Endoscope

Abstract

The application discloses an endoscope, which comprises a main body, an insert, a first driving device and a second driving device, the insert comprises a head end structure, a first deformation section and a second deformation section, the first deformation section and the second deformation section both have a bending state and a reset state; the first driving device forms a plurality of first bending positions in the process of driving the first deformation section to bend; the second driving device forms a plurality of second bending positions in the process of driving the second deformation section to bend; the stroke variable between every two adjacent first bending positions is smaller than the stroke variable between every two adjacent second bending positions. In the application, the second driving device coarsely adjusts the bending deformation of the second deformation section, obtains a relatively larger bending radius and bending angle, and is suitable for the bending deformation in a wider area; the first driving device finely adjusts the bending deformation of the first deformation section, obtains a relatively smaller bending radius and bending angle, and is suitable for the bending deformation in a narrower area.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, specifically to an endoscope. Background Technology

[0002] Currently, endoscopic retrograde cholangiopancreatography (ERCP) refers to the technique of inserting a duodenoscope into the descending part of the duodenum, locating the duodenal papilla, inserting a contrast catheter through the biopsy channel to the opening of the papilla, injecting contrast agent, and then taking X-ray images to visualize the pancreatic and bile ducts.

[0003] Endoscopic choledochopancreatography (ECCP) is an upgraded version of ERCP. A choledochoscope is inserted into the bile duct via a duodenoscope for direct visualization and exploration. Once a lesion is located, its precise position can be determined, and appropriate treatment can be administered without intraoperative contrast imaging. Currently, it is suitable for treating large bile duct stones, some cystic duct stones, gallbladder irrigation and drainage, some intrahepatic bile duct stones, multiple common bile duct stones, and suspected bile duct lesions.

[0004] Current bile duct endoscopes primarily achieve their aim by adjusting the curved section of the insertion tube, rotating the endoscope body, and coordinating with the duodenoscope to capture internal tissues. The curved section is connected to a rotating wheel via a traction cable; the cable is retrieved by rotating the wheel, thus bending the curved section. However, in actual surgical applications, the curved section needs to achieve the required bending radius and angle, especially when capturing tissue in narrow areas. This requires a considerable amount of time manipulating the rotating wheel. Furthermore, due to the limited precision of the rotating wheel's operation, there is a high probability that the curved section cannot be precisely bent to the required radius and angle. This increases the complexity of endoscopic procedures, reduces their precision, and ultimately affects the quality of endoscopic use. Summary of the Invention

[0005] The main objective of this invention is to provide an endoscope that addresses the problem of insufficient precision in adjusting the bending section of the insertion tube in traditional technologies.

[0006] To achieve the above objectives, the present invention provides an endoscope comprising:

[0007] main body;

[0008] An insert is provided extending in the front-to-back direction. The rear end of the insert is connected to the main body. The insert includes a head end structure, a first deformable segment, and a second deformable segment connected sequentially from front to back. Both the first deformable segment and the second deformable segment have a bent state that bends towards the radial side of the insert and a reset state that extends straight in the front-to-back direction.

[0009] A first driving device, disposed on the main body, is used to drive the first deformable segment to switch between its bent state and its reset state. During the process of driving the first deformable segment from its reset state to its bent state, the first driving device forms a plurality of first bending positions, and a first stroke variable is formed between every two adjacent first bending positions; and...

[0010] A second driving device is provided on the main body and is used to drive the second deformable segment to switch between its own bending state and reset state. The second driving device forms a plurality of second bending positions in the process of driving the second deformable segment from its reset state to its bending state, and a second stroke variable is formed between every two adjacent first bending positions.

[0011] Wherein, the first travel variable is less than the second travel variable.

[0012] Optionally, the bending radius of the first deformed segment is smaller than the bending radius of the second deformed segment.

[0013] Optionally, the first driving device includes:

[0014] The first traction component is connected at one end to one side wall of the first deformed section;

[0015] A first winding assembly, disposed on the main body and connected to the other end of the first traction member, is used to pull the first traction member during the winding stroke to move the first deformable segment to its bent state. The first winding assembly is also used to release the first traction member during the unwinding stroke to move the first deformable segment to its reset state.

[0016] An adjustment component is provided on the insert to define each of the first bending positions as the first deformable segment moves from its reset state to its bending state, and to selectively adjust the first deformable segment to be fixed relative to the second deformable segment at different first bending positions.

[0017] Optionally, the adjustment component includes:

[0018] A ratchet, located on one radial sidewall of the insertion tube and fixed relative to the front end of the second deformed section; and,

[0019] A pawl is located on the front or rear side of the ratchet. The pawl has a mounting part and a meshing part connected to each other. The mounting part is mounted on the first deformable section and fixed relative to the connection between the first traction member and the first deformable section. The mounting part is driven to rotate during the winding stroke of the first winding assembly, so as to drive the meshing part to slide along the back of the teeth of the ratchet to engage with each tooth gap of the ratchet in sequence.

[0020] The first bending position is formed by the meshing position between the meshing part and the tooth gap of the ratchet.

[0021] Optionally, the mounting portion is rotatably mounted on the first deformable section about the radial direction of the insert, so as to drive the engaging portion to be movable in the direction toward the ratchet and in the direction away from the ratchet; the second driving device further includes:

[0022] The second traction component, one end of which is connected to the pawl; and,

[0023] The second winding assembly is disposed on the main body and connected to the other end of the first traction member. The first winding assembly is used to pull the first traction member during the winding stroke to drive the engaging part away from the ratchet to separate from the tooth gap of the ratchet. The first winding assembly is also used to release the first traction member during the unwinding stroke to drive the engaging part toward the ratchet to engage with the tooth gap of the ratchet.

[0024] Optionally, the first deformable segment has a first radial direction and a second radial direction, and the first radial direction, the second radial direction, and the front-back direction are arranged in pairs intersecting each other;

[0025] The first winding assembly includes a first winding spool, and two first traction members are provided in the first radial direction, and the two first traction members are respectively wound around the first winding spool in opposite directions;

[0026] The second winding assembly includes a second winding spool, and two second traction members are provided in the second radial direction, with the two second traction members wound around the second winding spool in opposite directions. The adjustment assembly is provided in two corresponding to the two second traction members, and in the two adjustment assemblies, the inclination directions of the ratchet teeth are opposite.

[0027] Optionally, the pawl is mounted to the first deformable section via a pivot, and the adjustment assembly further includes:

[0028] A limiting protrusion is provided on the side of the pawl away from the ratchet; and,

[0029] A torsion spring is sleeved on the outside of the rotating shaft and located between the radial sidewall of the first deformable section and the pawl. One arm of the torsion spring is connected to the portion of the pawl near the engagement part, and the other arm of the torsion spring abuts against the limiting protrusion on the side facing the ratchet.

[0030] Optionally, the first deformed segment and the second deformed segment are disconnected, and the first deformed segment includes:

[0031] A fixing body is sleeved on the front end of the second deformable section, and the ratchet is fixedly installed on the radial side wall of the fixing body;

[0032] A rotating body is disposed on the front side of the fixed body, and the pawl is mounted on the corresponding side wall of the rotating body; and...

[0033] A rotating connector includes a connecting portion disposed on the fixed body and a docking portion disposed on the rotating body. The connecting portion and the docking portion are rotatably connected so that the rotating body can rotate around the rotating connector to its own bent state.

[0034] Optionally, at the end faces of the fixed body and the rotating body that are close to each other, one of the connecting part and the docking part is a protruding arc-shaped guide, and the other is a recessed arc-shaped guide groove. The arc-shaped guide and the arc-shaped guide groove are both arranged concentrically with the ratchet, and the arc-shaped guide and the arc-shaped guide groove are slidably connected and engaged.

[0035] Optionally, the main body has an internal mounting cavity, and the outer wall of the main body has a mounting hole communicating with the mounting cavity. The first winding assembly includes a first winding reel, a first operating lever, and a first deflector. The second winding assembly includes a second winding reel, a second operating lever, and a second deflector.

[0036] The first and second reels are coaxially stacked in the mounting cavity and are rotatably disposed relative to the main body.

[0037] The first operating lever and the second operating lever are movably sleeved together. The first operating lever passes through the mounting hole from the outside to the inside and is connected to the first reel. The second operating lever passes through the mounting hole from the outside to the inside and is connected to the second reel.

[0038] The first and second levers are disposed outside the mounting cavity and stacked on top of each other in a direction away from the mounting cavity. The first lever is connected to the first operating lever so that when driven by an external force to rotate, the first operating lever drives the first winding reel to perform a winding or unwinding stroke. The second lever is connected to the second operating lever so that when driven by an external force to rotate, the second operating lever drives the second winding reel to perform a winding or unwinding stroke.

[0039] In the technical solution provided by this invention, at least the front section of the insert is used to extend into the diseased area of ​​the human body during surgery; the first stroke variable is smaller than the second stroke variable, meaning that the bending deformation of the first deformation section is more precise than that of the second deformation section. In practical application, the second driving device coarsely adjusts the bending deformation of the second deformation section, allowing it to quickly obtain a relatively large bending radius and bending angle, which helps the front end of the insert to extend more easily into the diseased area and is more suitable for bending deformation in a wider area. The first deformation section is located in front of the second deformation section and closer to the head structure. The first driving device finely adjusts the bending deformation of the first deformation section, allowing it to accurately obtain a relatively small bending radius and bending angle, making it more suitable for bending deformation in a narrower area. This invention helps improve the adaptability of the endoscope to bending deformation in various diseased areas and the ease of operation, improves the precision of endoscope operation, and ultimately enhances the quality of endoscope use. Attached Figure Description

[0040] 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 the structures shown in these drawings without creative effort.

[0041] Figure 1 A three-dimensional schematic diagram of an embodiment of the endoscope provided by the present invention;

[0042] Figure 2 for Figure 1 A partially exploded structural diagram of the insert;

[0043] Figure 3 for Figure 2 A schematic diagram of the front view of the insert from the head end structure;

[0044] Figure 4 for Figure 3 Schematic diagram of the cross-sectional structure at point AA;

[0045] Figure 5 for Figure 3 Schematic diagram of the cross-sectional structure at point BB;

[0046] Figure 6 for Figure 1 A schematic diagram of the main structure;

[0047] Figure 7 for Figure 6A schematic diagram of the radial cross-sectional structure of the main body.

[0048] Explanation of icon numbers:

[0049] 100 Main body; 200 Insert; 210 Head end structure; 220 First deformable section; 221 Fixed body; 222 Rotating body; 223 Arc-shaped guide; 224 Arc-shaped guide groove; 225 Avoidance notch; 230 Second deformable section; 240 Elastic outer sleeve; 300 First drive device; 310 First traction member; 320 First winding assembly; 321 First winding reel; 322 First operating lever; 323 First paddle; 330 Adjustment assembly; 331 Ratchet; 332 Pawl; 332a Mounting part; 332b Engaging part; 333 Rotating shaft; 334 Limiting protrusion; 335 Torsion spring; 340 Second traction member; 350 Second winding assembly; 351 Second winding reel; 352 Second operating lever; 353 Second paddle; 360 Stop; 400 Second drive device; 500 Marking structure.

[0050] The realization of the objective, functional features and advantages of the present invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

[0051] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0052] It should be noted that if the embodiments of the present invention involve directional indicators (such as up, down, left, right, front, back, etc.), the directional indicators are only used to explain the relative positional relationship and movement of the components in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indicators will also change accordingly.

[0053] Furthermore, if the embodiments of this invention involve descriptions such as "first" or "second," these descriptions are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of those features. Additionally, the meaning of "and / or" throughout the text includes three parallel solutions; for example, "A and / or B" includes solution A, solution B, or a solution where both A and B are satisfied simultaneously. Furthermore, the technical solutions of the various embodiments can be combined with each other, but this must be based on the ability of those skilled in the art to implement them. When the combination of technical solutions is contradictory or impossible to implement, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection claimed by this invention.

[0054] Please see Figures 1 to 2 The endoscope provided by the present invention includes a main body 100, an insert 200, a first driving device 300, and a second driving device 400. The insert 200 extends in a front-to-back direction, and its rear end is connected to the main body 100. The insert 200 includes a head end structure 210, a first deformable segment 220, and a second deformable segment 230 connected sequentially from front to back. Both the first deformable segment 220 and the second deformable segment 230 have a bent state (bending towards the radial side of the insert 200) and a reset state (extending straight in the front-to-back direction). The first driving device 300 is disposed on the main body 100 and is used to drive the first deformable segment 220 to switch between its bent state and reset state. The first deformable segment 220 forms multiple first bending positions during its movement from its reset state to its bent state, and a first stroke variable is formed between every two adjacent first bending positions; the second driving device 400 is disposed on the main body 100 and is used to drive the second deformable segment 230 to switch between its bent state and reset state. The second driving device 400 forms multiple second bending positions during the process of driving the second deformable segment 230 from its reset state to its bent state, and a second stroke variable is formed between every two adjacent first bending positions; wherein, the first stroke variable is smaller than the second stroke variable.

[0055] It is understood that the main body 100 generally includes a housing and various functional components. An installation cavity is formed inside the housing, and the functional components can be at least partially installed in the installation cavity to facilitate the surgical operations required for the deployment of the endoscope. Each functional component can be selectively configured to suit the specific function of the endoscope. For example, each functional component includes, but is not limited to, a control module, a power supply module, and a water supply module.

[0056] The rear end of the insert 200 is fixedly connected to the main body 100; the front end of the insert 200 is constituted by a head structure 210. The head structure 210 includes a base and, for example, an illumination module and an imaging module fixed relative to the base. The illumination module may be, but is not limited to, LED (light-emitting diode) beads; the imaging module may be, but is not limited to, a CMOS (Complementary Metal Oxide Semiconductor) sensor. During the actual surgical procedure, at least the front end of the insert 200 is inserted into the human body and, through various cavities within the body, drives the head structure 210 to the diseased site. At this time, the imaging module is used to capture images of the diseased site facing the front end of the insert 200; the illumination module is used to provide the necessary illumination light for the imaging process of the imaging module to improve image quality.

[0057] The portion of the insert 200 located at the rear end of the head structure 210 is generally designed as a long tube, with relatively defined axial, radial, and circumferential directions. When applied to an endoscope, the axial direction of the insert 200 is approximately the same as the aforementioned anterior-posterior direction. In this design, the radial cross-sectional shape and size of the insert 200 are not limited and can be specifically set according to actual needs. Generally, the insert 200 includes an inner tube and an elastic outer tube covering the outside of the inner tube. The inner tube can be made of metal or an elastic material with a certain strength; the outer tube can be made of an elastic material to provide safety protection for the inner tube, reduce interference between the internal and external environments, and enhance the deformation resistance of the inner tube.

[0058] Specifically, the insert 200 also includes a first deformable segment 220 and a second deformable segment 230 located at the rear end of the head structure 210. It can be understood that the first deformable segment 220 and the second deformable segment 230 can together constitute the entire long tube structure of the insert 200 excluding the head structure 210; or, the first deformable segment 220 and the second deformable segment 230 can together constitute a local tube segment in the entire long tube structure of the insert 200 excluding the head structure 210, and are located in a relatively forward position, and the rear tube segment of the long tube structure is, for example, set as a solid tube segment that is basically not subject to bending deformation by external force.

[0059] The first deformable segment 220 and the second deformable segment 230 are both deformably configured relative to the main body 100, so as to have their own bent state and reset state respectively. When in the bent state, the first deformable segment 220 and the second deformable segment 230 can be bent and deformed to any desired radial direction of the insert 200 with any desired arc. Depending on actual needs, when in the bent state, the first deformable segment 220 and / or the second deformable segment 230 can be bent into an arc segment, or into a complete circle, etc.

[0060] Taking the first deformable segment 220 as an example, according to actual needs, during the process of driving the first deformable segment 220 from its self-reset state to its bending state, the bending angle of the first deformable segment 220 will gradually increase from approximately zero to its maximum bending angle. This change in travel can be divided into multiple travel segments, thus forming multiple first bending positions. During the process of the first deformable segment deforming from one first bending position to the next, the variable of its arc length or bending angle constitutes the first travel variable. It can be understood that the smaller the first travel variable, that is, the smaller the difference in arc length or bending angle between any two adjacent first bending positions, the more first bending positions can be set in the entire deformation travel of the first deformable segment 220. This makes the adjustment process of the bending deformation of the first deformable segment 220 by the first driving device 300 closer to a stepless adjustment process, allowing for micro-adjustment with higher precision. Similarly, for the second deformation segment 230, when the second stroke variable is larger, that is, the arc length segment or bending angle difference between each two adjacent second bending positions is larger, the number of second bending positions that can be set in the entire deformation stroke of the second deformation segment 230 is smaller, so that the adjustment process of the bending deformation of the second deformation segment 230 by the second drive device 400 deviates from stepless adjustment and the precision is relatively low.

[0061] Based on the above, the second driving device 400 coarsely adjusts the bending deformation of the second deformable segment 230, enabling it to quickly achieve a relatively large bending radius and angle. This facilitates easier insertion of the insert 200 into the affected area and makes it more suitable for bending deformation in a wider area. The first deformable segment 220 is located in front of the second deformable segment 230 and closer to the head structure 210. The first driving device 300 finely adjusts the bending deformation of the first deformable segment 220, enabling it to accurately achieve a relatively small bending radius and angle, making it more suitable for bending deformation in a narrower area. This invention helps improve the adaptability and ease of operation of the endoscope in various lesion sites, enhances the precision of endoscope operation, and ultimately improves the overall quality of endoscope use.

[0062] Furthermore, in one embodiment, the bending radius of the first deformable segment 220 is set to be smaller than the bending radius of the second deformable segment 230. It can be understood that by further setting the bending radius of the first deformable segment 220 to be smaller than that of the second deformable segment 230, the space occupied by the first deformable segment 220 after bending deformation is reduced, allowing it to more easily extend into a relatively narrow patient area. This enables more precise and minute bending deformation adjustments with a smaller initial stroke, better matching the bending requirements within a narrow patient area. Conversely, the relatively larger bending radius of the second deformable segment 230 allows for greater spacing between the first deformable segment 220 and the head structure 210. This helps to better match the bending requirements within a relatively spacious patient area after extension, allowing the first deformable segment 220 and the head structure 210 to move closer to the patient more quickly, enabling the first deformable segment 220 to perform precise bending deformation. This contributes to improving the overall shape adaptability to the patient area and ease of operation.

[0063] It should be noted that this design does not limit the specific configuration of the second drive device 400. For example, it can directly adopt the combination of a rotating wheel, gear set, winding assembly and traction rope as described in the prior art to achieve effective control of the bending deformation of at least one side of the second deformation section 230.

[0064] Regarding the first drive unit 300, please refer to... Figures 2 to 5 In a further embodiment, the first driving device 300 includes a first traction member 310, a first winding assembly 320, and an adjusting assembly 330. One end of the first traction member 310 is connected to a side wall of the first deformable segment 220. The first winding assembly 320 is disposed in the main body 100 and connected to the other end of the first traction member 310. The first winding assembly 320 is used to pull the first traction member 310 during the winding stroke to move the first deformable segment 220 to its bent state. The first winding assembly 320 is also used to release the first traction member 310 during the unwinding stroke to move the first deformable segment 220 to its reset state. The adjusting assembly 330 is disposed in the insert 200 to define various first bending positions during the movement of the first deformable segment 220 from its reset state to its bent state, and can selectively adjust the first deformable segment 220 to be fixed relative to the second deformable segment 230 at different first bending positions.

[0065] The first traction member 310 is longitudinally elongated along the front-to-back direction and can be specifically configured as various types of wires or flexible rods. The front end of the first traction member 310 is fixedly connected to the concave side wall of the first deformable section 220 during bending deformation. Specifically, this can be achieved by, for example, providing a connecting lug protruding from the concave side wall of the first deformable section 220, with a wire hole passing through the connecting lug. The front end of the first traction member 310 expands after passing through the wire hole, thus connecting the first traction member 310 to the first deformable section 220 and effectively preventing the front end of the first traction member 310 from detaching from the wire hole. Since the rear end of the first traction member 310 is connected to the first winding assembly 320, when the first winding assembly 320 performs the winding stroke, that is, when a backward pulling force is applied to the first traction member 310, the first traction member 310 simultaneously transmits the pulling force to the part connected to the first deformable section 220, causing the connected part to move backward, thereby realizing the bending deformation of the first deformable section 220; conversely, when the first winding assembly 320 performs the unwinding stroke, the above-mentioned pulling force on the first traction member 310 is removed, and the pulling force of the first traction member 310 on the first deformable section 220 is also simultaneously removed, causing the corresponding part of the first deformable section 220 to return to its original position, and finally realizing the shape restoration of the first deformable section 220.

[0066] It is understood that the first traction member 310 and the first winding assembly 320 provide driving force for the bending deformation process of the first deformation segment 220; while the adjustment assembly 330, on the one hand, can divide the entire deformation stroke of the first deformation segment 220 into the number and specific positions of each first bending position, realizing the specific definition of the first stroke variable; on the other hand, it is equivalent to forming a locking and limiting structure, which locks each deformation state when the first deformation segment 220 deforms to each first bending position in sequence, effectively preventing the first deformation segment 220 from moving in the opposite direction to its own reset state, which helps to stabilize the position of the first deformation segment 220 at each first bending position, thereby helping to improve the operational stability during the operation.

[0067] Specifically, please combine Figures 4 to 5In one embodiment, the adjusting assembly 330 includes a ratchet 331 and a pawl 332. The ratchet 331 is located on a radial sidewall of the insertion tube and is fixed relative to the front end of the second deformable section 230. The pawl 332 is located on the front or rear side of the ratchet 331 and has a connected mounting portion 332a and a meshing portion 332b. The mounting portion 332a is mounted on the first deformable section 220 and is fixed relative to the connection between the first traction member 310 and the first deformable section 220. The mounting portion 332a is driven to rotate during the winding stroke of the first winding assembly 320, so as to drive the meshing portion 332b to slide along the back of the teeth of the ratchet 331 to engage with each tooth gap of the ratchet 331 in sequence. The position where the meshing portion 332b engages with the tooth gap of the ratchet 331 constitutes the first bending position.

[0068] In this embodiment, both the ratchet 331 and the pawl 332 are mounted on the radial sidewall of the insert 200. That is, the axial directions of the ratchet 331 and the mounting portion 332a are respectively in a certain radial direction of the insert 200, and as far as possible, the axial direction of the ratchet 331 is kept approximately parallel to the axial direction of the mounting portion 332a, which helps to accurately engage the meshing portion 332b and the tooth gap of the ratchet 331.

[0069] During the winding stroke of the first winding assembly 320, when the first traction member 310 drives the first deformable section 220 to bend and deform, the pawl 332 is close to the connection between the first traction member 310 and the first deformable section 220. This allows the bending and deformation process of the first deformable section 220 to simultaneously drive at least the mounting portion 332a and the engaging portion 332b of the pawl 332 to revolve around the circumference of the ratchet 331. Furthermore, since all the teeth of the ratchet 331 are inclined to the same side (e.g., clockwise), when the mounting portion 332a of the pawl 332 is driven to revolve clockwise relative to the circumference of the ratchet 331, the engaging portion 332b of the pawl 332 simultaneously slides clockwise along the back of each tooth of the ratchet 331 into the tooth gap. In the counterclockwise direction of the ratchet 331, each tooth of the ratchet 331 constitutes a circumferential stop on the meshing part 332b, and the meshing part 332b of the pawl 332 is restricted from sliding, thereby achieving the purpose of limiting the first deformed segment 220 to each first bending position and preventing it from reverting to its original position.

[0070] Furthermore, please combine Figures 3 to 7In one embodiment, the mounting portion 332a is rotatably mounted on the first deformable section 220 about the radial direction of the insert 200, so as to drive the engaging portion 332b to be movable in the direction toward the ratchet 331 and in the direction away from the ratchet 331, respectively; the second driving device 400 further includes a second traction member 340 and a second winding assembly 350, wherein one end of the second traction member 340 is connected to the pawl 332; the second winding assembly 350 is disposed on the main body 100 and connected to the other end of the first traction member 310, the first winding assembly 320 is used to pull the first traction member 310 during the winding stroke, so as to drive the engaging portion 332b to move away from the ratchet 331 until it is separated from the tooth gap of the ratchet 331; the first winding assembly 320 is also used to release the first traction member 310 during the unwinding stroke, so as to drive the engaging portion 332b to move toward the ratchet 331 until it is engaged with the tooth gap of the ratchet 331.

[0071] The second traction member 340 can be similarly configured to the first traction member 310, and the second winding assembly 350 can be similarly configured to the first winding assembly 320, without further details. The second traction member 340 and the second winding assembly 350 provide driving force for the rotation of the pawl 332. When the engaging portion 332b of the pawl 332 rotates towards the ratchet 331, it increases the contact force of the engaging portion 332b along the back of the teeth of the ratchet 331 and increases the meshing strength between the engaging portion 332b and the tooth gap of the ratchet 331, preventing the engaging portion 332b of the pawl 332 from separating from the ratchet 331 and causing the above-mentioned adjustment function to fail; conversely, when the engaging portion 332b of the pawl 332 rotates away from the ratchet 331, it can cause the engaging portion 332b to separate from the back of the teeth and the tooth gap of the ratchet 331. This allows the ratchet 331 to release the circumferential stop of the meshing part 332b of the pawl 332, eliminating the restriction on the reverse movement of the pawl 332, and enabling the first deformable segment 220 to move from the bent state to its reset state. On the other hand, during the process of the first deformable segment 220 moving from its reset state to its bent state, since the meshing part 332b and the ratchet 331 are separated and there is no relative force, it is more conducive to driving the first deformable segment 220 to move more smoothly to the required first bent position.

[0072] Based on the above embodiments, in a further embodiment, for ease of understanding, the first deformed segment 220 is defined to have a first radial (approximately) Figure 3 The direction of the line connecting BB) and the second radial direction (approximately Figure 3(The direction of the line connecting AA in the middle), the first radial direction, the second radial direction and the front-back direction are arranged in pairs intersecting each other. The first winding assembly 320 includes a first winding reel 321, and two first traction members 310 are respectively provided in the first radial direction, and the two first traction members 310 are respectively wound around the first winding reel 321 in opposite directions.

[0073] Thus, by controlling the same first reel 321, independent and opposite stroke control of the two first traction members 310 can be achieved. Specifically, when the first reel 321 rotates toward the side where one of the first traction members 310 is located, for that first traction member 310, the first reel 321 performs a winding stroke, which can drive the first deformable section 220 to bend and deform toward the side where the first traction member 310 is located; for the other first traction member 310, the first reel 321 performs a unwinding stroke, which can release the traction force on the first deformable section 220 on that side, and help assist the first deformable section 220 in performing the aforementioned bending deformation.

[0074] The second winding assembly 350 includes a second winding reel 351. Two second traction members 340 are provided in the second radial direction, and the two second traction members 340 are wound around the second winding reel 351 in opposite directions. Two adjusting assemblies 330 are provided corresponding to the two second traction members 340. In the two adjusting assemblies 330, the teeth of the ratchet 331 are inclined in opposite directions.

[0075] Thus, by controlling the same second reel 351, the two second traction members 340 can be controlled independently and with opposite strokes. For ease of understanding, one ratchet 331 of the two adjusting components is defined as having its teeth inclined towards the concave side of the first deformable segment 220 during bending deformation; this adjusting component 330 is a forward adjusting component. The other ratchet 331 has its teeth inclined towards the convex side of the first deformable segment 220 during bending deformation; this adjusting component 330 is a reverse adjusting component. In this case, for the forward adjusting component, the engaging portion 332b of its pawl 332 slides sequentially along the back of the ratchet 331's teeth until it engages with the gaps between the teeth. For the reverse adjusting component, the engaging portion 332b of its pawl 332 is restricted from sliding against the back of the ratchet 331's teeth, which hinders the continued bending deformation of the first deformable segment 220. At this time, the second winding reel 351 can be rotated to make it wind up relative to the reverse adjustment component, causing the pawl 332 of the reverse adjustment component to separate from the ratchet 331, which helps the reverse adjustment component to remove the obstruction to the continued bending deformation of the first deformation section 220.

[0076] Further, in one embodiment, the pawl 332 is mounted on the first deformable section 220 via a pivot 333. The adjusting assembly 330 further includes a limiting protrusion 334 and a torsion spring 335. The limiting protrusion 334 protrudes from the side of the pawl 332 away from the ratchet 331. The torsion spring 335 is sleeved on the outside of the pivot 333 and is located between the radial sidewall of the first deformable section 220 and the pawl 332. One arm of the torsion spring 335 is connected to the portion of the pawl 332 near the engagement portion 332b, and the other arm of the torsion spring 335 abuts against the side of the limiting protrusion 334 facing the ratchet 331. The torsion spring 335 can apply an elastic pressing force to the meshing part 332b of the pawl 332. When the second winding assembly 350 is not winding, the meshing part 332b is elastically pressed into the back of the teeth or the gap between the teeth of the ratchet 331, which helps the two to fit tightly together and avoids separation and failure.

[0077] Based on any of the above embodiments, in one application, the first deformable segment 220 can be made of a flexible or elastic material, allowing it to freely switch between its reset and bent states. Alternatively, in another application, regardless of the material of the first deformable segment 220, the first deformable segment 220 and the second deformable segment 230 can be disconnected, and the first deformable segment 220 includes a fixed body 221, a rotating body 222, and a rotating connector. The fixed body 221 is sleeved on the front end of the second deformable segment 230, and the ratchet 331 is fixedly mounted on the radial sidewall of the fixed body 221. The rotating body 222 is located on the front side of the fixed body 221, and the pawl 332 is mounted on the corresponding sidewall of the rotating body 222. The rotating connector includes a connecting portion on the fixed body 221 and a mating portion on the rotating body 222, the connecting portion and the mating portion being rotatably connected so that the rotating body 222 can rotate around the rotating connector to its bent state. By separating the fixed body 221 and the rotating body 222, the limitations on the material selection of the first deformable segment 220 can be eliminated, so that when the rotating body 222 rotates around the rotating connector relative to the fixed body 221, the purpose of bending deformation of the first deformable segment 220 is achieved.

[0078] The connecting and mating portions on the rotary connector enable a rotary connection between the fixed body 221 and the rotating body 222, while preventing them from separating axially. The design of the connecting and mating portions is not limited; it can be, for example, a fit between a shaft and a shaft hole, or a constraint between a ball bearing and a groove.

[0079] Furthermore, in one embodiment, at the end faces of the fixed body 221 and the rotating body 222 that are close to each other, one of the connecting portion and the docking portion is a protruding arc-shaped guide 223, and the other is a recessed arc-shaped guide groove 224. Both the arc-shaped guide 223 and the arc-shaped guide groove 224 are concentrically arranged with the ratchet 331, and the arc-shaped guide 223 and the arc-shaped guide groove 224 are slidably connected. Thus, through the slidable connection between the arc-shaped guide 223 and the arc-shaped guide groove 224, both the connecting portion and the docking portion simultaneously possess guiding functions, which helps to accurately guide the rotation of the rotating body 222 relative to the fixed body 221, thereby making the bending deformation of the first deformable segment 220 more uniform and stable.

[0080] In practical applications, by simultaneously providing an arc-shaped guide 223 (defined as the first arc-shaped guide for ease of understanding) and an arc-shaped guide groove 224 (defined as the second arc-shaped guide for ease of understanding) on ​​the end face of the fixed body 221 near the rotating body 222, and simultaneously providing an arc-shaped guide groove 224 (defined as the first arc-shaped guide for ease of understanding) and an arc-shaped guide 223 (defined as the second arc-shaped guide for ease of understanding) on ​​the end face of the rotating body 222 near the fixed body 221, the first arc-shaped guide and the first arc-shaped guide groove, and the second arc-shaped guide and the second arc-shaped guide groove, can be guided and connected separately and independently, which helps to further enhance the accurate guidance of the bending deformation of the first deformable segment 220.

[0081] Furthermore, based on the above, in one embodiment, at least one of the end faces of the fixed body 221 and the rotating body 222 that are close to each other is provided with a clearance notch 225. The clearance notch 225 is set as a fan-shaped notch, adapted to the relative rotation trajectory between the rotating body 222 and the fixed body 221, so as to avoid the disadvantage that the bending deformation effect and accuracy of the first deformation segment 220 will be reduced due to the local mutual collision and compression between the fixed body 221 and the rotating body 222 during the relative rotation process.

[0082] Furthermore, based on the above, in one embodiment, the first deformable segment 220 further includes an elastic outer sleeve 240, which is sleeved on the outside of the first deformable segment 220 and extends forward to connect with the head end structure 210 and extends backward to connect with the second deformable segment 230. The elastic outer sleeve 240 can effectively protect and isolate the outer periphery of the first deformable segment 220. In particular, when, as described above, the travel of the fixed body 221 and / or rotating body 222 is partially hollowed out to form the arc-shaped guide 223, arc-shaped guide groove 224, or avoidance notch 225, the elastic outer sleeve 240 can cover and shield the hollowed-out part, preventing the internal environment of the insert 200 from interacting with and contaminating the external environment, and preventing interference with the normal operation of the endoscope.

[0083] Furthermore, please combine Figures 6 to 7 In one embodiment, the main body 100 has an internal mounting cavity, and the outer wall of the main body 100 has a mounting hole communicating with the mounting cavity. The first winding assembly 320 includes a first winding reel 321, a first operating lever 322, and a first lever 323. The second winding assembly 350 includes a second winding reel 351, a second operating lever 352, and a second lever 353. The first winding reel 321 and the second winding reel 351 are coaxially stacked in the mounting cavity and are rotatably disposed relative to the main body 100. The first operating lever 322 and the second operating lever 352 are movably sleeved together internally and externally. The first operating lever 322 passes through the mounting hole from the outside to the inside and is connected to the mounting cavity. The first reel 321 is connected, and the second operating lever 352 passes through the mounting hole from the outside to the inside and is connected to the second reel 351. The first lever 323 and the second lever 353 are disposed outside the mounting cavity and are stacked on top of each other in the direction away from the mounting cavity. The first lever 323 is connected to the first operating lever 322 so that when rotated by external force, the first operating lever 322 drives the first reel 321 to perform a winding or unwinding stroke. The second lever 353 is connected to the second operating lever 352 so that when rotated by external force, the second operating lever 352 drives the second reel 351 to perform a winding or unwinding stroke. In this way, the first winding assembly 320 and the second winding assembly 350 are arranged in a concentrated manner, increasing the concentration of the operating area and reducing the excessive space occupied by the first winding assembly 320 and the second winding assembly 350.

[0084] Furthermore, based on the above embodiments, when the first winding assembly 320 and the second winding assembly 350 are arranged in the aforementioned nested configuration, in one embodiment, one of the first lever 323 and the second lever 353 is provided with a stop 360 protruding towards the other. The stop 360 is located on at least one side of the rotational direction of the first lever 323 and the second lever 353 to limit relative displacement between the first lever 323 and the second lever 353 on the side where the stop 360 is located. Figures 6 to 7 As shown in the example, the second paddle 353 is located on the side of the first paddle 323 near the mounting cavity. The stop 360 can be provided on one side of the second paddle 353 in its own rotation direction and extends toward the first paddle 323 to the side located in the rotation direction of the first paddle 323, so as to jointly limit the first paddle 323 and the second paddle 353 in this direction.

[0085] Furthermore, in one embodiment, two stops 360 are provided, respectively disposed on opposite sides of the first paddle 323 and the second paddle 353 in the rotational direction. Each stop 360 is located on one of the first paddle 323 and the second paddle 353, and is rotatably adjustable in a direction closer to or farther from the other of the first paddle 323 and the second paddle 353. Similarly, [the following is an example]. Figures 6 to 7 For example, when the stop 360 rotates to be located on both sides of the first lever 323 and the second lever 353 in the rotation direction, it can effectively prevent the first lever 323 and the second lever 353 from having relative displacement in the rotation direction, realizing the linkage connection between the first lever 323 and the second lever 353, so that the drive of the first winding coil 321 on the first traction member 310 and the drive of the second winding coil 351 on the second traction member 340 are performed synchronously; conversely, when the stop 360 rotates to be located only on both sides of the second lever 353 in the rotation direction, it has no limit to the action of the first lever 323, so that the first lever 323 and the second lever 353 can rotate independently and step by step, realizing the linkage connection between the first lever 323 and the second lever 353, so that the drive of the first winding coil 321 on the first traction member 310 and the drive of the second winding coil 351 on the second traction member 340 are performed step by step.

[0086] Based on any of the above embodiments, in one embodiment, the first driving device 300 has multiple adjustment levels, and the outer wall of the main body 100 is further provided with an identification structure 500, which is used to visually identify each of the adjustment levels. As described above, the adjustment of the bending deformation of the first deformation segment 220 by the first driving device 300 is a fine adjustment. The setting of the identification structure 500 can clearly identify each fine adjustment level, realize the visualization of each adjustment level, facilitate the user's precise operation and switching between the various adjustment levels, and improve the operational precision of the endoscope.

[0087] Of course, this embodiment does not limit the specific form of the identifier structure 500. It can be set as an identifier symbol such as an icon, color block, number, or text, or as a digital display structure, pointer rotation indicator structure, etc., according to actual needs.

[0088] The above description is merely a preferred embodiment of the present invention and does not limit the patent scope of the present invention. Any equivalent structural transformations made using the contents of the present invention's specification and drawings under the inventive concept of the present invention, or direct / indirect applications in other related technical fields, are included within the patent protection scope of the present invention.

Claims

1. An endoscope, characterized in that, include: main body; An insert is provided extending in the front-to-back direction. The rear end of the insert is connected to the main body. The insert includes a head end structure, a first deformable segment, and a second deformable segment connected sequentially from front to back. Both the first deformable segment and the second deformable segment have a bent state that bends towards the radial side of the insert and a reset state that extends straight in the front-to-back direction. A first driving device is disposed on the main body and is used to drive the first deformable segment to switch between its own bending state and reset state. The first driving device forms a plurality of first bending positions in the process of driving the first deformable segment from its reset state to its bending state, and a first stroke variable is formed between every two adjacent first bending positions. as well as, A second driving device is provided on the main body and is used to drive the second deformable segment to switch between its own bending state and reset state. The second driving device forms a plurality of second bending positions in the process of driving the second deformable segment from its reset state to its bending state, and a second stroke variable is formed between every two adjacent second bending positions. Wherein, the first travel variable is less than the second travel variable; The first driving device includes a first traction member, a first winding assembly, and an adjusting assembly; one end of the first traction member is connected to a side wall of the first deformable segment; the first winding assembly is disposed on the main body and connected to the other end of the first traction member, the first winding assembly being used to pull the first traction member during the winding stroke to drive the first deformable segment to its own bent state, the first winding assembly also being used to release the first traction member during the unwinding stroke to drive the first deformable segment to its own reset state; the adjusting assembly is disposed on the insert to define each first bending position during the process of the first deformable segment moving from its reset state to its bent state, and can selectively adjust the first deformable segment to be fixed relative to the second deformable segment at different first bending positions; The adjusting assembly includes a ratchet and a pawl. The ratchet is located on a radial sidewall of the insert and is fixed relative to the front end of the second deformable section. The pawl is located on the front or rear side of the ratchet and has a connected mounting portion and a meshing portion. The mounting portion is mounted on the first deformable section and fixed relative to the connection between the first traction member and the first deformable section. The mounting portion is driven to rotate during the winding stroke of the first winding assembly, so as to drive the meshing portion to slide along the back of the ratchet teeth to engage sequentially with each tooth gap of the ratchet. The position where the meshing portion engages with the tooth gap of the ratchet constitutes the first bending position.

2. The endoscope as described in claim 1, characterized in that, The bending radius of the first deformed segment is smaller than that of the second deformed segment.

3. The endoscope as described in claim 1, characterized in that, The mounting portion is rotatably mounted on the first deformable section about the radial direction of the insert, so as to drive the engaging portion to be movable in the direction toward the ratchet and in the direction away from the ratchet, respectively; The first driving device further includes: The second traction component is connected at one end to the pawl; as well as, A second winding assembly is disposed on the main body and connected to the other end of the second traction member. The second winding assembly is used to pull the second traction member during the winding stroke to drive the engaging part away from the ratchet to separate from the tooth gap of the ratchet. The second winding assembly is also used to release the second traction member during the unwinding stroke to drive the engaging part toward the ratchet to engage with the tooth gap of the ratchet.

4. The endoscope as described in claim 3, characterized in that, The first deformable segment has a first radial direction and a second radial direction, and the first radial direction, the second radial direction, and the front-back direction are arranged in pairs intersecting each other; The first winding assembly includes a first winding spool, and two first traction members are provided in the first radial direction, and the two first traction members are respectively wound around the first winding spool in opposite directions; The second winding assembly includes a second winding spool, and two second traction members are provided in the second radial direction, with the two second traction members wound around the second winding spool in opposite directions. The adjustment assembly is provided in two corresponding to the two second traction members, and in the two adjustment assemblies, the inclination directions of the ratchet teeth are opposite.

5. The endoscope as described in claim 1, characterized in that, The pawl is mounted to the first deformable section via a rotating shaft, and the adjustment assembly further includes: A limiting protrusion is provided on the side of the pawl away from the ratchet; and, A torsion spring is sleeved on the outside of the rotating shaft and located between the radial sidewall of the first deformable section and the pawl. One arm of the torsion spring is connected to the portion of the pawl near the engagement part, and the other arm of the torsion spring abuts against the limiting protrusion on the side facing the ratchet.

6. The endoscope as described in claim 1, characterized in that, The first deformed segment and the second deformed segment are disconnected. The first deformed segment includes: A fixing body is sleeved on the front end of the second deformable section, and the ratchet is fixedly installed on the radial side wall of the fixing body; A rotating body is disposed on the front side of the fixed body, and the pawl is mounted on the corresponding side wall of the rotating body; and... A rotating connector includes a connecting portion disposed on the fixed body and a docking portion disposed on the rotating body. The connecting portion and the docking portion are rotatably connected so that the rotating body can rotate around the rotating connector to its own bent state.

7. The endoscope as described in claim 6, characterized in that, At the end faces of the fixed body and the rotating body that are close to each other, one of the connecting part and the docking part is a protruding arc-shaped guide, and the other is a recessed arc-shaped guide groove. The arc-shaped guide and the arc-shaped guide groove are both arranged concentrically with the ratchet, and the arc-shaped guide and the arc-shaped guide groove are slidably connected and engaged.

8. The endoscope as described in claim 3, characterized in that, The main body has an internal mounting cavity, and the outer wall of the main body has a mounting hole that communicates with the mounting cavity. The first winding assembly includes a first winding reel, a first operating lever, and a first deflector. The second winding assembly includes a second winding reel, a second operating lever, and a second deflector. The first and second reels are coaxially stacked in the mounting cavity and are rotatably disposed relative to the main body. The first operating lever and the second operating lever are movably sleeved together. The first operating lever passes through the mounting hole from the outside to the inside and is connected to the first reel. The second operating lever passes through the mounting hole from the outside to the inside and is connected to the second reel. The first and second levers are disposed outside the mounting cavity and stacked on top of each other in a direction away from the mounting cavity. The first lever is connected to the first operating lever so that when driven by an external force to rotate, the first operating lever drives the first winding reel to perform a winding or unwinding stroke. The second lever is connected to the second operating lever so that when driven by an external force to rotate, the second operating lever drives the second winding reel to perform a winding or unwinding stroke.

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