Snake-bone interventional device

Abstract

The application discloses a snake bone type interventional device and relates to the technical field of flexible interventional machines, which comprises a bone joint and a traction rope. The bone joint comprises a front end bone joint, a plurality of front section bone joints, a connecting bone joint, a plurality of rear section bone joints and a rear end bone joint. All the front section bone joints form a front bone joint section, and the inner wall of the front bone joint section is provided with a front hole one, a front hole two, a front hole three and a front hole four. The inner wall of the connecting bone joint is connected with a pipe one and a pipe two. All the rear section bone joints form a rear bone joint section, and the inner wall of the rear bone joint section is provided with a rear hole one and a rear hole two. The front end of the traction rope is connected with the front end bone joint and comprises a rope one, a rope two, a rope three and a rope four. According to the application, the front section and the rear section of the traction rope are arranged at an angle of 180° with respect to the circumferential position of the snake bone, so that the front bone joint section and the rear bone joint section are forced to bend in opposite directions, the traction rope is not circumferentially limited with the rear bone joint section when being circumferentially limited with the front bone joint section, and the front bone joint section is bent in a C shape. Finally, various bending shapes can be controlled, and the application range is expanded.

Description

Technical Field

[0001] This invention relates to the field of interventional flexible machinery technology, and in particular to a snake-bone type interventional device. Background Technology

[0002] Flexible guiding mechanisms, as core components for achieving precise positioning and delivery, are widely used in scenarios such as medical endoscopy, industrial inspection, and special operations. Their basic function is to guide the functional elements at the end through narrow, curved, or even detours to reach the target area through the controllable deformation of the structure.

[0003] The snake-bone interventional device is a commonly used flexible guiding mechanism, consisting of multiple segments connected end-to-end, hinged together by pins. A deflection torque is applied by a traction element, causing the snake-bone interventional device to undergo overall bending deformation.

[0004] However, existing serpentine interventional devices still have significant limitations in practical applications. For example, when bent, serpentine interventional devices can typically only exhibit a continuous C-shaped arc deformation pattern, which severely limits their application range; under extreme bending conditions, compression and stress concentration can easily occur between adjacent vertebrae, potentially damaging the outer covering layer and further affecting safety and service life. Summary of the Invention

[0005] The purpose of this invention is to provide a snake-bone type interventional device that enables control of various bending shapes and expands the range of applications.

[0006] To achieve the above objectives, the present invention provides the following solution: This invention discloses a snake-bone type interventional device, including bone joints and traction rope; The vertebrae include a front vertebrae, multiple front segments, a connecting vertebrae, multiple rear segments, and a rear segment arranged sequentially; adjacent vertebrae are hinged; the hinge axis of the front end of the front segment is in the X-axis direction, and the hinge axis of the rear end of the front segment is in the Y-axis direction; the hinge axes of the front end and rear end of the rear segment are both in the X-axis direction. All the aforementioned anterior vertebrae constitute an anterior vertebral segment, and the inner wall of the anterior vertebral segment is provided with axially penetrating anterior holes one, two, three, and four; the inner wall of the connecting vertebrae is connected by tubes one and two; all the aforementioned posterior vertebrae constitute a posterior vertebral segment, and the inner wall of the posterior vertebral segment is provided with axially penetrating posterior holes one and two; the posterior hole one, the rear end of tube one, the front end of tube two, and the anterior hole one are positioned at 0 degrees circumferentially; the posterior hole two, the rear end of tube two, the front end of tube one, and the anterior hole two are positioned at 180 degrees circumferentially; the anterior hole three is positioned at 90 degrees circumferentially; and the anterior hole four is positioned at 270 degrees circumferentially. The front end of the traction rope is connected to the front joint, including rope one, rope two, rope three, and rope four; rope one passes through the rear hole one, the tube one, and the front hole two in sequence; rope two passes through the rear hole two, the tube two, and the front hole one in sequence; rope three passes through the front hole three; and rope four passes through the front hole four.

[0007] In some examples, the end face of the sacrum includes a chamfered surface, and the chamfered surfaces of two adjacent sacrums can fit together.

[0008] In some examples, both tube one and tube two include a helical segment, which is helical in shape.

[0009] In some examples, the snake-bone interventional device also includes a stent connected to the rear sac.

[0010] In some examples, the snake-bone interventional device further includes a drive assembly comprising: Chain 1, with its two ends connected to the rear ends of rope 1 and rope 2, respectively; A first sprocket is rotatably mounted on the bracket and cooperates with a first chain. Axle 1 is coaxially connected to sprocket 1; Chain 2, with its two ends connected to the rear ends of rope 3 and rope 4 respectively; Sprocket two is rotatably mounted on the bracket and cooperates with chain two; Axle 2 is coaxially connected to sprocket 2.

[0011] In some examples, the first chain can abut against and limit the support when rotating in both directions; the second chain can abut against and limit the support when rotating in both directions.

[0012] In some examples, both ends of the chain one are provided with multiple slots one, and the rear ends of the rope one and the rope two are provided with a locking block one, which can be embedded in different slots one; both ends of the chain two are provided with multiple slots two, and the rear ends of the rope three and the rope four are provided with a locking block two, which can be embedded in different slots two.

[0013] In some examples, front hole one, front hole two, front hole three, and front hole four are all pipe holes of straight pipes.

[0014] In some examples, the posterior segment of the bone has cutouts at positions corresponding to the first and second posterior holes.

[0015] In some examples, the snake-bone interventional device also includes a functional element connected to the anterior segment.

[0016] Compared with related technologies, the present invention achieves the following technical effects: In this embodiment, by making the front and rear sections of rope one form a 180° angle with respect to the circumferential position of the snake bone, and the front and rear sections of rope two form a 180° angle with respect to the circumferential position of the snake bone, the anterior and posterior bone segments are forced to bend in opposite directions, making the snake bone S-shaped, which is suitable for the intervention requirements of the S-shaped cavity.

[0017] In this embodiment, ropes three and four are circumferentially limited with the anterior bone segment but not circumferentially limited with the posterior bone segment. Without affecting the shape of the posterior bone segment, the anterior bone segment is bent into a C-shape, which is suitable for the intervention requirements of the C-shaped cavity.

[0018] The plane containing the C-shaped bend is perpendicular to the plane containing the S-shaped bend. Therefore, by adjusting the curvature of the S-shaped and C-shaped bends, different degrees of spatial curvature can be achieved through their coordination. Compared to existing technologies that can only perform C-shaped bends within a single plane, this improves the adaptability to different cavity paths and expands the application range of the snake-bone interventional device.

[0019] In a preferred embodiment of the present invention, the end face of the joint includes a chamfered surface, and the chamfered surfaces of two adjacent joints can fit together. The present invention improves the compression point between joints from point contact to surface contact, increasing the contact area and reducing the pressure at the contact point, thereby better protecting the outer covering layer.

[0020] In a preferred embodiment of the present invention, chain one can abut against and limit the support when rotating in both the forward and reverse directions. Chain two can abut against and limit the support when rotating in both the forward and reverse directions. Through the above-mentioned mechanical limiting method of abutment and limiting, the maximum pulling distance of the rear end of each traction rope is controlled, thereby limiting the deformation range of the snake bone. Attached Figure Description

[0021] To more clearly illustrate the technical solutions in the embodiments of the present invention or related technologies, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0022] Figure 1 This is a schematic diagram showing that the snake bones are in a straight line in some examples of the present invention; Figure 2 This is a schematic diagram showing that the snake bones are S-shaped in some examples of the present invention; Figure 3 This is a schematic diagram of the C-shaped front end of the snake bone in some examples of the present invention; Figure 4 This is a schematic diagram of the anterior segment in some examples of the present invention; Figure 5 This is a schematic diagram of the anterior segment of the bone in some examples of the present invention; Figure 6 These are schematic diagrams of connecting joints in some examples of the present invention; Figure 7 This is a schematic diagram of the posterior segment of the bone in some examples of the present invention; Figure 8 This is a schematic diagram of the rear end joint in some examples of the present invention; Figure 9 This is a schematic diagram of the anterior segment bone in some examples of the present invention from a lateral view. Figure 10 This is a schematic diagram of another anterior segment of bone in some examples of the present invention; Figure 11 This is a schematic diagram showing the relative positions of tube one, tube two, rope one, and rope two in some examples of the present invention; Figure 12 This is a schematic diagram showing the relative positions of the traction ropes in some examples of the present invention; Figure 13 These are schematic diagrams of the bracket and drive components in some examples of the present invention; Figure 14 This is a schematic diagram of chain one in some examples of the present invention; Figure 15 This is a schematic diagram showing the relative positions of abutting block one and abutting block two in some examples of the present invention; Figure 16 This is a schematic diagram showing the relative positions of card block one and slot one in some examples of the present invention.

[0023] In the diagram: 1-Joint; 11-Anterior joint; 12-Anterior segment joint; 13-Connecting joint; 14-Posterior segment joint; 15-Posterior segment joint; 16-Beveled section; 2-Traction rope; 21-Rope one; 22-Rope two; 23-Rope three; 24-Rope four; 25-Clamping block one; 26-Clamping block two; 121-Front hole one; 122-Front hole two; 123-Front hole three; 124-Front hole four; 131-Pipe one; 132-Pipe two; 141-Rear hole one; 142-Rear hole two; 3-Bracket; 31-Abutting block two; 4-Drive assembly; 41-Chain one; 411-Chain body; 412-End fixing block; 413-Slot one; 42-Sprocket one; 43-Abutting block one. Detailed Implementation

[0024] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0025] The purpose of this invention is to provide a snake-bone type interventional device that enables control of various bending shapes and expands the range of applications.

[0026] To make the above-mentioned objects, features, and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. In this embodiment, the anterior bone segment and the anterior section of the traction rope refer to the portions of the snake bone and the traction rope located anterior to the connecting bone segment; in this embodiment, the posterior bone segment and the posterior section of the traction rope refer to the portions of the snake bone and the traction rope located posterior to the connecting bone segment.

[0027] Reference Figures 1-16 This embodiment provides a snake-bone type interventional device, including a bone segment 1 and a traction rope 2.

[0028] Segment 1 comprises, in sequence, a front segment 11, multiple front segments 12, a connecting segment 113, multiple rear segments 14, and a rear segment 15. Adjacent segments 1 are hinged together, and all segments 1 form a snake skeleton 1. The hinge axis at the front end of the front segment 12 is in the X-axis direction, and the hinge axis at the rear end of the front segment 12 is in the Y-axis direction, with the X-axis direction perpendicular to the Y-axis direction. The hinge axes at both the front and rear ends of the rear segment 14 are in the X-axis direction.

[0029] All anterior vertebral segments 12 form the anterior vertebral segment. The inner wall of the anterior vertebral segment has axially penetrating anterior holes 121, 122, 123, and 124. Connecting tubes 131 and 132 connect to the inner wall of connecting segment 113. All posterior vertebral segments 14 form the posterior vertebral segment. The inner wall of the posterior vertebral segment has axially penetrating posterior holes 141 and 142. The posterior hole 141, the rear end of tube 131, the front end of tube 132, and the anterior hole 121 are at a circumferential zero-degree angle. The posterior hole 142, the rear end of tube 232, the front end of tube 131, and the anterior hole 122 are at a circumferential 180-degree angle. The anterior hole 123 is at a circumferential 90-degree angle, and the anterior hole 124 is at a circumferential 270-degree angle.

[0030] The front end of the traction rope 2 is connected to the anterior segment 11, and includes rope 1 21, rope 22, rope 3 23, and rope 4 24. Rope 1 21 passes sequentially through rear hole 1 141, tube 1 131, and front hole 2 122. Rope 2 22 passes sequentially through rear hole 2 142, tube 2 132, and front hole 1 121. Rope 3 23 passes through front hole 3 123. Rope 4 24 passes through front hole 4 124.

[0031] The working principle of the snake-bone interventional device in this embodiment is as follows: When the rear end of the traction rope 2 is pulled backward, the total length of the traction rope 2 is shortened, forcing the snake bone 1 to bend. When the snake bone 1 bends, the profile length of its inner side of the bend (i.e., the side where the traction rope 2 is pulled backward) is shortened, and the profile length of its outer side of the bend is lengthened to accommodate the change in the length of the traction rope 2.

[0032] In this embodiment, by making the front and rear sections of rope 1 21 and rope 22 form a 180° angle with respect to the circumferential position of snake bone 1, the anterior and posterior bone segments are forced to bend in opposite directions, and snake bone 1 becomes S-shaped, which is suitable for the intervention requirements of S-shaped cavity.

[0033] In this embodiment, ropes 3 and 4 are circumferentially limited with the anterior bone segment but not with the posterior bone segment. Without affecting the shape of the posterior bone segment, the anterior bone segment is bent into a C-shape, which is suitable for the intervention requirements of the C-shaped cavity.

[0034] The plane containing the C-shaped bend is perpendicular to the plane containing the S-shaped bend. Therefore, by adjusting the degree of curvature of the S-shaped bend and the C-shaped bend, different degrees of spatial curvature can be achieved. Compared with the existing technology that can only perform C-shaped bends in one plane, this technology can improve the adaptability to different cavity paths and expand the application range of the snake-bone interventional device.

[0035] Specifically, the shape control of the snake bone 1 by the traction rope 2 is achieved by the circumferential limiting of the traction rope 2 and the snake bone 1.

[0036] Because the posterior segment of rope 21 is circumferentially limited by the posterior hole 141, its circumferential position relative to the posterior bone segment remains stable. The side containing the posterior hole 141 is the inner side of the bend of the posterior bone segment when rope 21 is pulled. Because the anterior segment of rope 21 is circumferentially limited by the anterior hole 122, its circumferential position relative to the anterior bone segment remains stable. The side containing the anterior hole 122 is the inner side of the bend of the anterior bone segment when rope 21 is pulled.

[0037] Because the posterior segment of rope 22 is circumferentially limited by the posterior hole 2 142, its circumferential position relative to the posterior bone segment remains stable. The side where the posterior hole 2 142 is located is the inner side of the posterior bone segment's bend when rope 22 is pulled. Because the anterior segment of rope 22 is circumferentially limited by the anterior hole 1 121, its circumferential position relative to the anterior bone segment remains stable. The side where the anterior hole 1 121 is located is the inner side of the anterior bone segment's bend when rope 22 is pulled.

[0038] Since the posterior segment of rope 323 is not circumferentially limited to the posterior bone segment, the anterior segment of rope 323 is circumferentially limited to the anterior bone segment through the anterior hole 3123. Therefore, the circumferential position of its anterior segment relative to the anterior bone segment remains stable. The side where the anterior hole 3123 is located is the inner side of the bending of the anterior bone segment when rope 323 is pulled.

[0039] Since the posterior segment of rope 424 is not circumferentially limited to the posterior bone segment, the anterior segment of rope 424 is circumferentially limited to the anterior bone segment through the anterior hole 4124. Therefore, the circumferential position of its anterior segment relative to the anterior bone segment remains stable. The side where the anterior hole 4124 is located is the inner side of the bending of the anterior bone segment when rope 424 is pulled.

[0040] The type of the front and rear holes, which serve as circumferential limiting structures, can be selected by those skilled in the art according to actual needs, as long as the traction rope 2 can pass through axially.

[0041] In some examples, front hole 121, front hole 222, front hole 323, and front hole 424 are all pipe holes for straight pipes.

[0042] In some examples, the posterior segment 14 has cutouts at positions corresponding to posterior hole one 141 and posterior hole two 142.

[0043] In some examples, four tube holes can be provided on the inner side of the anterior segment 12, or only three tube holes, or only two tube holes, or only one tube hole, as long as the anterior segment formed by it has anterior hole one 121, anterior hole two 122, anterior hole three 123, and anterior hole four 124.

[0044] Similarly, two tube holes can be provided on the inner side of the posterior segment 14, or only one tube hole can be provided, as long as the posterior segment formed by them has posterior hole one 141 and posterior hole two 142.

[0045] For example, the anterior segment 12 has only two orifices, namely anterior orifice 121 and anterior orifice 222, or anterior orifice 323 and anterior orifice 424. Two adjacent anterior segments 12 are rotated 90 degrees relative to each other circumferentially. The posterior segment 14 has both posterior orifice 141 and posterior orifice 2142.

[0046] When the snake bone 1 is under extreme bending, compression and stress concentration occur between adjacent bone segments 1, which may damage the outer covering layer and further affect safety and service life.

[0047] In some examples, the end face of segment 1 includes a chamfer 16, and the chamfers 16 of two adjacent segments 1 can fit together.

[0048] This embodiment improves the compression position between joints 1 from point contact to surface contact, thereby increasing the contact area and reducing the pressure at the contact position, thus better protecting the outer covering layer.

[0049] For example, the oblique surfaces 16 are symmetrically distributed on both sides of a hinge axis, so that the shape of the limit bending profile remains consistent when the snake bone 1 bends in opposite directions.

[0050] In some examples, both tube 131 and tube 2132 include a helical segment, which is helical in shape.

[0051] The spiral shape enables the smooth movement of the traction rope 2, reducing the resistance of tube 131 and tube 2132 to the traction rope 2, thereby avoiding the traction rope 2 from getting stuck and the operational accidents caused by the sticking.

[0052] For example, the front and rear ends of the spiral segment are connected to a straight pipe segment, which extends axially along the connecting joint 113, and the inner wall of the connection position between the spiral segment and the straight pipe segment is smoothly transitioned.

[0053] This structure can prevent the end of the spiral section from cutting the traction rope 2, thus preventing the traction rope 2 from breaking due to frequent scraping and improving operational safety.

[0054] In some examples, the snake-bone interventional device also includes a stent 3, which is connected to the rear sac joint 15.

[0055] The bracket 3 can support the rear end of the snake bone 1, keeping the rear end of the snake bone 1 in a fixed position and angle, thereby improving the positional accuracy of the front end of the snake bone 1.

[0056] There are several ways to connect the support 3 to the rear joint 15, and those skilled in the art can choose flexibly. For example, the two can be connected by threads, fixed by screws, or welded.

[0057] In some examples, the snake-bone intervention device also includes a drive assembly 4, which includes a chain 41, a sprocket 42, an axle 41, a chain 2, a sprocket 2, and an axle 2.

[0058] Chain 1 (41) is connected at both ends to the rear ends of rope 1 (21) and rope 2 (22). Sprocket 1 (42) is rotatably mounted on bracket 3 and engages with chain 1 (41). A shaft is coaxially connected to sprocket 1 (42). Chain 2 is connected at both ends to the rear ends of rope 3 (23) and rope 4 (24). Sprocket 2 is rotatably mounted on bracket 3 and engages with chain 2. A shaft is coaxially connected to sprocket 2.

[0059] The operator controls the rotation of wheel axle one and wheel axle two by manually rotating or by using a motor drive, thereby controlling the length of the traction rope 2 extending into the snake bone 1, thus achieving control over the shape of the snake bone 1.

[0060] In some cases, the snake bone 1 is not allowed to maintain a limit-bending profile, otherwise it may damage the biological or mechanical cavity it is located in. To solve this problem, this embodiment further incorporates mechanical restraints.

[0061] In some examples, chain 41 can abut against bracket 3 and be stopped when rotating in both the forward and reverse directions. Chain 2 can abut against bracket 3 and be stopped when rotating in both the forward and reverse directions.

[0062] Specifically, abutment block 43 is fixed on chain 1 41 and chain 2, and abutment block 31 is fixed on bracket 3. Abutment block 43 and abutment block 31 abut and limit each other.

[0063] By using the aforementioned mechanical limiting method of contact limit, the maximum pulling distance at the rear end of each traction rope 2 is controlled, thereby limiting the deformation range of the snake bone 1.

[0064] In some examples, both ends of chain 1 41 are provided with multiple slots 413, and the rear ends of rope 1 21 and rope 2 22 are connected to locking blocks 25, which can be inserted into different slots 413. Both ends of chain 2 are provided with multiple slots 2, and the rear ends of rope 3 23 and rope 4 24 are connected to locking blocks 26, which can be inserted into different slots 2.

[0065] By adjusting slot 413 where the first locking block 25 is located, chain 41 can be tightened. By adjusting slot 2 where the second locking block 26 is located, chain 2 can be tightened.

[0066] For example, both chain one 41 and chain two include a chain body 411 and an end fixing block 412. Each end of the chain body 411 is connected to an end fixing block 412. Slot one 413 and slot two are located on the end fixing blocks 412. Locking blocks one 25 and two locking blocks two 26 are cylindrical pins, and slots one 413 and slot two are cylindrical grooves. Abutment block one 43 is located on the end fixing block 412.

[0067] In some examples, the snake-bone interventional device also includes a functional element connected to the anterior segment 11.

[0068] Functional elements can be any device or instrument used to perform a specific task, such as imaging devices, therapeutic tools, sensing elements, therapeutic carriers, and industrial actuators.

[0069] Imaging devices can be miniature cameras, fiber optic imaging probes, ultrasonic transducers, etc. Treatment tools can be biopsy forceps, electrosurgical excision devices, ablation electrodes, laser fibers, injection needles, etc. Sensing elements can be pressure sensors, temperature sensors, pH sensors, gas sensors, etc. Treatment carriers can be vascular stents, occluders, guidewires, drug delivery catheters, etc. Industrial actuators can be miniature clamps, grinding heads, welding heads, spray nozzles, signal transmitters, etc.

[0070] By combining the snake bone 1 with different functional components, this conveying mechanism can be adapted to various scenarios such as medical intervention, industrial inspection, equipment maintenance, and rescue detection, achieving high-precision and high-reliability operation.

[0071] In some examples, the front end of the traction rope 2 can be secured to the anterior segment 11 by binding. The axial length of the anterior segment 11 can be slightly larger than that of the anterior segment 12 to provide space for the installation of functional components.

[0072] For example, the front end of rope 1 21 is fixed at a circumferential 180-degree position of the front joint 11, the front end of rope 2 22 is fixed at a circumferential 0-degree position of the front joint 11, the front end of rope 3 23 is fixed at a circumferential 90-degree position of the front joint 11, and the front end of rope 4 24 is fixed at a circumferential 270-degree position of the front joint 11.

[0073] Specific examples have been used to illustrate the principles and implementation methods of this invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of this invention. Furthermore, those skilled in the art will recognize that, based on the ideas of this invention, there will be changes in the specific implementation methods and application scope. Therefore, the content of this specification should not be construed as a limitation of this invention.

Claims

1. A snake-bone type interventional device, comprising bone joints and a traction rope, characterized in that: The vertebrae include a front vertebrae, multiple front segments, a connecting vertebrae, multiple rear segments, and a rear segment arranged sequentially; adjacent vertebrae are hinged; the hinge axis of the front end of the front segment is in the X-axis direction, and the hinge axis of the rear end of the front segment is in the Y-axis direction; the hinge axes of the front end and rear end of the rear segment are both in the X-axis direction. All the aforementioned anterior vertebrae constitute an anterior vertebral segment, and the inner wall of the anterior vertebral segment is provided with axially penetrating anterior holes one, two, three, and four; the inner wall of the connecting vertebrae is connected by tubes one and two; all the aforementioned posterior vertebrae constitute a posterior vertebral segment, and the inner wall of the posterior vertebral segment is provided with axially penetrating posterior holes one and two; the posterior hole one, the rear end of tube one, the front end of tube two, and the anterior hole one are positioned at 0 degrees circumferentially; the posterior hole two, the rear end of tube two, the front end of tube one, and the anterior hole two are positioned at 180 degrees circumferentially; the anterior hole three is positioned at 90 degrees circumferentially; and the anterior hole four is positioned at 270 degrees circumferentially. The front end of the traction rope is connected to the front joint, including rope one, rope two, rope three, and rope four; rope one passes through the rear hole one, the tube one, and the front hole two in sequence; rope two passes through the rear hole two, the tube two, and the front hole one in sequence; rope three passes through the front hole three; and rope four passes through the front hole four.

2. The snake-bone interventional device according to claim 1, characterized in that: The end face of the vertebral segment includes a beveled surface, and the beveled surfaces of two adjacent vertebral segments can fit together.

3. The snake-bone interventional device according to claim 1, characterized in that: Both tube one and tube two include a spiral segment, and the spiral segment is spiral-shaped.

4. The snake-bone type interventional device according to claim 1, characterized in that: It also includes a support that connects to the rear end joint.

5. The snake-bone interventional device according to claim 4, characterized in that: It also includes a driver component, which includes: Chain 1, with its two ends connected to the rear ends of rope 1 and rope 2, respectively; A first sprocket is rotatably mounted on the bracket and cooperates with a first chain. Axle 1 is coaxially connected to sprocket 1; Chain 2, with its two ends connected to the rear ends of rope 3 and rope 4 respectively; Sprocket two is rotatably mounted on the bracket and cooperates with chain two; Axle 2 is coaxially connected to sprocket 2.

6. The snake-bone type interventional device according to claim 5, characterized in that: When the first chain rotates in both directions, it can abut against and limit the position of the bracket; when the second chain rotates in both directions, it can abut against and limit the position of the bracket.

7. The snake-bone interventional device according to claim 6, characterized in that: Both ends of the chain one are provided with multiple slots one, and the rear ends of the rope one and the rope two are provided with a locking block one, which can be embedded into different slots one; both ends of the chain two are provided with multiple slots two, and the rear ends of the rope three and the rope four are provided with a locking block two, which can be embedded into different slots two.

8. The snake-bone interventional device according to claim 1, characterized in that: The first front hole, the second front hole, the third front hole, and the fourth front hole are all straight pipe holes.

9. The snake-bone type interventional device according to claim 1, characterized in that: The posterior segment of the bone has cutouts at positions corresponding to the first and second posterior holes.

10. The snake-bone interventional device according to claim 1, characterized in that: It also includes functional elements that are connected to the front end joint.

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