A snake bone and a joint block for a snake bone

Abstract

An embodiment of this specification provides a snake bone and a joint block for the snake bone. The snake bone includes a plurality of arranged joint blocks. The joint block includes a body, a connecting convex tooth and a connecting tooth groove provided on the body. The body includes a first end and a second end, the first end and the second end are arranged opposite to each other in the thickness direction of the body, the connecting convex tooth is located on the first end, and the connecting tooth groove is located on the second end. The connecting convex tooth of the subsequent joint block cooperates with the connecting tooth groove of the adjacent preceding joint block, and the cooperation is gear meshing.

Description

Technical Field

[0001] The present invention relates to the field of medical and industrial products, and in particular to a snake bone and a bone block used for the snake bone. Background Art

[0002] Snake bones are a type of component that can be bent and are widely used in the fields of medical and industrial products. For example, snake bones can be used in endoscopes. The snake bones can control the direction of the lens at the front end of the endoscope through their own bending, so that medical personnel can clearly observe the lesions at different locations in the patient's respiratory or digestive tract. Snake bones generally include multiple bone segments, and the relative rotation between the snake bone segments realizes the bending function of the snake bone.

[0003] During the production and use of snake bones, how to simply and quickly connect multiple bone segments together and ensure the connection stability between the multiple bone segments is a technical problem that needs to be solved urgently in this field. Summary of the invention

[0004] One of the embodiments of the present specification provides a snake bone, which includes a plurality of bone joint blocks arranged in an array, wherein the bone joint blocks include a main body and connecting protruding teeth and connecting tooth grooves arranged on the main body; the main body includes a first end and a second end, the first end and the second end are arranged opposite to each other in the thickness direction of the main body, the connecting protruding teeth are located on the first end, and the connecting tooth grooves are located on the second end; the connecting protruding teeth of the rear bone joint block cooperate with the connecting tooth grooves of the front adjacent bone joint block, and the cooperation is gear meshing.

[0005] In some embodiments, the bone joint block also includes a first limiting boss provided on the first end portion and a second limiting boss provided on the second end portion; the top end of the first limiting boss has a first curved surface, and the top end of the second limiting boss has a second curved surface; the first curved surface of the first limiting boss of the rear bone joint block contacts the second curved surface of the second limiting boss of the front adjacent bone joint block.

[0006] In some embodiments, the arc radius of the first arc surface is consistent with the radius of the pitch circle of the first gear corresponding to the connecting convex tooth; and the arc radius of the second arc surface is consistent with the radius of the pitch circle of the second gear corresponding to the connecting tooth groove.

[0007] In some embodiments, the distance between the top end of the first limiting boss and the top end of the connecting convex tooth in the thickness direction of the body is equal to the distance between the addendum circle and the pitch circle of the first gear corresponding to the connecting convex tooth in the thickness direction of the body; and, the distance between the top end of the second limiting boss and the root of the connecting tooth groove in the thickness direction of the body is equal to the distance between the root circle and the pitch circle of the second gear corresponding to the connecting tooth groove in the thickness direction of the body.

[0008] In some embodiments, the number of the connecting convex teeth is two, and the number of the connecting tooth grooves is two. The two connecting convex teeth are symmetrically arranged with respect to the central axis of the body; the two connecting tooth grooves are symmetrically arranged with respect to the central axis of the body.

[0009] In some embodiments, the number of the first limiting bosses is two, and the number of the second limiting bosses is two; the two first limiting bosses are both arranged at intervals between the two connecting convex teeth, and the two first limiting bosses are symmetrically arranged with respect to the central axis of the body; the two second limiting bosses are both arranged at intervals between the two connecting tooth grooves, and the two second limiting bosses are symmetrically arranged with respect to the central axis of the body.

[0010] In some embodiments, the connecting convex tooth has a first central axis, and the connecting tooth groove has a second central axis. The plane determined by the first central axes of the two connecting convex teeth is perpendicular to the plane determined by the second central axes of the two connecting tooth grooves.

[0011] In some embodiments, the first limiting boss has a third central axis, and the second limiting boss has a fourth central axis. The first central axis, the second central axis, the third central axis, and the fourth central axis are all parallel to the central axis of the body.

[0012] In some embodiments, the joint block includes two first connecting holes and two second connecting holes. The two first connecting holes penetrate the body in the thickness direction of the body and respectively penetrate the two first limiting bosses. The two second connecting holes both penetrate the body in the thickness direction of the body and respectively penetrate the two second limiting bosses.

[0013] In some embodiments, the joint block further includes a through hole. The through hole penetrates the body along the thickness direction of the body. The two first connecting holes and the two second connecting holes are both arranged on the periphery of the through hole.

[0014] Another embodiment of this specification also provides a joint block for a snake bone. The joint block includes a body, a connecting convex tooth, and a connecting tooth groove provided on the body. The body includes a first end and a second end, and the first end and the second end are arranged opposite to each other in the thickness direction of the body. The connecting convex tooth is provided on the first end, and the connecting tooth groove is provided on the second end. The connecting convex tooth and the connecting tooth groove have shapes that can cooperate. The shapes that can cooperate are the shapes of the teeth and the tooth grooves of two meshing gears.

[0015] In some embodiments, the joint block further includes a first limiting convex platform provided on the first end and a second limiting convex platform provided on the second end. The top of the first limiting convex platform has a first arc surface, and the top of the second limiting convex platform has a second arc surface. Brief Description of the Drawings

[0016] This specification will be further described by way of exemplary embodiments, which will be described in detail through the drawings. These embodiments are not restrictive. In these embodiments, the same numbers represent the same structures, where:

[0017] Figure 1 is a schematic structural diagram of a snake bone shown in some embodiments of this specification;

[0018] Figure 2 is a schematic connection diagram of two joint blocks of a snake bone shown in some embodiments of this specification;

[0019] Figure 3 is another schematic connection diagram of two joint blocks of a snake bone shown in some embodiments of this specification;

[0020] Figure 4 is a schematic structural diagram of a joint block shown in some embodiments of this specification;

[0021] Figure 5 is another schematic structural diagram of a joint block shown in some embodiments of this specification;

[0022] Figure 6 is a schematic cooperation diagram of a connecting convex tooth and a connecting tooth groove shown in some embodiments of this specification;

[0023] Figure 7 is a schematic meshing diagram of a first gear corresponding to a connecting convex tooth and a second gear corresponding to a connecting tooth groove shown in some embodiments of this specification.

[0024] 1000 is the snake bone, 100 is the bone joint block, 110 is the body, 111 is the first end, 112 is the second end, 113 is the first limiting boss, 113-1 is the first arc surface, 114 is the second limiting boss, 114-1 is the second arc surface, 115 is the first connecting hole, 116 is the second connecting hole, 117 is the through hole, 118 is the hollow hole, 120 is the connecting convex tooth, 130 is the connecting tooth groove, 141 is the pitch circle of the first gear, 142 is the addendum circle of the first gear, 151 is the pitch circle of the second gear, 152 is the dedendum circle of the second gear, and 200 is the traction rope. Detailed implementation manners

[0025] To more clearly illustrate the technical solutions of the embodiments of this specification, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the drawings in the following description are only some examples or embodiments of this specification. For those of ordinary skill in the art, without creative efforts, this specification can also be applied to other similar scenarios based on these drawings. Unless obvious from the language context or otherwise stated, the same reference numerals in the figures represent the same structure or operation.

[0026] It should be understood that the "system", "device", "unit" and / or "module" used herein is a method for distinguishing different components, elements, parts, portions or assemblies at different levels. However, if other words can achieve the same purpose, the said words can be replaced by other expressions.

[0027] As shown in this specification and the claims, unless the context clearly indicates an exception, words such as "a", "an", "one" and / or "the" are not specifically singular and may also include plural. Generally speaking, the terms "comprising" and "including" only indicate the inclusion of the clearly identified steps and elements, and these steps and elements do not constitute an exclusive list. The method or device may also include other steps or elements.

[0028] During the process of performing human body or human surgery, or during the exploration process in a narrow space, an endoscope is required. For example, a medical endoscope is used during surgery, and an industrial endoscope is used during the exploration process in a narrow space. The endoscope usually includes a bending part, and a camera or a surgical instrument can be installed at the head of the bending part. The bending part includes a bendable snake bone, and the snake bone can include a plurality of arranged bone joint blocks, and adjacent bone joint blocks rotate relative to each other to achieve the bending of the snake bone. In some embodiments, adjacent snake bone units are usually hinged, for example, assembled by a pin shaft. The snake bone of this structure is complex to assemble, has many production processes, and the pin shaft assembly is prone to wear and failure during use, and the rotational stability between adjacent bone joint blocks may be poor.

[0029] Embodiments of the present application provide a snake bone and a joint block for the snake bone. Among the multiple joint blocks included in the snake bone, connecting convex teeth and connecting grooves are provided on two adjacent joint blocks. The connecting convex teeth of the subsequent joint block cooperate with the connecting tooth grooves of the adjacent preceding joint block, and this cooperation is a gear meshing. Through such a setting, during the rotation of the snake bone, the connecting convex teeth rotate in the connecting tooth grooves, and the rotational cooperation between the connecting convex teeth and the connecting tooth grooves is similar to the cooperation between the teeth and tooth grooves of mutually meshing gears. Compared with the way of hinging two joint blocks, during the bending of the snake bone, during the relative cooperation of two adjacent snake bone blocks, the tooth meshing mode of the connecting convex teeth and the connecting tooth grooves can make the contact area between two adjacent joint blocks larger, reduce the wear of the contact area between two adjacent joint blocks, and the service life of the snake bone is longer. In addition, such a connection method makes the relative rotation between adjacent joint blocks during the bending of the entire snake bone more stable, the snake bone is easier to control, and such a connection method also makes the process of splicing joint blocks into a snake bone simpler and faster.

[0030] Figure 1 is a schematic structural diagram of a snake bone shown according to some embodiments of this specification, Figure 2 is a schematic connection diagram of two joint blocks of a snake bone shown according to some embodiments of this specification, Figure 3 is another schematic connection diagram of two joint blocks of a snake bone shown according to some embodiments of this specification, Figure 4 is a schematic structural diagram of a joint block shown according to some embodiments of this specification, Figure 5 is another schematic structural diagram of a joint block shown according to some embodiments of this specification. The following will combine Figures 1-5 to elaborate on the snake bone involved in the embodiments of the present application. It should be noted that the following embodiments are only used to explain the present application and do not constitute a limitation to the present application.

[0031] As Figures 1-5 shown, the snake bone 1000 includes a plurality of arranged joint blocks 100. It can be understood that the multiple joint blocks 100 can be arranged in sequence from front to back in the thickness direction (please refer to the direction indicated by the arrow in Figure 1 ). The thickness direction can be understood as the direction parallel to the central axis of the joint block 100 (the dashed line A shown in Figure 1 ). The joint block 100 can include a body 110, and a connecting convex tooth 120 and a connecting tooth groove 130 provided on the body 110. Among them, the body 110 can include a first end 111 and a second end 112. The first end 111 and the second end 112 are in the thickness direction of the body 110 ( Figure 1They are arranged in opposite directions (the direction indicated by the arrow in the figure). Arranged in opposite directions can be understood as being arranged in opposite directions. The connecting convex teeth 120 can be located on the first end portion 111, and the connecting tooth grooves 130 can be located on the second end portion 112. The connecting convex teeth 120 of the subsequent joint block 100 can cooperate with the connecting tooth grooves 130 of the adjacent previous joint block 100, and the cooperation is gear meshing. Among them, gear meshing can be understood as the cooperation between a tooth on one gear and a tooth groove or a tooth on another gear. The connecting convex teeth 120 can be understood as a tooth on the first gear, and the connecting tooth grooves 130 can be understood as a tooth groove on the second gear. The first gear and the second gear are two gears that can mesh with each other, so that the cooperation between the connecting convex teeth 120 of the subsequent joint block 100 and the connecting tooth grooves 130 of the adjacent previous joint block 100 is gear meshing.

[0032] It should be noted that the first gear and the second gear are not real structures, but virtual structures introduced for the convenience of explanation. As Figure 2 and Figure 3 shown, the connecting convex teeth 120 of the subsequent joint block 100 can rotate in the connecting tooth grooves 130 of the adjacent previous joint block 100, so that the adjacent joint blocks 100 can rotate relative to each other. For a joint block, the connecting convex teeth 120 and the connecting tooth grooves 130 have shapes that can cooperate. The shapes that can cooperate are the shapes of the teeth and the tooth grooves in two meshing gears. That is to say, the connecting convex teeth 120 have the shape of a tooth on the first gear, and the connecting tooth grooves 130 have the shape of a tooth groove on the second gear. In some embodiments, the tooth profile of the connecting convex teeth 120 can be an involute tooth, a cycloid tooth, etc. Correspondingly, the connecting tooth groove can be an involute tooth groove, a cycloid tooth groove, etc.

[0033] In some embodiments, the number of joint blocks 100 in the snake bone 1000 can specifically be 2, 7, 10, etc. In some embodiments, the number of joint blocks 100 can be specifically selected according to the actual required length of the snake bone 1000. The shape of the body 110 can be various. For example, cylindrical, elliptical cylindrical, cuboid, etc. In order to make the surface of the joint block 100 smooth and reduce the edges and corners on the surface of the joint block 100, the shape of the body 110 is preferably cylindrical or elliptical cylindrical. Only as an example, when the joint block 100 is cylindrical, the first end portion 111 and the second end portion 112 can be the end portions at both ends of the axial direction of the cylinder respectively. It can be understood that, for a joint block 100, the protruding direction of the connecting convex teeth 120 is the same as the concave direction of the connecting tooth grooves 130. For example, the connecting convex teeth 120 can extend forward along the thickness direction of the body (such as Figure 1 the front direction indicated by the arrow in the figure), and the connecting tooth grooves 120 can extend forward along the thickness direction of the body (such as Figure 1A depression in the front indicated by the arrow.

[0034] Two adjacent joint blocks 100 can be connected by the engaging connection convex teeth 120 and connection grooves 130. Any two adjacent joint blocks 100 rotate relatively stably and the rotation process is smoother. Compared with the way of hinging two joint blocks, the contact area of the connection convex teeth 120 and the connection grooves 130 is larger, the wear of the contact area between the connection convex teeth and the connection grooves can be reduced, the force per unit area is smaller, and there are no obvious severely worn parts on the joint block 100, so the service life of the snake bone 1000 is effectively extended.

[0035] In some embodiments, such as Figure 1 and Figure 4 shown, the number of the connection convex teeth 120 can be two. In some embodiments, the two connection convex teeth 120 are symmetrically arranged with respect to the central axis of the body 110 ( Figure 1 the dashed line A shown in Figure 1 ). The central axis of the body can be understood as the axis passing through the center of the cross-section of the body (the cross-section perpendicular to the front-back direction), and the central axis of the body can be determined based on the shape of the body 110. Only by way of example, when the body 110 is cylindrical, the central axis is the cylindrical central axis. The two connection convex teeth 120 being symmetrically arranged with respect to the central axis of the body 110 can be understood as that the two connection convex teeth 120 are respectively located on both sides of the central axis and the distances between the two connection convex teeth 120 and the central axis are equal. In some embodiments, the number of the connection grooves 130 can be two. In some embodiments, the two connection grooves 130 are symmetrically arranged with respect to the central axis of the body 110 (

[0036] the dashed line A shown in Figure 4 and Figure 5 ). The two connection grooves 130 being symmetrically arranged with respect to the central axis of the body 110 can be understood as that the two connection grooves 130 are respectively located on both sides of the central axis and the distances between the two connection grooves 130 and the central axis are equal. By providing two connection convex teeth 120 and two connection grooves 130, and symmetrically arranging the two connection convex teeth 120 with respect to the central axis of the body 110, and symmetrically arranging the two connection grooves 130 with respect to the central axis of the body 110, the two joint blocks 100 are connected at two positions symmetric with respect to the central axis, the abutment between the two joint blocks 100 is more stable, the two joint blocks are not easily separated during the rotation process, and the use stability of the snake bone is improved.

[0036] In some embodiments, such as Figure 4 and Figure 5 shown, the connection convex teeth 120 can have a first central axis (such as Figure 4As shown by the dashed line B), the first central axis may refer to the central axis that extends along the tooth height direction of the connecting convex tooth 120 and passes through the center of the cross-section perpendicular to the tooth height direction of the connecting convex tooth 120. The tooth height direction may be parallel to the thickness direction of the body 110. The connecting tooth groove 130 may have a second central axis (such as the dashed line C shown in Figure 5 ). The second central axis may refer to the central axis that extends along the tooth groove depth direction of the connecting tooth groove 130 and passes through the center of the cross-section perpendicular to the tooth groove depth direction of the connecting tooth groove 130. The tooth groove depth direction may be parallel to the thickness direction of the body 110. Both the first central axis and the second central axis are parallel or substantially parallel to the central axis of the body 110. The plane determined by the first central axes of the two connecting convex teeth 120 is perpendicular to the plane determined by the second central axes of the two connecting tooth grooves 130. For two adjacent joint blocks, relative to the previous joint block, the subsequent joint block can rotate 90° around the central axis of the subsequent joint block 100, and the rotated subsequent joint block 100 can still abut against the previous joint block 100 (such as the connection method shown in Figure 1 ). Through such a setting, multiple joint blocks 100 are spliced into a snake bone 1000 that can bend in four directions, and the included angle between two adjacent rotation directions is 90°.

[0037] In some embodiments, the included angle between the plane determined by the first central axes of the two connecting convex teeth 120 and the plane determined by the second central axes of the two connecting tooth grooves 130 may also be other angles, such as 0° (i.e., the two planes are parallel), 45°, 60°, etc. The specific angle can be determined according to the requirements for the bending direction of the snake bone in actual use. Only as an example, when the included angle between the plane determined by the first central axes of the two connecting convex teeth 120 and the plane determined by the second central axes of the two connecting tooth grooves 130 is 0°, the snake bone 1000 can bend in two opposite directions after multiple joint blocks 100 are spliced.

[0038] In some embodiments, such as Figure 4 and 5As shown, the joint block 100 may further include a first limiting boss 113 provided on the first end portion 111 and a second limiting boss 114 provided on the second end portion 112. The top end of the first limiting boss 113 has a first arc surface 113-1, and the top end of the second limiting boss 114 has a second arc surface 114-1. The top end of the first limiting boss 113 can be understood as the end of the first limiting boss 113 away from the first end portion 111 in the thickness direction of the body 110; the top end of the second limiting boss 114 can be understood as the end of the second limiting boss 114 away from the second end portion 112 in the thickness direction of the body 110. When a plurality of joint blocks 100 are spliced together, for two adjacent joint blocks 100, the first limiting boss 113 of the subsequent joint block 100 can abut against the second limiting boss 114 of the adjacent previous joint block 100. At this time, the first arc surface 113-1 of the first limiting boss 113 of the subsequent joint block 100 contacts the second arc surface 114-1 of the adjacent previous second limiting boss 114 to form a rotational contact surface, so that the two adjacent joint blocks 100 can rotate relative to each other along the rotational contact surface. During the relative rotation of the two adjacent joint blocks 100, since the first limiting boss 113 can abut against the second limiting boss 114, the first limiting boss 113 and the second limiting boss 114 can limit the relative positions of the two adjacent joint blocks 100. At the same time, the first arc surface 113-1 of the first limiting boss 113 of the subsequent joint block 100 abuts against the second arc surface 114-1 of the second limiting boss 114 of the previous joint block 100. The first arc surface 113-1 of the first limiting boss 113 and the second arc surface 114-1 of the second limiting boss 114 are always in contact with each other during the rotation of the two adjacent joint blocks 100, which can limit the relative rotation direction and relative positions of the two joint blocks 100, thereby ensuring that the two adjacent joint blocks 100 rotate relative to each other in an ideal direction. At the same time, the first limiting boss 113 and the second limiting boss 114 can also support the engagement of the connecting convex teeth 120 and the connecting tooth grooves 130, so that the connecting convex teeth 120 and the connecting tooth grooves 130 are more evenly stressed.

[0039] In some embodiments, the number of the first limiting bosses 113 may be two. The two first limiting bosses 113 are both arranged at intervals between the two connecting convex teeth 120, and the two first limiting bosses 113 are symmetrically arranged with respect to the central axis of the body 110. That is to say, the two first limiting bosses 113 are respectively located on both sides of the central axis of the body 110, and the two first limiting bosses 113 are both in the positions between the two connecting convex teeth 120. The number of the second limiting bosses 114 may also be two. The two second limiting bosses 114 are both arranged at intervals between the two connecting tooth grooves 130, and the two second limiting bosses 114 are symmetrically arranged with respect to the central axis of the body 110. That is to say, the two second limiting bosses 114 are respectively located on both sides of the central axis of the body 110, and the two second limiting bosses 114 are both in the positions between the two connecting tooth grooves 130. When a plurality of joint blocks 100 are spliced, when the connecting convex teeth 120 of the subsequent joint block 100 cooperate with the connecting tooth grooves 130 of the previous joint block 100, the two first limiting bosses 113 of the subsequent joint block 100 just abut against the two second limiting bosses 114 of the previous joint block 100 respectively, so as to better limit the rotation direction of the two joint blocks 100 and better support the connecting convex teeth 120 and the connecting tooth grooves 130.

[0040] In some embodiments, the first limiting boss 113 has a third central axis (such as Figure 4 the dotted line D shown). The third central axis may refer to the central axis that extends along the height direction of the first limiting boss 113 and passes through the cross-section of the first limiting boss 113 perpendicular to its height direction. The height direction of the first limiting boss 113 may be parallel to the thickness direction of the body 110. The second limiting boss 114 has a fourth central axis (such as Figure 5 the dotted line E shown). The fourth central axis may refer to the central axis that extends along the height direction of the second limiting boss 114 and passes through the cross-section of the second limiting boss 114 perpendicular to its height direction. The height direction of the second limiting boss 114 may be parallel to the thickness direction of the body 110. The first central axis, the second central axis, the third central axis and the fourth central axis are all parallel or substantially parallel to the central axis of the body 110. Through such a setting, the layout of the joint block 100 is reasonable, and during the relative rotation between two adjacent joint blocks, each component will not interfere with each other, the first limiting boss 113 and the second limiting boss 114 cooperate effectively, and the relative rotation between two adjacent joint blocks 100 is smooth.

[0041] In some embodiments, the first central axis of the connecting convex tooth 120, the third central axis of the first limiting convex platform 113, and the central axis of the body 110 may be parallel and lie in the same plane. In some embodiments, the second central axis of the connecting tooth groove 130, the fourth central axis of the second limiting convex platform 114, and the central axis of the body 110 may be parallel and lie in the same plane. Through such a setting, the first limiting convex platform 113 and the second limiting convex platform 114 can achieve a better effect of ensuring rotational stability.

[0042] In some embodiments, the connecting convex tooth 120 and the first limiting convex platform 113 may be correspondingly arranged. For example, one connecting convex tooth 120 may correspond to one first limiting convex platform 113. In some embodiments, the first limiting convex platform 113 and its corresponding connecting convex tooth 120 may be arranged closely, that is, there may be no gap between the connecting convex tooth 120 and the first limiting convex platform 113. In some embodiments, the connecting tooth groove 130 and the second limiting convex platform 114 may be correspondingly arranged. For example, one connecting tooth groove 130 may correspond to one second limiting convex platform 114. In some embodiments, the second limiting convex platform 114 and its corresponding connecting tooth groove 130 may be arranged closely, that is, there may be no gap between the connecting tooth groove 130 and the second limiting convex platform 114. Through such a setting, the layout of the joint block 100 is more compact, and the rotation process between adjacent joint blocks 100 is more stable and smooth.

[0043] In some embodiments, the width of the first limiting convex platform 113 may be the same as the width of the connecting convex tooth 120. In some embodiments, the width of the second limiting convex platform 114 may be the same as the width of the connecting tooth groove 130. Through such a setting, the forces on each component can be ensured to be uniform, and stable cooperation can be achieved.

[0044] Figure 6 is a schematic diagram of the cooperation between the connecting convex tooth and the connecting tooth groove shown in some embodiments of this specification; Figure 7 is a schematic diagram of the meshing between the first gear corresponding to the connecting convex tooth and the second gear corresponding to the connecting tooth groove shown in some embodiments of this specification. In Figure 6 and Figure 7 For ease of illustration, the first gear and the second gear are virtually shown in dotted lines, and the connecting convex tooth 120, the connecting tooth groove 130, the first limiting convex platform 113, and the second limiting convex platform 114 are all shown correspondingly according to their shapes and sizes.

[0045] As Figure 6 and Figure 7As shown, the arc radius of the first arc surface 113-1 is the same as the radius of the pitch circle 141 of the first gear corresponding to the connecting convex tooth 120, and the arc radius of the second arc surface 114-1 is the same as the radius of the pitch circle 151 of the second gear corresponding to the connecting tooth groove 130. "The same" can be understood as equal to or substantially equal to. The arc radius can be understood as the radius of the arc corresponding to the arc surface. In some embodiments, the distance in the thickness direction of the body 110 between the top end of the first limiting boss 113 (i.e., the highest point of the first arc surface 113-1) and the top end of the connecting convex tooth 120 is equal to (or substantially equal to) the distance in the thickness direction of the body 110 between the addendum circle 142 of the first gear and the pitch circle 141 of the first gear. The distance in the thickness direction of the body 110 between the top end of the second limiting boss 114 (i.e., the highest point of the second arc surface 114-1) and the root of the connecting tooth groove 130 is equal to (or substantially equal to) the distance in the thickness direction of the body 110 between the dedendum circle 152 of the second gear and the pitch circle 151 of the second gear. When multiple joint blocks 100 are connected, when the connecting convex tooth 120 of the subsequent joint block 100 meshes with the connecting tooth groove 130 of the previous joint block 100, the first arc surface 113-1 of the subsequent joint block 100 can just contact the second arc surface 114-1 of the previous joint block 100 (as shown in Figure 7 ). Since the first gear meshes with the second gear and the pitch circle of the first gear is tangent to the pitch circle of the second gear, when the connecting convex tooth 120 rotates in the connecting tooth groove 130, the first arc surface 113-1 and the second arc surface 114-1 are always in contact. In this way, the first arc surface 113-1 and the second arc surface 114-1 can effectively limit the relative rotation of the connecting convex tooth 120 and the connecting tooth groove 130 and prevent the connecting convex tooth 120 from deviating from the relative position of the connecting tooth groove 130.

[0046] In some embodiments, the body 110 may further include a plurality of hollow holes 118 that penetrate the body 100 in its thickness direction, which can reduce the weight of the joint block 100 while ensuring the strength of the joint block 100.

[0047] In some embodiments, the joint block 100 may further include two first connection holes 115 and two second connection holes 116. The two first connection holes 115 penetrate through the body 110 along the thickness direction of the body 110 and respectively penetrate through the two first limiting bosses 113. The two second connection holes 116 both penetrate through the body 110 along the thickness direction of the body 110 and respectively penetrate through the two second limiting bosses 114. The two first connection holes 115 and the two second connection holes 116 can be used to pass through the traction rope 200 to piece together a plurality of joint blocks 100, so as to ensure that adjacent joint blocks 100 are not prone to shaking, dislocation or falling off. The two first connection holes 115 can respectively penetrate through the two first limiting bosses 113. In some embodiments, the two second connection holes 116 are respectively arranged to penetrate through the two second limiting bosses 114. In some other embodiments, the first connection hole 115 can also be spaced apart from the first limiting boss 113 (that is, the first connection hole 115 may not penetrate through the first limiting boss). In some embodiments, the second connection hole 116 can be spaced apart from the second limiting boss 114 (that is, the second connection hole 116 does not penetrate through the second limiting boss 114).

[0048] In some embodiments, the two first connection holes 115 and the two second connection holes 116 can be arranged at intervals along the circumferential direction of the joint block 100. In some embodiments, the connecting convex teeth 120 and the first connection holes 115 can be correspondingly arranged. One connecting convex tooth 120 can correspond to one first connection hole 115. In some embodiments, the connecting convex tooth 120 and its corresponding first connection hole 115 can be arranged adjacently. For example, the first connection hole 115 can penetrate through the first limiting boss 113. In some embodiments, the connecting tooth grooves 130 and the second connection holes 116 can be correspondingly arranged. One connecting tooth groove 130 can correspond to one second connection hole 116.

[0049] In some embodiments, the connecting tooth groove 130 and its corresponding first connection hole 115 can be arranged adjacently. For example, the second connection hole 115 can penetrate through the second limiting boss 114.

[0050] In some embodiments, the joint block 100 further includes a through hole 117. The through hole 117 penetrates through the body 110 along the thickness direction of the body 110. The two first connection holes 115 and the two second connection holes 116 are both arranged on the periphery of the through hole 117. In some embodiments, when the spliced snake bone composed of the joint blocks 100 is applied to an endoscope, signal lines, power lines, operating instruments, etc. on the endoscope can pass through the through hole 117, and the body 110 can protect these signal lines, power lines, operating instruments, etc. In some other embodiments, the through hole 117 can be arranged in plurality so that different types of lines and operating instruments on the endoscope can respectively pass through different through holes 117.

[0051] In some embodiments, the snake bone 1000 may further include four traction ropes 200. Each traction rope 200 sequentially passes through two first connection holes 115 and two second connection holes 116 of a plurality of bone joint blocks 100 to splice the plurality of bone joint blocks 100 into a snake bone. Under the action of the traction ropes 200 (which can be the action of a single traction rope or the action of multiple traction ropes), the connection convex teeth 120 of the bone joint block 100 abut against the connection tooth grooves 130 of the adjacent bone joint block 100 in front, and the first arc surface 113-1 of the first limit boss 113 of the bone joint block 100 abuts against the second arc surface 114-1 of the second limit boss 114 of the adjacent bone joint block 100 in front to form a rotation fulcrum. In some embodiments, the traction ropes can be selected from steel wires, nanofibers, glass ropes, etc. In some embodiments, when one of the traction ropes 200 is pulled and some other traction ropes 200 are relaxed, the snake bone 1000 can bend towards the direction where the tightened traction rope 200 is located.

[0052] The beneficial effects that the snake bone 1000 disclosed in this application may bring include but are not limited to: (1) During the rotation of the snake bone, the connection convex teeth rotate in the connection tooth grooves. The rotational fit between the connection convex teeth and the connection tooth grooves is similar to the fit between the teeth and tooth grooves of meshing gears. Compared with the way of hinge connection between two bone joint blocks, the contact area between the connection convex teeth and the connection tooth grooves is larger, the wear of the contact area between the connection convex teeth and the connection tooth grooves can be reduced, and the service life of the snake bone is longer; (2) The process of splicing the bone joint blocks into a snake bone is also simpler and faster, saving time and effort; (3) Through the cooperation between the connection convex teeth and the connection tooth grooves, the relative rotation between adjacent bone joint blocks during the bending of the snake bone is more stable, and the snake bone is more convenient to control. (4) The first arc surface of the first limit boss of the rear bone joint block abuts against the second arc surface of the second limit boss of the front bone joint block, which can limit the relative rotation direction of the two bone joint blocks, thereby preventing the connection convex teeth from disengaging from the connection tooth grooves; (5) The first limit boss and the second limit boss support the meshing between the connection convex teeth and the connection tooth grooves, so that the connection convex teeth and the connection tooth grooves are more evenly stressed. It should be noted that the beneficial effects that may be produced by different embodiments are different. In different embodiments, the beneficial effects that may be produced can be any one or several combinations of the above, or any other beneficial effects that may be obtained.

[0053] The embodiment of the present application provides a bone joint block for a snake bone. The bone joint block includes a body, and a connection convex tooth and a connection tooth groove provided on the body. The body includes a first end and a second end, the first end and the second end are arranged opposite to each other in the thickness direction of the body, the connection convex tooth is provided on the first end, and the connection tooth groove is provided on the second end; the connection convex tooth and the connection tooth groove have shapes that can cooperate; the shapes that can cooperate are the shapes of the teeth and tooth grooves of two meshing gears. For the relevant content of the connection convex tooth and the connection tooth groove, please refer toFigures 1-5 and its related descriptions.

[0054] In some embodiments, the joint block further includes a first limiting boss provided on the first end portion and a second limiting boss provided on the second end portion. The top end of the first limiting boss has a first arc surface, and the top end of the second limiting boss has a second arc surface. For the related content of the first limiting boss and the second limiting boss, please specifically refer to Figures 4-5 and its related descriptions.

[0055] The basic concepts have been described above. Obviously, for those skilled in the art, the above detailed disclosure is only an example and does not constitute a limitation to this specification. Although not explicitly stated here, those skilled in the art may make various modifications, improvements, and corrections to this specification. Such modifications, improvements, and corrections are proposed in this specification, so such modifications, improvements, and corrections still fall within the spirit and scope of the exemplary embodiments of this specification. At the same time, this specification uses specific terms to describe the embodiments of this specification. For example, "one embodiment", "an embodiment", and / or "some embodiments" mean a certain feature, structure, or characteristic related to at least one embodiment of this specification. Therefore, it should be emphasized and noted that the "one embodiment" or "an embodiment" or "an alternative embodiment" mentioned twice or more at different positions in this specification does not necessarily refer to the same embodiment. In addition, certain features, structures, or characteristics in one or more embodiments of this specification can be appropriately combined.

[0056] It should be particularly emphasized that the orientation or positional relationship indicated by terms such as "front" and "rear" is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing this application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be construed as a limitation to this application.

Claims

1. A snake bone, characterized in that, The snake bone includes a plurality of arranged joint blocks, and each joint block includes a body, a connecting convex tooth and a connecting tooth groove provided on the body; The body includes a first end and a second end, the first end and the second end are arranged in opposite directions in the thickness direction of the body, the connecting convex tooth is located on the first end, and the connecting tooth groove is located on the second end; The connecting convex tooth of the subsequent joint block cooperates with the connecting tooth groove of the adjacent previous joint block, and the cooperation is gear meshing. The first gear corresponding to the connecting convex tooth and the second gear corresponding to the connecting tooth groove are two meshing gears; The joint block further includes a first limiting convex platform provided on the first end and a second limiting convex platform provided on the second end; the top of the first limiting convex platform has a first arc surface, and the top of the second limiting convex platform has a second arc surface; The first arc surface of the first limiting convex platform of the subsequent joint block is in contact with the second arc surface of the second limiting convex platform of the adjacent previous joint block; The distance between the top of the first limiting convex platform and the top of the connecting convex tooth in the thickness direction of the body is equal to the distance between the addendum circle and the pitch circle of the first gear corresponding to the connecting convex tooth in the thickness direction of the body; And The distance between the top of the second limiting convex platform and the root of the connecting tooth groove in the thickness direction of the body is equal to the distance between the dedendum circle and the pitch circle of the second gear corresponding to the connecting tooth groove in the thickness direction of the body.

2. The snake bone according to claim 1, characterized in that, The radius of the arc of the first arc surface is consistent with the radius of the pitch circle of the first gear corresponding to the connecting convex tooth; and the radius of the arc of the second arc surface is consistent with the radius of the pitch circle of the second gear corresponding to the connecting tooth groove.

3. The snake bone according to claim 1, characterized in that, The number of the connecting convex teeth is two, the number of the connecting tooth grooves is two, and the two connecting convex teeth are symmetrically arranged with respect to the central axis of the body; the two connecting tooth grooves are symmetrically arranged with respect to the central axis of the body.

4. The snake bone according to claim 3, characterized in that, The number of the first limiting convex platforms is two, and the number of the second limiting convex platforms is two; The two first limiting convex platforms are both arranged at intervals between the two connecting convex teeth, and the two first limiting convex platforms are symmetrically arranged with respect to the central axis of the body; The two second limiting convex platforms are both arranged at intervals between the two connecting tooth grooves, and the two second limiting convex platforms are symmetrically arranged with respect to the central axis of the body.

5. The snake bone according to claim 3, characterized in that, The connecting convex tooth has a first central axis, the connecting tooth groove has a second central axis, and the plane determined by the first central axes of the two connecting convex teeth is perpendicular to the plane determined by the second central axes of the two connecting tooth grooves.

6. The snake bone according to claim 5, characterized in that, The first limiting convex platform has a third central axis, the second limiting convex platform has a fourth central axis, and the first central axis, the second central axis, the third central axis and the fourth central axis are all parallel to the central axis of the body.

7. The snake bone according to claim 4, characterized in that, The bone joint block includes two first connection holes and two second connection holes. The two first connection holes penetrate through the body along the thickness direction of the body and respectively penetrate through the two first limiting bosses. The two second connection holes both penetrate through the body along the thickness direction of the body and respectively penetrate through the two second limiting bosses.

8. The snake bone according to claim 7, characterized in that, The bone joint block further includes a through hole which penetrates through the body along the thickness direction of the body. The two first connection holes and the two second connection holes are both arranged on the periphery of the through hole.

9. A joint block for a snake bone, characterized in that, The bone joint block includes a body and connection convex teeth and connection tooth grooves arranged on the body. The body includes a first end and a second end. The first end and the second end are arranged in opposite directions along the thickness direction of the body. The connection convex teeth are arranged on the first end, and the connection tooth grooves are arranged on the second end. The connection convex teeth and the connection tooth grooves have shapes that can cooperate. The shapes that can cooperate are the shapes of the teeth and the tooth grooves in two meshing gears. The first gear corresponding to the connection convex teeth and the second gear corresponding to the connection tooth grooves are two meshing gears. The bone joint block further includes a first limiting boss arranged on the first end and a second limiting boss arranged on the second end. The top of the first limiting boss has a first arc surface, and the top of the second limiting boss has a second arc surface. The first arc surface of the first limiting boss of the subsequent bone joint block is in contact with the second arc surface of the second limiting boss of the adjacent preceding bone joint block. The distance along the thickness direction of the body between the top of the first limiting boss and the top of the connection convex teeth is equal to the distance along the thickness direction of the body between the addendum circle and the pitch circle of the first gear corresponding to the connection convex teeth. And The distance along the thickness direction of the body between the top of the second limiting boss and the root of the connection tooth groove is equal to the distance along the thickness direction of the body between the dedendum circle and the pitch circle of the second gear corresponding to the connection tooth groove.

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