Telescopic electric snake bone of endoscope

Abstract

The utility model discloses a telescopic electric snake bone of an endoscope, which comprises a plurality of bone joints connected end to end, opposite end faces of two adjacent bone joints are respectively provided with a magnetic part, the magnetic parts on each bone joint are symmetrically arranged in pairs relative to a symmetrical plane of the bone joint, and the two adjacent bone joints are movably connected through a connecting part. The magnetic component can control the two adjacent joints to be close to each other or away from each other, so that the distance and the bending angle between the two adjacent joints are adjusted. The connection flexibility of the adjacent bone sections is high, the bending angle between the bone sections and the distance between the bone sections can be controlled by adjusting the direction and the magnitude of current on the magnetic component, and therefore the endoscope can stretch out and draw back, the endoscope can be close to target tissue more simply and rapidly, and tedious operation of a doctor is reduced.

Description

Technical Field

[0001] The utility model relates to the technical field of tube mirrors, in particular to a telescopic electric snake of an endoscope. Background Art

[0002] An endoscope typically consists of an imaging catheter and a control handle connected to the catheter. A lens is mounted at the front of the catheter, allowing for accurate imaging or video recording of the diseased tissue, enabling the selection of the appropriate medical device for resection. To adjust the lens's position and angle, the endoscope's lens is typically mounted on a bendable snake bone. The most common bending structure for snake bones uses a traction wire to connect the individual joints. By operating a rotating gear on the endoscope's control handle, the traction wire is pulled, controlling the joints to bend in the corresponding direction. This bending structure creates high internal stress and slow response.

[0003] To this end, an electric snake-bone structure has been proposed in the prior art, such as the endoscope structure disclosed in Patent No. CN113876285A. By installing a magnetic component wrapped with a coil in the joint, the adjacent joints are bent by the adsorption or repulsion of the magnetic components of the adjacent joints. However, due to the limitations of the joint connection structure, the electric snake-bone in the prior art can only adjust the bending angle of the snake-bone, and cannot adjust the length of the imaging catheter of the endoscope. When the snake-bone is bent, the distance between the lens and the target tissue will change. At this time, the doctor needs to control the depth of the endoscope entering the patient's body while adjusting its bending angle to obtain a suitable image of the diseased tissue. This series of operations requires the doctor to have rich operating experience.

[0004] In summary, how to design a retractable electric snake bone that can quickly adjust the bending angle of the endoscope and maintain an appropriate distance between the endoscope lens and the target tissue is a technical problem that needs to be solved at present. Utility Model Content

[0005] In order to solve the technical problem that the bending snake of the endoscope in the prior art can only adjust the bending angle but cannot simultaneously adjust the distance between the lens and the target tissue, resulting in high requirements on the doctor's experience in endoscope operation, the utility model provides an endoscope retractable electric snake to solve the above problem.

[0006] The technical solution adopted by the utility model to solve its technical problems is: an endoscopic retractable electric snake bone, comprising a plurality of joints connected end to end, and magnetic components are respectively installed on the opposite end faces of two adjacent joints, and the magnetic components on each joint are symmetrically arranged relative to the symmetry plane of the joint. The two adjacent joints are movably connected through a connecting part, and the connecting part includes pull rings respectively located on the end faces of the two adjacent joints and a connecting buckle connecting the two pull rings. The magnetic component can control the two adjacent joints to approach or move away from each other, so that the connecting buckle slides in the inner hole of the pull ring along the axis of the joint, thereby adjusting the distance and / or bending angle between the two adjacent joints.

[0007] Furthermore, two adjacent condyles rotate and / or move relative to each other along the connecting portion.

[0008] Furthermore, the connecting parts are arranged symmetrically with respect to the symmetry plane of the condyle, and the symmetry axes of the magnetic components arranged in pairs are perpendicular to the symmetry axes of the connecting parts arranged in pairs.

[0009] Furthermore, the connecting buckle is a cylinder, and the axial dimension of the inner hole of the pull ring along the condyle is larger than the cross-sectional diameter of the connecting buckle.

[0010] Furthermore, the pull ring is arranged to protrude from the axial end surface of the bone joint.

[0011] Furthermore, the axial end of the condyle has a groove for mounting a magnetic component.

[0012] Furthermore, the thickness of the pull ring is smaller than the thickness of the condyle, and the two interconnected pull rings are respectively arranged close to the inner side and the outer side of the corresponding condyle, so that the contact surface of the two interconnected pull rings is perpendicular to the radial direction of the condyle.

[0013] Furthermore, the inner hole of the pull ring is a waist-shaped circular hole, and the cross-section of the connecting buckle is circular.

[0014] Furthermore, the symmetry axes of the magnetic components arranged in pairs in each condyle or in different condyles are not completely the same.

[0015] Furthermore, each condyle has the same structure, and the symmetry axes of the paired magnetic components at both ends of the same condyle are perpendicular to each other.

[0016] The beneficial effects of the utility model are:

[0017] The connection between adjacent bone joints in the utility model is highly flexible. By adjusting the direction and magnitude of the current on the magnetic component, not only the bending angle between the bone joints can be controlled, but also the distance between the bone joints can be controlled, thereby realizing the extension and retraction of the endoscope, which can make the endoscope approach the target tissue more simply and quickly, reducing the doctor's tedious operations. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0019] Figure 1 It is a three-dimensional diagram of the bone segment in the present invention;

[0020] Figure 2 This is an axial cross-sectional view of the snake bone unit in the present invention;

[0021] Figure 3 It is a schematic diagram of the telescopic electric snake of the endoscope described in the utility model in a stretched state;

[0022] Figure 4 It is a schematic diagram of the snake-bone unit in the present invention in a stretched state;

[0023] Figure 5 It is a schematic diagram of the snake-bone unit in the present invention in a bent state;

[0024] Figure 6 It is a schematic diagram of the telescopic electric snake of the endoscope described in the utility model in a bent state;

[0025] Figure 7 It is a schematic diagram of the snake bone unit in the present invention in a contracted state;

[0026] Figure 8 It is a schematic diagram of the telescopic electric snake of the endoscope of the present invention bending to a specific angle when the snake unit is stretched;

[0027] Figure 9 The telescopic electric snake bone of the endoscope described in the utility model is Figure 8 Schematic diagram of bending at the same angle;

[0028] Figure 10 It is a schematic diagram of the telescopic electric snake of the endoscope described in the utility model in a partially retracted state.

[0029] In the figure, 1, joint, 101, upper joint, 102, lower joint, 2, magnetic component, 3, connecting part, 301, pull ring, 302, connecting buckle, 4, first pull ring, 5, second pull ring, 6, first magnetic component, 7, second magnetic component, 8, third magnetic component, 9, fourth magnetic component, 10, snake bone unit, 11, connecting head, 12, connecting tail, 13, groove. DETAILED DESCRIPTION

[0030] The following describes embodiments of the present invention in detail. Examples of the embodiments are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are intended only to explain the present invention and are not to be construed as limiting the present invention.

[0031] like Figures 1-6 As shown, an endoscopic retractable electric snake bone includes several joints 1 connected end to end. The joints 1 are generally circular tubular structures. The outer peripheral surface of the joints 1 is circular and has no edges or sharp corners to prevent scratching of human tissue. Magnetic components 2 are respectively installed on the opposite end faces of two adjacent joints 1. The magnetic components 2 on each joint 1 are symmetrically arranged relative to the symmetry plane of the joint 1. The two adjacent joints 1 are movably connected by a connecting part 3. The connecting part 3 includes pull rings 301 respectively located on the end faces of the two adjacent joints 1 and a connecting buckle 302 connecting the two pull rings 301. The magnetic component 2 can control the two adjacent joints 1 to approach or move away from each other, so that the connecting buckle 302 slides in the inner hole of the pull ring 301 along the axial direction of the joint 1, thereby adjusting the distance and / or bending angle between the two adjacent joints 1.

[0032] Because the magnetic components 2 on the condyles 1 are symmetrically arranged, if the two symmetrically arranged magnetic components 2 attract and repel adjacent condyles 1 respectively, the snake bone unit 10 can bend and deform; if the two symmetrically arranged magnetic components 2 attract adjacent condyles 1 at the same time, the length of the snake bone unit 10 can shrink; if the two symmetrically arranged magnetic components 2 repel adjacent condyles 1 at the same time, the length of the snake bone unit 10 can extend. Thus, the bending angle and bending radius of the endoscope can be controlled by adjusting the direction and magnitude of the current, allowing the endoscope to accurately reach the target location. The magnetic component 2 can be an electromagnet or a permanent magnet. The polarity of a permanent magnet is constant. An electromagnet typically includes an iron core and a coil wound around the iron core. When the coil is energized, the iron core is magnetized. Different directions of energization result in different directions of magnetic poles on the iron core, thereby causing the magnetic components 2 on two adjacent condyles 1 to attract opposite poles or repel like poles. The magnetic components 2 on two adjacent condyles 1 can both be electromagnets, but cannot both be permanent magnets. That is, when the magnetic component 2 on one condyle 1 is a permanent magnet, the magnetic component 2 on the adjacent condyle 1 should be an electromagnet.

[0033] Compared with traditional electric snake-bone endoscopes, the utility model has more comprehensive functions. It can not only realize the bending of the endoscope, but also control the extension and retraction of the endoscope at the same time, thereby changing the bending radius of the endoscope, which not only ensures the effective length of the endoscope, but also effectively adjusts the bending radius. Without increasing the outer diameter of the electric snake bone, the flexibility and response speed of the electric snake bone are greatly improved.

[0034] The joints 1 of the present invention are flexibly connected through the connecting part 3. The function of the connecting part 3 is to connect the joints 1 in sequence and prevent them from detaching from each other. At the same time, the connecting part 3 will not hinder the relative axial movement and rotational movement of the joints 1. As for the relative movement mode between the joints 1, it can be adjusted by the magnetism and magnetic force of the magnetic component 2. For example, multiple magnetic components 2 can be set on the circumference of the end of the joint 1 to accurately control the distance between the two joints 1 at each circumferential angle, so as to achieve the specified bending angle and bending radius. At this time, the connection method of the connecting part 3 is relatively arbitrary, for example, it can be connected by a traction wire or other soft connection methods.

[0035] In a preferred embodiment of the present invention, two adjacent condyles 1 rotate and / or move relative to each other along the connecting portion 3. In this case, the connecting portion 3 not only serves as a connection but also guides the trajectory of the relative motion of the two condyles 1, making the curvature of the serpentine more regular and the transition between the condyles 1 smoother. The connecting portion 3 can be formed by a combination of various motion structures, such as a guide rail for guiding axial motion and a rotation center for guiding rotational motion. The two can be arranged separately, but due to the size limitations of the endoscope, the structure of the connecting portion 3 needs to be as simple as possible.

[0036] Regarding the setting of the rotation center, the connecting portion 3 can be arranged symmetrically with respect to the symmetry plane of the condyle 1, while the symmetry axes of the paired magnetic components 2 are perpendicular to the symmetry axes of the paired connecting portions 3. That is, the magnetic components 2 are located on both sides of the connecting portion 3, and the attraction or repulsion of the magnetic components 2 on both sides causes the condyle 1 to rotate about the connection between the two.

[0037] More specifically, the connecting portion 3 includes a pull ring 301 located on the end surfaces of two adjacent condyles 1 and a connecting buckle 302 connecting the two pull rings 301. The inner hole of the pull ring 301 is larger than the size of the connecting buckle 302 along the axial direction of the condyle 1. The connecting buckle 302 can rotate within the pull ring 301, achieving relative rotation between the two condyles 1. The inner hole of the pull ring 301 is sized to allow the two condyles 1 to move axially closer or farther apart. The connecting buckle 302 preferably has a circular cross-section for easy rotation, and a rivet can be used. The connecting buckle 302 serves as the rotation axis of the condyle 1 and is therefore positioned radially along the condyle 1.

[0038] The connecting buckle 302 needs to pass through the inner holes of the pull rings 301 of the two condyles 1. Since the inner and outer diameters of each condyle 1 are consistent, in order to prevent the pull ring 301 from protruding radially, the thickness of the pull ring 301 is smaller than the thickness of the condyle 1. During assembly, the contact surface of the two interconnected pull rings 301 is perpendicular to the radial direction of the condyle 1, that is, the inner and outer surfaces of the two pull rings 301 fit together, and the two interconnected pull rings 301 are respectively set close to the inner and outer sides of the corresponding condyle 1. In order to adapt to products with different bending angles in different directions, the structure or size of each condyle 1 may not be exactly the same. In order to reflect universality, in the drawings showing the snake bone unit, the two adjacent condyles 1 are named upper condyle 101 and lower condyle 102 respectively, and the pull ring 301 of the upper condyle 101 is the first pull ring 4, and the pull ring 301 of the lower condyle 102 is the second pull ring 5. Figure 2 As shown, the inner surface of the first pull ring 4 is aligned with the inner surface of the upper condyle 101, and the outer surface of the second pull ring 5 is aligned with the outer surface of the lower condyle 102. The outer surface of the first pull ring 4 and the inner surface of the second pull ring 5 fit together, making the surface of the endoscope smoother.

[0039] In order to enable the endoscope to bend and deform in different directions, the symmetry axes of the magnetic components 2 arranged in pairs in each joint 1 or different joints 1 are usually not exactly the same. The arrangement position of the magnetic components 2 determines the bending direction of the joint 1, so different symmetrical arrangements can make the endoscope present different bending shapes at different axial positions, thereby meeting the positioning requirements of various different orientations. To facilitate batch production, in the specific implementation of the present invention, the structure of each joint 1 is the same, and the symmetry axes of the magnetic components 2 arranged in pairs at both ends of the same joint 1 are perpendicular to each other. Figure 1 and Figure 2 Taking the example of only a pair of magnetic components 2 and a pair of connecting parts 3 being provided at one end of the middle joint 1, the symmetry axes of the pair of magnetic components 2 at the upper end of the joint 1 are perpendicular to the symmetry axes of the pair of magnetic components 2 at the lower end, that is, the position of the magnetic component 2 at the upper end of the joint 1 corresponds to the position of the connecting part 3 at the lower end.

[0040] The structure of condyle 1 is as follows Figure 1 As shown, the condyle 1 is a circular tubular structure, the inner hole of the pull ring 301 is a waist-shaped hole, the pull ring 301 is arranged to protrude from the axial end surface of the condyle 1, and the axial end of the condyle 1 has a groove 13 for mounting the magnetic component 2.

[0041] Take two connected joints 1 as a snake bone unit 10. Figure 4 、 Figure 5 and Figure 7In the snake bone unit 10 shown, the magnetic components 2 of the upper segment 101 and the lower segment 102 are opposite to each other. The magnetic components 2 of the upper segment 101 in the figure are respectively the first magnetic component 6 and the second magnetic component 7, and the magnetic components 2 of the lower segment 102 are respectively the third magnetic component 8 and the fourth magnetic component 9. The first magnetic component 6 and the third magnetic component 8 are a pair, and the second magnetic component 7 and the fourth magnetic component 9 are a pair.

[0042] The working principle of the present invention is described below using the first magnetic component 6, the second magnetic component 7, the third magnetic component 8 and the fourth magnetic component 9 as an example, wherein the first magnetic component 6, the second magnetic component 7, the third magnetic component 8 and the fourth magnetic component 9 are all electromagnets:

[0043] After the power is turned on, the polarities of the same pair of magnetic components 2 are facing each other, and the two opposite magnetic components 2 are acted upon by the electromagnetic force, and the snake unit 10 is in an extended state. Figure 4 No deflection occurs and this state is maintained. When bent by external force, the snake bone unit 10 will be restored to its original position by electromagnetic force after the external force is removed. Figure 4 state.

[0044] The control mode is divided into bending control, extension control and combined control of the snake-bone unit 10 .

[0045] For the bending control of the snake bone unit 10: control the current size so that the current on the first magnetic component 6 and the third magnetic component 8 is greater than the current on the second magnetic component 7 and the fourth magnetic component 9. The snake bone unit 10 is deflected by the electromagnetic force and maintains the deflection angle at the force balance position (such as Figure 5 When the deflection angle changes due to an external force, the snake-bone unit 10 will be restored to the deflection angle of the force equilibrium position due to the electromagnetic force after the external force is removed.

[0046] When multiple snake bone units 10 are deflected, the electric snake bone bends Figure 6 Status shown.

[0047] The bending direction can be controlled according to the magnetic component 2 in different directions, so that the bending can be achieved in any direction.

[0048] By changing the current on the magnetic component 2, the electric snake can be bent in any direction from zero to maximum bending angle.

[0049] For the expansion and contraction control of the snake bone unit 10: control the direction of the current to make the first magnetic component 6 and the third magnetic component 8 attract each other, and the second magnetic component 7 and the fourth magnetic component 9 attract each other, and the snake bone unit 10 is in Figure 7 When all the magnetic components 2 are in an attracting state, the electric snake is in a fully contracted state.

[0050] The working principle of the present invention is described below using the first magnetic component 6 and the second magnetic component 7 as permanent magnets, and the third magnetic component 8 and the fourth magnetic component 9 as electromagnets as a specific embodiment:

[0051] When the third magnetic component 8 and the fourth magnetic component 9 are energized, the polarities of the same pair of magnetic components 2 are facing each other, and the two opposite magnetic components 2 are acted upon by electromagnetic force, and the snake unit 10 is in an extended state. Figure 4 No deflection occurs and this state is maintained. When bent by external force, the snake bone unit 10 will be restored to its original position by electromagnetic force after the external force is removed. Figure 4 state.

[0052] For the bending control of the snake bone unit 10: control the current of the third magnetic component 8 and the fourth magnetic component 9 so that the current on the third magnetic component 8 is greater than the current on the fourth magnetic component 9. The snake bone unit 10 is deflected by the electromagnetic force and maintains the deflection angle at the force balance position (such as Figure 5 When the deflection angle changes due to an external force, the snake-bone unit 10 will be restored to the deflection angle of the force equilibrium position due to the electromagnetic force after the external force is removed.

[0053] By changing the current on the third magnetic component 8 or the fourth magnetic component 9, the electric snake bone can be bent in any direction from zero to maximum bending angle.

[0054] For the expansion and contraction control of the snake bone unit 10: control the current direction of the third magnetic component 8 and the fourth magnetic component 9, so that the first magnetic component 6 and the third magnetic component 8 are attracted to each other, and the second magnetic component 7 and the fourth magnetic component 9 are attracted to each other, and the snake bone unit 10 is in Figure 7 When all the magnetic components 2 are in an attracting state, the electric snake is in a fully contracted state.

[0055] By combining the telescopic control and bending control of the snake-bone unit 10, the following different forms can be achieved:

[0056] When the snake bone is bent, the bending radius can be adjusted at the same bending angle by contracting or stretching each snake bone unit 10, such as Figure 8 and Figure 9 As shown in the figure, Figure 8 The shrinkage of the snake bone unit 10 is less than Figure 9 The shrinkage of the snake bone unit 10, therefore Figure 8 The bending radius is larger.

[0057] The amount of contraction of the entire endoscope can be controlled by controlling the number of snake bone units 10 in the contracted state, such as Figure 10 (Part of the snake-bone unit 10 shrinks).

[0058] Those skilled in the art should understand that the head and tail ends of the electric snake bone described in the present invention are respectively provided with a connecting head 11 and a connecting tail 12, the connecting head 11 is connected to the lens of the endoscope, and a cavity is provided on it. The difference between the connecting head 11 and the connecting tail 12 and the bone joint 1 is that the magnetic component 2 and the connecting part 3 only need to be provided at one end.

[0059] In the description of the present invention, it should be understood that the terms "center", "length", "thickness", "up", "down", "axial", "radial", "circumferential", etc., indicating the orientation or position relationship, are based on the orientation or position relationship shown in the accompanying drawings. They are only for the convenience of describing the present invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation. Therefore, they cannot be understood as a limitation on the present invention.

[0060] In addition, the terms "first", "second", etc. are used for descriptive purposes only and should not be understood as indicating or implying relative importance. In the description of the present invention, unless otherwise specified, "several" means two or more.

[0061] In this specification, the schematic representations of the terms do not necessarily refer to the same embodiment. Moreover, the specific features, structures, materials or characteristics described can be combined in any suitable manner in any one or more embodiments.

[0062] Based on the above-mentioned ideal embodiment of the present invention, and in accordance with the above description, relevant personnel can make various changes and modifications without departing from the technical scope of the present invention. The technical scope of the present invention is not limited to the content of the specification, but must be determined according to the scope of the claims.

Claims

1. A retractable electric snake for endoscope, characterized by: The invention comprises a plurality of joints (1) connected end to end, wherein the opposite end surfaces of two adjacent joints (1) are respectively installed with magnetic components (2), and the magnetic components (2) on each joint (1) are symmetrically arranged relative to the symmetry plane of the joint (1). The two adjacent joints (1) are movably connected via a connecting portion (3), and the connecting portion (3) comprises a pull ring (301) respectively located on the end surfaces of the two adjacent joints (1) and a connecting buckle (302) connecting the two pull rings (301). The magnetic component (2) can control the two adjacent joints (1) to approach or move away from each other, so that the connecting buckle (302) slides in the inner hole of the pull ring (301) along the axial direction of the joint (1), thereby adjusting the distance and / or bending angle between the two adjacent joints (1).

2. The telescopic electric snake of endoscope according to claim 1, characterized in that: Two adjacent bone joints (1) rotate and / or move relatively along the connecting portion (3).

3. The telescopic electric snake of endoscope according to claim 1, characterized in that: The connecting parts (3) are symmetrically arranged relative to the symmetry plane of the joint (1), and the symmetry axes of the magnetic components (2) arranged in pairs are perpendicular to the symmetry axes of the connecting parts (3) arranged in pairs.

4. The telescopic electric snake of endoscope according to claim 1, characterized in that: The connecting buckle (302) is a cylinder, and the inner hole of the pull ring (301) has an axial dimension along the joint (1) that is larger than the cross-sectional diameter of the connecting buckle (302).

5. The telescopic electric snake of endoscope according to claim 4, characterized in that: The pull ring (301) is arranged to protrude from the axial end surface of the condyle (1).

6. The telescopic electric snake of endoscope according to claim 4, characterized in that: The axial end of the condyle (1) is provided with a groove (13) for mounting the magnetic component (2).

7. The telescopic electric snake of endoscope according to claim 4, characterized in that: The thickness of the pull ring (301) is smaller than the thickness of the condyle (1), and the two interconnected pull rings (301) are respectively arranged close to the inner side and the outer side of the corresponding condyle (1), so that the contact surface of the two interconnected pull rings (301) is perpendicular to the radial direction of the condyle (1).

8. The telescopic electric snake of endoscope according to claim 4, characterized in that: The inner hole of the pull ring (301) is a waist-shaped circular hole, and the cross section of the connecting buckle (302) is circular.

9. The retractable electric snake for endoscope according to any one of claims 1 to 8, characterized in that: The symmetry axes of the magnetic components (2) arranged in pairs in each bone segment (1) or in different bone segments (1) are not completely the same.

10. The retractable electric snake for endoscope according to any one of claims 1 to 8, characterized in that: Each bone segment (1) has the same structure, and the symmetry axes of the paired magnetic components (2) at both ends of the same bone segment (1) are perpendicular to each other.

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