CN113576379A - Snake bone unit, snake bone, endoscope and bending control method - Google Patents
Snake bone unit, snake bone, endoscope and bending control method Download PDFInfo
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- CN113576379A CN113576379A CN202111003596.7A CN202111003596A CN113576379A CN 113576379 A CN113576379 A CN 113576379A CN 202111003596 A CN202111003596 A CN 202111003596A CN 113576379 A CN113576379 A CN 113576379A
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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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Abstract
The invention is suitable for the technical field of endoscopes, and provides a snake bone unit, a snake bone, an endoscope and a bending control method, wherein the snake bone unit comprises a snake bone unit body, the snake bone unit body is tubular, two lugs are arranged on the snake bone unit body along a first radial direction, and the lugs are used for being connected with another snake bone unit; and an accommodating cavity is arranged between the two lugs on the snake bone unit body and is used for accommodating a magnetic body. The snake bone and the endoscope provided by the invention realize the relative rotation between the two adjacent snake bone units through the attraction or repulsion of the magnetic bodies of the two adjacent snake bone units. The advantage of this kind of drive mode lies in, can realize that the snake bone structure is crooked along a plurality of directions through the magnetism of the magnet of control two adjacent snake bone units accommodation intracavity, can adapt to practical application demand better.
Description
Technical Field
The invention relates to an endoscope, in particular to a snake bone unit, a snake bone, an endoscope and a bending control method.
Background
An endoscope is a common medical instrument, enters a human body through a natural pore canal of the human body or a small incision made by an operation, is guided into a pre-examined organ when in use, and can directly peep changes of related parts. The existing endoscope generally controls the snake bone unit through a steel wire rope structure, and realizes symmetrical bending of the insertion part in two radial directions, such as leftward bending or rightward bending.
On the one hand, the structure has a certain defect that the tissue structure in the human body is complex, especially in some complex intestinal tracts, the bending structure is complex, so that the insertion part of the existing endoscope cannot smoothly enter the parts of the human body with the complex bending structure, and the strong insertion can cause poor experience to patients and even damage to the bodies of the patients. On the other hand, the snake bone is required to be provided with a hole for the steel wire rope to penetrate through, the required manufacturing process is complex, and the production cost is high.
Disclosure of Invention
In order to solve the above problems, an object of a first aspect of the present invention is to provide a snake bone unit, which comprises a snake bone unit body, wherein the snake bone unit body is tubular, and the snake bone unit body is provided with two lugs along a first radial direction, and the lugs are used for connecting with another snake bone unit; and an accommodating cavity is arranged between the two lugs on the snake bone unit body and is used for accommodating a magnetic body.
Further, the accommodating cavity comprises a first accommodating cavity and a second accommodating cavity which extend along the axial direction of the snake bone unit body; the first accommodating cavity and the second accommodating cavity are respectively positioned at two ends of the snake bone unit body along a second radial direction; the second radial direction is perpendicular to the first radial direction.
Further, the first accommodating cavity and the second accommodating cavity are formed in the outer wall of the snake bone unit body, and the first accommodating cavity and the second accommodating cavity are communicated with two end faces of the snake bone unit.
Further, the accommodating cavities comprise a third accommodating cavity, a fourth accommodating cavity, a fifth accommodating cavity and a sixth accommodating cavity;
the third accommodating cavity and the fourth accommodating cavity are positioned at one end of the snake bone unit body along a second radial direction, the third accommodating cavity is communicated with one side end face of the snake bone unit body, and the fourth accommodating cavity is communicated with the other side end face of the snake bone unit body;
the fifth accommodating cavity and the sixth accommodating cavity are positioned at the other end of the snake bone unit body along the second radial direction, the fifth accommodating cavity is communicated with one side end face of the snake bone unit body, and the sixth accommodating cavity is communicated with the other side end face of the snake bone unit body;
the second radial direction is perpendicular to the first radial direction.
Further, the accommodating cavities comprise a seventh accommodating cavity, an eighth accommodating cavity, a ninth accommodating cavity and a tenth accommodating cavity;
the seventh accommodating cavity and the tenth accommodating cavity are respectively positioned at two ends of the snake bone unit body along a third radial direction; the eighth accommodating cavity and the ninth accommodating cavity are respectively positioned at two ends of the snake bone unit body along a fourth radial direction; the second radial direction is perpendicular to the first radial direction, and the third radial direction and the fourth radial direction are symmetrical with respect to the second radial direction.
The snake bone comprises a plurality of snake bone units which are connected end to end in sequence, and adjacent two snake bone units can rotate relatively.
An object of a third aspect of the present invention is to provide an endoscope, which includes a handle portion and an insertion portion, wherein the insertion portion is provided with the aforementioned snake bone, and a magnetic body is accommodated in an accommodation cavity of each snake bone unit, and the magnetic body is a variable polarity magnetic body.
Further, handle portion is equipped with control assembly, the magnetic substance is the electromagnet, every the magnetic substance all with control assembly electricity is connected.
Further, the magnetic body and the accommodating cavity are in interference fit.
It is an object of a fourth aspect of the present invention to provide a bending control method of the aforementioned endoscope, which controls rotation of the snake bone unit by changing magnetism of the facing surfaces of the adjacent magnetic bodies.
Compared with the prior art, the invention has the beneficial technical effects that:
1) the snake bone unit can be manufactured in an integrated forming mode, and the processing technology is simple. Meanwhile, the snake bone unit does not comprise a steel wire rope penetrating structure. The snake bone and the endoscope provided by the invention realize the relative rotation between two adjacent snake bone units by the attraction or repulsion of the magnetic bodies of the two adjacent snake bone units. The snake bone structure can be bent along a plurality of directions by controlling the magnetism of the magnetic body in the accommodating cavity of the two adjacent snake bone units, so that the endoscope can enter the focus position of a patient more smoothly when in use, the pain of the patient is reduced, and the experience of the patient is improved.
2) The invention provides various arrangement forms of the accommodating cavities in the snake bone unit, for example, two accommodating cavities are respectively arranged at two ends of the snake bone unit in the second radial direction, two accommodating cavities which are coaxial with the accommodating cavities are respectively arranged at two ends of the snake bone unit in the second radial direction, or two symmetrical accommodating cavities are respectively arranged at two ends of the snake bone unit in the second radial direction. Through the containing cavities in various arrangement forms, suction or repulsion with enough size can be provided for relative rotation of two adjacent snake bone units, and the situation that the snake bone units cannot rotate due to the fact that one magnetic body fails can be avoided.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments of the present invention or in the description of the prior art will be briefly described below, and it is obvious that the drawings described below are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to the drawings without creative efforts.
FIG. 1 is a schematic structural view of a snake bone unit provided with a first accommodating cavity and a second accommodating cavity in one embodiment of the invention;
FIG. 2 is a schematic structural diagram of a snake bone unit provided with a third accommodating cavity, a fourth accommodating cavity, a fifth accommodating cavity and a sixth accommodating cavity in one embodiment of the invention;
FIG. 3 is a schematic structural diagram of a snake bone unit provided with a seventh accommodating cavity, an eighth accommodating cavity, a ninth accommodating cavity and a tenth accommodating cavity in one embodiment of the invention;
FIG. 4 is a schematic view of a snake bone structure according to an embodiment of the present invention;
FIG. 5 is a schematic view of the snake bone structure and the magnetic body of FIG. 4 after they are assembled;
FIG. 6 is a schematic view of the snake bone of FIG. 5 after it has been bent to any desired extent;
FIG. 7 is a partial cross-sectional view of the snake bone structure of FIG. 6;
FIG. 8 is a schematic view of an endoscope in accordance with an embodiment of the present invention;
in the figure: 1-snake bone unit, 11-snake bone unit body, 12-lug, 13-containing cavity, 131-first containing cavity, 132-second containing cavity, 133-third containing cavity, 134-fourth containing cavity, 135-fifth containing cavity, 136-sixth containing cavity, 137-seventh containing cavity, 138-eighth containing cavity, 139-ninth containing cavity, 1310-tenth containing cavity, 2-snake bone, 3-endoscope, 31-handle part, 32-insertion part and 33-magnetic body.
Detailed Description
The following description provides many different embodiments, or examples, for implementing different features of the invention. The particular examples set forth below are illustrative only and are not intended to be limiting.
In the prior art, a conventional endoscope includes an operation portion (also referred to as a handle) and an insertion portion. The handle part is used for controlling the insertion part to enter a human body. Wherein, the inserting part can be divided into a module section, a snake bone section, a passive bending section and the like. Two (or four) steel wire ropes are arranged in the snake bone section in a penetrating manner, the steel wire ropes are connected with a rotating wheel of the handle part, one of the steel wire ropes can be tightened up through the rotation of the rotating wheel, and the other steel wire rope is loosened, so that the snake bone section of the endoscope rotates towards one side where the steel wire ropes are tightened up; changing the rotation direction of the runner can make the snake bone segments rotate towards the opposite direction.
It can be seen that the manner of controlling the bending of the snake bone segment by the steel wire rope can only realize the rotation of the snake bone segment to a limited direction (only to the left or the right). For some parts with more complicated human tissue structures, such as intestinal tracts, the internal bent structure of the part is complicated, and S-shaped or more complicated bent parts often exist. The single bending form of the insertion part of the endoscope in the prior art can not adapt to the internal environment of the human body well, and can not enter parts with complex bending structures in the human body smoothly, so that the endoscope can cause bad experience to patients if entering the parts by force, and even damage to the bodies of the patients. Meanwhile, holes for the steel wire ropes to penetrate through are required to be formed in the inner wall of the snake bone unit, so that the required manufacturing process is complex, and the production cost is high.
In view of the above, an embodiment of the present invention, as shown in fig. 1 to 3, provides a snake bone unit 1, wherein the snake bone unit 1 comprises a snake bone unit body 11, the snake bone unit body 11 is tubular, the snake bone unit body 11 is provided with two lugs 12 along a first radial direction, and the two lugs 12 are used for connecting with another snake bone unit 1; an accommodating cavity 13 is arranged between the two lugs 12 on the snake bone unit body 11, and the accommodating cavity 13 is used for accommodating the magnetic body 33.
In the above-described embodiment, the first radial direction refers to a radial direction in which the two lugs 12 are located on one side end surface of the snake bone unit 1.
Compared with the prior art, because the snake bone unit 1 in the scheme does not need to additionally process the through hole for penetrating through the steel wire rope on the inner wall of the snake bone unit, the snake bone unit can be manufactured in an integrally forming mode, and the processing process is simple.
Meanwhile, the snake bone unit 1 in the scheme does not comprise a steel wire rope penetrating structure. That is, unlike the prior art in which the snake bone units 1 are driven to rotate by the wire rope, in this embodiment, the relative rotation between two adjacent snake bone units 1 is realized by attraction or repulsion of the magnetic bodies 33 of the two adjacent snake bone units 1. The advantage of this kind of driving method is that, through controlling the magnetism of the magnet 33 in the containing cavity 13 of two adjacent snake bone units 1, the snake bone structure can be bent along multiple directions, and can better adapt to the practical application requirement.
Preferably, the snake bone unit 1 is made of non-conductive materials; preferably, the shape of the accommodating chamber 13 is adapted to the shape of the magnetic body 33.
In one embodiment of the present invention, as shown in fig. 1, the accommodating chamber 13 includes a first accommodating chamber 131 and a second accommodating chamber 132 extending axially along the snake bone unit body 11; the first accommodating cavity 131 and the second accommodating cavity 132 are respectively located at two ends of the snake bone unit body 11 along the second radial direction; the second radial direction is perpendicular to the first radial direction.
In the above solution, the two ends of the snake bone unit body 11 along the second radial direction are both provided with the accommodating cavities 13, that is, the first accommodating cavity 131 and the second accommodating cavity 132, and preferably, the first accommodating cavity 131 and the second accommodating cavity 132 are symmetrically arranged by taking the first radial direction of the snake bone unit body 11 as a symmetry axis.
As shown in fig. 7, when the relative rotation between two adjacent snake bone units 1 is realized, the facing surfaces of the magnetic bodies 33 in the two first accommodating cavities 131 of the two adjacent snake bone units 1 may be set to repel each other, and the magnetism of the facing surfaces of the magnetic bodies 33 in the two second accommodating cavities 132 may be set to be opposite. Therefore, the magnetic force required by the rotation of one snake bone unit 1 relative to the other snake bone unit 1 can be increased, so that the snake bone unit 1 is driven to rotate to a preset angle by the suction force or the repulsive force provided by the two groups of magnetic bodies 33, and the situation that the snake bone unit 1 cannot rotate to the preset angle due to insufficient magnetic force of the magnetic bodies 33 in one accommodating cavity 13 is avoided.
Further, the first accommodating cavity 131 and the second accommodating cavity 132 are disposed on the outer wall of the snake bone unit body 11, and the first accommodating cavity 131 and the second accommodating cavity 132 are both communicated with two end faces of the snake bone unit 1.
In the related art, a camera module and an illumination module are provided at a distal end portion of an insertion portion of an endoscope, and are connected to a handle portion through an image signal transmission line and an electric signal transmission line. Therefore, during the use of the endoscope, the image signal transmission line and the electric signal transmission line in the insertion portion of the endoscope are in an energized state, and the image signal transmission line and the electric signal transmission line in the energized state generate an interfering magnetic field.
In the above configuration, the magnetic body 33 is provided on the outer wall of the snake bone unit body 11, thereby reducing the influence of the interference magnetic field on the magnetic body in the first accommodation chamber 131/the second accommodation chamber 132. Further, a shielding film may be disposed on the inner wall of the snake bone unit body 11 to further isolate the influence of the interference magnetic field.
Further, in order to ensure that the magnetic force between the two magnetic bodies 33 in the accommodating cavities 13 of the two adjacent snake bone units 1 is not affected by other components (for example, when other structures are included between the two magnetic bodies 33, the attraction force between the two magnetic bodies 33 is insufficient), preferably, the first accommodating cavity 131 and the second accommodating cavity 132 are both communicated with two end surfaces of the snake bone unit 1; so that the opposite faces of the magnetic bodies 33 on the adjacent two snake bone units 1 are directly opposite.
In one embodiment of the present invention, as shown in fig. 2, the accommodating chamber 13 includes a third accommodating chamber 133, a fourth accommodating chamber 134, a fifth accommodating chamber 135 and a sixth accommodating chamber 136;
the third accommodating cavity 133 and the fourth accommodating cavity 134 are located at one end of the snake bone unit body 11 along the second radial direction, the third accommodating cavity 133 is communicated with one side end face of the snake bone unit body 11, and the fourth accommodating cavity 134 is communicated with the other side end face of the snake bone unit body 11;
the fifth accommodating cavity 135 and the sixth accommodating cavity 136 are located at the other end of the snake bone unit body 11 along the second radial direction, the fifth accommodating cavity 135 is communicated with one end surface of the snake bone unit body 11, and the sixth accommodating cavity 136 is communicated with the other end surface of the snake bone unit body 11;
the second radial direction is perpendicular to the first radial direction.
In the above-described embodiment, another embodiment of the accommodating chamber 13 provided in the snake bone unit 1 is shown. That is, two accommodating cavities (one end is the third accommodating cavity 133 and the fourth accommodating cavity 134, and the other end is the fifth accommodating cavity 135 and the sixth accommodating cavity 136) are respectively arranged at two ends of the snake bone unit 1 in the second radial direction, and the two accommodating cavities are respectively located at two end faces of the snake bone unit body 11. Compare in the scheme that only set up one at the one end of second radial unit and hold the chamber, the magnetism of 1 both ends face of snake bone unit can only be opposite magnetism, and this kind of advantage that sets up two holding chambers in the one end of second radial direction in this scheme is that this scheme can realize the independence of 1 both ends magnetism of each snake bone unit. That is, the magnetism at both ends of a certain snake bone unit 1 (substantially, the magnetism on the end face side of the magnetic body 33 at both ends of the snake bone unit 1 close to the snake bone unit 1) may be N-pole at the same time, S-pole at the same time, or N-pole at one end and S-pole at the other end. Therefore, the snake bone composed of the snake bone units 1 can realize a bending form with a more complex shape.
In one embodiment of the present invention, as shown in fig. 3, the accommodating chamber 13 includes a seventh accommodating chamber 137, an eighth accommodating chamber 138, a ninth accommodating chamber 139 and a tenth accommodating chamber 1310;
the seventh accommodating cavity 137 and the tenth accommodating cavity 1310 are respectively located at two ends of the snake bone unit body 11 in the third radial direction; the eighth accommodating cavity 138 and the ninth accommodating cavity 139 are respectively located at two ends of the snake bone unit body 11 along the fourth radial direction; the second radial direction is perpendicular to the first radial direction, and the third radial direction and the fourth radial direction are symmetrical with respect to the second radial direction.
In the above-described embodiment, another embodiment of the accommodating chamber 11 provided in the snake bone unit 1 is shown. Namely, two accommodating cavities (namely, a seventh accommodating cavity 137 and a tenth accommodating cavity 1310) are arranged on the upper sides of the two lugs 12 of the snake bone unit 1, the two accommodating cavities are symmetrical relative to the second radial direction (for example, the seventh accommodating cavity 137 forms an angle of 120 degrees with the first radial direction, and the tenth accommodating cavity 1310 forms an angle of 60 degrees with the first radial direction), two accommodating cavities (for example, an eighth accommodating cavity 138 and a ninth accommodating cavity 139) are arranged on the lower sides of the two lugs 12 of the snake bone unit 1, and the two accommodating cavities are symmetrical relative to the second radial direction (for example, the seventh accommodating cavity 137 forms an angle of-120 degrees with the first radial direction, and the tenth accommodating cavity 1310 forms an angle of-60 degrees with the first radial direction).
According to the scheme, the two accommodating cavities are respectively arranged on the two sides of the two lugs 12 of the snake bone unit 1, so that the suction force or the repulsive force provided by the four groups of magnetic bodies 33 drives the two adjacent snake bone units 1 to rotate relatively, the magnetic force required by one snake bone unit 1 to rotate relative to the other snake bone unit 1 can be increased, the snake bone unit 1 can be ensured to rotate to a preset angle, and the situation that the snake bone unit 1 cannot rotate to the preset angle due to the fact that one accommodating strong magnetic body 33 is insufficient in magnetic force is avoided.
In another embodiment of the present invention, as shown in fig. 4 to 7, a snake bone 2 is provided, wherein the snake bone 2 comprises a plurality of snake bone units 1 connected end to end in sequence, and two adjacent snake bone units 1 can rotate relatively.
Compared with the prior art, the snake bone unit 1 is driven to rotate by the steel wire rope, the snake bone 2 in the scheme drives the two snake bone units 1 to rotate relatively by the magnetic force of the magnetic bodies 33 in the accommodating cavities 13 of the two adjacent snake bone units 1. The snake bone 2 of the present embodiment can present a more complex curved shape.
In another embodiment of the present invention, an endoscope 3 is provided, the endoscope 3 includes a handle portion 31 and an insertion portion 32, the insertion portion 32 is provided with the aforementioned snake bone 2, a magnetic body 33 is accommodated in the accommodating cavity 13 of each snake bone unit 1, and the magnetic body 33 is a variable polarity magnetic body.
In the above-mentioned embodiment, the snake bone 2 in the endoscope 3 is provided, and the relative rotation of the two snake bone units 1 is driven by the magnetic force of the magnetic body 33 in the accommodating cavities 13 of the two adjacent snake bone units 1, so that the snake bone 2 can present a more complicated bending form. Therefore, when the endoscope 3 is used, the endoscope can enter the focus position of a patient more smoothly, pain of the patient is reduced, and experience of the patient is improved.
Further, the handle portion 31 is provided with a control assembly (not shown), the magnetic bodies 33 are electromagnets, and each of the magnetic bodies 33 is electrically connected to the control assembly.
In the above solution, a specific embodiment of the magnetic body 33 is given, that is, the magnetic body 33 is an electromagnet, all the magnetic bodies 33 on the snake bone unit 1 are electrically connected to a control component arranged in the handle 31 through a lead, and the magnetism at two ends of the electromagnet is changed by changing the direction of current in each electromagnet on the snake bone unit 1, so that two adjacent magnetic bodies 33 of two adjacent snake bone units 1 attract or repel each other, and finally the change of the bending angle of the snake bone unit 1 is realized.
Further, the magnetic body 33 and the accommodating cavity 13 are in interference fit.
In the above scheme, the magnetic body 33 and the accommodating cavity 13 are in interference fit, so that the magnetic body 33 can be fixed in the accommodating cavity 13 after being installed in the accommodating cavity 13.
In another embodiment of the present invention, there is provided a bending control method of the aforementioned endoscope 3, which controls the rotation of the snake bone unit 1 by changing the magnetism of the opposing faces of the adjacent magnetic bodies 33,
in actual use, an operator can obtain the requirement of the bending form of the snake bone 2 in advance, and the control component in the handle calculates the magnetism of each end of each magnetic body 33 in each snake bone unit 1 according to the requirement of the bending form, controls the magnetism of each magnetic body 33 in the snake bone 2 to be consistent with the calculation result, and then enables the snake bone to present the required bending form.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents and improvements made within the spirit and principle of the present invention are intended to be included within the scope of the present invention.
Claims (10)
1. A snake bone unit (1) is characterized by comprising a snake bone unit body (11), wherein the snake bone unit body (11) is tubular, two lugs (12) are arranged on the snake bone unit body (11) along a first radial direction, and the lugs (12) are used for being connected with another snake bone unit (1); an accommodating cavity (13) is formed in the snake bone unit body (11) and located between the two lugs (12), and the accommodating cavity (13) is used for accommodating a magnetic body (33).
2. A snake bone unit (1) according to claim 1, wherein said housing cavity (13) comprises a first housing cavity (131) and a second housing cavity (132) extending axially along the snake bone unit body (11); the first accommodating cavity (131) and the second accommodating cavity (132) are respectively positioned at two ends of the snake bone unit body (11) along a second radial direction; the second radial direction is perpendicular to the first radial direction.
3. A snake bone unit (1) according to claim 2, wherein the first receiving cavity (131) and the second receiving cavity (132) are provided on the outer wall of the snake bone unit body (11), and the first receiving cavity (131) and the second receiving cavity (132) are communicated with both end faces of the snake bone unit (1).
4. A snake bone unit (1) according to claim 1, wherein the receiving cavities (13) comprise a third receiving cavity (133), a fourth receiving cavity (134), a fifth receiving cavity (135) and a sixth receiving cavity (136);
the third accommodating cavity (133) and the fourth accommodating cavity (134) are positioned at one end of the snake bone unit body (11) along a second radial direction, the third accommodating cavity (133) is communicated with one side end face of the snake bone unit body (11), and the fourth accommodating cavity (134) is communicated with the other side end face of the snake bone unit body (11);
the fifth accommodating cavity (135) and the sixth accommodating cavity (136) are positioned at the other end of the snake bone unit body (11) along the second radial direction, the fifth accommodating cavity (135) is communicated with one side end face of the snake bone unit body (11), and the sixth accommodating cavity (136) is communicated with the other side end face of the snake bone unit body (11);
the second radial direction is perpendicular to the first radial direction.
5. A snake bone unit (1) according to claim 1, wherein the receiving cavities (13) comprise a seventh receiving cavity (137), an eighth receiving cavity (138), a ninth receiving cavity (139) and a tenth receiving cavity (1310);
the seventh accommodating cavity (137) and the tenth accommodating cavity (1310) are respectively positioned at two ends of the snake bone unit body (11) along a third radial direction; the eighth accommodating cavity (138) and the ninth accommodating cavity (139) are respectively positioned at two ends of the snake bone unit body (11) along a fourth radial direction; the second radial direction is perpendicular to the first radial direction, and the third radial direction and the fourth radial direction are symmetrical with respect to the second radial direction.
6. A snake bone (2) characterized in that it comprises a plurality of snake bone units (1) as claimed in any one of claims 1 to 5 connected end to end, and adjacent two snake bone units (1) can rotate relatively.
7. An endoscope (3), comprising a handle portion (31), an insertion portion (32), said insertion portion (32) being provided with a snake bone (2) as claimed in claim 6, a magnetic body (33) being accommodated in the accommodation cavity (13) of each snake bone unit (1), said magnetic body (33) being a variable polarity magnetic body.
8. An endoscope (3) as in claim 7, characterized by the fact that the handle portion (31) is provided with a control assembly, the magnetic bodies (33) are electromagnets, each magnetic body (33) being electrically connected to the control assembly.
9. An endoscope (3) according to claim 7, characterized in that there is an interference fit between said magnetic body (33) and said housing cavity (13).
10. A bending control method of an endoscope (3) according to any one of claims 7 to 9, characterized in that the bending control method controls the rotation of the snake bone unit (1) by changing the magnetism of the opposing faces of the adjacent magnetic bodies (33).
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111003596.7A CN113576379B (en) | 2021-08-30 | 2021-08-30 | Snake bone unit, snake bone, endoscope and bending control method |
| PCT/CN2021/138465 WO2023029294A1 (en) | 2021-08-30 | 2021-12-15 | Serpentine bone unit, serpentine bone, endoscope, and bending control method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202111003596.7A CN113576379B (en) | 2021-08-30 | 2021-08-30 | Snake bone unit, snake bone, endoscope and bending control method |
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| CN113576379A true CN113576379A (en) | 2021-11-02 |
| CN113576379B CN113576379B (en) | 2022-05-03 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113876285A (en) * | 2021-12-08 | 2022-01-04 | 德宝恒生科技服务有限公司 | Endoscope |
| WO2023029294A1 (en) * | 2021-08-30 | 2023-03-09 | 湖南省华芯医疗器械有限公司 | Serpentine bone unit, serpentine bone, endoscope, and bending control method |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117324792B (en) * | 2023-11-30 | 2024-02-13 | 杭州鑫泽源医疗科技有限公司 | Endoscope snake bone apparatus for producing |
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2021
- 2021-08-30 CN CN202111003596.7A patent/CN113576379B/en active Active
- 2021-12-15 WO PCT/CN2021/138465 patent/WO2023029294A1/en unknown
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| JP2001096478A (en) * | 1999-09-27 | 2001-04-10 | Ueda Seni Kagaku Shinkokai | Rope type bending mechanism, manipulator equipped with rope type bending mechanism, bending type in-liquid propelling body, and endscope |
| WO2011116913A1 (en) * | 2010-03-23 | 2011-09-29 | Gottfried Wilhelm Leibniz Universität Hannover | Bending actuator, and endoscope with a bending actuator |
| KR20150114255A (en) * | 2014-04-01 | 2015-10-12 | (주) 태웅메디칼 | Endoscopic joint structure |
| CN104207749A (en) * | 2014-06-20 | 2014-12-17 | 乐虹信息科技(上海)有限公司 | Endoscope with controllable angle |
| CN111493798A (en) * | 2020-05-25 | 2020-08-07 | 华中科技大学 | Electromagnetic driving type rigid-flexible coupling endoscope |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2023029294A1 (en) * | 2021-08-30 | 2023-03-09 | 湖南省华芯医疗器械有限公司 | Serpentine bone unit, serpentine bone, endoscope, and bending control method |
| CN113876285A (en) * | 2021-12-08 | 2022-01-04 | 德宝恒生科技服务有限公司 | Endoscope |
| CN113876285B (en) * | 2021-12-08 | 2022-03-18 | 德宝恒生科技服务有限公司 | Endoscope |
Also Published As
| Publication number | Publication date |
|---|---|
| CN113576379B (en) | 2022-05-03 |
| WO2023029294A1 (en) | 2023-03-09 |
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