A snake-bone structure, an active bending section, an insertion part, and an endoscope.

Abstract

This invention discloses a snake-bone structure, an active bending section, an insertion part, and an endoscope, relating to the field of medical devices. In this snake-bone structure, adjacent snake-bone units are connected by a first pivot, a second pivot, and a third pivot. The first and second pivots are located on opposite sides of the signal line channel in the radial direction, while the second and third pivots are located on opposite sides of the instrument tube channel in the radial direction. Each snake-bone unit also has an opening located between the second and third pivots, communicating with the instrument tube channel. The opening is used to install the instrument tube to be installed along the radial direction of the instrument tube channel. The first, second, and third pivots, the instrument tube channel, and the opening are all spirally distributed. The snake-bone structure of this invention, which assembles the instrument tube to be installed along the radial direction of the instrument tube channel, has the advantage of lower resistance to the instrument tube. Simultaneously, this snake-bone structure helps improve its bending accuracy and stability after bending.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a snake-bone structure, an active bending section, an insertion part, and an endoscope. Background Technology

[0002] An endoscope is a commonly used medical device that can directly enter the body's natural cavities for examination, providing doctors with comprehensive diagnostic information. An endoscope typically includes: an insertion part for insertion into the body, a manipulator for easy operation, and a display device for showing the internal environment of the body's natural cavities. Through the cooperation of these three parts, the endoscope enables visualization of the body's interior, exploration of lesions, and treatment.

[0003] After the endoscope is inserted into the human body, in order to obtain images of a wider area inside the body, the distal end of the insertion part is usually designed as a flexible structure. The insertion part includes an active bending section and a passive bending section. The active bending section is located at the distal end of the insertion part. By moving the toggle on the control handle, the toggle can drive the traction rope connected to it to move. Thus, the traction rope can apply force to the active bending section, thereby controlling the bending of the active bending section. The bending of the active bending section can drive the passive bending section to bend adaptively. Then, the camera module located on the distal end of the insertion part can obtain images within the irradiation range, thereby enabling large-scale observation, imaging, and diagnosis of the human body.

[0004] When an application requires the active bending segment to bend beyond 180°, the traditional one-piece injection molded active bending segment can usually only rotate within a single plane. After rotation, the snake bone itself will obstruct the camera module's field of view, preventing the active bending segment from bending beyond 180°. To solve this problem, existing technologies distribute the pivot portion of the snake bone spirally along the axis of the active bending segment, so that the active bending segment bends into a spiral shape, allowing the bending angle of the active bending segment to exceed 180°, thereby obtaining a larger field of view.

[0005] The pivot section of the integrally injection-molded active bending segment is spirally distributed, and the instrument tube mounting channel is also spirally distributed; otherwise, the final bending effect will be affected. However, the spirally distributed instrument tube channel presents a problem when installing large-sized instrument tubes (where the outer diameter of the instrument tube matches the inner diameter of the instrument tube channel). This is because the axis of the instrument tube channel is not straight, and there are gaps between adjacent serpentine units. During insertion, the instrument tube easily abuts against the end face of the next serpentine unit, resulting in significant resistance during installation. Therefore, providing a serpentine structure that enables large-angle bending and facilitates instrument tube installation is a technical problem urgently needing to be solved by those skilled in the art. Summary of the Invention

[0006] This invention discloses a snake-bone structure, an active bending section, an insertion part, and an endoscope to solve the technical problem in related technologies where the spirally distributed instrument tube channel of the snake-bone structure easily abuts against the end face of the next snake-bone unit during the insertion process when installing a large-sized instrument tube, resulting in difficulty in installation.

[0007] To solve the above problems, the present invention adopts the following technical solution:

[0008] The first aspect of the present invention provides a snake bone structure.

[0009] The snake-bone structure of the present invention includes multiple snake-bone units. Each snake-bone unit is provided with an instrument tube channel, a signal line channel, and a traction rope channel. The instrument tube channel, the signal line channel, and the traction rope channel all penetrate the snake-bone unit. Adjacent snake-bone units are connected by a pivot assembly. The pivot assembly includes a first pivot portion, a second pivot portion, and a third pivot portion. The first pivot portion and the second pivot portion are located on both sides of the signal line channel in the radial direction, and the second pivot portion and the third pivot portion are located on both sides of the instrument tube channel in the radial direction. Each snake-bone unit is also provided with an opening portion. The opening portion is located between the second pivot portion and the third pivot portion and communicates with the instrument tube channel. The opening portion is used to install the instrument tube to be installed along the radial direction of the instrument tube channel. From the distal end to the proximal end of the snake-bone structure, the first pivot portion, the second pivot portion, the third pivot portion, the instrument tube channel, and the opening portion are all spirally distributed.

[0010] Furthermore, in the snake-bone unit, the size of the opening satisfies: L1 < 0.5L0, where L1 is the arc length of the opening along the circumferential direction of the snake-bone unit, and L0 is the arc length of the instrument tube channel along the circumferential direction of the snake-bone unit.

[0011] Furthermore, the thickness of the third pivot portion along the radial direction of the instrument tube channel satisfies: M1≥M0, where M1 is the thickness of the third pivot portion along the radial direction of the instrument tube channel, and M0 is the thickness of the snake bone unit on both sides of the third pivot portion.

[0012] Furthermore, the openings on each of the snake-bone units are interconnected and form an instrument tube mounting port, and the distance between the third pivot and the instrument tube mounting port satisfies: L2 < 0.05L0, where L2 is the arc length between the third pivot and the instrument tube mounting port.

[0013] Furthermore, the traction rope channel includes a first traction rope channel and a second traction rope channel, which are located on both sides of the snake bone unit in the radial direction. The line connecting the first traction rope channel and the second traction rope channel and the line connecting the first pivot and the second pivot intersect each other. Moreover, the line connecting the first traction rope channel and the second traction rope channel is offset from the center of the snake bone unit, and the line connecting the first traction rope channel and the second traction rope channel is located outside the instrument tube channel.

[0014] Furthermore, from the distal end to the proximal end of the snake-bone structure, the arc length between the third pivot and the instrument tube mounting port gradually increases, while the arc lengths between the first pivot and the second pivot and the instrument tube mounting port gradually decrease; or from the distal end to the proximal end of the snake-bone structure, the arc length between the third pivot and the instrument tube mounting port gradually decreases, while the arc lengths between the first pivot and the second pivot and the instrument tube mounting port gradually increase.

[0015] Furthermore, the snake bone structure is a one-piece molded structure; or the snake bone structure is a riveted structure.

[0016] A second aspect of the invention provides an active bending segment.

[0017] The active bending segment of the present invention includes the snake bone structure described in any of the technical solutions of the present invention.

[0018] A third aspect of the present invention provides an insertion portion.

[0019] The insertion portion of the present invention includes the active bending segment described in any of the technical solutions of the present invention.

[0020] A fourth aspect of the present invention provides an endoscope.

[0021] The endoscope of the present invention includes the insertion portion described in any of the technical solutions of the present invention.

[0022] The technical solution adopted in this invention can achieve the following beneficial effects:

[0023] In a first aspect, the snake-bone structure of the present invention includes multiple snake-bone units, adjacent snake-bone units are connected by a first pivot, a second pivot, and a third pivot. Since the first pivot, the second pivot, and the third pivot are all spirally distributed, there is an angle between the line connecting the first pivot, the line connecting the second pivot, and the line connecting the third pivot and the central axis of the snake-bone structure. When the snake-bone structure is bent by the tension of the traction rope, it can bend in a non-plane. When the bend of the snake-bone structure exceeds 180°, the distal end of the snake-bone structure can be located above or below the proximal end of the snake-bone structure, thereby forming a misaligned deflection (deflection in a non-plane). Even if the bending angle of the snake-bone structure exceeds 180°, the distal end of the snake-bone structure will not collide with its proximal end, and the distal end of the snake-bone structure will not be blocked by its proximal end. Therefore, the snake-bone structure can achieve a large angle bend of more than 180°.

[0024] Secondly, in the snake-bone structure of the present invention, each snake-bone unit is also provided with an opening, which is located between the second pivot and the third pivot. The opening communicates with the instrument tube channel, so that the instrument tube to be installed can be assembled into the snake-bone structure through the opening along the radial direction of the instrument tube channel. Specifically, since the two sides of the opening are free ends, when the instrument tube to be installed is installed along the radial direction of the instrument tube channel, the two free ends are deformed by the compression of the instrument tube to be installed, which increases the width of the opening, so that the instrument tube to be installed can be placed into the instrument tube channel; after the instrument tube to be installed is placed into the instrument tube channel, the compression force on the two free ends disappears, the two free ends return to their original state, and the width of the opening decreases, so that the instrument tube to be installed can be wrapped and fixed in the instrument tube channel. This invention provides an advantage by assembling the instrument tube to be installed in a way that sets an opening along the radial direction of the instrument tube channel. This method results in less resistance to the instrument tube and makes installation convenient and quick. It avoids the problem of inserting the instrument tube into the instrument tube channel along the axial direction, where the end face of the instrument tube to be installed easily abuts against the end face of the next snake bone unit during insertion, leading to greater resistance during instrument tube installation.

[0025] Thirdly, in the snake bone structure of the present invention, adjacent snake bone units are connected by a first pivot, a second pivot, and a third pivot. The first pivot and the second pivot are located on both sides of the signal line channel in the radial direction, and the second pivot and the third pivot are located on both sides of the instrument tube channel in the radial direction. Furthermore, when the snake bone unit of the present invention is provided with an opening, the opening is located between the second pivot and the third pivot, rather than at the third pivot. This structure can enhance the strength of the snake bone structure. On the other hand, when bending the snake bone structure, it helps to improve the bending accuracy and stability of the snake bone structure after bending, while also avoiding the problem of tearing of the first pivot and the second pivot.

[0026] Specifically, because the instrument tube channel itself has a certain bending strength, and this bending strength is greater than that of the pivots between the snake-bone units, and the opening is located between the second and third pivots, when the traction rope is pulled to drive the snake-bone structure to bend, the component of the force exerted by the traction rope on the first pivot, the second pivot, and the instrument tube channel along the radial direction of the snake-bone structure is absorbed by the third pivot. This allows the snake-bone structure to bend along a predetermined spiral bending path, thereby improving the bending accuracy of the snake-bone structure. On the other hand, due to the existence of the third pivot, the free end of the instrument tube channel can also move synchronously along the direction of the traction rope tension. That is, the snake-bone structure can maintain a good posture and bend along a predetermined trajectory, avoiding the phenomenon of the free end of the instrument tube channel tilting due to insufficient traction rope tension. This can improve the stability of the snake-bone structure after bending, and also avoid the torque generated on the first and second pivots when the free end of the instrument tube channel tilts. This can prevent the first and second pivots from being torn due to torque, thus avoiding the problem of the first and second pivots being easily damaged.

[0027] Conversely, if the opening is located at the third pivot, meaning each snake-bone unit can only be connected via the first and second pivots located above the instrument channel, the snake-bone structure bends when the traction rope is pulled. However, since the instrument channel itself has a certain bending strength, and this bending strength is greater than that of the first and second pivots of the snake-bone structure, the radial component of the traction rope acting on the two pivots and the instrument channel cannot be canceled out when the traction rope is pulled. This results in the snake-bone structure generating a component force inconsistent with the predetermined spiral bending path, leading to poor bending accuracy. At the same time, it cannot be guaranteed that the free end of the instrument channel moves synchronously along the direction of the traction rope tension, and the free end of the instrument channel has the potential to tilt upwards, resulting in poor stability of the snake-bone structure after bending. It also causes the instrument channel to generate torque on the first and second pivots, causing the first and second pivots to be torn and damaged, affecting the quality of the snake-bone structure.

[0028] The snake-bone structure of the present invention solves the technical problem in related technologies where the spirally distributed instrument tube channels of the snake-bone structure easily abut against the end face of the next snake-bone unit during the insertion of large-sized instrument tubes, making installation difficult. At the same time, it can also improve the bending accuracy and stability of the snake-bone structure after bending, and avoid the problem of tearing in the first pivot and the second pivot. Attached Figure Description

[0029] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0030] Figure 1 This is a first schematic diagram of a preferred embodiment of the snake bone structure in this application;

[0031] Figure 2 This is a second schematic diagram of a preferred embodiment of the snake bone structure in this application;

[0032] Figure 3 This is a third schematic diagram of a preferred embodiment of the snake bone structure in this application;

[0033] Figure 4 This is a fourth schematic diagram of a preferred embodiment of the snake bone structure in this application;

[0034] Figure 5 This is the fifth schematic diagram of the preferred embodiment of the snake bone structure in this application;

[0035] Figure 6 yes Figure 5 Enlarged view of section A;

[0036] Figure 7 yes Figure 5 Enlarged view of section B;

[0037] Figure 8 This is a first schematic diagram of the snake bone structure and the instrument tube to be installed after assembly in the embodiments of this application;

[0038] Figure 9 This is a second schematic diagram of the snake bone structure and the instrument tube to be installed in the embodiments of this application after assembly;

[0039] Figure 10 This is a schematic diagram of the insertion part in a bent state in an embodiment of this application.

[0040] In the diagram: 10. Snake-bone unit; 11. Instrument tube channel; 111. First free end; 112. Second free end; 12. Signal line channel; 13. Traction rope channel; 131. First traction rope channel; 132. Second traction rope channel; 141. First pivot section; 1411. First side surface; 1412. Second side surface; 142. Second pivot section; 1421. Third side surface; 1422. Fourth side surface; 143. Third pivot section; 1431. Fifth side surface; 1432. Sixth side surface; 15. Opening; 16. Instrument tube mounting port; 17. First gap; 18. Second gap; 19. Third gap; 20. Instrument tube to be installed; 30. Active bending section; 40. Passive bending section. Detailed Implementation

[0041] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions of this invention will be described in detail below. Obviously, the described embodiments are merely some embodiments of this invention, and not all embodiments. Based on the embodiments of this invention, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this invention.

[0042] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0043] In the various embodiments of this application, "proximal end" and "distal end" refer to the position of the endoscope and its accessories relative to the user in the usage environment. 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."

[0044] The following is in conjunction with the appendix Figures 1 to 10 The snake-bone structure, active bending segment, insertion part, and endoscope provided in this application are described in detail through specific embodiments and application scenarios.

[0045] Example 1

[0046] This embodiment provides a detailed description of the snake bone structure of the present invention.

[0047] The snake-bone structure of this embodiment includes multiple snake-bone units 10. Each snake-bone unit 10 has an instrument tube channel 11, a signal line channel 12, and a traction rope channel 13. All three channels penetrate the snake-bone unit 10. Adjacent snake-bone units 10 are connected by a pivot assembly. The pivot assembly includes a first pivot portion 141, a second pivot portion 142, and a third pivot portion 143. The first pivot portion 141 and the second pivot portion 142 are located on opposite sides of the signal line channel 12 in the radial direction. 42 and the third pivot 143 are located on both sides of the instrument tube channel 11 in the radial direction. The snake-bone unit 10 is also provided with an opening 15, which is located between the second pivot 142 and the third pivot 143. The opening 15 communicates with the instrument tube channel 11 and is used to install the instrument tube 20 to be installed along the radial direction of the instrument tube channel 11. From the distal end to the proximal end of the snake-bone structure, the first pivot 141, the second pivot 142, the third pivot 143, the instrument tube channel 11, and the opening 15 are all spirally distributed, such as... Figures 1-9 As shown. Preferably, the signal line channel 12 and the traction rope channel 13 are also spirally distributed, as shown. Figure 2 As shown. In this embodiment, the serpentine structure has its pivot points arranged in a spiral pattern, and correspondingly, the channels and openings 15 are also spirally distributed, thereby ensuring the bending effect of the serpentine structure, as shown. Figure 1 As shown.

[0048] The radial direction of the signal line channel 12 mentioned in this embodiment can refer to the direction of the diameter of the signal line channel 12, or it can refer to the direction of any chord of the signal line channel 12. That is, the line connecting the first pivot 141 and the second pivot 142 can pass through the center of the signal line channel 12, or it can not pass through the center of the signal line channel 12. Similarly, the line connecting the second pivot 142 and the third pivot 143 can pass through the center of the instrument tube channel 11, or it can not pass through the center of the instrument tube channel 11.

[0049] Taking the spiral distribution of the third pivot 143 as an example: A spiral distribution means that the line connecting each third pivot 143 is not parallel to the central axis of the serpentine structure; that is, the line connecting each third pivot 143 intersects the central axis of the serpentine structure. Specifically, from the distal end to the proximal end of the serpentine structure, the distance between each third pivot 143 and the central axis of the serpentine structure gradually increases; or from the distal end to the proximal end of the serpentine structure, the distance between each third pivot 143 and the central axis of the serpentine structure gradually decreases, such as... Figure 3 As shown.

[0050] Preferably, the spiral distribution of the first pivot 141, the second pivot 142, the third pivot 143, the instrument tube channel 11, the signal line channel 12, the traction rope channel 13, and the opening 15 can be the same or different. The same spiral distribution means that the distance between the connecting lines of each structure and the central axis of the snake-like structure changes in the same direction; conversely, different spiral distributions mean that the distance between the connecting lines of each structure and the central axis of the snake-like structure changes in different directions.

[0051] Firstly, the snake-bone structure of this embodiment includes multiple snake-bone units 10. Adjacent snake-bone units 10 are connected by a first pivot 141, a second pivot 142, and a third pivot 143. Since the first pivot 141, the second pivot 142, and the third pivot 143 are all spirally distributed, there is an angle between the line connecting the first pivot 141, the second pivot 142, and the third pivot 143 and the central axis of the snake-bone structure. When the snake-bone structure is bent by the tension of the traction rope, it can bend in a non-plane. When the bend of the snake-bone structure exceeds 180°, the distal end of the snake-bone structure can be located above or below the proximal end of the snake-bone structure, thereby forming a misaligned deflection (deflection in a non-plane). Even if the bending angle of the snake-bone structure exceeds 180°, the distal end of the snake-bone structure will not collide with its proximal end, and the distal end of the snake-bone structure will not be blocked by its proximal end. Therefore, the snake-bone structure can achieve a large angle bend of more than 180°.

[0052] Secondly, in this embodiment of the snake-bone structure, each snake-bone unit 10 is also provided with an opening 15. The opening 15 is located between the second pivot 142 and the third pivot 143 and communicates with the instrument tube channel 11. Thus, the instrument tube 20 to be installed can be assembled into the snake-bone structure through the opening 15 along the radial direction of the instrument tube channel 11. Specifically, since the two sides of the opening 15 are free ends, when the instrument tube 20 to be installed is installed along the radial direction of the instrument tube channel 11, the two free ends are deformed by the compression of the instrument tube 20 to be installed, which increases the width of the opening 15, so that the instrument tube 20 to be installed can be placed into the instrument tube channel 11. After the instrument tube 20 to be installed is placed into the instrument tube channel 11, the compression force on the two free ends disappears, the two free ends return to their original state, and the width of the opening 15 decreases, so that the instrument tube 20 to be installed can be wrapped and fixed in the instrument tube channel 11. This embodiment uses an opening 15 to assemble the instrument tube 20 to be installed in the radial direction of the instrument tube channel 11. This method has the advantages of less resistance to the instrument tube 20 and convenient and quick installation. It avoids the problem of greater resistance during the installation of the instrument tube 20 when it is inserted into the instrument tube channel 11 in the axial direction. During the insertion process, the end face of the instrument tube 20 to be installed is likely to abut against the end face of the next snake bone unit 10.

[0053] Thirdly, in this embodiment of the snake bone structure, adjacent snake bone units 10 are connected by a first pivot 141, a second pivot 142, and a third pivot 143. The first pivot 141 and the second pivot 142 are located on both sides of the signal line channel 12 in the radial direction, and the second pivot 142 and the third pivot 143 are located on both sides of the instrument tube channel 11 in the radial direction. Furthermore, when the snake bone unit 10 in this embodiment is provided with an opening 15, the opening 15 is located between the second pivot 142 and the third pivot 143, rather than at the third pivot 143. This structure can enhance the strength of the snake bone structure. On the other hand, when bending the snake bone structure, it helps to improve the bending accuracy and stability of the snake bone structure after bending, and at the same time, it can also avoid the problem of tearing of the first pivot 141 and the second pivot 142.

[0054] Specifically, since the instrument tube channel 11 itself has a certain bending strength, and this bending strength is greater than that of the pivot portion between the snake bone units 10, and the opening 15 is located between the second pivot portion 142 and the third pivot portion 143, when the traction rope is pulled to drive the snake bone structure to bend, the component force of the traction rope acting on the first pivot portion 141, the second pivot portion 142 and the instrument tube channel 11 along the radial direction of the snake bone structure is absorbed by the third pivot portion 143, thereby allowing the snake bone structure to bend according to a predetermined spiral bending path, thereby improving the bending accuracy of the snake bone structure; on the other hand, since the third pivot portion 143 The presence of this structure also allows the free end of the instrument tube channel 11 to move synchronously along the direction of the traction rope tension. This means that the snake-bone structure can maintain a good posture and bend along a predetermined trajectory, avoiding the phenomenon of the free end of the instrument tube channel 11 tilting up due to insufficient tension from the traction rope. This improves the stability of the snake-bone structure after bending and also prevents the torque on the first pivot part 141 and the second pivot part 142 when the free end of the instrument tube channel 11 tilts up. This further prevents the first pivot part 141 and the second pivot part 142 from being torn due to the torque, thus avoiding the problem of the first pivot part 141 and the second pivot part 142 being easily damaged.

[0055] Conversely, if the opening 15 is located at the third pivot 143, meaning each snake-bone unit 10 can only be connected via the first pivot 141 and the second pivot 142 located above the instrument channel, the snake-bone structure bends when the traction rope is pulled. However, since the instrument channel 11 itself has a certain bending resistance, and this bending resistance is greater than that of the first pivot 141 and the second pivot 142 of the snake-bone structure, the radial component of the traction rope acting on the two pivots and the instrument channel 11 when the traction rope is pulled cannot be canceled out. Therefore, the snake-bone structure will generate a component force that is inconsistent with the predetermined spiral bending path, resulting in poor bending accuracy of the snake-bone structure. At the same time, it cannot be guaranteed that the free end of the instrument tube channel 11 moves synchronously along the direction of the traction rope tension, and the free end of the instrument tube channel 11 has the potential to tilt upwards, resulting in poor stability of the snake-bone structure after bending. It also causes the instrument tube channel 11 to generate torque on the first pivot part 141 and the second pivot part 142, causing the first pivot part 141 and the second pivot part 142 to be torn and damaged, affecting the quality of the snake-bone structure.

[0056] The snake-bone structure of this embodiment solves the problem in related technologies where the spirally distributed instrument tube channel 11 makes it difficult to install large-sized instrument tubes because the instrument tubes tend to abut against the end face of the next snake-bone unit 10 during insertion. It also improves the bending accuracy and stability of the snake-bone structure after bending, and avoids the problem of tearing in the first pivot part 141 and the second pivot part 142.

[0057] According to a preferred embodiment, both sides of the first pivot portion 141, both sides of the second pivot portion 142, and both sides of the third pivot portion 143 are concave arc-shaped structures, and the first pivot portion 141, the second pivot portion 142, and the third pivot portion 143 are connected to the snake-bone unit 10 in an arc shape, such as... Figure 6 As shown. The two sides of the first pivot part 141 are as follows. Figure 6 The first side 1411 and the second side 1412 are shown; the two sides of the second pivot 142 are as follows: Figure 6 The third side 1421 and the fourth side 1422 shown; the two sides of the third pivot 143 are as follows Figure 6 The fifth side 1431 and the sixth side 1432 are shown in the figure. In the preferred embodiment of the snake bone structure, both sides of the first pivot 141, the second pivot 142, and the third pivot 143 are concave arc-shaped structures, and the first pivot 141, the second pivot 142, and the third pivot 143 are connected to the snake bone unit 10 in an arc shape. This reduces the resistance at the connection points between the first pivot 141, the second pivot 142, and the third pivot 143 and the snake bone unit 10 when the snake bone structure bends, thereby facilitating the snake bone structure to bend along a predetermined bending trajectory.

[0058] According to a preferred embodiment, in the snake-bone unit 10, the size of the opening 15 satisfies: L1 < 0.5L0, where L1 is the arc length of the opening 15 along the circumferential direction of the snake-bone unit 10, and L0 is the arc length of the instrument tube channel 11 along the circumferential direction of the snake-bone unit 10. The sum of L1 and L0 is the circumference of the instrument tube channel 11. Due to the division of the opening 15, the instrument tube channel 11 has a notch, and the two ends of the instrument tube channel 11 are a first free end 111 and a second free end 112, respectively. Figure 1 As shown. Preferably, the end faces of the first free end 111 and the second free end 112 are arc-shaped to prevent the snake-bone structure from piercing the outer covering layer during bending. L1 is the arc length of the opening 15 along the circumferential direction of the snake-bone unit 10. L1 can also refer to the arc length between the first free end 111 and the second free end 112. In the preferred embodiment, the size of the opening 15 of the snake-bone structure is less than half the arc length of the instrument tube channel 11 along the circumferential direction of the snake-bone unit 10. When the instrument tube 20 to be installed is placed into the instrument tube channel 11, the stability of the instrument tube installation can be ensured, avoiding the problem of the instrument tube slipping out of the instrument tube channel 11 due to the opening of the opening 15 being too large.

[0059] According to a preferred embodiment, the thickness of the third pivot portion 143 along the radial direction of the instrument tube channel 11 satisfies: M1 ≥ M0, where M1 is the thickness of the third pivot portion 143 along the radial direction of the instrument tube channel 11, and M0 is the thickness of the snake-bone units 10 on both sides of the third pivot portion 143. M1, being the thickness of the third pivot portion 143 along the radial direction of the instrument tube channel 11, can also refer to the thickness of the third pivot portion 143 from the outer wall to the inner wall of the snake-bone structure. The thickness of the snake-bone units 10 on both sides of the third pivot portion 143 preferably refers to the thickness of the snake-bone units 10 at the connection points between the two sides of the third pivot portion 143. In this preferred embodiment, the thickness of the third pivot 143 along the radial direction of the instrument tube channel 11 is greater than the thickness of the snake bone unit 10 connected to it. When the traction rope is pulled to drive the snake bone structure to bend, the absorption effect of the third pivot 143 on the component force along the radial direction of the snake bone structure can be ensured, thereby further ensuring that the snake bone structure can bend according to the predetermined spiral bending path, and further improving the bending accuracy and stability of the snake bone structure after bending.

[0060] According to a preferred embodiment, the openings 15 on each snake-bone unit 10 are interconnected and form an instrument tube mounting port 16, and the distance between the third pivot portion 143 and the instrument tube mounting port 16 satisfies: L2 < 0.05L0, where L2 is the arc length between the third pivot portion 143 and the instrument tube mounting port 16. L2 can also refer to the arc length between the third pivot portion 143 and the first free end 111 of the instrument tube channel 11. In this preferred embodiment, the snake-bone structure has a smaller distance between the third pivot portion 143 and the instrument tube mounting port 16, which further ensures that the snake-bone structure bends along a predetermined spiral bending path. It also avoids the problem that the distance between the third pivot portion 143 and the instrument tube mounting port 16 is too large, causing the first free end 111 of the instrument tube channel 11 to curl up, which would lead to the puncture of the covering layer outside the snake-bone structure. At the same time, it also avoids the problem that the curling up of the first free end 111 would generate torque on the third pivot portion 143, causing the third pivot portion 143 to be torn or damaged.

[0061] According to a preferred embodiment, a first gap 17, a second gap 18, and a third gap 19 are formed between adjacent snake-bone units 10. The first gap 17 is located between the line connecting the first free ends 111 of each snake-bone unit 10 and the third pivot portion 143. The second gap 18 is located between the third pivot portion 143 and the first pivot portion 141 and / or the second pivot portion 142. The third gap 19 is located between the line connecting the second free ends 112 of each snake-bone unit 10 and the first pivot portion 141 and / or the second pivot portion 142. Figure 7As shown. Preferably, from the line connecting the first free ends 111 of each snake-bone unit 10 to the third pivot 143, the width of the first gap 17 gradually decreases along the axial direction of the snake-bone structure; from the third pivot 143 to the middle of the second gap 18, the width of the second gap 18 gradually increases along the axial direction of the snake-bone structure; from the middle of the second gap 18 to the first pivot 141 and / or the second pivot 142, the width of the second gap 18 gradually decreases along the axial direction of the snake-bone structure; from the line connecting the second free ends 112 of each snake-bone unit 10 to the first pivot 141 and / or the second pivot 142, the width of the third gap 19 gradually decreases along the axial direction of the snake-bone structure, as shown. Figure 7 As shown. In this preferred embodiment, the snake-bone structure has a larger width at the first gap 17 near the first free end 111, a larger width at the middle of the second gap 18, and a larger width at the third gap 19 near the second free end 112. When the snake-bone structure achieves a bend greater than 180°, the resistance to bending from the distal end of the snake-bone structure to above or below the proximal end of the snake-bone structure can be reduced, thereby facilitating the snake-bone structure to achieve a bend greater than 180°.

[0062] According to a preferred embodiment, the traction rope channel 13 includes a first traction rope channel 131 and a second traction rope channel 132. The first traction rope channel 131 and the second traction rope channel 132 are located on both sides of the snake-bone unit 10 in the radial direction. The line connecting the first traction rope channel 131 and the second traction rope channel 132 and the line connecting the first pivot portion 141 and the second pivot portion 142 intersect each other. Furthermore, the line connecting the first traction rope channel 131 and the second traction rope channel 132 is offset from the center of the snake-bone unit 10, and the line connecting the first traction rope channel 131 and the second traction rope channel 132 is located outside the instrument tube channel 11, such as... Figures 1-4 , Figure 9 As shown. The line connecting the first traction rope channel 131 and the second traction rope channel 132 is off-center from the center of the snake-bone unit 10, meaning that the line connecting the first traction rope channel 131 and the second traction rope channel 132 does not pass through the center of the snake-bone unit 10; the line connecting the first traction rope channel 131 and the second traction rope channel 132 is located outside the instrument tube channel 11, meaning that the line connecting the first traction rope channel 131 and the second traction rope channel 132 does not pass through the instrument tube channel 11, as shown. Figure 2 and Figure 9 As shown. The preferred technical solution of this embodiment has a snake-bone structure. The above structure is beneficial to obtaining a larger instrument tube channel 11, and at the same time, it is beneficial to the snake-bone structure to bend. It avoids the problem that when the line connecting the first traction rope channel 131 and the second traction rope channel 132 passes through the instrument tube channel 11, the instrument tube and the instrument tube channel 11 will constrain the bending of the snake-bone structure.

[0063] According to a preferred embodiment, from the distal to the proximal end of the snake-bone structure, the arc length between the third pivot 143 and the instrument tube mounting port 16 gradually increases, while the arc length between the first pivot 141 and the second pivot 142 and the instrument tube mounting port 16 gradually decreases. Figure 1 As shown; or from the distal to the proximal end of the serpentine structure, the arc length between the third pivot 143 and the instrument tube mounting port 16 gradually decreases, while the arc length between the first pivot 141 and the second pivot 142 and the instrument tube mounting port 16 gradually increases. The arc length between the third pivot 143 and the instrument tube mounting port 16 is also the arc length between the third pivot 143 and the first free end 111 of the instrument tube channel 11; the arc length between the first pivot 141 and the second pivot 142 and the instrument tube mounting port 16 is also the arc length between the first pivot 141 and the second pivot 142 and the second free end 112 of the instrument tube channel 11. The preferred embodiment uses a snake-bone structure. This structure helps to reduce the helical degree of the instrument tube mounting port 16. That is, compared with the first pivot portion 141, the second pivot portion 142, or the third pivot portion 143, the included angle between the instrument tube mounting port 16 and the central axis of the snake-bone structure is smaller than the included angle between the first pivot portion 141, the second pivot portion 142, or the third pivot portion 143 and the central axis of the snake-bone structure. This makes the deflection angle of the instrument tube mounting port 16 smaller than that of the first pivot portion 141, the second pivot portion 142, and the third pivot portion 143, which is more conducive to the installation of the instrument tube and avoids the problem of the instrument tube slipping off from the opening portion 15 due to excessive helical degree of the instrument tube mounting port 16.

[0064] According to a preferred embodiment, the snake-bone structure is a one-piece molded structure, such as... Figures 1-9 As shown; or the snake-bone structure is a riveted structure. Preferably, the snake-bone structure is a one-piece injection-molded structure. The snake-bone structure of the preferred technical solution in this embodiment is formed by a one-piece injection molding process, which has the advantages of simple process and high production efficiency.

[0065] Example 2

[0066] This embodiment provides a detailed description of the active bending segment of the present invention.

[0067] The active bending section 30 of this embodiment includes the snake-bone structure of any of the technical solutions in Embodiment 1. The active bending section 30 also includes an instrument tube disposed within the instrument tube channel 11, a signal line disposed within the signal line channel 12, a traction rope disposed within the traction rope channel 13, and a camera assembly disposed at the distal end of the rotating bending section. Preferably, the active bending section 30 further includes a covering layer that covers the snake-bone structure. The remaining structures of the active bending section 30 can be the same as those of corresponding components in the prior art, and will not be described in detail here.

[0068] The active bending section 30 of this embodiment, due to including the serpentine structure of any of the technical solutions in Embodiment 1, enables the active bending section 30 of this embodiment to achieve a large angle bending of more than 180°; at the same time, the active bending section 30 of this embodiment can assemble the instrument tube 20 to be installed along the radial direction of the instrument tube channel 11, which has the advantages of less resistance to the instrument tube 20 to be installed and convenient and quick installation; when bending, the active bending section 30 of this embodiment can maintain a good posture and bend along a predetermined trajectory, and also helps to improve the bending accuracy and stability of the active bending section 30 after bending, and can also avoid the problem of tearing of the first pivot part 141 and the second pivot part 142.

[0069] Example 3

[0070] This embodiment provides a detailed description of the insertion part of the present invention.

[0071] The insertion part of this embodiment includes the active bending section 30 of any of the technical solutions in Embodiment 2. The insertion part also includes a passive bending section 40, the distal end of which is connected to the proximal end of the active bending section 30, and the proximal end of the passive bending section 40 is connected to the distal end of the handle. The remaining structure of the passive bending section 40 can be the same as the structure of the passive bending section 40 in the prior art, and will not be described again here. Figure 10 A schematic diagram showing the insertion part of this embodiment in a bent state is shown, as follows. Figure 10 As shown, when the bending angle of the active bending segment 30 exceeds 180°, the active bending segment 30 performs a misaligned bending, that is, the distal end of the active bending segment 30 is located on the upper surface of the proximal end of the active bending segment 30, thereby avoiding the proximal end of the active bending segment 30 from obstructing its bending.

[0072] In this embodiment, the insertion part includes the active bending section 30 of any of the technical solutions in Embodiment 2, enabling the distal end of the insertion part to achieve a large-angle bending of over 180°. Simultaneously, the distal end of the insertion part can be fitted with the instrument tube 20 to be installed along the radial direction of the instrument tube channel 11, offering advantages such as lower resistance to the instrument tube 20 and convenient and quick installation. When bending, the distal end of the insertion part maintains a good posture and bends along a predetermined trajectory, which also helps improve the bending accuracy and stability of the distal end of the insertion part, and avoids tearing problems in the first pivot part 141 and the second pivot part 142.

[0073] Example 4

[0074] This embodiment provides a detailed description of the endoscope of the present invention.

[0075] The endoscope of this embodiment includes the insertion part of any of the technical solutions in Embodiment 3. The endoscope also includes a handle and a display device, wherein the handle is connected to the insertion part and also to the display device. The structure of the handle and the display device can be the same as that of prior art handles and display devices, and will not be described again here. The endoscope of this embodiment can be a bronchoscope, pyeloscope, esophagoscope, gastroscope, colonoscope, otoscope, rhinoscope, oral endoscope, laryngoscope, colposcope, laparoscope, arthroscope, etc.

[0076] The endoscope of this embodiment includes the insertion part of any of the technical solutions in Embodiment 3, enabling the endoscope of this embodiment to achieve a large-angle bending of more than 180°, thereby giving the endoscope a larger field of view; at the same time, the endoscope of this embodiment can be fitted with the instrument tube 20 to be installed along the radial direction of the instrument tube channel 11, which has the advantages of less resistance to the instrument tube 20 to be installed and convenient and quick installation; when the endoscope of this embodiment is bent, it can maintain a good posture and bend along a predetermined trajectory, and it also helps to improve the bending accuracy of the distal end of the insertion part and the stability after bending, and can also avoid the problem of tearing of the first pivot part 141 and the second pivot part 142, thereby ensuring the bending effect and quality reliability of the endoscope.

[0077] It should be noted that, in this document, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element. Furthermore, it should be noted that the scope of the methods and apparatuses in the embodiments of this application is not limited to performing functions in the order shown or discussed, but may also include performing functions substantially simultaneously or in the reverse order, depending on the functions involved. For example, the described methods may be performed in a different order than described, and various steps may be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0078] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A snake-bone structure, characterized in that, It includes multiple snake-bone units (10), each snake-bone unit (10) having an instrument tube channel (11), a signal line channel (12), and a traction rope channel (13). The instrument tube channel (11), the signal line channel (12), and the traction rope channel (13) all penetrate the snake-bone unit (10). Adjacent snake-bone units (10) are connected by a pivot assembly. The pivoting assembly includes a first pivot (141), a second pivot (142), and a third pivot (143), wherein the first pivot (141) and the second pivot (142) are located on both sides of the signal line channel (12) in the radial direction, and the second pivot (142) and the third pivot (143) are located on both sides of the instrument tube channel (11) in the radial direction. The snake-bone unit (10) is also provided with an opening (15), which is located between the second pivot (142) and the third pivot (143). The opening (15) communicates with the instrument tube channel (11). The opening (15) is used to install the instrument tube (20) to be installed along the radial direction of the instrument tube channel (11). From the distal end to the proximal end of the snake-bone structure, the first pivot (141), the second pivot (142), the third pivot (143), the instrument tube channel (11) and the opening (15) are all spirally distributed.

2. The snake-bone structure according to claim 1, characterized in that, In the snake-bone unit (10), the size of the opening (15) satisfies: L1 < 0.5L0, where, L1 is the arc length of the opening (15) along the circumferential direction of the snake-bone unit (10). L0 is the arc length of the instrument tube channel (11) along the circumferential direction of the snake bone unit (10).

3. The snake-bone structure according to claim 2, characterized in that, The thickness of the third pivot (143) along the radial direction of the instrument tube channel (11) satisfies: M1 ≥ M0, where, M1 is the thickness of the third pivot section (143) in the radial direction along the instrument tube channel (11). M0 is the thickness of the snake-bone unit (10) on both sides of the third pivot (143).

4. The snake-bone structure according to claim 2, characterized in that, The openings (15) on each of the snake-bone units (10) are interconnected and form instrument tube mounting ports (16), and the distance between the third pivot (143) and the instrument tube mounting port (16) satisfies: L2 < 0.05L0, where, L2 is the arc length between the third pivot (143) and the instrument tube mounting port (16).

5. The snake-bone structure according to claim 4, characterized in that, The traction rope channel (13) includes a first traction rope channel (131) and a second traction rope channel (132). The first traction rope channel (131) and the second traction rope channel (132) are located on both sides of the snake bone unit (10) in the radial direction. The line connecting the first traction rope channel (131) and the second traction rope channel (132) and the line connecting the first pivot (141) and the second pivot (142) intersect each other. The line connecting the first traction rope channel (131) and the second traction rope channel (132) is offset from the center of the snake bone unit (10), and the line connecting the first traction rope channel (131) and the second traction rope channel (132) is located outside the instrument tube channel (11).

6. The snake-bone structure according to claim 5, characterized in that, From the distal to the proximal end of the snake-like structure, the arc length between the third pivot (143) and the instrument tube mounting port (16) gradually increases, while the arc lengths between the first pivot (141) and the second pivot (142) and the instrument tube mounting port (16) gradually decrease; or From the distal end to the proximal end of the snake-bone structure, the arc length between the third pivot (143) and the instrument tube mounting port (16) gradually decreases, while the arc length between the first pivot (141) and the second pivot (142) and the instrument tube mounting port (16) gradually increases.

7. The snake-bone structure according to any one of claims 1 to 6, characterized in that, The snake bone structure is a one-piece molded structure; or the snake bone structure is a riveted structure.

8. An active bending segment, characterized in that, The snake-bone structure includes any one of claims 1 to 7.

9. An insertion part, characterized in that, Includes the active bending segment as described in claim 8.

10. An endoscope, characterized in that, Includes the insertion portion as described in claim 9.

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