Snake joints, active bending segments and endoscopes

Abstract

The present invention discloses a snake bone joint, an active bending section and an endoscope, and relates to the technical field of medical devices. The snake bone joint of the present invention comprises a snake bone body, lugs are provided at both ends of the snake bone body, and openings are provided on the lugs, the openings are strip-shaped holes, the openings are used to install rivets, and there is a movable gap between the rivets and the openings; a traction rope installation part is also provided on the snake bone body, the traction rope installation part is used to install the traction rope, and the traction rope located between two adjacent snake bone bodies is located on the outside of the abutment point of the two adjacent snake bone bodies. The snake bone joint of the present invention, when two adjacent snake bone joints abut against each other, can still apply force to the traction rope and further separate the two adjacent snake bone joints, so that the maximum bending degree of the two adjacent snake bone joints can be increased without increasing the gap between the two adjacent snake bone joints.

Description

Technical Field

[0001] The invention relates to the technical field of medical instruments, and in particular to a serpentine segment, an active bending segment and an endoscope. Background Art

[0002] An endoscope is a commonly used medical device that can directly enter the human body for examination and provide doctors with sufficient diagnostic information. An endoscope usually includes: an insertion part for inserting into the human body, a handle for controlling the bending of the front end of the insertion part, and a display device for displaying the internal environment of the human body's natural cavity; the endoscope can realize the internal observation of the human body, the exploration of lesions, and the treatment of lesions through the cooperation of the above three parts.

[0003] The insertion part includes an active bending section and a passive bending section. The active bending section is located at the distal end of the insertion part. The active bending section can control its bending state by a lever on the operating handle. In the related art, in order to realize the bending of the active bending section, the active bending section is formed by riveting, hinged or welding multiple snake bones. There is a gap between two adjacent snake bone sections, and the gap determines the maximum bending angle of the two adjacent snake bone sections.

[0004] However, the inventors found in their research that the active bending section in the related art needs to increase the gap between two adjacent snake bones in order to obtain a larger bending angle. If the gap between two adjacent snake bones is too large, the axial length of the snake bones will be too short; the short axial length of the snake bones will affect the strength of the snake bones, especially for shorter snake bones, the impact is more obvious.

[0005] Therefore, how to enable two adjacent snake bone nodes of the active bending section to obtain a larger bending angle is a technical problem that needs to be solved urgently by those skilled in the art. Summary of the invention

[0006] The invention discloses a serpentine segment, an active bending section and an endoscope, so as to solve the technical problem in the related art that the bending angle of the serpentine segment is limited by the gap between two adjacent serpentine segments.

[0007] In order to solve the above problems, the present invention adopts the following technical solutions:

[0008] A first aspect of the present invention provides a snake bone joint.

[0009] The snake bone joint of the present invention includes a snake bone body, wherein lugs are provided at both ends of the snake bone body, and an opening is provided on the lug, wherein the opening is a strip-shaped hole, and the opening is used to install a rivet, and a movable gap is provided between the rivet and the opening; a traction rope installation portion is also provided on the snake bone body, and the traction rope installation portion is used to install a traction rope, and the traction rope located between two adjacent snake bone bodies is located on the outside of the abutment point of the two adjacent snake bone bodies.

[0010] According to an optional embodiment, a first aperture of the opening in the axial direction of the serpentine body is smaller than a second aperture of the opening in the radial direction of the serpentine body.

[0011] According to an optional embodiment, the first hole diameter of the opening in the axial direction of the serpentine body is the same as the outer diameter of the rivet, and when the rivet is installed in the opening, two adjacent serpentine bodies remain fixedly connected in the axial direction.

[0012] According to an optional embodiment, when the rivet is installed in the opening, the rivet is located in the middle of the opening, and the rivet has the movable gap with both ends of the opening; or when the rivet is installed in the opening, the rivet is located at one end of the opening, and the rivet has the movable gap with the other end of the opening.

[0013] According to an optional embodiment, the opening is an inclined hole, and the inclination direction of the opening located at one end of the snake bone body is opposite to the inclination direction of the opening located at the other end of the snake bone body.

[0014] According to an optional embodiment, when the serpentine body is in a straightened state, the openings on two adjacent serpentine bodies partially overlap, the apertures of the overlapping portions of two adjacent openings are the same as the outer diameter of the rivet, and when the rivet is installed in the opening, the two adjacent serpentine bodies remain fixedly connected in both the axial and radial directions.

[0015] According to an optional embodiment, when the snake bone body is in a straightened state, the overlapping portions of the openings on two adjacent snake bone bodies are located at the ends of the openings; or when the snake bone body is in a straightened state, the overlapping portions of the openings on two adjacent snake bone bodies are located in the middle of the openings.

[0016] According to an optional embodiment, both ends of the snake bone body are recessed toward the center of the snake bone body and form a recessed portion, the middle part of the snake bone body has a fixing portion, the fixing portion is used to fix the traction rope, and the recessed portion and the fixing portion form the traction rope mounting portion.

[0017] A second aspect of the present invention provides an active bending segment.

[0018] The active bending section of the present invention comprises a plurality of snake bone segments, wherein the snake bone segments are the snake bone segments described in any one of the technical solutions of the present invention, and the heads and tails of two adjacent snake bone segments are connected to each other.

[0019] A third aspect of the present invention provides an endoscope.

[0020] The endoscope of the present invention comprises an insertion part and a handle, wherein the insertion part and the handle are connected, wherein the insertion part comprises an active bending section and a passive bending section, the active bending section is the active bending section described in any technical solution of the present invention, and the proximal end of the active bending section is connected to the distal end of the passive bending section.

[0021] The technical solution adopted by the present invention can achieve the following beneficial effects:

[0022] The snake bone joint of the present invention has an opening on the lug as a strip hole. When the rivet is installed in the opening, there is a movable gap between the rivet and the opening. When the snake bone body rotates under the pulling force of the traction rope, even if two adjacent snake bone bodies have abutted against each other on the bending side, due to the movable gap between the rivet and the opening, the rivet can slide in the opening toward the direction of the movable gap, thereby allowing the two snake bone joints to be further separated to increase the bending degree of the two adjacent snake bone joints.

[0023] Furthermore, a traction rope installation portion is also provided on the snake bone joint of the present invention, and the traction rope located between two adjacent snake bone bodies is located on the outside of the abutment point of the two adjacent snake bone bodies, so that when the two adjacent snake bone bodies abut each other, the two adjacent snake bone bodies can rotate with the abutment point of the snake bone bodies as the center, and at the same time, the rivet part can slide in the opening toward the direction of the active gap to ensure that the two snake bone joints can be further separated to increase the bending degree of the two adjacent snake bone joints.

[0024] It can be seen that the snake bone joint of the present invention can increase the maximum bending degree of two adjacent snake bone joints without increasing the gap between the two adjacent snake bone joints, thereby solving the technical problem in the related art that the bending angle of the snake bone joint is limited by the gap between the two adjacent snake bone joints. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0026] Figure 1 is a schematic diagram of an active bending section in the related art;

[0027] Figure 2 It is a schematic diagram of two adjacent snake bone nodes riveted to each other in the related art;

[0028] Figure 3It is a schematic diagram of a snake bone joint in the related art;

[0029] Figure 4 is a schematic diagram of an endoscope according to an embodiment of the present application;

[0030] Figure 5 It is a schematic diagram of the snake bone joint of the first embodiment of the present application;

[0031] Figure 6 is a schematic diagram of the overlapping of the lugs of two adjacent snake bone nodes in the first embodiment of the present application;

[0032] Figure 7 It is a schematic diagram of two adjacent snake bone nodes riveted to each other in the first embodiment of the present application;

[0033] Figure 8 is a schematic diagram of a snake bone joint according to a second embodiment of the present application;

[0034] Fig. 9 is a schematic diagram of the overlapping of the lugs of two adjacent snake bone nodes in the second embodiment of the present application;

[0035] Fig.10 It is a schematic diagram of two adjacent snake bone nodes riveted to each other in the second embodiment of the present application;

[0036] Fig.11 It is a schematic diagram of two adjacent snake bone segments bent to abut against each other in the second embodiment of the present application;

[0037] Fig.12 It is a schematic diagram of two adjacent snake bone nodes bent to the limit state in the second embodiment of the present application.

[0038] In the figure: 100, snake bone joint; 110, snake bone body; 111, traction rope installation part; 1111, recessed part; 1112, slit; 120, lug; 121, opening; 1211, movable gap; 130, rivet; 140, abutment point; 200, traction rope; 300, insertion part; 310, active bending section; 320, passive bending section; 400, handle. DETAILED DESCRIPTION

[0039] To make the purpose, technical solution and advantages of the present invention clearer, the technical solution of the present invention will be described in detail below. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other implementation methods obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention.

[0040] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described here, and the objects distinguished by "first", "second", etc. are generally of one type, and the number of objects is not limited. For example, the first object can be one or more. In addition, "and / or" in the specification and claims represents at least one of the connected objects, and the character " / " generally indicates that the objects associated with each other are in an "or" relationship.

[0041] In each embodiment of the present application, "proximal end" and "distal end" refer to the position of each component relative to the user in the use environment, wherein the end closer to the user is designated as the "proximal end" and the end farther from the user is designated as the "distal end".

[0042] Figure 1 FIG. 3 shows a schematic diagram of an active bending section 310 in the related art. Figure 1 As shown, the active bending section 310 includes a plurality of snake bone joints 100, and two adjacent snake bone joints 100 are riveted together by rivets 130. Figure 2 and Figure 3 As shown, the two ends of the snake bone joint 100 have lugs 120, and the lugs 120 are provided with openings 121, and the openings 121 are used to install the rivet 130. Figure 2 and Figure 3 The opening 121 is a circular hole. After the rivet 130 is installed in the opening 121, two adjacent snake bone segments 100 can be fixed in the axial direction and the radial direction.

[0043] The active bending section 310 in the related art rotates with the rivet 130 as the rotation center when two adjacent serpentine joints 100 rotate, until the ends of the two adjacent serpentine joints 100 abut against each other on the bending side. Limited by the gap between the two adjacent serpentine joints 100, it is difficult for the two adjacent serpentine joints 100 to achieve a large angle of bending. In order to obtain a larger bending angle, the active bending section 310 in the related art needs to increase the gap between the two adjacent serpentine joints 100. If the gap between the two adjacent serpentine joints 100 is too large, the axial length of the serpentine joint 100 will be too short; if the axial length of the serpentine joint 100 is short, the strength of the serpentine joint 100 will be affected, especially for the shorter serpentine joint 100, the impact is more obvious.

[0044] Or the active bending section 310 in the related technology, in order to obtain a larger bending angle, it is necessary to increase the gap between two adjacent serpentine segments 100. While ensuring that the axial length of the serpentine segment 100 does not change, the length of the entire active bending section 310 will be increased, which is not conducive to the shorter active bending section 310 to achieve large-angle bending.

[0045] To this end, the present application provides a snake bone joint. The snake bone joint of the present application is provided with a strip opening on the lug, and the traction rope located between two adjacent snake bone bodies is located outside the abutment point of the two adjacent snake bone bodies. Even if the two adjacent snake bone bodies have abutted each other on the bending side, the two adjacent snake bone bodies can still rotate around the abutment point of the snake bone bodies, and the rivet can slide in the opening toward the active gap direction to ensure that the two adjacent snake bone bodies can be further separated, thereby increasing the maximum bending degree of the two adjacent snake bone joints.

[0046] The following is combined with Figures 4 to 12 , the snake bone segment, active bending segment and endoscope provided in this application are described in detail through specific embodiments and their application scenarios.

[0047] The first aspect of this embodiment provides a detailed description of the snake bone joint.

[0048] The snake bone joint 100 of this embodiment is applied to the active bending section 310 of the endoscope, such as Figure 4 The endoscope includes an insertion portion 300 and a handle 400. Figure 4 The insertion part 300 is used to be inserted into the cavity, and the handle 400 is provided with an operating member for the convenience of the doctor to operate. Figure 4 The inserting portion 300 has an active bending section 310 and a passive bending section 320, wherein the active bending section 310 is located at the distal end and the passive bending section 320 is located at the proximal end. Figure 4 As shown. An instrument tube is also provided in the insertion part 300, and the instrument tube is used to insert the instrument. The distal end surface of the active bending section 310 is provided with a camera module and other structures. The active bending section 310 can be in a straight state or a bent state under the action of the traction rope 200.

[0049] In some embodiments, the active bending section 310 includes a plurality of snake bone sections 100. Two adjacent snake bone sections 100 are rotationally connected, so that the snake bone sections 100 can be rotated based on the tension of the traction rope 200, so that the active bending section 310 is switched from a straight state to a bent state. Exemplarily, a plurality of snake bone sections 100 are arranged head to tail, and the head and tail of two adjacent snake bone sections 100 are rotationally connected by a rivet 130. Exemplarily, the rivet 130 is a rivet. Two adjacent snake bone sections 100 are connected by at least two rivets 130, and the rivets 130 are evenly distributed along the circumferential direction of the snake bone sections 100.

[0050] In some embodiments, the snake bone segment 100 includes a snake bone body 110, and two ends of the snake bone body 110 are provided with lugs 120, such as Figure 5~Figure 9 As shown. For example, the lug 120 and the snake bone body 110 are an integral structure. The lug 120 is provided with an opening 121, and the opening 121 is used to install the rivet 130, as shown in FIG. Figure 7 and Fig.10 For example, during assembly, the lugs 120 on two adjacent snake bone segments 100 are at least partially overlapped, and the openings 121 on two adjacent snake bone segments 100 are at least partially overlapped, and then the rivet 130 is installed in the opening 121, so that the rotation connection of the two adjacent snake bone segments 100 can be achieved, as shown in FIG. Figure 7 and Fig.10 shown.

[0051] In some embodiments, the opening 121 is a strip-shaped hole. After the rivet 130 is installed in the opening 121, there is a movable gap 1211 between the rivet 130 and the opening 121. Figure 7 and Fig.10 As shown. Exemplarily, the strip-shaped hole refers to the opening 121 being in the shape of a strip, which is a non-circular hole, such as Figure 5~Figure 9 In other words, the strip hole is a through hole with at least two apertures, such as Figure 5~Figure 9 The clamping part of the rivet 130 is usually cylindrical. After the rivet 130 is installed in the strip hole, a movable gap 1211 can be formed between one or both sides of the rivet 130 and the opening 121. Figure 7 and Fig.10 shown.

[0052] The movable gap 1211 of this embodiment means that: for a single opening 121, the space of the opening 121 is larger than the space required for installing the rivet 130, that is, after the rivet 130 is installed in the opening 121, there is still residual space, which is formed as the movable gap 1211 for the rivet 130 to move in the opening 121. Figure 7 and Fig.10 The remaining spaces of two adjacent openings 121 may overlap or be offset from each other. Figure 7 A schematic diagram showing that the remaining spaces of two adjacent openings 121 overlap each other is shown. Fig.10 A schematic diagram showing that the remaining spaces of two adjacent openings 121 are offset from each other is shown.

[0053] In the snake bone joint 100 of the present embodiment, the opening 121 on the lug 120 is a strip hole, and when the rivet 130 is installed in the opening 121, there is a movable gap 1211 between the rivet 130 and the opening 121, and when the snake bone body 110 rotates under the pulling force of the traction rope 200, even if the two adjacent snake bone bodies 110 have abutted against each other on the bending side, due to the movable gap 1211 between the rivet 130 and the opening 121, the rivet 130 can slide in the opening 121 toward the direction of the movable gap 1211, so that the two snake bone joints 100 can be further separated to increase the bending degree of the two adjacent snake bone joints 100.

[0054] In some embodiments, the snake body 110 is further provided with a traction rope installation portion 111, and the traction rope installation portion 111 is used to install the traction rope 200, such as Figure 5~Figure 10 Preferably, the traction rope 200 between two adjacent snake bone bodies 110 is located outside the abutment point 140 of the two adjacent snake bone bodies 110, as shown in FIG. Fig.11 and Fig.12 As shown. For example, after the traction rope 200 is installed on the traction rope installation part 111, the traction ropes 200 at both ends of the snake bone body 110 are located on the outer wall surface of the snake bone body 110, as shown in FIG. Figure 10~Figure 12 The two ends of the snake bone body 110 refer to the two ends of the snake bone body 110 close to the adjacent snake bone body 110.

[0055] The traction rope 200 located between two adjacent snake bone bodies 110 in this embodiment is the traction rope 200 located in the gap between two adjacent snake bone bodies 110 .

[0056] In some embodiments, both ends of the snake bone body 110 are recessed toward the center of the snake bone body 110 and form a recessed portion 1111. Figure 5~Figure 12 As shown; the middle portion of the snake bone body 110 has a fixing portion, which is used to fix the traction rope 200, and the recessed portion 1111 and the fixing portion form a traction rope mounting portion 111.

[0057] Exemplarily, a slit 1112 is provided on the side of the recessed portion 1111, and the slit 1112 is used to keep the recessed portion 1111 connected to the inside of the snake bone body 110, so that the snake bone body 110 between the two slits 1112 can be formed into a fixing portion, such as Figure 5~Figure 12 After the traction rope 200 is installed in the recessed portion 1111 at the distal end, the traction rope 200 enters the interior of the snake bone body 110 through the slit 1112 at the distal end, and then passes through the interior of the snake bone body 110 from the slit 1112 at the proximal end, and then the traction rope 200 is installed in the recessed portion 1111 at the proximal end, so that the traction rope 200 can be installed and fixed.

[0058] Exemplarily, a clamp or a clamp ring is provided on the outer wall surface of the middle part of the serpentine body 110, and the clamp or the clamp ring is formed as a fixing part. After the traction rope 200 is installed in the recessed parts 1111 at the distal end and the proximal end, the traction rope 200 can be fixed to the outer wall surface of the serpentine body 110 by means of a clamp or a clamp ring. The clamp or the clamp ring structure is provided in the middle part of the serpentine body 110, so that when two adjacent serpentine bodies 110 abut against each other, the ends of the two serpentine bodies 110 are still abutted, that is, the proximal end of the distal serpentine body 110 abuts against the distal end of the proximal serpentine body 110.

[0059] In order to fix the traction rope 200, the traction rope 200 located in the middle of the snake bone body 110 can be located inside the snake bone body 110; or located on the outer wall of the snake bone body 110. The position of the traction rope 200 located in the snake bone body 110 is not limited in this embodiment.

[0060] The inventors found in their research that in the conventional snake bone joint 100, the middle part of the snake bone body 110 is recessed toward the center of the snake bone body 110 and forms a recessed portion 1111, and a slit 1112 is provided on the side of the recessed portion 1111, and the slit 1112 is used to keep the recessed portion 1111 connected to the inside of the snake bone body 110, and the recessed portion 1111 and the slit 1112 form a traction rope installation portion 111, such as Figure 1~Figure 3 In this type of traction rope installation part 111, the traction ropes 200 located at both ends of the snake bone body 110 are located on the inner wall surface of the snake bone body 110. When two adjacent snake bone joints 100 abut against each other, the traction rope 200 between the two adjacent snake bone joints 100 is located on the inner side of the abutment point 140 of the snake bone joints 100. At this time, if force is continued to be applied to the traction rope 200, the two adjacent snake bone joints 100 may move in a direction close to each other, and it cannot be ensured that the two snake bone joints 100 can be further separated.

[0061] like Fig.11 and Fig.12 As shown, a traction rope installation portion 111 is also provided on the snake bone joint 100 of the present embodiment, and the traction rope 200 located between two adjacent snake bone bodies 110 is located on the outside of the abutment point 140 of the two adjacent snake bone bodies 110, so that when the two adjacent snake bone bodies 110 abut each other, the two adjacent snake bone bodies 110 can rotate around the abutment point 140 of the snake bone body 110, and at the same time, the rivet 130 can slide in the opening 121 toward the active gap 1211 to ensure that the two snake bone joints 100 can be further separated to increase the bending degree of the two adjacent snake bone joints 100.

[0062] The snake bone joints 100 of this embodiment can increase the maximum bending degree of two adjacent snake bone joints 100 without increasing the gap between two adjacent snake bone joints 100, thereby solving the technical problem in the related art that the bending angle of the snake bone joint 100 is limited by the gap between two adjacent snake bone joints 100.

[0063] In some embodiments, the first aperture of the opening 121 in the axial direction of the serpentine body 110 is smaller than the second aperture of the opening 121 in the radial direction of the serpentine body 110. Figure 5~Figure 7 As shown. Figure 5~Figure 7 As shown, the first aperture refers to the aperture of the opening 121 in the horizontal direction; the second aperture refers to the aperture of the opening 121 in the vertical direction. The first aperture of the opening 121 is smaller than the second aperture, so that the opening 121 is formed into a vertical strip hole.

[0064] In some embodiments, the first diameter of the opening 121 in the axial direction of the serpentine body 110 is the same as the outer diameter of the rivet 130, and when the rivet 130 is installed in the opening 121, two adjacent serpentine bodies 110 are fixedly connected in the axial direction, such as Figure 7 Specifically, when the rivet 130 is installed in the opening 121, in the axial direction of the serpentine body 110, the rivet 130 and the opening 121 are fixedly connected, and there is no movable gap 1211 between the two, thereby ensuring that the axial spacing between two adjacent serpentine joints 100 is not easy to change; at the same time, the serpentine body 110 is usually covered with a skin, and the constraint of the skin can also reduce the risk of misalignment of two adjacent serpentine joints 100 in the radial direction.

[0065] In some embodiments, when the rivet 130 is installed in the opening 121, the rivet 130 is located in the middle of the opening 121, and a movable gap 1211 is provided between the rivet 130 and both ends of the opening 121. Figure 7 In this way, when the snake bone joint 100 is bent to both sides, the maximum bending degree of two adjacent snake bone joints 100 can be increased.

[0066] Without limitation, when the rivet 130 is installed in the opening 121 , the rivet 130 may also be located at one end of the opening 121 , and a movable gap 1211 is provided between the rivet 130 and the other end of the opening 121 , which is beneficial to increase the maximum bending degree of two adjacent snake bone nodes 100 .

[0067] Take the case where the rivet 130 is located in the middle of the opening 121 as an example: when the active bending section 310 is in a straight state, the openings 121 on the two adjacent snake bone bodies 110 overlap with each other; as the force of the traction rope 200 is applied, the snake bone joint 100 rotates around the rivet 130, and at this time, the openings 121 on the two adjacent snake bone bodies 110 are misaligned with each other; when the two adjacent snake bone bodies 110 abut against each other, the two adjacent snake bone joints 100 rotate around the abutment point 140 of the snake bone joint 100, and at the same time, the rivet 130 can slide in the opening 121 to further separate the two adjacent snake bone bodies 110, thereby increasing the maximum bending degree of the two adjacent snake bone joints 100.

[0068] In some embodiments, the opening 121 is an oblique hole, such as Figure 8 As shown. The opening 121 is an inclined hole, which is relative to the vertical strip hole. That is, the central axis of the opening 121 is inclined relative to the axis of the snake bone body 110; the central axis of the opening 121 refers to the central axis of the longer length direction of the opening 121, such as Figure 8 shown.

[0069] The opening 121 of the present embodiment is an inclined hole. Compared with the vertical strip hole, when the rivet 130 of the present embodiment is installed in the opening 121, in the axial direction of the serpentine body 110, the rivet 130 and the opening 121 are fixedly connected, and there is no movable gap 1211 between the two, thereby ensuring that the axial spacing between two adjacent serpentine joints 100 is not easy to change; at the same time, in the radial direction of the serpentine body 110, the opening 121 can limit the rivet 130, thereby also making it difficult for two adjacent serpentine joints 100 to be misaligned in the radial direction.

[0070] In some embodiments, the inclination direction of the opening 121 at one end of the snake bone body 110 is opposite to the inclination direction of the opening 121 at the other end of the snake bone body 110. Figure 8 Not limited thereto, the inclination direction of the opening 121 at one end of the snake bone body 110 may be the same as the inclination direction of the opening 121 at the other end of the snake bone body 110 .

[0071] Exemplarily, for a single snake bone joint 100, the inclination directions of the two openings 121 located at the proximal end can be the same or opposite; the inclination directions of the two openings 121 located at the distal end can be the same or opposite, as long as it is ensured that the inclination directions of the two openings 121 riveted to each other on two adjacent snake bone joints 100 are opposite; or it is only necessary to ensure that the inclination directions of the two openings 121 riveted to each other on two adjacent snake bone joints 100 are the same.

[0072] Exemplarily, the inclination angle of the opening 121 satisfies: when the serpentine body 110 is in an extreme bending state, the angle between two adjacent openings 121 on the serpentine body 110 satisfies: 150°≤α≤180°, wherein α is the angle between two adjacent openings 121 .

[0073] When the active bending section 310 is in the straightened state, the openings 121 on the two adjacent snake bone bodies 110 intersect with each other. Fig. 9 and Fig.10 As shown; with the force of the traction rope 200, the snake bone joint 100 rotates around the rivet 130, and the angle between the openings 121 on the two adjacent snake bone bodies 110 gradually increases until the central axes of the openings 121 on the two adjacent snake bone bodies 110 coincide with each other, as shown Fig.11 and Fig.12 As shown; as force continues to be applied to the traction rope 200, the angle between the openings 121 on the two adjacent snake bone bodies 110 may gradually decrease.

[0074] The opening 121 of this embodiment is an inclined hole. During the bending process of the active bending section 310, the opening 121 gradually changes from a cross state to an overlapping state. Compared with the vertical strip hole, the rivet 130 has smaller resistance when sliding, which is more conducive to increasing the maximum bending degree of two adjacent snake bone nodes 100.

[0075] In some embodiments, when the serpentine body 110 is in a straightened state, the openings 121 on two adjacent serpentine bodies 110 partially overlap, and the diameter of the overlapping portion of the two adjacent openings 121 is the same as the outer diameter of the rivet 130, and when the rivet 130 is installed in the opening 121, the two adjacent serpentine bodies 110 are fixedly connected in both the axial direction and the radial direction. Fig. 9 and Fig.10 shown.

[0076] In the present embodiment, when the rivet 130 is installed in the opening 121, two adjacent openings 121 limit the rivet 130, so that the axial distance between the two adjacent serpentine joints 100 is not easily changed. Fig.10 At the same time, in the radial direction of the snake bone body 110, two adjacent snake bone nodes 100 are not easily misaligned in the radial direction, such as Fig.10 shown.

[0077] In some embodiments, when the serpentine body 110 is in a straight state, the overlapping portions of the openings 121 on two adjacent serpentine bodies 110 are located at the ends of the openings 121. At this time, the openings 121 on the two adjacent serpentine bodies 110 are arranged in a "V" shape or an inverted "V" shape, such as Fig. 9 and Fig.10 shown.

[0078] In some embodiments, when the serpentine body 110 is in a straight state, the overlapping portions of the openings 121 on two adjacent serpentine bodies 110 are located in the middle of the openings 121. At this time, the openings 121 on the two adjacent serpentine bodies 110 are arranged in an "X" shape.

[0079] The openings 121 on two adjacent serpentine bodies 110 are arranged in a "V" shape, an inverted "V" shape, or an "X" shape, which can increase the maximum bending degree of the two adjacent serpentine joints 100 when the serpentine joints 100 are bent to both sides. Preferably, the openings 121 on two adjacent serpentine bodies 110 are arranged in a "V" shape or an inverted "V" shape, which can make the rivet 130 have a larger active gap 1211, thereby being more conducive to increasing the maximum bending degree of the two adjacent serpentine joints 100.

[0080] The second aspect of this embodiment provides a detailed description of the active bending section.

[0081] The active bending section 310 of this embodiment includes a plurality of snake bone segments 100. The snake bone segments 100 are the snake bone segments of any technical solution of this embodiment. The head and tail of two adjacent snake bone segments 100 are connected to each other.

[0082] The active bending segment 310 of this embodiment has the serpentine joint 100 of any one of the technical solutions in this embodiment. Compared with the traditional active bending segment 310, when the active bending segment 310 of this embodiment is bent, the bending degree between two adjacent serpentine joints 100 is increased, thereby enabling the active bending segment 310 to achieve a larger bending angle.

[0083] The third aspect of this embodiment describes the endoscope in detail.

[0084] The endoscope of this embodiment includes an insertion portion 300 and a handle 400, and the insertion portion 300 and the handle 400 are connected. Figure 4 In some embodiments, the insertion portion 300 includes an active bending section 310 and a passive bending section 320, the active bending section 310 is the active bending section 310 of any technical solution in this embodiment, and the proximal end of the active bending section 310 is connected to the distal end of the passive bending section 320, such as Figure 4 The passive bending section 320 and the handle 400 may be structures of the prior art, which will not be described in detail herein.

[0085] The endoscope of this embodiment may be a digestive endoscope, a bronchoscope, a pyeloscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a rhinoscope, a stomatoscope, a laryngoscope, a colposcope, a laparoscope, an arthroscope, etc. This embodiment does not specifically limit the type of endoscope system.

[0086] The endoscope of this embodiment has the active bending section 310 of any one of the technical solutions in this embodiment, which can enable the active bending section 310 to achieve large-angle bending.

[0087] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.

[0088] In addition, it should be noted that the scope of the methods and devices in the embodiments of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in a reverse order according to the functions involved. For example, the described methods may be performed in an order different from that described, and various steps may be added, omitted, or combined. In addition, features described with reference to certain examples may be combined in other examples.

[0089] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be covered by the protection scope of the present invention.

Claims

1. A snake bone joint, characterized in that: It comprises a snake bone body (110), wherein lugs (120) are arranged at both ends of the snake bone body (110), and an opening (121) is arranged on the lug (120), wherein the opening (121) is a strip-shaped hole, and the opening (121) is used to install a rivet (130), and a movable gap (1211) is provided between the rivet (130) and the opening (121); The snake bone body (110) is also provided with a traction rope installation portion (111), the traction rope installation portion (111) is used to install a traction rope (200), and the traction rope (200) located between two adjacent snake bone bodies (110) is located outside the abutment point (140) of the two adjacent snake bone bodies (110); Wherein, a first aperture of the opening (121) in the axial direction of the serpentine body (110) is smaller than a second aperture of the opening (121) in the radial direction of the serpentine body (110).

2. The snake bone joint according to claim 1, characterized in that: The first hole diameter of the opening (121) in the axial direction of the serpentine body (110) is the same as the outer diameter of the rivet (130), and when the rivet (130) is installed in the opening (121), two adjacent serpentine bodies (110) remain fixedly connected in the axial direction.

3. The snake bone joint according to claim 1, characterized in that: When the rivet (130) is installed in the opening (121), the rivet (130) is located in the middle of the opening (121), and both ends of the rivet (130) and the opening (121) have the movable gap (1211); Alternatively, when the rivet (130) is installed in the opening (121), the rivet (130) is located at one end of the opening (121), and the rivet (130) and the other end of the opening (121) have the movable gap (1211).

4. The snake bone joint according to claim 1, characterized in that: The opening (121) is an inclined hole, and the inclination direction of the opening (121) located at one end of the snake bone body (110) is opposite to or the same as the inclination direction of the opening (121) located at the other end of the snake bone body (110).

5. The snake bone joint according to claim 4, characterized in that: When the snake bone body (110) is in a straightened state, the openings (121) on two adjacent snake bone bodies (110) partially overlap. The diameter of the overlapping portion of two adjacent openings (121) is the same as the outer diameter of the rivet (130), and when the rivet (130) is installed in the opening (121), the two adjacent snake bone bodies (110) remain fixedly connected in both the axial direction and the radial direction.

6. The snake bone joint according to claim 4, characterized in that: When the snake bone body (110) is in a straightened state, the overlapping portions of the openings (121) on two adjacent snake bone bodies (110) are located at the ends of the openings (121); Alternatively, when the snake bone body (110) is in a straightened state, the overlapping portions of the openings (121) on two adjacent snake bone bodies (110) are located in the middle of the openings (121).

7. The snake bone joint according to any one of claims 1 to 6, characterized in that: Both ends of the snake bone body (110) are recessed toward the center of the snake bone body (110) and form a recessed portion (1111), the middle portion of the snake bone body (110) has a fixing portion, the fixing portion is used to fix the traction rope (200), and the recessed portion (1111) and the fixing portion form the traction rope mounting portion (111).

8. An active bending section, characterized in that: It comprises a plurality of snake bone segments (100), wherein the snake bone segments (100) are the snake bone segments described in any one of claims 1 to 7, and the heads and tails of two adjacent snake bone segments (100) are connected to each other.

9. An endoscope, characterized in that: It comprises an insertion part (300) and a handle (400), wherein the insertion part (300) and the handle (400) are connected, wherein: The insertion portion (300) comprises an active bending segment (310) and a passive bending segment (320), the active bending segment (310) being the active bending segment according to claim 8, and the proximal end of the active bending segment (310) is connected to the distal end of the passive bending segment (320).

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