A snake bone, an insertion part, and an endoscope

Abstract

The present application relates to the technical field of endoscopes, and specifically relates to a snake bone, an insertion portion, and an endoscope. The snake bone includes a plurality of snake bone units that are rotatably connected end to end. The snake bone units are provided with a first guiding portion and a second guiding portion at both axial ends thereof. In the circumferential direction of the snake bone unit, the first guiding portion and the second guiding portion partially overlap. The first guiding portion of the snake bone unit can be in guiding cooperation with the second guiding portion of an adjacent snake bone unit, enabling the snake bone unit to twist relative to the adjacent snake bone unit. In the above solution, when the first guiding portion of the snake bone unit is in contact with the second guiding portion of an adjacent snake bone unit, by continuing to apply a traction force, the first guiding portion of the snake bone unit and the second guiding portion of the adjacent snake bone unit are in sliding cooperation, enabling the snake bone unit to twist relative to the adjacent snake bone unit, and further causing the entire snake bone to twist, so that the viewing direction of the camera module at the distal end of the insertion portion deviates from the snake bone, avoiding interference caused by the snake bone being present in the viewing window of the camera module.

Description

Technical Field

[0001] The present application relates to the technical field of endoscopes, and in particular to a snake bone, an insertion portion and an endoscope. Background Art

[0002] An endoscope is a commonly used medical device, comprising an operating handle and an insertion part. The insertion part can enter the human body through a human cavity or a surgical incision. By turning the lever on the operating handle, the active bending section at the distal end of the insertion part can be driven to adjust its posture. The camera module at the distal end of the insertion part can observe the internal tissues of the human body, helping doctors determine the location of lesions in the patient's body and the tissue structure characteristics of the lesion location.

[0003] The distal end of the insertion portion has an active bending section, which can be composed of an integrally injected snake bone or a plurality of mutually riveted snake bone units connected end to end, and active bending is achieved by pulling with a traction rope. In the related art, for some complex cavities in the human body, the active bending section is usually required to be able to achieve large-angle bending. However, in the actual use process, when the active bending section achieves large-angle bending, the active bending section itself usually falls into the viewfinder of the camera module, causing interference to the observation of the internal tissues of the human body. Summary of the invention

[0004] The embodiments of the present application disclose a snake bone, an insertion portion and an endoscope to solve the technical problem in the related art that an active bending section enters into a viewfinder window of a camera module and causes interference.

[0005] In order to solve the above problems, the embodiments of the present application adopt the following technical solutions:

[0006] In a first aspect, an embodiment of the present application provides a snake bone, the snake bone comprising a plurality of snake bone units connected end to end, two adjacent snake bone units being provided with two opposite connecting parts along a first radial direction, and the two adjacent snake bone units being connected in rotation through the connecting parts;

[0007] The snake bone unit is provided with a first guide portion and a second guide portion at both ends of its axial direction. In the circumferential direction of the snake bone unit, the first guide portion and the second guide portion partially overlap. The first guide portion of the snake bone unit can be guided and cooperated with the second guide portion of the adjacent snake bone unit to allow the snake bone unit to be twisted relative to the adjacent snake bone unit.

[0008] Further, when the axial direction of the serpentine unit is the same as the axial direction of the adjacent serpentine unit, a third gap is provided between the first guide portion of the serpentine unit and the second guide portion of the adjacent serpentine unit.

[0009] Further, when the axial direction of the snake bone unit is the same as that of the adjacent snake bone unit, in the axial direction of the snake bone unit, the first width of the third gap is greater than the second width of the first guiding portion and the third width of the second guiding portion.

[0010] Further, both the first guiding portion and the second guiding portion are convex structures; alternatively, one of the first guiding portion and the second guiding portion is a convex structure, and the other is a matching concave structure.

[0011] Further, the first guiding portion has a first guiding surface, the second guiding portion has a second guiding surface, and the first guiding surface is in sliding fit with the second guiding surface.

[0012] Further, the first guiding surface is an inclined surface or an arc surface, and the second guiding surface is an inclined surface or an arc surface.

[0013] Further, the first guiding portion and the second guiding portion are located at the middle positions between two opposite connecting portions.

[0014] Further, the snake bone unit is provided with a first opening and a second opening at both ends in its axial direction. After the connecting portion connecting the snake bone units sequentially passes through the second opening of the adjacent snake bone unit and the first opening of the snake bone unit, it is connected to the adjacent snake bone unit.

[0015] In a second aspect, an embodiment of the present application further provides an insertion portion, including the aforementioned snake bone.

[0016] In a third aspect, an embodiment of the present application further provides an endoscope, and the endoscope includes the aforementioned insertion portion.

[0017] The technical solutions adopted in the embodiments of the present application can achieve the following beneficial effects:

[0018] In the snake bone, insertion portion and endoscope disclosed in the embodiments of the present application, in any two adjacent snake bone units, the first guiding portion of the distal snake bone unit abuts and deflects against the second guiding portion of the proximal snake bone unit, so that the distal snake bone unit has a certain torsion angle and displacement offset relative to the proximal snake bone unit. In the case where multiple snake bone units are twisted together, there is a large displacement offset between the most distal snake bone unit and the nearest proximal snake bone unit. Therefore, when the camera module located at the distal end of the insertion portion performs image acquisition, it is difficult for the active bending section or the passive bending section proximal to the active bending section to fall into the view window of the camera module, eliminating the interference of the insertion portion on the image information, and enabling the image information captured by the camera module to more accurately reflect the clinical conditions of the internal tissues of the human body, facilitating medical staff to make accurate judgments. Description of the Drawings

[0019] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0020] Figure 1 is one of the schematic structural diagrams of the snake bone according to an embodiment of the present application;

[0021] Figure 2 is another schematic structural diagram of the snake bone according to an embodiment of the present application;

[0022] Figure 3 is Figure 2 the partial enlarged schematic diagram at position A in

[0023] Figure 4 is the third schematic structural diagram of the snake bone according to an embodiment of the present application;

[0024] Figure 5 is Figure 4 the partial enlarged schematic diagram at position B in

[0025] Figure 6 is the fourth schematic structural diagram of the snake bone according to an embodiment of the present application;

[0026] Figure 7 is Figure 6 the partial enlarged schematic diagram at position C in.

[0027] In the figure:

[0028] snake bone, 110 - connecting part, 111 - first connecting section, 112 - first winding section, 113 - second winding section, 114 - second winding section, 120 - first guiding part, 121 - first guiding surface, 130 - second guiding part, 131 - second guiding surface, 140 - first opening, 150 - second opening, 160 - turning notch, 170 - first opening, 171 - second gap, 172 - second avoiding space, 180 - second opening, 181 - first gap, 182 - first avoiding space, 190 - third gap; a - first width, b1 - second width, b2 - third width. Detailed implementation manners

[0029] To make the objectives, technical solutions and advantages of the present invention clearer, the following will describe the technical solutions of the present invention in detail. Obviously, the described embodiments are only some embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, all other implementation manners obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present invention.

[0030] The terms "first", "second", etc. in the description and claims of this application are used to distinguish similar objects, rather than to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of this application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of the same type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the description and claims means at least one of the connected objects, and the character " / ", generally represents an "or" relationship between the associated objects before and after.

[0031] In the embodiments of this application, "proximal end" and "distal end" refer to the relative positions of the endoscope and its accessories to the user in the usage environment. Among them, the end closer to the user is designated as the "proximal end", and the end farther from the user is designated as the "distal end".

[0032] In the related art, the active bending section of the endoscope is usually composed of a snake bone. The snake bone can be formed by riveting multiple snake bone units, or can be processed by integral injection molding. In specific applications, because there are some relatively complex cavities in the human body, such as the renal pelvis, the active bending section usually needs to have the ability of large-angle bending, that is, the rotation angle of the active bending section is relatively large. However, the inventors found during the research process that because the active bending section usually bends in two opposite directions, when the active bending section undergoes large-angle bending, the active bending section or the passive bending section connecting the proximal end of the active bending section often falls into the viewfinder window of the camera module. The image information captured by the camera module usually includes a part of the insertion portion. That is to say, the insertion portion itself causes a large interference to the observation of the internal tissues of the human body, and it is difficult to obtain ideal image information.

[0033] In view of this, some embodiments of this application provide a snake bone for an endoscope, which twists itself to solve the technical problem that the active bending section in the related art falls into the viewfinder window of the camera module and causes interference. The following combines the attached Figures 1 to 7 , and the snake bone, insertion portion and endoscope provided by the embodiments of this application are described through specific embodiments and their application scenarios.

[0034] Please refer to Figures 1 to 2, an embodiment of the present application discloses a snake bone. The disclosed snake bone includes a plurality of snake bone units 100 connected end to end. The snake bone unit 100 has a tubular structure. There are two opposite connecting parts 110 disposed between two adjacent snake bone units 100 along the first radial direction. The snake bone unit 100 is rotationally connected to the adjacent snake bone unit 100 through the connecting part 110. It can be understood that there are turning cuts 160 between the snake bone unit 100 and the adjacent snake bone unit 100. The plurality of turning cuts 160 are distributed along the axial direction of the snake bone. When a pulling force is applied to the snake bone, in any two adjacent snake bone units 100, the snake bone unit 100 at the distal end can deflect towards the turning cut 160, so that the entire snake bone bends along a preset direction.

[0035] It should be noted that, in the embodiment of the present application, the two opposite connecting parts 110 are distributed along the radial direction of the snake bone unit 100. The radial direction referred to herein is not only limited to the radial direction passing through the axis of the snake bone unit 100, but can also be the chord length extension direction of the snake bone unit 100.

[0036] Please continue to refer to Figure 2 , the snake bone unit 100 is provided with a first guiding part 120 and a second guiding part 130 at both ends of its axis. In the circumferential direction of the snake bone unit 100, the first guiding part 120 and the second guiding part 130 partially overlap. When a pulling force is applied to the snake bone, the first guiding part 120 of the snake bone unit 100 can contact the second guiding part 130 of the adjacent snake bone unit 100. When the pulling force is further applied, because the first guiding part 120 of the snake bone unit 100 and the second guiding part 130 of the adjacent snake bone unit 100 do not completely overlap in the circumferential direction of the snake bone unit 100, the two will guide each other and be misaligned, causing the snake bone unit 100 to twist relative to the adjacent snake bone unit 100, and further causing the entire snake bone to twist.

[0037] Based on the above technical solution, in any two adjacent snake bone units 100, the first guiding part 120 of the snake bone unit 100 at the distal end abuts and deflects against the second guiding part 130 of the snake bone unit 100 at the proximal end, so that the snake bone unit 100 at the distal end has a certain torsional angle and displacement offset relative to the snake bone unit 100 at the proximal end. In the case where a plurality of snake bone units 100 are twisted together, there is a large displacement offset between the snake bone unit 100 at the most distal end and the snake bone unit 100 at the nearest proximal end. Therefore, when the camera module at the distal end of the insertion part performs image acquisition, it is difficult for the active bending section or the passive bending section at the proximal end of the active bending section to fall into the viewing window of the camera module, eliminating the interference of the insertion part on the image information, and enabling the image information captured by the camera module to more accurately reflect the clinic situation of the internal tissues of the human body, facilitating medical staff to make accurate judgments.

[0038] It should be understood that in the embodiments of the present application, in order to avoid redundancy, the cooperation relationships such as contact, abutment, and relative sliding between the first guiding portion 120 and the second guiding portion 130 refer to the mutual cooperation between the first guiding portion 120 of the snake bone unit 100 and the second guiding portion 130 of the adjacent snake bone unit 100, rather than the cooperation relationship between the first guiding portion 120 and the second guiding portion 130 at the axial two ends of the same snake bone unit 100.

[0039] In some embodiments of the present application, when the axial direction of the snake bone unit 100 is the same as that of the adjacent snake bone unit 100, the first guiding portion 120 of the snake bone unit 100 is in contact with the second guiding portion 130 of the adjacent snake bone unit 100; that is to say, when the snake bone unit 100 does not deflect relative to the adjacent snake bone unit 100, the first guiding portion 120 can be in contact with the second guiding portion 130. At this time, if a traction force is applied to the snake bone, while the snake bone unit 100 deflects relative to the adjacent snake bone unit 100, it will also twist. In this case, the entire snake bone will twist when it starts to bend, and finally there will be a large displacement offset between the snake bone unit 100 at the farthest end and the snake bone unit 100 at the nearest end, which makes the viewing direction of the distal module of the insertion portion deviate from the insertion portion itself as much as possible, having a relatively excellent interference elimination effect.

[0040] The inventors found during the research process that when the bending angle of the active bending section is small, it and its proximal passive bending section are difficult to fall into the viewing window of the camera module. If the first guiding portion 120 of the snake bone unit 100 is in contact with the second guiding portion 130 of the adjacent snake bone unit 100 at the beginning, then when driving the snake bone to bend, a large traction force needs to be applied at the beginning, resulting in poor operating comfort for the operator.

[0041] Based on this situation, in some embodiments of the present application, please refer to Figure 4 and Figure 5, when the axial direction of the snake bone unit 100 is the same as that of the adjacent snake bone unit 100, that is, when the snake bone unit 100 does not deflect relative to the adjacent snake bone unit 100, there is a third gap 190 between the first guiding portion 120 of the snake bone unit 100 and the second guiding portion 130 of the adjacent snake bone unit 100; with such a setting, when a traction force is applied to the snake bone to bend the snake bone, in the early stage of the snake bone bending, the third gap 190 on the side where the snake bone unit 100 deflects relative to the adjacent snake bone unit 100 gradually decreases, and the snake bone unit 100 does not twist relative to the adjacent snake bone unit 100. At this time, the insertion portion itself will not fall into the viewfinder window of the camera module, and the operator will not feel obvious traction resistance, and the operation comfort is better; when the traction force is continuously applied to the snake bone, the third gap 190 decreases until the first guiding portion 120 of the snake bone unit 100 contacts the second guiding portion 130 of the adjacent snake bone unit 100. At this time, the operator will feel an obvious damping feeling. If the traction force applied to the snake bone is further increased, the first guiding portion 120 and the second guiding portion 130 contact, squeeze and slide, causing the snake bone unit 100 to twist relative to the adjacent snake bone unit 100; at the same time, the operator can also roughly judge the bending posture of the active bending section through the felt damping feeling.

[0042] In the process of research, the inventor found that for some snake bones with a relatively large rotation angle, taking a snake bone with a limit rotation angle of 270° as an example, when the rotation angle of the snake bone does not exceed 180°, the insertion portion itself will not fall into the viewfinder window of the camera module, and interference will only occur after the rotation of the snake bone exceeds 180°. In this case, the rotation stroke of the snake bone without torsion in the early stage is greater than the rotation stroke of the snake bone with torsion in the later stage.

[0043] Based on this situation, when the axial direction of the snake bone unit 100 is the same as that of the adjacent snake bone unit 100, in the axial direction of the snake bone unit 100, the first width a of the third gap 190 is greater than the second width b1 of the first guiding portion 120 and the third width b2 of the second guiding portion 130; with such a setting, the rotation stroke of the snake bone without torsion is greater than the rotation stroke of the snake bone with torsion, which just matches whether the insertion portion falls into the viewfinder window of the camera module, avoiding premature torsion of the snake bone and reducing the operation comfort of the operator.

[0044] In some embodiments of the present application, please continue to refer to Figures 1 to 3, the first guiding part 120 and the second guiding part 130 can both be convex structures. When they are in contact with each other, they slide in a staggered manner, causing the snake bone unit 100 to twist relative to the adjacent snake bone unit 100. It can be understood that the first guiding part 120 has a first guiding surface 121 that slidably cooperates with the second guiding part 130, and the second guiding part 130 has a second guiding surface 131 that slidably cooperates with the first guiding part 120. The first guiding surface 121 and the second guiding surface 131 are in sliding cooperation.

[0045] It should be understood that the first guiding surface 121 can be an inclined surface or an arc surface, and the second guiding surface 131 can be an inclined surface or an arc surface. In a preferred embodiment, please refer to Figure 2 , both the first guiding surface 121 and the second guiding surface 131 are convex arc surfaces. When they are in sliding cooperation, they have a relatively small contact area and a relatively small frictional resistance. Therefore, it is also easier to pull the snake bone to twist.

[0046] In some other embodiments of the present application, one of the first guiding part 120 and the second guiding part 130 is a convex structure, and the other is a matching concave structure. Specifically, please refer to Figure 6 and Figure 7 , the first guiding part 120 can be a concave structure, and the second guiding part 130 can be a convex structure. Similarly, the first guiding part 120 has a first guiding surface 121, and the second guiding part 130 has a second guiding surface 131. When the first guiding part 120 and the second guiding part 130 are in contact, the first guiding surface 121 and the second guiding surface 131 are in sliding cooperation; it can be understood that compared with the form in which both the first guiding part 120 and the second guiding part 130 are convex structures described above, in this way, there can be a larger rotation limit angle between two adjacent snake bone units 100, that is to say, the entire snake bone has a larger bending angle.

[0047] As can be seen from the foregoing, there is a turning notch 160 between two adjacent snake bone units 100, and the two adjacent snake bone units 100 are rotatably connected through two opposite connecting parts 110. The inventor found during the research process that if the first guiding part 120 and the second guiding part 130 are arranged adjacent to the connecting part 110, when a pulling force is applied to the snake bone, the deformation amount of the connecting part 110 of the first guiding part 120 and the second guiding part 130 in the state of being in contact with each other is relatively small, while the deformation amount of the other connecting part 110 that is radially opposite is relatively large, and it is often difficult for the connecting part 110 to achieve a large torsional deformation, and actually the entire snake bone is difficult to twist.

[0048] Based on this situation, in the embodiments of the present application, please continue to refer to Figures 1 to 3, the first guiding part 120 and the second guiding part 130 are located at the middle positions between two opposite connecting parts 110. With such an arrangement, when the first guiding part 120 and the second guiding part 130 abut and slide against each other, the deformation of the two radially opposite connecting parts 110 is relatively uniform, reducing the difficulty of twisting the snake bone.

[0049] During the research process, the inventor also found that if the entire snake bone bends and twists, the connecting part 110 between the snake bone unit 100 and the adjacent snake bone unit 100 has tensile deformation, compressive deformation, and torsional deformation. The connecting part 110 is extremely prone to fatigue and even fracture, and thus cannot effectively support the snake bone unit 100, resulting in the active bending section being difficult to achieve the expected bending effect. That is to say, the snake bone capable of twisting in the embodiment of the present application has relatively high requirements for the connecting part 110 between two adjacent snake bone units 100.

[0050] Based on the above situation, in the embodiment of the present application, please refer to Figure 2 and Figure 3 , the snake bone unit 100 is provided with a first opening 170 and a second opening 180 at both axial ends thereof. The connecting part 110 connecting the snake bone units 100 successively passes around the second opening 180 of the adjacent snake bone unit 100 and the first opening 170 of the snake bone unit 100, and then is connected to the adjacent snake bone unit 100.

[0051] By providing the first opening 170 and the second opening 180 at both axial ends of the snake bone unit 100, the connecting part 110 can extend around in the first opening 170 and the second opening 180. In this way, without changing the distance between the snake bone unit 100 and the adjacent snake bone unit 100, the extension length of the connecting part 110 is significantly increased. When the snake bone unit 100 deflects relative to the adjacent snake bone unit 100, on the one hand, because the distance between the snake bone unit 100 and the adjacent snake bone unit 100 remains unchanged, the snake bone unit 100 can still abut against the adjacent snake bone unit 100 with the connecting part 110 as the support, thereby improving the reliability of the bending of the entire snake bone; on the other hand, because the extension length of the connecting part 110 is increased, even if the snake bone has a large bending amplitude, the bending deformation amount and torsional deformation amount per unit length of the connecting part 110 are relatively small. In this case, it is difficult for the connecting part 110 to generate bending fatigue and torsional fatigue. Even if the entire snake bone undergoes multiple bends and twists, the connecting part 110 also has good ability to recover deformation. That is to say, the connecting part 110 is not prone to bending fatigue and torsional fatigue, and is even less prone to fracture, thereby significantly improving the bending stability of the active bending section and the reliability of bending control.

[0052] In a further technical solution, please continue to refer to Figure 3, the connecting portion 110 includes a first connecting segment 111, a first winding segment 112, a second winding segment 113, and a second connecting segment 114. Among them, the first connecting segment 111 is connected to the snake bone unit 100, the first winding segment 112 is wound within the second opening 180, the second winding segment 113 is wound within the first opening 170, and the second connecting segment 114 is connected to the adjacent snake bone unit 100. The first winding segment 112 and the second winding segment 113 are connected to construct the main extension path of the connecting portion 110.

[0053] During the research process, the inventor found that since the snake bone unit 100 needs to bend in two opposite directions relative to the adjacent snake bone unit 100, for the first winding segment 112 and the second winding segment 113, when the bending direction of the snake bone changes, the force direction will also change accordingly. That is to say, the first winding segment 112 and the second winding segment 113 will not only undergo tensile deformation but also compressive deformation.

[0054] Based on the above situation, in the embodiment of the present application, the first winding segment 112 is adapted to the inner wall of the second opening 180 of the adjacent snake bone unit 100, and there is a first gap 181 between the first winding segment 112 and the inner wall of the second opening 180. The second opening 180 forms a first avoidance space 182 inside the first winding segment 112. When the snake bone unit 100 rotates relative to the adjacent snake bone unit 100, the first gap 181 can provide a deformation space for the tensile deformation of the first winding segment 112, and the inner wall of the second opening 180 can also play a role in abutting and restricting the tensile deformation of the first winding segment 112 to prevent it from excessive deformation. The first avoidance space 182 can provide a deformation space for the compressive deformation of the first winding segment 112.

[0055] The second winding segment 113 is adapted to the inner wall of the first opening 170 of the snake bone unit 100, and there is a second gap 171 between the second winding segment 113 and the inner wall of the first opening 170 of the snake bone unit 100. The first opening 170 forms a second avoidance space 172 inside the second winding segment 113. The second gap 171 can provide a deformation space for the tensile deformation of the second winding segment 113, and the inner wall of the first opening 170 can also play a role in abutting and restricting the second winding segment 113. The second avoidance space 172 can provide a deformation space for the compressive deformation of the second winding segment 113.

[0056] The embodiment of the present application also provides an insertion portion, including the aforementioned snake bone.

[0057] The embodiment of the present application also provides an endoscope, including an endoscope handle and the aforementioned insertion portion. The proximal end of the insertion portion is connected to the endoscope handle, and the active bending section at the distal end of the insertion portion can be controlled to bend by operating the endoscope handle.

[0058] The endoscope according to the embodiments of the present application may be a bronchoscope, a pyeloscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a nasal endoscope, an oral endoscope, a laryngoscope, a vaginoscope, a laparoscope, an arthroscope, etc. The embodiments of the present application do not specifically limit the types of endoscopes.

[0059] In the above embodiments of the present application, the differences between the various embodiments are mainly described. As long as the different optimization features between the various embodiments are not contradictory, they can be combined to form a more optimal embodiment. For the sake of brevity of the description, they will not be elaborated here.

[0060] The above are only the embodiments of the present application and are not intended to limit the present application. For those skilled in the art, various changes and modifications can be made to the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A snake bone, characterized in that, It includes a plurality of snake bone units (100) connected end to end. There are two opposite connecting parts (110) arranged along the first radial direction between two adjacent snake bone units (100), and two adjacent snake bone units (100) are rotationally connected through the connecting parts (110); The snake bone unit (100) is provided with a first guiding part (120) and a second guiding part (130) at both ends in its axial direction. In the circumferential direction of the snake bone unit (100), the first guiding part (120) and the second guiding part (130) partially overlap. The first guiding part (120) of the snake bone unit (100) can be in guiding cooperation with the second guiding part (130) of an adjacent snake bone unit (100) to enable the snake bone unit (100) to twist relative to the adjacent snake bone unit (100); The snake bone unit (100) is provided with a first opening (170) and a second opening (180) at both ends in its axial direction. The connecting part (110) connecting the snake bone units (100) sequentially passes around the second opening (180) of an adjacent snake bone unit (100) and the first opening (170) of the snake bone unit (100), and then is connected to the adjacent snake bone unit (100). The connecting part (110) can be deformed as the snake bone unit (100) bends and / or twists.

2. The snake bone according to claim 1, characterized in that, When the axial direction of the snake bone unit (100) is the same as that of an adjacent snake bone unit (100), the first guiding part (120) of the snake bone unit (100) contacts the second guiding part (130) of the adjacent snake bone unit (100); Alternatively, when the axial direction of the snake bone unit (100) is the same as that of an adjacent snake bone unit (100), there is a third gap (190) between the first guiding part (120) of the snake bone unit (100) and the second guiding part (130) of the adjacent snake bone unit (100).

3. The snake bone according to claim 2, characterized in that When the axial direction of the snake bone unit (100) is the same as that of an adjacent snake bone unit (100), in the axial direction of the snake bone unit (100), the first width of the third gap (190) is greater than the second width of the first guiding part (120) and the third width of the second guiding part (130).

4. The snake bone according to any one of claims 1 to 3, characterized in that, Both the first guiding part (120) and the second guiding part (130) are convex structures; or, one of the first guiding part (120) and the second guiding part (130) is a convex structure, and the other is a matching concave structure.

5. The snake bone according to claim 4, characterized in that, The first guiding part (120) has a first guiding surface (121), the second guiding part (130) has a second guiding surface (131), and the first guiding surface (121) is in sliding cooperation with the second guiding surface (131).

6. The snake bone according to claim 5, characterized in that, The first guiding surface (121) is an inclined surface or an arc surface, and the second guiding surface (131) is an inclined surface or an arc surface.

7. The snake bone according to any one of claims 1 to 6, characterized in that The first guiding part (120) and / or the second guiding part (130) is located at the middle position between two opposite connecting parts (110).

8. An insertion part, characterized in that, It includes the snake bone according to any one of claims 1 to 7.

9. An endoscope, characterized in that, Comprising the insertion part described in claim 8.

Images