CN220256437U

CN220256437U - Flexible skeleton

Info

Publication number: CN220256437U
Application number: CN202323214722.0U
Authority: CN
Inventors: 江维; 江国豪; 陈发利
Original assignee: Beijing Yunli Jingan Technology Co ltd
Current assignee: Beijing Yunli Jingan Technology Co ltd
Priority date: 2023-11-28
Filing date: 2023-11-28
Publication date: 2023-12-29
Anticipated expiration: 2033-11-28

Abstract

The utility model discloses a flexible framework, which comprises a proximal joint, a framework main body and a distal joint which are sequentially arranged, wherein the framework main body comprises a plurality of discs which are rotationally clamped together, the discs are limited by constraint tendons which are arranged in a penetrating manner, one end of each constraint tendon is fixedly connected with the proximal joint, and the other end of each constraint tendon is fixedly connected with the distal joint; the plurality of tray bodies penetrate through and are provided with driving tendons, one ends of the driving tendons are connected with the proximal end connector in a sliding mode, and the other ends of the driving tendons are connected with the distal end connector in a fixed mode. The flexible framework simplifies the assembly process of the framework, reduces the installation difficulty, has a simple overall structure and fewer parts, and ensures the connection reliability of a plurality of trays constituting the framework main body.

Description

Flexible skeleton

Technical Field

The utility model relates to the technical field of medical appliances, in particular to a flexible framework.

Background

The endoscope is a detection instrument integrating traditional optics, ergonomics, precision machinery, modern electronics, mathematics, software and the like, is equipment for peeping the inside of an object from the outside, and is widely applied to the medical field. The endoscope has 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 direction. Hard endoscopes are inflexible and torsionally, and primarily enter sterile tissues, organs of the human body or through surgical incisions into closed body cavities such as the chest, abdominal cavities, joint cavities, and the like. The soft endoscope is soft and bendable, and the lens part can be manipulated by an operator to change the direction, and is mainly used for examination through the digestive tract, the respiratory tract or the urinary tract of a human body, such as a gastroscope, a enteroscope, a bronchoscope, a ureteroscope and the like. Because the digestive tract, respiratory tract or urinary tract of human body are complex in structure bending, in order to ensure the endoscope, a flexible framework (snake bone) is arranged at the front end of the insertion part, and the bending of the flexible framework is regulated by the expansion and contraction of the driving piece so as to achieve the target position.

The flexible skeleton of the endoscope in the prior art is generally connected by a plurality of bending tube monomers through rivets or rotating pins, and the connecting part is very easy to fall off to cause product failure, so that the manufacturing cost is high and the structure is complex.

Disclosure of Invention

In view of the above, the utility model provides a flexible framework, which simplifies the assembly process of the framework, reduces the installation difficulty, has a simple overall structure and few parts, and ensures the reliability of connection of a plurality of trays constituting the framework main body.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

the flexible framework comprises a proximal joint, a framework main body and a distal joint which are sequentially arranged, wherein the framework main body comprises a plurality of discs which are rotationally clamped together, the discs are limited by constraint tendons which are arranged in a penetrating manner, one end of each constraint tendon is fixedly connected with the proximal joint, and the other end of each constraint tendon is fixedly connected with the distal joint; the plurality of tray bodies penetrate through and are provided with driving tendons, one ends of the driving tendons are connected with the proximal end connector in a sliding mode, and the other ends of the driving tendons are connected with the distal end connector in a fixed mode.

Optionally, a first clamping part is arranged at one end of the tray body, a second clamping part is arranged at the other end of the tray body, and the first clamping part of one tray body is rotationally clamped in the second clamping part of the adjacent tray body;

the first clamping part of the tray body close to the proximal joint is rotationally clamped with the proximal joint;

the second clamping part of the tray body, which is close to the distal joint, is rotationally clamped with the distal joint.

Optionally, a first driving through hole and a first constraint through hole are formed in the tray body, the axis of the first driving through hole and the axis of the first constraint through hole are parallel to the axis of the tray body, the driving tendon is arranged in the first driving through hole in a penetrating mode, and the constraint tendon is arranged in the first constraint through hole in a penetrating mode;

the tray body is further provided with a first central through hole, and the axis of the first central through hole is overlapped with the axis of the tray body.

Optionally, a first constraint cambered surface and a first abdication inclined surface are arranged on the end surface of the disc body, the first constraint through hole is arranged on the first constraint cambered surface, the first driving through hole is arranged on the first abdication inclined surface, and the clamping part of the disc body is arranged at two ends of the first constraint cambered surface;

the first constraint cambered surface is arranged at the middle position of the end surface of the disc body, the first yielding inclined surfaces are respectively arranged at two sides of the first constraint cambered surface, and the height of the first yielding inclined surfaces gradually decreases from one side close to the first constraint cambered surface to one side far away from the first constraint cambered surface;

the middle position of the first constraint cambered surface is higher than the side, close to the first abdication inclined surface, of the first constraint cambered surface.

Optionally, two first constraint through holes are formed in the tray body, and the two first constraint through holes are respectively formed in two sides of the first central through hole;

two first driving through holes are formed in the disc body, and the two first driving through holes are respectively formed in two sides of the first center through hole;

the two first constraint through holes are arranged symmetrically about the center of the axis of the disc body, and the two first drive through holes are arranged symmetrically about the center of the axis of the disc body.

Optionally, the first driving through hole is a circular hole or a rectangular hole, and the first constraint through hole is a circular hole or a rectangular hole.

Optionally, the distal joint is provided with a second driving through hole and a first constraint clamping groove, the second driving through hole and the first constraint clamping groove are parallel to the axis of the distal joint, the driving tendon is fixedly connected in the second driving through hole, and one end of the constraint tendon is fixedly clamped in the first constraint clamping groove;

the distal joint is also provided with a second central through hole, and the axis of the second central through hole is overlapped with the axis of the distal joint.

Optionally, a second constraint cambered surface and a second abdication inclined surface are arranged on the end surface, close to the tray body, of the distal joint, the end part of the first constraint clamping groove is arranged on the second constraint cambered surface, the second driving through hole is arranged on the second abdication inclined surface, a third clamping part is arranged on the end part, close to the tray body, of the distal joint, and the third clamping part is rotationally clamped with the tray body;

the second constraint cambered surface is arranged at the middle position of the end face of the distal joint, the second yielding inclined surfaces are respectively arranged at two sides of the second constraint cambered surface, and the height of the second yielding inclined surfaces gradually decreases from one side close to the second constraint cambered surface to one side far away from the second constraint cambered surface;

the middle position of the second constraint cambered surface is higher than the side, close to the second abdication inclined surface, of the second constraint cambered surface.

Optionally, the proximal joint is provided with a third driving through hole, a second constraint clamping groove and a second constraint through hole, and the axis of the third driving through hole, the extending direction of the second constraint clamping groove and the axis of the second constraint through hole are all parallel to the axis of the proximal joint;

the second constraint through hole is arranged on the end face of the proximal joint, the second constraint clamping groove is arranged on the side face of the proximal joint, the second constraint clamping groove is communicated with the second constraint through hole, and the end part of the constraint tendon is fixedly clamped in the second constraint clamping groove after passing through the second constraint through hole;

the driving tendon is connected in the third driving through hole in a sliding manner;

and a third central through hole is further formed in the proximal joint, and the axis of the third central through hole is overlapped with the axis of the proximal joint.

Optionally, a third constraint cambered surface and a third abdication inclined surface are arranged on the end surface, close to the disc body, of the proximal end connector, the second constraint through hole is arranged on the third constraint cambered surface, the third drive through hole is arranged on the third abdication inclined surface, a fourth clamping part is arranged on the end, close to the disc body, of the proximal end connector, and the fourth clamping part is rotationally clamped with the disc body;

the third constraint cambered surface is arranged at the middle position of the end surface of the proximal joint, the third abdication inclined planes are respectively arranged at two sides of the third constraint cambered surface, and the height of the third abdication inclined planes is gradually reduced from one side close to the third constraint cambered surface to one side far away from the third constraint cambered surface;

the middle position of the third constraint cambered surface is higher than the side, close to the third abdication inclined surface, of the third constraint cambered surface.

Optionally, the constraint tendon is a steel wire rope or a nickel-titanium wire, one end of the constraint tendon is clamped at the distal joint, and the other end of the constraint tendon is clamped at the proximal joint;

the driving tendon is nickel titanium sheet or stainless steel sheet, one end of the driving tendon is fixedly connected with the distal joint, and the other end of the driving tendon is slidably connected with the proximal joint.

According to the technical scheme, the plurality of trays of the framework main body are rotationally clamped together, compared with riveting or rotating pin connection in the prior art, the flexible framework has the advantages of simplifying the assembly process, reducing the installation difficulty, being simple in integral structure and few in parts, meanwhile, the plurality of trays are restrained by the penetrated constraint tendons, the reliability of connection of the plurality of trays forming the framework main body is guaranteed, the separation phenomenon of the trays is avoided, and the reliability of the flexible framework structure is guaranteed.

Drawings

In order to more clearly illustrate the embodiments of the utility model or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, it being obvious that the drawings in the following description are only some embodiments of the utility model, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic view of a flexible skeleton according to an embodiment of the present utility model;

FIG. 2 is a schematic view of another angle of the flexible skeleton according to an embodiment of the present utility model;

FIG. 3 is a schematic view of a structure of a flexible skeleton according to another embodiment of the present utility model;

FIG. 4 is a schematic view of a fourth angle of the flexible skeleton according to an embodiment of the present utility model;

FIG. 5 is a schematic cross-sectional view of the position A-A of FIG. 4;

FIG. 6 is a schematic view of a structure of a tray according to an embodiment of the present utility model;

FIG. 7 is a schematic view of another angle of a tray according to an embodiment of the present utility model;

FIG. 8 is a schematic view of a structure of a tray according to another embodiment of the present utility model;

FIG. 9 is a schematic view of a fourth angle of a tray according to an embodiment of the present utility model;

FIG. 10 is a schematic view of an angle configuration of a distal joint according to an embodiment of the present utility model;

FIG. 11 is a schematic view of another angle configuration of a distal joint according to an embodiment of the present utility model;

FIG. 12 is a schematic view of a further angular configuration of a distal joint according to an embodiment of the present utility model;

FIG. 13 is a schematic view of a fourth angle of a distal joint according to an embodiment of the present utility model;

FIG. 14 is a schematic view of an angle configuration of a proximal joint according to an embodiment of the present utility model;

FIG. 15 is a schematic view of another angle configuration of a proximal joint according to an embodiment of the present utility model;

FIG. 16 is a schematic view of a further angle configuration of a proximal joint according to an embodiment of the present utility model;

FIG. 17 is a schematic view of a fourth angle of a proximal joint according to an embodiment of the present utility model;

FIG. 18 is a schematic view of a fifth angle of a proximal joint according to an embodiment of the present utility model;

fig. 19 is a schematic structural view of a tendon restraint provided by an embodiment of the present utility model. Wherein:

1. a proximal end fitting configured to be coupled to the proximal end of the housing,

101. a third central through hole 102, a third driving through hole 103, a second constraint clamping groove 1031, a third sub clamping groove 1032, a fourth sub clamping groove 104, a fourth clamping part 105, a second constraint through hole 106, a third constraint cambered surface 107, a third abdication inclined surface,

2. the tray body is provided with a plurality of grooves,

201. a first abdication slope 202, a first driving through hole 203, a first constraint cambered surface 204, a clamping arc piece 205, a first constraint through hole 206, a first center through hole 207, a clamping groove,

3. a distal end fitting configured to be coupled to the distal end,

301. a screw hole 302, a second driving through hole 303, a second center through hole 304, a first constraint slot 3041, a first sub-slot 3042, a second sub-slot 305, a third clamping part 306, a second yielding inclined plane 307, a second constraint cambered surface,

4. the tendon is constrained so that the tendon is not constrained,

401. a second tendon clamp, 402, a tendon body, 403, a first tendon clamp,

5. the tendon is driven by the force of the drive,

6. and a connecting piece.

Detailed Description

The utility model discloses a flexible framework, which simplifies the assembly process of the framework, reduces the installation difficulty, has a simple overall structure and fewer parts, and ensures the connection reliability of a plurality of trays constituting a framework main body.

The following description of the embodiments of the present utility model will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present utility model, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the utility model without making any inventive effort, are intended to be within the scope of the utility model.

Referring to fig. 1 to 19, the flexible skeleton of the utility model comprises a proximal joint 1, a skeleton main body and a distal joint 3 which are sequentially arranged, wherein the skeleton main body comprises a plurality of tray bodies 2 which are rotationally clamped together, the tray bodies 2 are limited by a constraint tendon 4 which is arranged in a penetrating way, one end of the constraint tendon 4 is fixedly connected with the proximal joint 1, and the other end of the constraint tendon 4 is fixedly connected with the distal joint 3. The plurality of trays 2 run through and are provided with drive tendon 5, and drive tendon 5's one end sliding connection is at near-end joint 1, and the other end fixed connection is at distal end joint 3, the skeleton main part is crooked through the drive tendon 5 traction that runs through the setting.

Wherein, a plurality of disk bodies 2 rotate along the axial direction to be clamped. The proximal fitting 1, the backbone body and the distal fitting 3 are coaxially arranged. The number of trays 2 constituting the skeleton body may be adjusted according to the bending angle required for the flexible instrument, and is determined as needed by one skilled in the art. The distal joint 3 refers to the end that is far from the operator and close to the patient, and the proximal joint 1 refers to the end that is near to the operator and far from the patient.

Compared with riveting or rotating pin connection in the prior art, the flexible framework of the utility model simplifies the assembly process, reduces the installation difficulty, has a simple overall structure and few parts, ensures the connection reliability of the plurality of the trays 2 forming the framework main body by the constraint of the penetrated constraint tendons 4, and avoids the separation phenomenon of the trays 2.

Specifically, one end of the tray body 2 is provided with a first clamping portion, the other end of the tray body 2 is provided with a second clamping portion, and the first clamping portion of the tray body 2 is rotationally clamped in the second clamping portion of the adjacent tray body 2. The first clamping part of the tray body 2 close to the proximal joint 1 is rotationally clamped with the proximal joint 1. The second clamping part of the tray body 2 close to the distal joint 3 is rotationally clamped with the distal joint 3.

In an embodiment, the first clamping portion is a clamping groove 207, the second clamping portion is a clamping arc piece 204, as shown in fig. 6 to 9, the clamping groove 207 is disposed at one end of the disc 2, the clamping arc piece 204 is disposed at the other end of the disc 2, and the clamping groove 207 and the clamping arc piece 204 are correspondingly matched. In order to improve the stability of connection, two clamping grooves 207 and two clamping arc pieces 204 are provided.

In order to facilitate connection of the drive tendon 5, the disc body 2 is provided with a first drive through hole 202, the drive tendon 5 is arranged in the first drive through hole 202 in a penetrating mode, and the axis of the first drive through hole 202 is parallel to the axis of the disc body 2. In order to facilitate connection of the restraint tendon 4, a first restraint through hole 205 is formed in the tray body 2, the restraint tendon 4 is arranged in the first restraint through hole 205 in a penetrating mode, and the axis of the first restraint through hole 205 is parallel to the axis of the tray body 2. In order to facilitate the driving part of the actuator to pass through the skeleton body, the tray 2 is further provided with a first central through hole 206, and the axis of the first central through hole 206 is overlapped with the axis of the tray 2, that is, the first central through hole 206 is arranged at the central position of the tray 2, and the first driving through hole 202 and the first constraint through hole 205 are arranged on the tray 2 around the first central through hole 206. It can be appreciated that, in order to improve the stability and reliability of the connection, the constraint tendon 4 for driving bending can be guaranteed to smoothly drive the skeleton main body to bend, the first constraint through hole 205 is disposed near the clamping portion of the tray 2, and the first drive through hole 202 is disposed far away from the clamping portion of the tray 2.

Wherein the first driving through hole 202 is a circular hole or a rectangular hole, and the first restraining through hole 205 is a circular hole or a rectangular hole. In one embodiment, as shown in fig. 6, the first driving through hole 202 is a rectangular hole and the first restraining through hole 205 is a circular hole. In other embodiments, the hole shapes of the first driving through hole 202 and the first restraining through hole 205 are selected by those skilled in the art according to actual needs, and are not limited herein. It will be appreciated that the hole pattern of the first drive through hole 202 is arranged corresponding to the cross section of the drive tendon 5 and the hole pattern of the first constraint through hole 205 is arranged corresponding to the cross section of the constraint tendon 4.

In order to facilitate the deflection of the tray body 2 under the drive of the drive tendon 5, thereby realizing the bending of the skeleton main body, a first constraint cambered surface 203 and a first yielding inclined surface 201 are arranged on the end surface of the tray body 2. The first constraint through hole 205 is disposed on the first constraint cambered surface 203, and the first driving through hole 202 is disposed on the first relief inclined surface 201. The clamping arc pieces 204 of the tray body 2 are arranged at two ends of the first constraint cambered surface 203 of one end face of the tray body 2, the clamping grooves 207 of the tray body 2 are arranged at two ends of the first constraint cambered surface 203 of the other end face of the tray body 2, and connecting lines of the clamping arc pieces 204 of the tray body 2 and the clamping grooves 207 are parallel to the axis of the tray body 2, so that bending of the skeleton main body is ensured.

Further, the first constraint cambered surface 203 is disposed at a middle position of the end surface of the disc body 2, two first yielding inclined planes 201 are disposed, and the two first yielding inclined planes 201 are disposed on two sides of the first constraint cambered surface 203. In order to avoid that the end surface of the tray body 2 affects the bending of the skeleton main body, the height of the first yielding inclined surface 201 gradually decreases from the side close to the first constraint cambered surface 203 to the side far away, as shown in fig. 6 and 7. In order to facilitate the disc 2 to rotate around the clamping portion by a set angle, the height of the middle position of the first constraint cambered surface 203 is higher than the height of one side of the first constraint cambered surface, which is close to the first yielding inclined surface 201.

In order to improve the reliability of constraint, two constraint tendons 4 are provided, correspondingly, two first constraint through holes 205 are provided on the tray body 2, the two first constraint through holes 205 are respectively provided on two sides of the first center through hole 206, and the first constraint through holes 205 are arranged close to the clamping arc piece 204 and the clamping groove 207. In order to realize the two-way bending, two driving tendons 5 are provided, correspondingly, two first driving through holes 202 on the disc body 2 are provided, the two first driving through holes 202 are respectively arranged at two sides of the first central through hole 206, and each first yielding inclined plane 201 is provided with one first driving through hole 202. The two first constraint through holes 205 are arranged symmetrically about the center of the axis of the disk body 2, and the two first drive through holes 202 are arranged symmetrically about the center of the axis of the disk body 2. The connection line of the two first constraint through holes 205 is perpendicular to the connection line of the two first drive through holes 202.

In order to facilitate connection of the constraining tendon 4 and the driving tendon 5, the distal joint 3 is provided with a second driving through hole 302 and a first constraining neck 304, as shown in fig. 10 to 13, the second driving through hole 302 is disposed corresponding to the first driving through hole 202, and the first constraining neck 304 is disposed corresponding to the first constraining through hole 205. The second drive through hole 302 and the first restraint slot 304 are disposed parallel to the axis of the distal joint 3. One end of the driving tendon 5 is fixedly connected in the second driving through hole 302, and one end of the restraining tendon 4 is fixedly clamped in the first restraining clamping groove 304. Specifically, after the end of the driving tendon 5 is inserted into the second driving through hole 302, the end is locked by the connecting piece 6 connected to the side wall of the distal joint 3, the connecting piece 6 is in threaded connection with the threaded hole 301 on the side wall of the distal joint 3, the threaded hole 301 is communicated with the second driving through hole 302, and the connecting piece 6 is a locking screw or a locking bolt. In other embodiments, the end of the driving tendon 5 may be connected in the second driving through hole 302 by other conventional connection methods, such as welding, which is not limited herein. The distal joint 3 is further provided with a second central through hole 303, the axis of the second central through hole 303 is overlapped with the axis of the distal joint 3, the second central through hole 303 is arranged corresponding to the first central through hole 206, and the second central through hole 303 is used for passing through a driving component of the actuator.

In order to avoid that the end face of the distal joint 3, which is close to the disc body 2, affects the rotation of the disc body 2, a second constraint cambered surface 307 and a second abdication inclined surface 306 are arranged on the end face of the distal joint 3, which is close to the disc body 2, the end part of the first constraint clamping groove 304 is arranged on the second constraint cambered surface 307, and the first constraint clamping groove 304 is arranged on the side wall of the distal joint 3 and penetrates through two ends of the distal structure 3. The second driving through hole 302 is disposed on the second yielding inclined plane 306, the end of the distal joint 3, which is close to the disc body 2, is provided with a third clamping portion 305, the third clamping portion 305 is an arc-shaped slot, and the third clamping portion 305 is rotationally clamped with the clamping arc piece 204 of the disc body 2.

Wherein, the second constraint cambered surface 307 is arranged at the middle position of the end face of the distal joint 3, two second yielding inclined planes 306 are arranged, two second yielding inclined planes 306 are respectively arranged at two sides of the second constraint cambered surface 307, and each second yielding inclined plane 306 is provided with a second driving through hole 302. Two third clamping portions 305 are provided, two third clamping portions 305 are respectively arranged at two ends of the second constraint cambered surface 307, and the third clamping portions 305 are correspondingly arranged with the clamping arc pieces 204. The height of the second yielding inclined surface 306 gradually decreases from the side close to the second constraint cambered surface 307 to the side far away, as shown in fig. 13, and the height of the middle position of the second constraint cambered surface 307 is higher than the height of the side close to the second yielding inclined surface 306.

In order to facilitate the clamping of the end portion of the constraint tendon 4, the first constraint clamping groove 304 includes a first sub-clamping groove 3041 and a second sub-clamping groove 3042 which are arranged in communication, as shown in fig. 10 and 13, the first sub-clamping groove 3041 is arranged close to the tray body 2, the groove width of the first sub-clamping groove 3041 is arranged corresponding to the diameter of the tendon body 402 of the constraint tendon 4, the groove width of the second sub-clamping groove 3042 is arranged corresponding to the diameter of the first tendon clamping head 403 of the constraint tendon 4, the groove width of the first sub-clamping groove 3041 is smaller than the groove width of the second sub-clamping groove 3042, and therefore a stepped groove is formed, and the end of the constraint tendon 4 is limited by the first sub-clamping groove 3041 and the second sub-clamping groove 3042 which are arranged in a stepped manner.

Further, the proximal joint 1 is provided with a third driving through hole 102, a second constraint groove 103 and a second constraint through hole 105, and as shown in fig. 14 to 18, the axis of the third driving through hole 102, the extending direction of the second constraint groove 103 and the axis of the second constraint through hole 105 are all parallel to the axis of the proximal joint 1. The second constraint through hole 105 is arranged on the end face of the proximal joint 1, the second constraint clamping groove 103 is arranged on the side face of the proximal joint 1, the second constraint clamping groove 103 and the second constraint through hole 105 are coaxially communicated, and the end part of the constraint tendon 4 passes through the second constraint through hole 105 and is fixedly clamped in the second constraint clamping groove 103. The driving tendon 5 is slidably connected in the third driving through hole 102, and the third driving through hole 102 is disposed corresponding to the first driving through hole 202. The proximal joint 1 is further provided with a third central through hole 101, the axis of the third central through hole 101 is overlapped with the axis of the proximal joint 1, the third central through hole 101 is arranged corresponding to the first central through hole 206, and the third central through hole 101 is used for passing through a driving component of the actuator.

In order to avoid that the end face of the proximal joint 1, which is close to the tray body 2, affects the rotation of the tray body 2, a third constraint cambered surface 106 and a third abdication inclined surface 107 are arranged on the end face of the proximal joint 1, which is close to the tray body 2, a second constraint through hole 105 is arranged on the third constraint cambered surface 106, a third drive through hole 102 is arranged on the third abdication inclined surface 107, a fourth clamping part 104 is arranged at the end part of the proximal joint 1, which is close to the tray body 2, and the fourth clamping part 104 is in rotation clamping connection with the tray body 2. The fourth clamping portion 104 is an arc-shaped card, and the fourth clamping portion 104 is rotatably connected in the clamping groove 207. The third constraint cambered surface 106 is arranged at the middle position of the end face of the proximal joint 1, two third abdication inclined planes 107 are arranged, and the two third abdication inclined planes 107 are respectively arranged at two sides of the third constraint cambered surface 106. Wherein, the height of the third abdication slope 107 gradually decreases from the side close to the third constraint cambered surface 106 to the side far away, thereby reserving space for the rotating disc body 2. In order to facilitate smooth rotation of the disc body 2 around the clamping portion, the height of the middle position of the third constraint cambered surface 106 is higher than the height of one side of the third constraint cambered surface close to the third yielding inclined surface 107.

In order to facilitate the clamping of the end portion of the constraint tendon 4, the second constraint clamping groove 103 comprises a third sub-clamping groove 1031 and a fourth sub-clamping groove 1032 which are arranged in a communicating manner, as shown in fig. 15 and 17, the fourth sub-clamping groove 1032 is arranged close to the tray body 2, the groove width of the fourth sub-clamping groove 1032 is arranged corresponding to the diameter of the tendon main body 402 of the constraint tendon 4, the groove width of the third sub-clamping groove 1031 is arranged corresponding to the diameter of the second tendon clamping head 401 of the constraint tendon 4, the groove width of the fourth sub-clamping groove 1032 is smaller than the groove width of the third sub-clamping groove 1031, and therefore a stepped groove is formed, and the end of the constraint tendon 4 is limited by the third sub-clamping groove 1031 and the fourth sub-clamping groove 1032 which are arranged in a stepped manner.

In one embodiment, the constraining tendon 4 is a steel wire rope or a nickel titanium wire, one end of the constraining tendon 4 is clamped to the distal joint 3, and the other end is clamped to the proximal joint 1. The driving tendon 5 is nickel titanium sheet or stainless steel sheet, one end part of the driving tendon 5 is fixedly connected to the distal joint 3, and the other end part is slidably connected to the proximal joint 1.

The distal joint 3 is a cylindrical joint, one end of the distal joint 3 far away from the tray body 2 is provided with a first shaft shoulder, the first shaft shoulder is used for being in partial butt joint with a front end actuator of the flexible instrument, one end of the distal joint 3 close to the tray body 2 is provided with a second shaft shoulder, the second shaft shoulder is used for being connected with one end of a steel wire woven net outside the framework main body, the other end of the steel wire woven net is fixedly connected with one end of the proximal joint 1, and the other end of the proximal joint 1 is connected with an endoscope deflection tube. The driving tendon 5 penetrating out of the proximal joint 1 is connected with the operating handle.

The flexible framework can realize flexible action of the flexible instrument, lifting action of target tissues and mucous membranes in the treatment process, and is flexible to operate. The riveting connection structure of the traditional flexible framework is removed, the assembly process is simplified, the installation difficulty is reduced, the whole structure is simple, and the processing production and the assembly are convenient. The flexible skeleton has compact overall structure and good torsional strength, and the phenomenon that the tray body 2 is separated in the using process can not occur under the constraint of the constraint tendon 4.

In the description of the present embodiment, it should be understood that the directions or positional relationships indicated by the terms "upper", "lower", "vertical", "inner", "outer", etc. are based on the directions or positional relationships shown in the drawings, are merely for convenience in describing the present utility model and simplifying the description, and do not indicate or imply that the apparatus or element in question must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present embodiment.

Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include one or more such feature. In the description of the present embodiment, the meaning of "a plurality" is two or more, unless explicitly defined otherwise.

In the present specification, each embodiment is described in a progressive manner, and each embodiment is mainly described in a different point from other embodiments, and identical and similar parts between the embodiments are all enough to refer to each other.

The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present utility model. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the utility model. Thus, the present utility model is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. The flexible framework comprises a proximal joint, a framework main body and a distal joint which are sequentially arranged, and is characterized in that the framework main body comprises a plurality of discs which are rotationally clamped together, the discs are limited by constraint tendons which are arranged in a penetrating manner, one end of each constraint tendon is fixedly connected with the proximal joint, and the other end of each constraint tendon is fixedly connected with the distal joint; the plurality of tray bodies penetrate through and are provided with driving tendons, one ends of the driving tendons are connected with the proximal end connector in a sliding mode, and the other ends of the driving tendons are connected with the distal end connector in a fixed mode.

2. The flexible framework of claim 1, wherein a first clamping part is arranged at one end of the tray body, a second clamping part is arranged at the other end of the tray body, and the first clamping part of one tray body is rotationally clamped in the second clamping part of the adjacent tray body;

3. The flexible skeleton of claim 1, wherein the tray body is provided with a first driving through hole and a first constraint through hole, the axis of the first driving through hole and the axis of the first constraint through hole are parallel to the axis of the tray body, the driving tendon is arranged through the first driving through hole, and the constraint tendon is arranged through the first constraint through hole;

4. A flexible skeleton according to claim 3, wherein a first constraint cambered surface and a first abdication inclined surface are arranged on the end face of the tray body, the first constraint through hole is arranged on the first constraint cambered surface, the first drive through hole is arranged on the first abdication inclined surface, and the clamping parts of the tray body are arranged at two ends of the first constraint cambered surface;

5. The flexible skeleton according to claim 4, wherein two first constraint through holes are provided on the tray body, and the two first constraint through holes are respectively provided on both sides of the first center through hole;

6. A flexible backbone as claimed in claim 3, wherein the first drive through hole is a circular hole or a rectangular hole and the first constraint through hole is a circular hole or a rectangular hole.

7. The flexible framework of claim 1, wherein a second driving through hole and a first constraint clamping groove are formed in the distal joint, the second driving through hole and the first constraint clamping groove are arranged in parallel with the axis of the distal joint, the driving tendon is fixedly connected in the second driving through hole, and one end of the constraint tendon is fixedly clamped in the first constraint clamping groove;

8. The flexible framework of claim 7, wherein a second constraint cambered surface and a second abdication inclined surface are arranged on the end surface, close to the disc body, of the distal joint, the end part of the first constraint clamping groove is arranged on the second constraint cambered surface, the second driving through hole is arranged on the second abdication inclined surface, a third clamping part is arranged on the end part, close to the disc body, of the distal joint, and the third clamping part is rotationally clamped with the disc body;

9. The flexible backbone of claim 1, wherein the proximal joint is provided with a third drive through hole, a second constraint slot, and a second constraint through hole, and wherein an axis of the third drive through hole, an extension direction of the second constraint slot, and an axis of the second constraint through hole are all disposed parallel to an axis of the proximal joint;

10. The flexible framework of claim 9, wherein a third constraint cambered surface and a third abdication inclined surface are arranged on the end surface, close to the tray body, of the proximal end connector, the second constraint through hole is arranged on the third constraint cambered surface, the third drive through hole is arranged on the third abdication inclined surface, a fourth clamping part is arranged on the end, close to the tray body, of the proximal end connector, and the fourth clamping part is rotationally clamped with the tray body;

11. The flexible framework of claim 1, wherein the constraining tendons are steel wire ropes or nickel titanium wires, one end of the constraining tendons are clamped at the distal joint, and the other end of the constraining tendons are clamped at the proximal joint;