WO2020082640A1

WO2020082640A1 - Multi-segment bending tube apparatus for endoscope, and endoscope

Info

Publication number: WO2020082640A1
Application number: PCT/CN2019/073618
Authority: WO
Inventors: 严航; 唐伟
Original assignee: 上海安清医疗器械有限公司
Priority date: 2018-10-22
Filing date: 2019-01-29
Publication date: 2020-04-30
Also published as: CN109288486A; CN109288486B

Abstract

Provided in the present invention are a multi-segment bending tube apparatus for an endoscope, and an endoscope, the apparatus comprising: sequentially connected, a controllable bending segment, a passive bending segment, and a rigid segment, one end of the controllable bending segment being directly or indirectly connected to an endoscopic assembly. The passive bending segment comprises a first spiral tube section, a second spiral tube section, and a third spiral tube section, the first spiral tube section and the third spiral tube section being spiral tubes provided with a spiral-shaped first gap in a tube wall thereof, and the second spiral tube section being a spiral tube provided with a spiral-shaped second gap in a tube wall thereof. A protruding gap part is provided on the second gap, so that a fastening slot and a fastening part for inserting into the fastening slot are formed on tube wall sections on either side of the protruding gap part. In the present invention, by means of the formation of the fastening part and the fastening slot, radial expansion or contraction of each section of the second spiral tube when twisted can be prevented or reduced, thereby avoiding reduction of the rotational coaxiality between each portion of the second spiral tube, allowing rotation to be transmitted effectively.

Description

Multi-section bending tube device of endoscope and endoscope

Technical field

The invention relates to the field of medical instruments, in particular to an endoscope multi-stage bending tube device and endoscope.

Background technique

With the development of science and technology, endoscopes have been widely used in the medical field, and it is one of the important tools for examining the internal organs of the human body. Since its discovery in 1806, the development of endoscopes has gone through the following four stages: hard tube endoscopes, semi-flexible endoscopes, fiber endoscopes, ultrasound and electronic endoscopes. Nowadays, the types of endoscopes are mainly divided into hard tube endoscopes and tube endoscopes. The hard tube endoscope has high strength and good insertability, but it is easy to puncture the inner wall, and because the lens cannot be rotated, only some operations with relatively clear lesion positions can be performed. For some operations where the location of the lesion is not clear, it is necessary to constantly adjust the direction of observation, therefore, a soft endoscope is required.

In the existing related art, a flexible endoscope can adopt a multi-segment bending tube device, in which the bending degree of different tube segments can be different, for example, it can include a controllable bending segment, a passive bending segment and a hard segment. In the existing multi-stage bending tube device, a spiral tube can be used as a passive bending segment with a long length, and the spiral tube has a high degree of curvature.

However, when the spiral tube rotates, the rotation coaxiality is poor, and it is difficult to ensure that the rotation can be effectively transmitted, which may cause problems such as greater difficulty in operation and poor accuracy of rotation control.

Summary of the invention

The invention provides a multi-stage bending tube device for an endoscope and an endoscope to solve the problem of poor coaxiality in the rotation of the spiral tube.

According to a first aspect of the present invention, there is provided a multi-section bending tube device for an endoscope, including: a controllable bending section, a passive bending section and a hard section connected in sequence, the non-connecting position of the controllable bending section One end of the passive bending section is directly or indirectly connected to the endoscopic assembly, the passive bending section includes a first spiral pipe section, a second spiral pipe section and a third spiral pipe section connected in sequence, the first spiral pipe section and the third spiral section The pipe section is a spiral pipe provided with a spiral first slit in the pipe wall, and the second passive bending section is a spiral pipe provided with a spiral second slit in the pipe wall, the second slit has a convex slit portion, A buckle groove and a buckle portion embedded in the buckle groove are formed on the tube wall portions on both sides of the convex slit portion.

Optionally, the lengths of the first spiral pipe section and the third spiral pipe section are both shorter than that of the second spiral pipe section.

Optionally, the first slit and the second slit have the same lead and diameter.

Optionally, at least part of the pipe section is formed by cutting the same metal pipe, and the at least part of the pipe section includes the controllable bending section and the passive bending section.

Optionally, the N tubes are connected in sequence, the first end of the tube is formed with a first connection structure, and the second end of the tube is formed with a second connection structure; adjacent two Each tube body is connected to the second connection structure through the corresponding first connection structure.

Optionally, the controllable bending section includes a first section and a second section that are connected in sequence, and the first section is formed by sequentially connecting M of the N pipe bodies, the The second segment is formed by sequentially connecting K tube bodies of the N tube bodies, and at least a part of the second segment has a curvature smaller than that of the first segment.

Optionally, the change in the bending degree in the controllable bending section is generated by the change in the length of the tube body at the corresponding position.

Optionally, the first connection structure includes a first arc groove, a limit portion fixedly disposed in the first arc groove, and a circular portion for forming an inner wall of the first arc groove , The second connection structure includes a first arc portion;

The first circular arc portion of the tube body can match the first circular arc groove embedded in the adjacent tube body to hook the circular portion therein, and the first circular arc portion of the tube body can follow the embedded first The arc groove rotates so that the angle between two adjacent tubes can be changed within a preset first angle range;

The first end and the end of the first arc part are located on the same side of its reference plane, and the reference plane is the common axis of the first arc part and the axis of the pipe body to which the first arc part belongs The plane.

Optionally, the first connection structure further includes a second arc groove disposed outside the first arc portion, and the second connection structure further includes a second arc groove disposed outside the first arc groove Arc part

The second circular arc portion of the tube body can match the second circular arc groove embedded in the adjacent tube body, and the second circular arc portion of the tube body can rotate along the embedded second circular arc groove so that the adjacent The included angle between the two tube bodies can be changed within a preset second angle range; the axis of the second arc portion is the axis of the first arc portion;

The first angle range is in the second angle range.

According to a second aspect of the present invention, there is provided an endoscope, including a multi-segment bending tube device for an endoscope according to the first aspect and alternatives thereof, the endoscope provided at one end of the controllable bending segment A peep assembly and a control section are connected to the controllable bending section to control the controllable bending section to bend.

Optionally, the control part includes a traction wire connected to the controllable bending section.

Optionally, the endoscope further includes a control handle, and the control handle is disposed at an end of the hard section that is not connected to the passive bending section.

The multi-stage bending tube device and endoscope of the endoscope provided by the present invention, because the second slit of the second spiral tube has a convex slit part, the convex slit part can be located on the tube wall part on both sides of the convex slit part Forming a snap-fit groove and a snap-fit portion embedded in the snap-in groove. Furthermore, the present invention can prevent or reduce the possibility of each part of the second spiral tube being twisted by the formation of the snap-fit portion and the snap-fit groove Radial increase and decrease, etc., to avoid the reduction of the coaxiality of the rotation of each part of the second helical tube, so that the rotation can be effectively transmitted, and further, the invention can help reduce the difficulty of the operation of the endoscope and improve the rotation Control accuracy.

In the alternative solution of the present invention, a newly designed tube body is also used in the active bending section. Since the existing active bending section is prone to be disconnected when it is bent to a certain degree or hits an object, that is, it is disconnected; When the newly designed active bending section is applied to a multi-segment device, the multi-segment structure can be organically combined with the active bending section, so that it meets the requirements of rotational coaxiality and is not easily disconnected.

BRIEF DESCRIPTION

In order to more clearly explain the embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required in the embodiments or the description of the prior art. Obviously, the drawings in the following description are only These are some embodiments of the present invention. For those of ordinary skill in the art, without paying any creative labor, other drawings can also be obtained based on these drawings.

FIG. 1 is a first schematic structural view of a multi-section bending tube device of an endoscope according to an embodiment of the present invention;

2 is a schematic structural view of a first slit in an embodiment of the present invention;

3 is a schematic structural diagram 1 of a second slit in an embodiment of the present invention;

4 is a second schematic structural view of a second slit in an embodiment of the present invention;

5 is a second schematic structural view of a multi-section bending tube device of an endoscope according to an embodiment of the present invention;

6 is a partially enlarged schematic view of area A in FIG. 5;

7 is a partially enlarged schematic view of area B in FIG. 5;

8 is a schematic structural view of a controllable bending section according to an embodiment of the invention;

9 is a schematic structural diagram 1 of a pipe body in an embodiment of the present invention;

10 is a second schematic structural view of a tube body in an embodiment of the present invention;

11a is a schematic diagram 1 of the connection and rotation of adjacent pipe fittings in an embodiment of the present invention;

11b is a second schematic diagram of connection and rotation of adjacent pipe fittings in an embodiment of the present invention;

11c is a schematic diagram 3 of the connection and rotation of adjacent pipe fittings in an embodiment of the present invention;

FIG. 12 is a third structural diagram of the tube body according to an embodiment of the invention.

Description of reference signs:

1- Controllable bending section;

101- The first subparagraph;

102-Second subparagraph;

11-tube body;

12- The first arc part;

13-The first arc slot;

14-round part;

15- Limit Department;

16-notch;

17- The second arc part;

18- The second arc slot;

2- The first passive bending section;

3- The second passive bending section;

31-Snap groove;

32- buckle department;

4- The third passive bending section;

5- Hard section;

6- The first gap;

7- The second gap;

L1-The first axis;

L2-The second axis.

detailed description

The technical solutions in the embodiments of the present invention will be described clearly and completely in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, but not all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts fall within the protection scope of the present invention.

The terms "first", "second", "third", "fourth", etc. (if any) in the description and claims of the present invention and the above drawings are used to distinguish similar objects, and do not have to be used Describe a specific order or sequence. It should be understood that the data so used can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, processes, methods, systems, products or devices that contain a series of steps or units need not be limited to those clearly listed Those steps or units, but may include other steps or units not explicitly listed or inherent to these processes, methods, products or equipment.

The technical solutions of the present invention are described in detail below with specific examples. The following specific embodiments may be combined with each other, and the same or similar concepts or processes may not be repeated in some embodiments.

FIG. 1 is a first structural schematic diagram of a multi-section bending tube device of an endoscope according to an embodiment of the invention.

Please refer to FIG. 1, a multi-section bending tube device of an endoscope, including: a controllable bending section 1, a passive bending section and a hard section 5 connected in sequence, the passive bending section of the controllable bending section 1 is not connected One end of the is directly or indirectly connected to the endoscope assembly (not shown).

The difference between controllable bending section 1, passive bending section and hard section 5 can be understood as:

The controllable bending section 1 can be flexible, and then active bending occurs under control, which is the direct object of bending control, and the passive bending section is passively following bending when the controllable bending section 1 actively bends, and its non-bending The direct object of control.

The hard segment 5 is usually not bent or is not prone to bending. Furthermore, the overall bending capacity of the passive bending section may be smaller than the controllable bending section 1.

At the same time, the end of the controllable bending section 1 connected to the endoscope assembly can also be understood as the end that needs to enter the human body for endoscope during the operation and inspection process.

Wherein, the passive bending section includes a first spiral pipe section 2, a second spiral pipe section 3 and a third spiral pipe section 4 connected in sequence.

FIG. 2 is a schematic diagram of the structure of the first slit in an embodiment of the invention.

Please refer to FIG. 2, the first spiral tube section 2 and the third spiral tube section 4 are spiral tubes with spiral-shaped first slits 6 on the wall.

The coaxiality of rotation described in this embodiment can be understood as the ability of the parts to rotate synchronously, or the ability to transmit rotation when the tube rotates around its axis. In the existing related art, if the passive bending section uses a spiral The first gap in the shape will cause the rotation to be converted into a radial increase, shrinkage or position deviation of part of the spiral in the spiral tube, and it is impossible or difficult to further transmit the rotation, that is, the coaxiality of the rotation is poor. Therefore, this embodiment introduces the second spiral tube provided with the second slit 7.

FIG. 3 is a schematic diagram 1 of the structure of the second slit in an embodiment of the invention; FIG. 4 is a schematic diagram 2 of the structure of the second slit in an embodiment of the invention.

Please refer to FIG. 3 and FIG. 4, the second spiral pipe section 3 is a spiral pipe provided with a spiral second slit 7 on the pipe wall, and the second slit 7 has a convex slit part 71 to The tube wall portions on both sides of the slit portion 71 form a snap groove 31 and a snap portion 32 fitted into the snap groove 31.

Wherein, the lengths of the first passive bending section 2 and the third passive bending section 4 may be shorter than the second passive bending section 3. The lead and diameter of the first slot 6 and the second slot 7 may be the same.

Through the formation of the engaging portion 32 and the engaging groove 31, the limitation between adjacent spirals can be achieved, which avoids or reduces radial zooming or positional deviation, etc., thereby preventing or reducing the second spiral tube 3 Radial increase, shrinkage, position deviation and other conditions that may occur when each part of the screw is twisted, so as to avoid the reduction of the coaxiality of the rotation of each part of the second spiral tube 3, so that the rotation can be effectively transmitted.

Flexible endoscopes, such as endoscopes with a diameter of less than 6mm, in the application of urinary and upper respiratory tract, the passive curved part is required to have a certain degree of flexibility but not too soft, that is, the curvature needs to meet the requirements, because If it is too soft during the intubation process, it will increase the difficulty of the doctor's insertion and the operation time. In addition, for example, a soft lens with a diameter of less than 6 mm is difficult to bend in four directions, generally in two directions. When the doctor needs different bending directions, the mirror body can be twisted to achieve the desired direction. Therefore, in order to ensure the accuracy of the rotation, higher requirements are placed on the coaxiality of the rotation.

It can be seen that, after improving the coaxiality of rotation, this embodiment can help reduce the difficulty of the operation of the endoscope, improve the accuracy of the rotation control, and save the operation time. In addition, the multi-stage structure does not increase the outer diameter of the insertion portion of the endoscope, and the surface is smooth, making insertion easier.

At the same time, this embodiment or some of its alternatives can also have the advantages of high energy utilization, low environmental pollution, and cost savings.

Referring to FIGS. 3 and 4, the second slit 7 can form the engaging groove 31 and the engaging portion 32 through the provision of the protruding slit portion 71, so as to ensure the coaxiality of the rotation and enable the rotation to be effectively transmitted. In addition, the size of the opening of the engaging groove 31 may be smaller than the position of at least part of the opening of the engaging groove 31, so that the engaging portion 32 is not easily pulled apart after being engaged in the engaging groove 32. At the same time, even if the size of the opening is not smaller than other non-openings, the formation of the engaging groove 31 and the engaging portion 32 itself can ensure the coaxiality of rotation, so that the rotation can be effectively transmitted, that is, its It can also be an optional embodiment of the present invention.

In the specific implementation process, the second slit 7, the engaging groove 31 and the engaging portion 32 may be formed by cutting a metal tube, and at the same time, this embodiment does not exclude a solution that can be assembled after being processed separately.

Please refer to FIG. 4, in one embodiment, there may be a plurality of second slits 7, and the plurality of second slits 7 are spaced apart in the axial direction, that is, a plurality of separated spiral slits, and then, through the second slit 7 The configuration along the axial length, distribution method, etc. can have different effects on the coaxiality of rotation and the degree of bending, and then adaptably coordinate between the transmission of rotation and the generation of bending to meet diverse needs. Further, the change of the bending degree of the second passive bending section 3 occurs according to the length of the second slit 7 and the length interval between the adjacent second slits 7 in the axial direction. In one of the embodiments, in the device provided in this embodiment, at least part of the pipe section is formed by cutting the same metal pipe, the at least part of the pipe section includes the controllable bending section 1 and the passive bending In the specific implementation process, at least a part of the pipe section may also include a hard section, or may not include a hard section. It can be seen that in this embodiment, the controllable bending section 1 and the passive bending section are integrally formed. The metal tube may be, for example, a stainless steel metal tube.

In comparison, in the related art, the controllable bending tube and the passive bending tube are usually made separately. At the same time, the passive bending tube and the controllable bending tube are often made of different materials, and the passive bending tube is often a mesh with a metal core. Shaped tubing. It will cause complicated assembly process, and the cost of the mesh tube with metal core is high, and it is not easy to realize the problem of smaller diameter. In this embodiment, without excluding the process, a method for cutting and forming the same metal tube is also proposed in the alternative embodiment, which can have a positive effect of low cost and easy assembly. At the same time, in some scenarios where the demand for bending ability is low, such as the application scenarios of urinary tract and digestive tract, the passive bending tube and controllable bending tube generated by this method can not only meet the bending needs, but also have certain The hardness makes it easier for the pipe section to generate stress in the body, and furthermore, it can be more convenient for the pipe section to move under the force.

FIG. 5 is a second schematic structural view of the multi-section bending tube device of the endoscope according to an embodiment of the present invention; FIG. 6 is a partially enlarged schematic view of area A in FIG. 5; and FIG. 7 is a partially enlarged schematic view of area B in FIG.

In one embodiment, the hard segment 5 may be a steel tube, that is, it may not have a curvature, or the curvature is very small, and the overall curvature of the second passive bending segment 3 may be regarded as less than the controllable The curved section 1, the first passive curved section 2 and the third passive curved section 4. The degree of bending can be understood as the bending ability of the pipe section, and can also be understood as: the higher the degree of bending, the stronger the bending ability and the greater the degree of bending.

8 is a schematic structural view of a controllable bending section in an embodiment of the invention.

Please refer to FIG. 1, FIG. 5, FIG. 6 and FIG. 8, the controllable bending section 1 is formed by sequentially connecting N tube bodies 11, and a first connection structure is formed at the first end of the tube body 11, A second connection structure is formed at the second end of the tube body; two adjacent tube bodies 11 are connected to the second connection structure through the corresponding first connection structure. In one embodiment, the controllable bending segment 1 includes a first segment 101 and a second segment 102 connected in sequence, the first segment 101 is M of the N tubes The second segment 102 is formed by sequentially connecting, the K segments of the N tubes are sequentially connected, and at least part of the second segment 102 has a smaller curvature than the first segment 101 The degree of curvature may be understood that the overall curvature of the second segment 102 is smaller than that of the first segment 101.

Where N is greater than or equal to 4, and greater than or equal to the sum of M and K, M may be greater than or equal to 2, K may be greater than or equal to 2.

9 is a schematic structural diagram 1 of a pipe body in an embodiment of the present invention; FIG. 10 is a structural schematic diagram 2 of a pipe body in an embodiment of the present invention; FIG. 11a is a schematic diagram 1 of connection and rotation of adjacent pipe pieces in an embodiment of the present invention Fig. 11b is a schematic diagram 2 of the connection and rotation of adjacent pipes in an embodiment of the present invention; Fig. 11c is a schematic diagram 3 of the connection and rotation of adjacent pipes in an embodiment of the invention.

Please refer to FIGS. 9 and 11a, 11b and 11c, the first connecting structure includes a first arc groove 13, a limiting portion 15 fixedly disposed in the first arc groove 13, and used for forming The circular portion 14 of the inner wall of the first circular arc groove, the second connection structure includes a first circular arc portion 12.

The first circular arc portion 12 of the tube body 11 can match the first circular arc groove 13 embedded in the adjacent tube body 11 to hook the circular portion 14 therein, and the first circular arc portion 12 of the tube body 11 It can rotate along the embedded first arc groove 13 so that the included angle between two adjacent tube bodies 11 can be changed within a preset first angle range, and the angle limit of the first angle range can pass the limit The position portion 15 limits the rotational position of the first circular arc portion 12.

The circular portion 14 may be connected to the tube body 11 through the limiting portion 15 or may be connected to the tube body 11 through other connecting portions, that is, the limiting portion 15 may be provided in the first arc portion 12 instead of the circular portion 14 connection.

At the same time, in one of the embodiments, only one limiting portion 15 may be provided as shown in the figure, and furthermore, using one limiting portion 15 along two circumferential sides of the first circular arc groove 13 to achieve clockwise and The limit of the counterclockwise rotation position. In other embodiments, the number of the limit portion 15 may also be multiple, for example, two limit portions 15 may respectively rotate the clockwise rotation position and counterclockwise of the first arc portion 12 Limit the rotation position.

In addition, the inner wall or the outer wall of the first circular arc portion 12 may be provided with a limiting groove matching with the limiting portion. Furthermore, if the limiting portion is not connected to the circular portion 14, but only the convex slit portion is on the first circular arc The inner wall or the outer wall of the groove 13 can be limited by the movement of the limiting portion along the limiting groove.

9 and FIG. 10, the first end and the end of the first arc portion 12 are located on the same side of the reference plane, the reference plane is the axis of the first arc portion 12 and the first The plane where the axis of the pipe body 11 to which the arc part 12 belongs is common, wherein the axis of the first arc part 12 can be understood as the second axis L2 shown in the figure, and the axis of the pipe body 11 to which it belongs It is understood as the first axis L1 shown in the figure, and the reference plane is the plane where the second axis L2 and the first axis L1 co-exist.

In one embodiment, the arc angle of the first arc portion 12 may be greater than or equal to 270 degrees.

In this embodiment, the first circular arc portion 12 can effectively hook the adjacent tube bodies 11. Furthermore, when the two tube bodies are subjected to a pulling force, they may not be easily disconnected.

Please refer to FIG. 10, which can be understood as a further improvement of the embodiment shown in FIG. 9, in one embodiment, the first connection structure further includes a second arc disposed outside the first arc portion 12 Groove 18, the second connection structure further includes a second arc portion 17 disposed outside the first arc groove 13;

The second circular arc portion 17 of the tube body 11 can match the second circular arc groove 18 of the adjacent tube body 11, and the second circular arc portion 17 of the tube body 11 can be inserted along the embedded second circular arc groove 18 rotates, so that the angle between the two adjacent tube bodies 11 can be changed within a preset second angle range; the axis of the second arc portion 17 is the first arc portion 12 Axis.

Furthermore, the size of the second arc groove 18, specifically, the length of the arc can be used to determine the rotation position of the second arc portion 17, and further can be used to limit the second angle range. In addition, a limit structure may be additionally provided to limit the second angle range.

In addition, both the first circular arc groove 13 and the second circular arc groove 18 may be separate groove bodies, that is, the first circular arc groove 13 may include two groove bodies, for example, divided into two grooves by the limiting portion 15 The second circular arc groove 18 may also be divided into two grooves.

At the same time, the axes of the first circular arc groove 13, the second circular arc groove 18, the first circular arc portion 12 and the second circular arc portion 17, and the circular portion 14 are all the same axis, and furthermore, for two The tube body 11 realizes the relative rotation of the components around the same axis in a concentric manner.

In one of the embodiments, please refer to FIGS. 11a, 11b and 11c, the first angle range is in the second angle range, taking FIGS. 11a, 11b and 11c as an example, the tube on the right When the body 11 rotates clockwise with respect to the left tube 11, its rotation position can be defined by the second arc groove 18 and the second arc portion 17, and the right tube 11 is reverse to the left tube 11 When the hour hand rotates, its rotation position can also be defined by the second arc groove 18 and the second arc portion 17. Furthermore, the two-layer protection limitation of the rotation position can be realized.

10 and 12, it can be seen that the length of the tube body 11 may be different. In one embodiment, in order to achieve that at least part of the curvature of the second segment 102 is smaller than that of the first segment 101 The curvature, that is, the curvature of at least a portion of the second segment 102 is smaller than the curvature of the first segment 101. In one of the modes, the length of at least part of the K tubes is greater than the length of each of the M tubes. Furthermore, the curvature of the second segment 102 can be made smaller than the curvature of the first segment 101.

In the specific implementation process, the curvature of the second segment 102 gradually increases from the end near the first segment 101 to the end near the first passive curved segment 2; specifically, the length of the K tubes Changes to achieve a gradual change in curvature. It can be seen that the change in the bending degree in the controllable bending section is caused by the change in the length of the tube body at the corresponding position. For example, the longer the length, the smaller the bending degree at the corresponding position.

In other optional embodiments, the change in the degree of curvature may also be achieved through the above-mentioned setting of the first angle range and the second angle range.

That is, as long as the change in the degree of curvature is achieved, it does not deviate from the description range of this embodiment.

At the same time, any other structure that clamps or hinges the tube body so that the two tube bodies can change the included angle does not deviate from the above description of the first connection structure and the second connection structure, and is not limited to the way shown .

For the connection portion of the controllable bending section 1 and the first passive bending section 2, a connecting pipe body may be provided, and the difference between the connecting pipe body and the other pipe bodies 11 can be understood as that only one end of the connecting pipe body is provided with the first connection structure Or a second connection structure to connect with the adjacent pipe body 11.

In one of the embodiments, the pipe body 11 may also be provided with a notch 16, which may be provided at the end of the pipe body 11 or at the non-end part, and may be provided at both the end and non-end part Notch 16. The notch 16 can be used to pass the traction wire, and further, by pulling the traction wire, the angle change between the adjacent tube bodies 11 can be controlled, thereby controlling the bending of the controllable bending section 1.

Further, please refer to FIG. 5, FIG. 6 and FIG. 7, the notch 16 of the pipe body 11 can be symmetrically provided on both sides of the axis of the pipe body 11 along the first direction, correspondingly, the first connection of the pipe body 11 There are two structures, which are symmetrically provided on both sides of the axis of the tube 11 along the second direction. Similarly, the second connection structure of the tube 11 is also two, which is symmetrically provided on the axis of the tube 11 On both sides of the second direction, the first direction may be perpendicular to the second direction, and the first direction and the second direction are perpendicular to the axis of the tube 11.

At the same time, any control method and structural form of using the traction wire to control the controllable bending section 1 in the art can be applied to this embodiment to achieve controllable bending section 1 bending control.

In the specific implementation process, the first connection structure, the second connection structure, the notch 16 and the like may be formed by cutting on a metal tube, that is, each tube body 11 may be formed by cutting on an integral metal tube instead of being assembled At the same time, this embodiment does not exclude that they can be assembled after being processed separately.

It can be seen that each pipe segment involved in this embodiment, as well as the structure therein, can be formed by cutting the entire metal pipe, which can have the advantages of sensitive bending, convenient manufacturing, low manufacturing cost, and convenient use. The metal pipe may be a steel pipe.

It can be seen that in the alternative solution of this embodiment, a newly designed tube body is also used in the active bending section, because the existing active bending section is prone to be disconnected when it is bent to a certain degree or hits an object, that is, disconnected; and this implementation For example, when the above newly designed active bending section is applied to a multi-segment device, the multi-segment structure can be organically combined with the active bending section, so that it meets the requirement of rotational coaxiality and is not easily disconnected.

This embodiment also provides an endoscope, including a multi-segment bending tube device of the endoscope involved in the above optional solutions, the endoscope assembly and the control part provided at one end of the controllable bending segment, The control part is connected to the controllable bending section to control the controllable bending section to bend.

Wherein, the endoscopic component may include at least one of a lens, a light source and the like, for example.

The control section includes a traction wire connected to the controllable bending section.

The endoscope further includes a control handle, and the control handle is disposed at an end of the hard section that is not connected to the passive bending section.

In summary, the multi-section bending tube device of the endoscope provided in this embodiment, since the second slit of the second spiral tube has a convex slit part, the convex slit part can be placed on the tube on both sides of the convex slit part The wall portion forms a snap-fit groove and a snap-fit portion embedded in the snap-in groove. Furthermore, in the present invention, by forming the snap-fit portion and the snap-fit groove, each part of the second spiral tube can be prevented or reduced from being twisted Possible radial increase and decrease, etc., to avoid the reduction of the coaxiality of the rotation of each part of the second helical tube, so that the rotation can be effectively transmitted, and further, the present invention can help reduce the difficulty of the operation of the endoscope, Improve the accuracy of rotation control.

Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention, rather than limiting it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: The technical solutions described in the foregoing embodiments can still be modified, or some or all of the technical features can be equivalently replaced; and these modifications or replacements do not deviate from the essence of the corresponding technical solutions of the technical solutions of the embodiments of the invention range.

Claims

A multi-segment bending tube device for an endoscope includes a controllable bending segment, a passive bending segment and a hard segment connected in sequence. Peep assembly, characterized in that the passive bending section includes a first spiral pipe section, a second spiral pipe section and a third spiral pipe section connected in sequence, the first spiral pipe section and the third spiral pipe section are provided with a spiral on the wall of the pipe A spiral tube with a first slit in the shape of a spiral tube, the second spiral tube section is a spiral tube with a spiral second slit on the wall of the tube, the second slit has a convex slit portion, The tube wall portion on the side forms a snap groove and a snap part embedded in the snap groove.
The device according to claim 1, wherein the lengths of the first spiral pipe section and the third spiral pipe section are shorter than that of the second spiral pipe section.
The device according to claim 1, wherein the lead and the diameter of the first slit and the second slit are the same.
The device according to any one of claims 1 to 3, characterized in that at least part of the pipe section is formed by cutting the same metal pipe, and the at least part of the pipe section includes the controllable bending section and the passive Curved section.
The device according to any one of claims 1 to 3, wherein the controllable bending section is formed by sequentially connecting N tube bodies, and a first connection structure is formed at the first end of the tube body, so A second connection structure is formed at the second end of the tube body; two adjacent tube bodies are connected to the second connection structure through the corresponding first connection structure.
The device according to claim 5, wherein the controllable bending section comprises a first section and a second section connected in sequence, the first section is M of the N tubes The two tubes are connected in sequence, the second segment is formed by the K tubes in the N tubes in sequence, at least part of the second segment has a smaller curvature than the first segment Of curvature.
The device according to claim 5, characterized in that the change in the degree of bending in the controllable bending section is generated by the change in the length of the tube body at the corresponding position.
The device according to claim 5, wherein the first connecting structure includes a first arc groove, a limit portion fixedly disposed in the first arc groove, and a portion for forming the first A circular portion of the inner wall of the circular arc groove, the second connection structure includes a first circular arc portion;

The first circular arc portion of the tube body can match the first circular arc groove embedded in the adjacent tube body to hook the circular portion therein, and the first circular arc portion of the tube body can follow the embedded first The arc groove rotates so that the angle between two adjacent tubes can be changed within a preset first angle range;

The first end and the end of the first arc part are located on the same side of its reference plane, and the reference plane is the common axis of the first arc part and the axis of the pipe body to which the first arc part belongs The plane.
The device according to claim 8, wherein the first connection structure further includes a second arc groove provided outside the first arc portion, and the second connection structure further includes The second arc portion outside the first arc groove;

The second circular arc portion of the tube body can match the second circular arc groove embedded in the adjacent tube body, and the second circular arc portion of the tube body can rotate along the embedded second circular arc groove so that the adjacent The included angle between the two tube bodies can be changed within a preset second angle range, the axis of the second arc part is the axis of the first arc part;

The first angle range is in the second angle range.
An endoscope, characterized by comprising the multi-section bending tube device of the endoscope according to any one of claims 1 to 9, the endoscope assembly and the control part provided at one end of the controllable bending section , The control part is connected to the controllable bending section to control the controllable bending section to bend.
The endoscope according to claim 10, wherein the control portion includes a pulling wire connected to the controllable bending section.
The endoscope according to claim 10, further comprising a control handle disposed at an end of the hard section that is not connected to the passive bending section.