Endoscopic snake bone reversing end structure

Abstract

This invention relates to the field of endoscopy technology, providing an endoscope snake-bone reversing end-head structure, comprising: a lens module; a snake-bone tube assembly having an axially penetrating cavity; and a reversing module including a fixing member, a ball head, a traction steel wire, and an elastic reset member. The fixing member includes a base plate, an outer retaining ring, an annular plate, and multiple guide members. The guide members and the inner wall of the outer retaining ring form an adjustment gap, and the front end is closed by the annular plate. The ball head is movably disposed in the fixing member, and its circumferential side has a mating portion with a round head and an extension strip. The round head is accommodated in the adjustment gap, and the extension strip passes through the strip-shaped channel of the guide member. The elastic reset member acts on the round head. The traction steel wire passes through the base plate and connects to the round head. When pulled, the ball head independently deflects and resets around the two spatially perpendicular extension strips as its rotation axis. This invention allows for adjustment of the observation angle without significant bending of the snake-bone body, reducing tissue compression and improving safety, accuracy, and comfort.

Description

Technical Field

[0001] This invention relates to the field of endoscopy technology, and more particularly to an endoscope snake-bone reversing end structure. Background Technology

[0002] An endoscope is a diagnostic instrument with functions such as an image sensor, optical lens, light source illumination, instrument channel, and water and air control. It can be inserted into natural orifices such as the stomach, trachea, and intestines through the mouth, nose, and anus to directly observe lesions within the orifices for subsequent diagnosis or treatment.

[0003] When in use, an endoscope is inserted into the body through natural orifices or a small surgical incision. By guiding the endoscope into the organ to be examined, changes in the relevant area can be directly observed. The insertion section of the endoscope contains a serpentine skeleton, composed of multiple serpentine segments connected end-to-end. Each segment is typically tubular, with its internal cavity housing instruments, signal lines, steel cables, and other components. The bending direction of the serpentine segments is changed by the traction of the steel cable, thereby achieving the bending of the insertion section.

[0004] The snake-bone assembly, serving as the bending unit of the insertion section, allows for control of the endoscope tip's bending via a traction steel cable arranged within the snake-bone. Based on the bending direction, snake-bone assemblies are classified as two-directional or four-directional. Two-directional snake-bone assemblies can only bend vertically, while four-directional snake-bone assemblies can bend horizontally, vertically, and vertically; combined operations allow for control of the tip's rotation in any direction.

[0005] However, in traditional two- or four-directional snake-bending structures, the segments are hinged together by pins. During bending, the entire snake bone deforms together, and the head-end camera module is rigidly connected to the snake bone body, unable to rotate independently relative to the snake bone body. Therefore, camera viewing angle adjustment relies on significant bending of the snake bone body, making localized, fine-tuning impossible. This bending method can easily compress surrounding tissues after insertion into the human body, potentially causing additional damage to pre-existing diseased tissues, affecting examination safety and patient comfort. Therefore, there is an urgent need for an endoscopic snake bone structure that can achieve independent deflection of the head-end camera without bending the snake bone body, reducing the risk of tissue compression and improving operational precision. Summary of the Invention

[0006] The purpose of this invention is to solve at least one technical problem in the background art and to provide an endoscope snake bone reversing end structure.

[0007] To achieve the above objectives, the present invention provides an endoscope snake-bone reversing end structure, comprising: Lens module; A snake-bone tube assembly having an axially penetrating cavity, the snake-bone tube assembly comprising: a first snake-bone segment, a last snake-bone segment, and a plurality of connecting snake-bone segments connecting the first snake-bone segment and the last snake-bone segment; The steering module includes: a fixing component, a ball joint, a traction steel wire, and a flexible reset component; The rear end of the fixing member is fixedly connected to the end of the snake bone segment. The fixing member includes a base plate, an outer retaining ring, an annular plate, and multiple guide members. The multiple guide members are arranged circumferentially on the base plate. The outer retaining ring is supported on the base plate. Each guide member is arranged at intervals with the inner wall of the outer retaining ring to form an adjustment gap. The front end of the guide member is connected to the front end of the outer retaining ring through the annular plate to close the front end of the adjustment gap. The ball head has an inner cavity for mounting the lens module. The ball head is movably disposed in the fixing member. The circumferential side of the ball head is provided with a plurality of mating portions. The mating portion includes an extension strip and a round head at the end of the extension strip. The diameter of the round head is larger than the cross-sectional diameter of the extension strip. The guide member is provided with a strip-shaped channel that mates with the docking portion. The strip-shaped channel extends along the axial direction of the fixed member. The round head is accommodated within the adjustment gap. The extension strip passes through the strip-shaped channel. The width of the strip-shaped channel is smaller than the diameter of the round head to restrict the round head from coming out. The width of the strip-shaped channel is adapted to the outer diameter of the extension strip so that the extension strip can move and rotate along the strip-shaped channel. The elastic reset member is located at the adjustment gap, with one end connected to the extension strip and the other end abutting against the base plate; The traction steel wires are multiple, which are inserted into the cavity and pass through the base plate to enter the adjustment gap and connect with the corresponding round head. By pulling the traction steel wires, the ball head is driven to rotate independently relative to the snake tube assembly with the two side extensions perpendicular to the space of the pulled traction steel wire as the rotation axis, and is reset with the cooperation of the elastic reset member.

[0008] According to one aspect of the present invention, the base plate is provided with a plurality of through holes, each of the through holes being distributed circumferentially and communicating the adjustment gap with the through cavity of the snake bone tube assembly; the last snake bone segment and each of the connecting snake bone segments are provided with a limiting ring portion, the limiting ring portion being positioned corresponding to the through holes, and the traction steel wire being sequentially passed through the limiting ring portion and the through holes before entering the adjustment gap.

[0009] According to one aspect of the invention, the number of the docking portion, the traction steel wire, and the through hole are all four, and they are all evenly spaced along the circumference.

[0010] According to one aspect of the invention, the front end face of the ball head is provided with light sources arranged circumferentially.

[0011] According to one aspect of the present invention, a fine-tuning mechanism is provided on the inner side of the first serpentine segment, the number of the fine-tuning mechanisms corresponding to the number of the through holes; the fine-tuning mechanism includes: a support portion, an adjusting nut, and a column; The support portion is fixedly connected to the inner wall of the first serpentine segment, and the adjusting nut is rotatably connected to the support portion around its own axis and is axially limited; the adjusting nut has a threaded hole that passes through along its axis of rotation. The outer surface of the column is threaded, the column is threaded into the threaded hole, and the column is restricted from rotating around its own axis; one end of the column is fixedly connected to the end of the traction steel wire away from the ball head. By rotating the adjusting nut, the column bar is driven to move axially to adjust the effective length of the traction steel wire, thereby limiting the deflection angle of the ball head.

[0012] According to one aspect of the present invention, the support portion includes: an upper support portion and a lower support portion arranged axially at intervals, both the upper support portion and the lower support portion being provided with receiving holes; the adjusting nut is provided with receiving posts at both ends, and the two receiving posts are respectively rotatably inserted into the receiving holes of the upper support portion and the lower support portion.

[0013] According to one aspect of the invention, the sidewall of the first serpentine segment is provided with an opening groove, and the outer peripheral surface of the adjusting nut is provided with an anti-slip structure, the anti-slip structure extending from the opening groove to allow the adjusting nut to be rotated from outside the first serpentine segment.

[0014] According to one aspect of the invention, the elastic reset member is a spring, and a connecting ring is provided at one end of the spring near the round head. The connecting ring has a double-loop structure. An extension bar passes through the double-loop structure, and the diameter of the round head is larger than the diameter of the connecting ring, so that the ball head is kept connected to the spring through the extension bar and the round head. The extension bar can rotate relative to the connecting ring to cooperate with the deflection of the ball head.

[0015] According to one aspect of the present invention, the extension bar is provided with an elongated slot, and the end of the traction steel wire is connected to a column head. The diameter of the column head is larger than the width of the elongated slot. The end of the traction steel wire passes through the elongated slot and is connected to the column head. The column head is engaged with the side of the elongated slot opposite to the first serpentine segment, thereby connecting the traction steel wire to the extension bar.

[0016] According to the present invention, by setting an independently deflectable ball head at the end of the endoscope snake bone, the ball head is pulled by a traction steel wire to achieve local fine deflection around the two vertically extending strips on both sides as the rotation axis. The deflection angle is maintained by the automatic reset of the elastic reset component and the threaded adjustment of the fine adjustment mechanism. Thus, the observation angle can be adjusted without significantly bending the snake bone body, which effectively reduces the compression damage to human tissues and significantly improves the safety, operation accuracy and patient comfort of endoscopic examination. Attached Figure Description

[0017] Figure 1 The schematic diagram shows the structure of an endoscope including an endoscope snake-bone reversing end structure according to an embodiment of the present invention. Figure 2 The schematic representation includes an exploded view of the endoscopic snake-bone reversing end structure according to one embodiment of the present invention; Figure 3 The schematic representation includes a structural diagram of a steering module according to one embodiment of the present invention; Figure 4 The schematic representation includes an exploded view of the orientation module according to one embodiment of the present invention; Figure 5 The schematic representation includes a structural diagram of the terminal serpentine segment and the connecting serpentine segments according to one embodiment of the present invention; Figure 6 The schematic representation includes a directional diagram showing the ball head deflecting in one direction according to an embodiment of the invention; Figure 7 The schematic representation includes a directional diagram showing the ball head deflecting in another direction according to one embodiment of the invention; Figure 8 The schematic representation includes a diagram of the internal structure of the first serpentine segment according to one embodiment of the present invention; Figure 9 The schematic representation includes an exploded view of a fine-tuning mechanism according to one embodiment of the present invention. Detailed Implementation

[0018] The invention will now be discussed with reference to exemplary embodiments. It should be understood that the described embodiments are merely intended to enable those skilled in the art to better understand and thus implement the invention, and are not intended to imply any limitation on the scope of the invention.

[0019] As used herein, the term "comprising" and its variations are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "at least partially based on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment".

[0020] Figure 1 The schematic diagram shows the structure of an endoscope including an endoscope snake-bone reversing end structure according to an embodiment of the present invention. Figure 2 The schematic representation includes an exploded view of the endoscopic snake-bone reversing end structure according to one embodiment of the present invention; Figure 3 The schematic representation includes a structural diagram of a steering module according to one embodiment of the present invention; Figure 4 The schematic representation includes an exploded view of the orientation module according to one embodiment of the present invention; Figure 5 The schematic representation includes a structural diagram of the terminal serpentine segment and the connecting serpentine segments according to one embodiment of the present invention; Figure 6 The schematic representation includes a directional diagram showing the ball head deflecting in one direction according to an embodiment of the invention; Figure 7 The schematic representation includes a directional diagram showing the ball head deflecting in another direction according to one embodiment of the invention; Figure 8 The schematic representation includes a diagram of the internal structure of the first serpentine segment according to one embodiment of the present invention; Figure 9 The schematic representation includes an exploded view of a fine-tuning mechanism according to one embodiment of the invention. For example... Figures 1-9 As shown, in this embodiment, the endoscope snake-bone reversing end structure includes: a lens module 1, a snake-bone tube assembly 2, and a reversing module 3. The lens module 1 adopts the existing flexible endoscope module structure, namely, components such as a CMOS image sensor and objective lens assembly. The optical lens objective lens is responsible for focusing the target image onto the sensor. The lens and sensor are sealed inside the metal ball head 4, forming a robust miniature camera module. After the illumination light irradiates the tissue, the reflected light passes through the lens and forms an image on the CMOS image sensor, which is instantly converted into an electrical signal. The signal is transmitted in real time to the external host through an extremely fine shielded cable inside the endoscope body, and finally a high-definition image is displayed on the monitor. Since the flexible endoscope module of the medical endoscope is an existing product, it will not be described in detail here, and the structure of the relevant product can be directly adopted.

[0021] Furthermore, the orientation module 3 includes: a traction steel wire 7, a fixing member 8, and a ball head 4. Part of the ball head 4 is exposed at the front end of the fixing member 8. A light source 5 is provided on the front end face of the ball head 4. The light sources 5 are arranged circumferentially for easy observation. The ball head 4 has an inner cavity for the lens module 1 to be installed. Four docking parts 16 are provided on the circumferential side of the ball head 4. The docking part 16 includes an extension strip 18 and a round head 17 at the end of the extension strip 18. The diameter of the round head 17 is larger than the cross-sectional diameter of the extension strip 18.

[0022] The snake bone tube assembly 2 has an axially extending cavity 15 for the traction steel wire 7 to pass through. The snake bone tube assembly 2 includes: a first snake bone segment 20, a last snake bone segment 22 and several connecting snake bone segments 23. The snake bone tube assembly 2 is equipped with a sleeve 6 to insert each snake bone segment into the sleeve. The connecting snake bone segments 23 are interconnected to form the snake bone body. The first snake bone segment 20 and the last snake bone segment 22 are respectively connected to the two ends of the snake bone body. The cavity 15 is correspondingly provided in the first snake bone segment 20, the last snake bone segment 22 and each connecting snake bone segment 23, and the cavities 15 of each component are interconnected.

[0023] The rear end of the fixing member 8 is fixedly connected to the distal serpentine segment 22. The fixing member 8 includes: a base plate 14, an outer retaining ring 10, an annular plate 37, and four guide members 9. The four guide members 9 are arranged circumferentially on the base plate 14 at intervals. The outer retaining ring 10 is supported on the base plate 14. Each guide member 9 is arranged at intervals with the inner wall of the outer retaining ring 10 to form an adjustment gap 11. The front ends of the guide members 9 and the outer retaining ring 10 are connected by the annular plate 37 to close the front end of the adjustment gap (i.e., Figure 2 and Figure 3 The guide member 9 is provided with a strip-shaped channel 12 that mates with the docking part 16. The strip-shaped channel 12 extends along the axial direction of the fixed member 8. The width of the strip-shaped channel 12 is smaller than the diameter of the round head 17. The round head 17 is accommodated in the adjustment gap. The extension bar 18 passes through the strip-shaped channel 12 to restrict the round head 17 from exiting the guide member 9. The outer diameter of the extension bar 18 is adapted to the width of the strip-shaped channel 12 so that the extension bar 18 can move and rotate along the strip-shaped channel 12.

[0024] A spring 24 is provided at the adjustment gap. The traction steel wire 7 in the snake bone tube assembly 2 passes through the base plate and enters the adjustment gap, and connects to the extension strip 18 of the docking part 16 via the spring 24. The two ends of the spring 24 abut against the extension strip 18 and the base plate 14 respectively, so that the ball head 4 can be reset by the spring 24. The spring 24 is an integral structure. A double ring 25 is provided at the end of the spring 24 near the round head 17. The extension strip 18 of the ball head 4 passes through the double ring 25. The diameter of the round head 17 is larger than the diameter of the double ring 25, so that the ball head 4 is connected to the spring 24 through the extension strip 18 and the round head 17. The extension strip 18 can rotate within the double ring 25 to cooperate with the deflection of the ball head 4. The ball head 4 rotates about the extension strips 18 on both sides as the axis. The extension bar 18 is provided with a long slot 19. The end of the traction steel wire 7 is connected to a column head 38. The diameter of the column head 38 is larger than the width of the long slot 19. The end of the traction steel wire 7 passes through the long slot 19 and is connected to the column head 38. The column head 38 is engaged on the side of the long slot 19 away from the head serpent joint 20, thereby realizing the connection between the traction steel wire 7 and the extension bar 18. The long slot 19 is located between the double loops 25 so that the traction steel wire 7 can pass through.

[0025] The base plate 14 has four through holes 13, which are spaced circumferentially and connect the adjustment gap 11 to the cavity 15 of the snake bone tube assembly 2. The through holes 13 are at 90 degrees to accommodate four directions. The last snake bone section 22 and each connecting snake bone section 23 are provided with a limiting ring 26 for the traction steel wire 7 to pass through, thereby limiting the position of the traction steel wire 7 in the cavity 15. The position of the limiting ring 26 corresponds to the position of the through hole 13, so that the traction steel wire 7 in the cavity 15 enters the adjustment gap 11 from the through hole 13. Each snake bone section has a lug 39 extending from both ends. The snake bone sections are hinged to each other by the lug 39 and the pin, so as to realize the rotation of the snake bone tube assembly 2.

[0026] The inner ring of the first snake bone segment 20 is provided with a fine adjustment mechanism 27, the number of fine adjustment mechanisms 27 corresponding to the number of through holes 13; the fine adjustment mechanism 27 includes a support part 28 and an adjusting nut part 32. The support part 28 is fixedly connected to the inner wall of the first snake bone segment 20, and the adjusting nut part 32 is rotatably connected to the support part 28 around its own axis and is axially limited. The support portion 28 has a receiving hole 31, and the two ends of the adjusting nut 32 extend into the receiving post 33. The support portion 28 of the single fine adjustment mechanism 27 includes an upper support portion 29 and a lower support portion 30. Both the upper support portion 29 and the lower support portion 30 have receiving holes 31, which penetrate the support portion 28. The upper support portion 29 and the lower support portion 30 are spaced apart along the axial direction to allow the adjusting nut 32 to be inserted. The receiving posts 33 at both ends of the adjusting nut 32 are rotatably inserted into the receiving holes 31 of the upper support portion 29 and the lower support portion 30, respectively, so that the adjusting nut 32 can rotate relative to the support portion 28.

[0027] The adjusting nut 32 has a threaded hole 34 that runs through the axis of rotation of the adjusting nut 32 and is located on the center line of the adjusting nut 32. The connecting post 33 is also located on its center line. A post 36 is provided at the end of the traction steel wire 7 away from the ball head 4. The outer surface of the post 36 is threaded and threaded with the threaded hole 34. The post 36 is restricted from rotating around its own axis. One end of the post 36 is fixedly connected to the traction steel wire 7. By rotating the adjusting nut 32, the post 36 is driven to move axially to adjust the effective length of the traction steel wire 7, thereby limiting the deflection angle of the ball head 4. The side wall of the first serpentine segment 20 is provided with an opening groove 21. The outer peripheral surface of the adjusting nut 32 is provided with a corrugated pattern 35 to enhance friction and facilitate rotation. The corrugated pattern 35 extends from the opening groove 21 so that the adjusting nut 32 partially extends out of the first serpentine segment 20, making it convenient to rotate the adjusting nut 32 from the outside of the first serpentine segment 20.

[0028] The snake bone assembly 2 serves as the bending unit of the insertion section. The bending of the endoscope tip can be controlled by the traction steel wire 7 arranged within the snake bone. Based on the bending direction, snake bones are classified as two-directional or four-directional. Two-directional snake bones can only bend vertically, while four-directional snake bones can bend horizontally, vertically, and vertically. Combined operations allow for control of the tip's rotation in any direction. However, traditional two-directional or four-directional snake bone bending structures rely on the bending of the entire snake bone structure, preventing localized bending of the camera position. This results in the inability to achieve precise, localized camera position deflection. This bending method can easily compress surrounding tissues after insertion, potentially causing additional damage, especially to pre-existing diseased tissues, affecting examination safety and patient comfort.

[0029] Based on the above, the present invention has made the above-mentioned improvements to the structure of the snake bone. It is no longer necessary to bend the snake bone body significantly when observing tissue parts. In the structure of the present invention, the ball head 4 of the adjustment module 3 can rotate independently relative to the snake bone. Operating principle: The lens module 1 is mainly installed in the ball head 4. The ball head 4 is installed on the last snake bone segment 22 through the fastener 8, so that the lens module 1 moves with the snake bone tube assembly 2 to the position to be observed.

[0030] like Figure 3 As shown, in the initial state, the ball head 4 is supported by springs 24 in four directions, and the ball head 4 is in a horizontal position. The strip-shaped channel 12 can adjust the height and position of the ball head 4 as needed. Figure 6 and Figure 7 As shown, when observing a certain angle, taking the left side as an example: Rotating the left adjusting nut 32, because the position of the adjusting nut 32 is restricted by the upper support part 29 and the lower support part 30, the rotation of the adjusting nut 32 can only drive the column 36 of the left traction steel wire 7 to move up or down. This causes the left traction steel wire 7 to pull the ball head 4 to deflect to the left. The spring 24 connected to the right side of the ball head 4 is in a stretched state to assist in later reset. The connecting parts 16 on the front and rear sides of the ball head 4 act as shafts to assist the deflection of the ball head 4. The threaded connection structure between the adjusting nut 32 and the column 36 can also maintain the stability of the deflection angle of the ball head 4, making observation convenient. Similarly, the operation on the left side is the same when the ball head 4 deflects to the right, up, or down. When the ball head 4 is adjusted to the left or right, the extension strips 18 on the upper and lower sides of the ball head 4 serve as rotation axes to assist the ball head 4 in deflection; when the ball head 4 is adjusted to the up or down, the extension strips 18 on the left and right sides of the ball head 4 serve as rotation axes to assist the ball head 4 in deflection. By pulling the traction steel wire 7, the ball head 4 is driven to deflect independently relative to the snake tube assembly 2 with the two extension strips 18 on both sides perpendicular to the space of the pulled traction steel wire 7 as rotation axes, and reset with the cooperation of the spring 24.

[0031] This invention optimizes the snake-bone structure, allowing the ball head 4 of the adjustment module 3 to rotate independently relative to the snake-bone tube assembly 2. This enables precise local deflection of the lens module 1, allowing adjustment of the observation angle without significant bending of the snake-bone body, effectively reducing compression and potential damage to surrounding tissues. Specifically, the ball head 4 is supported by springs 24 in multiple directions. By rotating the corresponding adjusting nut 32 to drive the traction wire 7, the deflection of the ball head 4 in the desired direction can be precisely controlled, and the springs 24 automatically reset. Simultaneously, the threaded connection between the adjusting nut 32 and the column 36 stably maintains the deflection angle, facilitating observation. Furthermore, the extension strips 18 on both sides of the ball head 4 can act as rotation axes depending on the deflection direction. Combined with the strip-shaped channel 12 and the adjustment gap structure, this ensures a smooth deflection process and reliable positioning. The overall structure is compact and flexible, significantly improving the safety and accuracy of endoscopic examinations, reducing significant bending of the snake-bone body, and increasing patient comfort.

[0032] According to the above-described solution of the present invention, the present invention provides an independently deflectable ball head at the end of the endoscope snake bone, and uses a traction steel wire to pull the ball head to rotate around the two vertically extending strips on both sides as the axis of rotation to achieve local fine deflection. With the automatic reset of the elastic reset component and the threaded adjustment of the fine adjustment mechanism, the deflection angle is maintained. Therefore, the observation angle can be adjusted without significantly bending the snake bone body, which effectively reduces the compression damage to human tissues and significantly improves the safety, operation accuracy and patient comfort of endoscopic examination.

[0033] The above description is merely a preferred embodiment of this application and an explanation of the technical principles employed. Those skilled in the art should understand that the scope of the invention involved in this application is not limited to technical solutions formed by specific combinations of the above-described technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-described technical features or their equivalents without departing from the inventive concept. For example, technical solutions formed by substituting the above-described features with (but not limited to) technical features with similar functions disclosed in this application.

[0034] It should be understood that the sequence number of each step in the invention and its embodiments does not absolutely imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

Claims

1. An endoscope snake-bone reversing end structure, characterized in that, include: Lens module; A snake-bone tube assembly having an axially penetrating cavity, the snake-bone tube assembly comprising: a first snake-bone segment, a last snake-bone segment, and a plurality of connecting snake-bone segments connecting the first snake-bone segment and the last snake-bone segment; The steering module includes: a fixing component, a ball joint, a traction steel wire, and a flexible reset component; The rear end of the fixing member is fixedly connected to the end of the snake bone segment. The fixing member includes a base plate, an outer retaining ring, an annular plate, and multiple guide members. The multiple guide members are arranged circumferentially on the base plate. The outer retaining ring is supported on the base plate. Each guide member is arranged at intervals with the inner wall of the outer retaining ring to form an adjustment gap. The front end of the guide member is connected to the front end of the outer retaining ring through the annular plate to close the front end of the adjustment gap. The ball head has an inner cavity for mounting the lens module. The ball head is movably disposed in the fixing member. The circumferential side of the ball head is provided with a plurality of mating portions. The mating portion includes an extension strip and a round head at the end of the extension strip. The diameter of the round head is larger than the cross-sectional diameter of the extension strip. The guide member is provided with a strip-shaped channel that mates with the docking portion. The strip-shaped channel extends along the axial direction of the fixed member. The round head is accommodated within the adjustment gap. The extension strip passes through the strip-shaped channel. The width of the strip-shaped channel is smaller than the diameter of the round head to restrict the round head from coming out. The width of the strip-shaped channel is adapted to the outer diameter of the extension strip so that the extension strip can move and rotate along the strip-shaped channel. The elastic reset member is located at the adjustment gap, with one end connected to the extension strip and the other end abutting against the base plate; The traction steel wires are multiple, which are inserted into the cavity and pass through the base plate to enter the adjustment gap and connect with the corresponding round head. By pulling the traction steel wires, the ball head is driven to rotate independently relative to the snake tube assembly with the two side extensions perpendicular to the space of the pulled traction steel wire as the rotation axis, and is reset with the cooperation of the elastic reset member.

2. The endoscopic snake-bone reversing end structure according to claim 1, characterized in that, The base plate is provided with multiple through holes, each of which is circumferentially spaced and connects the adjustment gap with the through cavity of the snake bone tube assembly; the last snake bone segment and each of the connecting snake bone segments are provided with a limiting ring, the limiting ring corresponding to the position of the through hole, and the traction steel wire is sequentially passed through the limiting ring and the through hole before entering the adjustment gap.

3. The endoscopic snake-bone reversing end structure according to claim 2, characterized in that, The number of the docking part, the traction steel wire, and the through hole are all four, and they are all evenly spaced along the circumference.

4. The endoscopic snake-bone reversing end structure according to claim 1, characterized in that, The front end face of the ball head is provided with light sources arranged circumferentially.

5. The endoscopic snake-bone reversing end structure according to claim 2, characterized in that, The inner side of the first serpentine segment is provided with a fine-tuning mechanism, the number of which corresponds to the number of through holes; the fine-tuning mechanism includes: a support part, an adjusting nut, and a column bar; The support portion is fixedly connected to the inner wall of the first serpentine segment, and the adjusting nut is rotatably connected to the support portion around its own axis and is axially limited; the adjusting nut has a threaded hole that passes through along its axis of rotation. The outer surface of the column is threaded, the column is threaded into the threaded hole, and the column is restricted from rotating around its own axis; one end of the column is fixedly connected to the end of the traction steel wire away from the ball head. By rotating the adjusting nut, the column bar is driven to move axially to adjust the effective length of the traction steel wire, thereby limiting the deflection angle of the ball head.

6. The endoscopic snake-bone reversing end structure according to claim 5, characterized in that, The support portion includes an upper support portion and a lower support portion spaced apart along the axial direction, both of which are provided with connecting holes; the adjusting nut is provided with connecting posts at both ends, and the two connecting posts are respectively rotatably inserted into the connecting holes of the upper support portion and the lower support portion.

7. The endoscopic snake-bone reversing end structure according to claim 6, characterized in that, The first serpentine segment has an opening groove on its side wall, and the outer peripheral surface of the adjusting nut has an anti-slip structure that extends from the opening groove to allow the adjusting nut to be rotated from outside the first serpentine segment.

8. The endoscopic snake-bone reversing end structure according to claim 1, characterized in that, The elastic reset element is a spring, and a connecting ring is provided at one end of the spring near the round head. The connecting ring has a double-loop structure. The extension strip passes through the double-loop structure. The diameter of the round head is larger than the diameter of the connecting ring, so that the ball head is connected to the spring through the extension strip and the round head. The extension strip can rotate relative to the connecting ring to cooperate with the deflection of the ball head.

9. The endoscopic snake-bone reversing end structure according to any one of claims 1-8, characterized in that, The extension bar has an elongated slot, and the end of the traction steel wire is connected to a column head. The diameter of the column head is larger than the width of the elongated slot. The end of the traction steel wire passes through the elongated slot and connects to the column head. The column head is engaged with the side of the elongated slot opposite to the first serpentine segment, thereby connecting the traction steel wire to the extension bar.

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