Bending mechanism and endoscope

Abstract

The utility model relates to a bending mechanism and an endoscope. A bending mechanism is applied to an endoscope, and comprises a snake bone assembly, a bending mechanism, a bending mechanism and a driving mechanism, the snake bone assembly is provided with an inner cavity penetrating in the axial direction of the snake bone assembly, and the cavity wall of the inner cavity is provided with a boss protruding inwards; the traction assembly is arranged in the inner cavity and comprises a fixing plate and a traction rope, the fixing plate is arranged on the far-end end face of the boss, the fixing plate is provided with a first through hole and a second through hole, and two areas on the traction rope are wound and knotted through the first through hole and the second through hole to form two rope knots; the traction rope is arranged on the fixing plate to divide the traction rope into a first section, a middle section and a second section which are sequentially connected, the middle section is located on one side of the far end of the fixing plate, the first section and the second section are located on one side of the near end of the fixing plate, and the first section and the second section penetrate through different positions, arranged in the circumferential direction of the snake bone assembly, of the snake bone assembly in the axial direction and extend out of the near end of the snake bone assembly. According to the bending mechanism, the fixing structure of the traction rope can be simplified, so that the assembling process is simplified, and the assembling efficiency is improved.

Description

Technical Field

[0001] This application relates to the technical field of medical devices, and particularly to a bending mechanism and an endoscope. Background Art

[0002] An endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software, etc. It can enter the body through the patient's oral cavity or other natural orifices. With the endoscope, lesions that cannot be shown by other medical devices such as X-rays can be seen, so it can better assist doctors in diagnosis and treatment. For example, doctors can use the endoscope to observe ulcers or tumors in the patient's stomach and thus formulate the best treatment plan accordingly.

[0003] The endoscope includes a bending mechanism. The bending mechanism includes a snake bone and a pulling rope that extends into it and is fixed to its distal end. By pulling the pulling rope, the bending mechanism can be bent, thereby driving the end of the endoscope to turn, so as to change the viewing angle of the end, and achieve a clearer and more accurate viewing effect. In the related art, when the pulling rope is fixed to the distal end of the snake bone, the fixing structure is relatively complex, and the assembly time is relatively long, which is time-consuming and laborious. Summary of the Utility Model

[0004] Based on this, it is necessary to provide a bending mechanism and an endoscope to simplify the fixing structure of the pulling rope, thereby simplifying the assembly process and improving the assembly efficiency.

[0005] A bending mechanism is applied to an endoscope. The bending mechanism includes:

[0006] A snake bone assembly having a lumen that penetrates along its own axis, and the wall of the lumen has a convex platform protruding inward; and

[0007] A pulling assembly placed in the lumen. The pulling assembly includes a fixing plate and a pulling rope. The fixing plate is placed on the distal end face of the convex platform. The fixing plate has a first through hole and a second through hole. Two regions on the pulling rope are respectively wound and knotted through the first through hole and the second through hole to form two knots, so as to divide the pulling rope into a first section, an intermediate section, and a second section that are connected in sequence. The intermediate section is located on the distal side of the fixing plate, and the first section and the second section are located on the proximal side of the fixing plate. Moreover, the first section and the second section respectively pass through different positions arranged along the circumferential direction of the snake bone assembly along the axis and extend out from the proximal end of the snake bone assembly.

[0008] In some embodiments, the fixing plate is fixedly connected to the distal end face of the convex platform.

[0009] In some embodiments, the distal end face of the boss has grooves corresponding to and for avoiding the knots, so that the proximal end face of the fixing plate fits against the distal end face of the boss.

[0010] In some embodiments, notches are provided at both ends of the fixing plate along the circumferential direction, and the notches are used to catch the corresponding knots to prevent the knots from shifting.

[0011] In some embodiments, positioning members are provided at intervals on the inner wall of the inner cavity corresponding to and for blocking both ends of the fixing plate along the circumferential direction.

[0012] In some embodiments, a blocking portion extending toward the distal side of the fixing plate is provided on the inner side wall of the fixing plate, and the blocking portion is used to block the middle section from deviating inward beyond the range of the fixing plate.

[0013] In some embodiments, the fixing plate is in the shape of a circumferentially extending arc-like shape, and the outer side wall of the fixing plate fits against the inner wall of the inner cavity.

[0014] In some embodiments, the snake bone assembly has a first channel and a second channel axially penetrating the boss, and the first through hole and the second through hole are circumferentially spaced apart. The first section passes through the first channel and extends out from the proximal end of the snake bone assembly, and the second section passes through the second channel and extends out from the proximal end of the snake bone assembly.

[0015] In some embodiments, there are two sets of the pulling assemblies, and the two sets of the pulling assemblies are symmetrically arranged about the central axis of the inner cavity.

[0016] An endoscope, the endoscope includes the above-mentioned bending mechanism, and further includes a head end portion, and the head end portion is connected to the distal end of the bending mechanism.

[0017] For the above-mentioned bending mechanism and the endoscope, when the fixing plate is placed on the distal end face of the boss, and two regions on the pulling rope are respectively wound and knotted at the first through hole and the second through hole to form two knots, then when pulling the proximal end of the first section or the second section on the proximal side of the fixing plate, the fixing plate will be pulled to abut against the distal end face of the boss, and then drive the snake bone assembly to bend and deform toward the position where the first section or the second section is located, so as to meet the bending requirement. In the above structure, only two knots need to be tied on the fixing plate for the pulling rope, and the pulling rope and the fixing plate as a whole are placed in the inner cavity of the snake bone assembly, and the fixing plate is placed on the distal end face of the boss, so that the fixing and installation of the distal end of the pulling rope can be realized. The whole fixing structure is relatively simple, and there is no need to glue the pulling rope, and the assembly is more convenient and fast, and the assembly efficiency is also higher. Description of the Drawings

[0018] Figure 1Schematic diagram of the bending mechanism in an embodiment of the present application.

[0019] Figure 2 Exploded schematic diagram of the snake bone assembly and the pulling assembly in an embodiment of the present application.

[0020] Figure 3 Schematic diagram of the pulling rope wound around the fixing plate in an embodiment of the present application.

[0021] Figure 4 Schematic diagram of the fixing plate in an embodiment of the present application.

[0022] Figure 5 Internal schematic diagram of the distal end of the snake bone assembly in an embodiment of the present application.

[0023] Figure 6 Planar schematic diagram of the distal end of the bending mechanism (viewed from the distal end towards the proximal end) in an embodiment of the present application.

[0024] Reference numerals:

[0025] 100, snake bone assembly; 110, bone joint; 120, inner cavity; 130, boss; 131, groove; 132, first channel; 133, second channel; 140, positioning member; 200, pulling assembly; 210, fixing plate; 211, first through hole; 212, second through hole; 213, notch; 214, blocking portion; 220, pulling rope; 221, first section; 222, intermediate section; 223, second section; 224, knot. Detailed implementation manners

[0026] To make the above objects, features, and advantages of the present application more obvious and understandable, the following detailed description of the specific implementation manners of the present application will be given in conjunction with the accompanying drawings. Many specific details are set forth in the following description in order to fully understand the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without departing from the connotation of the present application. Therefore, the present application is not limited by the specific embodiments disclosed below.

[0027] In the description of the present application, it should be understood that if terms such as "center", "longitudinal", "transverse", "length", "width", "thickness", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or positional relationship indicated by these terms is based on the orientation or positional relationship shown in the accompanying drawings, and is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present application.

[0028] In addition, if the terms "first" and "second" appear, these terms are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, features defined with "first" and "second" may explicitly or implicitly include at least one such feature. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise specifically defined.

[0029] In this application, unless otherwise clearly specified and defined, if terms such as "installed", "connected", "linked", "fixed", etc. appear, these terms should be understood in a broad sense. For example, it may be a fixed connection, a detachable connection, or integrated; it may be a mechanical connection or an electrical connection; it may be directly connected or indirectly connected through an intermediate medium, and it may be the communication inside two components or the interaction relationship between two components, unless otherwise clearly defined. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0030] In this application, unless otherwise clearly specified and defined, if there is a description such as a first feature being "on" or "under" a second feature, its meaning may be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "over" and "on top of" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply indicates that the first feature is at a higher level than the second feature in terms of horizontal height. The first feature being "under", "beneath" and "underneath" the second feature may be that the first feature is directly below or obliquely below the second feature, or simply indicates that the first feature is at a lower level than the second feature in terms of horizontal height.

[0031] It should be noted that if an element is referred to as "fixed to" or "disposed on" another element, it can be directly on the other element or there may also be an intermediate element. If an element is considered to be "connected" to another element, it can be directly connected to the other element or there may be an intermediate element at the same time. If any, the terms "vertical", "horizontal", "up", "down", "left", "right" and similar expressions used in this application are only for the purpose of illustration and do not represent the only implementation.

[0032] Refer to Figures 1 to 4, in an embodiment of the present application, the bending mechanism is applied to an endoscope. The bending mechanism includes a snake bone assembly 100 and a pulling assembly 200. The snake bone assembly 100 has a lumen 120 penetrating along its own axis, and the wall of the lumen 120 has a boss 130 protruding inward. The pulling assembly 200 is placed in the lumen 120. The pulling assembly 200 includes a fixing plate 210 and a pulling rope 220. The fixing plate 210 is placed on the distal end face of the boss 130. The fixing plate 210 has a first through hole 211 and a second through hole 212. Two areas on the pulling rope 220 are respectively wound and knotted through the first through hole 211 and the second through hole 212 to form two knots 224, so as to divide the pulling rope 220 into a first section 221, an intermediate section 222, and a second section 223 that are connected in sequence. The intermediate section 222 is located on the distal side of the fixing plate 210, and the first section 221 and the second section 223 are located on the proximal side of the fixing plate 210. The first section 221 and the second section 223 respectively pass through different positions arranged along the circumferential direction of the snake bone assembly 100 along the axis and extend from the proximal end of the snake bone assembly 100.

[0033] For the above bending mechanism, the fixing plate 210 is placed on the distal end face of the boss 130, and two areas on the pulling rope 220 are respectively wound and knotted through the first through hole 211 and the second through hole 212 to form two knots 224. Then, when pulling the proximal end of the first section 221 or the second section 223 located on the proximal side of the fixing plate 210, the fixing plate 210 will be pulled to abut against the distal end face of the boss 130, thereby driving the snake bone assembly 100 to bend and deform towards the position where the first section 221 or the second section 223 is located, so as to meet the bending requirement. In the above structure, only two knots need to be tied on the fixing plate 210 for the pulling rope 220, and the pulling rope 220 and the fixing plate 210 are integrally placed in the lumen 120 of the snake bone assembly 100, and the fixing plate 210 is placed on the distal end face of the boss 130, then the fixed installation of the distal end of the pulling rope 220 can be realized. The whole fixing structure is relatively simple, and there is no need to glue the pulling rope 220, and the assembly is relatively convenient and fast, and the assembly efficiency is also relatively high.

[0034] It should be noted that in the present application, the "proximal end" refers to the end close to the operator (medical staff), and the "distal end" refers to the end far from the operator.

[0035] In an embodiment of the present application, the fixing plate 210 is made of a metal material. The pulling rope 220 is made of a steel wire rope, which has high strength, is not easy to break, and the material is harmless to patients. The first section 221, the intermediate section 222, and the second section 223 respectively belong to different sections of the steel wire rope and are formed by winding and knotting the steel wire rope.

[0036] In the embodiments of the present application, the snake bone assembly 100 includes a plurality of sequentially connected bone segments 110. The connection structure between the bone segments 110 can be selected from the prior art and will not be elaborated here.

[0037] Referring to Figures 2 to 4 , in some embodiments, the fixing plate 210 is fixedly connected to the distal end face of the boss 130.

[0038] Specifically, the fixing plate 210 is fixed to the distal end face of the boss 130 by bonding or welding. In this way, the installation firmness of the pulling rope 220 wound around the fixing plate 210 can be further enhanced, and when the proximal end of the first section 221 or the second section 223 is pulled, the fixing plate 210 is not likely to shift in position.

[0039] Referring to Figure 2 , Figure 3 and Figure 5 , in some embodiments, the distal end face of the boss 130 has grooves 131 that respectively correspond to and are used to avoid the rope knots 224, so that the proximal end face of the fixing plate 210 can be in contact with the distal end face of the boss 130.

[0040] Specifically, the first through hole 211 and the second through hole 212 are respectively located at positions on the fixing plate 210 close to both ends along the circumferential direction of the snake bone assembly 100, and the two rope knots 224 are formed in the regions at both ends of the fixing plate 210 along the circumferential direction of the snake bone assembly 100. Further, some regions of the rope knots 224 formed by winding and knotting are located on the proximal side of the fixing plate 210, some regions are located on the distal side of the fixing plate 210, and some regions are located on the outer side of the fixing plate 210 along the circumferential direction of the snake bone assembly 100.

[0041] It can be understood that the proximal end face of the fixing plate 210 is a flat plane. Then, after the pulling rope 220 is wound to form the rope knots 224, the part of the rope knots 224 located on the proximal side of the fixing plate 210 will protrude compared with the proximal end face of the fixing plate 210. By providing the grooves 131 that are recessed toward the proximal end on the distal end face of the boss 130, the part of the corresponding rope knots 224 located on the proximal side of the fixing plate 210 can be avoided, so that the part of each rope knot 224 located on the proximal side of the fixing plate 210 extends into the corresponding groove 131, thereby enabling the proximal end face of the fixing plate 210 to be in contact with the distal end face of the boss 130, improving the installation stability, and restricting the position of the fixing plate 210 by the rope knots 224 being stuck in the corresponding grooves 131. When the proximal end of the first section 221 or the second section 223 is pulled, the fixing plate 210 is not likely to shift in position.

[0042] Of course, in other embodiments, the groove 131 may be omitted, and a structure for cooperating with the boss 130 to limit the position of the fixing plate 210 may be provided on one side of the proximal end of the fixing plate 210. For example, a clamping block extending towards the proximal end is provided on one side of the proximal end of the fixing plate 210. Correspondingly, a clamping groove is provided on the distal end face of the boss 130. The clamping block can be clamped into the clamping groove to limit the position of the fixing plate 210 relative to the boss 130, thereby improving the installation stability and ensuring that the fixing plate 210 is not easily displaced when the proximal end of the first section 221 or the second section 223 is pulled. Alternatively, the positions of the clamping block and the clamping groove may be interchanged, that is, the clamping block is provided on the boss 130 and the clamping groove is provided on the fixing plate 210.

[0043] Referring to Figures 2 to 4 , in some embodiments, notches 213 are provided at both ends of the fixing plate 210 along the circumferential direction of the snake bone assembly 100. The notches 213 are used to clamp the corresponding knots 224 to inhibit the displacement of the knots 224.

[0044] Specifically, the part of each knot 224 located outside the fixing plate 210 along the circumferential direction of the snake bone assembly 100 is clamped in the corresponding notch 213. By providing the notches 213, when the rope 220 is pulled for winding, the knots 224 located outside the fixing plate 210 along the circumferential direction of the snake bone assembly 100 can be clamped, so that the knots 224 are not easily displaced relative to the fixing plate 210, thereby ensuring the firmness of the winding and knotting.

[0045] In some embodiments, when the pulling rope 220 is wound, first place the middle section 222 on the distal side of the fixing plate 210, then pass the first section 221 through the first through hole 211 from the distal side of the fixing plate 210 to the proximal side of the fixing plate 210, and then wind it from the proximal side of the fixing plate 210 to the distal side again at the notch 213, and then pass through the first through hole 211 from the distal side of the fixing plate 210 again to reach the proximal side of the fixing plate 210, and then extend from the proximal end of the snake bone assembly 100. The winding method of the second section 223 is the same as that of the first section 221, which will not be described in detail here. In other embodiments, when the pulling rope 220 is wound, first place the middle section 222 on the distal side of the fixing plate 210, then pull the first section 221 into the notch 213, then pass the first section 221 through the first through hole 211 from the proximal side of the fixing plate 210 to the distal side of the fixing plate 210, and then pull the first section 221 into the notch 213 again to make it extend from the proximal end of the snake bone assembly 100. The winding method of the second section 223 is the same as that of the first section 221, which will not be described in detail here.

[0046] In some other embodiments, when the pulling rope 220 is wound, first place the middle section 222 on one side of the distal end of the fixing plate 210, then pull the first section 221 to the radially inner or outer side of the fixing plate 210, and then pass the first section 221 through the first through hole 211 from the proximal side of the fixing plate 210 to reach the distal side of the fixing plate 210. After that, pull the first section 221 into the notch 213 so that it extends from the proximal end of the snake bone assembly 100. The winding method of the second section 223 is the same as that of the first section 221, and will not be elaborated here.

[0047] In some other embodiments, when the pulling rope 220 is wound, first place the middle section 222 on one side of the distal end of the fixing plate 210, then pull the first section 221 into the notch 213, and then pass the first section 221 through the first through hole 211 from the proximal side of the fixing plate 210 to reach the distal side of the fixing plate 210. After that, pull the first section 221 to the radially inner side of the fixing plate 210 so that it extends from the proximal end of the snake bone assembly 100. The winding method of the second section 223 is the same as that of the first section 221, and will not be elaborated here.

[0048] Of course, in addition to the above several knotting and winding methods, other methods are also possible.

[0049] Refer to Figure 1 、 Figure 5 and Figure 6 In some embodiments, a pair of positioning members 140 for blocking both ends of the fixing plate 210 along the circumferential direction of the snake bone assembly 100 are provided at intervals on the inner wall of the inner cavity 120.

[0050] Specifically, the two positioning members 140 are arranged at intervals along the circumferential direction of the snake bone assembly 100, and the area between the two positioning members 140 on the convex platform 130 is used to place the fixing plate 210. After the fixing plate 210 is placed on the distal end face of the convex platform 130, the two positioning members 140 can respectively block both ends of the fixing plate 210 to prevent the fixing plate 210 from shifting in position along the circumferential direction of the snake bone assembly 100, thereby ensuring the accuracy of the installation position. Preferably, both the convex platform 130 and the positioning members 140 can be formed by integral molding of the snake bone assembly 100.

[0051] Refer to Figure 3 、 Figure 4 and Figure 6 In some embodiments, a blocking portion 214 extending toward the distal side of the fixing plate 210 is provided on the inner side wall of the fixing plate 210, and the blocking portion 214 is used to block the middle section 222 from deviating inward beyond the range of the fixing plate 210.

[0052] Specifically, the blocking portion 214 is block-shaped and is integrally formed with the main body of the fixing plate 210. The blocking portion 214 can block the inner side of the middle section 222, thereby limiting the position of the middle section 222, so as to prevent the middle section 222 from being stretched straight when the proximal end of the first section 221 or the second section 223 is pulled, thereby occupying part of the space of the inner cavity 120 and hindering the movement of other ropes and instruments in the inner cavity 120.

[0053] In some embodiments, the blocking portion 214 is disposed on a portion of the inner wall of the fixing plate 210. In other embodiments, the blocking portion 214 may be disposed on the entire inner wall of the fixing plate 210.

[0054] See also Figure 3 , Figure 4 and Figure 6 In some embodiments, the fixing plate 210 is in an arc-like shape extending along the circumference of the snake bone component 100 , and the outer wall of the fixing plate 210 is in contact with the wall of the inner cavity 120 .

[0055] Specifically, the arc-like shape refers to a shape that is generally arc-shaped as a whole, but not a completely standard arc-shaped shape. The outer wall of the fixing plate 210 is an arc surface, which matches the shape and size of the cavity wall of the inner cavity 120 to achieve a fit. The width of the fixing plate 210 in the middle position along the circumference of the snake bone component 100 is smaller to minimize the space occupied by the inner cavity 120, and the width of the fixing plate 210 at the end position along the circumference of the snake bone component 100 is larger to facilitate the winding of the pulling rope 220.

[0056] In the above embodiment, the fixing plate 210 is configured to be arc-shaped and its outer wall is fitted with the cavity wall of the inner cavity 120, which can further enhance the position stability of the fixing plate 210 after installation and make it less likely to shift in position.

[0057] See also Figure 1 , Figure 2 and Figure 5 In some embodiments, the snake bone component 100 has a first channel 132 and a second channel 133 that penetrate the boss 130 along its own axis, and the first channel 132 and the second channel 133 are arranged at intervals along the circumference of the snake bone component 100, the first section 221 passes through the first channel 132 and extends from the proximal end of the snake bone component 100, and the second section 223 passes through the second channel 133 and extends from the proximal end of the snake bone component 100.

[0058] In the above embodiment, by providing the first channel 132 and the second channel 133, and allowing the first section 221 and the second section 223 to pass through respectively, the positions of the first section 221 and the second section 223 can be limited by the two channels respectively, so that the two sections are not easily entangled with each other in the snake bone component 100, and are also not easily entangled with other instruments in the snake bone component 100, thereby ensuring the safety of use and the stability of traction.

[0059] Further, in some embodiments, the central angle between the first channel 132 and the second channel 133 is 90 degrees.

[0060] In the above embodiments, the central angle between the first channel 132 and the second channel 133 is 90 degrees. Therefore, when pulling the first section 221 and the second section 223, bending in two opposite directions can be achieved. Of course, in other embodiments, the central angle between the first channel 132 and the second channel 133 can be other angles as well.

[0061] Refer to Figure 1 、 Figure 2 And Figure 6 In some embodiments of the bending mechanism, there are two sets of pulling components 200, and the two sets of pulling components 200 are symmetrically arranged about the central axis of the inner cavity 120.

[0062] Specifically, the structures of the two sets of pulling components 200 are exactly the same, and the central angle between them is 180 degrees, and they are symmetrically arranged about the central axis of the inner cavity 120. The pulling ropes 220 in the two sets of pulling components 200 both include a first section 221 and a second section 223. Therefore, there are a total of four ropes extending from the proximal end of the snake bone assembly 100, and the central angle between any two of these four ropes is 90 degrees. By pulling these four ropes, the bending mechanism can be bent in four directions.

[0063] An endoscope provided in an embodiment of the present application includes the bending mechanism in any of the foregoing embodiments, and further includes a head end portion, and the head end portion is connected to the distal end of the bending mechanism. By pulling the proximal ends of the first section 221 and the second section 223 in the foregoing bending mechanism, the bending mechanism can be driven to bend, and further drive the head end portion connected to the distal end of the bending mechanism to turn, so as to change the viewing angle of the head end portion and achieve a clearer and more accurate viewing effect.

[0064] The technical features of the above-described embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as the scope described in this specification.

[0065] The above-described embodiments only represent several implementation manners of the present application, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the patent application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent of the present application should be subject to the appended claims.

Claims

1. A bending mechanism, applied to an endoscope, characterized in that The bending mechanism includes: A snake bone assembly having a lumen that runs through its own axis, and the wall of the lumen has a boss protruding inward; and A pulling assembly disposed in the lumen. The pulling assembly includes a fixing plate and a pulling rope. The fixing plate is disposed on the distal end face of the boss. The fixing plate has a first through hole and a second through hole. Two regions on the pulling rope are respectively wound and knotted through the first through hole and the second through hole to form two knots, so as to divide the pulling rope into a first section, a middle section, and a second section that are connected in sequence. The middle section is located on the distal side of the fixing plate, and the first section and the second section are located on the proximal side of the fixing plate. The first section and the second section respectively pass through different positions of the snake bone assembly arranged along its circumferential direction and extend out from the proximal end of the snake bone assembly.

2. The bending mechanism according to claim 1, characterized in that The fixing plate is fixedly connected to the distal end face of the boss.

3. The bending mechanism according to claim 1, wherein The distal end face of the boss has grooves that respectively correspond to and are used to avoid the knots, so that the proximal end face of the fixing plate and the distal end face of the boss are in contact.

4. The bending mechanism according to claim 1, wherein Both ends of the fixing plate along the circumferential direction are provided with notches, and the notches are used to hold the corresponding knots to prevent the knots from shifting.

5. The bending mechanism according to claim 1, wherein The wall of the lumen is provided with a pair of positioning members that respectively correspond to and are used to block both ends of the fixing plate along the circumferential direction.

6. The bending mechanism according to claim 1, wherein, The inner side wall of the fixing plate is provided with a blocking portion that extends toward the distal side of the fixing plate, and the blocking portion is used to block the middle section from deviating inward from the range where the fixing plate is located.

7. The bending mechanism according to any one of claims 1 to 6, characterized in that, The fixing plate is in an arc shape extending along the circumferential direction, and the outer side wall of the fixing plate is in contact with the wall of the lumen.

8. The bending mechanism according to any one of claims 1 to 6, characterized in that, The snake bone assembly has a first channel and a second channel that run through the boss along the axis, and the first through hole and the second through hole are spaced along the circumferential direction. The first section passes through the first channel and extends out from the proximal end of the snake bone assembly, and the second section passes through the second channel and extends out from the proximal end of the snake bone assembly.

9. The bending mechanism according to any one of claims 1 to 6, characterized in that, There are two sets of the pulling assemblies, and the two sets of pulling assemblies are symmetrically arranged about the central axis of the lumen.

10. An endoscope, characterized in that, The endoscope includes the bending mechanism according to any one of claims 1 to 9, and further includes a head end portion, and the head end portion is connected to the distal end of the bending mechanism.

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