CN210902909U

CN210902909U - Self-resetting adjustable snake bone and endoscope

Info

Publication number: CN210902909U
Application number: CN201921558495.4U
Authority: CN
Inventors: 杨兴强; 邓安鹏; 周健
Original assignee: Chongqing Jinshan Medical Technology Research Institute Co Ltd
Current assignee: Chongqing Jinshan Medical Technology Research Institute Co Ltd
Priority date: 2019-09-17
Filing date: 2019-09-17
Publication date: 2020-07-03
Anticipated expiration: 2029-09-17

Abstract

The utility model discloses a self-resetting adjustable snake bone and an endoscope, wherein the snake bone comprises a plurality of hollow bone segments which are connected in sequence, the bone segments are provided with control stay wires through four first threading holes which are uniformly distributed on the circumference, two adjacent 180-degree first threading holes form a pair, one end of a connecting control stay wire in a pair of first threading holes is fixed at the front end of the snake bone, the other ends of the two control stay wires are connected into a U shape, and an adjuster is arranged at the U-shaped part and is in pure rolling connection with the control stay wires so as to release the other one with equal length when one is tensioned; an elastic component is further arranged between the adjacent bone sections and sleeved on the control stay wire through a second threading hole, and two ends of the elastic component are respectively abutted against the two adjacent bone sections so that the adjacent bone sections are mutually far away from each other along the axial direction. The endoscope has the snake bone. The beneficial effects of the utility model are that, the snake bone warp to adjust conveniently, long service life. The endoscope has the characteristics of the snake bone, and is good in controllability and posture stability.

Description

Self-resetting adjustable snake bone and endoscope

Technical Field

The utility model relates to an electronic endoscope correlation technique field, especially an adjustable snake bone and endoscope from restoring to throne.

Background

The snake bone is a moving mechanism which is widely applied to an electronic endoscope system and used for adjusting the head end angle. The structure is complex, the requirement on the dimensional precision is high, and the manufacture is difficult. The existing snake bone is mostly a sheet metal structure assembly, the external force resistance performance is poor, and after adjustment, the snake bone cannot be automatically reset, and the snake bone needs to be reversely rotated to enable the snake bone to be restored to the original state. Has the defect of complex operation. For this reason, further improvement is required.

Disclosure of Invention

The utility model discloses a first purpose is to current complex operation not enough, provide one kind from adjustable snake bone that restores to throne, this adjustable snake bone is through setting up elastic component between adjacent condyle, with through the controller taut or relax control cable compression elastic component or release elastic component, realize the bending deformation of condyle, and relieve the back at regulator hand wheel external force, under elastic component's elastic force effect, the automatic reconversion, realize from the mesh of restoring to throne, thereby need not reset the operation, simplified operation step. The second purpose of the utility model is to provide an endoscope with aforementioned snake bone.

For realizing the first purpose, the utility model adopts the following technical scheme:

a self-resetting adjustable snake bone comprises a plurality of hollow bone sections which are sequentially connected, wherein control stay wires penetrate through four first threading holes which are uniformly distributed on the circumference of the bone sections, two adjacent 180-degree first threading holes form a pair, one end of a connecting control stay wire in the first threading holes is fixed on the same bone section at the front end of the snake bone, the other ends of the two control stay wires are connected into a U shape, an adjuster is arranged on the U-shaped part, and the adjuster and the control stay wires are connected in a pure rolling mode so as to release one control stay wire in equal length when the other control stay wire is tensioned; the elastic member is sleeved on the control stay wire through a second threading hole, and two ends of the elastic member are respectively abutted against the two adjacent bone nodes so as to enable the adjacent bone nodes to be mutually far away along the axial direction.

Adopt aforementioned technical scheme the utility model discloses, the snake bone has following universal architecture, the control is worn to be equipped with through the first through wires hole of four circumference equipartitions by the condyle, two adjacent 180 first through wires holes constitute a pair ofly, the one end of acting as go-between is fixed on the same condyle of snake bone front end to the root control in a pair of first through wires hole, the other end that two controls are acted as go-between connects into the U-shaped, and be equipped with the regulator in U-shaped portion, the regulator is acted as go-between with the control and is pure roll connection, in order when taut one wait length release another one. Because the elastic component is arranged between the adjacent bone segments, the elastic component is used for enabling the adjacent bone segments to be away from each other along the axial direction. Under the condition that the total length of the snake bone and the distance between the front end and the rear section are determined, pre-tightening with set force can be formed between the mutual bone sections, so that the rigidity of a set state is kept, and the controllability of a deformation state is effectively improved.

Preferably, the elastic member is formed of a cylindrical helical compression spring, and a hollow portion of the cylindrical helical compression spring forms the second threading hole; four elastic members are arranged between adjacent bone sections, and a counter bore is formed in the orifice of the first threading hole; the end of the elastic component abuts against the bottom of the counter bore hole. The small-size snake bone is ensured by utilizing the characteristic that the radial structure size of the cylindrical helical spring is small, so that the use requirement that the section size of the endoscope is reduced as much as possible is met.

Preferably, said elastic member is constituted by an elastic bushing made of elastomeric material or by at least one elastic washer. To take advantage of the highly elastic properties of the elastomeric material to form a resilient member similar to a helical cylindrical spring; is suitable for snake bones with relatively small space between adjacent bone sections.

Further preferably, the condyle is provided with an elastic member installation sinking platform. The elastic component formed by a spring, an elastic washer or a bushing is arranged on the sinking platform, so that the stability of the installation state of the elastic component is improved, and the controllability of the deformation state is further improved.

Preferably, the elastic member is formed of an elastic annular pad having an inner diameter greater than the central through hole of the condyle. The elastic annular cushion replaces four springs or bushings, so that the snake bone combination is facilitated, the number of snake bone joints is increased and decreased conveniently, and the assembly and disassembly efficiency is improved.

In order to achieve the second objective, the present invention adopts the following technical solutions.

An endoscope comprising a self-resetting adjustable snake bone to achieve a first objective; wherein, the front end of the condyle is fixedly connected with the lens of the endoscope, and the rear end of the condyle is fixedly connected with the guide tube or the fixed support of the endoscope.

The endoscope adopting the scheme has the characteristics of convenience in self-resetting and adjustable snake bone deformation adjustment and long service life, and is convenient to operate and good in posture stability in the using process.

The beneficial effects of the utility model are that, the snake bone warp to adjust conveniently, long service life. The endoscope has the characteristics of the snake bone, and is good in controllability and posture stability.

Drawings

Fig. 1 is a schematic view of a part of the structure of the present invention.

Fig. 2 is a schematic view of the direction control relationship of the control stay of the snake bone of the present invention.

Fig. 3 is a schematic view of the state of the adjustment angle for the snake bone bending of the present invention.

Fig. 4 is a schematic diagram of a relationship curve between the bending angle and the restoring force of the snake bone of the present invention.

Detailed Description

The present invention will be further described with reference to the accompanying drawings, which are not intended to limit the scope of the embodiments described herein.

Embodiment 1, see fig. 1, a self-resetting adjustable snake bone comprises a plurality of hollow bone segments connected in sequence, wherein the bone segments are provided with control stay wires 5 through first through holes uniformly distributed on four circumferences, two adjacent first through holes of 180 degrees form a pair, one end of a connecting control stay wire 5 in the pair of first through holes is fixed on the same bone segment at the front end of the snake bone, the other ends of the two control stay wires 5 are connected into a U shape, an adjuster 6 is arranged at the U-shaped part, and the adjuster 6 is in pure rolling connection with the control stay wires 5 to release one from the other in equal length when the other is tensioned; an elastic component 3 is further arranged between the adjacent bone sections, the elastic component 3 is sleeved on the control stay wire 5 through a second threading hole, and two ends of the elastic component 3 are respectively abutted against the two adjacent bone sections so that the adjacent bone sections are mutually far away from each other along the axial direction. The condyle is formed by sequentially connecting a condyle front end 1, a condyle rear end 4 and a plurality of condyle middle sections 2; adjacent bone sections are hinged, and two axially adjacent hinged shafts are crossed at 90 degrees. The condyle rear end 4 is connected to the adjuster 6 in a relatively fixed position, and in a free state, the condyle front end 1 and the condyle rear end 4 form a snake bone length.

Wherein, the elastic component 3 is composed of a cylindrical helical compression spring, and the hollow part of the cylindrical helical compression spring forms the second threading hole; four elastic members 3 are arranged between adjacent bone sections, and a counter bore is formed at the orifice of the first threading hole; the end of the elastic component 3 is abutted against the bottom of the counter bore.

In this embodiment, the elastic member 3 may also be formed by a bushing made of an elastomer material, or the elastic member 3 may be formed by at least one elastic made of an elastomer material, or may be formed by coaxially stacking a plurality of washers, wherein the inner hole of the bushing or the washer forms the second threading hole.

In this embodiment, the elastic member 3 may also be formed by elastic annular pads having an inner diameter larger than the spherical surface of the condyle, and four second threading holes are distributed on the circumference of each elastic annular pad, so that one elastic annular pad replaces four springs or bushings.

Embodiment 2, with reference to fig. 1, an endoscope comprising the self-repositioning adjustable snake bone of embodiment 1; wherein, the front end 1 of the condyle is fixedly connected with a lens of the endoscope, and the rear end 4 of the condyle is fixedly connected with a guide tube or a fixed support of the endoscope.

Referring to fig. 1 and 2, after the elastic member 3 is arranged between adjacent condyles of the existing snake bone, a certain elastic pre-tightening force is formed between the adjacent condyles so as to control the adjustment of force control and hand feeling control of the snake bone by controlling the stay wires in all directions. The back end of the snake bone is fixed on the catheter or the fixed support, the adjuster 6 and the back end of the snake bone or the fixed support are relatively fixed in position, the section A and the section B of the stay wire are connected into a U-shaped control line through the adjuster 6 and form non-sliding pure rolling connection with the adjuster 6. The rotation regulator drives the stay wire to move, so that one end of the stay wire moves forwards, the other end of the stay wire synchronously moves backwards, and the snake bone joint is driven to move. As shown in fig. 3, when the rotary adjuster 6 pulls the section a, the section B is released, the elastic member 3 corresponding to the section a is compressed and shortened, and the elastic member 3 corresponding to the section B is released and extended, thereby achieving the angle adjustment. The whole structure is stressed and changed, and elasticity is provided for the reduction of the snake bone. The parameters of each section of spring can be respectively set, so that the stress is consistent during movement, the movement speed of adjustment and reset is consistent, and the shaking or sudden change of the front end caused by sudden change is reduced, as shown in fig. 4.

Wherein, the force is calculated according to the following method:

as shown in fig. 1, taking the snake bone and the elastic member of the middle section of three bone segments as cylindrical helical compression springs as an example, the sections a and B correspond to four springs, and the lengths of the four springs of the section a are a1, a2, a3 and a4 respectively in a free state from the front end to the rear end; the four springs of the section B are B1, B2, B3 and B4 in length.

When the angle is zero, all directions of spring force are the same, and all directions of movement distances of the snake bone are the same, at the moment: the tension in directions a and B can be set to be the same, i.e.: FA = FB, where a1, a2, a3 and a4, and b1, b2, b3 and b4 are all equal.

When the adjuster is rotated in a counter-clockwise direction, the additional rotational force is: FN (FN)

Spring movement, tension change, i.e.: FA1= FN + FB1 where FA1 and FB1 are the changed directional tensions.

At this time: FA1= (KE1+ KE2+ KE3+ KE4) x Δ a where Δ a is the movement displacement between two segments of snake bone, and a1, a2, a3 and a4 are changed into a11, a21, a31 and a41 in turn according to Δ a; the displacement is the same for each segment, taking into account the structural consistency of the snake bone. KE is the elastic coefficient of the snake bone spring, and the coefficient is closely related to the performance of the spring. Because the movement displacement between the snake bones is consistent and controllable, the FB can be adjusted to be 0. At this time the formula is converted into

(KEa1+ KEa2+ KEa3+ KEa4)xΔa=FN+(KEb1+ KEb2+ KEb3+ KEb4)xΔb。

When the spring is reset, FN is 0, namely the spring in the A direction is stretched, and the spring in the B direction begins to be compressed; b1, b2, b3 and b4 are changed into b11, b21, b31 and b41 according to delta b in sequence.

(KEa1+ KEa2+ KEa3+ KEa4) x Δ a1 trending toward FA;

(KEb1+ KEb2+ KEb3+ KEb4) x Δ b1 trended towards FB.

Wherein, the displacements Δ a1 and Δ b1 are linear sinusoidal changes, and the KE coefficient is linear sinusoidal changes, and the change direction is opposite to the displacement. The torsion FN of the regulator and the snake bone displacement are set to be known constants, the maximum angle of the snake bone movement and the reset time are controlled, a basic linear sine reference curve is drawn, and the basic parameters of spring materials and the number of springs are selected. And drawing a basic dynamic balance equation. The spring constants of the springs are shown one by one. The springs of a1 and b1 have the same performance, and compress and extend when moving. And dynamic balance is realized.

The adjustment of the motion state during motion and reset can be realized by adjusting different parameters of the spring at the snake bone joint through adjusting the parameters of the sine reference curve drawn according to the basic performance requirements.

The basic principles and the main features of the invention and the advantages of the invention have been shown and described above. It will be understood by those skilled in the art that the present invention is not limited to the above embodiments, and that the foregoing embodiments and descriptions are provided only to illustrate the principles of the present invention without departing from the spirit and scope of the present invention. The scope of the invention is defined by the appended claims and equivalents thereof.

Claims

1. A self-resetting adjustable snake bone comprises a plurality of hollow bone sections which are connected in sequence, wherein a control stay wire (5) penetrates through the bone sections through a first threading hole; the novel bone joint structure is characterized in that an elastic component (3) is further arranged between the adjacent bone joints, the elastic component (3) is sleeved on the control stay wire (5) through a second threading hole, and two ends of the elastic component (3) are respectively abutted against the two adjacent bone joints so that the adjacent bone joints are far away from each other along the axial direction.

2. The self-resetting adjustable snake bone according to claim 1, wherein the elastic member (3) is constituted by a cylindrical helical compression spring, the hollow of which constitutes the second threading hole; four elastic members (3) are arranged between adjacent bone sections, and a counter bore is formed in the orifice of the first threading hole; the end part of the elastic component (3) is abutted against the bottom of the counter bore hole.

3. Self-resetting adjustable snake bone according to claim 1, wherein the elastic member (3) is constituted by an elastic bushing or at least one elastic washer made of elastomeric material.

4. The self-resetting adjustable snake bone according to claim 2 or 3, wherein the condyle is provided with a resilient member mounting platform.

5. Self-resetting adjustable snake bone according to claim 1, wherein the elastic member (3) is constituted by an elastic annular pad with an internal diameter greater than the through hole in the middle of the condyle.

6. An endoscope, comprising a snake bone as claimed in claims 1-5, wherein the front end (1) of the condyle is fixedly connected with the lens of the endoscope, and the rear end (4) of the condyle is fixedly connected with the guide tube or the fixed support of the endoscope.