WO2019218946A1 - 可控弯曲管结构 - Google Patents

可控弯曲管结构 Download PDF

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Publication number
WO2019218946A1
WO2019218946A1 PCT/CN2019/086502 CN2019086502W WO2019218946A1 WO 2019218946 A1 WO2019218946 A1 WO 2019218946A1 CN 2019086502 W CN2019086502 W CN 2019086502W WO 2019218946 A1 WO2019218946 A1 WO 2019218946A1
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WO
WIPO (PCT)
Prior art keywords
tube
pipe joint
controllable
shaped
pipe
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PCT/CN2019/086502
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English (en)
French (fr)
Inventor
黄琴
Original Assignee
Huang Qin
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Publication date
Application filed by Huang Qin filed Critical Huang Qin
Publication of WO2019218946A1 publication Critical patent/WO2019218946A1/zh

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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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
    • G02B23/2476—Non-optical details, e.g. housings, mountings, supports

Definitions

  • the present invention relates to the field of medical devices, and more particularly to a controllable curved tube structure.
  • An insertion portion that is inserted into a living body or a tube is provided in an endoscope that can be applied to industrial use or medical use.
  • a controllable bending portion is provided on the distal end side of the insertion portion.
  • the bending portion can perform a bending operation in accordance with an operation of the operating device provided in the operating portion. Therefore, in the endoscope having the curved portion, the direction of the observation portion provided at the distal end portion can be directed to the desired direction by the operation device.
  • a bendable portion (8') is disclosed, which is arranged at the distal end of the insertion tube of the endoscope, comprising: a plurality of tubes Section (9'), each of the pipe segments (9') has a connecting device (11) that cooperates with a connecting device (11) of an adjacent pipe joint (9') And a control line with which the bending of the bendable portion (8') can be controlled; wherein the respective connecting means (11) of the tube segments (9') are arranged such that they are from their faces (12 and 13 respectively) Extending axially and positioned within the outer casing (15') of the pipe joint (9') such that they do not exceed the thickness of the outer casing, which is disposed on each side of the adjacent pipe joint (9') (12 and 13)
  • the connecting means (11) which are positioned above and positioned opposite each other are complementary to each other in a hinge type connection.
  • a bending portion having a bending block group in which a plurality of bending pieces are continuously provided in a rotatable manner, the bending block group being cut by hard Forming a curved piece and forming a convex portion on one side of the bending piece and forming a concave portion on the other side of the bending piece, and being provided to rotatably couple the engaging portion between the bending pieces, wherein the engaging portion has a first engaging portion formed of a first convex portion formed on the side of the bending piece by cutting and a first concave portion simultaneously formed on the other side of the bending piece and sliding the first convex portion; and the second engagement portion a pair of second convex portions formed on the other side of the bending piece via the first concave portion by cutting, and a pair of second concave portions simultaneously formed on the side of the bending piece and sliding the pair of second convex portions
  • the engaging portion has a first engaging portion formed of a first convex portion formed on the side of the
  • the curved pipe structure provided in the above document has the same structure of each bending block or pipe joint constituting the curved pipe, so that the design of the ends of each bending block or pipe joint is inconsistent and can be engaged with each other to be able to bend each bending block.
  • the pipe joints are connected in series, which increases the complexity of the manufacturing process, and the engagement angle of each bending block or pipe joint is consistent with the axial direction of the curved pipe, and it is easy to cause the pipe joint to fall off due to the tightness of the engagement, thereby affecting The life of the device.
  • the invention discloses a controllable curved pipe structure, comprising a plurality of circular tubular first pipe joints and second pipe joints constituting a controllable curved pipe at intervals, the first pipe joints along the axial ends of the curved pipe
  • Each of the second tube segments is provided with a C-shaped notch and a spherical protrusion that are matched with the C-shaped occlusion portion at both ends of the bending tube along the axial direction of the bending tube, when the first tube portion and the second tube portion are When connected in series, the spherical protrusion of the second pipe joint can be engaged with the C-shaped nip portion of the adjacent first pipe joint, so that the C-shaped nip portion of the adjacent first pipe joint can be embedded in the C-shaped portion of the second pipe joint.
  • the notch after the engagement, with the bending of the controllable bending tube, the C-shaped nip of the first tube section can move relative to each other in the C-shaped notch of the second
  • the angle between the opening direction of the C-shaped nip and the axial direction of the controllable curved tube ranges from 10° to 90°.
  • each of the first pipe segments is provided with two C-shaped nip portions in the circumferential direction
  • one end of each of the second pipe segments is provided with two sets of C-shaped gaps corresponding to the C-shaped nip portion.
  • a spherical protrusion having a nip between the first pipe joint and the second pipe joint after the engagement, the nip is extended in the circumferential direction of the controllable curved pipe and disposed at intervals of the C-shaped nip.
  • one or more slots are provided in the wall of the tube between any two nips, the slots extending in the circumferential direction of the controllable curved tube.
  • control device comprises one or more traction wires which are threaded from one end of the controllable bending tube and are fixedly connected to the first tube section or the second tube section at the outermost end of the other end of the controllable bending tube. .
  • the first tube section and the second tube section are further provided with one or more fixing portions for fixing the pulling wire.
  • the fixing portion is evenly distributed in the circumferential direction of the first pipe joint or the second pipe joint.
  • the fixing portion is a circular tube fixedly connected to the inner wall of the first pipe joint or the second pipe joint.
  • controllable curved tube structure disclosed by the present invention is formed by connecting two different tube sections in series, and the design of each end of the tube section along the axial direction of the tube body is a central symmetrical structure.
  • the processing process can be simplified, and the manufacturing ease can be increased.
  • the snap structure design of the invention is very clever, can increase the tightness and firmness of the mutual engagement of the pipe joints, and can ensure flexible control of the bending angle during bending.
  • the structural design of the present invention has very good practical value.
  • FIG. 1 is a schematic overall structural view of a controllable bending tube disclosed in an embodiment of the present invention
  • FIG. 2 is a schematic structural view of a first pipe joint and a second pipe joint disclosed in an embodiment of the present invention
  • Figure 3 is a side elevational view of one direction of the controllable curved tube disclosed in the embodiment of the present invention.
  • Figure 4 is a side elevational view of another direction of the controllable curved tube disclosed in the embodiment of the present invention.
  • FIG. 5 is a schematic overall structural view of a bendable state of a controllable curved pipe disclosed in an embodiment of the present invention
  • FIG. 6 is a partially enlarged schematic view showing a curved state of a controllable bending tube disclosed in an embodiment of the present invention.
  • the structure of the controllable curved tube 100 shown in FIG. 1 is clearly visible, and includes a plurality of circular tubular first tube segments 10 and second tube segments 20 constituting the controllable bending tube 100 in series, the first tube segment 10 A C-shaped nip 11 is disposed at each end of the axial direction of the controllable curved tube, and the second tube 20 is disposed along the axial end of the controllable curved tube to cooperate with the C-shaped nip 11 C-shaped notch 21 and spherical protrusion 22, when the first pipe joint 10 and the second pipe joint 20 are connected in series, the spherical protrusion 22 of the second pipe joint 29 can be engaged with the C of the adjacent first pipe joint 10
  • the occlusal portion 11 is such that the C-shaped nip 11 of the adjacent first pipe joint 10 can be inserted into the C-shaped notch 21 of the second pipe joint 20, and the first pipe joint is followed by the bending of the controllable bending pipe 100 after the engagement
  • the two different structural pipe joints are used to achieve the above purpose, and the two different pipe joints are symmetrically arranged along the axial ends of the pipe body, specifically A C-shaped nip portion 11 is provided at each end of the first pipe joint 10, and the C-shaped nip portions 11 at both ends are designed to be center-symmetrical, and a pair of C-shaped nip portions 11 are provided at both ends of the second pipe joint 20
  • the spherical protrusion 22 can be properly engaged in the C-shaped nip 11 of the first pipe joint 10, so that the C-shaped nip 11 of the first pipe joint 10 can be just right.
  • the C-shaped nip 11 of the first pipe joint 10 can be in the C-shaped notch 21 of the second pipe joint 20 Movement, as can be understood from Fig. 6 of the present embodiment, the C-shaped nip portion 11 slides in the C-shaped notch 21 to provide space for bending of the tubular body, thereby ensuring flexibility of bending; at the same time, the spherical projection 22 is engaged with C
  • the center of the occlusal portion 11 ensures the stability of the connection between the tube segments.
  • the first tube segment 10 and the second tube segment 20 in the embodiment of the invention have a simple structure, can be formed by laser cutting, have low processing cost, and have high yield.
  • the material of the tube walls of the first tube segment 10 and the second tube segment 20 is preferably a metal material such as sus304, sus316 or nickel titanium alloy.
  • Non-metallic materials such as nylon, polyurethane (PU), thermoplastic polyurethane elastomer (TPU), polyvinyl chloride (PVC), thermoplastic elastomer (TPE) and other plastic materials can also be used.
  • the first angle r of the opening direction of the C-shaped engaging portion 11 of the first pipe joint 10 and the axial direction of the controllable bending pipe 100 may be 10°-90°, the opening direction of the C-shaped nip portion is offset from the axial arrangement of the controllable bending tube, so that when the tube body is bent or stretched, the spherical protrusion of the second tube joint that is engaged therein is very It is difficult to fall off the opening of the C-shaped occlusal portion along the axial direction of the tubular body, which increases the stability of the connection; further, and in this range, the best engagement limit effect can be obtained, and the connection process can be obtained. Convenience, and the ability to obtain a stable limit effect, so it can be well applied in practice.
  • a plurality of C-shaped nip portions 11 may be protruded from one end of the first pipe joint 10 in the embodiment of the present invention to meet the bending direction requirements of different application scenarios.
  • one end of each of the first pipe segments 10 is provided with two opposite C-shaped nip portions 11 in the circumferential direction, corresponding to the second pipe joint 20
  • the occlusal portion is disposed and extends along the circumferential direction of the controllable curved tube.
  • the controllable curved tube of this embodiment can be bent in two directions under the control of the control device, and the nip 30 provides bending for the bending of the controllable curved tube 100. Space, as shown in FIGS. 5 and 6, when the controllable bending tube is bent and deformed in one direction, the C-shaped nip 11 of the first pipe joint 10 is in the C-shaped notch 21 of the adjacent second pipe joint 20.
  • Displacement occurs, specifically, a certain angle of rotation around the spherical protrusion 22, or can be understood as sliding along the C-shaped notch 21, and the gap between the opposite sides of the C-shaped nip portion 11 is increased by one side. Large, the gap on the opposite side is reduced to meet the space required for the bending of the pipe body, when the controllable curved pipe is oriented All of the above changes are reversely generated when the other side is bent, so that the controllable curved tube 100 in this embodiment can be bent in two directions.
  • one or more slots 31 may be provided between the nips 30 formed by the first tube segments 10 and the second tube segments 20, the slots 31 extending in the circumferential direction of the tube segments 10, and
  • the groove 31 may have various shapes such as a circle, a square, or an elongated shape. Between the nips 30 of each of the pipe segments 10 shown in FIG. 4, two elongated grooves 31 are provided which are parallel to each other.
  • the grooves 31 can further provide space for bending the pipe body and increase the angle at which the controllable bending pipe bends. The range, which enhances the flexibility of the pipe body and reduces the weight of the pipe body and the manufacturing cost, is a very clever design in practice.
  • control device is also used to control the first tube section 10 and the second tube section 20 that are connected in series.
  • control device is preferably one or more traction wires for controlling the controllable bending tube 100 formed in series to be bent in one or more directions, and the pulling wire is from one end of any tube section of the controllable bending tube 100. Penetrating and fixedly connected with the pipe joint located at the outermost end of the other end of the controllable bending pipe 100. When an external force is applied to the pulling wire, that is, pulling the pulling wire, the first pipe joint fixedly connected with the pulling wire can be driven.
  • the traction portion is preferably a steel wire, but is not limited thereto, and the traction portion may be any filament-like structure, and the filament-like structure may also be any metal or non-metal material.
  • first One or more fixing portions for fixing the pulling wire may also be provided on the pipe joint 10 or the second pipe joint 20.
  • one or two traction wires may preferably be provided as a control device in a plurality of spaced apart first pipe segments 10 or second pipe segments 20 such that the controllable bending device can face one or two Bending in one direction.
  • the plurality of fixing portions are provided on the first pipe joint 10 or the second pipe joint 20
  • the plurality of fixing portions are evenly distributed in the circumferential direction of the first pipe joint 10 or the second pipe joint 20. To ensure that the bending device can bend in all directions.
  • the fixing portion may be a circular tube fixedly connected to the inner wall of the first pipe joint 10 or the second pipe joint 20, or may be a wire groove formed on the inner wall of the first pipe joint 10 or the second pipe joint 20. Fixing the pulling wire through the fixing portion can prevent the pulling wire from slipping off and causing the controllable bending device to fail.
  • the controllable bending device according to the present invention can bend the tube joint group by the control portion according to the needs of the user, and can bend in any direction required by the user, which is flexible and convenient. The above provides a preferred control method for controlling the controllable curved tube. Those skilled in the art will also know that many control methods or control devices for controlling the bending of the controllable curved tube in a desired direction are included in the practice, and are not limited to the above preferred embodiment. Control device provided in the middle.
  • controllable curved tube structure is formed by connecting two different types of pipe joints in series, and the design of each end of the pipe joint along the axial direction of the pipe body is a central symmetrical structure.
  • the processing process can be simplified, and the manufacturing ease can be increased.
  • the snap structure design of the invention is very clever, can increase the tightness and firmness of the mutual engagement of the pipe joints, and can ensure flexible control of the bending angle during bending.
  • the structural design of the present invention has very good practical value.

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Abstract

一种可控弯曲管（100）结构，包括构成间隔串联的多个圆管状的第一管节（10）和第二管节（20），第一管节（10）沿着弯曲管（100）轴向的两端各设有C型咬合部（11），第二管节（20）沿着弯曲管（100）轴向的两端各设有与C型咬合部（11）相配合的C型缺口（21）和球状凸起（22）。串联时，第二管节（20）的球状凸起（22）可卡合于相邻的第一管节（10）的C型咬合部（11），使得相邻的第一管节（10）的C型咬合部（11）可嵌入第二管节（20）的C型缺口（21），弯曲时第一管节（10）的C型咬合部（11）可在第二管节（20）的C型缺口（21）中相对运动。这种可控弯曲管（100）由两种结构不同的管节（10，20）间隔串联而成，每种管节（10，20）的两端设计为中心对称结构，能简化加工工艺，增加制造的简易性，同时各个管节（10，20）相互卡合的十分紧密和牢固，且在弯曲时弯曲角度的控制灵活。

Description

可控弯曲管结构 技术领域
本发明涉及医疗器械领域，特别是涉及一种可控弯曲管结构。
背景技术
在能够应用于工业用途、医疗用途的内窥镜中设有被插入活体内或管内的插入部。一般在具有软性插入部的内窥镜中，在插入部的前端侧设有可控弯曲部。弯曲部可随着设于操作部中的操作装置的操作而进行弯曲动作。因此，在具有弯曲部的内窥镜中，能够通过操作装置使设于前端部的观察部的方向朝向期望方向。
在申请号为CN200510076111.1的发明专利中，公开了一种可弯曲部分(8′)，该可弯曲部分(8′)布置在内窥镜的插入管的远端处，包括：多个管节(9′)，所述管节(9′)中的每个管节具有连接装置(11)，该连接装置(11)与相邻管节(9′)的连接装置(11)相配合；以及控制线，使用该控制线能够控制可弯曲部分(8′)的弯曲；其中管节(9′)的各个连接装置(11)设置为使得它们从其面(分别为12和13)上在轴向伸出并定位在管节(9′)的外壳(15′)内，并使得它们不超过外壳的厚度，其中设置在相邻管节(9′)的各个面(分别为12和13)上并定位成彼此相对的连接装置(11)以铰链型连接的方式彼此互补。
在申请号为CN201280041664.1的发明专利文献中，公开了一种弯曲部，该弯曲部具有以转动自如的方式连续设置有多个弯曲块的弯曲块组，该弯曲块组是通过切断硬质管而形成弯曲块、并且在弯曲块一侧形成凸部并在弯曲块另一侧形成凹部而设置以能够转动的方式连结弯曲块之间的卡合部而形成的，其中，卡合部具有：第1卡合部，其由通过切断而形成在弯曲块一侧的第1凸部和同时形成在弯曲块另一侧且供第1凸部滑动的第1凹部构成；以及第2卡合部，其由通过切断而隔着第1凹部形成在弯曲块另一侧的一对第2凸部和同时形成在弯曲块一侧且供一对第2凸部分别滑动的一对第2凹部构成，在弯曲块中设置有切掉第1凹部的底部的一部分并加宽一端侧的弯曲块端的第1加强部或从一对第2凹部的底面起加宽另一端侧的弯曲块端的第2加强部中的任意一方。
然而，上述文件中所提供的弯曲管结构，构成弯曲管的各个弯曲块或者管节的结构相同，因此各个弯曲块或者管节的两端设计需不一致且能相互卡合方能将各个 弯曲块或者管节串联起来，这样便增加了制造加工的复杂性，且各个弯曲块或管节的卡合角度与弯曲管的轴向保持一致，容易因为卡合不紧而导致管节脱落，从而影响器械的使用寿命。
发明内容
本发明公开了一种可控弯曲管结构，包括构成可控弯曲管的间隔串联的多个圆管状的第一管节和第二管节，第一管节沿着弯曲管轴向的两端各设有C型咬合部，第二管节沿着弯曲管轴向的两端各设有与C型咬合部相配合的C型缺口和球状凸起，当第一管节和第二管节串联时，第二管节的球状凸起可卡合于相邻的第一管节的C型咬合部，使得相邻的第一管节的C型咬合部可嵌入第二管节的C型缺口，卡合后随着可控弯曲管的弯曲，第一管节的C型咬合部可在第二管节的C型缺口中相对运动。
优选地，C型咬合部的开口方向与可控弯曲管的轴向所成的夹角范围为10°-90°。
进一步地，每个第一管节的一端周向上相对设有两个C型咬合部，相应地每个第二管节的一端周向上设有两组与C型咬合部相配合的C型缺口和球状凸起，卡合后第一管节和第二管节之间具有夹缝，夹缝在可控弯曲管的周向延伸并间隔C型咬合部设置。
优选地，任意两个夹缝之间的管节壁上设有一个或多个槽，槽在可控弯曲管的周向延伸。
进一步地，控制装置包含一根或多根牵引丝，牵引丝从可控弯曲管的一端穿入，并与位于可控弯曲管的另一端最外端的第一管节或第二管节固定连接。
优选地，第一管节和第二管节还设有一个或多个用于固定牵引丝的固定部。
进一步地，固定部均布于第一管节或第二管节的周向。
优选地，固定部为固定连接于第一管节或第二管节内壁上的圆管。
综上所述，本发明所公开的可控弯曲管结构，由两种结构不同的管节间隔串联而成，并且每种管节的沿着管体轴向的两端的设计为中心对称结构，这样便能够简化加工工艺，增加制造的简易性，同时本发明的卡合结构设计十分巧妙，能够增加各个管节相互卡合的紧密程度和牢固程度，且能够保证弯曲时对弯曲角度的灵活控制，总体而言，本发明的结构设计具有非常好的实用价值。
为让本发明的上述内容能更明显易懂，下文特举优选实施例，并结合附图，作详细说明如下。
附图说明
下面将结合附图介绍本发明。
图1为本发明实施例中公开的可控弯曲管的整体结构示意图；
图2为本发明实施例中公开的第一管节和第二管节的结构示意图；
图3为本发明实施例中公开的可控弯曲管的一个方向的侧视图；
图4为本发明实施例中公开的可控弯曲管的另一个方向的侧视图；
图5为本发明实施例中公开的可控弯曲管的弯曲状态整体结构示意图；
图6为本发明实施例中公开的可控弯曲管的弯曲状态局部放大示意图。
具体实施方式
以下由特定的具体实施例说明本发明的实施方式，本领域技术人员可由本说明书所揭示的内容轻易地了解本发明的其他优点及功效。
现在参考附图介绍本发明的示例性实施方式，然而，本发明可以用许多不同的形式来实施，并且不局限于此处描述的实施例，提供这些实施例是为了详尽地且完全地公开本发明，并且向所属技术领域的技术人员充分传达本发明的范围。对于表示在附图中的示例性实施方式中的术语并不是对本发明的限定。在附图中，相同的单元/元件使用相同的附图标记。
除非另有说明，此处使用的术语(包括科技术语)对所属技术领域的技术人员具有通常的理解含义。另外，可以理解的是，以通常使用的词典限定的术语，应当被理解为与其相关领域的语境具有一致的含义，而不应该被理解为理想化的或过于正式的意义。
图1所示的可控弯曲管100的结构明显可视，其包括构成可控弯曲管100的间隔串联的多个圆管状的第一管节10和第二管节20，第一管节10沿着可控弯曲管的轴向的两端各设有C型咬合部11，第二管节20沿着可控弯曲管的轴向的两端各设有与C型咬合部11相配合的C型缺口21和球状凸起22，当第一管节10和第二管节20进行串联时，第二管节29的球状凸起22可卡合于相邻的第一管节10的C型咬合部11，使得相邻的第一管节10的C型咬合部11可嵌入第二管节20的C型缺口21，卡合后随着可控弯曲管100的弯曲，第一管节10的C型咬合部11可在第二管节20的C型凸起21中相对运动。
具体地，若需要将管节之间连接在一起，同时能够枢转而不必适用螺栓等附加装置，便需要管节的一端设有夹持结构来将相邻管节另一端的突出部位夹持或卡 合，本发明的实施例中采用了两种结构不同的管节相互卡合来实现上述目的，这两种不同的管节在沿着管体轴向两端的设计为中心对称结构，具体为第一管节10的两端各设有C型咬合部11，这两端的C型咬合部11成中心对称设计，在第二管节20的两端各设有一组与C型咬合部11配合的C型缺口21和球状凸起22，球状凸起22可合适地卡合于第一管节10的C型咬合部11中，同时使得第一管节10的C型咬合部11可以恰好嵌入第二管节20的C型缺口21中，如此一来，便能够将第一管节10和第二管节20间隔性地彼此相互卡合串联，当可控弯曲管100发生弯曲或拉伸形变时，第一管节10的C型咬合部11可在第二管节20的C型缺口21中相对运动，由本实施例的图6中可理解为C型咬合部11在C型缺口21中滑动来为管体弯曲提供空间，从而保证的弯曲的灵活性；同时，球状凸起22卡合于C型咬合部11的中心，保证了管节之间联系的稳固性。
本发明实施例中的第一管节10和第二管节20结构简单，可通过激光切割加工成型，加工成本低廉，且成品率高。第一管节10和第二管节20的管壁的材质优选为金属材料，例如sus304，sus316或者是镍钛合金等。也可以选用非金属材料，如如尼龙、聚氨酯(PU)、热塑性聚氨酯弹性体橡胶(TPU)、聚氯乙烯(PVC)、热塑性弹性体(TPE)等各种塑胶材料。
本发明的一个优选实施例中，如图2中所示，第一管节10的C型咬合部11的开口方向与可控弯曲管100的轴向所成的第一夹角r范围可以为10°-90°，C型咬合部的开口方向偏置于可控弯曲管的轴向设置，使得管体发生弯曲或拉伸形变时，卡合在其中的第二管节的球状凸起很难沿着管体的轴向而从C型咬合部的开口中脱落，增加了连接的稳固性；进一步地，且位于该范围可以获得最佳的卡合限位效果，既能够取得连接工艺的便利性，又能够获得稳固的限位效果，因此能够在实践中得到很好的应用。
本发明实施例中的第一管节10的一端周向上可以突出设置多个C型咬合部11，以满足不同应用场景的弯曲方向要求。在本发明的另一个优选实施例中，如图1-图4中，每个第一管节10的一端周向上设有两个相对的C型咬合部11，相应在第二管节20的周向上相对设有两组与C型咬合部11相配合的C型缺口21和球状凸起22，卡合后第一管节10和第二管节20之间具有夹缝30，夹缝30间隔C型咬合部设置并沿着可控弯曲管的周向延伸，该实施例的可控弯曲管可以在控制装置的控制下向两个方向弯曲，夹缝30为可控弯曲管100的弯曲提供了弯曲空间，如图5和图6所示，当可控弯曲管向一个方向发生弯曲形变时，第一管节10的C型咬合部11在相邻的第二管节20的C型缺口21中发生位移，具体为围绕球状凸起22发 生一定角度的转动，或者可以理解为沿着C型缺口21进行滑动，而间隔C型咬合部11设置的相对的两侧夹缝30，则一侧缝隙增大，相对另一侧的缝隙减小，以满足管体弯曲所需空间，当可控弯曲管向另一侧弯曲时上述所有变化反向生成，使得该实施例中的可控弯曲管100可以向两个方向弯曲。本领域技术人员应当理解，第一管节的C型咬合部或者第二管节的C型缺口和球状凸起的设计应当不仅仅限于该实施例中所提供的位置和数量，可以根据具体的应用场景进行相应设计，以满足不同的弯曲方向需求。
自图3和图4中可见，第一管节10和第二管节20所形成的夹缝30之间还可以设有一个或多个槽31，槽31在管节10的周向延伸，且槽31可以为圆形、方形或长条形等各种形状。图4中所示的每个管节10的夹缝30之间设有相互平行的两个长条形的槽31，槽31能够进一步提供管体弯曲所需空间，增加可控弯曲管弯曲的角度范围，增强管体的柔性，且能够降低管体重量和制造成本，是实践中非常巧妙的一种设计。
为了使使用者更好地对可控弯曲装置进行控制，在本发明的一个实施例中，还利用控制装置对间隔串联的第一管节10和第二管节20进行控制。进一步地，控制装置优选为一根或多根牵引丝，用于控制串联后形成的可控弯曲管100朝一个或多个方向弯曲，牵引丝从可控弯曲管100的任一管节的一端穿入，并与位于可控弯曲管100的另一端最外端的管节固定连接，当将外力施加在牵引丝上，即牵拉牵引丝时，可带动与牵引丝固定连接的第一管节10或者第二管节20发生移动，此时C型咬合部11与球状凸起22间发生转动，当C型咬合部11转至C型缺口21的极限位置后继续牵拉牵引丝，可继续带动相邻的第二管节20或者第一管节10继续发生转动，从而使整根弯曲装置发生弯曲；当弯曲装置弯曲至到使用者所需的角度后，撤去施加在弯曲装置上的外力并固定牵引丝，即可使弯曲装置保持在该弯曲位置。
进一步地，在发明的一个实施例中，牵引部优选为钢丝，但并不局限于此，牵引部还可以是任何细丝状的结构，细丝状结构还可以选用任何金属或非金属材质。
为了使牵引丝与弯曲装置更好地配合，防止牵引丝在弯曲装置的的第一管节10或者第二管节20内活动，影响弯曲的效果，在本发明的一个实施例中，第一管节10或者第二管节20上还可设有一个或多个用于固定牵引丝的固定部。本发明的一个实施例中，可优选在多个间隔串联的第一管节10或者第二管节20内设置一根或两根牵引丝作为控制装置以使可控弯曲装置可以朝向一个或两个方向弯曲。进一步地，该实施例中，当第一管节10或者第二管节20上设有多个固定部时，多个固 定部均布于第一管节10或者第二管节20的周向上，以保证弯曲装置可以朝各个方向弯曲。
更进一步地，固定部可以为固定连接于第一管节10或者第二管节20内壁上的圆管，也可以是开设于第一管节10或者第二管节20内壁上的线槽。通过固定部将牵引丝进行固定，可防止牵引丝滑脱导致可控弯曲装置失效。本发明所涉及的可控弯曲装置可以根据使用者的需要，利用控制部对管节组进行弯曲，并可以朝向使用者所需要的任何方向进行弯曲，灵活方便。以上提供对可控弯曲管进行控制的优选控制方式，本领域技术人员可知，实践中还包括诸多控制可控弯曲管向所需方向弯曲的控制方式或控制装置，而不仅仅限于上述优选实施例中所提供的控制装置。
综上所述，本发明所涉及的可控弯曲管结构，由两种结构不同的管节间隔串联而成，并且每种管节的沿着管体轴向的两端的设计为中心对称结构，这样便能够简化加工工艺，增加制造的简易性，同时本发明的卡合结构设计十分巧妙，能够增加各个管节相互卡合的紧密程度和牢固程度，且能够保证弯曲时对弯曲角度的灵活控制，总体而言，本发明的结构设计具有非常好的实用价值。
此外，本发明上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何本领域技术人员皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，本领域技术人员在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (8)

  1. 一种可控弯曲管结构，其特征在于，包括构成所述可控弯曲管的间隔串联的多个圆管状的第一管节和第二管节，所述第一管节沿着弯曲管轴向的两端各设有C型咬合部，所述第二管节沿着弯曲管轴向的两端各设有与所述C型咬合部相配合的C型缺口和球状凸起，当所述第一管节和所述第二管节串联时，所述第二管节的所述球状凸起可卡合于相邻的所述第一管节的所述C型咬合部，使得相邻的所述第一管节的所述C型咬合部可嵌入所述第二管节的所述C型缺口，卡合后随着所述可控弯曲管的弯曲，所述第一管节的所述C型咬合部可在所述第二管节的所述C型缺口中相对运动。
  2. 如权利要求1所述的可控弯曲管结构，其特征在于，所述C型咬合部的开口方向与所述可控弯曲管的轴向所成的夹角范围为10°-90°。
  3. 如权利要求1所述的可控弯曲管结构，其特征在于，每个所述第一管节的一端周向上相对设有两个所述C型咬合部，相应地每个所述第二管节的一端周向上设有两组与所述C型咬合部相配合的C型缺口和球状凸起，卡合后所述第一管节和所述第二管节之间具有夹缝，所述夹缝在所述可控弯曲管的周向延伸并间隔所述C型咬合部设置。
  4. 如权利要求3所述的可控弯曲管结构，其特征在于，任意两个所述夹缝之间的管节壁上设有一个或多个槽，所述槽在所述可控弯曲管的周向延伸。
  5. 如权利要求1所述的可控弯曲管结构，其特征在于，所述控制装置包含一根或多根牵引丝，所述牵引丝从所述可控弯曲管的一端穿入，并与位于所述可控弯曲管的另一端最外端的所述第一管节或所述第二管节固定连接。
  6. 如权利要求5所述的可控弯曲管结构，其特征在于，所述第一管节和所述第二管节还设有一个或多个用于固定所述牵引丝的固定部。
  7. 如权利要求6所述的可控弯曲管结构，其特征在于，所述固定部均布于所述第一管节或所述第二管节的周向。
  8. 如权利要求7所述的可控弯曲管结构，其特征在于，所述固定部为固定连接于所述第一管节或所述第二管节内壁上的圆管。
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