  and  10 . 
     Mechanism of Action 
     If the control means/convergence mechanism combination (see  FIGS. 8 and 9 ) allows engagement of the first and second movement transmitting means, the reduced movement derived from slider  6  and created by the first movement transmitting means is then transmitted to the second movement transmitting means/imaging probes convergence mechanism. First, this movement is again reduced going through the connection of the external teeth  62  of the imaging probes convergence-related gear  39  (relatively smaller gear) with the external teeth of the relatively larger diameter gear of the dual gear with pulley  46  which transmits the reduced movement to its associated smaller gear  48  with pulley  78  that turns in the same direction as its associated large diameter gear  46 , with this same movement being transmitted in an opposite direction to the gear  49  with pulley  79  having external teeth in working engagement with the external teeth of the smaller gear  48  with pulley  78 . The resulting movement of gears  48  and  49  is transmitted through their respective pulleys  78  and  79 , and their respectively connected cables  21  and  22 , including the continuing extensions  51  thereof (in the present invention gearbox casing  66 ) to pulleys  11  and  12 , and then respectively via cables  14  and  13  to the first and second imaging probes  19  and  20  to cause them to converge or diverge according to the direction of movement received from the first movement transmitting means/slider mechanism. When no force is exerted on the dual gear with pulley  46 , as when the control means/convergence mechanism combination disengages the first and second movement transmitting means, the stored energy in the flat coiled spring  75  related to the dual gear with pulley  46  causes the large gear  46  to turn in the opposite direction to a predetermined position, returning the imaging probes  19  and  20  to a neutral position (no convergence) where they are oriented parallel to one another. 
     Third Movement Transmitting Means/Probe Arms Opening and Closing Mechanism—See  FIGS. 17 a - c    on Drawing Sheet 19/22 
     It consists of the two probe arms  9  and  10  which are movably mounted at the distal end of the main tubular shaft  1 , with the first and second imaging probes  19  and  20  movably mounted respectively to the distal end of the two probe arms  9  and  10 . Each probe arm  9  and  10  has an associated pulley-like structure  102  (see  FIG. 3 ) at its proximal end, with the pulley-like structures  102  connected by two cables  23  and  24  in the main tubular shaft  1 , along with their respective continuation/extension cables  52  and  53  within the present invention gearbox casing  66 , to the dual groove pulley  30  mounted on the elongated rod of the probe arms adjust button  58 . 
     Mechanism of Action 
     Turning the probe arms adjust button  58  causes the dual groove pulley  30  mounted on the rod of probe arms adjust button  58  to turn in the same direction as the rod. This movement of dual groove pulley  30  is transmitted through the cables  52  and  53  in gearbox casing  66 , along with their respective continuation cables  23  and  24  within main tubular shaft  1 , to both of the probe arms  9  and  10 , causing them to turn (close or open). The cable  53  in gearbox casing  66  is configured in the shape of a figure eight, which causes the one probe arm  10  connected to it to move in the opposite direction to the other probe arm  9 , so that when the probe arms adjust button  58  is turned in one direction, it causes the probe arms  9  and  10  to close, while turning the probe arms adjust button  58  in the other direction causes probe arms  9  and  10  to open to the specific required distance allowing a user to control the inter-axial distance between the first and second imaging probes  19  and  20  respectively mounted on probe arms  9  and  10 . 
     Control Means/Engaging-Disengaging the First and Second Movement Transmitting Means and Manual Convergence Means (Allowing a Visual Target  94  to be Selected)/Convergence Mechanism Combination—See  FIG. 9  on Drawing Sheet 11/22,  FIGS. 13 a - c    on Drawing Sheet 15/22,  FIGS. 14 a - c    on Drawing Sheet 16/22, and  FIGS. 15 a - c    on Drawing Sheet 17/22 
     The control means/convergence mechanism combination receives movement from either the slider  6  being transmitted through the first movement transmitting means to slider-related helical gear  35  of the control means/convergence mechanism combination, or from manual convergence adjust button with rod  59 . The control means then controls whether the transmission of either movement is to be passed to, or not passed into, the second movement transmission means through its imaging probe convergence-related gear  39  to the first and second imaging probes  19  and  20  for convergence, divergence (being automatic and caused by the slider  6 , or manual and caused by manual convergence adjust button  59 , or does not move during the introduction of the present invention 3-D endoscope  93  to/from an access port in a cavity wall). The control means/convergence mechanism combination is usually present in one of three modes, represented in  FIGS. 13 a - c , 14 a - c , and 15 a - c    respectively on drawing sheets 15/22, 16/22, and 17/22, as discussed in the following paragraphs under the titles of First Mode A, Second Mode B, and Third Mode C. 
     First Mode A—Disengaging First and Second Movement Transmitting Means/Fourth Movement Transmitting Means (Pushing Reset Button)—See  FIGS. 13 a - c    on Drawing Sheet 15/22 
     During the introduction of the 3-D endoscope  93  into the abdominal cavity, the slider  6  should be able to move freely without causing convergence until: 1) it reaches its ZERO point with both probe arms  9  and  10  completely inside the abdominal cavity and clear of the abdominal wall (which can differ in thickness from one person to the other), and also clear of the access port/trocar and sleeve (which can differ in length from one brand to the other, and from one model to the other in the same brand); and 2) the probe arms  9  and  10  are opened and the distance between the first and second imaging probes ( 19 ,  20 ) is wide enough that the 3-D endoscope  93  movement toward the visual target  94  requires convergence. To allow slider  6  to move freely without causing convergence, the first and second movement transmitting means first have to be disengaged. 
     Mechanism of Action 
     Pushing the reset button  42  down causes the convergence mechanism core rod  57  to move down, allowing the external side teeth  61  on convergence mechanism core rod  57  to only be in contact with the internal teeth  38  of the imaging probes convergence-related gear  39  and clear internal teeth  36  of the slider-related helical gear  35 , which allows the slider-related helical gear  35  to move independently from the imaging probes convergence-related gear  39 , disengaging the first movement transmitting means from the second movement transmitting means. At that time, no force is exerted on the slider-related locking gear  32  except the spring  33  forces, causing it to be pushed up away from the bushing/brackets with internal teeth  76  fixed to gearbox backbone  65  so that the external teeth of the slider-related locking gear  32  are only in contact with the internal teeth of the bushing/brackets with internal teeth  76  fixed to gearbox backbone  65  and clear from the internal teeth  36  of slider related helical gear  35 . That allows slider-related helical gear  35  to move freely and not to be locked in place with the bushing/brackets with internal teeth  76  fixed to gearbox backbone  65 . 
     Second Mode B—Manual Convergence/Choosing a Visual Target (Pushing and Turning Convergence Adjust Button)—See  FIGS. 15 a - c      
     After the introduction of the 3-D endoscope  93  into the abdominal cavity, with both probe arms  9  and  10  completely inside the abdomen and opened by the third movement transmitting means, the slider  6  is now at its ZERO point. At this time choosing a visual target  94  is done using the manual convergence/control means which fixes first movement transmitting means/slider mechanism in place and allows the user to choose a visual target  94  manually by making the first and second imaging probes  19  and  20  converge initially on that visual target  94 . 
     Mechanism of Action 
     Pushing the convergence adjust button  59  down causes the convergence mechanism core rod  57  to move down, making its external side teeth  61  only engaged with internal teeth  38  of imaging probes convergence-related gear  39  and remain clear of the internal teeth  36  of slider-related helical gear  35 , allowing independent movement of the slider-related helical gear  35  from the imaging probes convergence-related gear  39  for disengagement of the first and second movement transmitting means. The convergence adjust button  59  also pushes the slider-related locking gear  32  down, causing it to move through the bushing/brackets with internal teeth  76  fixed to gearbox backbone  65 , so that the external teeth of the slider-related locking gear  32  simultaneously contact the internal teeth of the bushing/brackets with internal teeth  76  fixed to gearbox backbone  65  and the internal teeth  36  of slider-related helical gear  35 , that causes slider-related helical gear  35  to stop moving and to be locked in place with the bushing/bracket with internal teeth  76  fixed to gearbox backbone  65 . At the same time the convergence adjust button  59  is pushed down, its bottom teeth  31  are placed in contact with external top teeth  60  of the convergence mechanism core rod  57  which engage rod  57  and button  59  together, so turning of the convergence adjust button  59  causes the convergence mechanism core rod  57  to turn simultaneously with it. In addition, because the external side teeth  61  of the convergence mechanism core rod  57  is concurrently in contact only with the internal teeth  38  of imaging probes convergence-related gear  39 , turning of the convergence adjust button  59  only causes turning of the imaging probes convergence-related gear  39  which eventually causes the first and second imaging probes ( 19 ,  20 ) to converge on the chosen visual target  94 . 
     Third Mode C—Engaging First and Second Movement Transmitting Means (Releasing Reset Button)—See  FIGS. 14 a - c      
     After the introduction of the 3-D endoscope  93  into the abdominal cavity, while both probe arms  9  and  10  are completely inside the abdomen and opened, the slider  6  is now at its ZERO point. At which time choosing a visual target  94  is done using the manual convergence/control means C ( FIGS. 15 a - c   ), after which the first and second movement transmitting means should be engaged, so that any movement of the slider  6  is thereafter translated into a convergence or divergence movement of the first and second imaging probes ( 19 ,  20 ) according to the direction of that movement. 
     Mechanism of Action 
     Releasing the reset button  42  for upward movement allows the spring  54  to push the convergence mechanism core rod  57  in an upward direction, placing its external side teeth  61  simultaneously in contact with both the internal teeth  38  of the imaging probes convergence-related gear  39  and internal teeth  36  of slider-related helical gear  35 , which forces the slider-related helical gear  35  to move together with imaging probes convergence-related gear  39 , engaging the first movement transmitting means with the second movement transmitting means. At that time, no force is exerted on the slider-related locking gear  32  except the spring  33  forces, causing it to be pushed up away from the bushing/brackets with internal teeth  76 , fixed to gearbox backbone  65 , so that the external teeth of the slider-related locking gear  32  are only in contact with the internal teeth of the bushing/brackets with internal teeth  76  fixed to gearbox backbone  65  and clear from the internal teeth  36  of slider related helical gear  35 . That allows slider-related helical gear  35  to move freely and not to be locked in place with the bushing/brackets with internal teeth  76  fixed to gearbox backbone  65 . 
       FIGS. 1-7  show structural features in the most preferred embodiment of the present invention advanced endoscopic device  93  relating to slider  6  movement and the first and second movement transmitting means allowing the slider  6  movement to be used for achieving convergence/divergence in imaging probes ( 19 ,  20 ), or others of like kind.  FIG. 1  shows the main tubular shaft  1  having a longitudinal channel  2  extending substantially along its length, and slider  6  associated with channel  2  for back-and-forth movement of slider  6  relative to the main tubular shaft  1 . More than one channel  2  may be used, or in the alternative no channels  2  may be needed to assist slider  6  movement. Also in other configurations, depending upon the embodiment and application, channel  2  may represent a position sensor that helps to determine the position of the 3-D endoscopic device  93  in relation to its surroundings, with this positioning data used by a computer component to control convergence in like kind imaging probes ( 19 ,  20 , or other).  FIG. 1  also shows two side-by-side probe arms ( 9 ,  10 ) supported by the distal end of main tubular shaft  1 , and the two imaging probes ( 19 ,  20 ) supported respectively by the distal ends of probe arms ( 9 ,  10 ). The configuration of the advanced present invention endoscope  93  illustrated in  FIG. 1  is that typically selected for introduction of the main tubular shaft  1  through an opening or port (not shown) for viewing or otherwise interacting with a visual target  94  in a cavity.  FIG. 1  further shows a gearbox casing  66  depending from the proximal end of main tubular shaft  1  and having an associated manual probe arm adjust button  58 , a convergence adjust button with rod  57 , and a reset button  42  all in close proximity to one another, which is preferred but not critical. The relative sizes, shapes, and locations of manual probe arm adjust button  58 , convergence adjust button with rod  57 , and reset button  42  are not limited to that shown in  FIG. 1 . An aperture  87  is also visible in  FIG. 1  between gearbox casing  66  and a handle  67  depending from gearbox casing  66 . It is intended for aperture  87  to lead to an optional channel (not shown) used for the insertion and concurrent use of at least one independent instrument (not shown) inside the cavity where the present invention is inserted. Independent instruments can include, but are not limited to, endoscopic scissors, graspers, and biopsy forceps. The relative length dimension of main tubular shaft  1  to that of gearbox casing  66  shown in  FIG. 1  should not be considered as limiting. Also, the sizes and shapes of gearbox casing  66 , handle  67 , and slider  6  should not be considered as limiting to the structures depicted in  FIG. 1 . In addition, the number and location of handles  67  and apertures  87  used may be different in differing embodiments of the present invention endoscopic device  93 , and one or more apertures  87  leading to one or more channels  2  can be used through gearbox casing  66  or elsewhere, including the main tubular shaft  1 . Resetting imaging probes  19  and  20  to their neutral positioning (with no convergence, also referred to herein as zero convergence, where the longitudinal axes of imaging probes  19  and  20  are substantially parallel to one another) can be rapidly accomplished and is discussed above in the last sentence of paragraph [0059]. It would typically occur prior to entry of the present invention into a endoscopic port, prior to its withdrawal from a endoscopic port, may possibly be needed when redirecting imaging probes  19  and  20  to a new visual target  94 , or otherwise as needed. If the reset sequence (mentioned above in paragraphs [0066], [0068], and [0076]) is not accomplished prior to entry of the present invention into a endoscopic port, imaging probes  19  and  20  may not be optimally positioned for successful entry into the endoscopic port. In addition, without the free movement of slider  6  through disengagement of the first and second movement transmitting means (see above paragraphs [0066] and [0068]), components of this invention could be placed at risk of breaking when laparoscopic entry is attempted. 
       FIG. 2 a    is an exploded view of some of the components in the first and second movement transmitting means of the most preferred embodiment of the present invention associated with main tubular shaft  1  and relating to slider  6  movement and the movement of imaging probes ( 19 ,  20 ) for their convergence/divergence.  FIG. 2 a    shows slider  6  having a simple, sleek design, and the main tubular shaft  1  having a bore  5  through opposing sides of its distal end where a pin  4  is fixed to movably mount the proximal ends of the probe arms ( 9 ,  10 ) and the dual groove pulleys ( 11 ,  12 ) that respectively transmit convergence movement to the two imaging probes ( 19 ,  20 ) while supported by the distal ends of probe arms ( 9 ,  10 ). In addition, the belt  8  and guide path pulleys ( 7 ,  26 ) shown in  FIG. 2 a    permit the back-and-forth movement of slider  6  longitudinally along main tubular shaft  1  via channel  2 , channel opening  3 , and channel opening  25 .  FIG. 2 a    also shows multiple belts/cables ( 13 - 14 ,  21 - 24 ) that are used with pulleys ( 11 - 12 ,  15 ,  17 ) to transmit slider  6  movement to gearbox casing  66 , or reduced slider  6  movement from gearbox casing  66  to the imaging probes ( 19 ,  20 ) for their convergence/divergence. In contrast,  FIG. 2 b    is an exploded view of some of the components in the first and second movement transmitting means that are housed in gearbox casing  66  and relate to the movement reduction occurring in gearbox casing  66 . Many of these components are also shown in enlarged views in  FIGS. 8 a   ,  9 ,  12   a ,  13   a - 16   b , and  17   a . Via the belt/cable extensions ( 51 ,  52 ,  53 ,  55 ,  56 ), movement from slider  6  may be transmitted to gearbox casing  66  from some of the components shown in  FIG. 2 a    (explained in more detail below), and if the control means (identified descriptively elsewhere herein) engages the first and second movement transmitting means, after its reduction the reduced slider  6  movement may be transmitted to imaging probes ( 19 ,  20 ) to affect their convergence or divergence. 
       FIG. 2 c    comprises external and interior views of the gearbox casing  66  in most preferred embodiment of the present invention, with the interior view on the right showing preferred bushings/brackets ( 76 ,  77 ,  34 ) and shelves ( 63 ,  68 ,  108 ) fixed to the gearbox backbone  65  which are used for mounting portions of the control means that assist in controlling the engagement and disengagement of the first and second movement transmitting means.  FIG. 2 c    also shows a preferred flat coiled spring  69 , the stored energy of which is used to return the probe arms adjust button  58  (employed for manual opening and closing of probe arms ( 9 ,  10 ) to the neutral position, placing probe arms ( 9 ,  10 ) in their closed position adjacent to one another.  FIG. 2 c    also shows the pulley opposing stops  105  and  107  respectively used in association with the imaging probe pulleys  78  and  79  (see also  FIGS. 8 a  and 16 b   ) to prevent probe arms ( 9 ,  10 ) from moving through a combined distance of more than 180-degrees. In addition, in the external view of gearbox casing  66  on the left of  FIG. 2 c   , handle  67  is also shown depending from gearbox casing  66 .  FIG. 3  is an enlarged view of the same components shown in the top portion of  FIG. 2 a   .  FIG. 4  is a perspective view from the side of the most preferred embodiment of the present invention, showing the movable connection between the probe arms ( 9 ,  10 ) and the distal end of the main tubular shaft  1 , as well as the movable connection between each imaging probe ( 19 ,  20 ) and the probe arm ( 19 ,  20 ) supporting it.  FIG. 4  also shows both imaging probes ( 19 ,  20 ) in a state of convergence.  FIG. 5  is a transparent view of the most preferred embodiment of the present invention endoscope  93  that is similar in content to that shown in  FIG. 4 , with preferred placement of belts/cables and pulleys in the second movement transmitting means now shown.  FIG. 6  is a perspective view of present invention endoscope  93  showing the connection of the probe arms ( 9 ,  10 ) to the distal end of the main tubular shaft  1 , the connection of the imaging probes ( 19 ,  20 ) to the probe arms ( 9 ,  10 ), and the probe arms ( 9 ,  10 ) and imaging probes ( 19 ,  20 ) each in their closed positions. Dual groove pulleys  11  and  12  are visible in  FIG. 6 , as are cables/belts  13 ,  14 , and  21 - 24 . In addition,  FIG. 6  shows present invention endoscope  93  components  71 - 74 , which can represent cameras, light sources, and other devices or systems appropriate to the intended application.  FIG. 7  is a view of the most preferred embodiment of the present invention similar in content to that shown in  FIG. 6 , but rotated 90-degrees from the illustration in  FIG. 6 . Additional imaging, diagnostic, or therapeutic features, or the features  71 - 74  in  FIGS. 6 and 7 , preferably comprise a half-cylinder shape with a smooth arcuate perimeter that facilitates use of the present invention device in medical applications through an endoscopic port, or are otherwise configured to fit into a housing or casing in the shape of a half-cylinder. However, a circular cross-sectional configuration is not critical, particularly for non-medical applications, and it is also considered to be within the scope of the present invention for the combined configuration of imaging probe  19 , cameras  71  and  73 , and light sources  72  and  74 , and additional imaging, diagnostic, or therapeutic feature or features (not shown) to be that of an ellipse, half-hexagon, half-octagon, or other polygonal shape with angles of approximately 60-degrees or less, or any other shape that will fit the diagnostic/sensors probes and/or the therapeutic or any control features needed for the application and still fits the entry port for the space or cavity.  FIG. 7  further shows the components  100  and  101  that may comprise one or more wires for imaging probes  19  or  20  to transmit electricity and data from/to a a camera or system ( 71  or  73 ) and/or a light source or other system/device ( 72  or  74 ). Although not shown, components  100  and  101  may also encase tubing that transmit fluids for irrigation of at least one component of said endoscopic device  93  or a visual target  94 . 
       FIG. 8 a    is a sectioned view of a portion of the gearbox backbone  65  in the most preferred embodiment of the present invention showing the portions of the first, second, and third movement transmitting means associated with gearbox backbone  65 . In contrast,  FIG. 8 b    is an enlarged view of a portion of the third movement transmitting means shown in  FIG. 8 a   , which more clearly shows the configuration, positioning, and engagement of several gears ( 46 ,  48 , and  49 ) and pulley stops ( 104  and  105 ) in their association with the rod depending from the probe arms adjust button  58 . In addition,  FIG. 9  is an exploded view of the portion of the most preferred embodiment of the present invention in its gearbox casing  66  that relate to the control means and the convergence adjust button with elongated rod  59  (the rod is not separately numbered) that is used for manual convergence of first and second imaging probes ( 19 ,  20 ) during selection of a visual target  94 . For further explanation of the interrelationship and functions of the components in  FIGS. 8 a , 8 b   , and  9 , see  FIG. 2 b   , and  FIGS. 13 a -15 c   , and invention descriptions provided above in paragraphs [0064]-[0086]. Imaging probes  19  and  20 , as well as movable probe arms  9  and  10 , are typically positioned adjacent to one another in a closed arrangement prior to insertion of the distal end of main tubular shaft  1  into a cavity opening, such as but not limited to a endoscopic port (not shown). For creating a 3-dimensional effect, at least two imaging probes  19  and  20  must be the same kind, and one of the same kind imaging probes  19  must be mounted onto probe arm  9  with the other same kind imaging probe  20  mounted on probe arm  10 . It is contemplated for imaging probes  19  and  20  in the present invention to include, but not be limited to, cameras, ultrasound devices, and other imaging sensors (see component list above for additional examples). Imaging probes  19  and  20  are mounted to the distal end of a different probe arm  9  or  10 , with the proximal ends of the two probe arms  9  and  10  movably mounted on the distal tip of main tubular shaft  1  (see  FIGS. 4-7, and 20 ) so as to provide simultaneous movement of both probe arms  9  and  10  in opposed directions toward and away from one another within an approximate 180-degree angle range of movement (an approximate 90-degree range of movement for each probe arm  9  and  10 ). It is the resulting side-to-side movement of the probe arms  9  and  10  within a 180-degree angle range of movement (to and from the fully closed position where the imaging probes  19  and  20  are positioned adjacent to one another) that creates a change in the distance between imaging probes  19  and  20  axes that can be adjusted to the average intra-pupillary distance of approximately 5-7 cm found between human eyes, thereby allowing the imaging probes  19  and  20  to have depth perception equivalent to that of human eyes (for similar sized objects positioned at similar distances from the human eyes). The ability to adjust the distance between the probe arms  9  and  10  at any time also gives the operator variability for navigating in small, narrow, and irregularly-shaped spaces inaccessible by the unaided human eye, while at the same time providing the operator (not shown) an option to move the imaging probes  19  and  20  further apart at most of the probe arm  9  and  10  positions to enhance depth perception for a closer and more detailed look at any feature or object encountered (not shown, other than as the visual target  94  identified in the schematic representation of  FIG. 19 ). Another feature of the present invention is convergence which is dynamic and can be achieved through dynamic positioning adjustments of imaging probes  19  and  20  on probe arms  9  and  10  which is typically done by semi-automated or fully automated means that are explained in detail later on. The image from one imaging probe (either  19  or  20 ) is transmitted to a display system seen by one of the operator&#39;s two eyes, with the image from the remaining imaging probe  19  or  20  being transmitted to a display system seen by the second operator eye, wherein the independent display systems in front of each operator eye can be incorporated using a computer system into the images transmitted to the same headmounted video system, 3-D eye glasses, 3-D monitor, 3-D projector, 3-D eye pieces incorporated in a console (not shown), 3-D display  89 , but not limited thereto. Further, imaging (such as ultrasound images) from multiple additional imaging features  71 - 74  and  88  can be superimposed on corresponding images (such as a camera image) from imaging probes  19  and  20 , according to operator preference or need. The creation of a visual target  94  image requires light, which can also be provided by the present invention via fiber-optics or LED&#39;s (used only as examples and not limited thereto), or any other light source that has the compact configuration needed for being mounted adjacent to the imaging probes  19  and  20  on the distal ends of the probe arms  9  and  10  (and entry into the small openings typically encountered when entering a visual target  94  viewing area, while also having the capability of producing the needed amount of light for imaging probe  19  and  20  use with minimal heat generation. 
     Prior to manufacture of a present invention endoscopic device  93 , the applications for which it is to be used must be evaluated and a determination made as to the maximum distance anticipated from the distal tip of the main tubular shaft  1  to most visual targets  94 . Using this information, and other information such as that relating to imaging probe pulley/gear size, calculations may be made to determine the ratio of convergence needed for any visual target  94  at any specified distance from the present invention endoscopic device  93 . An average ratio of convergence can then be calculated upon which to base selection of an appropriate set of gears and pulleys (one example includes those shown secured to the gearbox backbone  65  in  FIG. 8 a   ) that are needed to achieve the appropriate reduction of the slider  6  linear movement for turning the imaging probe pulley-like structures  103  (see  FIG. 3 ) sufficiently to obtain imaging probe  19  and  20  convergence. Prior to using a semi-automated configuration of the present invention in a specific application and selecting a set of multiple gears and pulleys with a predetermined ratio of convergence appropriate to the amount of convergence anticipated for the application, one would need to estimate the distance from the present invention endoscopic device  93  at the primary/original position (at the slider  6  ZERO point) to the farthest possible visual target  94  anticipated in the application, or within the cavity that the present invention endoscopic device  93  will be primarily used, and accordingly calculate the ratio of convergence for this visual target  94  distance as previously described above. In fully-automated configuration, although a set of multiple gears and pulleys with a pre-determined ratio of convergence is also used, the computer component  92  will dynamically calculate the ratio of convergence each time the present invention endoscopic device  93  moves, and from the continually changing information it receives from multiple position sensors  88  (or other), computer  92  will activate a motor  91  to make the appropriate adjustments in convergence for imaging probes  19  and  20 . 
     On the left side of  FIG. 8 a   , one sees the large dual groove pulley  40  with associated helical gear  41  in front of the interior surface of the gearbox backbone  65 . The external teeth of helical gear  41  are in working engagement with the external helical teeth  37  of the slider-related helical gear  35 , which is axially aligned in vertical arrangement with several other present invention components. Above and outside the top exterior surface of gearbox backbone  65 , one sees the convergence adjust button with elongated rod  59  that is used for manual convergence of first and second imaging probes  19  and  20 , the reset button with rod  42  used to engage/disengage the first and second movement transmitting means, and the probe arms adjust button  58  for opening and closing probe arms ( 9 ,  10 ). Below the slider-related helical gear  35 , one sees the external teeth  62  of imaging probes convergence-related gear  39 .  FIGS. 13 a -15 c    in paragraphs [0084]-[0086] show additional views, including sectioned views, of the slider-related helical gear  35 , imaging probes convergence related gear  39 , reset button  42 , and the springs  32  and  54  used with them. As seen more clearly in  FIG. 9 , has a reset button with rod  42  with a ring  43  at its distal end. Also, the elongated rod depending downwardly from the convergence adjust button  59  in  FIG. 9  is inserted through the central opening in the convergence mechanism core rod  57 , which has external side teeth  61  on a portion of its exterior surface. As further shown in  FIG. 9 , one end of the convergence mechanism core rod  57  has external top teeth  60  that are configured to engage the bottom teeth  31  on convergence adjust button  59 . The end of convergence mechanism core rod  57  remote from external top teeth  60  is enlarged (no separate number), and during use is positioned between and against spring  54  and the ring  43  at the distal end of reset button with rod  42 . The small spring  27  shown in  FIG. 9  is axially aligned with the elongated rod depending downwardly from the convergence adjust button  59 , and during use is positioned between and against external top teeth  60  and the bottom teeth  31  on convergence adjust button  59 . As further shown in  FIG. 9 , the external side teeth  61  on the convergence mechanism core rod  57  move up and down in response to movement of reset button  42  from a position where external side teeth  61  extend through both slider-related helical gear  35  and imaging probes convergence-related gear  39 , engaging the first and second movement transmitting means, to a position where external side teeth  61  extend only through imaging probes convergence-related gear  39 , causing disengagement of the the first and second movement transmitting means. Above slider-related helical gear  35  and imaging probes convergence-related gear  39  in  FIG. 9  one sees a spring  33  and its associated slider-related locking gear  32  in the convergence mechanism combination, which locks slider-related helical gear  35  during manual convergence of imaging probes ( 19 ,  20 ) initiated by the convergence adjust button  59  after the introduction of main tubular shaft  1  into a cavity while choosing (converging on) a visual target  94 . Finally,  FIG. 9  shows the bushing/brackets without teeth ( 34 ,  77 ) and the bushing/bracket with internal teeth  76  that are fixed to gearbox backbone  65  and used to mount the convergence mechanism combination, including the slider-related locking gear  32  while it assists in stopping slider-related helical gear  35  during manual convergence of imaging probes ( 19 ,  20 ) initiated by the convergence adjust button  59 . Bushing/brackets  34 ,  77 , and  76  are also shown in  FIG. 8 a    in close association with reset button  43 , slider-related helical gear  35 , and imaging probes convergence-related gear  39 . 
       FIGS. 8 a  and 8 b    also show portions of the first and second movement transmitting means, including the dual gear with pulley  46 / 48  related to imaging probes ( 19 ,  20 ) convergence. Although obscured in  FIG. 8 a    by reset button  42 , the external teeth of large gear  46  are in working engagement with the external teeth  62  of imaging probes convergence-related gear  39 . The smaller diameter dual gear has the number  48 , and the pulley associated with gear  48  has the number  78 . In Fig. Sa a flat coiled spring  75  is positioned below, and associated with, the larger gear  46 , and used for returning imaging probes ( 19 ,  20 ) to their neutral position where they are parallel to one another (without convergence).  FIGS. 8 a  and 8 b    further show a second small gear with pulley  49  that is also related to imaging probes convergence and has external teeth in working engagement with the external teeth of the small gear  48  positioned next to it. The pulley associated with gear  49  is separately identified by the number  79  in  FIG. 16 b   . Also shown in  FIG. 8 a    in a position above gears  48  and  49  is another flat coiled spring  69  used to return the probe arms adjust button  58  (opens and closes probe arms  9 ,  10 ) to the neutral position, and place probe arms ( 9 ,  10 ) in their closed position adjacent to one another. Although shown in unmarked form in  FIG. 8 a   , but identified by numbering in  FIG. 8 b   ,  FIGS. 8 a  and 8 b    show the pulley stops ( 104 ,  106 ) and opposing pulley stops ( 105 ,  107 ) that limit the combined movement of probe arms ( 9 ,  10 ) away from one another to approximately 180-degrees. Lastly,  FIG. 8 a    shows three unnumbered bushings/brackets connected to gearbox backbone  65  for support of present invention components related to imaging probes ( 19 ,  20 ) convergence, one below flat coiled spring  75 , one above flat coiled spring  69 , and the other supporting the dual groove pulley  30  related to probe arms adjust button  58  and used with cable/belt extensions ( 52 ,  53 ) and cables/belts  23 , 24  (not shown in  FIG. 8 a   , but visible in  FIG. 17 a   ) employed for opening and closing probe arms ( 9 ,  10 ). The four path guide pulleys (marked by the numbers  55  and  56  in sets of two) are also shown in  FIG. 8 a   , which are used respectively with cable/belt extension  45  (not numbered in  FIG. 8 a   , but shown in  FIG. 12 a,b   ) and cable/belt extension  44  and transmit movement of slider  6  received from slider cable/belt  8  to the large dual groove pulley  40  with associated helical gear  41 . 
       FIG. 10  is an enlarged view of the same components previously discussed and shown in the top portion of  FIG. 1 , while  FIG. 11  is a transparent view of the slider  6  and main tubular shaft  1  in the most preferred embodiment of the present invention endoscope  93  showing preferred placement of belt/cable  8  and pulleys  7  and  26  related to slider  6  movement on the main tubular shaft  1 .  FIGS. 12 a -12 d    also relate to transmission of slider  6  movement, and are perspective views of components used as a part of the first movement transmitting means in the most preferred embodiment of the present invention endoscopic device  93 , including large dual groove pulley with helical gear  40 , slider  6 , cables/belts  8  and cable/belt extensions  44  and  45 , and guide pulleys  7 ,  26 ,  55 , and  56 .  FIG. 12 b    is an enlarged view of the large dual groove pulley with helical gear  40  shown in  FIG. 12 a    having cables/belts  44  and  45  connected to different pulley winding grooves, while the helical gear with external teeth  41  associated with large dual groove pulley  40  remains available for engagement with the helical external teeth  37  of slider-related helical gear  35  (see  FIG. 8 a   ).  FIG. 12 c    is an enlarged view of the slider  6  shown in  FIG. 12 a   , with a belt/cable  8  used for slider  6  movement attached to one side of the interior rail assembly  70  in slider  6 .  FIG. 12 d    shows a roller  99  that can be used with the slider  6  shown in  FIG. 12 c    to assist slider  6  movement on the main tubular shaft  1 , or in one or more channels  2  on main tubular shaft  1 . 
       FIGS. 13 a - c , 14 a - c , and 15 a - c    illustrate the control means of the present invention endoscopic device  93  in association with the first and second movement transmitting means, and also with the manual convergence means, in three positions of engagement and disengagement. In the present invention, the first and second movement transmitting means will each always have at least one integrated movement element shared with the control means, the shared integrated movement element acting as an intermediary, assisting in the controlling of engagement and disengagement of the first and second movement transmitting means to/from one another. Although not limited thereto, two examples of shared integrated movement elements of the first movement transmitting means in endoscopic device  93  are its slider-related helical gear  35  and its large dual groove pulley  40  with associated helical gear  41 , while two examples of shared integrated movement elements of the second movement transmitting means in endoscopic device  93  are imaging probes convergence-related gear  39  and the dual gear with pulley  46  related to imaging probes ( 19 ,  20 ) convergence. See above paragraphs [0064]-[0076] for additional disclosure relating to the control means in the most preferred embodiment of endoscopic device  93 . 
       FIGS. 13 a - c    are side views of the control means associated with the gearbox casing  66  in the most preferred embodiment of the present invention endoscope  93  showing convergence mechanism core rod  57  in its position of use with the first and second movement transmitting means disengaged. In contrast to  FIG. 13 a   ,  FIG. 13 b    is a sectioned view of the invention structure in  FIG. 13 a   , which shows the external teeth  61  of convergence mechanism core rod  57  only engaging the internal teeth  38  of imaging probes convergence related gear  39  for first and second movement transmitting means disengagement.  FIG. 13 b    also more clearly shows the slider-related locking gear  32  disengaged from the slider-related helical gear  35  with external teeth.  FIG. 13 c    is a sectioned view of the invention structure shown in  FIG. 13 b   , except the convergence mechanism core rod  57  and slider-related locking gear  32  have been removed to reveal the internal teeth  38  in the imaging probes convergence-related gear  39 , the internal teeth  36  in the slider-related helical gear  35 , and the internal teeth (not separately numbered) in a bushing/bracket  76  fixed to the gearbox backbone  65 .  FIGS. 13 a - c    each further show the reset button  42  supported by bushing/bracket  76  that is secured to the interior surface of gearbox backbone  65 , and reset button  42  with downwardly depressed positioning. 
       FIGS. 14 a - c    are side views of the control means associated with the gearbox casing  66  in the most preferred embodiment of the present invention endoscope  93  showing convergence mechanism core rod  57  in its position of use with the first and second movement transmitting means engaged. In contrast to  FIG. 14 a   ,  FIG. 14 b    is a sectioned view of the invention structure in  FIG. 14 a   , which shows the external teeth  61  of convergence mechanism core rod  57  engaging the internal teeth  36  of the slider-related helical gear  35  and the internal teeth  38  of the imaging probes convergence-related gear  39  for first and second movement transmitting means engagement.  FIG. 14 b    also more clearly shows the slider-related locking gear  32  disengaged from the slider-related helical gear  35 .  FIG. 14 c    is a sectioned view of the invention structure shown in  FIG. 14 b   , except the convergence mechanism core rod  57  and slider-related locking gear  32  have been removed to reveal the internal teeth  38  in the imaging probes convergence-related gear  39 , the internal teeth  36  in the slider-related helical gear  35 , and the internal teeth (not separately numbered) in a bushing/bracket  76  fixed to the gearbox backbone  65 .  FIGS. 14 a - c    each further show the reset button  42  supported by bushing/bracket  76  backbone, the reset button  42  now with upward positioning as compared to that shown in  FIG. 13   a.    
       FIGS. 15 a - c    are side views of the control means associated with the gearbox casing  66  in the most preferred embodiment of the present invention endoscope  93  showing convergence mechanism core rod  57  in its position of use with the first and second movement transmitting means disengaged, and also showing the slider-related locking gear  32  engaging the slider-related helical gear  35  with external teeth  37 . In contrast to  FIG. 15 a   ,  FIG. 15 b    is a sectioned view of the invention structure in  FIG. 15 a   , which shows the external teeth  61  of convergence mechanism core rod  57  only engaging the internal teeth  36  of imaging probes convergence related gear  35  and the bottom teeth  31  of convergence adjust button  59  engaging external top teeth  60  of the convergence mechanism core rod  57  for manual convergence of imaging probes  19  and  20 , or others of the same kind to locate a visual target  94 .  FIG. 15 b    also more clearly shows the slider-related locking gear  32  engaging the slider-related helical gear  35  with external teeth  37  to lock it in place.  FIG. 15 c    is a sectioned view of the invention structure shown in  FIG. 15 b   , except the convergence mechanism core rod  57  and slider related locking gear  32  have been removed to reveal the internal teeth  38  in the imaging probes convergence related gear  39 , the internal teeth  36  in the slider-related helical gear  35 , and the internal teeth (not separately numbered) in a bushing/bracket  76  fixed to the gearbox backbone  65 .  FIGS. 15 a - c    each further show reset button  42  supported by bushing/bracket  76 , and in a downwardly depressed position similar to that in  FIG. 13   a.    
       FIGS. 16 a - d    are perspective views of components used as a part of the second movement transmitting means in the most preferred embodiment of the present invention endoscopic device  93 , which include large dual gear with pulley  46 / 48 , small gear  49 , imaging probes ( 19 ,  20 ), pulleys  11  and  12 , pin  4 , and cables/belts  13 ,  14 ,  21 ,  22 , and cable/belt extensions  51 .  FIG. 16 b    is enlarged view of the large dual gear (larger/smaller gear combination  46 / 48 ) with pulley  46  shown in  FIG. 16 a    that is related to imaging probes ( 19 ,  20 ) convergence.  FIGS. 16 a  and 16 b    also show the exterior teeth of small gears  48  and  49  in working engagement with one another. The pulleys  78  and  79 , respectively, on small gears  48  and  49 , have cable/belt  51  windings in opposing directions so that imaging probes  19  and  20  move in opposite directions toward and away from one another for convergence and divergence, and not in the same direction back and forth while remaining substantially parallel to one another. In contrast, FIG.  16   c  is a perspective view of a pair of dual groove pulleys  11  and  12  each with with a cable crimp sleeve  28  partially covering the cables/belts  13 ,  14 ,  21 ,  22  in the most preferred embodiment of the present invention used to fix cables/belts (such as but not limited to cables/belts  21  and  22 ) respectively, to their corresponding winding grooves on pulleys (such as but not limited to pulleys  11  and  12 ).  FIG. 16 d    is a perspective view of a single dual groove pulley with cable crimp sleeve in the most preferred embodiment of the present invention similar to those shown in  FIG. 16   c.    
       FIGS. 17 a - c    are perspective views of the third movement transmitting means used in the most preferred embodiment of the present invention to open and close probe arms  9  and  10 .  FIG. 17 a    shows the probe arms adjust button  58  having a thin diameter rod extending there from in one direction, which is used as an axle to support a dual groove pulley  30  within gearbox casing  66 . As is further shown in  FIG. 17 a   , a cable/belt extension  52  engages one of the side-by-side grooves of dual groove pulley  30 , and extends between pulley  30  and the cable/belt  23  connected to a pulley on the proximal end of the first probe arm  9 . Similarly, a cable/belt extension  53  engages the other one of the side-by-side grooves of dual groove pulley  30 , and extends between pulley  30  and the cable/belt  24  connected a pulley on the proximal end of the second probe arm  10 . While  FIG. 17 a    shows cable/belt extension  52  and cable/belt  23  combination having the configuration of a simple loop, the configuration of the cable/belt extension  53  and cable/belt  24  combination is crossed over itself and shown in the shape of a figure-8. This combination structure wherein one cable/belt has a figure-8 configuration, while the other cable/belt is a simple loop, assures synchronous movement of the connected imaging probes  9  and  10  in opposed directions.  FIG. 17 a    further shows the first imaging probe  19  supported for convergence rotation by the distal end of the first probe arm  9 , and the second imaging probe  20  supported for convergence rotation by the distal end of the second probe arm  10 .  FIG. 17 b    is an enlarged view of the probe arms  9  and  10  prepared for mounting on the distal end of the main tubular shaft  1 . In  FIG. 17 b    the number  102  identifies the pulley-like structure that is present on the proximal end of each of the two probe arms,  9  and  10 , and respectively engage cables/belts  23  and  24 . Referring to  FIG. 3  will help to identify other present invention components shown in  FIG. 17 b   , including the pin  4  which serves as an axle for the opening and closing rotation of probe arms  9  and  10 , and the small hinge  29  on each probe arm  9  and  10  located adjacent to the pulley-like structure present on the proximal end of probe arms  9  and  10 .  FIG. 17 b    also shows the imaging probes  19  and  20  connected to probe arms  9  and  10 , with the pair of imaging probes  19  and  20  in a parallel orientation that represents a non-converged/neutral condition. In contrast,  FIG. 17 c    reveals the preferred configuration of the hinge  80  at the distal end of first probe arm  9  providing a moving connection of the first imaging probe  19  to probe arm  9 . As is shown in  FIG. 3 , the second probe arm  10  has a similar hinge  80  providing a moving connection of the second imaging probe  20  to probe arm  10 . 
       FIGS. 18 a  and 18 b    are respectively perspective and side views of an alternative sturdy, non-slip pulley/cable system  81 / 84  that can be used as a part of the most preferred embodiment of the present invention endoscopic device  93  when a high level of accuracy in transmission of movement is required. It can be used in place of any belt and gear combination that provides outward and return movement to one location. It is shown in part in the present invention large dual groove pulley  40 , and can also be used as part of the structure in other present invention pulleys.  FIG. 18 a    shows the first dual groove pulley  81  engaged to second dual groove pulley  84  by two sets of cables, first cable  82  and second cable  83 . The dual groove pulleys  81  and  84  have one portion of their perimeter edges facing one another, so that when viewed from the side, as in  FIG. 18 b   , the left groove of pulley  81  is aligned with the left groove of pulley  84 , and the right grooves of pulleys  81  and  84  are also similarly aligned. The number  85  in  FIG. 18 a    represents the attachment locations for fixing the ends of cables  82  and  83  to the left and right independent winding grooves in the first dual groove pulley  81 . Similarly, number  86  in  FIG. 18 a    represents the attachment locations for fixing the opposing ends of cables  82  and  83  to the left and right independent winding grooves in the second dual groove pulley  84 . As is more clearly visible in  FIG. 18 b   , one end of each cable ( 82  and  83 ) is fixed to first dual groove pulley  81  and the opposing end of cable ( 82  and  83 ) is fixed to second dual groove pulley  84 , with each cable  82  and  83  rolled in an opposing direction from the other, so that as one cable ( 82  or  83 ) unrolls and leaves its groove on pulley  81  or  84 , the other cable ( 82  or  83 ) will rollup and become increasingly added to its groove on the opposing pulley  81  or  84 . This pulleys/cables system can be used to prevent slippage, provide more precision and accuracy, and/or provide a stronger system for high stress applications, and can be comprise gear teeth (not shown) to allow it to engage other gears whether linear or circular. The thickness of cables  82  and  83  relative to the diameter dimensions of pulleys  81  and  84 , as well as the position and shape of the pulleys  81  and  84 , should not be considered as limiting, and may be different from that shown in  FIGS. 18 a  and 18 b   . This particular pulley system configuration shown in  FIGS. 18 a  and 18 b    is used when high level of accuracy in transmission of movement is required because it is configured to minimize chances of slipping between the pulleys ( 81  and  84 ) and the cables ( 82  and  83 ) connected to them, also when an exact limited numbers of revolutions and turns of the gear system are required for the application (which is controlled by the number of loops that the cable is looped on each pulley  79  and  80  at the time the pulley system was made before its initial usage). To prepare first double pulley  81  and second double pulley  84  for use, one end of a first flexible but non-stretchable cable  82  is anchored to first double pulley  81  adjacent to one of its winding grooves and then looped around the adjacent winding groove a pre-determined number of times. First double pulley  81  is then aligned with second pulley  84  and placed at the needed spaced-apart distance from second pulley  84  dictated by the application. After first flexible but non-stretchable cable  82  is extended across the spaced-apart distance to second pulley  84 , it is looped the same pre-determined number of times around the opposed winding groove in second pulley  84 , after which it is anchored to second double pulley  84 . A second flexible but non-stretchable cable  83  is similarly anchored and looped around the unused set of opposed independent winding grooves in double pulleys  81  and  84 . Since cables  82  and  83  do not stretch, springs would provide any needed bias in the connection (not shown). It is contemplated for attachment points  85  and  86  to be merely representative. As a result, the size and relative position for attachment points  85  and  86  shown in  FIGS. 18 a  and 18 b    on first double pulley  81  and second double pulley  84  should not be considered limiting. 
       FIG. 19  is a not-to-scale schematic view of a partially or fully automated embodiment of the present invention 3-D endoscope  93  during use in a medical application when a very high level of convergence accuracy is continuously needed in imaging probes  19  and  20  for certain applications. It shows the present invention endoscopic device  93  near a visual target  94  with its probe arms  9 , and  10  in an opened configuration and imaging probes  19  and  20  in a converged configuration in front of visual target  94 . It also shows a unit  88  that can be used as a laser pointer, an endoscope-to-target distance sensor, or both, or another system or device (see Component List for examples). In addition,  FIG. 19  shows a representation of wireless receiver/transmitter  96  associated with the present invention 3-D endoscope  93 , and representations of wireless receiver/transmitters  97  and  98  respectively associated with a visual display system  89  and a robotic system  90 , one of the arms, tools, or connections thereof shown associated with the end of the present invention 3-D endoscope  93  remotely located from probe arms  9  and  10 .  FIG. 19  also shows a representation a computer component  92  and an electric motor  91  that can be used together to initiate automated convergence adjustment of imaging probes  19  and  10 , as well as 3-D endoscope functions control in integration with robotic systems  90 . Communication via wireless receivers/transmitters  96 - 98  in partially or fully automated embodiment of the present invention 3-D endoscope  93  allow feedback to a computer  92  for continuous monitoring and convergence to specifications pre-determined by an operator, until the operator no longer needs automated convergence to occur. 
       FIG. 20  is an enlarged view of the probe arms ( 9 ,  10 ) of the most preferred embodiment of the present invention endoscopic device  93  in a partially opened position and an endoscope-to-target distance sensor or laser pointer  88  mounted centrally on the same pin  4  from which the probe arms ( 9 ,  10 ) pivot. Similar to  FIG. 17 a   , imaging probes ( 19 ,  20 ) are in a converged configuration and not parallel to one another. In addition to use as a laser pointer or a positioning sensor for determining changes in endoscope-to-target distance, unit  88  may serve other useful functions, with the above Component List providing some examples, including providing maintenance improving characteristics and a simple assist in the alignment of the longitudinal axis of the main tubular shaft  1  with visual target  94  during the initial manual convergence of imaging probes  19  and  20  in an efficient and rapid manner using the rotatable manual convergence adjust control  59 . In contrast, when unit  88  is used as an endoscope-to-target distance sensor in a fully automated configuration of the present invention endoscope  93 , unit  88  provides a computer component  92  the information needed for calculation of the amount of convergence needed for imaging probes  19  and  20 . When unit  88  is mounted on the same axis as probe arms  9  and  10 , it is preferred for the proximal end of endoscope-to-target distance sensor or laser pointer  88  to have a complementary configuration to the other present invention components, so that all complement one another to minimize the diameter dimension of the distal end of main tubular shaft  1  for medical applications. It is important but not critical for convergence calculations that target distance sensor  88  be mounted centrally on the distal end of the main tubular shaft  1 . The relative size and configuration of target distance sensor or laser pointer  88 , as compared to that of imaging probes ( 19 ,  20 ) and probe arms ( 9 ,  10 ) is merely representative in  FIG. 20  and configurations and sizes other than that shown are also contemplated. Although not shown, another application of unit  88  in the same or a different size or configuration is as a positioning sensor associated with the exterior surface of the main tubular shaft  1 , or a channel  2  in the exterior surface of the main tubular shaft  1  in fully or partially automated embodiments of the present invention endoscope  93 . Also, depending upon its function, unit  88  may be activated upon the opening of probe arms  9  and  10 .  FIG. 20  also shows a camera  71  and two light sources on the distal end of imaging probe  20 , and cables/belts  13  and  14  used for transmitting convergence movement respectively to second and first imaging probes  20  and  19 , in addition to the path guide pulleys  15  and  17  respectively for first and second cables/belts  13  and  15 , plus the pin  18  for mounting path guide pulley  17  to hinge  29  on the second probe arm  10 . It is also contemplated for any of the imaging probes ( 19 ,  20 ), unit  88 , cameras ( 71 ,  71 ), and light sources ( 72 ,  74 ) to have a non-permanent connection to said present invention 3-D endoscope  93  and be interchangeable within the same medical or non-medical procedure, or between applications. Also optionally, although not limited thereto, the present invention endoscope  93  may have one or more maintenance improving characteristics, such as maintenance-related features or characteristics helping to keep at least part of the endoscopic device  93  in good working order, materials that decrease fogging, tools and/or materials decreasing body fluid smudging, systems transmitting fluids for irrigation of at least one component of endoscopic device  93 , materials preventing tissue sticking to at least one component of endoscopic device  93 , systems and/or materials providing lubrication, fluid repellant materials, and systems assisting in sterilization of at least one part of endoscopic device  93 . Unit  88  may provide at least one of the sources for needed maintenance-related features or characteristics. 
     INDUSTRIAL APPLICABILITY 
     This invention is an improved endoscopic device  93  for obtaining 3-dimensional human vision simulated imaging with real dynamic convergence in therapeutic, diagnostic, and other applications. Imaging probes ( 19 ,  20 ) are mounted on probe arms ( 9 ,  10 ) that are in turn mounted on a tubular shaft  1  and a simple/sleek slider  6  moves back-and-forth on the shaft  1 , with slider  6  movement optionally modified and redirected to affect imaging probes ( 19 ,  20 ) convergence/divergence. Imaging probes ( 19 ,  20 ) convergence/divergence can be optionally manual for visual target  94  selection, and the probe arms ( 9 ,  10 ) upon which the imaging probes ( 19 ,  20 ) are mounted may also be moved toward and away from one another through a combined 180-degree movement range using a manual control  59 . The first and second movement transmitting means respectively adapted to cause slider-initiated convergence, or manual convergence, of the imaging probes ( 19 ,  20 ) each share at least one integrated movement element with the control means adapted for engaging and disengaging the first and second movement transmitting means. The present invention endoscope  93  can be fitted with different diagnostic and therapeutic systems, and can be adapted to work with robotic systems  90 . Also, in conjunction with slider  6  movement, or in the alternative, endoscope  93  positioning information determined with or without an endoscope-to-target distance-sensor  88 , in addition to changes in endoscope-to-target distance and the endoscope&#39;s relative position to a visual target  94  otherwise determined, can be used by a computer component  92  for fully automated imaging probe ( 19 ,  20 ) convergence. 
     The improvements herein provide more sophistication, make the endoscopic device  93  less fragile and more user-friendly, allow easier control during applications, and it has fewer external moving parts that reduce contamination risk, which is especially important in surgical applications. It is also simpler in design than comparable prior art, lowering manufacturing cost. No other endoscopic system and method adaptable for therapeutic and non-medical applications, as well as sensor/diagnostic operation, is known with the same structure, to provide all of the benefits and advantages of the present invention endoscopic device  93 , or function in the same manner as the present invention to provide real dynamic convergence flexibility in spaced-apart probe distance adjustment that facilitates imaging probe ( 19 ,  20 ) use in a larger variety of applications and in different types of cavities or spaces while simultaneously giving its operator superior depth perception. 
     The foregoing descriptions of embodiments of the present invention have been presented only for purposes of illustration and description. They are not intended to be exhaustive or to limit the present invention to the forms disclosed. Accordingly, many modifications and variations will be apparent to practitioners skilled in the art. Additionally, the above disclosure is not intended to limit the present invention. The scope of the present invention is defined by the appended claims.