A bending unit assembly, a bending tube, and an endoscope

Abstract

The present invention discloses a bending unit assembly, a bending tube and an endoscope. The bending tube comprises a plurality of bending unit assemblies, and each bending unit assembly is composed of a front joint and a rear joint. The front joint includes a front tube wall, and a first channel upper wall and a second channel upper wall are respectively arranged on two sides of the front tube wall. The rear joint includes a rear tube wall, and a first channel lower wall and a second channel lower wall are respectively arranged on two sides of the rear tube wall. The first channel upper wall and the first channel lower wall are spliced up and down to form a first channel, and the second channel upper wall and the second channel lower wall are spliced up and down to form a second channel. Flexible traction wires can be arranged in the first channel and the second channel. The front tube wall and the rear tube wall are separated left and right before assembly, which is convenient for the cables in the bending tube to pass through the tube body, avoids damage to the optical fibers or cables during the installation process, and is also convenient for replacing the cables. The bending tube can be connected to bending unit assemblies with different diameters and heights according to requirements, and the bending radii of each section of the bending tube can be changed, which is convenient for placement in the body.

Description

Technical Field

[0001] The present invention relates to the field of medical equipment, and in particular to a bending unit component, a bending tube and an endoscope. Background Art

[0002] An endoscope is an instrument that enters the body through natural channels to perform inspections or treatments. A flexible endoscope usually has a flexible insertion tube with a bendable front end. A traction line is set inside the insertion tube to control the bending angle of the front end.

[0003] Generally speaking, the insertion tube is connected to each other by multiple joints, and the diameters of the joints are consistent. The dimensions of the tube body and the tip of the insertion tube are consistent, and the outer diameter of the tube body cannot be reduced, which increases the difficulty of inserting the tube body into the body. The insertion tube is generally equipped with a fixed structure of a traction line on the joint, and the traction line is pulled to drive the joint to rotate to achieve the bending of the front end of the insertion tube. Since the insertion tube of the endoscope is small in size, the corresponding joint diameter will also become smaller, resulting in high difficulty in processing and assembling the joint. The installation of the traction line in the fixed structure of the insertion tube becomes difficult, affecting the processing efficiency of the endoscope. Summary of the invention

[0004] In order to overcome at least one of the technical problems of the above-mentioned prior art, the present invention provides a bending unit assembly, a bending tube and an endoscope which facilitate the installation of a bending tube and a traction line and improve the flexibility of the bending tube.

[0005] A bending unit assembly is provided, comprising a front joint and a rear joint, wherein the front joint comprises a front tube wall, the front tube wall protrudes to one side, and the two sides of the front tube wall are respectively provided with a first channel upper wall and a second channel upper wall. The rear joint comprises a rear tube wall, the rear tube wall protrudes in the opposite direction of the front tube wall, and the two sides of the rear tube wall are respectively provided with a first channel lower wall and a second channel lower wall. The two sides of the front joint and the rear joint are enclosed to form a bending unit tube, the first channel upper wall and the first channel lower wall are spliced ​​up and down to form a first channel, the second channel upper wall and the second channel lower wall are spliced ​​up and down to form a second channel, and a flexible traction line can be passed through the first channel and the second channel.

[0006] The above-mentioned bending unit assembly has at least the following beneficial effects: the traction line is inserted into the first channel and the second channel to limit and fix the front tube wall and the rear tube wall, and the traction line passes through multiple bending unit assemblies front and back to connect multiple bending unit assemblies to form a bending tube. The front tube wall and the rear tube wall are separated from each other before assembly, which is convenient for the cables arranged in the bending tube to pass through the tube body, avoiding damage to the optical fiber or cable during installation, and also convenient for replacing the cable. The front tube wall and the rear tube wall are simple to process, which is convenient for mass production and assembly.

[0007] In some embodiments of the above bending unit assembly, the upper wall of the first channel and / or the upper wall of the second channel are divided into multiple sections, and the lower wall of the first channel and / or the lower wall of the second channel on the corresponding side are also divided into multiple sections, and the first channel and / or the second channel on a bending unit assembly are formed by cross-jointing multiple sections of tube walls. The cross-connection of multiple sections of tube walls is equivalent to increasing the connection points between the front joint and the rear joint. When bending, each section of the tube wall is squeezed and pressed against each other, and the connection is tighter and less likely to be separated.

[0008] In some embodiments of the above bending unit assembly, the upper wall of the first channel and the upper wall of the second channel are provided with a lower extension section extending in the axial direction, and a lower slot opening downward is left between the lower extension section and the front tube wall, and the lower wall of the second channel and the lower wall of the first channel are provided with an upper extension section extending in the axial direction, and an upper slot opening upward is left between the upper extension section and the rear tube wall, and the front joint and the rear joint are fixed by the upper slot and the lower slot being cross-engaged up and down. The upper slot and the lower slot are respectively inserted with an upper wall and a lower wall, which can strengthen the connection between the front joint and the rear joint, so that the connection of the bending unit assembly is more tight and will not be separated from each other during bending.

[0009] At least one of the first channel upper wall, the first channel lower wall, the second channel upper wall and the second channel lower wall is an unclosed enclosing structure. The semi-enclosed structure leaves a gap to adjust the channel size, making it convenient for the traction line to pass into the channel, thereby improving the installation efficiency of the bending pipe.

[0010] The first channel upper wall, the first channel lower wall, the second channel upper wall and the second channel lower wall are all closed rings. The closed ring has a good limiting effect on the traction line, can prevent the traction line from escaping from the channel when bending, and can ensure the bending strength of the bending tube.

[0011] A bending tube is also provided, comprising a plurality of bending unit assemblies as described above, wherein the bending unit assemblies are connected to each other, and adjacent bending unit assemblies can rotate relative to each other to drive the bending tube to bend.

[0012] The above-mentioned bending tube has at least the following beneficial effects: the bending tube can be connected to bending unit components of different diameters and heights according to needs, and the diameter and bending radius of each section of the bending tube can be changed, so it is convenient to be inserted into the body.

[0013] In some embodiments of the above-mentioned bent tube, the bending unit components are interconnected through a rotating mechanism. The rotating mechanism includes an arc-shaped protrusion. An arc-shaped protrusion is provided between adjacent bending unit components. The arc-shaped protrusion is located at the end of the front joint and / or the rear joint of the bending unit component, and the arc-shaped protrusion presses against the edge of the adjacent bending unit component. The arc-shaped edge of the arc-shaped protrusion can rotate along the adjacent bending unit component, thereby driving the rotation of the bending unit component body to achieve the bending of the tube body. The arc-shaped structure is simple and easy to process, facilitating the production of the bent tube.

[0014] In some embodiments of the above-mentioned bent tube, the rotating mechanism further includes an arc-shaped groove. When one end of the front joint or the rear joint is provided with an arc-shaped protrusion, the corresponding end of the front joint or the rear joint of the adjacent bending unit component is provided with a matching arc-shaped card slot. The arc-shaped protrusion is limited within the arc-shaped card slot, and the rotation trajectory is determined. When rotating, the two bending unit components are not easily separated from each other, which can increase the strength of the tube body during bending.

[0015] As a further improvement of the above solution, adjacent bending unit components are hinged to each other. The front joint and the rear joint are connected to the front joint and the rear joint of the adjacent bending unit component through a hinge connecting member. The hinge can connect adjacent bending unit components, making the connection more firm when the bending unit components rotate.

[0016] An endoscope is also provided, including an insertion tube, at least a part of which is the above-mentioned bent tube. The above-mentioned endoscope uses the bending unit components to be connected through a traction wire. The bending unit components are formed by combining the front joint and the rear joint. The structure of the bent tube is flexible, facilitating the assembly of the bent tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly describe the drawings required for the description of the embodiments. Obviously, the described drawings are only a part of the embodiments of the present invention, rather than all embodiments. Those skilled in the art can also obtain other design solutions and drawings based on these drawings without creative efforts:

[0018] Figure 1 It is a schematic structural diagram of the first embodiment of the bending unit component of the present invention;

[0019] Figure 2 It is an exploded view of the first embodiment of the bending unit component of the present invention;

[0020] Figure 3 It is an exploded view of the bending unit component of the second embodiment of the bending unit component of the present invention;

[0021] Figure 4Schematic exploded view of the bending unit assembly according to the third embodiment of the present invention;

[0022] Figure 5 Schematic exploded view of the bending unit assembly according to the fourth embodiment of the present invention;

[0023] Figure 6 Schematic exploded view of the bending unit assembly according to the fifth embodiment of the present invention;

[0024] Figure 7 Schematic structural view of the first embodiment of the bending tube according to the present invention;

[0025] Figure 8 Cross-sectional view of the second embodiment of the bending tube according to the present invention. Detailed implementation manners

[0026] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. In addition, the terms "first", "second", "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance.

[0027] It should be noted that, unless otherwise clearly specified and defined, the terms "installed", "connected", "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

[0028] Refer to Figures 1 to 6 , some embodiments of the present application provide a bending unit assembly, which is composed of a front joint 110 and a rear joint 120. The front joint 110 includes a front pipe wall 111, the front pipe wall 111 bulges to one side, and a first channel upper wall 112 and a second channel upper wall 113 are respectively arranged on both sides of the front pipe wall 111.

[0029] The rear joint 120 includes a rear pipe wall 121, the rear pipe wall 121 bulges in the opposite direction of the front pipe wall 111, and a first channel lower wall 122 and a second channel lower wall 123 are respectively arranged on both sides of the rear pipe wall 121.

[0030] During assembly, the two sides of the front joint 110 and the rear joint 120 are opposite to each other, and the two sides of the front tube wall 111 and the rear tube wall 121 are attached and enclosed to form a curved unit assembly. At this time, the raised portion of the front joint 110 and the raised portion of the rear joint 120 are opposite to each other, and the raised internal spaces of the front joint 110 and the rear joint 120 are combined to form a receiving space, which can allow cables, working channels or electronic components to pass through and be fixed.

[0031] Among them, referring to the various embodiments in the accompanying drawings, the protrusions of the front tube wall 111 and the rear tube wall 121 are both semicircular, and the front joint 110 and the rear joint 120 are combined to form a circular bending unit component. In some other embodiments not shown, the protrusions of the front tube wall 111 and the rear tube wall 121 can also be in different shapes such as triangles, squares, arcs, etc., and the front joint 110 and the rear joint 120 can be assembled to form different shapes such as squares, ellipses, irregular polygons, etc. The embodiments of the present application do not limit the shape of the protrusions and the shape of the bending unit components.

[0032] After the front tube wall 111 and the rear tube wall 121 are assembled in place, the first channel upper wall 112 and the first channel lower wall 122 are spliced ​​up and down, and the space surrounded by the first channel upper wall 112 and the first channel lower wall 122 are aligned up and down to form a first channel 200. The second channel upper wall 113 and the second channel lower wall 123 are spliced ​​up and down, and the space surrounded by the second channel upper wall 113 and the second channel lower wall 123 is spliced ​​up and down to form a second channel 300. The first channel 200 and the first channel 300 are spliced ​​up and down. A flexible traction line 400 can be passed through the second channel 300. The upper walls 112, 113 and the lower walls 122, 123 have bending directions opposite to the front tube wall 111 and the rear tube wall 121. The upper walls 112, 113 and the lower walls 122, 123 are equivalent to the slots of the front tube wall 111 and the rear tube wall 121. After the traction line 400 is passed through, it is equivalent to a pin, which locks the upper walls 112, 113 and the lower walls 122, 123, thereby realizing the connection between the front joint 110 and the rear joint 120.

[0033] In the past, bending assemblies were cut into rings from long tubes, and then cables or devices were passed through the ring-mounted bending assemblies. Cables, especially optical fiber materials, were easily bent and damaged, which affected signal transmission and resulted in poor use effects. In the embodiment of the present application, the front tube wall 111 and the rear tube wall 121 were separated from each other before assembly, so that the bending unit assembly 100 could be wrapped around the cable, and then the bending unit assembly 100 could be assembled, which facilitated the installation of the cable and avoided damage caused by inserting the cable or device during installation. Moreover, the front joint 110 and the rear joint 120 separated into sheets are simple to process, and can be formed by cutting metal materials, or by processing plastic materials, which facilitates mass production and assembly.

[0034] The traction wire 400 vertically connects the first channel 200 and the second channel 300. The first channel 200 and the second channel 300 are formed by combining the front joint 110 and the rear joint 120. After the traction wire 400 penetrates through, the front joint 110 and the rear joint 120 are connected and limited, so that the bending unit assembly 100 is assembled. When the traction wire 400 passes through multiple bending unit assemblies 100, the multiple bending unit assemblies 100 form the tube body part of the bending tube. By pulling the traction wire 400, the bending unit assembly 100 can be driven to rotate along the connection between the front joint 110 and the rear joint 120, changing the rotation angle between adjacent bending unit assemblies 100, thereby controlling the bending of the bending tube.

[0035] Refer to the attached Figure 1 and Figure 2 In the first embodiment, the front joint 110 includes a front tube wall 111 with a semi-circular cross-section. On both sides of the front tube wall 111, a first channel upper wall 112 and a second channel upper wall 113 are respectively provided. The first channel upper wall 112 and the second channel upper wall 113 are located in the upper half of the front tube wall 111. The first channel upper wall 112 and the second channel upper wall 113 are curved in an arc shape and the bending direction is opposite to that of the front tube wall 111, and the first channel upper wall 112 and the second channel upper wall 113 are tangent to the front tube wall 111.

[0036] The rear joint 120 includes a rear tube wall 121 with a semi-circular shape. On both sides of the rear tube wall 121, a first channel lower wall 122 and a second channel lower wall 123 are respectively provided. The first channel lower wall 122 and the second channel lower wall 123 are located in the lower half of the rear tube wall 121. The first channel lower wall 122 and the second channel lower wall 123 are curved in an arc shape and the bending direction is opposite to that of the rear tube wall 121, and the first channel lower wall 122 and the second channel lower wall 123 are tangent to the rear tube wall 121.

[0037] In addition, in the fourth and fifth embodiments of the attached Figure 5 and 6 the first channel upper wall 112 and the second channel upper wall 113 are also located in the upper half of the front tube wall 111, and the first channel lower wall 122 and the second channel lower wall 123 are also located in the lower half of the rear tube wall 121. The front joint 110 and the rear joint 120 are arranged left and right as shown in the attached drawings. In some embodiments not shown, the positions of the front joint 110 and the rear joint 120 are opposite. The first channel upper wall 112 and the second channel upper wall 113 are located in the upper right, and the first channel lower wall 122 and the second channel lower wall 123 are located in the lower left. Such a structure can also achieve the connection of the front joint 110 and the rear joint 120, which belongs to the protection scope of the present application.

[0038] In some cases, the first channel upper wall 112 and / or the second channel upper wall 113 can be divided into multiple sections, and the first channel lower wall 122 and / or the second channel lower wall 123 on the corresponding side are also divided into multiple sections, and the first channel 200 and / or the second channel 300 on a bending unit assembly 100 are formed by cross-jointing multiple sections of tube walls. The cross-connection of multiple sections of tube walls is equivalent to increasing the connection points between the front joint 110 and the rear joint 120. When bending, each section of the tube wall is squeezed and pressed against each other, and the connection is tighter and less likely to be separated.

[0039] See attached Figure 3 In the second embodiment, the first channel upper wall 112 includes a plurality of first channel upper wall sections 1121, which are evenly distributed on one side of the front tube wall 111, and the second channel upper wall 113 includes a plurality of second channel upper wall sections 1131, which are evenly distributed on the other side of the front tube wall 111. Similarly, a plurality of first channel lower wall sections 1221 and a plurality of second channel lower wall sections 1231 are evenly spaced on both sides of the rear tube wall 121. The plurality of first channel upper wall sections 1121 and the plurality of first channel lower wall sections 1221 are interlaced and engaged with each other to form the first channel 200, and the plurality of second channel upper wall sections 1131 and the plurality of second channel lower wall sections 1231 are interlaced and engaged with each other to form the second channel 300. When the traction line 400 in the first channel 200 is tightened, the tube wall of the first channel 200 is bent and squeezed, and the end of the first channel upper wall section 1121 and the contact surface of the multiple first channel lower wall sections 1221 are pressed against each other to form a limit, so that the first channel upper wall 112 and the first channel lower wall 122 are clamped together to prevent the front joint 110 and the rear joint 120 from separating, and to prevent the bending unit assembly 100 from being squeezed and deformed, so that the bending tube is stronger when bending.

[0040] For others, see the attached Figure 4 In the third embodiment, the first channel upper wall 112 and the second channel upper wall 113 are provided with a lower extension section 150 extending in the axial direction, and a lower slot 151 opening downward is left between the lower extension section 150 and the front tube wall 111, and the second channel lower wall 123 and the first channel lower wall 122 are provided with an upper extension section 160 extending in the axial direction, and an upper slot 161 opening upward is left between the upper extension section 160 and the rear tube wall 121, and the front joint 110 and the rear joint 120 are fixed by the upper slot 161 and the lower slot 151 intersecting each other. The upper slot 161 and the lower slot 151 are respectively inserted with the upper walls 112, 113 and the lower walls 122, 123, which can strengthen the connection between the front joint 110 and the rear joint 120, so that the connection of the bending unit assembly 100 is more secure, and they will not be separated from each other or deformed during bending.

[0041] At least one of the first channel upper wall 112, the first channel lower wall 122, the second channel upper wall 113 and the second channel lower wall 123 is an unclosed enclosing structure. Figure 1 To Attachment Figure 5 In the multiple embodiments, the first channel upper wall 112, the first channel lower wall 122, the second channel upper wall 113 and the second channel lower wall 123 are all unclosed curved arcs, and the first channel 200 and the second channel 300 formed are guide grooves, wherein the channel tube wall in the first embodiment, the second embodiment, the third embodiment and the fourth embodiment is curled toward the outside of the bending unit assembly 100, and the channel tube wall in the fifth embodiment is curled toward the inside of the bending unit assembly 100. The unclosed structure leaves a gap in the channel, and the inner diameter of the channel can be changed, which facilitates the insertion of the traction line 400 into the channel and improves the installation efficiency of the bending tube 500.

[0042] In addition, the first channel upper wall 112, the first channel lower wall 122, the second channel upper wall 113 and the second channel lower wall 123 may also be configured as a closed ring. Figure 6 In the fifth embodiment, the first channel upper wall 112 and the second channel upper wall 113, the first channel lower wall 122 and the second channel lower wall 123 are all closed rings, and the first channel 200 and the second channel 300 formed are hole-shaped. The closed first channel 200 and the second channel 300 have a better limiting effect on the traction line 400, and can prevent the traction line 400 from detaching from the channel when bending, and can ensure the bending strength of the bending tube 500.

[0043] On the other hand, the present application also provides a bending tube 500, which includes a plurality of the above-mentioned bending unit assemblies 100, wherein the bending unit assemblies 100 are connected to each other, and adjacent bending unit assemblies 100 can rotate relative to each other, and the bending unit assemblies 100 are driven to rotate by pulling the traction line 400, so that the bending tube 500 is bent. Since the bending tube 500 is formed by the bending unit assemblies 100 connected and combined by the traction line 400, it is convenient to replace some of the bending unit assemblies 100, and the bending tube 500 can be connected with bending unit assemblies 100 of different diameters or heights according to needs, so that the diameters or bending radii of different parts of the bending tube 500 can be different, so that the structure of the bending tube 500 is more diverse and more convenient to be inserted into the body.

[0044] In order to facilitate the rotation of adjacent bending unit assemblies 100, the bending unit assemblies 100 are connected to each other through a rotation mechanism, and the rotation mechanism includes an arc-shaped protrusion 130. An arc-shaped protrusion 130 is provided between adjacent bending unit assemblies, and the arc-shaped protrusion 130 is located at the end of the front joint 110 and / or the rear joint 120 of the bending unit assembly, and the arc-shaped protrusion 130 presses against the edge of the adjacent bending unit assembly 100.

[0045] Refer to Figure 7 In the embodiment of Figure 7 , the arc-shaped protrusion 130 is located at the upper ends of the front joint 110 and the rear joint 120, and the arc-shaped protrusion 130 presses against the lower ends of the front joint 110 and the rear joint 120 in the adjacent bending unit assembly 100. In some embodiments not shown, the arc-shaped protrusion 130 is provided at the upper end of the front joint 110 and the lower end of the rear joint 120, and the arc-shaped protrusion 130 presses against the lower end of the front joint 110 and the upper end of the rear joint 120 in the adjacent bending unit assembly 100 respectively. The arc-shaped edge of the arc-shaped protrusion 130 can provide a movement track, and the adjacent front joint 110 and rear joint 120 in contact with the arc-shaped protrusion 130 rotate along the arc edge of the arc-shaped protrusion 130, thereby driving the bending unit assembly 100 to rotate to realize the bending of the tube body. The arc-shaped structure is simple and easy to process, facilitating the production of bent tubes.

[0046] Furthermore, the rotating mechanism further includes an arc-shaped groove 140. When one end of the front joint 110 or the rear joint 120 is provided with an arc-shaped protrusion 130, one end of the adjacent front joint 110 or rear joint 120 in the adjacent bending unit assembly 100 is provided with a matching arc-shaped groove 140. The arc-shaped protrusion 130 is limited within the arc-shaped groove 140, and the rotation track is determined. When rotating, the two bending unit assemblies 100 are not easily separated from each other, which can increase the strength of the tube body during bending.

[0047] Moreover, the adjacent bending unit assemblies 100 are hinged to each other, and the rotating mechanism further includes a connecting member 600. The front joint 110 and the rear joint 120 are connected to the front joint 110 and the rear joint 120 of the adjacent bending unit assembly 100 through the hinged connecting member. Refer to the embodiment of Figure 8 In the embodiment of Figure 7 , the front joint 110 and the rear joint 120 are both provided with an upper connecting piece 601 and a lower connecting piece 602. The lower connecting piece 602 is bent inward towards the bending unit assembly 100. When the adjacent bending unit assemblies 100 are assembled, the lower connecting piece 602 of the front joint 110 of the previous bending unit assembly 100 overlaps with the upper connecting piece 601 of the next front joint 110, and the lower connecting piece 602 of the rear joint 120 of the previous bending unit assembly 100 overlaps with the upper connecting piece 601 of the next rear joint 120. Then the connecting member 600 passes through the upper connecting piece 601 and the lower connecting piece 602 to hinge the two. The connecting member 600 can firmly connect the adjacent bending unit assemblies 100, making the connection more secure when the bending unit assembly 100 rotates, thereby strengthening the strength of the bent tube 500.

[0048] An endoscope is also provided, including a handle and an insertion tube connected to each other. At least part of the insertion tube is the bent tube as described in any of the above. Thus, it has the beneficial effects of the above-mentioned bent tube, and the bending structure is flexible.

[0049] In the embodiments of the present application, the endoscope involved may be a bronchoscope, a pyeloscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a nasal endoscope, an oral endoscope, a laryngoscope, a vaginoscope, a laparoscope, an arthroscope, etc. The embodiments of the present application do not specifically limit the types of endoscopes.

[0050] The above is a specific description of the preferred embodiments of the present invention. The described embodiments are only a part of the embodiments of the present invention, rather than all embodiments. Based on the embodiments of the present invention, those skilled in the art can make various equivalent variations or substitutions without departing from the spirit of the present invention. Other embodiments that can be obtained all fall within the scope of protection of the present invention.

Claims

1. A bending unit assembly, characterized in that: include A front joint (110), the front joint (110) comprising a front tube wall (111), the front tube wall (111) protruding to one side, and a first channel upper wall (112) and a second channel upper wall (113) being respectively provided on both sides of the front tube wall (111); A rear joint (120), the rear joint (120) comprising a rear tube wall (121), the rear tube wall (121) protruding in the opposite direction of the front tube wall (111), and a first channel lower wall (122) and a second channel lower wall (123) being respectively provided on both sides of the rear tube wall (121); The two side edges of the front joint (110) and the rear joint (120) are enclosed to form a curved unit tube; the first channel upper wall (112) and the first channel lower wall (122) are spliced ​​up and down to form a first channel (200); the second channel upper wall (113) and the second channel lower wall (123) are spliced ​​up and down to form a second channel (300); a flexible traction line can be passed through the first channel (200) and the second channel (300); the first channel upper wall (112), the first channel lower wall (122), the second channel upper wall (113) and the second channel lower wall (123) are all unclosed enclosing structures; the first channel upper wall (112) and the first channel lower wall (122) have opposite bending directions; and the second channel upper wall (113) and the second channel lower wall (123) have opposite bending directions.

2. The bending unit assembly according to claim 1, characterized in that: The first channel upper wall (112) and / or the second channel upper wall (113) are divided into multiple sections, and the first channel lower wall (122) and / or the second channel lower wall (123) on the corresponding side are also divided into multiple sections. The first channel (200) and / or the second channel (300) on a bending unit component (100) are formed by cross-jointing multiple sections of tube walls.

3. The bending unit assembly according to claim 1, characterized in that: The first channel upper wall (112) and the second channel upper wall (113) are provided with a lower extension section (150) extending in the axial direction, and a lower slot (151) opening downward is reserved between the lower extension section (150) and the front tube wall (111); the second channel lower wall (123) and the first channel lower wall (122) are provided with an upper extension section (160) extending in the axial direction, and an upper slot (161) opening upward is reserved between the upper extension section (160) and the rear tube wall (121); the front joint (110) and the rear joint (120) are fixed by means of the upper slot (161) and the lower slot (151) being cross-engaged in the upper and lower directions.

4. A curved tube, characterized in that: It comprises a plurality of bending unit assemblies (100) as described in any one of claims 1 to 3, wherein the bending unit assemblies (100) are connected to each other, and adjacent bending unit assemblies (100) can rotate relative to each other to drive the bending tube (500) to bend.

5. The bending tube according to claim 4, characterized in that: The bending unit assemblies (100) are connected to each other via a rotating mechanism, wherein the rotating mechanism comprises an arc-shaped protrusion (130), and an arc-shaped protrusion (130) is provided between adjacent bending unit assemblies (100). The arc-shaped protrusion (130) is located at the end of the front joint (110) and / or the rear joint (120) of the bending unit assembly (100), and the arc-shaped protrusion (130) presses against the edge of the adjacent bending unit assembly (100).

6. The bending tube according to claim 5, characterized in that: The rotation mechanism further comprises an arc-shaped groove (140); when one end of the front joint (110) or the rear joint (120) is arranged as an arc-shaped protrusion (130), one end of the connected front joint (110) or the rear joint (120) in the adjacent bending unit assembly (100) is arranged as a matching arc-shaped groove (140).

7. The bending tube according to claim 4, characterized in that: Adjacent bending unit assemblies (100) are hinged to each other, and the front joint (110) and the rear joint (120) are connected to the front joint (110) and the rear joint (120) of the adjacent bending unit assemblies (100) via hinged connectors.

8. An endoscope, characterized in that: It comprises an insertion tube, wherein at least part of the insertion tube is a curved tube as claimed in any one of claims 4 to 7.

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