A snake bone structure, an endoscope and a preparation method of the snake bone structure

Abstract

The embodiment of the present application provides a snake bone structure, an endoscope and a preparation method of the snake bone structure. The snake bone structure includes a plurality of bone joints and multiple groups of traction ropes for driving the movement of the bone joints. The bone joints include a cylindrical structure formed by alternating a plurality of first connection parts and a plurality of second connection parts. A group of traction ropes is arranged oppositely in the first radial direction of the bone joint, and another group of traction ropes is arranged oppositely in the second radial direction of the bone joint, wherein: the first connection part is rotatably connected to the second connection part of the adjacent bone joint. When one group of the first traction ropes drives the snake bone structure to bend, the wire outlet direction of the other group of traction ropes passes through the rotation axis of the first connection part and the second connection part. The embodiment of the present application improves the transmission accuracy of the snake bone structure.

Description

Technical Field

[0001] The present application relates to the technical field of surgical robots, and particularly to a snake bone structure, an endoscope, and a preparation method of the snake bone structure. Background Art

[0002] The snake bone structure is an important component for the endoscope to achieve bending motion and is widely used in various flexible endoscopes (such as gastroscopes, colonoscopes, etc.). The snake bone is a structure formed by connecting multiple bone joints. Usually, four traction ropes are threaded through each bone joint. The four traction ropes are divided into two groups, and each group of traction ropes is controlled in pairs. Pulling one of the traction ropes in a group to make it taut, the other traction rope will become slack, so that the snake bone can be bent at a certain angle along the direction of the taut traction rope. However, due to the coupling effect between the bending in the up-down direction and the left-right direction of the snake bone, when the snake bone bends in the up-down direction, the traction ropes in the left-right direction are also in a slack state, or when the snake bone bends in the left-right direction, the traction ropes in the up-down direction are also in a slack state. This will result in an inability to accurately calculate the transmission distance of the snake bone, affecting the accuracy of the snake bone motion control. Summary of the Invention

[0003] To solve the problem of low precision in the transmission of the snake bone of the endoscope, the present application provides a snake bone structure, an endoscope, and a preparation method of the snake bone structure.

[0004] In a first aspect, an embodiment of the present application provides a snake bone structure, which includes several bone joints and multiple groups of traction ropes for driving the movement of the bone joints. The bone joint includes a cylindrical structure formed by alternating multiple first connection parts and multiple second connection parts. A group of traction ropes is arranged opposite to each other in the first radial direction of the bone joint, and another group of traction ropes is arranged opposite to each other in the second radial direction of the bone joint, where:

[0005] The first connection part is rotatably connected to the second connection part of the adjacent bone joint. When one group of the traction ropes drives the snake bone structure to bend, the wire outlet direction of the other group of the traction ropes passes through the rotation axis of the first connection part and the second connection part.

[0006] In some embodiments, a connection core is provided on the first connection part, and a second connection ring cooperating with the connection core is provided on the second connection part. The connection core is rotatably connected to the second connection ring.

[0007] In some embodiments, a first connection ring is provided on the outer side of the connection core. The first connection ring bends towards the connection core. Adjacent bone joints are embedded and connected through the first connection ring and the second connection ring.

[0008] In some embodiments, the envelope angle between the second connection ring and the connection core is less than 180 degrees.

[0009] In some embodiments, the first connecting portion is provided with a first main threading hole, the first radial direction and the second radial direction are perpendicular to each other. When one set of the traction ropes drives the snake bone structure to bend, the other set of the traction ropes determines an extending direction in units of two adjacent bone segments and changes to the next extending direction at the first main threading hole.

[0010] In some embodiments, the first connecting portion is further provided with a first secondary threading hole, and the second connecting portion is provided with a second secondary threading hole. The traction ropes sequentially pass through the first secondary threading hole, the first main threading hole of the first bone segment in two bone segments, and the second secondary threading hole of the second bone segment, and the first bone segment and the second bone segment are embedded and connected.

[0011] In some embodiments, the snake bone structure further includes a snake bone head and a snake bone tail. The snake bone head is connected to the first connecting portion of the first bone segment, and the snake bone tail is connected to the second connecting portion of the last bone segment.

[0012] In a second aspect, an embodiment of the present application provides an endoscope, which includes a lens body. The lens body includes a lens and the snake bone structure described in the first aspect. The snake bone structure is connected to the lens and is used to control the lens to rotate.

[0013] In a third aspect, an embodiment of the present application provides a preparation method of a snake bone structure for preparing the snake bone structure described in the first aspect. The first connecting portion of the snake bone structure is provided with a first main threading hole, the first radial direction and the second radial direction are perpendicular to each other. When one set of the traction ropes drives the snake bone structure to bend, the other set of the traction ropes determines an extending direction in units of two adjacent bone segments and changes to the next extending direction at the first main threading hole. The preparation method includes:

[0014] Thin the position of the target pipe corresponding to the first main threading hole.

[0015] Cut the positions corresponding to the upper edge and the lower edge of the first main threading hole, and stamp the pipe between the upper edge and the lower edge toward the central axis of the target pipe.

[0016] Cut and form the positions other than the first main threading hole on the target pipe according to the structures of the first connecting portion and the second connecting portion.

[0017] In some embodiments, cutting and forming the positions other than the first main threading hole on the target pipe includes: cutting and forming the positions other than the first main threading hole on the target pipe by laser cutting technology, and the cutting direction is the normal direction of the tangent point.

[0018] The beneficial effects of the snake bone structure, endoscope, and preparation method of the snake bone structure provided by this application include:

[0019] The snake bone structure of this application includes multiple bone joints and multiple sets of traction ropes for driving the movement of the bone joints. The first connecting portion and the second connecting portion of adjacent bone joints are rotatably connected. When one set of the traction ropes drives the snake bone structure to bend, the wire outlet direction of the other set of the traction ropes passes through the rotation axis of the first connecting portion and the second connecting portion, so that when one set of traction ropes causes the snake bone structure to bend, the other set of traction ropes bends along the rotation axis of the first connecting portion and the second connecting portion, thereby keeping the transmission distance of the other set of traction ropes unchanged, thus eliminating the motion coupling in the non-opposite directions of the snake bone structure and improving the accuracy of snake bone transmission control. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] To more clearly illustrate the technical solutions of this application, the drawings required for use in the embodiments will be briefly introduced below. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0021] Figure 1 The structural schematic diagram of an endoscope is exemplarily shown in;

[0022] Figure 2 The structural schematic diagram of a snake bone structure is exemplarily shown in;

[0023] Figure 3 The structural schematic diagram of a first connecting portion is exemplarily shown in;

[0024] Figure 4 The structural schematic diagram of a second connecting portion is exemplarily shown in;

[0025] Figure 5 The schematic diagram of bone joint connection is exemplarily shown in;

[0026] Figure 6 The schematic diagram of the cross-section of a bone joint is exemplarily shown in;

[0027] Figure 7 The structural schematic diagram of a bone joint is exemplarily shown in;

[0028] Figure 8 The schematic diagram of a snake bone in a non-bent state is exemplarily shown in;

[0029] Figure 9 The schematic diagram of a snake bone in a bent state is exemplarily shown in;

[0030] Figure 10 The calculation schematic diagram of the reduced transmission distance when the snake bone bends is exemplarily shown in;

[0031] Figure 11 Exemplarily shown is a schematic diagram for calculating the increased transmission distance when the snake bone is bent;

[0032] Figure 12 Exemplarily shown is a schematic flow diagram of a method for preparing a snake bone structure. Detailed implementation manners

[0033] To make the objectives and implementation manners of this application clearer, the following will clearly and completely describe the exemplary implementation manners of this application with reference to the accompanying drawings in the exemplary embodiments of this application. Obviously, the described exemplary embodiments are only a part rather than all of the embodiments of this application.

[0034] It should be noted that the brief description of the terms in this application is only for facilitating the understanding of the subsequent described implementation manners, rather than intending to limit the implementation manners of this application. Unless otherwise stated, these terms should be understood in their ordinary and common meanings.

[0035] The terms "first", "second", "third", etc. in the description, claims and the above-mentioned accompanying drawings of this application are used to distinguish similar or like objects or entities, and do not necessarily mean to limit a specific order or sequence, unless otherwise noted. It should be understood that such terms can be interchanged under appropriate circumstances.

[0036] The terms "comprising" and "having" and any variations thereof are intended to cover but not exclusively include. For example, a product or device comprising a series of components does not necessarily have to be limited to all the components clearly listed, but may include other components not clearly listed or inherent to these products or devices.

[0037] The terms "proximal" and "distal" are defined herein with respect to the operating user of the robotic arm. The terms "proximal" and "proximal end" refer to the position of an element closer to the operating user, and the terms "distal" and "distal end" refer to the position of an element closer to the lens and thus farther from the operating user. In addition, directional terms such as above, below, up, down, upward, downward, left, right, etc. are used with respect to the exemplary embodiments as shown in the figures, with the upward or upward direction towards the top of the corresponding figure and the downward or downward direction towards the bottom of the corresponding figure.

[0038] Now, the presently disclosed embodiments will be described in detail with reference to the accompanying drawings, where in each of several views, the same reference numerals indicate the same or corresponding elements.

[0039] See Figure 1 , which is a schematic diagram of the structure of a 3D endoscope provided by an embodiment of this application. As Figure 1As shown, the 3D endoscope includes a lens body 10, a handle 20, a drive base 30, and a cable 40.

[0040] The drive base 30 and the handle 20 are installed at the proximal end of the lens body 10. After installing a drive module on the drive base 30, it can drive the lens body 10 to bend in four directions: up, down, left, and right, and drive the lens body 10 to rotate around the axis of the lens body 10. The cable 40 can supply power to the lens in the lens body 10 and conduct communication transmission. Among them, the lens is used to generate an image signal, and then the image signal is transmitted through the cable 40. The cable 40 can include a power cable for power supply and a communication cable for signal transmission.

[0041] A snake bone structure 100 can be provided on the lens body 10, and the snake bone structure 100 can also be called a snake bone assembly. Refer to Figure 2 , which is a schematic structural diagram of a snake bone structure provided by an embodiment of the present application. As Figure 2 shown, the snake bone structure 100 can include a snake bone head 101, a snake bone tail 102, and a plurality of bone joints 103 connected between the snake bone head 101 and the snake bone tail 102. The snake bone head 101, the plurality of bone joints 103, and the snake bone tail 102 are sequentially fitted and connected together. The snake bone head 101, the plurality of bone joints 103, and the snake bone tail 102 are provided with traction ropes 104 at corresponding positions in four directions. By tensioning one of the traction ropes 104 and relaxing the traction rope in the opposite direction, the snake bone assembly can be bent in the up-down and left-right directions. Among them, the traction rope 104 can be a steel wire rope. For the convenience of description in the present invention, a pair of traction ropes for driving the snake bone structure to bend in the up-down direction / left-right direction are relatively arranged in the first radial direction of the bone joint, and another pair of traction ropes for driving the snake bone structure to bend in the left-right direction / up-down direction are relatively arranged in the second radial direction of the bone joint. The first radial direction is perpendicular to the second radial direction, where the left-right direction can also be called the front-back direction.

[0042] The bone joint 103 can include a cylindrical structure formed by two first connecting parts and two second connecting parts. Among them, the first connecting parts and the second connecting parts are staggered, and two of the first connecting parts are relatively arranged in one radial direction, and two of the second connecting parts are relatively arranged in another direction.

[0043] Refer to Figure 3 , which is a schematic structural diagram of a first connecting part provided by an embodiment of the present application. As Figure 3 shown, a connecting core 201 and a first connecting ring 202 are provided at the upper end of the first connecting part. The connecting core 201 can be a semi-circular structure, and the first connecting ring 202 is an arc-shaped structure bent towards the connecting core 201. The number of the first connecting rings 202 is two, and the two first connecting rings 202 are symmetrically distributed on both sides of the connecting core 201 and form a first arc-shaped groove 211 with the connecting core 201.

[0044] The first connecting portion is further provided with a first main wire threading hole 205 and a first secondary wire threading hole 206. Among them, the first main wire threading hole 205 is arranged at the bottom of the connecting core 201, and the first secondary wire threading hole 206 is arranged at the bottom of the first connecting portion. The first main wire threading hole 205 and the first secondary wire threading hole 206 can be used for threading one of the traction ropes 104.

[0045] See Figure 4 , which is a schematic structural diagram of a second connecting portion provided by an embodiment of the present application. As Figure 4 shown, a second secondary wire threading hole 207 is arranged at the upper end of the second connecting portion, and the second secondary wire threading hole 207 can be used for threading the traction rope 104.

[0046] A second connecting ring 203 that bends downward is arranged at the bottom end of the second connecting portion. Second arc-shaped grooves 212 that bend towards the second connecting ring 203 are symmetrically distributed on both sides of the second connecting ring 203.

[0047] Two adjacent bone joints 103 can be connected through a first connecting portion in one bone joint and a second connecting portion in another bone joint. See Figure 5 , which is a schematic diagram of the connection of adjacent bone joints provided by an embodiment of the present application. As Figure 5 shown, the second connecting portion A2 of the first bone joint can be connected to the first connecting portion B1 of the second bone joint. The second connecting portion of the first bone joint on the side opposite to the second connecting portion A2 can be connected to the first connecting portion of the second bone joint on the side opposite to the first connecting portion B1. A pair of second connecting portions of the second bone joint are connected to the first connecting portion of the third bone joint.

[0048] For the convenience of distinction, the same structures of the second connecting portion A2 of the first bone joint and the second connecting portion C2 of the third bone joint are represented by different reference numerals. For example, the structure of the second secondary wire threading hole 207 of the first bone joint is the same as that of the second secondary wire threading hole 407 of the third bone joint, the structure of the bone joint main body 204 of the first bone joint is the same as that of the bone joint main body 404 of the third bone joint, and the structure of the second connecting ring 203 of the first bone joint is the same as that of the second connecting ring 403 of the third bone joint.

[0049] As Figure 5As shown, the connecting core 301 of joint B can be embedded into the second connecting ring 203 of joint A, and the first connecting ring 302 of joint B can be embedded into the second arc-shaped groove outside the second connecting ring 203 of joint A. Through the double embedding of the connecting core 301 and the first connecting ring 302, the joint body 304 of joint B and the joint body 204 of joint A can be connected together, and the first connecting part of joint B is not easily detached from the second connecting part of joint A. The traction rope can be sequentially threaded through the second auxiliary threading hole 207 on joint A, the first main threading hole 305 of joint B, the first auxiliary threading hole 306 of joint B, and the second auxiliary threading hole 407 of joint C, for controlling the relative rotation of joint A and joint B.

[0050] In some embodiments, the envelope angle between the second connecting ring 203 and the connecting core 301 is less than 180°, which can make the cutting amount at the root of the connecting core 301 smaller, beneficial to enhancing the strength of the connecting core 301 and better resisting the extrusion force from the second connecting ring 203 on the connecting core 301. At the same time, since the envelope angle of the second connecting ring 203 on the connecting core 301 is less than 180°, the second connecting ring 203 cannot form a pulling force on the connecting core 301, avoiding the connecting core 301 from being subjected to alternating pulling and pressing forces and forming fatigue fracture. The outer side of the second connecting ring 203 of joint A is fitted with the inner side of the first connecting ring 302 of joint B, and the inner side of the first connecting ring 302 has a centripetal acting force on the outer side of the second connecting ring 203. When joint A and joint B rotate to the limit position, any side of the second connecting ring 203 cannot be disengaged from the fitting with the first connecting ring 302, thus ensuring that the fitting will not be disengaged during the bending movement of the joint.

[0051] See Figure 6 , the longitudinal engagement thickness between the connecting core 301 and the second connecting ring 203 is d1, the transverse engagement thickness is d3, the longitudinal engagement thickness between the first connecting ring 302 and the joint body 204 is d2, and the transverse engagement thickness is d4. Then the total longitudinal engagement thickness D1 of joint A and joint B is: D1 = d1 + d3, and the total transverse engagement thickness D2 is: D2 = d2 + d4. It can be seen that through double engagement in the embodiments of the present application, the engagement thickness between adjacent joints is increased, and the connection strength between adjacent joints can be enhanced.

[0052] To further illustrate the snake bone structure provided by the embodiments of the present application, Figure 7 shows a three-dimensional structural schematic diagram of a joint, as Figure 7 shown, the two first connecting parts of joint 103 are symmetrically distributed along the central axis 209 of joint 103, and the two second connecting parts of joint 103 are symmetrically distributed along the central axis 209 of joint 103, that is, for a single joint 103, the first connecting part and the second connecting part are adjacent to each other on the side.

[0053] It should be noted that to ensure the structural strength of the joint 103, the first connecting portion and the second connecting portion are integrally formed structures. In the embodiments of the present application, the joint 103 is decomposed into two first connecting portions and two second connecting portions only for the convenience of describing the structure of the joint 103.

[0054] Refer to Figure 7 , in some embodiments, the first main threading hole 205, the first secondary threading hole 206, and the second secondary threading hole 207 are all structures formed by the joint body 204 of the joint 103 being recessed inwardly towards the central axis 209. To ensure the size of the wiring space S inside the joint 103, the wall thickness of the first main threading hole 205, the first secondary threading hole 206, and the second secondary threading hole 207 can be smaller than the thickness of the joint body 204 to avoid occupying too much internal space of the joint 103.

[0055] As Figure 7 shown, the upper section plane 208 of the first main threading hole 205 is perpendicular to the central axis 209 of the joint 103 and coincides with the radial cross-section of the joint where the rotation axis 210 of the first connecting portion is located, where the rotation axis 210 is the axis determined by the centers P1 and P2 of the two connecting cores 201.

[0056] The non-bending state of the snake bone structure provided by the embodiments of the present application can be referred to Figure 8 , and a bending state can be referred to Figure 9 .

[0057] Refer to Figure 8 , which is a schematic diagram of the non-bending state of a snake bone structure provided by the embodiments of the present application. Figure 8 In

[0058] , the second connecting portion A2 of the third joint of the snake bone structure is connected to the first connecting portion B1 of the fourth joint. Figure 8 The first traction rope 501, the second traction rope 502, the third traction rope 503, and the fourth traction rope are sequentially threaded through each joint of

[0059] For the convenience of describing the traction rope transmission of the snake bone structure, the part of the second traction rope 502 between the second secondary connection hole of the second connection part A2 and the first main threading hole of the first connection part B1 can be called the a-section traction rope, and the part of the second traction rope 502 between the first main threading hole of the first connection part B1 and the first secondary threading hole of the first connection part B1 can be called the b-section traction rope. The demarcation point between the a-section traction rope and the b-section traction rope is point M, and point M is the wire outlet point of the first main threading hole of the first connection part B1; the part of the first traction rope 501 in Figure 8 the part between the first main threading hole of the first connection part of the third bone joint and the first secondary threading hole of the third bone joint in Figure 8 is called the c-section traction rope, and the part of the first traction rope 501 in

[0060] Figure 8 In, in the non-bending state, the upper cutting plane of the first main threading hole of the first connection part B1 is perpendicular to the central axis of the fourth bone joint and coincides with the bone joint radial section where the rotation axis of the fourth bone joint is located, so that the wire outlet direction of the traction rope of the second connection part A2 intersects with the rotation axis of the fourth bone joint, that is, the connection point of the a-section traction rope and the b-section traction rope is located on the rotation axis of the first connection part B1. The length of the a-section traction rope is equal to the distance between the second secondary threading hole of the second connection part A2 and the rotation axis of the fourth bone joint, and the length of the b-section traction rope is equal to the distance between the rotation axis of the fourth bone joint and the wire outlet point of the first connection part B1. The length of the c-section traction rope is the distance between the first main threading hole of the first connection part of the third bone joint and the first secondary threading hole of the third bone joint, the length of the d-section traction rope is the distance between the first secondary threading hole of the third bone joint and the second secondary connection hole of the fourth bone joint, and the length of the e-section traction rope is the distance between the second secondary threading hole of the fourth bone joint and the first main threading hole of the fifth bone joint. Figure 8 In, in the non-bending state, the included angle corresponding to the d-section traction rope is α, and this included angle is the included angle formed by the connection lines from the wire outlet points of the first secondary threading hole of the first connection part on the upper side of the third bone joint and the second secondary threading hole of the second connection part on the upper side of the fourth bone joint to the rotation center point of the fourth bone joint respectively.

[0061] See Figure 9, when the snake bone structure bends downward, since the upper traction rope passes through the first secondary threading hole and the first main threading hole of adjacent bone joints in sequence, the traction rope extends along the pipe wall of the bone joint, that is, along the axial direction of the bone joint; the left or / and right direction traction rope passes through the axis of rotation of another bone joint when exiting the main threading hole of one of the bone joints, so that the traction rope extends along the axial direction of the other bone joint. In this way, the left and right direction traction ropes extend with a traction rope extension direction determined every two bone joints as a unit. The bending movement of the snake bone structure in the up and down direction will not cause the change in the length of the left and right direction traction ropes, that is, the bending movement of the snake bone structure in the up and down direction is decoupled from the left and right direction traction ropes. Similarly, the present application also decouples the coupling of the left and right movement of the snake bone structure to the up and down movement.

[0062] As Figure 9 shown, if the downward bending angle between the third bone joint and the fourth bone joint is β, then the included angle corresponding to the d-segment traction rope at this time is (α + β). Figure 9 Compared with Figure 8 , the length of the a-segment traction rope remains unchanged, and the length of the b-segment traction rope remains unchanged. Therefore, the present application decouples the coupling of the up and down movement of the snake bone structure to the left and right movement. Similarly, the present application also decouples the coupling of the left and right movement of the snake bone structure to the up and down movement.

[0063] Figure 9 In, when the snake bone structure bends downward (the relative bending angle between bone joints is β), the schematic diagram for calculating the reduced transmission distance of the lower bone joint can be seen in Figure 10 As Figure 10 shown, through the sine theorem, the reduced transmission distance of the lower bone joint can be obtained as where R is the inner hole radius of the bone joint; due to the assistance of the first secondary threading hole 206 and the second secondary threading hole 207, the first traction rope 501 can be close to the inner wall of the bone joint. The length of the c-segment traction rope and the length of the e-segment traction rope of the traction rope do not change, and the length of the d-segment traction rope of the traction rope increases by the same amount as the reduced transmission distance of the lower bone joint. Because controlling the downward bending of the snake bone structure takes the side where the traction rope decreases as the active side and the opposite side direction as the driven side, and the retraction and release of the traction rope controlling the downward bending of the snake bone are controlled by the same motor, the increased length of the upper traction rope is set to be the same as the decreased length of the lower traction rope.

[0064] Figure 9 In, when the snake bone structure bends downward (the relative bending angle between bone joints is β), the schematic diagram for calculating the increased transmission distance of the upper bone joint is shown in Figure 11 As Figure 11 shown, through the sine theorem, the actually required increased transmission distance of the upper bone joint can be obtained as In order to achieve more precise control, the actually required increased transmission distance of the upper traction rope ) Compensation is carried out to ensure the predictability of the snake bone movement control, which is beneficial to the precise control of the snake bone movement. At the same time, due to the cooperation of the first main threading hole, the first secondary threading hole and the second secondary threading hole, the traction rope can be driven along the inner pipe wall, reducing the friction between the traction rope and the cable inside the snake bone pipe or the shielding layer inside the snake bone, thereby reducing the wear of the traction rope on the internal components of the snake bone and itself, and effectively improving the overall service life of the endoscope.

[0065] Based on the above snake bone structure, an embodiment of the present application further provides a method for preparing a snake bone structure for preparing the bone joints of the snake bone structure. Refer to Figure 12 , the method may include the following steps:

[0066] Step S101: Perform a thinning process on the position of the target pipe corresponding to the first main threading hole.

[0067] In some embodiments, the target pipe can be selected as a metal pipe, and the substrate thickness can be between 0.3 mm and 1 mm, which can ensure the circumferential stiffness and connection strength of the bone joints of the snake bone structure. Each bone joint is provided with a first main threading hole, and the first secondary threading hole and the second secondary threading hole are not provided. Performing a thinning process on the position of the target pipe corresponding to the first main threading hole on the bone joint can reduce the internal space of the pipe occupied after the first main threading hole is punched into the target pipe.

[0068] In some embodiments, each bone joint is further provided with a first secondary threading hole and a second secondary threading hole. In addition to performing a thinning process on the position of the first main threading hole, the positions of the target pipe corresponding to the first secondary threading hole and the second secondary threading hole on the bone joint are also thinned, thereby also reducing the internal space of the pipe occupied after the first secondary threading hole and the second secondary threading hole are punched into the target pipe.

[0069] In some embodiments, the target pipe is thinned to a thickness of one-half of the substrate thickness or a thickness of 0.2 mm, or it can also be thinned to the minimum value between one-half of the above substrate thickness and 0.2 mm.

[0070] Step S102: Cut the positions corresponding to the upper edge and the lower edge of the first main threading hole, and perform a stamping process on the pipe between the upper edge and the lower edge towards the central axis of the target pipe, and the concave first main threading hole as shown in Figure 7 can be obtained.

[0071] In some embodiments, each bone joint is provided with a first main threading hole, and the first secondary threading hole and the second secondary threading hole are not provided. The positions corresponding to the upper edge and the lower edge of the first main threading hole can be cut, and then the pipes between the upper edge and the lower edge of the first main threading hole are respectively stamped towards the central axis direction of the target pipe, and the concave first main threading hole as shown in Figure 7 can be obtained.

[0072] In some embodiments, each joint is further provided with a first auxiliary threading hole and a second auxiliary threading hole. In addition to stamping the first main threading hole, the tubing between the upper edge and the lower edge of the first auxiliary threading hole and the tubing between the upper edge and the lower edge of the second auxiliary threading hole are also stamped, and the Figure 7 shown concave first auxiliary threading hole and second auxiliary threading hole can be obtained. In the present application, the positions corresponding to the upper edges and the lower edges of the first main threading hole, the first auxiliary threading hole, and the second auxiliary threading hole are first cut, which can avoid the tubing above the upper edge and below the lower edge from being deformed by stamping.

[0073] Step S103: According to the structures of the first connecting portion and the second connecting portion, perform cutting and forming on the positions other than the first main threading hole on the target tubing.

[0074] In some embodiments, each joint is provided with a first main threading hole, and no first auxiliary threading hole and second auxiliary threading hole are provided. After stamping the first main threading hole, laser cutting technology can be used to cut other parts of the first connecting portion and the second connecting portion, such as the connecting core and the connecting core groove, the first connecting ring, the second connecting ring, etc., to obtain an integrally formed joint. The strength of the joint can be ensured through the integrally forming technology.

[0075] In some embodiments, each joint is further provided with a first auxiliary threading hole and a second auxiliary threading hole. After stamping the first main threading hole, the first auxiliary threading hole, and the second auxiliary threading hole, laser cutting technology can be used to cut other parts of the first connecting portion and the second connecting portion, such as the connecting core and the connecting core groove, the first connecting ring, the second connecting ring, etc., to obtain the Figure 7 shown integrally formed joint. The strength of the joint can be ensured through the integrally forming technology.

[0076] In some embodiments, when cutting, laser cutting technology is used to cut along the normal direction of the tangent point.

[0077] It should be noted that in some embodiments, step S103 may also be executed first, and then step S102.

[0078] The joints 103, the snake bone head 101, and the snake bone tail 102 of the snake bone structure can all be produced according to the Figure 10 shown method. After assembling the snake bone head 101, multiple joints 103, and the snake bone tail 102 into a snake bone structure, the snake bone structure can be further assembled with other components of the endoscope, and finally the endoscope as shown in Figure 1 is obtained.

[0079] As can be seen from the above embodiments, the snake bone structure of the present invention can move in four directions: up, down, left, and right. The snake bone structure adopts the cooperation of main and auxiliary wire threading holes, so that when the snake bone structure bends in one direction, the transmission distance of the traction ropes in the non-opposite directions remains unchanged, thus eliminating the coupling between the traction ropes. The transmission amount of the traction ropes can also be accurately calculated according to information such as the snake bone diameter and bending angle, which brings great convenience to the motion control of the surgical robot. In addition, the wire threading holes of the snake bone structure of the present invention are locally thinned, which is beneficial to the formation of the wire threading holes and can also improve the radial stiffness of the bone joints, ensuring the strength of the snake bone structure during the transmission process. Through the above design, the snake bone structure of the present application invention integrates the strength of the riveted snake bone and the advantages of the laser-cut snake bone, and also meets the requirements of high-precision control.

[0080] Since the above embodiments are all described by reference and combination on the basis of other methods, and there are the same parts between different embodiments, the same and similar parts between the various embodiments in this specification can be referred to each other. Details are not elaborated here.

[0081] The above embodiments of the present application do not constitute a limitation to the protection scope of the present application.

Claims

1. A snake bone structure, characterized in that, It includes several bone joints and multiple groups of traction ropes for driving the movement of the bone joints. The bone joints include a cylindrical structure formed by alternating multiple first connecting parts and multiple second connecting parts. A group of traction ropes is arranged oppositely in the first radial direction of the bone joint, and another group of traction ropes is arranged oppositely in the second radial direction of the bone joint, where: A connecting core is provided at the upper end of the first connecting part. The connecting core is of a semi-circular structure. A second connecting ring is provided at the bottom end of the second connecting part. In two adjacent bone joints, the second connecting ring is rotationally connected around the connecting core, and the rotation axis is the axis determined by the centers of two opposite connecting cores; A first main threading hole is provided at the bottom of the connecting core. The upper cutting plane of the first main threading hole is perpendicular to the central axis of the bone joint, and moreover, the upper cutting plane coincides with the radial cross-section of the bone joint where the rotation axis is located. A first secondary threading hole is provided at the bottom of the first connecting part, and a second secondary threading hole is provided at the upper end of the second connecting part; In two adjacent bone joints, the traction ropes are sequentially threaded through the second secondary threading hole, the first main threading hole, and the first secondary threading hole. When the first group of traction ropes drives the two bone joints to bend along the rotation axis, the second group of traction ropes bends at the rotation axis of the upper cutting plane, and the lengths of the second group of traction ropes on the two bone joints remain unchanged.

2. The snake bone structure according to claim 1, characterized in that, A first connecting ring is provided on the outer side of the connecting core. The first connecting ring bends towards the connecting core. Adjacent bone joints are embedded and connected through the first connecting ring and the second connecting ring.

3. The snake bone structure according to claim 1 or 2, characterized in that, The included angle between the second connecting ring and the connecting core is less than 180 degrees.

4. The snake bone structure according to claim 1, wherein, The snake bone structure further includes a snake bone head and a snake bone tail. The snake bone head is connected to the first connecting part of the first bone joint, and the snake bone tail is connected to the second connecting part of the last bone joint.

5. An endoscope, characterized in that, It includes a lens body. The lens body includes a lens and the snake bone structure according to any one of claims 1-4. The snake bone structure is connected to the lens and is used to control the lens to rotate.

6. A preparation method of a snake bone structure, characterized in that, For preparing the snake bone structure according to any one of claims 1-5, where a first main threading hole is provided in the first connecting part of the snake bone structure, the first radial direction and the second radial direction are perpendicular. When one group of the traction ropes drives the snake bone structure to bend, the other group of traction ropes determines an extension direction with two adjacent bone joints as a unit and changes to the next extension direction at the first main threading hole. The preparation method includes: Performing a thinning treatment on the target pipe at the position corresponding to the first main threading hole; Cutting the positions corresponding to the upper edge and the lower edge of the first main threading hole, and performing a stamping forming on the pipe between the upper edge and the lower edge towards the central axis of the target pipe; Performing a cutting forming on the target pipe at the positions other than the first main threading hole according to the structures of the first connecting part and the second connecting part.

7. The preparation method of the snake bone structure according to claim 6, characterized in that, Performing a cutting forming on the target pipe at the positions other than the first main threading hole, including: performing a cutting forming on the target pipe at the positions other than the first main threading hole through a laser cutting technology, and the cutting direction is the normal direction of the tangent point.

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