Bent tube, insertion tube, and endoscope

Abstract

This invention discloses a curved tube, comprising a tube body. At least one set of rotating shaft structures are cut along the length of the tube body wall. Each set of rotating shaft structures includes a first row of rotating shaft plates and a second row of rotating shaft plates arranged radially opposite each other. The first row of rotating shaft plates includes at least two spaced-apart first rotating shaft plates, and the second row of rotating shaft plates includes at least two spaced-apart second rotating shaft plates. The first and second rotating shaft plates are horizontally offset or horizontally arranged on the tube body. A first cutting cavity is provided around the first rotating shaft plates, and a second cutting cavity is provided around the second rotating shaft plates. The curved tube of this invention has a simple tube body structure, low manufacturing cost, higher connection strength, better axial stiffness, and stronger self-resetting capability. This invention also provides an insertion tube and an endoscope.

Description

Technical Field

[0001] This invention relates to the field of medical device technology, and in particular to a curved tube, an insertion tube, and an endoscope. Background Technology

[0002] Medical endoscopes are mainly used for observing target locations inside the human body and for assisting in minimally invasive or non-invasive treatments. Due to the complex and winding nature of the human body's passageways, a curved tube structure is incorporated at the tip of the insertion section to ensure smooth access to the target location.

[0003] The endoscopic curved tubes used in the prior art are generally made of individually manufactured curved tube units connected by rotating pins, or connected between different curved tube units by tube wall hanging structure. The connection parts are very easy to fall off and cause product failure, the manufacturing cost is high, and the axial rigidity is poor. Summary of the Invention

[0004] In view of this, the present invention provides a curved tube with a simple structure, low manufacturing cost, higher connection strength, better axial stiffness, and stronger automatic reset capability.

[0005] The present invention also provides an insertion tube and an endoscope.

[0006] To achieve the above objectives, the present invention provides the following technical solution:

[0007] A curved pipe includes a pipe body. At least one set of rotating shaft structures are cut along the length of the pipe body wall. Each set of rotating shaft structures includes a first row of rotating shaft pieces and a second row of rotating shaft pieces arranged radially opposite each other. The first row of rotating shaft pieces includes at least two spaced-apart first rotating shaft pieces, and the second row of rotating shaft pieces includes at least two spaced-apart second rotating shaft pieces. The first and second rotating shaft pieces are horizontally offset or horizontally arranged on the pipe body. A first cutting cavity is provided around the first rotating shaft pieces, and a second cutting cavity is provided around the second rotating shaft pieces.

[0008] One end of the nth first cutting cavity is connected to the nth second cutting cavity through the first clearance groove, and the other end is connected to the (n+1)th second cutting cavity through the second clearance groove. Both the first clearance groove and the second clearance groove are wound around the tube body.

[0009] Optionally, the first rotating shaft piece includes a first arc-shaped rotating shaft portion and a first connecting portion, the first arc-shaped rotating shaft portion and the first connecting portion are integral structures, the first connecting portion is integral structure with the tube body at the lower part of the first cutting cavity, and a first limiting structure is provided on the tube body at the upper end of the first cutting cavity, the first limiting structure being used to limit the side of the first rotating shaft piece.

[0010] Optionally, the first limiting structure includes a first arc-shaped limiting arm. The side of the first arc-shaped limiting arm near the first arc-shaped pivot portion includes an integrally formed first arc-shaped limiting side and a second limiting side. The first arc-shaped limiting side surrounds the side of the first arc-shaped pivot portion, and the second limiting side is disposed on the side of the first connecting portion. A third clearance groove is provided between the second limiting side and the side of the first connecting portion. The third clearance groove communicates with the first clearance groove or the second clearance groove through a cut seam on the side of the first arc-shaped limiting arm away from the first arc-shaped pivot portion.

[0011] Optionally, the first cutting cavity includes the third clearance groove, and also includes an arc-shaped cutting slit between the first arc-shaped limiting side and the first arc-shaped rotating shaft, and a cutting slit on the side of the first arc-shaped limiting arm away from the first arc-shaped rotating shaft.

[0012] Optionally, the angle between the opening direction of the first arc-shaped limiting side and the axial direction of the tube body is α, where α is an acute angle or a 0-degree angle.

[0013] Optionally, the end of the first arc-shaped limiting arm is provided with a first protrusion, the first protrusion extends along the side of the first connecting part, one side of the first protrusion is provided with the third clearance groove, and the other side is provided with a fourth clearance groove.

[0014] The third clearance slot is connected to the fourth clearance slot, and the fourth clearance slot is connected to the first clearance slot or the second clearance slot.

[0015] The first arc-shaped limiting arm and the first protrusion are an integral structure.

[0016] Optionally, the first rotating shaft piece and the second rotating shaft piece have the same structure, and the angle between the opening direction of the second arc-shaped limiting side of the second rotating shaft piece and the axial direction of the tube body is -a, where a is an acute angle or a 0-degree angle.

[0017] Optionally, the first and second clearance slots are stepped slots;

[0018] Alternatively, the first clearance groove can be a horizontal groove, and the second clearance groove can be a stepped groove or an inclined groove.

[0019] Optionally, the stepped groove includes a first horizontal groove, a longitudinal groove, and a second horizontal groove that are connected in sequence, wherein the height of the second horizontal groove is higher than that of the first horizontal groove.

[0020] Optionally, the longitudinal groove is a vertical groove or an inclined groove;

[0021] The width of the groove joints of the first horizontal groove and the second horizontal groove is the same, and the width of the groove joint of the longitudinal groove is smaller than the width of the groove joint of the first horizontal groove.

[0022] Optionally, a traction rope is provided inside the tube, and a guide structure for guiding the traction rope is provided inside the tube.

[0023] Optionally, the guide structure includes a guide through hole disposed on the wall of the tube body, a guide plate disposed on the guide through hole, a guide groove disposed on the guide plate, the guide groove being disposed along the extension direction of the traction rope, the guide plate being lower than the surface of the tube body, and the guide groove communicating with the inner cavity of the tube body.

[0024] Optionally, the interval between any two adjacent first rotating shaft pieces may be the same or different, and correspondingly, the interval between any two adjacent second rotating shaft pieces may be the same or different.

[0025] Optionally, the interval between any two adjacent first rotating shaft pieces near the insertion head end of the insertion tube is less than the interval between any two adjacent first rotating shaft pieces near the control end of the insertion tube; correspondingly, the interval between any two adjacent second rotating shaft pieces near the insertion head end of the insertion tube is less than the interval between any two adjacent second rotating shaft pieces near the control end of the insertion tube.

[0026] Optionally, the line connecting the rotation centers of the first and second rotating shaft pieces in sequence is spiral.

[0027] As can be seen from the above technical solution, the bending tube provided by the present invention, by cutting rotating shaft pieces on the tube body, and connecting the cutting cavities around each rotating shaft piece one by one through clearance grooves, forms a continuous, interconnected cutting slit on the tube body, making the tube body a single, integral structure with a surrounding cutting slit. The cutting slit is obtained by cutting around the tube body, and the upper part of the tube wall of the cutting slit is rotatably connected to the lower part of the tube wall of the cutting slit through the rotating shaft pieces, which improves the overall strength and axial stiffness of the tube body. There are no other connecting parts on the tube body, eliminating the possibility of product failure caused by the falling off of connecting parts. Compared with the split structure tubes in the prior art, the tube body of the present invention has a simpler structure, lower manufacturing cost, higher connection strength, better axial stiffness, and stronger self-resetting capability. By setting the rotating shaft piece structure on the tube body, it is possible to ensure that the tube body can rotate and bend around each rotating shaft piece, ensuring the bending performance of the tube body, and to prevent the tube body from twisting during insertion, ensuring the overall structural consistency of the entire tube body.

[0028] The present invention also provides an insertion tube, which includes the above-described curved tube and therefore also has the advantages of the above structure, which will not be described in detail here.

[0029] The present invention also provides an endoscope including an insertion tube, wherein the insertion tube is the insertion tube described above, and therefore also has the advantages of the above structure, which will not be repeated here. Attached Figure Description

[0030] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments 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.

[0031] Figure 1 A three-dimensional structural diagram of a bent tube provided in an embodiment of the present invention;

[0032] Figure 2 for Figure 1 A partially enlarged structural diagram of part A in the diagram;

[0033] Figure 3 for Figure 1 A schematic diagram of a curved tube at one angle;

[0034] Figure 4 for Figure 3 A partial enlarged structural diagram of part B in the diagram;

[0035] Figure 5 for Figure 1 A schematic diagram of the structure of a bent tube at another angle;

[0036] Figure 6 for Figure 5 A partial enlarged structural diagram of section C in the diagram;

[0037] Figure 7 This is a partial structural diagram of the position of the first rotating shaft piece according to an embodiment of the present invention;

[0038] Figure 8 A partial structural schematic diagram of the position of the first rotating shaft piece provided in another embodiment of the present invention;

[0039] Figure 9 This is a partial structural diagram of the position of the second rotating shaft plate according to an embodiment of the present invention;

[0040] Figure 10 This is a partial structural schematic diagram of a stepped groove provided in an embodiment of the present invention.

[0041] in:

[0042] 1. Pipe body, 2. Guide plate, 3. Traction rope, 4. First rotating shaft plate, 401. First arc-shaped rotating shaft part, 402. First connecting part, 403. First arc-shaped limiting side, 404. Second limiting side, 405. Third clearance groove, 406. First protrusion block, 407. Fourth clearance groove, 408. First arc-shaped limiting arm, 5. Second rotating shaft plate, 501. Second arc-shaped rotating shaft part, 502. Second connecting part, 503. Second arc-shaped limiting side, 504. First limiting side, 505. Fifth clearance groove, 506. Second protrusion block, 507. Sixth clearance groove, 508. Second arc-shaped limiting arm, 6. Second clearance groove, 7. First clearance groove. Detailed Implementation

[0043] This invention discloses a curved tube with a simple structure, low manufacturing cost, higher connection strength, better axial stiffness, and stronger automatic reset capability.

[0044] The present invention also provides an insertion tube and an endoscope.

[0045] 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 some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0046] Please see Figures 1 to 6 The present invention provides a curved pipe, including a pipe body 1, wherein at least one set of rotating shaft structures are cut along the length direction on the pipe wall of the pipe body 1.

[0047] Each set of rotating shaft structures includes a first column of rotating shaft plates and a second column of rotating shaft plates. The first and second columns of rotating shaft plates are arranged radially opposite each other, that is, they are spaced 180° apart on the tube body 1. The first column of rotating shaft plates includes several spaced first rotating shaft plates 4, and the second column of rotating shaft plates includes several spaced second rotating shaft plates 5. The first and second rotating shaft plates 4 and 5 are horizontally staggered or horizontally arranged, and the spacing between two adjacent first rotating shaft plates 4 is the same as the spacing between two adjacent second rotating shaft plates 5, so that the line connecting the centers of the rotating shaft plates 4 and 5 are spirally arranged on the tube body 1. A first cutting cavity is provided around the first rotating shaft plate 4, and a second cutting cavity is provided around the second rotating shaft plate 5. One end of the nth first cutting cavity is connected to the nth second cutting cavity through the first clearance groove 7, and the other end is connected to the (n+1)th second cutting cavity through the second clearance groove 6. Both the first clearance groove 7 and the second clearance groove 6 are cutting grooves wound around the tube body 1, thus forming an integral, circumferential cutting slit on the tube body 1. The tube body 1 can be a round tube, an elliptical tube, or a tube of other structures; no limitation is made here. The axes of the first rotating shaft piece 4 and the second rotating shaft piece 5 are the rotation axes of the tube body 1. When one or more sets of the aforementioned rotating shaft structures are cut on the tube wall of the tube body 1, the first column of rotating shaft pieces from different sets of the aforementioned rotating shaft structures are arranged in parallel and in the same direction, and simultaneously, the second column of rotating shaft pieces from different sets of the aforementioned rotating shaft structures are arranged in parallel and in the same direction.

[0048] The bending tube of the present invention, by cutting rotating shaft pieces on the tube body 1, with the cut cavities around each rotating shaft piece connected one by one through clearance grooves, forms a single, interconnected cutting slit on the tube body 1, making the tube body 1 a single, integral structure with a surrounding cutting slit. The cutting slit is obtained by cutting around the tube body 1, and the upper end of the tube wall of the cutting slit is rotatably connected to the lower end of the tube wall of the cutting slit through the rotating shaft pieces, thereby improving the overall strength and axial stiffness of the tube body 1. There are no other connecting parts on the tube body 1, eliminating the possibility of product failure due to the falling off of connecting parts. Compared to the split-structure tubes of the prior art, the tube body 1 of the present invention has a simpler structure, lower manufacturing cost, higher connection strength, better axial stiffness, and stronger self-resetting capability. By setting the cutting rotating shaft piece structure on the tube body 1, it is possible to ensure that the tube body 1 of the bending tube can rotate and bend around each rotating shaft piece, while also preventing the tube body 1 from twisting during insertion, ensuring the overall structural consistency of the entire tube body 1.

[0049] Specifically, in order to ensure the bending flexibility of the tube body 1, the first column of rotating shaft plates and the second column of rotating shaft plates are set at a 180-degree interval, so that the tube body 1 can be easily bent to both sides around the axis of the rotating shaft plates.

[0050] Among them, the first clearance groove 7 and the second clearance groove 6 are stepped grooves, or they can be grooves of other commonly used structures, as long as there is axial displacement at the beginning and end of the groove.

[0051] In one embodiment, such as Figure 7 As shown, the first rotating shaft piece 4 includes a first arc-shaped rotating shaft portion 401 and a first connecting portion 402. The first arc-shaped rotating shaft portion 401 and the first connecting portion 402 are integral structures. The first connecting portion 402 is integral with the tube body 1 at the lower end of the first cutting cavity. A first limiting structure is provided on the tube body 1 at the upper end of the first cutting cavity. The first limiting structure is integral with the tube body 1 at the upper end of the first cutting cavity. The first limiting structure is used to limit the side of the first rotating shaft piece 4.

[0052] The first limiting structure includes a first arc-shaped limiting arm 408, which surrounds the side of the first rotating shaft piece 4. The side of the first arc-shaped limiting arm 408 near the first arc-shaped rotating shaft portion 401 includes an integrally formed first arc-shaped limiting side 403 and a second limiting side 404. The first arc-shaped limiting side 403 surrounds the side of the first arc-shaped rotating shaft portion 401, and the second limiting side 404 is disposed on the side of the first connecting portion 402. A third clearance groove 405 is provided between the second limiting side 404 and the side of the first connecting portion 402. By providing the third clearance groove 405 at the end of the first arc-shaped limiting arm 408, the first arc-shaped limiting arm 408 can rotate synchronously when the tube body 1 rotates and bends around the first arc-shaped rotating shaft portion 401, avoiding obstruction of the rotation of the first arc-shaped limiting arm 408 by the first connecting portion 402. The groove width of the third clearance groove 405 is set by those skilled in the art according to actual bending requirements. The third clearance groove 405 connects to the first clearance groove 7 or the second clearance groove 6 through the arc-shaped cutting seam of the first arc-shaped limiting arm 408 away from the first arc-shaped rotating shaft 401, making the cutting seam or groove on the entire pipe body a continuous cutting structure wrapped around the pipe body 1. The second limiting side 404 is the plane at the end of the first arc-shaped limiting arm 408.

[0053] The first cutting cavity includes a third clearance groove 405, an arc-shaped cutting slit between the first arc-shaped limiting side 403 and the first arc-shaped rotating shaft 401, and an arc-shaped cutting slit on the side of the first arc-shaped limiting arm 408 away from the first arc-shaped rotating shaft 401. The arc surface of the first arc-shaped limiting side 403 is larger than a semicircle, thereby restricting the axial movement of the first arc-shaped rotating shaft 401 relative to the first arc-shaped limiting side 403, allowing the first arc-shaped rotating shaft 401 to rotate around its axis within the first arc-shaped limiting side 403, forming a rotating shaft. The first cutting cavity is located between the side of the first arc-shaped rotating shaft 401 and the first arc-shaped limiting side 403, thereby allowing the tube body 1 to rotate and bend around the first arc-shaped rotating shaft 401, while simultaneously allowing the end of the first arc-shaped limiting arm 408 to slide within the third clearance groove 405, thereby improving the strength of the tube body 1. The gap between the side of the first arc-shaped pivot 401 and the first arc-shaped limiting side 403 is small to prevent torsion between them. The first clearance groove 7 and the second clearance groove 6 have large groove widths to facilitate the tube body 1 to meet the bending angle requirements.

[0054] In another specific embodiment, such as Figure 8 As shown, a first protrusion 406 is provided at the end of the first arc-shaped limiting arm 408. The first protrusion 406 extends along the side of the first connecting portion 402. A third clearance groove 405 is provided on one side of the first protrusion 406, and a fourth clearance groove 407 is provided on the other side, thereby preventing the first protrusion 406 from being obstructed when rotating with the tube body 1 to both sides. The third clearance groove 405 is located on one side of the first protrusion 406, and the fourth clearance groove 407 is located on the other side of the first protrusion 406. The third clearance groove 405 is located between the second limiting side 404 and the side of the first connecting portion 402, and the fourth clearance groove 407 is located between the first protrusion 406 and the tube body 1. Other structures are the same as in the above embodiment and will not be described again here. By providing a first protrusion 406 at the end of the first arc-shaped limiting arm 408, the mating area between the first cutting cavities of the first rotating shaft plate 4 can be greatly increased, thereby greatly improving the radial strength of the bent tube. The third clearance groove 405 and the fourth clearance groove 407 are connected by a cutting seam, and the fourth clearance groove 407 is connected to the first clearance groove 7 or the second clearance groove 6 by another cutting seam. The first arc-shaped limiting arm 408 and the first protrusion 406 are integral structures. The groove width dimensions of the third clearance groove 405 and the fourth clearance groove 407 are set by those skilled in the art according to the actual bending requirements.

[0055] The third clearance groove 405 is connected to the first clearance groove 7 through a cut on the side of the first arc-shaped limiting arm 408 away from the first arc-shaped rotating shaft 401. For example... Figure 8As shown, the cutting seams are located on the right side of the central axis, including: the cutting seam between the third clearance groove 405 and the fourth clearance groove 407, the fourth clearance groove 407, and the cutting seam between the fourth clearance groove 407 and the first clearance groove 7. The third clearance groove 405 communicates with the second clearance groove 6 through a cutting seam on the side of the first arc-shaped limiting arm 408 away from the first arc-shaped rotating shaft 401. Figure 8 As shown, the cutting seam is located on the left side of the central axis, including: the cutting seam between the third clearance groove 405 and the fourth clearance groove 407, the fourth clearance groove 407, and the cutting seam between the fourth clearance groove 407 and the second clearance groove 6.

[0056] Furthermore, the angle between the opening direction of the first arc-shaped limiting side 403 and the axial direction of the tube body 1 is α, thereby making the angle between the central symmetry axis of the first connecting part 402 and the axial direction of the tube body 1 α. α is an acute angle or a 0-degree angle. By setting the angle α between the opening direction of the first arc-shaped limiting side 403 and the axial direction of the tube body 1, the strength of the connection between the first arc-shaped limiting side 403 and the cut seams on both sides is guaranteed, and its axial strength is also strengthened to a certain extent. When one or more sets of the aforementioned rotating shaft structures are cut on the tube wall of the tube body 1, the first row of rotating shaft pieces of different sets of rotating shaft structures are arranged in the same direction, that is, the angle α between the rotating shaft pieces of the first row of rotating shaft pieces and the axial direction of the tube body 1 is the same. The second row of rotating shaft pieces of different sets of rotating shaft structures are arranged in the same direction, that is, the angle between the rotating shaft pieces of the second row of rotating shaft pieces and the axial direction of the tube body 1 is the same.

[0057] like Figure 9 As shown, the second rotating shaft piece 5 has the same structure and corresponding connection structure as the first rotating shaft piece 4, and their axes are arranged parallel to each other. Specifically, the second rotating shaft piece 5 includes a second arc-shaped rotating shaft part 501 and a second connecting part 502. The second arc-shaped rotating shaft part 501 and the second connecting part 502 are integral structures. A second limiting structure is provided on the tube body 1 at the upper end of the second cutting cavity. The second limiting structure is used to limit the side of the second rotating shaft piece 5.

[0058] The second limiting structure includes a second arc-shaped limiting arm 508, which surrounds the side of the second rotating shaft piece 5. The side of the second arc-shaped limiting arm 508 near the second rotating shaft piece 5 includes an integrally formed second arc-shaped limiting side 503 and a first limiting side 504. The second arc-shaped limiting side 503 surrounds the side of the second arc-shaped rotating shaft portion 501, and the first limiting side 504 is located on the side of the second connecting portion 502. A fifth clearance groove 505 is provided between the first limiting side 504 and the side of the second connecting portion 502. By providing the fifth clearance groove 505 at the end of the second arc-shaped limiting arm 508, the second arc-shaped limiting arm 508 can rotate synchronously when the tube body 1 rotates and bends around the second arc-shaped rotating shaft portion 501. Both the first arc-shaped rotating shaft portion 401 and the second arc-shaped rotating shaft portion 501 are integral structures with the tube wall of the tube body 1, and their bending arcs are consistent with the bending arcs of the corresponding positions of the tube wall of the tube body 1.

[0059] In another embodiment, a second protrusion 506 is provided at the end of the second arc-shaped limiting arm 508. The second protrusion 506 extends along the side of the second connecting portion 502. A fifth clearance groove 505 is provided on one side of the second protrusion 506, and a sixth clearance groove 507 is provided on the other side. By providing the fifth clearance groove 505 and the sixth clearance groove 507 on both sides of the second protrusion 506 respectively, the second protrusion 506 is prevented from being obstructed when rotating to both sides with the tube body 1, thereby improving the flexibility of the tube body 1 in bending. The groove width of the fifth clearance groove 505 and the sixth clearance groove 507 can be set by those skilled in the art according to the actual bending requirements. Other structures are the same as those in the above embodiment and will not be described again here.

[0060] The difference between the second rotating shaft piece 5 and the first rotating shaft piece 4 is that the angle between the opening direction of the second arc-shaped limiting side 503 of the second rotating shaft piece 5 and the axial direction of the tube body 1 is -a, where a is an acute angle or 0 degrees. That is, the opening direction of the second arc-shaped limiting side 503 and the opening direction of the first arc-shaped limiting side 403 are axially symmetrical about the axial direction, facing different directions. This ensures the strength of the connection between the second rotating shaft piece 5 and the first rotating shaft piece 4 and the cut seams on both sides, and also strengthens the axial strength of the second rotating shaft piece 5 and the first rotating shaft piece 4, improving the support stability of the rotating shaft pieces during the bending process of the tube body 1. It should be noted that although... Figure 8 and Figure 9 The openings on the upper arc-shaped limiting side face the same direction because Figure 8 and Figure 9 This is a schematic diagram obtained when observing the tube 1 from opposite sides. However, in the actual tube 1, when viewed from the same side, the opening of the second arc-shaped limiting side 503 and the opening of the first arc-shaped limiting side 403 have different orientations.

[0061] In one specific embodiment, such as Figure 4 and Figure 10 As shown, the first clearance groove 7 and the second clearance groove 6 are stepped grooves. The stepped groove includes a first horizontal groove, a longitudinal groove, and a second horizontal groove arranged sequentially. The height of the second horizontal groove is higher than that of the first horizontal groove, and the longitudinal groove is a vertical groove or an inclined groove, such as... Figure 4 As shown, the longitudinal groove is a vertical groove; as Figure 10 As shown, the longitudinal groove is an inclined groove, and the dashed line indicates one set of clearance grooves and longitudinal grooves on the rear side. The inclination angle b of the longitudinal groove is an acute angle or a zero-degree angle, which is the angle relative to the axis of the pipe body. The width of the groove joints of the first horizontal groove and the second horizontal groove is the same, while the width of the groove joint of the longitudinal groove is smaller than that of the first horizontal groove. The two groove sides of the longitudinal groove abut or have a very small gap, so when the bent pipe is subjected to shear force in the axial direction of rotation, the mating surface formed by these two groove sides can improve the shear resistance of the bent pipe. In another embodiment, the first clearance groove 7 is a horizontal groove, and the second clearance groove 6 is a stepped groove or an inclined groove.

[0062] Due to limitations in the processing method, the gap between the side of the first arc-shaped rotating shaft 401 and the first arc-shaped limiting side 403 has a certain width. This causes the bent tube to have a certain degree of freedom along the axial direction of the first rotating shaft 4 during the rotation of the tube body 1 around the first rotating shaft plate 4, resulting in torsion. By setting the longitudinal groove on the stepped groove, the two sides of the longitudinal groove are set to have a certain angle with the axis of the bent tube. This angle can be set between -90° and 90° depending on the width of the narrow gap. When the bent tube body 1 rotates along the axis of its first rotating shaft plate 4 or second rotating shaft plate 5, if torsional bending occurs along the rotation axis, the surfaces on both sides of the longitudinal groove will abut, restricting the bending of the bent tube along the rotation axis. The rotation axis of the first rotating shaft plate 4 is the axis of the first arc-shaped rotating shaft 401, and the axis of the second rotating shaft plate 5 is the axis of the second arc-shaped rotating shaft 501.

[0063] In one embodiment, the first and second rows of pivot plates are arranged at 180-degree intervals on the tube body 1. It is understood that adding pivot plate groups in other directions of the tube body 1 can achieve bending in three, four, six, or more directions, which will not be elaborated upon here.

[0064] It is understandable that the spacing between any two adjacent first rotating shaft pieces 4 can be the same or different. Similarly, the spacing between any two adjacent second rotating shaft pieces 5 is arranged as described above. The closer the distance between the rotating shaft pieces, the lower their axial rigidity; the farther the rotating shaft pieces are, the higher their axial rigidity. Based on this principle, the rigidity of each segment of the bending tube of the present invention can be segmented. In one embodiment, the axial rigidity of the portion of the bending tube near the insertion head can be reduced by decreasing the spacing between the rotating shaft pieces near the insertion head, and the axial rigidity of the portion of the bending tube near the control end can be increased by increasing the spacing between the rotating shaft pieces near the control end. This ensures that the head end bends first when the bending tube is bent by the traction rope 3. The spacing between the first rotating shaft pieces 4 or the spacing between the second rotating shaft pieces 5 is the pitch of the helical line connecting the centers of the first rotating shaft pieces 4 and the second rotating shaft pieces 5. The pitch of the bend gradually increases from the position near the insertion head to the position away from the insertion head, thereby gradually increasing the rigidity of the bend in this direction. That is, the rigidity of the bend is the smallest at the insertion head and the largest at the position away from the insertion head, making it easier to bend closer to the insertion head.

[0065] To enable the tube body 1 to bend actively as needed, a traction rope 3 is installed inside the tube body 1. Since the traction rope 3 is located inside the tube body 1, it avoids affecting the insertion process of the bent tube. Specifically, the tube body 1 is equipped with a guide structure for guiding the traction rope 3.

[0066] Specifically, the guiding structure includes a guiding through hole formed on the wall of the tube body 1. A guide plate 2 is positioned at the guiding through hole, its position being lower than the surface of the tube body 1. A guiding groove is provided on the guide plate 2, extending along the direction of the traction rope 3. The traction rope 3 is placed within the guiding groove, which communicates with the inner cavity of the tube body 1. The guiding groove serves to constrain the traction rope 3, allowing it to have freedom of movement along the axial direction of the curved tube. Multiple guiding structures are provided on the tube body 1 along its length, facilitating not only the installation of the traction rope 3 but also the inspection of its connection. Two traction ropes 3 are provided, positioned on opposite sides of the tube body 1, enabling traction on different sides of the tube body 1. For ease of traction, the traction rope 3 is positioned on the tube wall between the first and second rows of rotating shaft plates. One end of the traction rope 3 is fixedly connected to the head end of the curved tube, and the other end is connected to a control structure for the endoscope handle position. This control structure controls the tension or relaxation of the traction rope 3. When the traction rope 3 on one side of the bending pipe is under tension, the gap of the clearance groove (cut) on this side decreases, and the pipe wall of the pipe body 1 rotates and bends around each pivot point. The entire bending pipe bends and deforms towards the side under tension, realizing the active bending of the bending pipe. By setting the traction rope 3, the bending pipe can be bent according to the operator's needs. The structure is simple and easy to use.

[0067] In one embodiment, the guide piece 2 is formed by stamping the tube wall of the tube body 1.

[0068] The bending tube provided by this invention includes a radially rotatable shaft piece formed along the axial (length direction) of the tube wall of the tube body 1. A row of radially rotatable shaft pieces is also formed on the opposite side. A cut clearance groove is formed between the opposing shaft pieces. The clearance groove and the shaft pieces form an end-to-end connection structure, thus ensuring the connection strength at the shaft joint of the bending tube. The bending tube of this invention is a single unit, preventing breakage due to parts falling off, resulting in higher connection strength. The bending tube of this invention has good axial rigidity, an active bending function, and automatic reset capability after the traction rope 3 is unloaded.

[0069] The present invention also provides an insertion tube, which includes a passively bent tube and an actively bent tube, wherein the actively bent tube may be the bent tube provided in the above embodiments.

[0070] The present invention also provides an endoscope, including an insertion tube, wherein the insertion tube is the insertion tube described above.

[0071] In the description of this solution, it should be understood that the terms "upper", "lower", "vertical", "inner", "outer", etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation. Therefore, they should not be construed as limitations on this solution.

[0072] Furthermore, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this solution, "multiple" means two or more, unless otherwise explicitly specified.

[0073] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0074] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A curved pipe, characterized in that, The tube includes a pipe body (1), and at least one set of rotating shaft structures are cut along the length direction on the pipe wall of the pipe body (1). Each set of rotating shaft structures includes a first row of rotating shaft pieces and a second row of rotating shaft pieces arranged radially opposite each other. The first row of rotating shaft pieces includes at least two spaced first rotating shaft pieces (4), and the second row of rotating shaft pieces includes at least two spaced second rotating shaft pieces (5). The first rotating shaft pieces (4) and the second rotating shaft pieces (5) are horizontally staggered on the pipe body (1). The axes of the first rotating shaft pieces (4) and the second rotating shaft pieces (5) are the rotation axes of the pipe body (1). A first cutting cavity is provided around the first rotating shaft piece (4), and a second cutting cavity is provided around the second rotating shaft piece (5). One end of the nth first cutting cavity is connected to the nth second cutting cavity through the first clearance groove (7), and the other end is connected to the (n+1)th second cutting cavity through the second clearance groove (6). The first clearance groove (7) and the second clearance groove (6) are both wrapped around the tube body (1). The first clearance groove (7) and the second clearance groove (6) are stepped grooves; The stepped groove includes a first horizontal groove, a longitudinal groove, and a second horizontal groove arranged in sequence. The height of the second horizontal groove is higher than that of the first horizontal groove. The angle b of the longitudinal groove relative to the axis of the pipe body (1) is an acute angle or a zero-degree angle. The groove widths of the first horizontal groove and the second horizontal groove are the same, and the groove width of the longitudinal groove is less than that of the groove width of the first horizontal groove.

2. The bent pipe according to claim 1, characterized in that, The first rotating shaft piece (4) includes a first arc-shaped rotating shaft part (401) and a first connecting part (402). The first arc-shaped rotating shaft part (401) and the first connecting part (402) are integral structures. The first connecting part (402) is integral with the tube body (1) at the lower part of the first cutting cavity. A first limiting structure is provided on the tube body (1) at the upper end of the first cutting cavity. The first limiting structure is used to limit the side of the first rotating shaft piece (4).

3. The bent pipe according to claim 2, characterized in that, The first limiting structure includes a first arc-shaped limiting arm (408). The side of the first arc-shaped limiting arm (408) near the first arc-shaped rotating shaft (401) includes an integrally formed first arc-shaped limiting side (403) and a second limiting side (404). The first arc-shaped limiting side (403) surrounds the side of the first arc-shaped rotating shaft (401). The second limiting side (404) is disposed on the side of the first connecting part (402). A third clearance groove (405) is provided between the second limiting side (404) and the side of the first connecting part (402). The third clearance groove (405) communicates with the first clearance groove (7) or the second clearance groove (6) through a cutting seam on the side of the first arc-shaped limiting arm (408) away from the first arc-shaped rotating shaft (401).

4. The bent pipe according to claim 3, characterized in that, The first cutting cavity includes the third clearance groove (405), and also includes an arc-shaped cutting seam between the first arc-shaped limiting side (403) and the first arc-shaped rotating shaft (401), and a cutting seam on the side of the first arc-shaped limiting arm (408) away from the first arc-shaped rotating shaft (401).

5. The bent pipe according to claim 3, characterized in that, The angle between the opening direction of the first arc-shaped limiting side (403) and the axial direction of the tube body (1) is α, where α is an acute angle or a 0-degree angle.

6. The bent pipe according to claim 3, characterized in that, The end of the first arc-shaped limiting arm (408) is provided with a first protrusion (406). The first protrusion (406) extends along the side of the first connecting part (402). The third clearance groove (405) is provided on one side of the first protrusion (406), and the fourth clearance groove (407) is provided on the other side. The third clearance slot (405) is connected to the fourth clearance slot (407), and the fourth clearance slot (407) is connected to the first clearance slot (7) or the second clearance slot (6); The first arc-shaped limiting arm (408) and the first protrusion (406) are an integral structure.

7. The bent tube according to any one of claims 1-6, characterized in that, The first rotating shaft piece (4) has the same structure as the second rotating shaft piece (5). The angle between the opening direction of the second arc-shaped limiting side (503) of the second rotating shaft piece (5) and the axial direction of the tube body (1) is -a, where a is an acute angle or a 0-degree angle.

8. The bent tube according to any one of claims 1-6, characterized in that, The tube (1) is provided with a traction rope (3) and a guide structure for guiding the traction rope (3) is provided inside the tube (1).

9. The bent tube according to claim 8, characterized in that, The guiding structure includes a guiding through hole provided on the wall of the tube body (1), a guiding plate (2) provided on the guiding through hole, a guiding groove provided on the guiding plate (2), the guiding groove being provided along the extension direction of the traction rope (3), the guiding plate (2) being lower than the surface of the tube body (1), and the guiding groove communicating with the inner cavity of the tube body (1).

10. The bent tube according to any one of claims 1-6, characterized in that, The interval between any two adjacent first rotating shaft pieces (4) may be the same or different, and correspondingly, the interval between any two adjacent second rotating shaft pieces (5) may be the same or different.

11. The bent tube according to claim 10, characterized in that, The interval between any two adjacent first rotating shaft pieces (4) near the insertion head end of the insertion tube is less than the interval between any two adjacent first rotating shaft pieces (4) near the control end of the insertion tube. Correspondingly, the interval between any two adjacent second rotating shaft pieces (5) near the insertion head end of the insertion tube is less than the interval between any two adjacent second rotating shaft pieces (5) near the control end of the insertion tube.

12. The bent tube according to claim 1, characterized in that, The line connecting the rotation centers of the first rotating shaft piece (4) and the second rotating shaft piece (5) in sequence is spiral.

13. An insertion tube, characterized in that, The insertion tube includes the curved tube according to any one of claims 1-12.

14. An endoscope, comprising an insertion tube, characterized in that, The insertion tube is the insertion tube according to claim 13.

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