Flexible component, flexible probe and endoscope device

Abstract

The present invention relates to a flexible component, a flexible probe, and an endoscope device; the endoscope device includes an endoscope and a flexible probe, the flexible probe includes a main body and a flexible component, the distal end of the main body is connected to the flexible component, the flexible component includes a flexible main body and a radial limiter, the flexible main body is a hollow tubular structure, the hollow tubular structure includes a plurality of flexible units distributed axially in sequence, at least some of the flexible units are provided with radial limiters on the inner walls, the radial limiters protrude toward the inner cavity of the flexible main body to radially limit the transmission wire. The present invention can ensure that the flexible component has good resilience and rigidity, and realize the bending of the flexible component in any direction, while also reducing the overall outer diameter of the flexible component, increasing the service life of the transmission wire, and reducing the difficulty of bending the flexible component.

Description

Technical Field

[0001] The present invention relates to the field of medical devices, and in particular to a flexible component, a flexible probe and an endoscope device. Background Art

[0002] Endoscopes are commonly used diagnostic instruments in modern medicine. They can be inserted through the mouth, into the stomach, through other natural orifices, or through small surgical incisions. Endoscopes allow doctors to visualize lesions that X-rays cannot, making them extremely useful for diagnosis. The serpentine structure is a common component used in endoscopes.

[0003] Current snake-bone structures are mainly divided into two categories: the first category is that the surface of the snake-bone structure adopts a certain hollow structure, so that any part of the snake-bone structure is rigidly connected and has certain bending and rebound properties; the second category is that several snake-bone units are connected in series through a pivot structure to form a whole, and have certain bending properties. Regardless of the structure, the bending of the snake-bone structure needs to be controlled by a transmission wire. Among them, for the first type of snake-bone structure, the conventional practice is to pass the transmission wire through the thick wall of the snake-bone or between the double walls, resulting in a thicker wall of the snake-bone, increasing the overall outer diameter of the snake-bone, making it difficult for the instrument to pass through narrow parts, and the snake-bone will also increase the tension of the transmission wire when bending, making the bending of the snake-bone more difficult, and also making the friction between the transmission wire and the snake-bone greater, and the transmission wire seriously worn, so the transmission wire is required to have a higher strength. For the second type of snake bone structure, the pivot structure increases the friction when the snake bone bends, limits the bending freedom of the snake bone, and prevents the snake bone from moving in any direction. In addition, the bending stiffness of the snake bone is insufficient, and the snake bone as a whole does not have resilience, which affects the performance of the instrument. At the same time, it will cause wear and affect the dimensional accuracy and axial stiffness of the snake bone. Summary of the Invention

[0004] In order to solve the technical problems existing in the prior art, the purpose of the present invention is to provide a flexible component, a flexible probe and an endoscope device. On the basis of ensuring that the flexible component has good resilience and rigidity, the flexible component can be bent in any direction. At the same time, the overall outer diameter of the flexible component can be reduced, so that the flexible probe can pass through narrower areas. It can also reduce the friction force on the transmission wire, increase the service life of the transmission wire, and reduce the difficulty of the bending operation of the flexible component.

[0005] To achieve the above-mentioned purpose, according to the first aspect of the present invention, a flexible component is provided, including a flexible body and a radial limiter, wherein the flexible body is a hollow tubular structure, and the hollow tubular structure includes a plurality of flexible units distributed axially in sequence, and the radial limiter is provided on the inner wall of at least part of the flexible units, and the radial limiter protrudes toward the inner cavity of the flexible body to radially limit the transmission wire.

[0006] Optionally, the flexible component is provided with a group of radial limiting structures on the inner wall of at least one of the flexible units at the farthest end and one of the flexible units at the nearest end, respectively, and a group of radial limiting structures includes a plurality of radial limiting members distributed at intervals along the circumference of the flexible body.

[0007] Optionally, a group of radial limiting structures is provided on the inner wall of each of the flexible units, or a group of radial limiting structures is provided for every N flexible units at the distal end of the flexible body, or a group of radial limiting structures is provided for every M flexible units at the proximal end of the flexible body; wherein, a group of the radial limiting structures includes a plurality of the radial limiting members distributed at circumferential intervals along the flexible body, and N and M are both positive integers.

[0008] Optionally, the value of N is smaller than the value of M. For example, if the value of N is 1, the value of M is 2.

[0009] Optionally, the radial limit member is provided with a limit hole, and the limit hole is used to pass the transmission wire; a through mounting hole is provided on the outer wall of the flexible unit, and a part of the structure of the radial limit member is fixed on the outer wall of the flexible unit, and the other part of the structure passes through the mounting hole and extends into the inner cavity of the flexible unit.

[0010] Optionally, the radial limiter includes an integrated support arm and a fixing seat, the fixing seat is provided with the limiting hole, the support arm is fixed on the outer wall of the flexible unit, and the fixing seat passes through the mounting hole and partially extends into the inner cavity of the flexible unit.

[0011] Optionally, the thickness of the support arm is smaller than the wall thickness of the flexible body.

[0012] Optionally, a ratio of the wall thickness of the support arm to the wall thickness of the flexible body is 0.1 to 0.8.

[0013] Optionally, the mounting hole is configured to have a width along the axial direction of the flexible body that is 50% to 70% of a width of the flexible unit along the axial direction.

[0014] Optionally, the flexible component further includes an axial limiter, which is arranged at the distal end of the transmission wire; when the transmission wire is driven to move toward the proximal end of the flexible component, the axial limiter can prevent the distal end of the transmission wire from falling off the radial limiter.

[0015] Optionally, the axial limiting member includes a sleeve, which is used to be sleeved on the distal end of the transmission wire. The radial limiting member has a limiting hole, and the minimum cross-sectional width of the sleeve is greater than the aperture of the limiting hole.

[0016] Optionally, the flexible component further includes a distal structural member, the distal end of the flexible body is connected to the distal structural member, and the outer surface of the distal structural member is provided with a distal groove structure, which is used to increase the contact force between the distal structural member and the protective cover.

[0017] Optionally, the flexible component further includes a proximal structural member, the proximal end of the flexible body is connected to the proximal structural member, and the outer surface of the proximal structural member is provided with a proximal groove structure, which is used to increase the contact force between the proximal structural member and the protective cover.

[0018] Optionally, a plurality of axially penetrating wiring holes are provided in the wall of the proximal structural member, and the plurality of wiring holes are used to radially limit the transmission wire and the guide wire respectively, and the proximal structural member has an axially penetrating proximal inner cavity, and the proximal inner cavity is used to radially limit the tool channel tube.

[0019] Optionally, the hollow tubular structure includes:

[0020] a plurality of hollow portions spaced apart in the axial direction, and

[0021] The flexible unit is formed between two adjacent hollow portions;

[0022] Each of the hollow portions has a plurality of connecting beams in the circumferential direction, and two adjacent connecting beams and two adjacent flexible units form a hollow groove.

[0023] Optionally, the widths of all the flexible units along the axial direction are equal or unequal, and / or the gaps between all the flexible units are equal or unequal.

[0024] Optionally, the widths of all the axially distributed connecting beams along the circumferential direction are equal or unequal, and / or the lengths of all the axially distributed connecting beams along the axial direction are equal or unequal.

[0025] To achieve the above object, according to a second aspect of the present invention, a flexible probe is provided, comprising a main body and any one of the flexible components, wherein the distal end of the main body is connected to the flexible component.

[0026] Optionally, the flexible probe further includes a protective cover, which covers the flexible component.

[0027] Optionally, the flexible probe further comprises a driving device and a transmission wire group connected thereto, the transmission wire group comprises a plurality of transmission wires, and the driving device is used to control the bending state of the flexible component through the transmission wire group.

[0028] To achieve the above-mentioned object, according to a third aspect of the present invention, there is provided an endoscope device, comprising an endoscope module and any one of the flexible probes described above, wherein the endoscope module is arranged at the distal end of the flexible component.

[0029] In the flexible component, flexible probe and endoscope device provided by the present invention, the flexible main body is an integrated hollow tubular structure, which ensures that the flexible component has good rigidity and resilience, and ensures the performance of the flexible probe; at the same time, since the radial limiter radially limits the transmission wire in the inner cavity of the flexible main body, the wall thickness of the flexible component is smaller, and the overall outer diameter of the flexible component is reduced, so that the flexible probe can easily pass through a narrow space and perform surgical treatment better; and the flexible component will not increase the tension of the transmission wire when bending, which reduces the friction between the transmission wire and the flexible component, reduces the wear of the transmission wire, and increases the service life of the transmission wire. The difficulty of bending the flexible component is reduced, making surgical operation easier, and can also ensure the dimensional accuracy of the flexible component and realize the bending of the flexible component in any direction.

[0030] In the flexible component, flexible probe and endoscope device provided by the present invention, a group of radial limiting structures is set for every N flexible units in the distal part of the flexible body, or a group of radial limiting structures is set for every M flexible units in the proximal part of the flexible body, and a group of radial limiting structures includes a plurality of radial limiting members distributed at circumferential intervals along the flexible body; in this way, the radial limiting members are arranged at non-equidistant intervals or at equal intervals in the axial direction of the flexible component; preferably, the value of N is smaller than the value of M, so that the radial limiting members are arranged at non-equidistant intervals in the axial direction of the flexible component, so that the tension exerted on the transmission wire at any position when the flexible component is bent is as equal or close as possible, thereby further reducing the friction between the transmission wire and the flexible component, reducing the difficulty of bending the flexible component, and further improving the service life of the transmission wire; and the distal part of the flexible body is provided with more dense radial limiting members, so that the turning radius of the distal part is smaller, and it is easier to pass through the tortuous parts. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The features, properties and advantages of the implementation method of the present invention and related embodiments will be described with reference to the following drawings, in which:

[0032] Figure 1 is a schematic structural diagram of a flexible probe according to a preferred embodiment of the present invention, wherein the flexible component is wrapped by a protective cover;

[0033] Figure 2 is a schematic structural diagram of a flexible probe according to a preferred embodiment of the present invention, wherein the protective cover on the flexible component is removed;

[0034] Figure 32 is a schematic diagram of the three-dimensional structure of a flexible component according to a preferred embodiment of the present invention, wherein a transmission wire penetrates from one end of the flexible component and extends axially to the other end;

[0035] Figure 4 yes Figure 3 A partial enlarged view of the flexible component at position a shown;

[0036] Figure 5 is a schematic diagram of the three-dimensional structure of the flexible component of the preferred embodiment of the present invention, wherein the Figure 3 The transmission wire in

[0037] Figure 6 yes Figure 5 a front view of the flexible member shown;

[0038] Figure 7 This is a schematic diagram of the partial structure of the hollow tubular structure of a preferred embodiment of the present invention;

[0039] Figure 8 1 is a schematic diagram of the three-dimensional structure of a radial limiting member according to a preferred embodiment of the present invention;

[0040] Figure 9 yes Figure 8 A front view of the radial stopper shown;

[0041] Figure 10 2 is a cross-sectional schematic diagram of the assembly structure of the radial limiter, the flexible body and the transmission wire according to a preferred embodiment of the present invention;

[0042] Figure 11a This is a schematic diagram of the separation of the radial limiting member and the flexible body according to a preferred embodiment of the present invention;

[0043] Figure 11b is a cross-sectional schematic diagram of a preferred embodiment of the present invention in which the radial limiting member is separated from the flexible body;

[0044] Figure 12 1 is a schematic diagram of the three-dimensional structure of a distal structural member according to a preferred embodiment of the present invention, wherein a conductive wire is passed through the interior of the distal structural member;

[0045] Figure 13 is a schematic structural diagram of the distal end structure of a preferred embodiment of the present invention, wherein the Figure 12 The wire in

[0046] Figure 14 is a front view of a distal structural member of a preferred embodiment of the present invention;

[0047] Figure 15 1 is a schematic diagram of the three-dimensional structure of the proximal structural member of a preferred embodiment of the present invention, wherein a transmission wire sleeve and a guide wire are inserted into the proximal structural member;

[0048] Figure 16 is a schematic diagram of the three-dimensional structure of the proximal structural member of the preferred embodiment of the present invention, wherein the Figure 15 The wire and transmission wire sleeve in the

[0049] Figure 17 is a front view of a proximal structural member of a preferred embodiment of the present invention;

[0050] Figure 18 1 is a schematic diagram of the three-dimensional structure of the flexible component of the preferred embodiment of the present invention, wherein the proximal structural components and the distal structural components are omitted, and a plurality of transmission wires for controlling the bending of the flexible component are illustrated at the proximal end;

[0051] Figure 19 This is a front view of a flexible component according to a preferred embodiment of the present invention, in which a radial limiting structure is fixedly provided on the outer wall of each flexible unit;

[0052] Figure 20 1 is a diagram showing the state of the flexible component of the preferred embodiment of the present invention bending in different directions.

[0053] The following are the descriptions of the reference numerals:

[0054] 1-main body; 2-flexible component; 21-flexible main body; 211-hollow portion; 212-flexible unit; 213-connecting beam; 214-mounting hole; 215-distal protruding structure; 216-proximal protruding structure; 22-proximal structural member; 221-proximal recessed structure; 222-auxiliary groove; 223-through hole; 224-wiring hole; 225-proximal inner cavity; 226-proximal groove structure; 23-distal structural member; 231-distal Mounting slot; 232-distal recessed structure; 233-distal groove structure; 24-radial stopper; 241-limiting hole; 242-support arm; 243-fixing seat; 244-groove; 25-axial stopper; 251-sleeve; 26-endoscope module; 261-lens; 262-light source; 27-position sensor; 271-position sensor wire; 28-drive wire sleeve; 3-protective sleeve; 4-tool channel tube; 5-drive wire;

[0055] g - gap between flexible units; W1 - width of flexible unit; W2 - width of connecting beam; L2 - length of connecting beam; A1 - longitudinal axis. DETAILED DESCRIPTION

[0056] The following will clearly and completely describe the technical solutions in the preferred embodiments of the present invention in conjunction with the accompanying drawings in the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0057] As used herein, the singular forms "a," "an," and "the" include plural referents unless the context clearly indicates otherwise. As used herein, the term "or" is generally used in a sense including "and / or," unless the context clearly indicates otherwise. As used herein, the term "several" is generally used in a sense including "at least one," unless the context clearly indicates otherwise. As used herein, the term "at least two" is generally used in a sense including "two or more," unless the context clearly indicates otherwise.

[0058] The terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, the features defined as "first" and "second" may explicitly or implicitly include one or at least two of such features. It should be noted that "distal" and "proximal" are used as directional words, which are commonly used terms in the field of interventional medical devices, where "distal" or "end" refers to the end away from the operator during surgery, and "proximal" refers to the end close to the operator during surgery. Axial refers to the direction parallel to the line connecting the distal center and the proximal center of the medical device; radial refers to the direction perpendicular to the axial direction; circumferential refers to the direction around the axial direction.

[0059] Figure 1 and Figure 2 FIG is a schematic diagram of the structure of the flexible probe of the preferred embodiment of the present invention. Figure 1 and Figure 2 As shown, an embodiment of the present invention provides a flexible probe, comprising a main body 1 and a flexible component 2; the main body 1 is generally a hose, having a certain degree of softness and toughness; preferably, the flexible probe further comprises a protective sleeve 3, which covers the entire flexible component 2. The distal end of the main body 1 is connected to the flexible component 2, and the flexible component 2 has an axially through-going inner cavity; the inner cavity of the main body 1 is axially connected to the inner cavity of the flexible component 2. Typically, the flexible probe further comprises a tool channel tube 4, which is used to be inserted into the inner cavities of the main body 2 and the flexible component 2 and extend axially; the interior of the tool channel tube 4 is used to load surgical tools to provide a channel for surgical tools, and the surgical tools can be various structures, such as biopsy forceps, laser ablation equipment or other surgical tools; the tool channel tube 4 axially runs through the entire flexible probe. It should be understood that the flexible component 2 is flexible and can be deformed when subjected to force, and can restore its original shape after the force is lost.

[0060] See Figure 2The flexible component 2 includes a flexible body 21; further, the flexible component 2 also includes a proximal structural member 22 and a distal structural member 23; from the proximal end to the distal end, the proximal structural member 22, the flexible body 21 and the distal structural member 23 are axially connected in sequence. Further, the protective cover 1 covers the proximal structural member 22, the flexible body 21 and the distal structural member 23. Figure 3 The flexible body 21 is a hollow tubular structure. In the embodiment shown, the flexible body 21 has a cylindrical shape when in a non-flexed state and extends along a longitudinal axis A1.

[0061] Furthermore, the flexible probe also includes a transmission wire group, which includes a plurality of transmission wires 5. The number of transmission wires 5 is set according to the number of bending degrees of freedom that the flexible component 2 needs to control, and this application does not require this. The flexible probe controls the bending of the flexible component 2 in any direction through the transmission wire group. In this embodiment, the number of transmission wires 5 is four, and the transmission wires are arranged in groups of two to respectively control the bending of the flexible component 2 in different directions. Furthermore, the flexible probe also includes a drive device connected to the transmission wire group, which is used to control the bending state of the flexible component 2 through the transmission wire group. The drive device may include a drive wheel and a motor; the drive wheel and the motor are both integrated in the instrument box at the proximal end of the flexible probe. After the motor is running, it drives the drive wheel to rotate, and the drive wheel in turn drives the transmission wire 5 to move. The transmission wire 5 passes through the main body 1 and the flexible component 2, and one end is connected to the distal end of the flexible body 21, and the other end is connected to the drive wheel.

[0062] See Figure 6 and Figure 7 The hollow tubular structure is a hollow structure formed by cutting and processing a tube, and the hollow structure includes a plurality of hollow portions 211 spaced apart in the axial direction; flexible units 212 are formed between adjacent hollow portions 211, and the hollow portions 211 are arranged around the circumference of the hollow tubular structure, and each hollow portion 211 is arranged parallel to each flexible unit 212; each hollow portion 211 has a plurality of connecting beams 213 in the circumferential direction, and two adjacent connecting beams 213 and two adjacent flexible units 212 form a hollow groove (not marked), and the connecting beams 213 and the hollow groove are spaced apart, and the connecting beams 213 are used to connect two axially adjacent flexible units 212. The two ends of the hollow groove along the circumferential direction are preferably subjected to arc transition treatment to prevent stress concentration. It can be understood that due to the spacing of the connecting beams 213 and the hollow groove, the two flexible units 212 can be relatively bent under the connection of the connecting beams 213. It should be understood that the present application uses the structure of the connecting beam 213 and the flexible unit 212 to rigidly connect any adjacent parts of the flexible body 21 along the axial direction, and also makes the force exerted on the transmission wire 5 more uniform at any bending part, thereby reducing the friction force exerted on the transmission wire 5 and improving the service life of the transmission wire 5.

[0063] The present application does not limit the number, type, arrangement or shape of the hollow portions 211. In various embodiments, the flexible body 21 may have any number, type, shape and arrangement of hollow portions 211. The hollow portions 211 form a pattern having an optimal balance of axial bending and torsional stiffness. The hollow grooves are formed substantially perpendicular to the longitudinal axis A1. The hollow portions 211 allow the flexible body 211 to bend in multiple dimensions. In some embodiments, a higher spatial frequency of the hollow portions 211 may correspond to a higher flexibility. Specifically, in some embodiments, the hollow portion 211 includes a plurality of connecting beams 213 connecting adjacent flexible units 212, and the hollow portion 211 further includes a plurality of hollow grooves, and the hollow grooves and connecting beams 213 are arranged at intervals along the circumference of the hollow tubular structure. In some embodiments, axially adjacent hollow grooves and connecting beams 213 are respectively arranged in an axially aligned manner, that is, the projections of axially adjacent hollow grooves on the same vertical projection plane completely overlap, and the projections of axially adjacent connecting beams 213 on the same vertical projection plane completely overlap; here, "axially adjacent connecting beams 213" refer to the two connecting beams 213 closest to each other at both ends of the flexible unit 212 along the axial direction of the hollow tubular structure. Of course, in other embodiments, axially adjacent hollow grooves and connecting beams 213 are respectively arranged in an axially staggered manner, that is, the projections of axially adjacent hollow grooves on the same vertical projection plane do not completely overlap, and the projections of axially adjacent connecting beams 213 on the same vertical projection plane do not completely overlap. It should be understood that the same vertical projection plane refers to the same vertical projection plane, which is a projection plane perpendicular to the axis of the flexible body.

[0064] More detailed, such as Figure 7 As shown, a gap g is formed between two adjacent flexible units 212, which is the minimum width of the hollow portion 211; the width of each flexible unit 212 along the axial direction of the flexible body is W1; the length of each connecting beam 213 along the axial direction of the flexible body is L2, and the width of the connecting beam 213 along the circumferential direction of the flexible body is W2. This application does not impose specific restrictions on the gap g, the width W1 of the flexible unit, the length L2 of the connecting beam 213, and the width W2. The width W1 of all flexible units 212 may be equal or unequal, and / or the gaps g between all flexible units 212 may be equal or unequal. The width W2 of all axially distributed connecting beams 213 may be equal or unequal, and / or the length L2 of all axially distributed connecting beams 213 may be equal or unequal.

[0065] See Figure 4The flexible component 2 further includes a radial stopper 24 for radially limiting the transmission wire 5. The transmission wire 5 is configured to penetrate the flexible component 2 from its proximal end and extend axially to its distal end. Specifically, the distal end of the transmission wire 5 is connected to the distal end of the flexible body 21, while the proximal end of the transmission wire 5 passes through the main body 1 and is connected to the drive device. At least a portion of the inner wall of the flexible unit 212 is provided with a radial stopper 24. The radial stopper 24 protrudes toward the inner cavity of the flexible body 21 (i.e., protrudes toward the longitudinal axis of the flexible body) to radially limit the transmission wire 5.

[0066] Compared with the prior art, the flexible body 21 of the present invention is an integrated hollow tubular structure, which makes the flexible component 2 have good rigidity and resilience, and can be bent in any direction, ensuring the performance of the flexible probe. Moreover, when the flexible component 2 is bent, the tension of the transmission wire 5 is not increased, the friction between the transmission wire 5 and the flexible component 2 is reduced, the wear of the transmission wire 5 is reduced, and the service life of the transmission wire 5 is increased. The bending difficulty of the flexible component 2 is reduced, making the surgical operation easier and ensuring the dimensional accuracy of the flexible component 2. At the same time, because the radial limiter 24 radially limits the transmission wire 5 in the inner cavity of the flexible body 21, the wall thickness of the flexible component 2 is smaller, the overall outer diameter of the flexible component 2 is reduced, and the flexible probe can easily pass through a narrow space, so as to better perform surgical treatment.

[0067] Specifically, in one embodiment, the wall thickness of the flexible body 21 can be 0.1-0.2 mm, more preferably 0.13 mm. In addition, it should be noted that the hollow tubular structure is preferably a single-layer tube, rather than a multi-layer tube.

[0068] In this embodiment, it is preferred that the flexible body 21 is provided with a set of radial limiting structures on the inner wall of at least one flexible unit 212 at the farthest end, and a set of radial limiting structures is provided on the inner wall of one flexible unit 212 at the nearest end; the set of radial limiting structures includes a plurality of radial limiting members 24 distributed at intervals along the circumference of the flexible body 21. It should be known that the number of radial limiting members 24 in the set of radial limiting structures is set according to the number of transmission wires 5. If there are four transmission wires 5, the four transmission wires 5 are respectively limited in the radial direction by a radial limiting member 24. However, it should be understood that multiple radial limiting members 24 can be provided in the axial direction for each transmission wire 5. Moreover, the multiple radial limiting members 24 in a set of radial limiting structures are usually symmetrically arranged about the longitudinal axis A1 of the hollow tubular structure.

[0069] In the illustrated embodiment, a set of radial limiting structures is provided on the inner wall of each flexible unit 212. In this case, all axially distributed radial limiting members 24 are arranged at equal distances in the axial direction. In another preferred embodiment, a set of radial limiting structures is provided on the inner walls of some flexible units 212, such as a set of radial limiting structures is provided every other flexible unit 212, or every other flexible unit 212. In this case, all axially distributed radial limiting members 24 can be arranged at equal or unequal distances in the axial direction. Further preferably, a group of radial limiting structures is provided at every N flexible units 212 at the distal end of the flexible body 21, and / or a group of radial limiting structures is provided at every M flexible units 212 at the proximal end of the flexible body 21; N and M are both positive integers, and the values ​​of N and M may be equal or unequal; when the value of N is unequal to the value of M, the radial limiting members 24 are arranged at non-equal intervals in the axial direction of the flexible component 2; when the value of N is equal to the value of M, the radial limiting members 24 are arranged at equal intervals in the axial direction of the flexible component 2. Preferably, the value of N is smaller than the value of M, such as N is 1 and M is 2. In this case, the axial spacing of the radial stoppers 24 of the distal portion is smaller than the axial spacing of the radial stoppers 24 of the proximal portion. In this way, it is effectively ensured that the tension exerted on the transmission wire 5 at any position when the flexible component 2 is bent is as equal or close as possible, that is, the force exerted on the transmission wire 5 at any bending position is relatively uniform, thereby improving the service life of the transmission wire 5. Moreover, the distal portion of the flexible body 2 is provided with more dense radial stoppers 24, so that the turning radius of the distal portion is smaller and it is easier to pass through the tortuous portion. It should be understood that the distal portion refers to the portion close to the distal end of the flexible body 21; the proximal portion refers to the portion close to the proximal end of the flexible body 21. This application has no special requirements for the range of the distal portion and the range of the proximal portion.

[0070] See Figure 4 A radial stopper 24 is provided on the inner wall of a flexible unit 212 at the farthest end of the flexible body 21. The radial stopper 24 and the flexible body 21 are manufactured separately and then assembled together. The radial stopper 24 is fixed to the flexible body 21 by, for example, bonding or welding.

[0071] See Figure 8 and Figure 9 In one embodiment, the radial stopper 24 is provided with a circumferentially closed stopper hole 241 for passing the transmission wire 5. The central axis of the stopper hole 241 is parallel to the longitudinal axis A1 of the flexible body 21. Of course, in other embodiments, the radial stopper 24 may not be limited by the stopper hole 241, but may instead limit the transmission wire 5 by engaging, clamping, or other means. Furthermore, the stopper hole 241 may also be a circumferentially open through hole.

[0072] The radial limiter 24 can be of various shapes, and this application does not impose any restrictions on this. Furthermore, in order to reduce the difficulty of the process, a part of the structure of the radial limiter 24 is fixed on the outer wall of the flexible unit 212, and the other part of the structure passes through the mounting hole 214 on the flexible unit 212 and extends into the inner cavity of the flexible unit 212. At this time, a part of the height (i.e., the wall thickness) of the radial limiter 24 overlaps with the wall thickness of the flexible body 21, which can effectively reduce the wall thickness of the flexible component 2. Preferably, the radial limiter 24 includes an integrated support arm 242 and a fixing seat 243; the fixing seat 243 is provided with a limiting hole 241; the support arm 242 is fixed on the outer wall of the flexible body 21; the fixing seat 243 passes through the mounting hole 214 and partially extends into the inner cavity of the flexible body 21.

[0073] See also Figure 10 ,as well as Figure 11a-11b , a through mounting hole 214 is provided on the outer wall of the flexible body 21. The fixing seat 243 extends into the inner cavity of the flexible body 21 through the mounting hole 214, so that the transmission wire 5 passes through the limiting hole 241 on the fixing seat 243. The support arm 242 is fixed to the outer wall of the flexible body 21 by bonding or welding to prevent the radial limiter 24 from being displaced as a whole. The shape of the support arm 242 preferably matches the shape of the outer contour of the flexible body 21, such as the support arm 242 is in the shape of a circular arc. It should be understood that the radial limiter 24 is fixed to the outer wall of the flexible body 21 by the support arm 242, which reduces the process difficulty. At the same time, since the radial limiter 24 covers the mounting hole 214 of the flexible unit 212, the two can be subjected to force together during operation, thereby ensuring the overall rigidity and resilience of the flexible component.

[0074] The mounting hole 214 can be of various shapes, such as regular shapes such as arc, rectangle, oval, etc., or can be of a special shape. The mounting hole 214 is preferably configured so that its width along the axial direction of the flexible body is 50% to 70% of the width W1 of the flexible unit 212. In addition, the extension direction of the mounting hole 214 is not limited to the radial direction. That is, in addition to being inserted vertically into the mounting hole 214 of the flexible body 21, the radial stopper 24 can also be inserted obliquely or in a curved arc shape. Therefore, it can be understood that the present application is not limited to drilling the mounting hole 214 in a direction perpendicular to the longitudinal axis A1.

[0075] Further preferably, the thickness t of the support arm 242 is less than the wall thickness of the flexible body 21. More preferably, the ratio of the wall thickness t of the support arm 242 to the wall thickness of the flexible body 21 is 0.1 to 0.8, such as 0.1, 0.2, 0.3, 0.4, 0.5, 0.6, 0.7, or 0.8; this effectively reduces the overall outer diameter of the flexible component 2. Optionally, the wall thickness t of the flexible body 21 is 0.13 mm, and the wall thickness t of the support arm 242 is 0.05 mm, resulting in a ratio of approximately 0.38.

[0076] Continue reading Figure 9 The support arm 242 preferably has a groove 244, which is specifically arranged in the area where the fixing seat 243 is connected to the support arm 242. The groove 244 can make the radial limiter 24 more reliably clamped in the mounting hole 214, so that it is not easy to loosen and fall.

[0077] See Figure 4 The flexible component 2 preferably further includes an axial stopper 25, which is disposed at the distal end of the transmission wire 5. When the transmission wire 5 is driven by force to move toward the proximal end of the flexible component 2, the axial stopper 25 can prevent the distal end of the transmission wire 5 from falling off the radial stopper 24. The axial stopper 25 may include a sleeve 251, which is sleeved over the distal end of the transmission wire 5. The radial stopper 24 has a circumferentially closed stopper hole 241. The minimum cross-sectional width of the sleeve 251 is greater than the aperture of the stopper hole 241.

[0078] See Figure 5 In order to connect the proximal end and distal end of the flexible body 21 to the proximal structural member 22 and the distal structural member 23, respectively, the distal end of the flexible body 21 is provided with a distal protruding structure 215 for mating with the distal structural member 23; and the proximal end of the flexible body 21 is provided with a proximal protruding structure 216 for mating with the proximal structural member 22. Of course, in other cases, the protruding structure can be replaced by a recessed structure, or a combination of a recessed structure and a protruding structure.

[0079] See Figure 12 In one embodiment, the flexible probe is configured to further include an endoscope module 26, specifically, an endoscope module 26 is provided at the end of the distal structural member 23 to obtain in vivo images through the endoscope module 26. The endoscope module 26 includes a lens 261 and a light source 262, and the lens 261 and the light source 262 are both provided on the end face of the distal structural member 23, and the lens 261 and the light source 262 are both connected to wires. Furthermore, the flexible probe also includes a position sensor 27, which is fixed on the distal structural member 23, and the position sensor 27 can identify the position of the distal end of the flexible probe. The position sensor 27 is also connected to a wire. Wherein all the wires are arranged in the proximal direction (such as Figure 12 The number of the position sensors 27 on the distal structural member 24 is preferably two, and the position sensors 27 are preferably magnetic sensors.

[0080] Furthermore, a preferred embodiment of the present invention also provides an endoscope device, including an endoscope module 26 and a flexible probe, wherein the endoscope module 26 is arranged at the distal end of the flexible component 2.

[0081] See Figure 13 and Figure 14 The outer wall of the distal structural member 23 is provided with a distal mounting groove 231 for mounting a position sensor 27. Preferably, the position sensor 27 is fixedly connected to the distal mounting groove 231 by gluing or welding. Optionally, the outer wall of the distal structural member 23 is further provided with a distal recessed structure 232 for mating with the distal protruding structure 215 of the flexible body 21. The distal protruding structure 215 can be inserted into the distal recessed structure 232 to be fixed. Preferably, the distal protruding structure 215 can also be fixedly connected to the distal recessed structure 232 by gluing or welding, making the connection more secure and reliable. Further preferably, the distal mounting groove 231 is configured as a hollow structure so that glue can be poured through the distal mounting groove 231 to more securely connect the distal structural member 23 to the flexible body 21; alternatively, the distal structural member 23 and the flexible body 21 can be further welded through the distal mounting groove 231. Furthermore, a distal groove structure 233 is provided on the outer wall of the distal structural member 23. The shape of the distal groove structure 233 is not limited, such as a spiral groove or an annular groove; the distal groove structure 233 is used to store glue to strengthen the connection between the distal structural member 23 and the protective cover 1.

[0082] See Figure 15 and Figure 16 The proximal end of the proximal structural member 22 is preferably connected to a transmission wire sleeve 28, which is sleeved with the transmission wire 5. In actual use, the transmission wire sleeve 28 does not extend into the flexible body 21, and the transmission wire sleeve 28 extends in the proximal direction (such as Figure 15 The proximal end of each transmission wire 5 extends in the direction indicated by the arrow in the middle (in the direction indicated by the arrow in the middle) through the main body 1. Therefore, the portion of each transmission wire 5 within the main body 1 is sheathed with a transmission wire sleeve 28, while the portion within the flexible component 2 is not sheathed with the transmission wire sleeve 28. Furthermore, a position sensor 27 is provided on the proximal structural member 22, and a wire 271 of the position sensor 27 extends proximally through the entire flexible probe.

[0083] Specifically, in one embodiment, the distal surface of the proximal structural member 22 is provided with a proximal recessed structure 221 for mating and connecting with the proximal protruding structure 216 of the flexible body 21; the proximal protruding structure 216 is inserted into the proximal recessed structure 221 to be snap-fitted and fixed. In order to strengthen the connection, a plurality of hollow auxiliary grooves 222 are provided on the outer wall of the proximal structural member 22 for adding glue or facilitating welding, so as to fix the transmission wire sleeve 28 and the proximal structural member 22 by means of glue or welding. Preferably, the auxiliary groove 222 can also serve as a proximal mounting groove, and the proximal mounting groove is used to install a position sensor 27. Similarly, there are preferably two position sensors 27 on the proximal structural member 22.

[0084] Preferably, at least one through-hole 223 is provided on the outer wall of the proximal structural member 22, for injecting glue through the through-hole 223 to strengthen the connection between the proximal end of the flexible body 21 and the proximal structural member 22, or for welding the proximal end of the flexible body 21 and the proximal structural member 22 through the through-hole 223 to strengthen the connection. Furthermore, a plurality of axially through-hole wiring holes 224 are provided in the wall of the proximal structural member 22. The plurality of wiring holes 224 can be arranged at intervals along the circumference of the proximal structural member 22. The plurality of wiring holes 22 are used to respectively pass the transmission wire 5 and various wires to achieve radial limitation, and the wires of different devices are passed through different wiring holes 224. Furthermore, the proximal structural member 22 has an axially through-hole proximal inner cavity 225, which is used to pass the tool channel tube 4 to achieve radial limitation. Preferably, a proximal groove structure 226 is provided on the outer wall of the proximal structural member 22. The shape of the proximal groove structure 226 is not limited, such as a spiral groove or an annular groove; the proximal groove structure 226 can be used to store glue to strengthen the connection between the proximal structural member 22 and the protective cover 1.

[0085] Next, combine Figures 18 to 20 , and combined with Figure 2 and Figure 3 , the working process of the present invention is further explained.

[0086] like Figure 18 and Figure 19As shown, the bending of the flexible component 2 can be controlled by four transmission wires 5. All the transmission wires 5 pass through the flexible component 2, and one end of each transmission wire 5 is fixed to the distal end of the flexible main body 21. The other end passes through each radial limiter 24, the proximal structural member 22 and the main body 1, and is fixed to the proximal driving wheel. The driving wheel is powered by a motor. When the flexible component is to bend in a certain direction, part of the motor rotates in a certain direction, and the driving wheel pulls the transmission wire 5, so that the unit gap near the radial limiter 24 is reduced. At the same time, the unit gap near another part of the radial limiter 24 is bound to become larger. In this way, the remaining motors need to rotate in the opposite direction, and the tension of the other part of the transmission wire 5 is released through the driving wheel. In this way, through the cooperation between the motors, the flexible component can finally bend in a certain direction. Specifically, as Figure 20 As shown, the flexible body 21 can be controlled to bend in a certain direction by the transmission wire 5 to obtain the bending state shown in b1, and can further be controlled to bend in another direction by the transmission wire 5 to obtain the bending state shown in b2; thereby, the flexible component 2 can be bent in any direction.

[0087] Finally, it should be understood that in the technical solution provided by the embodiment of the present invention, since the flexible main body is an integrated hollow tubular structure, the flexible component has good rigidity and resilience, and can be bent in any direction, thereby ensuring the performance of the flexible probe; and the tension exerted on the transmission wire at any position when the flexible component is bent is basically equal or similar, thereby reducing the friction exerted on the transmission wire, increasing the service life of the transmission wire, and reducing the difficulty of bending the flexible component; in addition, the transmission wire is limited by the radial limiter in the inner cavity of the flexible component, rather than passing through the wall thickness of the flexible component, thereby making full use of the internal space of the flexible component, and being able to have The invention effectively reduces the wall thickness of the flexible component and the overall outer diameter of the flexible component; in particular, when the radial stoppers are fixed to the flexible component at unequal intervals, that is, the axial distribution distance of the radial stoppers of the distal portion is not equal to the axial distribution distance of the radial stoppers of the proximal portion, and the axial spacing of the radial stoppers of the distal portion is usually smaller than that of the proximal portion. In this case, the tension exerted on the transmission wire at any position when the flexible component is bent is more uniform, which can further reduce the friction of the transmission wire and improve the service life of the transmission wire. Moreover, when the distal portion of the flexible body is provided with more dense radial stoppers, the turning radius of the distal portion is smaller, making it easier to pass through tortuous areas. It should also be noted that the present invention radially limits the wire, transmission wire and tool channel tube through holes and grooves on the proximal structural member, which is beneficial to reducing the possibility of these parts being entangled and torn apart when the flexible component is bent. Furthermore, the present invention strengthens the sealing performance and connection strength between the protective sleeve and the distal structural member and the proximal structural member through the groove structure on the distal structural member and the proximal structural member.

[0088] The above description is only a description of the preferred embodiments of the present invention and does not limit the scope of the present invention. Any changes and modifications made by ordinary technicians in the field of the present invention based on the above disclosure are within the scope of protection of the present invention.

Claims

1. A flexible component, characterized in that: The flexible body comprises a flexible main body and a radial limiter, wherein the flexible main body is an integrated hollow tubular structure, the hollow tubular structure is cut and processed from a tube, the hollow tubular structure comprises a plurality of flexible units distributed in sequence in the axial direction, and the radial limiter is provided on the inner wall of at least some of the flexible units, and the radial limiter protrudes toward the inner cavity of the flexible body to radially limit the transmission wire; The hollow tubular structure includes a plurality of hollow portions spaced apart in the axial direction, wherein the flexible unit is formed between two adjacent hollow portions, the hollow portions are arranged around the circumference of the hollow tubular structure, and each hollow portion has a plurality of connecting beams in the circumference, and two adjacent connecting beams and two adjacent flexible units form a hollow groove, the connecting beams and the hollow grooves are spaced apart, and the connecting beam connects two axially adjacent flexible units; The flexible component is provided with a group of radial limiting structures on the inner wall of at least one of the flexible units at the farthest end and one of the flexible units at the nearest end, respectively. The group of radial limiting structures includes a plurality of radial limiting members that are symmetrically arranged and distributed at intervals along the circumference of the flexible body.

2. The flexible component according to claim 1, characterized in that A group of radial limiting structures is provided on the inner wall of each flexible unit, or a group of radial limiting structures is provided for every N flexible units at the distal end of the flexible body, or a group of radial limiting structures is provided for every M flexible units at the proximal end of the flexible body; N and M are both positive integers.

3. The flexible component according to claim 2, characterized in that The value of N is smaller than the value of M.

4. The flexible component according to any one of claims 1 to 3, characterized in that: The radial limit member is provided with a limit hole, and the limit hole is used to pass the transmission wire; a through mounting hole is provided on the outer wall of the flexible unit, and a part of the structure of the radial limit member is fixed on the outer wall of the flexible unit, and the other part of the structure passes through the mounting hole and extends into the inner cavity of the flexible unit.

5. The flexible component according to claim 4, characterized in that The radial limiting member includes an integrated support arm and a fixing seat, the fixing seat is provided with the limiting hole, the support arm is fixed on the outer wall of the flexible unit, and the fixing seat passes through the mounting hole and partially extends into the inner cavity of the flexible unit.

6. The flexible component according to claim 5, characterized in that The thickness of the support arm is smaller than the wall thickness of the flexible body.

7. The flexible component according to claim 6, characterized in that The ratio of the wall thickness of the support arm to the wall thickness of the flexible body is 0.1 to 0.

8.

8. The flexible component according to claim 4, characterized in that The mounting hole is configured such that a width along the axial direction of the flexible body is 50% to 70% of a width of the flexible unit along the axial direction.

9. The flexible component according to any one of claims 1 to 3, characterized in that: It also includes an axial limiter for being arranged at the distal end of the transmission wire; when the transmission wire is driven by force to move toward the proximal end of the flexible component, the axial limiter can prevent the distal end of the transmission wire from falling off the radial limiter.

10. The flexible component according to claim 9, characterized in that The axial limiting member includes a sleeve, which is used to be sleeved on the distal end of the transmission wire. The radial limiting member has a limiting hole, and the minimum cross-sectional width of the sleeve is greater than the aperture of the limiting hole.

11. The flexible component according to any one of claims 1 to 3, characterized in that: It also includes a distal structural member, the distal end of the flexible body is connected to the distal structural member, and the outer surface of the distal structural member is provided with a distal groove structure, which is used to increase the contact force between the distal structural member and the protective sleeve.

12. The flexible component according to any one of claims 1 to 3, characterized in that: It also includes a proximal structural member, the proximal end of the flexible body is connected to the proximal structural member, and the outer surface of the proximal structural member is provided with a proximal groove structure, which is used to increase the contact force between the proximal structural member and the protective sleeve.

13. The flexible component according to claim 12, characterized in that A plurality of axially penetrating wiring holes are provided in the wall of the proximal structural member, and the plurality of wiring holes are used to radially limit the transmission wire and the guide wire respectively, and the proximal structural member has an axially penetrating proximal inner cavity, and the proximal inner cavity is used to radially limit the tool channel tube.

14. The flexible component according to any one of claims 1 to 3, characterized in that: The widths of all the axially distributed connecting beams along the circumferential direction are equal or unequal, and / or the lengths of all the axially distributed connecting beams along the axial direction are equal or unequal.

15. The flexible component according to claim 1, characterized in that The widths of all the flexible units along the axial direction are equal or unequal; and / or the gaps between all the flexible units are equal or unequal.

16. A flexible probe, characterized in that: The invention comprises a main body and a flexible component according to any one of claims 1 to 15, wherein the distal end of the main body is connected to the flexible component.

17. The flexible probe according to claim 16, characterized in that: The invention also comprises a protective cover, wherein the protective cover covers the flexible component.

18. The flexible probe according to claim 16, characterized in that It also includes a driving device and a transmission wire group connected to each other, the transmission wire group includes a plurality of transmission wires, and the driving device is used to control the bending state of the flexible component through the transmission wire group.

19. An endoscope device, characterized in that: It comprises an endoscope module and a flexible probe as described in any one of claims 16 to 18, wherein the endoscope module is arranged at the distal end of the flexible component.

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