Snake structure, actively bending tube, insertion portion, and endoscope

Abstract

The application discloses a snake bone structure, an active bending pipe, an insertion part and a endoscope, and relates to the field of medical instruments. The snake bone structure, which is used for the active bending pipe of the endoscope, comprises a snake bone body, the snake bone body comprises a plurality of independently arranged snake bone joints, each snake bone joint is provided with a through hole, the through hole is used for penetrating a traction rope, and the axis of the through hole is parallel to the central axis of the snake bone joint; and a fixing rope is used for connecting the plurality of snake bone joints into a bendable chain structure in the axial direction. The snake bone structure in the application connects the independent snake bone joints through the fixing rope, discards the traditional connecting piece, greatly optimizes the internal space, solves the problem that the instrument channel is limited, and prolongs the service life.

Description

Snake-bone structure, active bending tube, insertion section and endoscope Technical Field

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

[0002] The serpentine structure of an endoscope, as a core component enabling flexible probe steering and precise access to target sites within the body, directly determines the instrument's operational flexibility and clinical applicability. Currently, the mainstream serpentine structure is hinged, consisting of multiple metal joints hinged together via pins, locking grooves, and other connecting parts. Bending is achieved through relative rotation of the joints. However, this structure suffers from two major technical drawbacks that severely restrict endoscope performance upgrades: First, it has a high internal space occupancy rate, significantly limiting assembly. To ensure hinge stability and rotational flexibility, space must be reserved for connecting parts, occupying a large portion of the serpentine's internal space. The serpentine must simultaneously accommodate critical components such as instrument channels, imaging cables, and water / air supply channels. Limited space leads to a reduction in instrument channel diameter and a crowded cable layout, restricting functional expansion and reducing minimally invasive performance. Second, it is prone to wear and tear on internal components. The ends of the snake-bone joints are rigid metal edges. When the snake-bone structure is repeatedly bent, it is easy to generate friction with the internal instrument tubes and cable sheaths. In addition, the hinge gaps between the snake-bone joints can easily cause rotational displacement, further aggravating collision and friction. Long-term use can easily cause instrument tube damage and leakage, cable sheath damage and failure, shorten the service life of the equipment, and increase maintenance costs and clinical safety risks.

[0003] In summary, the existing articulated serpentine structure cannot simultaneously meet the core requirements of space utilization, structural protection, and durability. There is an urgent need for a new serpentine structure design to address these shortcomings and drive the performance upgrade of endoscopes. Summary of the Invention

[0004] This application discloses a snake-bone structure, an active bending tube, an insertion part, and an endoscope to solve the aforementioned technical problems existing in snake-bone structures in related technologies.

[0005] To solve the above problems, this application adopts the following technical solution:

[0006] In a first aspect, embodiments of this application provide a snake-bone structure for an active bending tube of an endoscope, comprising a snake-bone body, the snake-bone body comprising:

[0007] Multiple independently arranged snake bone segments, each snake bone segment having a through hole for threading a traction rope, the axis of the through hole being parallel to the central axis of the snake bone segment;

[0008] A fixed rope connects multiple snake-like segments along the axial direction into a flexible chain structure.

[0009] Secondly, embodiments of this application provide an active bending tube, including the aforementioned snake-bone structure.

[0010] Thirdly, embodiments of this application provide an insertion part, which includes a passive bending tube, an adapter tube, and the aforementioned active bending tube connected in sequence from the proximal end to the distal end;

[0011] The fixing rope is fixedly connected to the adapter pipe.

[0012] Fourthly, embodiments of this application provide an endoscope including the aforementioned insertion portion.

[0013] The technical solution adopted in this application can achieve the following beneficial effects:

[0014] The snake-bone structure provided in this application forms a flexible chain structure by axially connecting multiple independent snake-bone segments with a fixing rope. This eliminates the need for pins, locking grooves, and other connecting components found in traditional articulated snake-bone structures, thus eliminating the need for pre-reserved space for connecting components. This significantly optimizes the utilization of the internal space of the snake-bone structure and effectively solves the problems of limited instrument access and insufficient functional expansion caused by space congestion in traditional articulated snake-bone structures. It provides ample space for the rational layout of internal endoscope instrument channels, imaging cables, water and air supply channels, etc., which is beneficial for improving the minimally invasive performance and functional expandability of instruments. Furthermore, compared to the problem of easy wear and tear on internal components due to the rigid metal edges of traditional articulated snake-bone structures, the snake-bone structure provided in this application eliminates the hinge gaps between segments through the fixed rope connection design. This reduces friction and collision between the snake-bone segments and internal components when the snake-bone bends, lowering the risk of damage to internal instrument tubes and cable sheaths. This helps extend the service life of the endoscope and reduces maintenance costs and clinical safety hazards. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0016] Figure 1 is a structural schematic diagram of Embodiment 1 of this application;

[0017] Figure 2 is an enlarged schematic diagram of part A in Figure 1;

[0018] Figure 3 is a schematic diagram of the structure in Embodiment 1 of this application, in which the fixing rope is installed through the snake bone joint and located in the middle of the snake bone joint;

[0019] Figure 4 is an assembly diagram of the fixed rope being installed through and located in the middle of the snake bone joint in Embodiment 1 of this application;

[0020] Figure 5 is an assembly diagram of Embodiment 1 of this application when the fixing rope is set in the first receiving groove on the inner wall of the snake bone joint;

[0021] Figure 6 is a schematic diagram showing the position of the first receiving groove in Embodiment 1 of this application;

[0022] Figure 7 is an assembly diagram of Embodiment 1 of this application when the fixing rope is set in the second receiving groove on the outer wall of the snake bone joint;

[0023] Figure 8 is a schematic diagram showing the position of the second receiving groove in Embodiment 1 of this application;

[0024] Figure 9 is an assembly diagram of Embodiment 1 of this application, in which the fixing rope is installed through and close to the inner wall of the snake joint;

[0025] Figure 10 is an assembly diagram of Embodiment 1 of this application, in which the fixing rope is installed through and close to the outer wall of the snake joint;

[0026] Figure 11 is a schematic diagram showing the position of the second protrusion in Embodiment 1 of this application;

[0027] Figure 12 is a schematic diagram of the arrangement of the first protrusion and groove in Embodiment 1 of this application;

[0028] Figure 13 is an assembly diagram of Embodiment 3 of this application.

[0029] In the diagram: 10, snake bone body; 101, first snake bone segment; 102, second snake bone segment; 103, third snake bone segment; 20, first traction rope; 30, second traction rope; 40, first fixing rope; 50, second fixing rope; 60, second protrusion; 70, active bending tube; 80, passive bending tube; 90, adapter tube; 100, head end; 110, bending gap; 120, first through hole; 130, second through hole; 140, first receiving groove; 150, second receiving groove; 160, first protrusion; 170, groove. Detailed Implementation

[0030] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions of this application will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments in this application, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0031] In the various embodiments of this application, "proximal end" and "distal end" refer to the position of each component relative to the distance from the medical user in the usage environment. The end closer to the medical user is designated as the "proximal end", and the end farther from the medical user is designated as the "distal end".

[0032] The articulated riveted serpentine frame in the related technology is composed of multiple metal serpentine sections hinged together by connecting parts such as pins and locking grooves. There is a bending gap 110 between adjacent serpentine sections. Bending is achieved through relative rotation of the serpentine sections. The bending angle of the serpentine frame body 10 is determined by the bending gap 110 between adjacent serpentine sections. The larger the bending gap 110, the larger the bending angle of the serpentine frame body 10, and the larger the imaging range of the camera module. The articulated riveted serpentine frame in the related technology has two major problems: First, it has a high internal space occupancy rate. The installation space of the connecting parts occupies a large amount of internal space, limiting the size of the instrument channel, cable layout, and functional expansion, thus reducing minimally invasive performance. Second, it is prone to wear and tear on internal components. The rigid metal edges of the serpentine sections and the rotational offset caused by the hinge gap will aggravate friction and collision with internal instrument tubes and cables, leading to component damage, shortened equipment life, increased maintenance costs, and increased clinical safety risks.

[0033] Therefore, this application proposes a snake-bone structure, an active bending tube, an insertion part, and an endoscope. The following, with reference to Figures 1 to 13, provides a detailed description of the snake-bone structure, active bending tube, insertion part, and endoscope provided by this application through specific embodiments and application scenarios.

[0034] Example 1:

[0035] Please refer to Figures 1-3. This application provides a snake-bone structure for an active bending tube 70 of an endoscope, including a snake-bone body 10, the snake-bone body 10 comprising:

[0036] Multiple independently arranged snake bone segments, each snake bone segment having a through hole for threading a traction rope, the axis of the through hole being parallel to the central axis of the snake bone segment;

[0037] A fixed rope connects multiple snake-like segments along the axial direction into a flexible chain structure.

[0038] In some embodiments, the connection between the fixing rope and the snake-bone joint is achieved through integral injection molding or bonding. It is understood that using integral injection molding or bonding to connect the fixing rope and the snake-bone joint allows them to form a strong whole, effectively resisting axial tension and radial pressure, preventing deformation and collapse, and exhibiting excellent bending fatigue resistance. This prevents loosening of the snake-bone joint under bending stress, reduces the risk of micro-cracks and fracture failure caused by repeated bending, simplifies the assembly process, improves production efficiency, and ensures the long-term reliability of the snake-bone structure. This meets the usage requirements of reusable endoscopes and high-frequency operation scenarios, achieving improvements in space utilization, structural strength, and fatigue resistance.

[0039] In some embodiments, the surface of the fixing rope has an anti-slip structure. It is understood that providing an anti-slip structure on the surface of the fixing rope, combined with injection molding or adhesive bonding, makes the connection between the fixing rope and the snake joint more secure, preventing relative slippage between the two during snake bending and stress application, further ensuring the overall stability of the snake structure, ensuring precise transmission during steering operations, and improving reliability.

[0040] In some embodiments, the fixing rope comprises a rope body formed by twisting together multiple strands of filament; the surface of the rope body has a rough structure naturally formed by the twisting process of the multiple strands of filament, constituting its anti-slip structure. It is understood that the fixing rope uses multiple strands of filament twisted together to form the rope body, and the rough structure naturally formed by the twisting process serves as an anti-slip design. Combined with injection molding or bonding, during injection molding, the molten material can penetrate into the gaps between the filaments and the spiral texture to form a mechanical interlock; during bonding, the rough surface can increase the contact area and adhesion of the adhesive layer. This eliminates the need for additional processing steps to create the anti-slip structure, simplifying the preparation process and reducing production costs. Furthermore, the naturally rough surface significantly enhances the friction with the snake-like joints, effectively resisting the shear and tensile forces during snake-like bending, balancing production convenience and connection stability, and ensuring no relative slippage occurs during long-term use.

[0041] In some embodiments, the fixing rope comprises a rope body composed of continuous monofilaments, and the anti-slip structure includes a first protrusion 160 and / or a groove 170 disposed on the surface of the rope body. It is understood that the fixing rope composed of continuous monofilaments, by providing the first protrusion 160 and / or groove 170 as an anti-slip structure, combined with injection molding or adhesive bonding, can form a physical interlocking point and an expanded contact area effect at the positions of the first protrusion 160 and / or groove 170, specifically improving the friction performance of the rope surface, making the connection between the fixing rope and the snake joint tighter. Simultaneously, the monofilament structure of the rope itself has good integrity, and combined with the anti-slip structure, it can adapt to different stress scenarios, ensuring the structural stability of the snake joint when bending, and preventing loose connections from affecting steering accuracy. For example, the first protrusion 160 can be an annular protrusion disposed on the surface of the fixing rope body, and the groove 170 can be an annular groove disposed on the surface of the rope body. Of course, the shape of the first protrusion 160 and the groove 170 is not limited by this application and can be of any shape. Please refer to Figure 12 for the first protrusion 160 and groove 170 provided on the surface of the first fixing rope 40.

[0042] In some embodiments, the continuous monofilament is made of fiber or metal. When the continuous monofilament is made of metal, it is at least one of stainless steel, carbon steel, or titanium alloy wire. Using stainless steel, carbon steel, or titanium alloy wire as the continuous monofilament leverages the high strength and wear resistance of the metal material itself to enhance the load-bearing capacity and service life of the fixation rope, ensuring the stability of the snake-like structure under long-term repeated bending and stress, thus meeting the clinical needs of endoscope use. When the continuous monofilament is made of fiber, the fiber is made of at least one of nylon, polyester, aramid, or ultra-high molecular weight polyethylene. These materials are not only lightweight and flexible, reducing the overall weight of the snake-like structure and improving the bending adaptability of the fixation rope, avoiding the impact of excessively hard materials on the flexible steering of the snake-like structure, but also reducing the risk of frictional damage to internal components. Furthermore, they possess excellent bending fatigue resistance, capable of withstanding long-term repeated bending operations of the endoscope, and are less prone to micro-cracks or breakage due to frequent deformation, effectively extending the service life of the fixation rope and even the entire snake-like structure, meeting the reliability requirements of high-frequency clinical use scenarios.

[0043] In some embodiments, the filament is made of fiber or metal wire. When the filament is made of fiber, the material of the fiber is at least one of nylon, polyester, aramid, or ultra-high molecular weight polyethylene. The multi-strand twisted filament is made of nylon, polyester, aramid, or ultra-high molecular weight polyethylene, etc. The fiber material not only has good flexibility, adapting to the multi-angle bending of the snake bone, perfectly meeting the core requirement of flexible steering of the active bending tube 70, making the bending action smoother and without jamming; it also has good tensile strength, which can reduce the rigid pulling on the snake bone joints while ensuring the strength of the fixed rope connection, avoiding local deformation of the active bending tube 70 under stress, thus balancing structural stability and operational flexibility. Meanwhile, the naturally rough structure formed by the twisting of multiple strands enhances the tightness of the connection between the fixing rope and the snake joints, preventing relative slippage during repeated bending and force transmission of the active bending tube 70, ensuring precise transmission of traction force, and improving the accuracy of steering control. Furthermore, the inherent bending fatigue resistance and wear resistance of the fiber material can withstand the long-term high-frequency bending operation of the active bending tube 70, reducing fatigue damage, extending the service life of the active bending tube 70, and ensuring the reliability of clinical use. When the filament is made of metal wire, the metal wire is at least one of stainless steel wire, carbon steel wire, or titanium alloy wire. The fixing rope formed by the twisting of multiple strands of filament is made of stainless steel, carbon steel, or titanium alloy wire. The metal material itself has excellent rigidity and tensile strength, which can accurately transmit the steering traction force of the active bending tube 70, avoiding rope deformation or stretching under force, ensuring more synchronized linkage between the snake joints, and significantly improving the accuracy and response speed of the steering operation of the active bending tube 70. Meanwhile, the naturally formed rough structure from the multi-strand twisting process enhances the fit and tightness between the fixing rope and the snake joint, preventing relative slippage between the fixing rope and the snake joint during repeated bending and high-frequency force transmission of the active bending tube 70, thus ensuring structural stability. Furthermore, the wear resistance and fatigue resistance of the metal wire easily withstand the long-term, repeated bending stress of the active bending tube 70, preventing the rope from cracking or breaking due to fatigue, extending the service life of the active bending tube 70, and adapting to the high-intensity, high-frequency operational needs in clinical settings. At the same time, the reliability of the metal material also reduces the maintenance costs and safety hazards of the active bending tube 70.

[0044] Referring to Figure 5, in some embodiments, the fixing rope is fixed to the inner wall of the snake joint. The fixing rope is fixed to the inner wall of the snake joint, for example, by adhesive bonding. It is understood that fixing the fixing rope to the inner wall of the snake joint prevents the rope from being exposed to the outside and subjected to external friction or impact damage. It also saves external space on the snake joint, reduces interference with the assembly of the snake joint and other components, and makes the overall snake joint structure more compact, adapting to the slim design requirements of the endoscope insertion section.

[0045] Referring to Figure 6, in some embodiments, when the fixing rope is fixed to the inner wall of the snake joint, a first receiving groove 140 is provided at the fixing rope installation position to accommodate the fixing rope. Providing the first receiving groove 140 on the inner wall of the snake joint to house the fixing rope allows the fixing rope to be embedded within the first receiving groove 140, facilitating the smooth passage of components such as instrument tubes without affecting flexibility during turning. Simultaneously, the wrapping effect of the first receiving groove 140 on the fixing rope enhances its connection stability with the snake joint, preventing the fixing rope from slipping off under bending stress. During assembly, the first receiving groove 140 can serve as a precise positioning mark, making the fixing rope installation more regular, reducing errors from manual alignment, and improving assembly efficiency and consistency.

[0046] Referring to Figure 7, in some embodiments, the fixing rope is fixed to the outer wall of the snake joint. For example, the fixing rope can be fixed to the outer wall of the snake joint by adhesive bonding. It is understood that fixing the rope to the outer wall of the snake joint does not occupy valuable internal space, allowing for more space to be reserved for internal instrument channels, cables, and other components, further optimizing the utilization of the snake joint's internal space.

[0047] Referring to Figure 8, in some embodiments, when the fixing rope is fixed to the outer wall of the serpentine joint, a second receiving groove 150 is provided at the fixing rope installation position to accommodate the fixing rope. It is understood that the second receiving groove 150 on the outer wall can fit the fixing rope within it, keeping the outer surface of the active bending tube 70 as flat as possible, reducing frictional resistance with tissues during movement within the body, improving operational smoothness, and reducing the risk of mucosal irritation. Simultaneously, the wrapping effect of the second receiving groove 150 on the fixing rope enhances its connection stability with the serpentine joint, preventing the fixing rope from slipping off under bending stress. During assembly, the second receiving groove 150 provides a clearly defined installation position, facilitating quick and easy positioning and fixation.

[0048] Please refer to Figures 4, 9, and 10. In some embodiments, the fixing rope is axially inserted through adjacent serpentine segments, with the insertion point near the inner wall, outer wall, or center of the segment. For example, the fixing rope can be injection molded to allow it to pass through adjacent serpentine segments axially. It is understood that this axial insertion of the fixing rope through adjacent serpentine segments offers significant advantages in space utilization. It eliminates the need for additional lateral mounting structures, maximizing the preservation of axial space within the serpentine segment and providing ample layout space for core components such as instrument channels and cables, thereby improving minimally invasive performance and functional expandability.

[0049] Referring to Figure 11, in some embodiments, when the fixing rope passes through adjacent snake joints axially, the fixing rope is provided with a second protrusion 60, which is located between adjacent snake joints. It is understood that when the fixing rope passes through adjacent snake joints axially, the second protrusion 60 between them forms a limiting structure, preventing relative sliding between the fixing rope and the snake joints when the snake joints bend or are under force. This allows for more direct force transmission, ensuring precise linkage between the snake joints during turning, preventing jamming or delay due to sliding, and improving operational controllability. Of course, the shape of the second protrusion 60 is not limited by this application; its cross-sectional shape can also be rectangular, as long as it does not affect the bending of the active bending tube 70 and serves a limiting function. During assembly, the second protrusion 60 can also serve as an installation positioning point, making the position of the fixing rope and the snake joint more precise, reducing assembly deviations, and ensuring the overall stable performance of the active bending tube 70.

[0050] In some embodiments, the second protrusion 60 is arranged with intervals of two, three, or four snake-bone sections. It is understood that arranging the second protrusion 60 with intervals of two, three, or four snake-bone sections allows it to engage adjacent snake-bone sections, preventing the fixing rope from sliding relative to the sections and ensuring precise force transmission when the active bending tube 70 turns, preventing jamming and delays. However, this arrangement also avoids affecting the bending flexibility of the snake-bone structure due to excessive density of the second protrusions 60. Simultaneously, this spaced layout can serve as dispersed positioning points during assembly, assisting in precise alignment of the fixing rope and snake-bone sections, reducing deviations, and balancing structural stability and bending performance. Furthermore, the number of snake-bone sections between the protrusions is not limited by this application and can be set as needed.

[0051] In some embodiments, the groove depth of the first receiving groove 140 and the second receiving groove 150 is 20%-80% of the diameter of the fixing rope. It is understood that this groove depth allows the fixing rope to be securely embedded in the groove, forming a reliable limit and preventing displacement or slippage of the fixing rope when the active bending tube 70 is repeatedly bent or under stress, ensuring accurate steering force transmission. At the same time, an appropriate groove depth allows the fixing rope to remain as flat as possible with the surface of the snake joint, the inner wall groove avoids encroaching on the internal channel space, and the outer wall groove reduces internal operating friction, adapting to the clinical use requirements of the active bending tube 70. During assembly, the standardized groove depth also assists in the rapid positioning of the fixing rope, improving installation consistency and reducing assembly errors.

[0052] In some embodiments, the groove depth of the first receiving groove 140 and the second receiving groove 150 is 30%-60% of the diameter of the fixed rope.

[0053] Please refer to Figure 10. In some embodiments, the through hole includes a first through hole 120 and a second through hole 130 symmetrically arranged on both sides of the snake bone segment. The first through holes 120 of adjacent snake bone segments are coaxially aligned, and the first through holes 120 of multiple snake bone segments form a first axial channel. The second through holes 130 of adjacent snake bone segments are coaxially aligned, and the second through holes 130 of multiple snake bone segments form a second axial channel.

[0054] The traction rope includes a first traction rope 20 and a second traction rope 30, which are slidably threaded through the first axial channel and the second axial channel of the snake joint along the traction direction, respectively; the plane where the first traction rope 20 and the second traction rope 30 are located is defined as the driving plane.

[0055] The fixing rope includes a first fixing rope 40 and a second fixing rope 50, which are symmetrically arranged on both sides of each snake bone segment. The plane where the first fixing rope 40 and the second fixing rope 50 are located is defined as the limiting plane.

[0056] The spatial angle between the limiting plane and the driving plane is 90°±3°. This means that the symmetrical arrangement of the through-hole and the traction rope forms the driving plane, while the symmetrical arrangement of the fixed rope forms the limiting plane, with the two at a 90°±3° angle. This is an optimized design that balances flexibility and stability. The symmetrical structure of the driving plane allows for more balanced force application from the traction rope, ensuring smooth turning and precise angle of the active bending tube 70, avoiding jamming caused by unilateral force. The perpendicular arrangement of the limiting plane and the driving plane effectively limits the deviation of the snake joint in the non-turning direction, enhancing the overall rigidity of the active bending tube 70 and preventing structural deformation during bending. This layout also avoids interference between the traction rope and the fixed rope, optimizing the use of internal space. During assembly, the symmetrical structure and angular positioning provide a clear benchmark, facilitating quick alignment and installation, improving assembly consistency, and ensuring the performance stability of the active bending tube 70 in mass production.

[0057] In some embodiments, a bending gap 110 is provided between two adjacent snake segments. The size of the bending gap 110 is positively correlated with the bending angle of the snake body 10. The larger the bending gap 110, the larger the bending angle of the snake body 10, thereby expanding the imaging range of the camera module connected to the end of the snake segment. The setting of the bending gap 110 is prior art and will not be described in detail here.

[0058] In some embodiments, the plurality of independently arranged snake segments include a first snake segment 101 located at the proximal end of the snake body 10, a second snake segment 102 located at the distal end of the snake body 10, and a plurality of third snake segments 103 located between the first snake segment 101 and the second snake segment 102. First through holes 120 and second through holes 130 are correspondingly provided on the first snake segment 101, the second snake segment 102, and the third snake segment 103; when a first receiving groove 140 or a second receiving groove 150 is required, the first receiving groove 140 or the second receiving groove 150 on the first snake segment 101, the second snake segment 102, and the third snake segment 103 are correspondingly provided.

[0059] In some embodiments, the materials of the multiple independently configured snake-bone joints are selected from any one of medical-grade PEEK, medical-grade PA, medical-grade TPU, medical-grade PC, and medical-grade PPSU. It is understood that the selection of the snake-bone joint material needs to be suitable for injection molding of the endoscope's bending tube, and must also consider biocompatibility, bending fatigue resistance, rigidity / flexibility balance, and processability. Using injection-moldable materials is also more cost-effective, as injection-molded materials are less expensive. Of course, the selection of snake-bone joint materials is not limited to those disclosed in this application; other suitable materials can also be used.

[0060] Example 2:

[0061] This application provides an active bending tube, including the snake-bone structure of Embodiment 1.

[0062] Example 3:

[0063] Please refer to Figure 13. This application provides an insertion part, which includes a passive bending tube 80, an adapter tube 90, an active bending tube 70 as described in Embodiment 2, and a head end 100 connected in sequence from the proximal end to the distal end.

[0064] One end of the fixing rope is fixedly connected to the adapter pipe 90, and the other end of the fixing rope is connected to the head end 100.

[0065] Example 4:

[0066] This application provides an endoscope, including the insertion part as described in Embodiment 3.

[0067] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application.

Claims

1. A snake-bone structure for an active bending tube of an endoscope, characterized in that, The device includes a snake-bone body, comprising: multiple independently arranged snake segments, each segment having a through hole for threading a traction rope, the axis of which is parallel to the central axis of the snake segment; a fixing rope that connects the multiple snake segments axially into a flexible chain structure; the through holes include first and second through holes symmetrically arranged on both sides of the snake segments, with the first through holes of adjacent snake segments coaxially aligned, forming a first axial channel; the second through holes of adjacent snake segments are coaxially aligned, forming a second axial channel; the traction rope includes a first traction rope and a second traction rope, which are respectively threaded into the first and second axial channels of the snake segments; the plane containing the first and second traction ropes is defined as the driving plane; the fixing rope includes a first fixing rope and a second fixing rope, symmetrically arranged on both sides of each snake segment, the plane containing the first and second fixing ropes is defined as the limiting plane; the spatial angle between the limiting plane and the driving plane is 90°±3°.

2. The snake-bone structure according to claim 1, characterized in that, The fixing rope is connected to the snake joint by integral injection molding or bonding; and / or, the surface of the fixing rope has an anti-slip structure.

3. The snake-bone structure according to claim 2, characterized in that, The fixing rope comprises a rope body formed by twisting multiple strands of filaments together; the surface of the rope body has a rough structure naturally formed by the twisting process of the multiple strands of filaments, constituting an anti-slip structure on its surface; the filaments are made of fiber filaments or metal wires, and when the filaments are made of fiber filaments, the material of the fiber filaments is at least one of nylon, polyester, aramid, or ultra-high molecular weight polyethylene; when the filaments are made of metal wires, the metal wires are at least one of stainless steel wires, carbon steel wires, or titanium alloy wires; or, the fixing rope comprises a rope body composed of continuous monofilaments, and the anti-slip structure includes a first protrusion and / or groove provided on the surface of the rope body; the continuous monofilaments are made of fiber filaments or metal wires, and when the continuous monofilaments are made of metal wires, the metal wires are at least one of stainless steel wires, carbon steel wires, or titanium alloy wires; when the continuous monofilaments are made of fiber filaments, the material of the fiber filaments is at least one of nylon, polyester, aramid, or ultra-high molecular weight polyethylene.

4. The snake-bone structure according to any one of claims 1-3, characterized in that, The fixing rope is fixed to the inner wall of the snake joint; or, the fixing rope is fixed to the outer wall of the snake joint; or, the fixing rope is arranged to pass through adjacent snake joints along the axial direction.

5. The snake-bone structure according to claim 4, characterized in that, When the fixing rope is fixed to the inner wall of the snake joint, a first receiving groove for accommodating the fixing rope is provided at the fixing rope installation position; when the fixing rope is fixed to the outer wall of the snake joint, a second receiving groove for accommodating the fixing rope is provided at the fixing rope installation position; when the fixing rope is axially inserted through adjacent snake joints, a second protrusion is provided on the fixing rope, and the second protrusion is located between adjacent snake joints.

6. The snake-bone structure according to claim 5, characterized in that, The groove depth of the first and second receiving grooves is 20%-80% of the diameter of the fixed rope.

7. The snake-bone structure according to claim 1, characterized in that, The multiple independently configured snake segments include a first snake segment located at the proximal end of the snake body, a second snake segment located at the distal end of the snake body, and multiple third snake segments located between the first and second snake segments; and / or, the materials of the multiple independently configured snake segments are all selected from any one of medical-grade PEEK, medical-grade PA, medical-grade TPU, medical-grade PC, and medical-grade PPSU.

8. An active bending pipe, characterized in that, Includes the snake bone structure as described in any one of claims 1-7.

9. An insertion part, characterized in that, The tube comprises, from proximal to distal, a passive bending tube, a transfer tube, and an active bending tube as described in claim 8, connected in sequence; the fixing rope is fixedly connected to the transfer tube.

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

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