CN218738877U - Flexible endoscope and flexible instrument snake bone thereof - Google Patents

Abstract

The utility model discloses a flexible endoscope and a flexible appliance snake bone thereof, which comprises a main body part, wherein the main body part comprises a far-end bending section, a near-end bending section and a middle-end joint spliced between the far-end bending section and the near-end bending section; the far-end bending section comprises a far-end joint and a plurality of first snake bone disc bodies which are sequentially spliced, so that the far-end bending section has four-way bending capability; the near-end bending section comprises a near-end base and a plurality of second snake bone disc bodies which are sequentially spliced, so that the near-end bending section has four-way bending capability; two opposite ends of the middle joint are respectively spliced with the corresponding first snake bone disc body and the second snake bone disc body in a swinging mode, so that the far end joint has eight-direction bending capacity relative to the near end base. This flexible apparatus snake bone can make the relative near-end base of distal end joint have eight to the bending capacity, has promoted the degree of freedom of flexible apparatus snake bone greatly, and the operation is more nimble.

Description

Flexible endoscope and flexible instrument snake bone thereof

Technical Field

The utility model relates to the technical field of medical equipment, more specifically say, relate to a flexible endoscope and flexible apparatus snake bone thereof.

Background

The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics and software, is equipment for peeping the inside of an object from the outside, and is widely applied to the field of medical treatment. The endoscope is provided with an image sensor, an optical lens, a light source illumination, a water-air passage, a mechanical device and the like, and is clinically divided into a hard endoscope and a soft endoscope according to whether the endoscope body can change the direction. The endoscope body of the hard endoscope can not be bent and twisted, and mainly enters the aseptic tissues and organs of a human body or enters closed body cavities (such as a chest cavity, an abdominal cavity, a joint cavity and the like) through surgical incisions. The soft endoscope body is soft and bendable, the lens part of the soft endoscope can be controlled by an operator to change the direction, and the examination is mainly carried out through natural cavities (such as digestive tract, respiratory tract, urinary tract and the like) of a human body, such as gastroscope, enteroscope, bronchoscope, ureteroscope and the like.

Most of the common flexible instruments available on the market and capable of being used through the flexible endoscope have less freedom, so that the operation is not flexible and the lifting action of the mucous membrane tissue during treatment is not enough.

In summary, how to solve the problem that the flexible instrument of the flexible endoscope has less freedom and thus is not flexible in operation has become a problem to be solved by those skilled in the art.

SUMMERY OF THE UTILITY MODEL

In view of this, the utility model provides a flexible endoscope and flexible apparatus snake bone thereof to solve the problem that the degree of freedom of the flexible apparatus of the flexible endoscope is less, resulting in inflexible operation.

In order to achieve the above object, the utility model provides a following technical scheme:

a flexible instrument snake bone of a soft endoscope comprises a main body part, wherein the main body part comprises a far-end bending section, a near-end bending section and a middle-end joint spliced between the far-end bending section and the near-end bending section;

the far-end bending section comprises a far-end joint and a plurality of first snake bone disc bodies which are sequentially spliced along the axial direction of the main body part in a swinging mode, the swinging axes corresponding to two opposite ends of each first snake bone disc body are arranged at 90 degrees, so that the far-end bending section has four-way bending capability, and the far-end joint is used for being butted with an actuator at the front end of a flexible instrument; the near-end bending section comprises a near-end base and a plurality of second snake-bone disc bodies which are sequentially spliced along the axial direction of the main body part in a swinging mode, and swinging axes corresponding to two opposite ends of the second snake-bone disc bodies are arranged in an angle of 90 degrees, so that the near-end bending section has four-way bending capability;

two opposite ends of the middle joint are respectively spliced with the corresponding first snake bone disc body and the second snake bone disc body in a swinging mode, and swinging axes corresponding to the two opposite ends of the middle joint are arranged in an acute angle mode, so that the far joint has eight-direction bending capability relative to the near base.

Optionally, the first end of the distal joint is provided with a stepped hole for butt fitting with the actuator;

a concave structure matched with a distal driving tendon joint of a flexible instrument is arranged on the inner side of the stepped hole, and a first driving tendon through hole for a driving tendon to pass through is formed in the axial end side of the stepped hole;

wherein, the first end is the end of the distal end joint back to the first snake bone disk body.

Optionally, the first drive tendon access includes a first tendon access disposed corresponding to a drive tendon of the distal drive tendon joint and a second tendon access disposed corresponding to a drive tendon of the actuator.

Optionally, the distal joint is a cylindrical joint, and the end face of the second end of the distal joint is provided with two first inclined planes which are relatively close together in the radial direction to form an axially convex structure;

two first swinging convex parts which are oppositely arranged are arranged at the position, corresponding to the circumferential edge of the second end, of the junction of the two first inclined surfaces, the first swinging convex parts are used for swinging and rotating matching with the first snake bone plate body adjacent to the first swinging convex parts, and a swinging axis formed by the two first swinging convex parts has a first preset distance with the end surface of the second end;

wherein the second end is the end of the distal fitting facing the first snake bone disc.

Optionally, the first snake-bone disc body is a disc-shaped disc body matched with the cylindrical joint, two opposite end faces of the first snake-bone disc body are respectively a first splicing end face and a second splicing end face, and the first splicing end face and the second splicing end face are respectively provided with two second inclined faces which are relatively close together in the radial direction so as to respectively form an axially convex structure;

two first swing rotating depressions which are oppositely arranged are arranged at the position, corresponding to the circumferential edge of the first splicing end face, of the junction of the two second inclined planes on the first splicing end face; two second swinging convex parts which are oppositely arranged are arranged at the position, corresponding to the circumferential edge of the second splicing end face, of the junction of the two second inclined planes on the second splicing end face, and a swinging axis formed by the two second swinging convex parts has a second preset distance with the second splicing end face;

wherein a first yaw concavity of the first snake bone disc adjacent to the distal joint is fitted with the first yaw convexity; the first swing concave part of one of the two adjacent first snake bone plate bodies is spliced with the second swing convex part of the other one of the two adjacent first snake bone plate bodies to realize the swing function.

Optionally, two opposite end surfaces of the middle-end joint are respectively a first connecting end surface and a second connecting end surface, and the first connecting end surface and the second connecting end surface are both provided with two third inclined surfaces which are relatively close together in the radial direction so as to respectively form an axial convex structure;

two second swing depressions which are oppositely arranged are arranged at the boundary of the two third inclined planes on the first connecting end surface and correspond to the circumferential edge position of the first connecting end surface; two third swinging convex parts which are oppositely arranged are arranged at the boundary of the two third inclined planes on the second connecting end surface corresponding to the circumferential edge position of the second connecting end surface, and a swinging axis formed by the two third swinging convex parts has a third preset distance with the second connecting end surface;

the second swinging depression is matched with a second swinging convex part of the first snake bone disc body adjacent to the second swinging depression; the third swing convex part is matched with the second snake bone plate body adjacent to the third swing convex part in a swing and rotation mode.

Optionally, a second driving tendon through hole is arranged on the first snake bone disc body, and the second driving tendon through hole comprises a third tendon position through hole for passing through a driving tendon of the distal driving tendon joint and a fourth tendon position through hole for passing through a driving tendon of the actuator.

Optionally, the first snake bone disc body and the second snake bone disc body are identical in structure.

Optionally, the end surface of one end of the near-end base, which is used for being spliced with the second snake bone disc body, is provided with two fourth inclined planes which are relatively close together in the radial direction to form an axially convex structure;

and the junction of the two fourth inclined planes is provided with two third swinging depressions which are oppositely arranged at the positions corresponding to the circumferential edge of the near-end base, and the third swinging depressions are matched with the adjacent second snake bone plate body in swinging and rotating mode.

Optionally, elastic tendon through holes are formed in the distal end connector, the first snake bone disc body, the middle end connector, the second snake bone disc body and the proximal end base, and elastic tendons for preventing the two adjacent components from swinging and separating are arranged in the elastic tendon through holes in a penetrating manner.

Compared with the introduction content of the background technology, the flexible instrument snake bone of the flexible endoscope comprises a main body part, wherein the main body part comprises a far-end bending section, a near-end bending section and a middle-end joint spliced between the far-end bending section and the near-end bending section; the far-end bending section comprises a far-end joint and a plurality of first snake bone disc bodies which are sequentially spliced along the axial direction of the main body part in a swinging mode, the swinging axes corresponding to two opposite ends of the first snake bone disc bodies are arranged in a 90-degree mode, so that the far-end bending section has four-way bending capability, and the far-end joint is used for being in butt joint with an actuator at the front end of the flexible instrument; the near-end bending section comprises a near-end base and a plurality of second snake bone disc bodies which are sequentially spliced along the axial direction of the main body part in a swinging mode, and swinging axes corresponding to two opposite ends of each second snake bone disc body are arranged in an angle of 90 degrees, so that the near-end bending section has four-way bending capability; two opposite ends of the middle joint are respectively spliced with the corresponding first snake bone disc body and the second snake bone disc body in a rotatable mode, and the corresponding pivot axes of the two opposite ends of the middle joint are arranged in an acute angle mode, so that the far end joint has eight-direction bending capability relative to the near end base. In the actual application process of the flexible instrument snake bone, the far-end bending section comprises a far-end joint and a plurality of first snake bone disc bodies which are sequentially spliced along the axial direction of the main body part in a swinging mode, and the far-end bending section has four-way bending capacity; the near-end bending section comprises a near-end base and a plurality of second snake bone disc bodies which are sequentially spliced along the axial direction of the main body part in a swinging mode, and the near-end bending section has four-way bending capability; and two opposite ends of the middle end joint are respectively spliced with the first snake bone disc body and the second snake bone disc body which are adjacent correspondingly in a rotatable mode, and the swinging axes corresponding to the two opposite ends of the middle end joint are arranged in an acute angle mode, so that the far end joint has eight-direction bending capability relative to the near end base, the degree of freedom of the snake bone of the flexible instrument is greatly improved, and the operation is more flexible.

In addition, the utility model also provides a soft endoscope, including flexible apparatus snake bone, this flexible apparatus snake bone is the flexible apparatus snake bone of the soft endoscope that any above-mentioned scheme described. Because the flexible instrument snake bone has the technical effects, the flexible endoscope with the flexible instrument snake bone also has the corresponding technical effects, and the details are not repeated herein.

Drawings

In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only some embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to these drawings without creative efforts.

FIG. 1 is a schematic view of an overall axial structure of a snake bone of a flexible instrument provided by an embodiment of the present invention;

fig. 2 is a schematic axial side structure diagram of a distal joint according to an embodiment of the present invention;

fig. 3 is a schematic side view of a distal joint provided in an embodiment of the present invention at a first viewing angle;

fig. 4 is a schematic side view of a distal joint at a second viewing angle according to an embodiment of the present invention;

fig. 5 is a schematic axial side structure view of a first snake bone disk body according to an embodiment of the present invention;

fig. 6 is a schematic side view of a first snake bone disk according to an embodiment of the present invention;

fig. 7 is a schematic axial side view of a middle end fitting provided in an embodiment of the present invention;

fig. 8 is a schematic axial side view of a middle end fitting provided in an embodiment of the present invention at another viewing angle;

fig. 9 is a schematic axial side structure view of the proximal base according to an embodiment of the present invention.

Wherein, in fig. 1-9:

the flexible joint comprises a distal bending section 1, a distal joint 11, a first inclined surface 110, a stepped hole 111, a recessed structure 112, a first driving tendon through hole 113, a first tendon through hole 113a, a second tendon through hole 113b, a first swing convex part 114, a first snake bone disc body 12, a second driving tendon through hole 120, a third tendon through hole 120a, a fourth tendon through hole 120b, a first splicing end surface 121, a second splicing end surface 122, a first swing concave part 123 and a second swing convex part 124;

the proximal bending section 2, the proximal base 21, the third swinging recess 211 and the second snake bone disc 22;

the middle end connector 3, a first connecting end surface 31, a second swing recess 311, a second connecting end surface 32 and a third swing projection 321.

Detailed Description

The core of the utility model is to provide a flexible endoscope and flexible appliance snake bone thereof to solve the problem that the degree of freedom of the flexible appliance of the flexible endoscope is less, which leads to inflexible operation.

The technical solutions in the embodiments of the present invention will be described clearly and completely with reference to the accompanying drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments in the present invention, all other embodiments obtained by a person skilled in the art without creative work belong to the protection scope of the present invention.

Referring to fig. 1-9, the utility model particularly provides a flexible instrument snake bone of a soft endoscope, which comprises a main body part, wherein the main body part comprises a far-end bending section 1, a near-end bending section 2 and a middle-end joint 3 spliced between the far-end bending section 1 and the near-end bending section 2; the far-end bending section 1 comprises a far-end joint 11 and a plurality of first snake bone disc bodies 12 which are sequentially spliced along the axial direction of the main body part in a swinging mode, the swinging axes corresponding to two opposite ends of the first snake bone disc bodies 12 are arranged at 90 degrees, so that the far-end bending section 1 has four-way bending capability, and the far-end joint 11 is used for being butted with an actuator at the front end of a flexible instrument; the proximal bending section 2 comprises a proximal base 21 and a plurality of second snake bone disc bodies 22 which are sequentially spliced along the axial direction of the main body part in a swinging mode, and the swinging axes corresponding to two opposite ends of the second snake bone disc bodies 22 are arranged in 90 degrees so that the proximal bending section 2 has four-way bending capability; two opposite ends of the middle joint 3 are respectively spliced with the corresponding first snake bone disc body 12 and the second snake bone disc body 22 in a swinging mode, and the swinging axes corresponding to the two opposite ends of the middle joint 3 are arranged at an acute angle, so that the far joint 11 has eight-way bending capability relative to the near base 21.

In the actual application process of the flexible instrument snake bone, the far-end bending section 1 comprises a far-end joint 11 and a plurality of first snake bone disc bodies 12 which are sequentially spliced along the axial direction of the main body part in a swinging mode, and the far-end bending section 1 has four-way bending capacity (namely two degrees of freedom); the proximal bending section 2 comprises a proximal base 21 and a plurality of second snake bone disc bodies 22 which are sequentially spliced along the axial direction of the main body part in a swinging way, and the proximal bending section 2 has four-way bending capability (namely two degrees of freedom); two opposite ends of the middle joint 3 are respectively spliced with the corresponding adjacent first snake bone disc body 12 and the second snake bone disc body 22 in a rotatable mode, and the corresponding pivot axes of the two opposite ends of the middle joint 3 are arranged in an acute angle, so that the far joint 11 has eight-direction bending capability (namely four degrees of freedom) relative to the near base 21, the degree of freedom of the snake bone of the flexible instrument is greatly improved, and the operation is more flexible.

It should be noted that, as will be understood by those skilled in the art, in order to enable the flexible instrument snake bone to realize various bending actions, the flexible instrument snake bone generally further comprises a driving tendon and a supporting tendon which are sequentially connected in series with a distal bending section 1, a proximal bending section 2 and a middle joint 3 spliced between the distal bending section 1 and the proximal bending section 2, wherein swinging between two adjacent components can be realized by pulling the driving tendon, and thus a bending operation is realized; the support tendon is mainly used for supporting the swing freedom degree of two adjacent components and preventing dislocation, and the swing freedom degree of the two adjacent components can be limited through the design of the arrangement position of the support tendon, for example, the support tendon limits two bending directions of the proximal bending section 2, so that two directions of the original four-direction bending capacity of the proximal bending section 2 can be limited, and then the proximal bending section 2 only performs two-direction bending when performing action, and if the distal bending section 1 still maintains the four-direction bending capacity, at this time, the flexible instrument snake bone only can perform six-direction bending, namely three freedom degrees.

In some specific embodiments, the first end of the distal joint 11 is provided with a stepped hole 111 for butt fitting with an actuator; a concave structure 112 matched with a distal driving tendon joint of the flexible instrument is arranged on the inner side of the stepped hole 111, and a first driving tendon through hole 113 for a driving tendon to pass through is arranged on the axial end side of the stepped hole 111; wherein the first end is the end of the distal end fitting 11 facing away from the first snake bone disc 12. Through the design of the stepped hole 111 and the matching of the recessed structure 112, the first end of the distal joint 11 and the distal driving tendon joint of the flexible instrument can be more conveniently installed, stable installation and positioning can be realized through the recessed structure 112, the two joints are prevented from being assembled to rotate, and a better torsion-resistant effect is achieved. The number of the concave structures 112 may be configured according to actual requirements, for example, the number of the concave structures 112 may be 4 as shown in fig. 2. It is understood that, the above-mentioned manner of matching the stepped hole 111 with the concave structure 112 to achieve stable installation and positioning is only an example of the embodiment of the present invention, and in practical application, other structural forms may also be designed, such as a structural form of matching the stepped hole 111 with the positioning protrusion, or a manner of snap connection, etc., which is not limited in this respect.

In further embodiments, the first driving tendon passing hole 113 may specifically include a first tendon passing hole 113a disposed corresponding to a driving tendon of the distal driving tendon joint and a second tendon passing hole 113b disposed corresponding to a driving tendon or a functional channel (such as a channel, etc.) of the actuator. The number of the first tendon through hole 113a and the second tendon through hole 113b may be specifically configured according to actual requirements, and is not limited in more detail herein. For example, it may be designed that, referring to the manner shown in fig. 2, the first tendon passing holes 113a are designed to be four uniformly arranged in the circumferential direction, and the second tendon passing holes 113b are designed to be one and arranged at the center of the axial ends of the stepped hole 111.

In some specific embodiments, the distal joint 11 may be a cylindrical joint, and an end surface of the second end of the distal joint 11 is provided with two first inclined surfaces 110 which are relatively close together in the radial direction to form an axially convex structure, as may be referred to in particular in fig. 3 and 4; two first swing convex parts 114 which are oppositely arranged are arranged at the peripheral edge positions of the junction of the two first inclined planes 110 corresponding to the second end, the first swing convex parts 114 are used for swing adaptation with the adjacent first snake bone plate body 12, a swing axis formed by the two first swing convex parts 114 has a first preset distance with the end surface of the second end, and the first swing convex parts 114 are used for swing splicing with the corresponding ends of the corresponding first snake bone plate body 12; wherein the second end is the end of the distal fitting 11 facing the first snake disc 12. The snake bone of the endoscope can better adapt to the operation requirement by being designed into a cylindrical structural part; in addition, a first preset distance is kept between the pivot axis formed by the two first pivot convex portions 114 and the end surface of the second end, so that the distal end connector 11 can pivot and splice with the corresponding end of the first snake bone plate body 12 and then can pivot and move at a certain angle, the first preset distance is related to the corresponding pivot angle, and in the practical application process, the setting can be selected according to the design requirement of the practical pivot angle, and no more specific limitation is made here. Through designing into above-mentioned pendulum and changeing the sunken pendulum structure of changeing, can make the pendulum change hinge structure simpler, need not riveting technology, the assembly is simpler, and the installation is easier, the processing production and the equipment of being convenient for more.

It should be noted that, in the actual application process, the configuration may be selected according to actual requirements, where the specific structural form of the swing convex portion is a structure in which a circular plate is matched with a circular groove, or a structural form in which a ball head structure is matched with a ball socket. It can be understood that the manner of swinging the swing convex portion and the swing concave portion is only an example of the embodiment of the present invention, and other structural forms may be designed in the practical application process.

In a further embodiment, the first snake bone disc body 12 may be specifically designed as a disc-shaped disc body adapted to the cylindrical joint, two opposite end surfaces of the first snake bone disc body 12 are a first splicing end surface 121 and a second splicing end surface 122, respectively, and the first splicing end surface 121 and the second splicing end surface 122 are both provided with two second inclined surfaces relatively close to each other in a radial direction to form an axially protruding structure, respectively; two first swing depressions 123 which are oppositely arranged are arranged at the boundary of the two second inclined planes on the first splicing end surface 121 corresponding to the circumferential edge position of the first splicing end surface 121; two oppositely arranged second swing convex parts 124 are arranged at the boundary of the two second inclined planes on the second splicing end face 122 corresponding to the circumferential edge position of the second splicing end face 122, and a swing axis formed by the two second swing convex parts 124 has a second preset distance with the second splicing end face 122; wherein the first yaw concavity 123 of the first snake bone disk 12 adjacent to the distal joint 11 is fitted with the first yaw convexity 114; the first swing concave portion 123 of one of the two adjacent first snake bone disc bodies 12 is spliced with the second swing convex portion 124 of the other one to realize the swing function. Through designing into discoid disk body with first snake bone disk body 12 for the assembly of distal end bending section 1 is simpler, is convenient for processing production and equipment more. Similarly, the swinging structure with the swinging convex part and the swinging concave part is designed, so that the swinging hinge structure is simpler, the riveting process is not needed, the assembly is simpler, the installation is easier, and the processing, the production and the assembly are more convenient. It should be noted that, in the actual application process, the configuration may be selected according to actual requirements, where the specific structural form of the swing convex portion is a structure in which a circular plate is matched with a circular groove, or a structural form in which a ball head structure is matched with a ball socket. It can be understood that the manner of swinging the swing convex portion and the swing concave portion is only an example of the embodiment of the present invention, and other structural forms may be designed in the practical application process. In addition, it should be noted that the second preset distance is mainly for enabling the swing to be smoothly completed within a preset angle, and a specific value of the second preset distance is associated with the angle setting of the swing. It is understood that the second predetermined distance may be the same as or different from the first predetermined distance, and is not limited thereto.

It should be noted that, when the swing structure of the swing convex portion and the swing concave portion is adopted, the swing axes corresponding to the two opposite ends of the first snake bone disk body 12 are arranged at 90 degrees, that is, the connecting line of the two first swing concave portions 123 on any one first snake bone disk body 12 and the connecting line of the two second swing convex portions 124 thereon are arranged at an included angle of 90 degrees. Through designing into this kind of structural style for the mode of the pendulum degree of freedom of every first snake bone disk body 12 is all unanimous, more convenient equipment and control.

In some more specific embodiments, referring to fig. 7 and 8, the two opposite end surfaces of the middle terminal 3 are a first connecting end surface 31 and a second connecting end surface 32, respectively, and each of the first connecting end surface 31 and the second connecting end surface 32 may be provided with two third inclined surfaces which are relatively close together in the radial direction to form an axially convex structure, respectively; two oppositely arranged second swing depressions 311 are arranged at the boundary of the two third inclined planes on the first connecting end surface 31 corresponding to the circumferential edge position of the first connecting end surface 31; two third swing convex parts 321 which are oppositely arranged are arranged at the boundary of the two third inclined surfaces on the second connection end surface 32 corresponding to the circumferential edge position of the second connection end surface 32, and a swing axis formed by the two third swing convex parts 321 has a third preset distance with the second connection end surface 32; wherein, the second swing concave 311 is matched with the second swing convex 124 of the adjacent first snake bone plate body 12; the third rocking projections 321 are rocking-fit to the adjacent second snake disk 22. By designing the middle joint 3 into the above-mentioned structural form, mainly for matching the splicing of the first snake bone disc body 12 and the second snake bone disc body 22, wherein the axial convex structural form formed by the third inclined surface can be designed to be the same as or similar to the axial convex structural form formed by the first inclined surface and the axial convex structural form formed by the second inclined surface. For example, the inclined surfaces of the distal joint 11, the first snake disk 12, the middle joint 3 and the second snake disk 22 for forming the axially convex structures can be designed in a manner of consistent included angles. More convenient equipment and the control of the maximum bendable angle. The specific value of the included angle may be specifically configured according to the maximum bending angle actually required, and is not limited herein. Similarly, the swinging structure with the swinging convex part and the swinging concave part is designed, so that the swinging hinge structure is simpler, the riveting process is not needed, the assembly is simpler, the installation is easier, and the processing, the production and the assembly are more convenient. It should be noted that, in the actual application process, the configuration may be selected according to actual requirements, where the specific structural form of the swing convex portion is a structure in which a circular plate is matched with a circular groove, or a structural form in which a ball head structure is matched with a ball socket. It can be understood that the manner of swinging the swing convex portion and the swing concave portion is only an example of the embodiment of the present invention, and other structural forms may be designed in the practical application process. In addition, it should be noted that the third preset distance is mainly for enabling the swing to be smoothly completed within a preset angle, and a specific value of the third preset distance is associated with the angle setting of the swing. It is understood that the third predetermined distance may be the same as or different from the first predetermined distance and the second predetermined distance, and is not limited herein in more detail.

It should be noted that, when the swing structure of the swing convex portion and the swing concave portion is adopted, the swing axes corresponding to the two opposite ends of the middle end joint 3 are arranged in an acute angle, that is, the connecting line of the two second swing concave portions 311 and the connecting line of the two third swing convex portions 321 are arranged in an acute angle, which may be 45 °. The purpose is mainly to make the bending freedom directions of the distal bending section 1 and the proximal bending section 2 different.

It should be noted that the first and second snake discs 12 and 22 may be constructed in the same manner or in different configurations. The same structural style is preferably designed in the novel bending device, so that the installation and the arrangement are more convenient, and the bending freedom directions of the far-end bending section 1 and the near-end bending section 2 are different.

In some specific embodiments, referring to fig. 5 and 6, a second driving tendon passing hole 120 is disposed on the first snake disc body 12, and the second driving tendon passing hole 120 includes a third tendon passing hole 120a for passing a driving tendon of the distal driving tendon joint and a fourth tendon passing hole 120b for passing a driving tendon or a functional tract (such as a channel clamping tube or the like) of the actuator. The number of the third tendon through holes 120a may be specifically arranged according to actual requirements, for example, 8 tendon through holes may be uniformly arranged, and the fourth tendon through hole 120b may be arranged at a central position of the first snake bone disc 12. It should also be noted that the middle fitting 3 should also be generally designed with a drive tendon passing aperture which may be configured in a manner similar to the configuration of the second drive tendon passing aperture 120 on the first snake disc 12, except that the diameter of the drive tendon passing aperture on the middle fitting 3 is larger for the middle fitting 3 to secure the proximal drive tendon fitting.

In some specific embodiments, referring to fig. 9, the end surface of the end of the proximal base 21 for splicing with the second snake bone disc 22 is provided with two fourth inclined surfaces which are relatively close together in the radial direction to form an axially convex structure; two third swinging depressions 211 which are oppositely arranged are arranged at the position, corresponding to the circumferential edge of the near-end base 21, of the junction of the two fourth inclined planes, and the third swinging depressions 211 are matched with the adjacent second snake bone disc 22 in a swinging manner. The third pivot recess 211 is designed to accommodate the pivot fitting of the second snake bone plate 22, and the specific structure is not limited thereto. In a further embodiment, the structural form of the third swing recess 211 may be the same as the structural form of the first swing recess 123 and the second swing recess 311, which facilitates the processing. In addition, the proximal base 21 should also be designed with drive tendon passing holes for passage of the proximal drive tendon joint and actuator drive tendon or functional tract (e.g., a jaw tube, etc.).

In some specific embodiments, the distal joint 11, the first snake bone disc 12, the middle joint 3, the second snake bone disc 22 and the proximal base 21 may be provided with elastic tendon passing holes, and elastic tendons for preventing the two adjacent components from swinging and separating are inserted into the elastic tendon passing holes. Through designing the elastic tendon via hole and the elastic tendon, certain support performance can be provided for connection between adjacent components, the flexible instrument snake bone can be better guaranteed to bend along a set arc and cannot be separated, in addition, the freedom degree of the whole flexible instrument snake bone can be flexibly adjusted through limitation of the elastic tendon, for example, two bending directions of the near end bending section 2 are limited through the support tendon, two directions in original four-way bending capacity of the near end bending section 2 can be limited, then only two-way bending is performed when the near end bending section 2 performs action, if the far end bending section 1 still maintains the four-way bending capacity, at the moment, the flexible instrument snake bone can only perform six-way bending, namely three freedom degrees, in the practical application process, the flexible instrument snake bone can be selected and arranged according to practical requirements, and no more specific limitation is made herein. The material of the elastic tendons may be specifically selected from elastic materials such as nickel titanium alloy, and is not limited herein. It should be noted that the distal joint 11, the first snake bone disc 12, the middle joint 3, the second snake bone disc 22 and the proximal base 21 can be manufactured by powder metallurgy or injection molding, and the manufacturing is simpler and more convenient. Of course, other processing methods commonly used by those skilled in the art may be used, and are not limited herein in any particular way.

In addition, the utility model also provides a soft endoscope, including flexible apparatus snake bone, this flexible apparatus snake bone is the flexible apparatus snake bone of the soft endoscope that any above-mentioned scheme described. Because the flexible instrument snake bone has the technical effects, the flexible endoscope with the flexible instrument snake bone also has the corresponding technical effects, and the details are not repeated herein.

It should be noted that, in this specification, each embodiment is described in a progressive manner, and each embodiment focuses on differences from other embodiments, and portions that are the same as and similar to each other in each embodiment may be referred to.

It should be understood that the use of "system," "device," "unit," and/or "module" herein is merely one way to distinguish between different components, elements, components, parts, or assemblies of different levels. However, other words may be substituted by other expressions if they accomplish the same purpose.

As used in this application and the appended claims, the terms "a," "an," "the," and/or "the" are not intended to be inclusive in the singular, but rather are intended to be inclusive in the plural unless the context clearly dictates otherwise. In general, the terms "comprises" and "comprising" merely indicate that steps and elements are included which are explicitly identified, that the steps and elements do not form an exclusive list, and that a method or apparatus may include other steps or elements. An element defined by the phrase "comprising one of \ 8230: \ 8230:" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

Wherein in the description of the embodiments of the present application, "/" indicates an inclusive meaning, for example, a/B may indicate a or B; "and/or" herein is merely an association describing an associated object, and means that there may be three relationships, e.g., a and/or B, which may mean: a exists alone, A and B exist simultaneously, and B exists alone. In addition, in the description of the embodiments of the present application, "a plurality" means two or more than two.

In the following, the terms "first", "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature.

If used herein, a flowchart is provided to illustrate operations performed by a system according to an embodiment of the present application. It should be understood that the preceding or following operations are not necessarily performed in the exact order in which they are performed. Rather, the various steps may be processed in reverse order or simultaneously. Meanwhile, other operations may be added to the processes, or a certain step or several steps of operations may be removed from the processes.

The principles and embodiments of the present invention have been explained herein using specific examples, and the above descriptions of the embodiments are only used to help understand the core concepts of the present invention. It should be noted that, for those skilled in the art, without departing from the principle of the present invention, the present invention can be further modified and modified, and such modifications and modifications also fall within the protection scope of the appended claims.

Claims (11)

1. A flexible instrument snake bone of a soft endoscope comprises a main body part, and is characterized in that the main body part comprises a far-end bending section (1), a near-end bending section (2) and a middle-end joint (3) spliced between the far-end bending section (1) and the near-end bending section (2);

the far-end bending section (1) comprises a far-end joint (11) and a plurality of first snake bone disc bodies (12) which are sequentially spliced along the axial direction of the main body part in a swinging mode, the swinging axes corresponding to two opposite ends of the first snake bone disc bodies (12) are arranged in 90 degrees, so that the far-end bending section (1) has four-way bending capability, and the far-end joint (11) is used for being butted with an actuator at the front end of a flexible instrument; the proximal bending section (2) comprises a proximal base (21) and a plurality of second snake bone disc bodies (22) which are sequentially spliced along the axial direction of the main body part in a swinging mode, and the swinging axes corresponding to two opposite ends of each second snake bone disc body (22) are arranged in a 90-degree mode, so that the proximal bending section (2) has four-way bending capability;

two opposite ends of the middle joint (3) are respectively spliced with the corresponding first snake bone disc body (12) and the second snake bone disc body (22) in a swinging mode, and the swinging axes corresponding to the two opposite ends of the middle joint (3) are arranged at an acute angle, so that the far joint (11) has eight-direction bending capability relative to the near base (21).

2. The flexible instrument snake bone of a soft endoscope according to claim 1, characterized in that the first end of the distal joint (11) is provided with a stepped hole (111) for butt fitting with the actuator;

a concave structure (112) matched with a distal driving tendon joint of a flexible instrument is arranged on the inner side of the stepped hole (111), and a first driving tendon through hole (113) for a driving tendon to pass through is arranged on the axial end side of the stepped hole (111);

wherein the first end is the end of the distal end joint (11) facing away from the first snake bone disc body (12).

3. The flexible instrument snake bone of a soft endoscope according to claim 2, wherein the first drive tendon access (113) comprises a first tendon access (113 a) disposed corresponding to the drive tendon of the distal drive tendon joint and a second tendon access (113 b) disposed corresponding to the drive tendon of the actuator.

4. The flexible instrument snake bone of the soft endoscope according to claim 1, wherein the distal joint (11) is a cylindrical joint, and the end surface of the second end of the distal joint (11) is provided with two first inclined surfaces (110) which are relatively close together along the radial direction to form an axially convex structure;

two first swinging convex parts (114) which are oppositely arranged are arranged at the boundary of the two first inclined surfaces (110) and correspond to the circumferential edge position of the second end, the first swinging convex parts (114) are used for swinging and rotating to be matched with the adjacent first snake bone disc body (12), and a swinging axis formed by the two first swinging convex parts (114) has a first preset distance with the end surface of the second end;

wherein the second end is the end of the distal end joint (11) facing the first snake bone disc (12).

5. The flexible instrument snake bone of the flexible endoscope according to claim 4, wherein the first snake bone disk body (12) is a disk-shaped disk body matched with the cylindrical joint, two opposite end surfaces of the first snake bone disk body (12) are a first splicing end surface (121) and a second splicing end surface (122), respectively, and the first splicing end surface (121) and the second splicing end surface (122) are respectively provided with two second inclined surfaces which are relatively close together along the radial direction so as to respectively form an axial convex structure;

two first swing recesses (123) which are oppositely arranged are arranged at the boundary of the two second inclined planes on the first splicing end surface (121) corresponding to the circumferential edge of the first splicing end surface (121); two second swing convex parts (124) which are oppositely arranged are arranged at the boundary of two second inclined planes on the second splicing end surface (122) corresponding to the circumferential edge position of the second splicing end surface (122), and a swing axis formed by the two second swing convex parts (124) has a second preset distance with the second splicing end surface (122);

wherein a first yaw concavity (123) of the first snake disc (12) adjacent the distal joint (11) fits the first yaw convexity (114); the first swing concave part (123) of one of the two adjacent first snake bone disc bodies (12) is spliced with the second swing convex part (124) of the other one to realize the swing function.

6. The flexible instrument snake bone of the soft endoscope of claim 5, wherein the two opposite end surfaces of the middle joint (3) are a first connecting end surface (31) and a second connecting end surface (32), respectively, and the first connecting end surface (31) and the second connecting end surface (32) are provided with two third inclined surfaces which are relatively close together along the radial direction so as to form an axial convex structure respectively;

two second swing depressions (311) which are oppositely arranged are arranged at the boundary of the two third inclined planes on the first connecting end surface (31) and correspond to the circumferential edge of the first connecting end surface (31); two third swinging convex parts (321) which are oppositely arranged are arranged at the boundary of the two third inclined surfaces on the second connecting end surface (32) corresponding to the circumferential edge position of the second connecting end surface (32), and a swinging axis formed by the two third swinging convex parts (321) has a third preset distance with the second connecting end surface (32);

wherein the second wobble depression (311) is fitted with a second wobble protrusion (124) of the first snake bone disc (12) adjacent thereto; the third swinging convex part (321) is in swinging fit with the second snake bone disc body (22) adjacent to the third swinging convex part.

7. The flexible instrument snake bone of a flexible endoscope according to claim 2, wherein a second driving tendon passing hole (120) is provided on the first snake bone disk body (12), and the second driving tendon passing hole (120) comprises a third tendon passing hole (120 a) for passing a driving tendon of the distal driving tendon joint and a fourth tendon passing hole (120 b) for passing a driving tendon of the actuator.

8. The flexible instrument snake bone of a flexible endoscope according to any of claims 1-7, wherein the first snake bone disk (12) and the second snake bone disk (22) are of the same construction.

9. The flexible instrument snake bone of a flexible endoscope according to claim 1, wherein the end surface of one end of the proximal end base (21) for splicing with the second snake bone plate body (22) is provided with two fourth slopes which are relatively close together in the radial direction to form an axially convex structure;

two third swinging depressions (211) which are oppositely arranged are arranged at the position, corresponding to the circumferential edge of the near-end base (21), of the junction of the two fourth slopes, and the third swinging depressions (211) are matched with the adjacent second snake bone plate body (22) in a swinging mode.

10. The flexible instrument snake bone of the flexible endoscope according to the claim 1, wherein the distal joint (11), the first snake bone plate body (12), the middle joint (3), the second snake bone plate body (22) and the proximal base (21) are all provided with elastic tendon passing holes, and elastic tendons for preventing the adjacent two parts from swinging and separating are arranged in the elastic tendon passing holes.

11. A flexible endoscope comprising a flexible instrument snake bone, wherein the flexible instrument snake bone is the flexible instrument snake bone of the flexible endoscope as claimed in any one of claims 1 to 10.

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