Snake bone unit, snake bone, endoscope and endoscope rotation control method

Abstract

The present invention relates to the field of inspection and detection technology, and discloses a serpentine unit comprising a tubular body and two protrusions and two recesses, respectively, provided at one and the other ends of the tubular body. The tubular body is provided with four wire holes along the circumference, a positioning block is provided at one end of the tubular body, and a corresponding positioning surface is provided at the other end. Also disclosed is a serpentine, comprising at least two of the aforementioned serpentine units connected end to end, the recesses of a serpentine unit being engaged with the protrusions of an adjacent serpentine unit, and the two adjacent serpentine units being relatively rotatable. Also disclosed is an endoscope, comprising a serpentine, a lens holder and a fixed holder, respectively provided at one and the other ends of the serpentine, a camera mounted on the lens holder, a traction wire passed through the wire holes, one end of the traction wire being connected to the lens holder. Also disclosed is a method for controlling the rotation of an endoscope, wherein by pulling different traction wires and different numbers of traction wires, the camera can be controlled to rotate in different directions, thereby achieving full-angle rotation.

Description

Technical Field

[0001] The present invention relates to the field of inspection and detection technology, in particular to a snake bone unit, a snake bone, an endoscope equipped with the snake bone, and a method for controlling the rotation of an endoscope. Background Art

[0002] An endoscope is required when performing surgery on a human or animal, or when inspecting and exploring in narrow spaces such as pipes, vehicles, and airplanes where direct vision is not possible. Of course, medical endoscopes are used during surgery, while industrial endoscopes are used when exploring pipes, vehicles, airplanes, etc. An endoscope usually includes a bending portion, with a camera mounted on the head of the bending portion. The bending portion includes a bendable serpentine bone, which includes a number of serpentine bone units connected to each other. In the prior art, adjacent serpentine bone units are usually assembled by pins to achieve an articulated connection between adjacent serpentine bone units. The serpentine bone structure of an endoscope with this structure is complex to assemble, requires many production processes, and the pin assembly is prone to malfunction during use. Currently, the rotation of the head of the bending portion is limited to two or four directions, and the rotation in four directions still cannot achieve full coverage, and the camera can only be rotated by rotating the endoscope as a whole, which is very inconvenient to operate. Summary of the Invention

[0003] In order to overcome the shortcomings of the above-mentioned prior art, the present invention provides an endoscope and a method for controlling its rotation. The endoscope structure includes a snake bone, and the snake bone includes a snake bone unit. Adjacent snake bone units do not need to be assembled through pin shafts. The structure is simple, and using this rotation control method, the full-angle rotation of the camera can be achieved.

[0004] The technical solution adopted by the present invention to solve the technical problem is:

[0005] A snake-bone unit comprises a tubular body, one end of the tubular body is provided with two convex parts, the other end of the tubular body is provided with two concave parts, the convex parts are provided with an arc-shaped convex surface, and the concave parts are provided with an arc-shaped concave surface. The arc-shaped convex surface of one snake-bone unit can be snapped into the arc-shaped concave surface of another snake-bone unit, and the connecting line of the two convex parts and the connecting line of the two concave parts form an angle with each other. The tubular body is provided with four steel wire holes along the circumferential direction, one end of the tubular body is provided with a positioning block, and the other end of the tubular body is provided with a corresponding positioning surface.

[0006] As an improvement of the above technical solution, the positioning block is located on the inner side of the recess, and the positioning surface is the inner side surface of the projection.

[0007] As an improvement of the above technical solution, two positioning blocks are provided, and a corner limiting groove is formed between the two positioning blocks. A corner limiting rib is provided on the inner side of the convex portion. The corner limiting groove is a vertical notch groove, and the width of the corner limiting groove is smaller than the width of the concave portion. The corner limiting rib is a vertical strip, and the width of the corner limiting rib is smaller than the width of the convex portion. The width of the corner limiting groove is greater than the width of the corner limiting rib.

[0008] As an improvement of the above technical solution, the convex portion includes a cylindrical clamping portion and a handle body connecting the cylindrical clamping portion and the tubular body. The width of the intersection of the cylindrical clamping portion and the handle body is smaller than the diameter of the cylindrical clamping portion. The central axis of the cylindrical clamping portion and the central axis of the tubular body are perpendicular to each other. The two sides of the cylindrical clamping portion are smoothly connected to the two sides of the handle body, and the two sides of the handle body are smoothly connected to the tubular body.

[0009] As an improvement of the above technical solution, the recess includes a cylindrical slot for accommodating the cylindrical clamping part and a bayonet for accommodating the handle body. The width of the intersection of the cylindrical slot and the bayonet is smaller than the diameter of the cylindrical slot, and the central axis of the cylindrical slot is perpendicular to the central axis of the tubular body.

[0010] As an improvement of the above technical solution, two clamping blocks are provided on the tubular body, and the clamping opening is formed between the opposite sides of the two clamping blocks, and the opposite sides of the two clamping blocks are both arc surfaces, and the other side of the clamping block is part of the groove wall of the cylindrical groove.

[0011] As an improvement of the above technical solution, a groove is provided on the side of the tubular body, the groove is located on the outside of the block, and the groove is connected to the recess.

[0012] As an improvement of the above technical solution, a second plane is provided at the other end of the tubular body, the second plane is perpendicular to the axis of the tubular body, the clamping block protrudes from the second plane, a part of the recess is recessed in the second plane, and the clamping block is smoothly connected to the second plane.

[0013] As an improvement of the above technical solution, the other end of the tubular body is provided with a beveled surface, which passes through the side surface of the tubular body and the second plane, and the beveled surface corresponds to the axial position of the convex portion in the tubular body.

[0014] As an improvement of the above technical solution, one end face of the tubular body is provided with a first plane, the first plane is perpendicular to the axis of the tubular body, and the two protrusions protrude from the first plane.

[0015] As an improvement of the above technical solution, the convex parts and concave parts are arranged on the tubular body in an alternating manner, wherein two steel wire holes are located on the outside of the convex parts and the other two steel wire holes are located on the outside of the concave parts.

[0016] As an improvement of the above technical solution, a pipeline channel is provided in the center of the tubular body, the pipeline channel is drum-shaped, the recess is located opposite the straight edge of the pipeline channel, and the protrusion is located opposite the arc edge of the pipeline channel.

[0017] As an improvement of the above technical solution, the snake bone unit is a plastic snake bone unit, a metal snake bone unit or a rubber snake bone unit.

[0018] A snake bone comprises at least two of the above-mentioned snake bone units connected end to end in sequence, wherein the concave portion of the first snake bone unit is clamped with the convex portion of the adjacent snake bone unit, the convex portion of the last snake bone unit is clamped with the concave portion of the adjacent snake bone unit, and the convex portion and concave portion of each snake bone unit between the first and last snake bone units are respectively clamped with the concave portion and convex portion of an adjacent different snake bone unit, and the two adjacent snake bone units can rotate relative to each other.

[0019] An endoscope comprises the above-mentioned snake bone and a lens holder and a fixed holder respectively arranged at one end and the other end of the snake bone, the lens holder being connected to the convex part of the first snake bone unit, the lens holder being mounted with a camera, the fixed holder being connected to the concave part of the last snake bone unit, a traction wire being passed through the wire hole, and one end of the traction wire being connected to the lens holder.

[0020] A method for controlling the rotation of an endoscope, specifically comprising the following steps: when one of the traction wires of the snake is pulled and the other traction wires are relaxed, the lens bracket drives one end of the snake to bend in the direction of the pulled traction wire; when two adjacent traction wires of the snake are pulled and the other two traction wires are relaxed, the lens bracket drives one end of the snake to bend in the area between the two adjacent traction wires; when one of the traction wires of the snake is tightened, the end of the snake on which the lens bracket is mounted is bent in the direction of the tightened traction wire. Then relax the already tightened traction wire, pull the traction wire opposite to the tightened traction wire, and the lens bracket drives the snake bone to bend in the direction of the opposite traction wire; when one of the traction wires of the snake bone has been tightened, and the end of the snake bone equipped with the lens bracket has bent in the direction of the tightened traction wire, fix the tightened traction wire, pull any traction wire adjacent to the tightened traction wire, and the lens bracket drives the snake bone to rotate in the direction of the adjacent traction wire with the length direction of the snake bone in a straight state as the central axis.

[0021] The beneficial effects of the present invention are:

[0022] The endoscope is controlled using the control method for endoscope rotation. Since the structure of the endoscope includes a serpentine, the serpentine is composed of at least two serpentine units. The concave and convex parts of adjacent serpentine units are connected. When the traction wire is pulled, the arcuate convex surface rotates in the arcuate concave surface. The adjacent serpentine units are tilted at a certain angle, causing the entire serpentine to bend, thereby realizing the rotation of the lens holder and the camera. When different traction wires and different numbers of traction wires are pulled, the lens holder and the camera will turn in different directions, realizing the multi-directional rotation of the lens holder and the camera, achieving the effect of rotation in the up, down, left and right directions. Moreover, when the lens holder and the camera rotate, the fixed bracket does not need to rotate, that is, it can ensure that the camera can rotate within the full angle range without rotating the overall angle of the endoscope, reaching any desired position, so as to facilitate inspection or surgery without blind spots. The positioning block and the positioning surface cooperate to prevent radial movement between adjacent serpentine units, and the cooperation of the convex and concave parts maintains the axial connection of adjacent serpentine units. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] The present invention will be further described below with reference to the accompanying drawings and specific embodiments, wherein:

[0024] Figure 1 Schematic diagram of the three-dimensional structure of the snake bone unit in an embodiment of the present invention;

[0025] Figure 2 is another schematic diagram of the three-dimensional structure of the snake-bone unit in an embodiment of the present invention;

[0026] Figure 3 2 is another schematic diagram of the three-dimensional structure of the snake bone unit in an embodiment of the present invention;

[0027] Figure 4 is a side view of a snake bone unit in an embodiment of the present invention;

[0028] Figure 5 Schematic diagram of the three-dimensional structure of the snake bone in an embodiment of the present invention;

[0029] Figure 6 is a schematic diagram of a partial three-dimensional structure of an endoscope in an embodiment of the present invention;

[0030] Figure 7 FIG. 1 is a cross-sectional view of a portion of the structure of an endoscope according to an embodiment of the present invention. DETAILED DESCRIPTION

[0031] See also Figure 6 and Figure 7The present invention discloses an endoscope, comprising the following snake bone 200 and a lens holder 9 and a fixed holder respectively provided at one end and the other end of the snake bone 200, wherein the lens holder 9 is connected to the convex portion 2 of the first snake bone unit 100, a camera is mounted on the lens holder 9, and the fixed holder is connected to the concave portion 3 of the last snake bone unit 100, a traction wire is passed through the wire hole 4, and one end of the traction wire is connected to the lens holder 9.

[0032] See also Figure 5 The present invention also discloses a snake bone, comprising at least two snake bone units 100 connected end to end in sequence, the concave portion 3 of the first snake bone unit 100 is clamped with the convex portion 2 of the adjacent snake bone unit 100, the convex portion 2 of the last snake bone unit 100 is clamped with the concave portion 3 of the adjacent snake bone unit, the convex portion 2 and concave portion 3 of each snake bone unit 100 between the first snake bone unit 100 and the last snake bone unit 100 are respectively clamped with the concave portion 3 and convex portion 2 of different adjacent snake bone units 100, and the two adjacent snake bone units 100 can rotate relative to each other.

[0033] Furthermore, the present invention also discloses a method for controlling the rotation of an endoscope, wherein the rotation direction of the lens holder 9 is defined by the direction of the snake bone 200 in a straight state. Specifically, the length direction of the snake bone 200, that is, the two axial extension directions are respectively the front and rear directions, the direction of the end of the snake bone 200 on which the lens holder 9 is installed is the front, and the direction of the end of the snake bone 200 on which the fixed bracket is installed is the rear. The four mutually perpendicular radial directions of the snake bone 200 are respectively the up, down, left, and right directions. The end of the snake bone 200 on which the lens holder 9 is installed is the head of the snake bone 200, and the end of the snake bone 200 on which the fixed bracket is installed is the tail of the snake bone 200. The specific control method is as follows:

[0034] When one of the traction wires of the serpentine 200 is pulled and the other traction wires are relaxed, the lens holder 9 drives one end of the serpentine 200 to bend in the direction of the pulled traction wire. That is, when the traction wire is pulled in a certain direction at one end of the fixed bracket, the serpentine 200 will bend in the corresponding direction. For example, when the left traction wire is pulled and the other traction wires are relaxed, the lens holder 9 drives the first serpentine unit 100 to tilt to the left by a predetermined angle, and the first serpentine unit 100 drives the second serpentine unit 100 to tilt to the left. In this way, all the serpentine units 100 tilt to the left in sequence, and the head of the serpentine 200 bends to the left, realizing the function of rotating the camera to the left. Similarly, when the right traction wire is pulled and the other traction wires are relaxed, the camera rotates to the right; when the upper traction wire is pulled and the other traction wires are relaxed, the camera rotates upward; when the lower traction wire is pulled and the other traction wires are relaxed, the camera rotates downward.

[0035] When two adjacent traction wires of the snake bone 200 are pulled and the other two traction wires are relaxed, the lens holder 9 drives one end of the snake bone 200 to bend toward the area between the two adjacent traction wires being pulled. For example, when the left and upper traction wires are pulled simultaneously and the other traction wires are relaxed, the lens holder 9 drives part of the snake bone unit 100 to tilt to the left by a certain angle and drives another part of the snake bone unit 100 to tilt upward by a certain angle, thereby achieving the bending of the head of the snake bone 200 toward the upper left and the rotation of the camera toward the upper left; similarly, when the left and lower traction wires are pulled simultaneously and the other traction wires are relaxed, the camera rotates toward the lower left; when the right and upper traction wires are pulled simultaneously and the other traction wires are relaxed, the camera rotates toward the upper right; when the right and lower traction wires are pulled simultaneously and the other traction wires are relaxed, the camera rotates toward the lower right.

[0036] When one of the traction wires of the snake bone 200 is tightened and the end of the snake bone 200 on which the lens holder 9 is mounted has bent in the direction of the tightened traction wire, the tightened traction wire is loosened and the traction wire opposite to the tightened traction wire is pulled, causing the lens holder 9 to drive the snake bone 200 to bend in the direction of the opposite traction wire. For example, when the left traction wire is tightened and the head of the snake bone 200 is bent to the left, if the head of the snake bone 200 is to bend to the right, the left traction wire is first loosened and then the right traction wire is pulled. In this way, the lens holder 9 drives the first snake bone unit 100 to tilt to the right by a predetermined angle. The first snake bone unit 100 drives the second snake bone unit 100 to tilt to the right. In this way, all the snake bone units 100 tilt to the right in sequence. During this operation, the head of the snake bone 200 first moves from a leftward bent state to a straight state, and then moves to a rightward bent state, realizing the function of rotating the camera from left to right. Similarly, when the traction wire on the right has been tightened and the head of the snake bone 200 has been bent to the right, the traction wire on the right is loosened and the traction wire on the left is pulled, and the camera rotates from right to left; when the traction wire on the top has been tightened and the head of the snake bone 200 has been bent upward, the traction wire on the top is loosened and the traction wire on the bottom is pulled, and the camera rotates from top to bottom; when the traction wire on the bottom has been tightened and the head of the snake bone 200 has been bent downward, the traction wire on the bottom is loosened and the traction wire on the top is pulled, and the camera rotates from bottom to top; the rotation control in other directions is the same as above.

[0037] When one of the traction wires of the snake bone 200 has been tightened, and the end of the snake bone 200 on which the lens bracket 9 is installed has bent in the direction of the tightened traction wire, the tightened traction wire is fixed, and any traction wire adjacent to the tightened traction wire is pulled. The lens bracket 9 then drives the snake bone 200 to rotate in the direction of the adjacent traction wire with the length direction of the snake bone 200 in a straight state as the central axis. For example, when the traction wire on the left has been tightened, the head of the snake bone 200 has been bent to the left. If you want the head of the snake bone 200 to bend upward next, fix the traction wire on the left and then pull the traction wire above. The tail of the snake bone 200 will not move, and the lens bracket 9 will drive one of the snake bone units 100 close to the snake bone 200 to tilt upward at a predetermined angle. In this way, the head of the snake bone 200 will rotate upward with the length direction of the snake bone 200 in a straight state as the center axis. During this operation, the head of the snake bone 200 is always in a bent state, that is, the bent head of the snake bone 200 sweeps across a fan-shaped area, realizing the rotation of the camera from the left to the top. Similarly, when the traction wire on the right has been tightened and the head of the snake bone 200 has been bent to the right, fix the traction wire on the right and then pull the traction wire on the top, then the camera will rotate from the right to the top; when the traction wire below has been tightened and the head of the snake bone 200 has been bent downward, fix the traction wire below and then pull the traction wire on the left, then the camera will rotate from the bottom to the left; when the traction wire below has been tightened and the head of the snake bone 200 has been bent downward, fix the traction wire below and then pull the traction wire on the right, then the camera will rotate from the bottom to the right; the rotation control in other directions is the same as above.

[0038] In this way, using the control method for endoscope rotation, various control methods are combined and coordinated with each other, and the head of the snake bone 200 can achieve full-range and full-angle rotation, that is, the camera can achieve full-range and full-angle rotation.

[0039] See also Figures 1-4The present invention also discloses a snake-bone unit, comprising a tubular body 1, one end of which is provided with two protrusions 2, and the other end of which is provided with two recesses 3. The protrusions 2 have an arcuate convex surface 221, and the recesses 3 have an arcuate concave surface 311. The arcuate convex surface 221 of one snake-bone unit can be snapped into the arcuate concave surface 311 of another snake-bone unit. The two protrusions 2 and the two recesses 3 are uniformly arranged along the circumference of the tubular body 1. The tubular body 1 is provided with four steel wire holes 4 uniformly arranged along the circumference, and the uniform arrangement facilitates the control of the rotation direction of the snake 200. The tubular body 1 is provided with a positioning block 5, which is located inside the recess 3. The inner side of the protrusion 2 has a corresponding positioning surface 21. The positioning block 5 can limit the radial movement of the protrusion 2 along the tubular body 1. The snake-bone unit is made of plastic, metal, rubber, or other materials.

[0040] Specifically, the convex portion 2 and the concave portion 3 are staggered and arranged on the tubular body 1. The staggered arrangement makes the entire pipe more flexible and rotates more smoothly. Two wire holes 4 are located on the outside of the convex portion 2, and two wire holes 4 are located on the outside of the concave portion 3, which facilitates precise control of the rotation direction of the snake bone 200.

[0041] Furthermore, a pipeline channel 8 is provided in the center of the tubular body 1 for routing pipelines such as the working channel sealing tube, lens wires, and light guides. The pipeline channel 8 is drum-shaped, with the recess 3 positioned opposite the straight edge of the pipeline channel 8 and the protrusion 2 positioned opposite the curved edge of the pipeline channel 8. The drum-shaped pipeline channel 8 is easier to assemble and can accommodate more pipelines.

[0042] Furthermore, to enhance the strength of the snake bone 200, corner limiting ribs 7 and corner limiting grooves 6 are designed. Specifically, two positioning blocks 5 are provided, forming a corner limiting groove 6 between the two positioning blocks 5. A corresponding corner limiting rib 7 is provided on the inner side of the protrusion 2. The width of the corner limiting groove 6 is greater than that of the corner limiting rib 7. The width of the corner limiting rib 7 is less than that of the protrusion 2. The width of the corner limiting groove 6 is less than that of the recess 3. The corner limiting groove 6 is connected to the pipeline channel 8.

[0043] Specifically, the corner limiting groove 6 is a vertical notch, and the corner limiting rib 7 is a vertical strip. The corner limiting groove 6 is located directly opposite the center of the recess 3, and the corner limiting rib 7 is located directly opposite the center of the protrusion 2. When two adjacent snake-bone units 100 rotate a certain angle, the sidewalls of the corner limiting rib 7 will touch the sidewalls of the corner limiting groove 6, thereby limiting the rotation angle of the corner limiting rib 7.

[0044] In this embodiment, the protrusion 2 includes a cylindrical clamping portion 22 and a handle 23 connecting the cylindrical clamping portion 22 to the tubular body 1. The width of the intersection of the cylindrical clamping portion 22 and the handle 23 is less than the diameter of the cylindrical clamping portion 22, and the central axis of the cylindrical clamping portion 22 is perpendicular to the central axis of the tubular body 1. The two sides of the cylindrical clamping portion 22 smoothly transition to the two sides of the handle 23, and the two sides of the handle 23 smoothly transition to the tubular body 1, thereby avoiding stress concentration and increasing the strength of the protrusion 2.

[0045] Correspondingly, the recess 3 includes a cylindrical retaining groove 31 for accommodating the cylindrical retaining portion 22 and a retaining opening 32 for accommodating the handle 23. The width of the intersection of the cylindrical retaining groove 31 and the retaining opening 32 is less than the diameter of the cylindrical retaining groove 31, and the central axis of the cylindrical retaining groove 31 is perpendicular to the central axis of the tubular body 1. The cylindrical retaining portion 22 is directly press-fitted into the cylindrical retaining groove 31, making installation easy, and the provision of the retaining opening 32 effectively prevents loosening.

[0046] Specifically, two blocks 11 are provided on the tubular body 1 , and the bayonet 32 ​​is formed between one side of the two blocks 11 . One side of the block 11 is an arc surface 111 , and the other side of the block 11 is a part of the groove wall of the cylindrical groove 31 .

[0047] Furthermore, the other end of the tubular body 1 is provided with a second flat surface 13, which is perpendicular to the axis of the tubular body 1. The clamping block 11 protrudes from the second flat surface 13, and a portion of the recess 3 is recessed in the second flat surface 13. The clamping block 11 is smoothly connected to the second flat surface 13. The other end of the tubular body 1 is provided with a chamfered surface 14, which passes through the side surface of the tubular body 1 and the second flat surface 13. The chamfered surface 14 corresponds to the axial position of the protrusion 2 in the tubular body 1. The area outside the chamfered surface 14 forms an avoidance area, reserving sufficient space for rotation, thereby achieving rotational bending between adjacent snake-bone units 100.

[0048] In addition, a groove 15 is provided on the side of the tubular body 1. The groove 15 is located outside the block 11. The groove 15 is connected to the recess 3. The groove 15 serves to avoid and reserve sufficient space for rotation.

[0049] Correspondingly, a first plane 12 is provided on one end surface of the tubular body 1 . The first plane 12 is perpendicular to the axis of the tubular body 1 , and the two protrusions 2 protrude from the first plane 12 .

[0050] The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the above embodiments. As long as the technical effects of the present invention are achieved by any same or similar means, they should fall within the scope of protection of the present invention.

Claims

1. A snake-bone unit, characterized in that: The invention comprises a tubular body (1), one end of the tubular body (1) is provided with two convex parts (2), the other end of the tubular body (1) is provided with two concave parts (3), the convex part (2) is provided with an arc-shaped convex surface (221), the concave part (3) is provided with an arc-shaped concave surface (311), the arc-shaped convex surface (221) of one serpentine unit can be snap-connected with the arc-shaped concave surface (311) of another serpentine unit, the connecting line of the two convex parts (2) and the connecting line of the two concave parts (3) form an angle with each other, the tubular body (1) is provided with four wire holes (4) along the circumferential direction, one end of the tubular body (1) is provided with a positioning block (5), and the other end of the tubular body (1) is provided with a corresponding positioning surface (21); The positioning block (5) is located on the inner side of the recess (3), and the positioning surface (21) is the inner side surface of the projection (2); Two positioning blocks (5) are provided, and a corner limiting groove (6) is formed between the two positioning blocks (5). A corner limiting rib (7) is correspondingly provided on the inner side of the convex portion (2). The corner limiting groove (6) is a vertical notch groove. The width of the corner limiting groove (6) is smaller than the width of the concave portion (3). The corner limiting rib (7) is a vertical strip. The width of the corner limiting rib (7) is smaller than the width of the convex portion (2). The width of the corner limiting groove (6) is larger than the width of the corner limiting rib (7).

2. The snake bone unit according to claim 1, characterized in that: The convex portion (2) includes a cylindrical clamping portion (22) and a handle body (23) connecting the cylindrical clamping portion (22) and the tubular body (1); the width of the intersection of the cylindrical clamping portion (22) and the handle body (23) is smaller than the diameter of the cylindrical clamping portion (22); the central axis of the cylindrical clamping portion (22) and the central axis of the tubular body (1) are perpendicular to each other; the two sides of the cylindrical clamping portion (22) are smoothly connected to the two sides of the handle body (23); and the two sides of the handle body (23) are smoothly connected to the tubular body (1).

3. The snake bone unit according to claim 2, characterized in that: The recess (3) comprises a cylindrical clamping groove (31) for accommodating the cylindrical clamping portion (22) and a bayonet (32) for accommodating the handle (23); the width of the intersection of the cylindrical clamping groove (31) and the bayonet (32) is smaller than the diameter of the cylindrical clamping groove (31); and the central axis of the cylindrical clamping groove (31) is perpendicular to the central axis of the tubular body (1).

4. The snake bone unit according to claim 3, characterized in that: Two clamping blocks (11) are provided on the tubular body (1), and the clamping opening (32) is formed between the mutually opposing side surfaces of the two clamping blocks (11), and the mutually opposing side surfaces of the two clamping blocks (11) are both arc surfaces (111), and the other side surface of the clamping block (11) is a part of the groove wall of the cylindrical clamping groove (31).

5. The snake bone unit according to claim 4, characterized in that: A groove (15) is provided on the side of the tubular body (1), the groove (15) is located outside the clamping block (11), and the groove (15) is communicated with the recess (3).

6. The snake bone unit according to claim 4, characterized in that: The other end of the tubular body (1) is provided with a second plane (13), the second plane (13) is perpendicular to the axis of the tubular body (1), the clamping block (11) protrudes from the second plane (13), a part of the recess (3) is recessed in the second plane (13), and the clamping block (11) is smoothly connected to the second plane (13).

7. The snake bone unit according to claim 6, characterized in that: The other end of the tubular body (1) is provided with an oblique cut surface (14), which passes through the side surface of the tubular body (1) and the second plane (13), and the oblique cut surface (14) corresponds to the position of the convex portion (2) in the axial direction of the tubular body (1).

8. The snake bone unit according to claim 1 or 6, characterized in that: One end face of the tubular body (1) is provided with a first plane (12), the first plane (12) is perpendicular to the axis of the tubular body (1), and the two convex parts (2) protrude from the first plane (12).

9. The snake bone unit according to claim 1, characterized in that: The convex parts (2) and concave parts (3) are arranged on the tubular body (1) in an alternating manner, wherein two steel wire holes (4) are located outside the convex parts (2) and the other two steel wire holes (4) are located outside the concave parts (3).

10. The snake bone unit according to claim 1, characterized in that: A pipeline channel (8) is provided in the center of the tubular body (1). The pipeline channel (8) is drum-shaped. The recess (3) is located opposite the straight edge of the pipeline channel (8), and the protrusion (2) is located opposite the arc edge of the pipeline channel (8).

11. The snake bone unit according to claim 1, characterized in that: The snake bone unit is a plastic snake bone unit, a metal snake bone unit or a rubber snake bone unit.

12. A snake bone, characterized in that: The invention comprises at least two snake bone units (100) according to any one of claims 1 to 11 connected end to end in sequence, wherein the concave portion (3) of the first snake bone unit (100) is clamped with the convex portion (2) of the adjacent snake bone unit (100), the convex portion (2) of the last snake bone unit (100) is clamped with the concave portion (3) of the adjacent snake bone unit, and the convex portion (2) and concave portion (3) of each snake bone unit (100) between the first snake bone unit (100) and the last snake bone unit (100) are respectively clamped with the concave portion (3) and convex portion (2) of different adjacent snake bone units (100), and the two adjacent snake bone units (100) can rotate relative to each other.

13. An endoscope, characterized in that: The invention comprises the snake bone (200) as claimed in claim 12, and a lens holder (9) and a fixing holder respectively arranged at one end and the other end of the snake bone (200), wherein the lens holder (9) is connected to the convex portion (2) of the first snake bone unit (100), a camera is mounted on the lens holder (9), and the fixing holder is connected to the concave portion (3) of the last snake bone unit (100), a traction wire is passed through the wire hole (4), and one end of the traction wire is connected to the lens holder (9).

14. A method for controlling the rotation of an endoscope, characterized in that: The method for controlling the rotation of an endoscope is applied to the endoscope according to claim 13, and the specific control method is: When one of the traction wires of the snake bone (200) is pulled and the other traction wires are relaxed, the lens holder (9) drives one end of the snake bone (200) to bend in the direction of the pulled traction wire; When two adjacent traction steel wires of the snake bone (200) are pulled and the other two traction steel wires are relaxed, the lens holder (9) drives one end of the snake bone (200) to bend toward the area between the two adjacent traction steel wires being pulled; When one of the traction wires of the snake bone (200) has been tightened, and one end of the snake bone (200) on which the lens holder (9) is mounted has been bent in the direction of the tightened traction wire, the tightened traction wire is loosened, and the traction wire opposite to the tightened traction wire is pulled, so that the lens holder (9) drives the snake bone (200) to bend in the direction of the opposite traction wire; When one of the traction wires of the snake bone (200) has been tightened, and one end of the snake bone (200) on which the lens holder (9) is mounted has been bent in the direction of the tightened traction wire, the tightened traction wire is fixed, and any traction wire adjacent to the tightened traction wire is pulled, so that the lens holder (9) drives the snake bone (200) to rotate in the direction of the adjacent traction wire with the length direction of the snake bone (200) in the straight state as the central rotation axis.

Images