CN210204673U

CN210204673U - Bendable device of endoscope insertion tube and endoscope

Info

Publication number: CN210204673U
Application number: CN201920664533.8U
Authority: CN
Inventors: Hang Yan; 严航; Wei Tang; 唐伟
Original assignee: Innovex Medical Co Ltd
Current assignee: Anqing Medical Co Ltd
Priority date: 2019-05-10
Filing date: 2019-05-10
Publication date: 2020-03-31
Anticipated expiration: 2029-05-10

Abstract

The utility model provides a bendable device and endoscope of endoscope insert tube, including N tube coupling, the first end of tube coupling is equipped with first connection structure, the second end of tube coupling is equipped with second connection structure, first connection structure with second connection structure is connected, can rotate around a rotation axis through the cooperation of first connection structure with second connection structure between two adjacent tube couplings, N tube coupling includes at least two first tube couplings that connect gradually, at least two first tube couplings can take place first bending action and second bending action in proper order when the control line implements the control of first bending direction; the first bending motion is generated by the relative rotation between two adjacent first pipe joints, and the second bending motion is generated by the bending deformation of the first pipe joints. The utility model discloses can be favorable to through manifold turn range, reach the assigned position more accurately, and: making a greater variety of designated locations possible.

Description

Bendable device of endoscope insertion tube and endoscope

Technical Field

The utility model relates to an endoscope field especially relates to a flexible device and endoscope of endoscope insert tube.

Background

With the development of science and technology, endoscopes have been widely used in the medical field, which are one of important tools for examining internal organs of the human body. From 1806, it was found that to date, the development of endoscopes has gone through the following four stages: hard tube type endoscope, semi-flexible endoscope, fiber endoscope, ultrasonic endoscope and electronic endoscope. Nowadays, the types of endoscopes are mainly classified into hard tube type endoscopes and flexible tube type endoscopes. The hard tube type endoscope has high strength and good insertability, but is easy to stab the inner wall, and only can perform operations with relatively definite focus positions because the lens cannot rotate. In some operations in which the lesion position is not clear, the direction of observation needs to be constantly adjusted, and therefore, a flexible endoscope is required.

In the prior art, a flexible endoscope can be a bendable device, in which a plurality of tube segments are connected in sequence, and a control line passes through each tube segment to control the rotation between adjacent tube segments, so that the bending effect can be achieved when the tube segments are bent.

However, in actual use, the turning radius of the bendable apparatus is not variable, i.e.: after the control is implemented, after the relative rotation between the pipe sections is completed, the pipe sections can only realize a certain turning amplitude, and the flexibility is lacked, so that the pointed end can not accurately reach the designated position.

SUMMERY OF THE UTILITY MODEL

The utility model provides a bendable device and endoscope of endoscope insert tube to the turning radius who solves bendable device is unchangeable, is unfavorable for making most advanced accurate problem that reachs the assigned position.

According to a first aspect of the present invention, a bendable apparatus for an endoscope insertion tube is provided, which includes N tube segments, a first end of each tube segment is provided with a first connection structure, a second end of each tube segment is provided with a second connection structure, the first connection structure is connected to the second connection structure, two adjacent tube segments can rotate around a rotation axis through the cooperation of the first connection structure and the second connection structure, the N tube segments include at least two first tube segments connected in sequence, and the at least two first tube segments can generate a first bending action and a second bending action in sequence when a control line implements control in a first bending direction; the first bending motion is generated by the relative rotation between two adjacent first pipe joints, and the second bending motion is generated by the bending deformation of the first pipe joints.

Optionally, a gap structure is formed in the pipe wall of the first pipe joint along the circumferential direction of the first pipe joint, and the gap structure can be closed in the second bending action, so that the first pipe joint is subjected to the bending deformation.

Optionally, a circumferential included angle between the head end and the tail end of the gap structure is greater than or equal to 180 degrees.

Optionally, the gap structure includes a first gap portion, a second gap portion and a connection gap portion, the first gap portion and the second gap portion are all along the circumference of the first pipe joint is seted up, the connection gap portion is along the axial of the first pipe joint is seted up, the both ends of the first gap portion are connected to a second gap portion through a connection gap portion respectively, the connection gap portion is provided with a spacing portion that is used for limiting the opening degree of the gap structure.

Optionally, two gap structures are formed in the pipe wall of each first pipe joint, and the two gap structures are symmetrically distributed on two sides of the wire passing hole of the first pipe joint along the axial direction of the first pipe joint.

Optionally, a notch is further formed in the pipe wall of the first pipe joint along the circumferential direction of the first pipe joint, and the notch can be opened in a matched manner when the gap structure is closed.

Optionally, the at least two first pipe sections are further configured to generate a third bending motion when the control line performs control of a second bending direction, the third bending motion is generated as the rotation between two adjacent first pipe sections, the second bending direction is opposite to the first bending direction, and a minimum bending radius of the third bending motion is larger than a minimum bending radius of the second bending motion.

Optionally, the N pipe joints further include at least two second pipe joints connected in sequence, where a last second pipe joint is connected to a first pipe joint of the at least two first pipe joints;

the at least two second pipe joints are capable of generating a fourth bending action when the control line controls the first bending direction, wherein the fourth bending action is generated by the rotation between the two adjacent second pipe joints;

the at least two second pipe joints can generate a fifth bending action when the control line controls the second bending direction, and the fifth bending action is generated by the rotation between the two adjacent second pipe joints relatively.

Optionally, the minimum bending radius of the fourth bending motion and the fifth bending motion is the same as the minimum bending radius after the second bending motion occurs, and the length of the second pipe section is smaller than the length of the first pipe section.

According to a second aspect of the present invention, there is provided an endoscope comprising the bendable device of the endoscope insertion tube of the first aspect and its alternatives.

The utility model provides an among the bendable device and the endoscope of endoscope insert tube, utilize connection structure can realize the relative rotation between the first tube coupling, and then can realize the first kind turn range of first tube coupling, the turn range that first bending action produced promptly, the second kind turn range that first tube coupling can be realized to the bending deformation that utilizes first tube coupling, the turn range that second bending action produced promptly compares in the scheme that only has a turn range, the utility model discloses can be favorable to through manifold turn range, more accurately reachs the assigned position, and: making a greater variety of designated locations possible.

Drawings

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

Fig. 1 is a schematic structural view of a first pipe section in an embodiment of the present invention when it is not bent;

fig. 2 is a first schematic structural view of a first pipe joint during a first bending action according to an embodiment of the present invention;

FIG. 3 is a first schematic view of a first pipe joint during a second bending operation according to an embodiment of the present invention;

FIG. 4 is a second schematic structural view of the first pipe section during the first bending action according to the embodiment of the present invention;

FIG. 5 is a second schematic structural view of the first pipe joint during a second bending operation according to the embodiment of the present invention;

fig. 6 is a schematic structural view of the first pipe joint during the third bending operation according to the embodiment of the present invention;

FIG. 7 is a schematic structural view of a pipe joint according to an embodiment of the present invention;

FIG. 8 is a partial side expanded view of a first pipe section in an embodiment of the invention;

fig. 9 is a schematic structural view of a second pipe joint in an embodiment of the present invention;

FIG. 10 is a partial side expanded view of a second pipe section in an embodiment of the invention;

FIG. 11 is a schematic view of an embodiment of the present invention showing the bendable apparatus of an endoscope insertion tube in an unbent configuration;

FIG. 12 is a schematic view showing the configuration of the bendable apparatus of the endoscope insertion tube in the first bending operation and the fourth bending operation according to the embodiment of the present invention;

FIG. 13 is a schematic configuration diagram of the bendable apparatus for an endoscope insertion tube according to the embodiment of the present invention in the third bending operation and the fifth bending operation.

Description of reference numerals:

1-a first connecting structure;

11-a first arc portion;

12-a second arc groove;

2-a second connecting structure;

21-a first arc groove;

22-a limiting part;

23-a circular portion;

24-a second arc portion;

3-a first pipe section;

4-a gap structure;

41-a first slit;

42-a second gap;

43-a first stop;

44-a second stop;

45-connecting the slit part;

5-incision;

61-a first notch;

62-a second notch;

7-a gap structure;

8-a wire through hole;

9-second pipe section.

Detailed Description

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

The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.

The technical solution of the present invention will be described in detail with specific examples. The following several specific embodiments may be combined with each other, and details of the same or similar concepts or actions may not be repeated in some embodiments.

Fig. 1 is a schematic structural view of a first pipe section in an embodiment of the present invention when it is not bent; fig. 2 is a first schematic structural view of a first pipe joint during a first bending action according to an embodiment of the present invention; fig. 3 is a first schematic structural diagram of the first pipe joint during the second bending operation according to the embodiment of the present invention.

Referring to fig. 1 to 3, a bendable apparatus of an endoscope insertion tube includes N tube segments, a first end of each tube segment is provided with a first connection structure 1, a second end of each tube segment is provided with a second connection structure 2, the first connection structure 1 is connected with the second connection structure 2, and two adjacent tube segments can rotate around a rotation axis through the cooperation of the first connection structure and the second connection structure.

The N tube segments can be understood as a plurality of tube segments interconnected by the same type of first connecting structure and second connecting structure, and the device can also comprise tube segments in other connecting modes or other bending modes, and can also comprise tube segments bent by other non-tube segment modes, so that no matter what type of endoscope is used, the scope of the invention and the alternatives thereof can not be deviated as long as at least part of the tube segments meet the description of the invention.

A bendable device, which is understood to be a controllably bendable section of an endoscope, is understood to be a section of tubing that is advanced into the body during surgery or examination.

In this embodiment, the N pipe joints include at least two first pipe joints 3 connected in sequence, and the at least two first pipe joints 3 can generate a first bending motion and a second bending motion in sequence when the control line implements control in the first bending direction.

The first bending action can be understood as being generated by the rotation of the two adjacent first pipe joints 3, and can be understood by comparing fig. 1 and fig. 2. The first bending action may be any means that enables relative rotation between the tube sections to effect overall bending.

The second bending action can be understood as being generated by the bending deformation of the first pipe joint 3. The specific comparison between fig. 2 and fig. 3 can be understood, wherein the bending deformation may be caused by the specific design of the structure, and is not excluded from being caused by the matching selection of the pipe joint material.

The first bending direction is understood to be a bending direction which is simultaneously suitable for bending of the first bending action and bending of the second bending action. It can be seen that the first bending action and the second bending action are bending in the same bending direction.

In the above embodiment, utilize connection structure can realize the relative rotation between the first pipe coupling, and then can realize the first kind turn range of first pipe coupling, the turn range that first bending action produced promptly, the second kind turn range that utilizes the bending deformation of first pipe coupling to realize first pipe coupling promptly, the turn range that second bending action produced promptly compares in the scheme that only has a turn range, the utility model discloses can be favorable to through manifold turn range, more accurately reachs the assigned position, and: making a greater variety of designated locations possible.

In contrast, in the related art, the entire bendable structure is bent simultaneously during the bending operation, and the tip and the rear end cannot be bent sequentially, and two bendable structures having different turning radii in the bending direction during rotation and the same bending radius and angle when the bendable structure is rotated to the limit position cannot be achieved. The turning radius is invariable during the use process, and the pointed end cannot reach the designated position accurately.

In one embodiment, a slit structure 4 is disposed on a pipe wall of the first pipe joint 3 along a circumferential direction of the first pipe joint 3, and the slit structure 4 can be closed in the second bending motion, so that the first pipe joint 3 is subjected to the bending deformation.

The slit structure 4 may be of any shape, and because it is formed along the circumferential direction, it may have a space in the axial direction of the first pipe joint 3, and the space may be suitable for being closed during bending, so as to achieve bending deformation of the first pipe joint 3. The closing referred to above is understood in particular to mean the approaching of the two axial side edges of the slot structure 4 and any partial or total process of contact after approaching.

In the above embodiment, in a structural manner, a variable space is provided for deformation through the axial interval generated by the gap, and the occurrence of bending deformation is effectively guaranteed. The slit structure 4 can be directly formed by cutting the tube in the manufacturing process, and the slit structure can also have the effect of facilitating manufacturing.

In one embodiment, the circumferential angle between the head end and the tail end of the slot structure 4 is greater than or equal to 180 degrees. The term "leading end" is understood to mean the leading end and the trailing end along the circumferential direction of the first pipe section 3, and the circumferential angle is understood to mean the circumferential angle covered between the leading end and the trailing end.

Through the above circumferential included angle, deformation and bending can be conveniently realized. Meanwhile, the specific angle of the circumferential included angle can be changed according to the required degree of bending deformation.

In one embodiment, please refer to fig. 1 to 3, a cut 5 is further formed on a pipe wall of the first pipe joint 3 along a circumferential direction of the first pipe joint 3, and the cut 5 can be opened in a matching manner when the slit structure 4 is closed.

The at least two first pipe sections 3 are also capable of a third bending movement as a result of the rotation of the control line relative to two adjacent first pipe sections 3 in a second bending direction opposite to the first bending direction, the third bending movement having a minimum bending radius which is larger than the minimum bending radius of the second bending movement and which can, for example, be adapted to the minimum bending radius of the first bending movement.

Through this incision 5, can be more convenient for take place deformation when the bending of first crooked direction, simultaneously, when the bending of second crooked direction, because of it is incision 5, can not produce the interval that is suitable for the deformation to take place in the axial, first tube coupling 3 is difficult for taking place deformation when the bending of second crooked direction. Further, the magnitude of the second bending direction, i.e., the magnitude of the third bending motion, may match the magnitude of the first bending motion, but be less than the magnitude of the second bending motion.

It can be seen that, for at least two first pipe joints 3, the minimum bending radius of the first bending direction is different from the minimum bending radius of the second bending direction, which may break through the structural form of the symmetric turning radius in the prior art, and creatively thinks that an asymmetric turning radius structure may be formed, which may be beneficial to make the device reach more various designated positions when bending, and may also be beneficial to reach the designated positions more accurately in a desired scene.

In one embodiment, the included angle between the head end and the tail end of the notch 5 is greater than or equal to 180 degrees. This circumferential angle is understood to mean the circumferential angle coverage of the cut 5 in the circumferential direction of the first pipe section 3.

Furthermore, the cuts 5 may be embodied in circumferential positions: its part that is close to both ends coincides with the part that the both ends are close to in the circumference of gap structure 4 respectively, and this coincidence is only the coincidence of circumferential position, and both can be staggered along the axial, and it can be convenient for make the deformation take place. Both ends of the slit 5 may have rounded portions to facilitate opening and closing, further facilitating the occurrence of deformation.

Fig. 4 is a second schematic structural diagram of the first pipe joint during the first bending action according to the embodiment of the present invention.

Referring to fig. 4, in the embodiment shown, the above-mentioned notch 5 may be replaced by another slit structure 7, and furthermore, another slit structure 7 is further opened on the pipe wall of the first pipe joint 3 along the circumferential direction of the first pipe joint 3, and except that the position of the slit structure is different from that of the slit structure 4, the structural form and definition of the slit structure can be understood with reference to the first slit structure 4 according to the present embodiment. The slot structure 4 can therefore be understood as a first slot structure, and the slot structure 7 can be understood as a second slot structure.

Adopt gap structure 7, similar to gap structure 4, can be suitable for the interval that deformation takes place in the axial production, first tube coupling 3 also can take place deformation when the second bending direction is crooked. Further, the bending width in the second bending direction may be matched to the bending width of the second bending operation. It can be seen that for at least two first pipe sections 3, the minimum bending radius of the first bending direction and the minimum bending radius of the second bending direction can also be, for example, the same.

fig. 6 is a schematic structural diagram of the first pipe joint during the third bending action according to the embodiment of the present invention.

Referring to fig. 5 and 6, the structure shown in fig. 6 can be understood by referring to the structure shown in fig. 7, which is the positional relationship between the first pipe joints 3 when bent to the extreme positions in the first bending direction. Fig. 9 shows the positional relationship between the first pipe segments 3 when bent in the second bending direction to the extreme position.

Referring to fig. 5 and fig. 6 in combination with fig. 1 to fig. 4, the pipe wall of each first pipe joint 3 is provided with two slit structures 4, which are symmetrically distributed about the middle cross section of the first pipe joint 3, so as to facilitate symmetry and uniformity during deformation.

In one embodiment, since the center of the wire through hole 8 is located near the middle cross section of the first pipe joint 3, the following steps are performed: the two slit structures 4 can be symmetrically distributed on two sides of the wire passing hole 8 of the first pipe joint 3 along the axial direction of the first pipe joint 3. Furthermore, the first pipe section 3 can be bent symmetrically and uniformly when being bent and deformed.

In a specific implementation, the two notches 5 may be located between the two slit structures 4, and the two notches 5 may also be symmetrically distributed about the middle cross section, for example, symmetrically distributed on both sides of the through hole 8 along the axial direction.

Referring to fig. 5 and 6, in an embodiment, the slit structure 4 includes a first slit portion 41, a second slit portion 42, and a connection slit portion, the first slit portion 41 and the second slit portion 42 are both formed along a circumferential direction of the first pipe joint 3, the connection slit portion 45 is formed along an axial direction of the first pipe joint 3, two ends of the first slit portion 41 are respectively connected to one second slit portion 42 through one connection slit portion 45, and the connection slit portion 45 is provided with a limiting portion for limiting an opening degree of the slit structure.

The stopper may specifically include a first stopper 43 and a second stopper 44, which are respectively disposed at two side edges of the connecting slit 45, wherein the first stopper 43 is close to the second slit 42, and the second stopper 44 is close to the first slit 41, and further, when the slit structure 4 is opened, the first stopper 43 can contact the second stopper 44 to restrict further opening.

Fig. 7 is a schematic structural diagram of a pipe joint in an embodiment of the present invention.

Please refer to fig. 7, which can be the first pipe section 3 or the second pipe section 9. While the first connection structure 1 and the second connection structure 2 are illustrated in one embodiment, the present embodiment does not exclude other embodiments that are suitable for relative rotation between pipe sections.

In the embodiment shown in fig. 7, the second connection structure 2 includes a first arc groove 21, a limiting portion 22 fixedly disposed in the first arc groove 21, and a circular portion 23 for forming an inner wall of the first arc groove 21, and the first connection structure 1 includes a first arc portion 11.

The first circular arc portion 11 of tube coupling can match the first circular arc groove 21 of the adjacent tube coupling of embedding to hook circular portion 23 wherein, the first circular arc portion 11 of tube coupling can be rotatory along the first circular arc groove 21 of embedding, so that the contained angle between two adjacent tube couplings can change at predetermined first angle within range, and the angle restriction accessible of this first angle range is realized to the spacing of the rotational position of first circular arc portion 11 by spacing portion 22.

The circular portion 23 may be connected to the pipe joint through the limiting portion 22, or may be connected to the pipe joint through another connecting portion, that is, the limiting portion 22 may be disposed in the first arc portion 11 and not connected to the circular portion 23.

The above embodiment can effectively hook the adjacent pipe joints through the first arc part 11, and further, the two pipe joints are not easy to be disjointed when being subjected to pulling force.

In the specific implementation process, the second connecting structure 2 may further include a second arc portion 24 disposed outside the first arc groove 21, and the first connecting structure 1 further includes a second arc groove 12 disposed outside the first arc portion 11.

The second arc part 24 of the pipe joint can be embedded into the second arc groove 12 of the adjacent pipe joint in a matching manner, and the second arc part 24 of the pipe joint can rotate along the embedded second arc groove 12, so that the included angle between the two adjacent pipe joints can be changed within a preset second angle range; the axis of the second arc portion 54 is the axis of the first arc portion 61, i.e., the corresponding rotation axes.

Among the above embodiment, utilize 3 concentric circles can form swivelling joint's structure, wherein 2 concentric circles are not coaxial line knot formula structure to bilateral symmetry arranges and distributes, compares in the mode among the prior art, and its rotation coaxiality is better, and anti fatigue wearability is higher, because of the existence of more spacing draw-in grooves when rotating and reaching the extreme angle, spacing accurate, firm, difficult disjointing.

Referring to fig. 5 to 7, a first notch 61 is disposed on an edge of the first end of the first pipe joint 3 where the first connecting structure 1 is not disposed, a second notch 62 is disposed on an edge of the second end of the first pipe joint 3 where the second connecting structure 2 is not disposed, the first notch 61 and the second notch 62 are notches that are recessed from an end edge of the first pipe joint 3 along a direction of a pipe joint axis of the first pipe joint 3, when two adjacent first pipe joints 3 rotate around their corresponding axes to an undeformed limit position, the first notch 61 and the second notch 62 at corresponding positions are spliced, and positions of the first notch 61 and the second notch 62 are matched with a cross-connecting position of a control line.

Because set up first breach and the second breach that can be used to the amalgamation respectively at the both ends of first tube coupling, just first breach with the position of second breach and the cross-under position phase-match of control line, when rotating to extreme position between two first tube couplings, the control line mainly is by the breach friction of one end wherein, and not fully by the breach at both ends fully rubs, and then, it can alleviate the frictional resistance of control line, improves the crooked bending moment of crooked pipe, and then, can reach laborsaving, operate accurate purpose.

Meanwhile, if the pipe section is cut by a hollow steel pipe, the method comprises the following steps: when this embodiment and its alternative are applied to the fashioned scheme of hollow steel pipe cutting, this first breach and second breach still can make the waste material of cutting more easily blanking, because the fretwork of cutting starting point does not contact when the meshing, can reduce the bending distortion that the unevenness of cutting starting point arouses.

Fig. 8 is a partial side expanded view of a first pipe section in an embodiment of the invention.

Referring to fig. 8, with reference to fig. 5 to fig. 7, a positional relationship among the first slit 41, the second slit 42, the via hole 8 and the notch 5 in the slit structure 4 can be specifically shown.

Fig. 9 is a schematic structural view of a second pipe joint in an embodiment of the present invention; fig. 10 is a partial side expanded view of a second pipe section in an embodiment of the invention.

Referring to fig. 9 and 10, the N pipe joints further include at least two second pipe joints 9 connected in sequence, where the last second pipe joint 9 is connected to the first pipe joint 3 of the at least two first pipe joints 3.

The at least two second pipe joints 9 can generate a fourth bending motion when the control wire performs the control in the first bending direction, the fourth bending motion being generated as a result of the relative rotation between the two adjacent second pipe joints 9.

The at least two second pipe joints 9 are capable of generating a fifth bending motion generated by the relative rotation between the two adjacent second pipe joints 9 when the control wire performs the control in the second bending direction.

It can be seen that the difference between the second pipe section 9 and the first pipe section 1 can be understood as: the second pipe section 9 is not deformed and bent, and the first pipe section 3 is deformed and bent. The connecting structure and the gap can adopt the structural form of the first pipe joint 3. Further, both may have a wire passing hole to be controlled by a control wire.

FIG. 11 is a schematic view of an embodiment of the present invention showing the bendable apparatus of an endoscope insertion tube in an unbent configuration; FIG. 12 is a schematic view showing the configuration of the bendable apparatus of the endoscope insertion tube in the first bending operation and the fourth bending operation according to the embodiment of the present invention; FIG. 13 is a schematic configuration diagram of the bendable apparatus for an endoscope insertion tube according to the embodiment of the present invention in the third bending operation and the fifth bending operation.

Referring to fig. 11 to 13, the minimum bending radius of the fourth bending motion and the fifth bending motion may be larger than the minimum bending radius of the first bending motion.

In a specific implementation process, the minimum bending radius of the fourth bending motion and the fifth bending motion may be the same as the minimum bending radius after the second bending motion occurs, and the length of the second pipe joint 9 is smaller than the length of the first pipe joint 3.

Furthermore, in the above embodiment, during the bending operation, the first pipe joint and the second pipe joint are both bent first when rotating, and then during the further bending operation, the first pipe joint is further bent due to deformation, so that the change of the bending radius and the angle of the rotation of different pipe joints is different, but the bending radius and the angle can be the same when rotating to the limit position.

In addition, the embodiment and the alternative thereof also have the positive effects of convenient processing, reliable connection, flexible bending, difficult abrasion of devices, low manufacturing cost, convenient use, small control force and the like.

To sum up, the utility model provides an among the bendable device and the endoscope of endoscope insert tube, utilize connection structure can realize the relative rotation between the first tube coupling, and then can realize the first kind turn range of first tube coupling, the turn range that first bending action produced promptly, the second kind turn range that first tube coupling can be realized to the bending deformation that utilizes first tube coupling, the turn range that second bending action produced promptly compares in the scheme that only has a turn range, the utility model discloses can be favorable to through manifold turn range, more accurately reachs the assigned position, and: making a greater variety of designated locations possible.

Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; although the present invention has been described in detail with reference to the foregoing embodiments, it should be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; such modifications and substitutions do not depart from the spirit and scope of the present invention.

Claims

1. A bendable device of an endoscope insertion tube is characterized by comprising N tube sections, wherein N is an integer greater than or equal to 2, a first connecting structure is arranged at a first end of each tube section, a second connecting structure is arranged at a second end of each tube section, the first connecting structure is connected with the second connecting structure, two adjacent tube sections can rotate around a rotating axis through the matching of the first connecting structure and the second connecting structure, the N tube sections comprise at least two first tube sections which are sequentially connected, and when a control line is controlled in a first bending direction, the at least two first tube sections can sequentially generate a first bending action and a second bending action; the first bending motion is generated by the relative rotation between two adjacent first pipe joints, and the second bending motion is generated by the bending deformation of the first pipe joints.

2. The bendable apparatus of an endoscope insertion tube according to claim 1, wherein the tube wall of the first tube section is opened with a slit structure along the circumference of the first tube section, and the slit structure can be closed in the second bending motion to allow the bending deformation of the first tube section.

3. The bendable apparatus of an endoscope insertion tube according to claim 2, wherein a circumferential angle between the head end and the tail end of the slit structure is greater than or equal to 180 degrees.

4. The bendable apparatus according to claim 2, wherein the slit structure comprises a first slit portion, a second slit portion and a connecting slit portion, the first slit portion and the second slit portion are both formed along a circumferential direction of the first tube section, the connecting slit portion is formed along an axial direction of the first tube section, two ends of the first slit portion are connected to the second slit portion through a connecting slit portion, and the connecting slit portion is provided with a limiting portion for limiting an opening degree of the slit structure.

5. The bendable device of an endoscope insertion tube according to claim 2, wherein the tube wall of each first tube section is provided with two slit structures, and the two slit structures are symmetrically distributed on two sides of the wire passing hole of the first tube section along the axial direction of the first tube section.

6. The bendable apparatus of an endoscope insertion tube according to any one of claims 2 to 5, wherein the tube wall of the first tube section is further provided with a slit along the circumference of the first tube section, the slit being adapted to open when the slit structure is closed.

7. The bendable apparatus of an endoscope insertion tube according to any one of claims 1 to 5, characterized in that the at least two first tube segments are further capable of a third bending action occurring as a result of the relative rotation between two adjacent first tube segments when the control wire performs a control in a second bending direction, which is opposite to the first bending direction, the third bending action having a minimum bending radius larger than the minimum bending radius of the second bending action.

8. The bendable apparatus of an endoscope insertion tube according to any of claims 1 to 5, wherein the N tube segments further comprise at least two second tube segments connected in sequence, wherein the last second tube segment connects the first tube segment of the at least two first tube segments;

9. The bendable apparatus of an endoscope insertion tube of claim 8, wherein the minimum bending radius of the fourth bending motion and the fifth bending motion is the same as the minimum bending radius after the second bending motion occurs, and the length of the second tube section is smaller than the length of the first tube section.

10. An endoscope, characterized by comprising the bendable device of the endoscope insertion tube according to any one of claims 1 to 9.