CN110811493A - Snake bone unit, snake bone, endoscope and endoscope rotation control method - Google Patents
Snake bone unit, snake bone, endoscope and endoscope rotation control method Download PDFInfo
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- CN110811493A CN110811493A CN201911293600.0A CN201911293600A CN110811493A CN 110811493 A CN110811493 A CN 110811493A CN 201911293600 A CN201911293600 A CN 201911293600A CN 110811493 A CN110811493 A CN 110811493A
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/008—Articulations
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/00163—Optical arrangements
- A61B1/00174—Optical arrangements characterised by the viewing angles
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/04—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor combined with photographic or television appliances
- A61B1/045—Control thereof
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Abstract
The invention relates to the technical field of examination and detection, and discloses a snake bone unit which comprises a tubular body, and two convex parts and two concave parts which are respectively arranged at one end and the other end of the tubular body, wherein the tubular body is circumferentially provided with four steel wire holes, one end of the tubular body is provided with a positioning block, and the other end of the tubular body is correspondingly provided with a positioning surface. The snake bone comprises at least two snake bone units which are sequentially connected end to end, the concave parts of the snake bone units are clamped with the convex parts of the adjacent snake bone units, and the two adjacent snake bone units can rotate relatively. The endoscope comprises a snake bone, a lens support and a fixing support, wherein the lens support and the fixing support are respectively arranged at one end and the other end of the snake bone, a camera is arranged on the lens support, a traction steel wire penetrates through a steel wire hole, and one end of the traction steel wire is connected with the lens support. The control method controls the camera to rotate in different directions by pulling different and different numbers of traction steel wires, so that the rotation in a full-angle range is realized.
Description
Technical Field
The invention relates to the technical field of examination and detection, in particular to a snake bone unit, a snake bone, an endoscope with the snake bone and a control method for rotation of the endoscope.
Background
Endoscopes are used in operations on human bodies or animals, or in inspections and examinations in narrow spaces where direct vision is not possible, such as pipes, vehicles, and airplanes. Of course, a medical endoscope is used for surgery, and an industrial endoscope is used for inspection of a pipe, a vehicle, an airplane, and the like. Endoscopes typically include a curved portion with a camera mounted on a head of the curved portion, which in turn includes a serpentine bone that can be bent, the serpentine bone including several serpentine bone units connected to each other. In the prior art, adjacent snake bone units are generally assembled through pins so as to realize hinged connection between the adjacent snake bone units. The endoscope snake bone structure with the structure is complex in assembly and more in production procedures, and the assembly of the pin shaft is prone to generating faults in the using process. The head of present flexion rotates and is only limited to two directions or four directions, and the rotation of four directions still can not accomplish the full coverage yet, need just can rotate the camera through whole rotation endoscope moreover, and the operation is very inconvenient.
Disclosure of Invention
In order to overcome the defects of the prior art, the invention provides an endoscope and a rotation control method thereof.
The technical scheme adopted by the invention for solving the technical problems is as follows:
the snake bone unit comprises a tubular body, wherein two convex parts are arranged at one end of the tubular body, two concave parts are arranged at the other end of the tubular body, arc-shaped convex surfaces are arranged on the convex parts, arc-shaped concave surfaces are arranged on the concave parts, the arc-shaped convex surfaces of one snake bone unit can be clamped on the arc-shaped concave surfaces of the other snake bone unit, the connecting line of the two convex parts and the connecting line of the two concave parts form an included angle with each other, four steel wire holes are formed in the tubular body along the circumferential direction, a positioning block is arranged at one end of the tubular body, and a positioning surface is correspondingly arranged at.
In an improvement of the above technical solution, the positioning block is located inside the concave portion, and the positioning surface is an inner side surface of the convex portion.
As an improvement of the above technical scheme, the number of the positioning blocks is two, a corner limiting groove is formed between the two positioning blocks, a corner limiting rib is correspondingly arranged on the inner side of the convex portion, the corner limiting groove is a vertical notch groove, the width of the corner limiting groove is smaller than that of the concave portion, the corner limiting rib is a vertical strip-shaped body, the width of the corner limiting rib is smaller than that of the convex portion, and the width of the corner limiting groove is larger than that of the corner limiting rib.
As an improvement of the above technical solution, the convex portion includes a cylindrical clamping portion and a handle body connecting the cylindrical clamping portion and the tubular body, a width of an intersection of the cylindrical clamping portion and the handle body is smaller than a diameter of the cylindrical clamping portion, a central axis of the cylindrical clamping portion is perpendicular to a central axis of the tubular body, two sides of the cylindrical clamping portion are in smooth transition connection with two sides of the handle body, and two sides of the handle body are in smooth transition connection with the tubular body.
As an improvement of the above technical solution, the concave portion includes a cylindrical clamping groove for accommodating the cylindrical clamping portion and a bayonet for accommodating the handle body, a width of an intersection of the cylindrical clamping groove and the bayonet is smaller than a diameter of the cylindrical clamping groove, and a central axis of the cylindrical clamping groove is perpendicular to a central axis of the tubular body.
As an improvement of the above technical scheme, the tubular body is provided with two clamping blocks, the bayonet is formed between the opposite side surfaces of the two clamping blocks, the opposite side surfaces of the two clamping blocks are both arc surfaces, and the other side surface of the clamping block is a part of the groove wall of the cylindrical clamping groove.
As an improvement of the technical scheme, a groove is formed in the side face of the tubular body, the groove is located on the outer side of the clamping block, and the groove is communicated with the concave portion.
As an improvement of the above technical solution, a second plane is disposed at the other end of the tubular body, the second plane is perpendicular to the axis of the tubular body, the clamping block protrudes out of the second plane, a part of the concave portion is concavely disposed on the second plane, and the clamping block is in smooth transition connection with the second plane.
As an improvement of the technical scheme, the other end of the tubular body is provided with a chamfer which penetrates through the side surface of the tubular body and the second plane, and the chamfer corresponds to the position of the convex part in the axial direction of the tubular body.
As an improvement of the technical scheme, a first plane is arranged on one end face of the tubular body, the first plane is perpendicular to the axis of the tubular body, and the two convex parts protrude out of the first plane.
As an improvement of the technical scheme, the convex parts and the concave parts are arranged on the tubular body in a staggered mode at intervals, two steel wire holes are located on the outer sides of the convex parts, and the other two steel wire holes are located on the outer sides of the concave parts.
As an improvement of the technical scheme, a pipeline channel is arranged in the center of the tubular body, the pipeline channel is drum-shaped, the position of the concave part is opposite to the straight edge of the pipeline channel, and the position of the convex part is opposite to the arc edge of the pipeline channel.
As an improvement of the technical scheme, the snake bone unit is a plastic snake bone unit, a metal snake bone unit or a rubber snake bone unit.
A snake bone comprises at least two snake bone units which are sequentially connected end to end, a concave part of a first snake bone unit is clamped with a convex part of an adjacent snake bone unit, a convex part of a last snake bone unit is clamped with a concave part of the adjacent snake bone unit, the convex part and the concave part of each snake bone unit between the first snake bone unit and the last snake bone unit are respectively clamped with the concave part and the convex part of adjacent different snake bone units, and the adjacent two snake bone units can rotate relatively.
An endoscope comprises the snake bone, a lens support and a fixing support, wherein the lens support and the fixing support are respectively arranged at one end and the other end of the snake bone, the lens support is connected to a convex portion of a first snake bone unit, a camera is mounted on the lens support, the fixing support is connected to a concave portion of a last snake bone unit, a traction steel wire penetrates through a steel wire hole, and one end of the traction steel wire is connected with the lens support.
A control method for endoscope rotation comprises the following specific steps: when one of the traction steel wires of the snake bone is pulled and the other traction steel wires are loosened, the lens bracket drives one end of the snake bone to bend towards the direction of the pulled traction steel wire; when two adjacent traction steel wires of the snake bone are pulled and the other two traction steel wires are loosened, the lens support drives one end of the snake bone to bend towards the area between the two adjacent traction steel wires; when one of the traction steel wires of the snake bone is tensioned, one end of the snake bone, which is provided with the lens bracket, is bent towards the direction of the tensioned traction steel wire, the tensioned traction steel wire is loosened, and the traction steel wire opposite to the tensioned traction steel wire is pulled, so that the lens bracket drives the snake bone to be bent towards the direction of the opposite traction steel wire; when one of the traction steel wires of the snake bone is tensioned, one end of the snake bone, which is provided with the lens support, is bent towards the direction of the tensioned traction steel wire, the tensioned traction steel wire is fixed, any traction steel wire adjacent to the tensioned traction steel wire is pulled, and the lens support drives the snake bone to rotate towards the direction of the adjacent traction steel wire by taking the length direction of the snake bone in a linear state as a central rotating shaft.
The invention has the following beneficial effects:
the endoscope is controlled by using the control method for the rotation of the endoscope, because the structure of the endoscope comprises a snake bone which is composed of at least two snake bone units, concave parts and convex parts of adjacent snake bone units are clamped, when a traction steel wire is pulled, an arc convex surface rotates in an arc concave surface, and the adjacent snake bone units are inclined for a certain angle, so that the whole snake bone is bent, the rotation of a lens bracket and a camera is realized, different traction steel wires and different numbers of traction steel wires are pulled, the lens bracket and the camera can turn to different directions, the rotation of the lens bracket and the camera is multidirectional, the effect of rotating in the vertical and horizontal directions is realized, and when the lens bracket and the camera rotate, the fixed bracket does not need to rotate, namely, the rotation of the camera in the full-angle range can be realized on the premise of not rotating the whole angle of the endoscope, and any position which is expected to be reached can be reached, so as to conveniently realize the inspection or operation without dead angles. The locating block and the locating surface cooperate to prevent movement between adjacent snake bone units in the radial direction, and the cooperation of the convex part and the concave part keeps the adjacent snake bone units connected in the axial direction.
Drawings
The invention is further described with reference to the following detailed description of embodiments and drawings, in which:
FIG. 1 is a schematic perspective view of a snake bone unit according to an embodiment of the present invention;
FIG. 2 is another perspective view of the snake bone unit in the embodiment of the present invention;
FIG. 3 is a schematic perspective view of a snake bone unit according to an embodiment of the present invention;
FIG. 4 is a side view of a snake bone unit in an embodiment of the invention;
FIG. 5 is a schematic perspective view of a snake bone according to an embodiment of the present invention;
FIG. 6 is a schematic perspective view of a portion of an endoscope in an embodiment of the present invention;
FIG. 7 is a sectional view showing a part of the structure of an endoscope in the embodiment of the present invention.
Detailed Description
Referring to fig. 6 and 7, the invention discloses an endoscope, which comprises a snake bone 200, a lens bracket 9 and a fixing bracket, wherein the lens bracket 9 and the fixing bracket are respectively arranged at one end and the other end of the snake bone 200, the lens bracket 9 is connected to the convex part 2 of the first snake bone unit 100, a camera is arranged on the lens bracket 9, the fixing bracket is connected to the concave part 3 of the last snake bone unit 100, a traction steel wire penetrates through the steel wire hole 4, and one end of the traction steel wire is connected with the lens bracket 9.
Referring to fig. 5 again, the invention also discloses a snake bone, which comprises at least two snake bone units 100 connected end to end in sequence, wherein the concave part 3 of the first snake bone unit 100 is clamped with the convex part 2 of the adjacent snake bone unit 100, the convex part 2 of the last snake bone unit 100 is clamped with the concave part 3 of the adjacent snake bone unit, the convex part 2 and the concave part 3 of each snake bone unit 100 between the first snake bone unit 100 and the last snake bone unit 100 are respectively clamped with the concave part 3 and the convex part 2 of the adjacent different snake bone units 100, and the adjacent two snake bone units 100 can rotate relatively.
Further, the present invention also discloses a method for controlling the rotation of the endoscope, which defines the rotation direction of the lens holder 9 by the direction of the snake bone 200 in the linear state, specifically, the longitudinal direction of the snake bone 200, that is, two extending directions of the axial direction are respectively the front and back directions, the direction of the end of the snake bone 200 where the lens holder 9 is installed is the front direction, the direction of the end of the snake bone 200 where the fixing holder is installed is the back direction, four mutually perpendicular directions of the snake bone 200 in the radial direction are respectively the up and down and left and right directions, the end of the snake bone 200 where the lens holder 9 is installed is the head of the snake bone 200, and the end of the snake bone 200 where the fixing holder is installed is the tail of the snake bone 200, and the specific control method is as follows:
when one of the traction steel wires of the snake bone 200 is pulled and the other traction steel wires are loosened, the lens support 9 drives one end of the snake bone 200 to bend towards the direction of the pulled traction steel wire; that is, when one end of the fixing bracket pulls the traction wire in a certain direction, the snake bone 200 is bent in a corresponding direction. For example, when the left traction wire is pulled and other traction wires are loosened, the lens holder 9 drives the first snake bone unit 100 to incline to the left by a predetermined angle, and the first snake bone unit 100 drives the second snake bone unit 100 to incline to the left, so that all the snake bone units 100 incline to the left in sequence, and the head of the snake bone 200 bends to the left, thereby realizing the function that the camera rotates to the left; similarly, when the right traction steel wire is pulled and other traction steel wires are loosened, the camera rotates rightwards; when the upper traction steel wire is pulled and other traction steel wires are loosened, the camera rotates upwards; when the lower traction steel wire is pulled and other traction steel wires are loosened, the camera rotates downwards.
When two adjacent traction steel wires of the snake bone 200 are pulled and the other two traction steel wires are loosened, the lens holder 9 drives one end of the snake bone 200 to bend towards the area between the two adjacent traction steel wires. For example, when the left and upper traction wires are pulled simultaneously and other traction wires are loosened, the lens holder 9 drives a part of the snake bone unit 100 to incline to the left by a certain angle and drives another part of the snake bone unit 100 to incline to the upper by a certain angle, so that the head of the snake bone 200 bends to the left and the upper, and the camera rotates to the left and the upper; similarly, when the left traction steel wire and the lower traction steel wire are pulled simultaneously and other traction steel wires are loosened, the camera rotates towards the left lower part; when the traction steel wires on the right and the upper sides are pulled simultaneously and other traction steel wires are loosened, the camera rotates to the right and the upper side; when the traction steel wires at the right and lower sides are pulled simultaneously and other traction steel wires are loosened, the camera rotates towards the lower right.
When one of the traction wires of the snake bone 200 is tensioned, and the end of the snake bone 200, on which the lens holder 9 is mounted, is bent in the direction of the tensioned traction wire, the tensioned traction wire is loosened, and the traction wire opposite to the tensioned traction wire is pulled, so that the lens holder 9 drives the snake bone 200 to be bent in the direction of the opposite traction wire. For example, when the left traction wire is tightened and the head of the snake bone 200 is bent to the left, if it is desired to bend the head of the snake bone 200 to the right, the left traction wire is loosened, and then the right traction wire is pulled, so that the lens holder 9 drives the first snake bone unit 100 to tilt to the right by a predetermined angle, and the first snake bone unit 100 drives the second snake bone unit 100 to tilt to the right, and thus, all the snake bone units 100 tilt to the right in sequence, and during this operation, the head of the snake bone 200 moves from the state of being bent to the left to the state of being restored to a straight line, and then moves to the state of being bent to the right, thereby realizing the function of rotating the camera head from the left to the right. Similarly, when the right traction steel wire is tensioned and the head of the snake bone 200 is bent to the right, the right traction steel wire is loosened, the left traction steel wire is pulled, and the camera rotates from the right to the left; when the upper traction steel wire is tensioned and the head of the snake bone 200 is bent upwards, the upper traction steel wire is loosened, the lower traction steel wire is pulled, and the camera rotates from the upper part to the lower part; when the lower traction steel wire is tensioned and the head of the snake bone 200 is bent downwards, the lower traction steel wire is loosened, the upper traction steel wire is pulled, and the camera rotates upwards from the lower direction; the rotation control in other directions is the same as the above.
When one of the traction steel wires of the snake bone 200 is tensioned, and one end of the snake bone 200, on which the lens support 9 is mounted, is bent towards the direction of the tensioned traction steel wire, the tensioned traction steel wire is fixed, and any traction steel wire adjacent to the tensioned traction steel wire is pulled, so that the lens support 9 drives the snake bone 200 to rotate towards the direction of the adjacent traction steel wire by taking the length direction of the snake bone 200 in a linear state as a central rotating shaft. For example, when the left traction wire is tightened and the head of the snake bone 200 is bent to the left, if the head of the snake bone 200 is bent to the left, the left traction wire is fixed, and then the upper traction wire is pulled, the tail of the snake bone 200 is fixed, the lens holder 9 drives one of the snake bone units 100 close to the snake bone 200 to tilt upward by a predetermined angle, so that the head of the snake bone 200 rotates upward around the length direction of the snake bone 200 in a straight line state, and in the operation process, the head of the snake bone 200 is always in a bent state, that is, the head of the snake bone 200 in the bent state sweeps a sector area, and the camera rotates upward from the left. Similarly, when the right traction steel wire is tensioned and the head of the snake bone 200 is bent to the right, the right traction steel wire is fixed, and then the upper traction steel wire is pulled, so that the camera rotates from the right; when the lower traction steel wire is tensioned and the head of the snake bone 200 is bent downwards, the lower traction steel wire is fixed, and then the left traction steel wire is pulled, so that the camera rotates from the lower direction to the left direction; when the lower traction steel wire is tensioned and the head of the snake bone 200 is bent downwards, the lower traction steel wire is fixed, and then the right traction steel wire is pulled, so that the camera rotates from the lower direction to the right; the rotation control in other directions is the same as the above.
Thus, by using the control method of the endoscope rotation, various control modes are mutually combined and matched, the head of the snake bone 200 can realize the rotation in the all-round full-angle range, namely, the camera can realize the rotation in the all-round full-angle range.
Referring to fig. 1-4, the invention also discloses a snake bone unit, which comprises a tubular body 1, wherein one end of the tubular body 1 is provided with two convex parts 2, the other end of the tubular body 1 is provided with two concave parts 3, the convex parts 2 are provided with arc convex surfaces 221, the concave parts 3 are provided with arc concave surfaces 311, the arc convex surfaces 221 of one snake bone unit can be clamped with the arc concave surfaces 311 of the other snake bone unit, the two convex parts 2 and the two concave parts 3 are uniformly arranged on the tubular body 1 along the circumference, the tubular body 1 is uniformly provided with four steel wire holes 4 along the circumference, the uniform arrangement is convenient for controlling the rotation direction of the snake bone 200, the tubular body 1 is provided with a positioning block 5, the positioning block 5 is positioned at the inner side of the concave part 3, and the inner sides of the convex parts 2 are correspondingly provided. The positioning block 5 can limit the radial movement of the projection 2 along the tubular body 1. The snake bone unit is made of plastic, metal, rubber or other materials.
Specifically, the convex parts 2 and the concave parts 3 are arranged on the tubular body 1 in a staggered mode at intervals, and the arrangement at intervals can enable the whole pipeline to be more flexible and smooth in rotation. The two steel wire holes 4 are positioned on the outer side of the convex part 2, and the two steel wire holes 4 are positioned on the outer side of the concave part 3, so that the rotation direction of the snake bone 200 can be accurately controlled.
Further, a pipeline channel 8 is arranged in the center of the tubular body 1 and used for sealing pipelines such as tubes, lens wires and light guide beams through a working channel. The pipeline channel 8 is drum-shaped, the concave part 3 is opposite to the straight edge of the pipeline channel 8, and the convex part 2 is opposite to the arc edge of the pipeline channel 8. The drum-shaped line channel 8 is easier to assemble and can accommodate more lines.
Further, in order to strengthen the strength of the snake bone 200, the design of the corner limiting ribs 7 and the corner limiting grooves 6 is added, specifically, the number of the positioning blocks 5 is two, the corner limiting grooves 6 are formed between the two positioning blocks 5, the corner limiting ribs 7 are correspondingly arranged on the inner sides of the convex portions 2, and the width of the corner limiting grooves 6 is larger than that of the corner limiting ribs 7. The width of the corner limiting rib 7 is smaller than that of the convex part 2. The width of the corner limiting groove 6 is smaller than that of the concave part 3. The corner limiting groove 6 is communicated with a pipeline channel 8.
Specifically, the corner limiting groove 6 is a vertical notch, and the corner limiting rib 7 is a vertical strip-shaped body. The corner limiting groove 6 is over against the center of the concave part 3, the corner limiting rib 7 is over against the center of the convex part 2, when two adjacent snake bone units 100 rotate for a certain angle, the side wall of the corner limiting rib 7 can touch the side wall of the corner limiting groove 6, and the side wall of the corner limiting groove 6 limits the rotation angle of the corner limiting rib 7.
In the present embodiment, the convex portion 2 includes a cylindrical clamping portion 22 and a handle 23 connecting the cylindrical clamping portion 22 and the tubular body 1, the width of the intersection between the cylindrical clamping portion 22 and the handle 23 is smaller than the diameter of the cylindrical clamping portion 22, and the central axis of the cylindrical clamping portion 22 is perpendicular to the central axis of the tubular body 1. The two sides of the cylindrical clamping part 22 are in smooth transition connection with the two sides of the handle body 23, and the two sides of the handle body 23 are in smooth transition connection with the tubular body 1, so that stress concentration is avoided, and the strength of the convex part 2 is increased.
Correspondingly, the concave part 3 comprises a cylindrical clamping groove 31 for accommodating the cylindrical clamping part 22 and a clamping opening 32 for accommodating the handle body 23, the width of the intersection of the cylindrical clamping groove 31 and the clamping opening 32 is smaller than the diameter of the cylindrical clamping groove 31, and the central axis of the cylindrical clamping groove 31 is perpendicular to the central axis of the tubular body 1. The cylindrical clamping portion 22 is directly pressed and buckled into the cylindrical clamping groove 31, installation is easy, and loosening can be effectively prevented due to the arrangement of the clamping opening 32.
Specifically, two clamping blocks 11 are arranged on the tubular body 1, the bayonet 32 is formed between one side surfaces of the two clamping blocks 11, one side surface of each clamping block 11 is an arc surface 111, and the other side surface of each clamping block 11 is a part of the groove wall of the cylindrical clamping groove 31.
Moreover, the other end of the tubular body 1 is provided with a second plane 13, the second plane 13 is perpendicular to the axis of the tubular body 1, the latch 11 protrudes out of the second plane 13, and a part of the concave part 3 is recessed in the second plane 13. The fixture block 11 is in smooth transition connection with the second plane 13. The other end of the tubular body 1 is provided with a chamfer 14, the chamfer 14 penetrates through the side surface of the tubular body 1 and the second plane 13, the chamfer 14 corresponds to the axial position of the convex part 2 on the tubular body 1, and a avoidance area is formed at the position outside the chamfer 14, so that enough space required for rotation is reserved to realize the rotating bending between the adjacent snake bone units 100.
In addition, the side of the tubular body 1 is provided with a groove 15, the groove 15 is positioned on the outer side of the fixture block 11, the groove 15 is communicated with the concave part 3, the groove 15 is used for avoiding, and a space required by enough rotation is reserved.
Correspondingly, one end face of the tubular body 1 is provided with a first plane 12, the first plane 12 is perpendicular to the axis of the tubular body 1, and the two convex parts 2 protrude out of the first plane 12.
The above description is only a preferred embodiment of the present invention, but the present invention is not limited to the above embodiments, and the present invention shall fall within the protection scope of the present invention as long as the technical effects of the present invention are achieved by any similar or identical means.
Claims (16)
1. A snake bone unit, characterized in that: the snake bone cutting device is characterized by comprising a tubular body (1), wherein two convex parts (2) are arranged at one end of the tubular body (1), two concave parts (3) are arranged at the other end of the tubular body (1), arc-shaped convex surfaces (221) are arranged on the convex parts (2), arc-shaped concave surfaces (311) are arranged on the concave parts (3), the arc-shaped convex surfaces (221) of one snake bone unit can be clamped on the arc-shaped concave surfaces (311) of the other snake bone unit, the connecting line of the two convex parts (2) and the connecting line of the two concave parts (3) form an included angle, four steel wire holes (4) are formed in the tubular body (1) along the circumferential direction, a positioning block (5) is arranged at one end of the tubular body (1), and a positioning surface.
2. A snake bone unit according to claim 1, wherein: the positioning block (5) is positioned on the inner side of the concave part (3), and the positioning surface (21) is the inner side surface of the convex part (2).
3. A snake bone unit according to claim 2, wherein: the positioning blocks (5) are two, a corner limiting groove (6) is formed between the two positioning blocks (5), the inner side of the convex portion (2) is correspondingly provided with a corner limiting rib (7), the corner limiting groove (6) is a vertical notch groove, the width of the corner limiting groove (6) is smaller than that of the concave portion (3), the corner limiting rib (7) is a vertical strip-shaped body, the width of the corner limiting rib (7) is smaller than that of the convex portion (2), and the width of the corner limiting groove (6) is larger than that of the corner limiting rib (7).
4. A snake bone unit according to any of claims 1-3, wherein: the convex part (2) comprises a cylindrical clamping part (22) and a handle body (23) for connecting the cylindrical clamping part (22) with the tubular body (1), the width of the intersection of the cylindrical clamping part (22) and the handle body (23) is smaller than the diameter of the cylindrical clamping part (22), the central axis of the cylindrical clamping part (22) is perpendicular to the central axis of the tubular body (1), the two sides of the cylindrical clamping part (22) are in smooth transition connection with the two sides of the handle body (23), and the two sides of the handle body (23) are in smooth transition connection with the tubular body (1).
5. A snake bone unit according to claim 4, wherein: the concave part (3) comprises a cylindrical clamping groove (31) used for accommodating the cylindrical clamping part (22) and a bayonet (32) used for accommodating the handle body (23), the width of the intersection of the cylindrical clamping groove (31) and the bayonet (32) is smaller than the diameter of the cylindrical clamping groove (31), and the central axis of the cylindrical clamping groove (31) is perpendicular to the central axis of the tubular body (1).
6. A snake bone unit according to claim 5, wherein: the clamping structure is characterized in that two clamping blocks (11) are arranged on the tubular body (1), the bayonet (32) is formed between the opposite side faces of the two clamping blocks (11), the opposite side faces of the two clamping blocks (11) are both arc faces (111), and the other side face of each clamping block (11) is a part of the groove wall of the cylindrical clamping groove (31).
7. A snake bone unit according to claim 6, wherein: the side of the tubular body (1) is provided with a groove (15), the groove (15) is located on the outer side of the clamping block (11), and the groove (15) is communicated with the concave part (3).
8. A snake bone unit according to claim 6, wherein: the other end of the tubular body (1) is provided with a second plane (13), the second plane (13) is perpendicular to the axis of the tubular body (1), the clamping block (11) protrudes out of the second plane (13), a part of the concave portion (3) is concavely arranged on the second plane (13), and the clamping block (11) is in smooth transition connection with the second plane (13).
9. A snake bone unit according to claim 8, wherein: the other end of tubular body (1) is equipped with scarf (14), scarf (14) run through the side and second plane (13) of tubular body (1), scarf (14) correspond the position that convex part (2) are located in the axial of tubular body (1).
10. A snake bone unit according to claim 1 or 8, wherein: one end face of the tubular body (1) is provided with a first plane (12), the first plane (12) is perpendicular to the axis of the tubular body (1), and the two convex parts (2) protrude out of the first plane (12).
11. A snake bone unit according to claim 1, wherein: the convex parts (2) and the concave parts (3) are arranged on the tubular body (1) in a staggered mode at intervals, two steel wire holes (4) are located on the outer sides of the convex parts (2), and the other two steel wire holes (4) are located on the outer sides of the concave parts (3).
12. A snake bone unit according to claim 1, wherein: the pipeline device is characterized in that a pipeline channel (8) is arranged in the center of the tubular body (1), the pipeline channel (8) is drum-shaped, the concave part (3) is opposite to the straight edge of the pipeline channel (8), and the convex part (2) is opposite to the arc edge of the pipeline channel (8).
13. A snake bone unit according to claim 1, wherein: the snake bone unit is a plastic snake bone unit, a metal snake bone unit or a rubber snake bone unit.
14. A snake bone, which is characterized in that: the snake bone unit (100) comprises at least two snake bone units (100) as claimed in any one of claims 1 to 13 which are connected end to end, the concave part (3) of the first snake bone unit (100) is clamped with the convex part (2) of the adjacent snake bone unit (100), the convex part (2) of the last snake bone unit (100) is clamped with the concave part (3) of the adjacent snake bone unit, the convex part (2) and the concave part (3) of each snake bone unit (100) between the first snake bone unit (100) and the last snake bone unit (100) are respectively clamped with the concave part (3) and the convex part (2) of the adjacent different snake bone units (100), and the adjacent two snake bone units (100) can rotate relatively.
15. An endoscope, characterized by: the snake bone (200) comprises the snake bone (200) as claimed in claim 14, and a lens holder (9) and a fixing holder respectively arranged at one end and the other end of the snake bone (200), wherein the lens holder (9) is connected to the convex part (2) of the first snake bone unit (100), a camera is arranged on the lens holder (9), the fixing holder is connected to the concave part (3) of the last snake bone unit (100), a traction steel wire penetrates through the steel wire hole (4), and one end of the traction steel wire is connected with the lens holder (9).
16. A method of controlling rotation of an endoscope, comprising: the specific control method comprises the following steps: when one of the traction steel wires of the snake bone (200) is pulled and other traction steel wires are loosened, the lens bracket (9) drives one end of the snake bone (200) to bend towards the direction of the pulled traction steel wire;
when two adjacent traction steel wires of the snake bone (200) are pulled and the other two traction steel wires are loosened, the lens bracket (9) drives one end of the snake bone (200) to bend towards the area between the two adjacent traction steel wires;
when one of the traction steel wires of the snake bone (200) is tensioned, one end of the snake bone (200) provided with the lens bracket (9) is bent along the direction of the tensioned traction steel wire, the tensioned traction steel wire is loosened, the traction steel wire opposite to the tensioned traction steel wire is pulled, and the lens bracket (9) drives the snake bone (200) to be bent along the direction of the opposite traction steel wire;
when one of the traction steel wires of the snake bone (200) is tensioned, one end of the snake bone (200) provided with the lens bracket (9) is bent along the direction of the tensioned traction steel wire, the tensioned traction steel wire is fixed, any traction steel wire adjacent to the tensioned traction steel wire is pulled, and the lens bracket (9) drives the snake bone (200) to rotate along the direction of the adjacent traction steel wire by taking the length direction of the snake bone (200) in a linear state as a central rotating shaft.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911293600.0A CN110811493A (en) | 2019-12-16 | 2019-12-16 | Snake bone unit, snake bone, endoscope and endoscope rotation control method |
| PCT/CN2020/087762 WO2021120488A1 (en) | 2019-12-16 | 2020-04-29 | Snake bone unit, snake bone, endoscope and control method for endoscope rotation |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201911293600.0A CN110811493A (en) | 2019-12-16 | 2019-12-16 | Snake bone unit, snake bone, endoscope and endoscope rotation control method |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN110811493A true CN110811493A (en) | 2020-02-21 |
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Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201911293600.0A Pending CN110811493A (en) | 2019-12-16 | 2019-12-16 | Snake bone unit, snake bone, endoscope and endoscope rotation control method |
Country Status (2)
| Country | Link |
|---|---|
| CN (1) | CN110811493A (en) |
| WO (1) | WO2021120488A1 (en) |
Cited By (6)
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| CN111588470A (en) * | 2020-05-18 | 2020-08-28 | 上海交通大学 | Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment |
| WO2021120488A1 (en) * | 2019-12-16 | 2021-06-24 | 珠海市司迈科技有限公司 | Snake bone unit, snake bone, endoscope and control method for endoscope rotation |
| CN113243885A (en) * | 2021-06-16 | 2021-08-13 | 上海宇度医学科技股份有限公司 | Electronic hysteroscope with adjustable lens angle |
| CN116672585A (en) * | 2023-07-31 | 2023-09-01 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
| CN116688339A (en) * | 2023-07-31 | 2023-09-05 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
| CN117898871A (en) * | 2024-03-19 | 2024-04-19 | 常熟理工学院 | Telescopic chain armor structure |
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| GB2610647B (en) * | 2021-09-14 | 2024-01-10 | I Q Endoscopes Ltd | Endoscopy system & elements thereof |
| CN114027983B (en) * | 2022-01-06 | 2022-04-12 | 极限人工智能(北京)有限公司 | Universal snake bone component, surgical instrument and split type surgical device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN203555712U (en) * | 2013-06-24 | 2014-04-23 | 深圳市永恒丰智能设备有限公司 | Bellows device capable of universal rotation |
| CN204192566U (en) * | 2014-09-30 | 2015-03-11 | 深圳市鹏瑞智能技术应用研究院 | Unit joint, snake bone pipe and the telecontrol equipment for endoscope |
| GB2572739B (en) * | 2018-01-26 | 2020-11-18 | Ip2Ipo Innovations Ltd | Joint component |
| CN109770828A (en) * | 2019-01-29 | 2019-05-21 | 深圳市先赞科技有限公司 | A kind of novel snake bone component on endoscope |
| CN110811493A (en) * | 2019-12-16 | 2020-02-21 | 珠海市司迈科技有限公司 | Snake bone unit, snake bone, endoscope and endoscope rotation control method |
-
2019
- 2019-12-16 CN CN201911293600.0A patent/CN110811493A/en active Pending
-
2020
- 2020-04-29 WO PCT/CN2020/087762 patent/WO2021120488A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2021120488A1 (en) * | 2019-12-16 | 2021-06-24 | 珠海市司迈科技有限公司 | Snake bone unit, snake bone, endoscope and control method for endoscope rotation |
| CN111588470A (en) * | 2020-05-18 | 2020-08-28 | 上海交通大学 | Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment |
| CN111588470B (en) * | 2020-05-18 | 2023-04-07 | 上海交通大学 | Omnidirectional special-shaped bent continuum flexible mechanical arm for intracavity interventional diagnosis and treatment |
| CN113243885A (en) * | 2021-06-16 | 2021-08-13 | 上海宇度医学科技股份有限公司 | Electronic hysteroscope with adjustable lens angle |
| CN116672585A (en) * | 2023-07-31 | 2023-09-01 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
| CN116688339A (en) * | 2023-07-31 | 2023-09-05 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
| CN116672585B (en) * | 2023-07-31 | 2023-11-10 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
| CN116688339B (en) * | 2023-07-31 | 2024-03-22 | 科弛医疗科技(北京)有限公司 | Medicine sprayer and surgical robot |
| CN117898871A (en) * | 2024-03-19 | 2024-04-19 | 常熟理工学院 | Telescopic chain armor structure |
| CN117898871B (en) * | 2024-03-19 | 2024-05-14 | 常熟理工学院 | Telescopic chain armor structure |
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| Publication number | Publication date |
|---|---|
| WO2021120488A1 (en) | 2021-06-24 |
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