Snake bone device and endoscope

Abstract

The utility model discloses a snake bone device and an endoscope, and belongs to the technical field of medical instruments, according to the snake bone device, through the differential threading design of a first traction wire and a second traction wire, the first traction wire penetrates through all first threading parts, the second traction wire selectively bypasses part of the first threading parts, and the first threading parts distributed on the same side are combined; the first traction wire and the second traction wire can be controlled to achieve active bidirectional bending, continuous S-shaped bidirectional secondary bending can be formed on a single snake bone device through traction force distribution differences, and steering flexibility and control precision of an endoscope in a complex cavity are remarkably improved. And meanwhile, secondary bending and active bidirectional bending in two directions can be simultaneously realized through the first traction wire and the second traction wire which are arranged on one side, so that the complexity of a multidirectional threading structure is effectively avoided, the manufacturing difficulty is reduced, and the system reliability is enhanced.

Description

Technical Field

[0001] This application belongs to the field of medical device technology, and in particular relates to a snake bone device and an endoscope. Background Technology

[0002] In the field of endoscopic technology, the snake skeleton, as a key flexible structure, is mainly used to achieve bending and steering through traction wires to meet the navigation needs within human cavities. However, existing snake skeleton devices are mostly made of tubular materials with multiple flexible sections. In clinical scenarios such as gallbladder stone removal at the posterior segment of the gallbladder neck and large-angle exploration of renal calyces during uroscopy, they mostly rely on wall compression to achieve secondary bending. This method is essentially passive bending and is difficult to achieve bidirectional secondary bending. In particular, there is a significant deficiency in the function of active bidirectional bending, which limits the steering flexibility of the snake skeleton in complex cavities, making operation more difficult and unable to actively and flexibly adjust the bending direction and angle according to actual needs, thus affecting the application effect of endoscopy in delicate operations to a certain extent. Utility Model Content

[0003] This application provides a snake-bone device and endoscope that can simultaneously achieve secondary bending in two directions and active bidirectional bending, thereby at least partially solving the above-mentioned technical problems.

[0004] To achieve the above objectives, according to a first aspect of this application, a snake-bone device is provided, comprising:

[0005] Multiple skeletal units are arranged along an axial direction, and two adjacent skeletal units are rotatably connected; the skeletal units include a first type of skeletal unit and a second type of skeletal unit, the first type of skeletal unit is provided with a first threading part, and the first threading part is distributed in one side region of the axial direction;

[0006] The first traction wire is threaded through all the first threading sections;

[0007] A second traction wire is selectively threaded through a portion of the first threaded portion, and the second traction wire extends outside at least one of the first threaded portions so that at least one of the first threaded portions is not passed through by it.

[0008] In some embodiments, among the plurality of skeletal units, the pitch of at least one skeletal unit is different from the pitch of at least another skeletal unit.

[0009] In some embodiments, among the plurality of skeletal units, some of the skeletal units have a first pitch L1 and are sequentially adjacent, and some of the skeletal units have a second pitch L2 and are sequentially adjacent.

[0010] The first pitch L1 and the second pitch L2 are different in size.

[0011] In some embodiments, the snake-bone device further includes a proximal segment and a distal segment, with a plurality of segmental units arranged between the proximal segment and the distal segment;

[0012] The skeletal units with the first pitch L1 are all located on the side away from the proximal skeletal units of all the skeletal units with the second pitch L2, and the first pitch L1 is smaller than the second pitch L2.

[0013] In some embodiments, among the plurality of skeletal units, some of the skeletal units have a first pitch L1 and some of the skeletal units have a second pitch L2, wherein the first pitch L1 and the second pitch L2 are of different sizes;

[0014] All the skeletal units having the first pitch L1 are located between two adjacent skeletal units having the second pitch L2, or the skeletal units having the first pitch L1 and the skeletal units having the second pitch L2 are arranged alternately.

[0015] In some embodiments, the first type of skeletal unit is a first skeletal unit and a second skeletal unit, wherein the second traction wire is threaded through the first threaded portion of the first skeletal unit, and the second traction wire is not threaded through the first threaded portion of the second skeletal unit, and the first skeletal unit is located on the side of all second skeletal units away from the proximal skeletal unit.

[0016] In some embodiments, there are multiple first vertebrae and multiple second vertebrae, with each first vertebra located on the side of the multiple second vertebrae away from the proximal vertebrae.

[0017] In some embodiments, the first vertebra has a first pitch L1, the second vertebra has a second pitch L2, and the first pitch L1 and the second pitch L2 are of different sizes.

[0018] In some embodiments, the first sacrum and a portion of the second sacrum have a first pitch L1, and the remaining second sacrum have a second pitch L2, wherein the first pitch L1 and the second pitch L2 are of different sizes;

[0019] The second vertebra with the first pitch L1 is located on the side of the remaining second vertebrae closest to the first vertebra.

[0020] In some embodiments, a portion of the first vertebrae has a first pitch L1, the second vertebrae and the remaining first vertebrae have a second pitch L2, and the first pitch L1 and the second pitch L2 are of different sizes;

[0021] The first vertebra with the second pitch L2 is located on the side of the remaining first vertebrae closer to the second vertebra.

[0022] In some embodiments, in two adjacent joint units, one is provided with a first mating structure and the other is provided with a second mating structure that mates with the first mating structure.

[0023] The first mating structure has a rotating groove on the side facing the second mating structure, and first guide grooves on both sides of the first mating structure; the second mating structure includes a rotating body protruding towards the first mating structure and guide portions disposed on both sides of the rotating body, and a second guide groove is formed between the guide portions and the rotating body at an interval;

[0024] The rotating body is rotatably disposed in the rotating groove, the guide portion is slidably disposed in the first guide groove, and the first mating structure is slidably disposed in the second guide groove.

[0025] In some embodiments, the snake-bone device further includes:

[0026] The wheel assembly includes a first wheel and a second wheel, the first wheel being connected to the first traction wire for driving the first traction wire, and the second wheel being connected to the second traction wire for driving the second traction wire.

[0027] In some embodiments, some of the multiple joint units are further provided with a second threading portion, and all the second threading portions are located on the side of the axis away from the first threading portion;

[0028] The snake-bone device also includes:

[0029] The third traction wire is threaded through each of the second threading sections and connected to the first wheel;

[0030] A fourth traction wire is threaded through a portion of the second threading section, and the fourth traction wire is located outside at least one of the second threading sections so that at least one of the second threading sections is not passed through by it. The fourth traction wire is connected to the second wheel.

[0031] In some embodiments, the first type of skeletal unit and the second type of skeletal unit are arranged alternately.

[0032] According to a second aspect of this application, an endoscope is provided, including the snake-bone device as described in any of the above embodiments.

[0033] In the snake-bone device of this application embodiment, by setting a first type of segmental unit and a second type of segmental unit, and setting a first threading part on the first type of segmental unit, the device utilizes the differentiated threading methods of the first traction wire and the second traction wire. The former passes through all the first threading parts, while the latter selectively bypasses some of the first threading parts. Combined with the layout of the first threading parts distributed on the same side, active bidirectional bending can be achieved by controlling the first traction wire and the second traction wire. For example, when the first traction wire is tightened, the segmental unit bends in one direction. When the second traction wire assists in traction, the force point of the snake-bone device changes, forming segmented reverse bending. Furthermore, by the difference in the distribution of traction force, continuous S-shaped bidirectional secondary bending can be formed on a single snake-bone device, which significantly improves the turning flexibility and control accuracy of the endoscope in complex cavities (such as the gallbladder neck and renal calyces). At the same time, setting the first traction wire and the second traction wire on the same side can simultaneously achieve secondary bending in two directions and active bidirectional bending, effectively avoiding the complexity of multi-directional threading structures, reducing manufacturing difficulty and enhancing system reliability.

[0034] The endoscope in this application includes the snake-bone device of the above embodiments, and therefore can have all the technical features and effects of the snake-bone device, which will not be repeated here.

[0035] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0036] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0037] Figure 1 This is one of the structural schematic diagrams of the snake bone device provided in some embodiments of this application;

[0038] Figure 2 yes Figure 1 A magnified schematic diagram of a portion of region A in the middle;

[0039] Figure 3 This is a side view of the snake bone device provided in some embodiments of this application;

[0040] Figure 4 The snake-bone device provided in some embodiments of this application is along Figure 3 Schematic diagram of the cross-sectional structure along line AA;

[0041] Figure 5 The snake-bone device provided in some embodiments of this application is along Figure 4 Schematic diagram of the cross-sectional structure of the middle BB line;

[0042] Figure 6 yes Figure 5 A magnified schematic diagram of a portion of region B in the middle;

[0043] Figure 7 This is a side view of the snake bone device provided in some other embodiments of this application;

[0044] Figure 8 yes Figure 7 A magnified schematic diagram of a portion of region C in the middle;

[0045] Figure 9 This is a schematic diagram of the snake bone device provided in some embodiments of this application in a bent state;

[0046] Figure 10 This is a top view of the snake-bone device provided in some embodiments of this application in a bent state;

[0047] Figure 11 The snake bone device in Embodiment 1 of this application is along Figure 10 Schematic diagram of the cross-sectional structure of the middle CC line;

[0048] Figure 12 yes Figure 11 A magnified schematic diagram of a portion of region D in the middle;

[0049] Figure 13 The snake bone device in Embodiment 2 of this application is along Figure 10 Schematic diagram of the cross-sectional structure of the middle CC line;

[0050] Figure 14 yes Figure 13 A magnified schematic diagram of a portion of region E in the middle;

[0051] Figure 15 The snake bone device in Embodiment 3 of this application is along Figure 10 Schematic diagram of the cross-sectional structure of the middle CC line;

[0052] Figure 16 yes Figure 15 A magnified schematic diagram of a portion of the F region;

[0053] Figure 17 The snake bone device in Embodiment 4 of this application is along Figure 10 Schematic diagram of the cross-sectional structure of the middle CC line;

[0054] Figure 18 yes Figure 17 A magnified schematic diagram of a portion of the G region;

[0055] Figure 19 The snake bone device in Embodiment 5 of this application is along Figure 10 Schematic diagram of the cross-sectional structure of the middle CC line;

[0056] Figure 20 yes Figure 19 A magnified schematic diagram of the local structure of region H in the middle;

[0057] Figure 21 The snake bone device in Embodiment Six of this application is along Figure 10 Schematic diagram of the cross-sectional structure of the middle CC line;

[0058] Figure 22 yes Figure 21 A magnified schematic diagram of the local structure of region K in the middle;

[0059] Figure 23 This is a second schematic diagram of the snake bone device provided in some embodiments of this application;

[0060] Figure 24 This is a cross-sectional structural schematic diagram of the snake bone device provided in some embodiments of this application;

[0061] Figure 25 These are schematic diagrams of the endoscopes provided in some embodiments of this application;

[0062] Explanation of reference numerals in the attached figures:

[0063] 100-Segmental unit; 100a-First segment; 100b-Second segment; 100c-Second type segmental unit; 110-First threading part; 120-Second threading part; 130-Inner cavity; 140-First mating structure; 141-Rotating groove; 142-First guide groove; 150-Second mating structure; 151-Rotating body; 152-Guide part; 153-Second guide groove; 200-First traction wire; 300-Second traction wire; 400-Distal segment; 500-Proximal segment; 600-Third traction wire; 700-Fourth traction wire; 800-Rotating wheel assembly; 810-First rotating wheel; 820-Second rotating wheel. Detailed Implementation

[0064] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0065] The snake-like structure in the endoscope is a flexible component formed by laser engraving different pitches and patterns on a metal tube. Its function is to enable the endoscope to bend and steer under the traction of a traction wire, thereby navigating flexibly within human cavities. As a prerequisite for this application, the interaction between the snake-like structure and the traction wire is mostly passively controlled, only achieving bidirectional bending or relying on external compression to complete secondary bending, such as passive bending by compression against the wall at the front end, lacking active control capabilities. When this product is applied in complex clinical scenarios (such as gallbladder neck stone removal or large-angle exploration of renal calyces), the inability to precisely adjust the bending angle and direction leads to operational limitations. In particular, the lack of active bidirectional bending makes it difficult for the endoscope to simultaneously meet the synergistic requirements of multi-directional flexible steering and secondary bending, affecting diagnostic and treatment outcomes.

[0066] In view of this, embodiments of this application provide a snake-bone device that can be applied to an endoscope to enable the endoscope to bend. This snake-bone device is capable of secondary bending in two directions and active bidirectional bending, thereby at least partially solving problems existing in current snake-bone devices, such as large bending angles and passive bidirectional bending.

[0067] like Figure 1 As shown, the snake-bone device of this application embodiment includes: a plurality of segmental units 100, a first traction wire 200, and a second traction wire 300. The plurality of segmental units 100 are arranged along an axial direction, wherein the "axial direction" refers to the reference direction along the main extension path of the snake bone, and this direction is consistent with the physical length direction of the snake-bone device. Specifically, Figure 1 The axis of the snake-like device is indicated by a dashed line marked O, which passes through the inner cavity 130 of the segmental unit 100 and approximately through the geometric center of each segmental unit 100. Adjacent segmental units 100 are rotatably connected, so that when subjected to traction, the adjacent segmental units 100 rotate relative to each other, thereby achieving steering.

[0068] like Figure 2 As shown, the segmental unit 100 includes at least two types, one type being a first type of segmental unit (including a first segment 100a and a second segment 100b), and the other type being a second type of segmental unit 100c. The first type of segmental unit has a first threading portion 110, and all first threading portions 110 are distributed on the same side of the axis O. Please refer to... Figure 4 The first threading part 110 is located on the left side.

[0069] like Figure 4 As shown, the first traction wire 200 and the second traction wire 300 are disposed on the same side as the first threading part 110, and both can respectively traction the same side of the joint unit 100. Figure 5As shown, the first traction wire 200 is threaded through each of the first threading portions 110, meaning its threading path passes through each skeletal unit 100 with a first threading portion 110 and runs through all the first threading portions 110. Thus, the skeletal unit 100 can be rotated by the traction of the first traction wire 200. Please refer to... Figure 5 and Figure 6 The second traction wire 300 is inserted into a portion of the first threading portion 110, and the second traction wire 300 extends outside at least one of the first threading portions 110 so that at least one of the first threading portions 110 is not passed through by it. Figure 6 The diagram schematically illustrates that when the second traction wire 300 passes through the left-hand segment 100, it enters the first threading portion 110 of the segment 100 along with the first traction wire 200. However, when passing through the right-hand segment 100, it does not enter the first threading portion 110 but remains outside it. Therefore, the second traction wire 300 can directly traction the left-hand segment 100, while generating less traction force on the right-hand segment 100, or even exerting no direct force on it.

[0070] Understandably, the snake-bone device has two traction wires on the same side of the segmental units 100. The first traction wire 200 passes through all the first threaded portions 110, providing basic unidirectional active bending. When tightened, all segmental units 100 are simultaneously stressed, driving the entire snake-bone device to bend to the same side (e.g., the left side). The second traction wire 300 only passes through a portion of the first threaded portions 110, providing segmented reverse active bending. For example, the second traction wire 300 passes through the front segmental unit 110 (near the distal end). When the second traction wire 300 is pulled, the stress points of multiple segmental units 100 of the snake-bone device change. The second traction wire 300 applies traction force to the front segmental unit 100, while the rear segmental unit 100 is not directly tractioned by the second traction wire 300 and remains dominated by the first traction wire 200 to maintain its original bending direction. This causes the front segmental unit 100 to gradually bend actively in the opposite direction, thereby achieving active bidirectional bending. Furthermore, the swing amplitude produced by one section remaining bent in the opposite direction is smaller, making it more suitable for clinical applications.

[0071] By independently controlling the force direction of different segmental bone units 100 through two traction wires, the coordinated action of active bidirectional bending (e.g., overall left bend + partial right bend, or overall right bend + partial left bend) and secondary bending is achieved. For example, when removing stones in the posterior segment of the gallbladder neck, the first half of the serpentine bone bends to the right to avoid the narrow area, while the second half bends to the left for stable support, forming an overall "S"-shaped active steering path.

[0072] Please see Figure 2In some embodiments, the first type of segmental unit (including the first segment 100a and the second segment 100b) and the second type of segmental unit 100c are arranged alternately. Through a rigid-flexible design, the flexible segment (the first type of segmental unit) achieves active bending and precise steering, while the rigid segment (the second type of segmental unit 100c) provides compressive support and stress dispersion, forming a coordinated "probing-locking" action in complex cavities. This not only enhances the operational sensitivity in narrow areas but also avoids insufficient stability caused by full flexibility. At the same time, the modular design reduces manufacturing costs and adapts to diverse clinical needs.

[0073] Please refer to the following: Figure 2 and Figure 8 In some embodiments, among two adjacent joint units 100, one is provided with a first mating structure 140, and the other is provided with a second mating structure 150 that mates with the first mating structure 140. The first mating structure 140 has a rotating groove 141 on one side facing the second mating structure 150, and first guide grooves 142 on both sides of the first mating structure 140. The second mating structure 150 includes a rotating body 151 protruding towards the first mating structure 140 and guide portions 152 disposed on both sides of the rotating body 151. A second guide groove 153 is formed between the guide portions 152 and the rotating body 151 at a distance. The rotating body 151 is rotatably disposed within the rotating groove 141, the guide portions 152 are slidably disposed within the first guide groove 142, and the first mating structure 140 is slidably disposed within the second guide groove 153. By providing the above-mentioned mating structures in adjacent joint units 100, a stable connection and stable rotation between the joint units 100 can be achieved. The first guide groove 142 and the second guide groove 153 can be set as arc-shaped grooves to facilitate stable rotation.

[0074] Optionally, laser engraving technology can be used to form multiple joint units 100 on the metal tube, so that the mating structures of adjacent joint units 100 can be connected to each other.

[0075] Alternatively, two adjacent skeletal units 100 can be rotatably connected by other mating structures, such as by a rotating pin, or other known rotatable connection methods, as long as the two can be stably connected and rotate relative to each other, which will not be elaborated here.

[0076] Please refer to it again. Figure 3In some embodiments, among the multiple segmental units 100, at least one segmental unit 100 has a different pitch than at least another segmental unit 100. Under the action of traction force, the segmental units 100 rotate relative to each other; the larger the pitch, the larger the turning radius, and the smaller the pitch, the smaller the turning radius. By setting the pitch of the multiple segmental units 100, the snake-bone device can be bent into the required shape to meet clinical needs. The pitch of the segmental unit 100 corresponds to the distance between the rotation axes of the segmental unit 100 relative to the rotation axes of its two adjacent segmental units 100.

[0077] Specifically, among the multiple segmental units 100, some segmental units 100 have a first pitch L1, and segmental units 100 with the first pitch L1 are sequentially adjacent; some segmental units 100 have a second pitch L2, and segmental units 100 with the second pitch L2 are sequentially adjacent. The first pitch L1 and the second pitch L2 are different in size. "Sequentially adjacent" means that in the snake-bone device, segmental units 100 with the same pitch (first pitch L1 or second pitch L2) are arranged sequentially and continuously, and adjacent segmental units 100 are directly physically connected. Through the segmented and continuous arrangement of segmental units 100 with the first pitch L1 and the second pitch L2, differentiated bending characteristics are formed. Segmental units 100 with smaller pitches are arranged more densely, enabling flexible bending with a small turning radius; segmental units 100 with larger pitches are arranged more sparsely, enabling smooth transitions with a larger turning radius. Furthermore, different pitches result in varying traction forces, which, combined with the traction of the first traction wire 200 and the second traction wire 300, further enhance the active bidirectional bending effect. Moreover, the continuous connection of joint units 100 with the same pitch improves the uniformity of traction force transmission and reduces jamming during bending movements.

[0078] Please see Figure 3In some embodiments, the snake-bone device further includes a proximal segment 500 and a distal segment 400, with multiple segmental units 100 arranged between the proximal segment 500 and the distal segment 400; wherein the proximal segment 500 is closer to the operator, i.e., closer to the endoscope handle, and in the non-bent state, the distal segment 400 is farther from the operator relative to the proximal segment 500. Segmental units 100 with a first pitch L1 are all located on the side of all segmental units 100 with a second pitch L2 away from the proximal segment 500, and the first pitch L1 is smaller than the second pitch L2. In other words, the segmental units 100 with smaller intersegmental spacing (first intersegmental spacing L1) are closer to the distal segmental segment 400, allowing for a denser arrangement of the distal segmental units 100, resulting in a smaller turning radius and greater flexibility. Conversely, the segmental units 100 with larger intersegmental spacing (second intersegmental spacing L2) are closer to the proximal segmental segment 500, allowing for a more sparse arrangement of the proximal segmental units 100, resulting in a larger turning radius and smoother movement. This design is more suitable for clinical scenarios, such as gallbladder neck stone removal and large-angle exploration of renal calyces during uroscopy, improving the flexibility of the procedure.

[0079] In some other embodiments, all skeletal units 100 with a first pitch L1 are located between two adjacent skeletal units 100 with a second pitch L2. That is, all skeletal units 100 with smaller pitches can be placed between two skeletal units 100 with larger pitches, or skeletal units 100 with larger pitches can be placed between two skeletal units 100 with smaller pitches. This arrangement can adjust the bending radius of the local area to meet the needs of the scenario and improve the applicability of the scenario.

[0080] In some other embodiments, skeletal units 100 with a first pitch L1 and skeletal units 100 with a second pitch L2 are arranged alternately to enhance the flexibility of local bending.

[0081] Please see Figure 7 In some embodiments, the pitch of multiple segmental units 100 is the same between the distal segment 400 and the proximal segment 500. A uniform pitch allows for even transmission of traction force along the axial direction, reducing stress abrupt changes or discontinuous bending, and improving the overall stability of the bending motion. A unified pitch also allows the surgeon to predict the entire bending response of the snake-bone device using a single traction logic (e.g., consistent bending angle under the same tension), reducing the learning cost of operation in complex cavity scenarios. Furthermore, combined with the differentiated threading design (full threading + partial threading) of the first traction wire 200 and the second traction wire 300, active bidirectional bending can be achieved through traction force distribution adjustment, making it suitable for scenarios with higher requirements for overall bending uniformity. In addition, a unified pitch reduces production complexity (eliminating the need to process segmental units 100 with different pitches in batches), reduces the risk of assembly errors, and adapts to large-scale mass production needs.

[0082] Please refer to the following: Figure 2 and Figure 6 The first type of segmental units are defined as a first segment 100a and a second segment 100b, wherein a second traction wire 300 is threaded through the first threading portion 110 of the first segment 100a, and no second traction wire 300 is threaded through the first threading portion 110 of the second segment 100b. That is, a segmental unit 100 having a first threading portion 110 and a second traction wire 300 threaded through the first threading portion 110 is a first segment 100a (e.g., ...). Figure 2 The first and fifth vertebral segments 100 from the left in the middle section), having a first threading portion 110 and not having a second traction wire 300 threaded through the first threading portion 110, are vertebral segments 100 that are second vertebral segments 100b (e.g., the first and fifth vertebral segments from the left in the middle section). Figure 2 The third skeletal unit from the left and the first and third skeletal units from the right (100).

[0083] A joint unit 100 without a first threading portion 110 is defined as a second type of joint unit 100c. In some embodiments, the second type of joint unit 100c is located between two adjacent joint units 100 that have a first threading portion 110.

[0084] In some embodiments, the first segment 100a and the second segment 100b employ... Figure 2 The interlacing arrangement shown is specifically configured according to the shape and amplitude of the bend during actual control to meet clinical needs. Specifically, the first segment 100a is directly tractioned by the second traction wire and can actively respond to reverse bending commands (e.g., right bend). The second segment 100b is only tractioned by the first traction wire, maintaining the basic bending direction (e.g., left bend). Through the interlacing arrangement, segmented differentiated traction control can be achieved, forming alternating bending segments (left bend segment + right bend segment) on the same axial direction of the snake bone device, realizing a "wave-shaped" composite bending path, and enhancing the turning adaptability of complex cavities (such as the bifurcation of the gallbladder neck).

[0085] Please refer to the following: Figure 9 and Figure 10In some embodiments, the first septum 100a is located on the side of all second septum 100b away from the proximal septum 500. Specifically, there are multiple first septum 100a and second septum 100b, with each first septum 100a located on the side of multiple second septum 100b away from the proximal septum 500. Concentrating the first septum 100a on the distal side of all second septum 100b can enhance active control at the distal end. As the deepest part of the cavity, the distal end needs to achieve high-precision active bending. The first septum 100a are continuously distributed at the distal end and directly driven by the second traction wire 300, which can respond more accurately to operation commands and form local fine-tuning capabilities (such as avoiding narrow branches or adjusting the exploration angle), while the proximal second septum 100b are only pulled by the first traction wire 200, maintaining a gentle bend to provide stable mechanical support and avoid instrument vibration or displacement caused by excessive bending at the distal end. Furthermore, the distal active segment (first segment 100a) and the proximal semi-passive segment (second segment 100b) form a progressive force transmission, with continuous distal traction force concentrated in the target area and proximal traction force decreasing. This ensures both the sensitivity of delicate manipulation and reduces the risk of fatigue in the overall structure due to sudden stress changes. In scenarios requiring "precision before stability," such as renal calyces or gallbladder necks, the distal active segment precisely shapes the exploration path, while the proximal segment simultaneously provides reverse support, forming a coordinated action of insertion and locking. This significantly enhances the first-pass yield and operational efficiency of complex cavities.

[0086] Please refer to the following: Figure 11 and Figure 12 In Embodiment 1, counting the number of segmental units 100 from the distal segment 400 side, all segmental units 100 with the first threading portion 110 in the first "17" segmental units 100 are first segmental units 100a; from the "18th" segmental unit 100 towards the proximal segment 500, all segmental units 100 with the first threading portion 110 are second segmental units 100b. By manipulating the first traction wire 200, the segmental unit 100 can be moved to the right as a whole. Figure 11 (As shown, upward) bending, by operating the second traction wire 300, the first segment 100a in the first "17" segment units 100 is subjected to a reverse traction force, and the segment units 100 after the "18th" (including the second segment 100b) maintain the traction force of the first traction wire 200, so that the part near the distal segment 400 bends to the left in the opposite direction. Figure 11 (As shown downwards), and present Figure 11 The bending state is shown.

[0087] Please refer to the following: Figure 13 and Figure 14In Embodiment 2, counting the number of segmental units 100 from the distal segment 400 side, in the first "13" segmental units 100, all segmental units 100 with the first threading portion 110 are first segments 100a; from the "14th" segmental unit 100 towards the proximal segment 500, all segmental units 100 with the first threading portion 110 are second segments 100b. By operating the first traction wire 200, the segmental unit 100 as a whole can be bent to the right. By operating the second traction wire 300, the first segments 100a in the first "13" segmental units 100 are subjected to a reverse traction force, while the segmental units 100 after the "14th" (including the second segments 100b) maintain the traction force of the first traction wire 200, causing the portion near the distal segment 400 to bend to the left in the opposite direction, presenting... Figure 13 The bending state is shown. Compared with Embodiment 1, Embodiment 2 has fewer first sacral segments 100a and more second sacral segments 100b, exhibiting different degrees of bending, with the distal segment showing a smaller bending amplitude.

[0088] Please refer to the following: Figure 15 and Figure 16 In Embodiment 3, counting the number of segmental units 100 from the distal segment 400 side, in the first "22" segmental units 100, all segmental units 100 with the first threading portion 110 are first segments 100a; from the "23rd" segmental unit 100 towards the proximal segment 500, all segmental units 100 with the first threading portion 110 are second segments 100b. By operating the first traction wire 200, the segmental unit 100 as a whole can be bent to the right. By operating the second traction wire 300, the first segments 100a in the first "22" segmental units 100 are subjected to a reverse traction force, while the segmental units 100 after the "23rd" (including the second segments 100b) maintain the traction force of the first traction wire 200, causing the portion near the distal segment 400 to bend to the left in the opposite direction, presenting... Figure 15 The bending state is shown. Compared with Embodiment 1 and Embodiment 2, Embodiment 3 has more first sacral segments 100a and fewer second sacral segments 100b, and the degree of bending is different, with a larger bending amplitude in the distal segment and a smaller bending amplitude in the proximal segment.

[0089] Please refer to the following: Figure 17 and Figure 18 In embodiment four, counting the number of segmental units 100 from the distal segment 400 side, all segmental units 100 with the first threading portion 110 in the first "18" segmental units 100 are first segmental units 100a; from the "19th" segmental unit 100 towards the proximal segment 500, all segmental units 100 with the first threading portion 110 are second segmental units 100b. By operating the first traction wire 200, the segmental unit 100 can be moved to the right as a whole. Figure 17 (As shown, upward) bending, by operating the second traction wire 300, the first segment 100a of the first "18" segmental units 100 is subjected to a reverse traction force, and the segmental units 100 after the "19th" (including the second segment 100b) maintain the traction force of the first traction wire 200, so that the portion near the distal segment 400 bends to the left in the opposite direction. Figure 17 (As shown downwards), and present Figure 17 The bending state is shown.

[0090] Please refer to the following: Figure 11 and Figure 17 In Example 1, the first segment 100a has a first pitch L1, and the second segment 100b has a second pitch L2. The first pitch L1 and the second pitch L2 are different in size; specifically, the first pitch L1 is smaller than the second pitch L2. In Example 4, the first segment 100a and the second segment 100b have the same pitch. A comparison reveals that in Example 1, the short pitch (L1) of the first segment 100a results in a small distal bending radius, suitable for precise exploration in narrow areas; the long pitch (L2) of the second segment 100b creates a large proximal bending radius, providing stable support and preventing operational jitter. Differentiated pitches achieve a mechanical gradient of "sensitive at the front end + stable at the rear end," adapting to the clinical need for "precise exploration first, then path locking" in complex cavities. In Example 4, a uniform pitch ensures uniform bending of the snake bone as a whole, reducing assembly complexity and making it suitable for smooth cavities requiring high bending continuity.

[0091] Please refer to the following: Figure 19 and Figure 20 In Embodiment 5, counting the number of segmental units 100 from the distal segment 400 side, in the first "13" segmental units 100, all segmental units 100 with the first threading portion 110 are first segments 100a; from the "14th" segmental unit 100 towards the proximal segment 500, all segmental units 100 with the first threading portion 110 are second segments 100b. By operating the first traction wire 200, the segmental unit 100 as a whole can be bent to the right. By operating the second traction wire 300, the first segments 100a in the first "13" segmental units 100 are subjected to a reverse traction force, while the segmental units 100 after the "14th" (including the second segments 100b) maintain the traction force of the first traction wire 200, causing the portion near the distal segment 400 to bend to the left in the opposite direction, presenting... Figure 19 The bending state is shown.

[0092] Please refer to the following: Figure 11 , Figure 15 and Figure 19In Embodiment 2, the first sacral segment 100a and a portion of the second sacral segment 100b have a first pitch L1, while the remaining second sacral segments 100b have a second pitch L2. The first pitch L1 and the second pitch L2 are of different sizes. Furthermore, the second sacral segment 100b with the first pitch L1 is located on the side of the remaining second sacral segments 100b closest to the first sacral segment 100a. In Embodiment 3, a portion of the first sacral segment 100a has a first pitch L1, while the second sacral segment 100b and the remaining first sacral segments 100a have a second pitch L2. The first pitch L1 and the second pitch L2 are of different sizes. The first sacral segment 100a with the second pitch L2 is located on the side of the remaining first sacral segments 100a closest to the second sacral segment 100b. Specifically, the first pitch L1 is smaller than the second pitch L2. In Embodiment 5, the first sacral segment 100a and the second sacral segment 100b have the same pitch.

[0093] In comparison, it can be seen that in Embodiment 2, the second segment 100b closest to the first segment 100a uses a short pitch L1, forming a dense segment with the first segment 100a to achieve high-sensitivity fine-tuning (such as avoiding narrow bifurcation); the remaining second segments 100b use a long pitch L2, forming a sparse segment to provide large-radius stable support (such as smooth turning of the gallbladder neck); the progressive arrangement of the thread and pitch reduces the impact of abrupt pitch changes, reduces stress concentration, and ensures a smooth transfer of traction force from the sensitive segment to the stable segment. The first segment 100a is directly driven by the second traction wire 300 to achieve local high-precision reverse bending; adjacent second segments 100b with the first pitch L1 respond collaboratively, expanding the sensitive control range. Example 3 differs slightly from Example 2. The first skeletal segment 100a near the second skeletal segment 100b uses a long pitch L2, forming a sparse segment with the second skeletal segment 100b, providing large-radius stable support. The remaining first skeletal segments 100a use short pitch L1 dense segments, achieving highly sensitive fine-tuning. In Example 5, a uniform pitch ensures a linear relationship between the bending angle and tension of the snake bone throughout its movement, allowing doctors to quickly predict the operational effect.

[0094] Please refer to the following: Figure 21 and Figure 22In Embodiment Six, counting the number of segmental units 100 from the distal segment 400 side, in the first "6" segmental units 100, all segmental units 100 with the first threading portion 110 are first segments 100a; from the "7th" segmental unit 100 towards the proximal segment 500, all segmental units 100 with the first threading portion 110 are second segments 100b. By operating the first traction wire 200, the segmental unit 100 as a whole can be bent to the right. By operating the second traction wire 300, the first segments 100a in the first "6" segmental units 100 are subjected to a reverse traction force, while the segmental units 100 after the "7th" (including the second segments 100b) maintain the traction force of the first traction wire 200, causing the portion near the distal segment 400 to bend to the left in the opposite direction, presenting... Figure 21 The bending state shown. Compared to Figure 17 In the examples shown in Example 4 and Example 6, there are fewer first sacral segments 100a and more second sacral segments 100b, resulting in different degrees of curvature. The curvature of the distal segment is smaller, while the curvature of the proximal segment is larger.

[0095] Please refer to the following: Figure 23 and Figure 24 The snake-bone device also includes a rotating wheel assembly 800, which includes a first rotating wheel 810 and a second rotating wheel 820. The first rotating wheel 810 is connected to the first traction wire 200 and is used to drive the first traction wire 200. The second rotating wheel 820 is connected to the second traction wire 300 and is used to drive the second traction wire 300. In operation, the first rotating wheel 810 can be rotated first, and then the second rotating wheel 820 can be rotated to achieve active bidirectional bending and bidirectional secondary bending.

[0096] Please combine them together Figure 23 and Figure 4 In some embodiments, some of the multiple skeletal units 100 are further provided with second threading portions 120, and all second threading portions 120 are located on the side of the axis away from the first threading portion 110. The snake-bone device also includes a third traction wire 600 and a fourth traction wire 700. The third traction wire 600 is threaded through each second threading portion 120 and connected to the first rotating wheel 810; the fourth traction wire 700 is threaded through a portion of the second threading portions 120, and the fourth traction wire 700 is located outside at least one second threading portion 120 so that at least one second threading portion 120 is not passed through by it. The fourth traction wire 700 is connected to the second rotating wheel 820. For example Figure 4In the configuration, the first traction wire 200 and the second traction wire 300 are located on the left side, and the third traction wire 600 and the fourth traction wire 700 are located on the right side. The snake-like device can be controlled to turn left and then right using the first traction wire 200 and the second traction wire 300, or it can be controlled to turn right and then left using the third traction wire 600 and the fourth traction wire 700. When controlling the rotation of the first rotating wheel 810, if the first traction wire 200 is tensioned, the third traction wire 600 is relaxed; if the third traction wire 600 is tensioned, the first traction wire 200 is relaxed. When controlling the second rotating wheel 820, if the second traction wire 300 is tensioned, the fourth traction wire 700 is relaxed; if the fourth traction wire 700 is tensioned, the second traction wire 300 is relaxed.

[0097] Please refer to it again. Figure 4 The first threading portion 110 and the second threading portion 120 are both located within the inner cavity 130 of the bone segment unit 100. The first traction wire 200, the second traction wire 300, the third traction wire 600, and the fourth traction wire 700 pass through the inner cavity 130. This reduces friction on the external cavity walls and improves surgical safety. The distal ends of the first traction wire 200, the second traction wire 300, the third traction wire 600, and the fourth traction wire 700 can be connected to the distal bone segment 400 by welding or other methods such as adhesive bonding.

[0098] Accordingly, embodiments of this application also provide an endoscope 10, such as Figure 25 As shown, it includes the snake-bone device of any of the above embodiments. It is understood that the endoscope may possess the technical features and effects of the snake-bone device of any of the above embodiments, which will not be elaborated further here.

[0099] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0100] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0101] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0102] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A serpentine bone device, characterized by, include: Multiple skeletal units are arranged along an axial direction, and two adjacent skeletal units are rotatably connected; the skeletal units include a first type of skeletal unit and a second type of skeletal unit, the first type of skeletal unit is provided with a first threading part, and the first threading part is distributed in one side region of the axial direction; The first traction wire is threaded through all the first threading sections; A second traction wire is selectively threaded through a portion of the first threaded portion, and the second traction wire extends outside at least one of the first threaded portions so that at least one of the first threaded portions is not passed through by it.

2. The serpentine bone device of claim 1, wherein, In the plurality of said skeletal units, the pitch of at least one of said skeletal units is different from the pitch of at least another said skeletal unit.

3. The serpentine bone device of claim 2, wherein, Of the plurality of said skeletal units, some of the skeletal units have a first pitch L1 and are sequentially adjacent, and some of the skeletal units have a second pitch L2 and are sequentially adjacent; The first pitch L1 and the second pitch L2 are different in size.

4. The serpentine bone device of claim 3, wherein, The snake-bone device further includes a proximal segment and a distal segment, with multiple segmental units arranged between the proximal segment and the distal segment; The skeletal units with the first pitch L1 are all located on the side away from the proximal skeletal units of all the skeletal units with the second pitch L2, and the first pitch L1 is smaller than the second pitch L2.

5. The serpentine bone device of claim 2, wherein, Of the plurality of said skeletal units, some of the skeletal units have a first pitch L1, and some of the skeletal units have a second pitch L2, wherein the first pitch L1 and the second pitch L2 are of different sizes; All the skeletal units having the first pitch L1 are located between two adjacent skeletal units having the second pitch L2, or the skeletal units having the first pitch L1 and the skeletal units having the second pitch L2 are arranged alternately.

6. The serpentine bone device of claim 1, wherein, The first type of skeletal unit is a first skeletal unit and a second skeletal unit. The second traction wire is threaded through the first threaded portion of the first skeletal unit, while the second traction wire is not threaded through the first threaded portion of the second skeletal unit. The first skeletal unit is located on the side of all second skeletal units away from the proximal skeletal unit.

7. The serpentine bone device of claim 6, wherein, There are multiple first vertebrae and multiple second vertebrae, and each first vertebra is located on the side of multiple second vertebrae away from the proximal vertebrae.

8. The serpentine bone device of claim 7, wherein, The first vertebra has a first pitch L1, and the second vertebra has a second pitch L2, the first pitch L1 and the second pitch L2 being of different sizes.

9. The serpentine bone device of claim 7, wherein, The first vertebra and part of the second vertebra have a first pitch L1, and the remaining second vertebra have a second pitch L2. The first pitch L1 and the second pitch L2 are different in size. The second vertebra with the first pitch L1 is located on the side of the remaining second vertebrae closest to the first vertebra.

10. The serpentine bone device of claim 7, wherein, Part of the first vertebra has a first pitch L1, the second vertebra and the remaining first vertebra have a second pitch L2, and the first pitch L1 and the second pitch L2 are of different sizes; The first vertebra with the second pitch L2 is located on the side of the remaining first vertebrae closer to the second vertebra.

11. The serpentine bone device of claim 1, wherein, In two adjacent joint units, one is provided with a first mating structure, and the other is provided with a second mating structure that mates with the first mating structure. The first mating structure has a rotating groove on the side facing the second mating structure, and first guide grooves on both sides of the first mating structure; the second mating structure includes a rotating body protruding towards the first mating structure and guide portions disposed on both sides of the rotating body, and a second guide groove is formed between the guide portions and the rotating body at an interval; The rotating body is rotatably disposed in the rotating groove, the guide portion is slidably disposed in the first guide groove, and the first mating structure is slidably disposed in the second guide groove.

12. The snake-bone device according to claim 1, characterized in that, The snake-bone device also includes: The wheel assembly includes a first wheel and a second wheel, the first wheel being connected to the first traction wire for driving the first traction wire, and the second wheel being connected to the second traction wire for driving the second traction wire.

13. The serpentine bone device of claim 12, wherein, In some of the multiple joint units, a portion of the joint unit is further provided with a second threading portion, and all the second threading portions are located on the side of the axis away from the first threading portion; The snake-bone device also includes: The third traction wire is threaded through each of the second threading sections and connected to the first wheel; A fourth traction wire is threaded through a portion of the second threading section, and the fourth traction wire is located outside at least one of the second threading sections so that at least one of the second threading sections is not passed through by it. The fourth traction wire is connected to the second wheel.

14. The serpentine bone device of claim 13, wherein, The first type of skeletal unit and the second type of skeletal unit are arranged alternately.

15. An endoscope, characterized by Includes the snake-bone device as described in any one of claims 1 to 14.

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