WO2023029294A1 - 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法 - Google Patents

一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法 Download PDF

Info

Publication number
WO2023029294A1
WO2023029294A1 PCT/CN2021/138465 CN2021138465W WO2023029294A1 WO 2023029294 A1 WO2023029294 A1 WO 2023029294A1 CN 2021138465 W CN2021138465 W CN 2021138465W WO 2023029294 A1 WO2023029294 A1 WO 2023029294A1
Authority
WO
WIPO (PCT)
Prior art keywords
snake bone
accommodating cavity
radial direction
accommodating
bone unit
Prior art date
Application number
PCT/CN2021/138465
Other languages
English (en)
French (fr)
Inventor
周冠华
Original Assignee
湖南省华芯医疗器械有限公司
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 湖南省华芯医疗器械有限公司 filed Critical 湖南省华芯医疗器械有限公司
Publication of WO2023029294A1 publication Critical patent/WO2023029294A1/zh

Links

Images

Classifications

    • 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

Definitions

  • the invention relates to an endoscope, in particular to a snake bone unit, a snake bone, an endoscope and a bending control method.
  • Endoscope is a commonly used medical device, which enters the human body through the natural channel of the human body or a small incision made by surgery. When in use, the endoscope is introduced into the pre-examination organ, and the changes in the relevant parts can be directly peeped.
  • Existing endoscopes generally control the snake bone unit through a wire rope structure to achieve symmetrical bending of the insertion part in two radial directions, such as bending to the left or bending to the right.
  • the tissue structure in the human body is complex, especially in some complicated intestinal tracts, the curved structure is complicated, so the insertion part of the existing endoscope cannot smoothly enter those curved structures in the human body. Complicated parts, forcible entry will cause a very bad experience for the patient, and even cause damage to the patient's body.
  • it is necessary to set holes for the wire ropes to pass through on the snake bone which requires complicated manufacturing techniques and high production costs.
  • the purpose of the first aspect of the present invention is to provide a snake bone unit, the snake bone unit includes a snake bone unit body, the snake bone unit body is tubular, and the snake bone unit body is along the Two lugs are provided in the first radial direction, and the lugs are used to connect with another snake bone unit; the body of the snake bone unit is provided with an accommodation cavity between the two lugs, and the accommodation cavity is used for To accommodate the magnetic body.
  • the accommodating cavity includes a first accommodating cavity and a second accommodating cavity axially extending along the snake bone unit body; the first accommodating cavity and the second accommodating cavity are respectively located Both ends of two radial directions; the second radial direction is perpendicular to the first radial direction.
  • first accommodating cavity and the second accommodating cavity are arranged on the outer wall of the snake bone unit body, and both the first accommodating cavity and the second accommodating cavity communicate with the two ends of the snake bone unit.
  • the accommodating cavity includes a third accommodating cavity, a fourth accommodating cavity, a fifth accommodating cavity and a sixth accommodating cavity;
  • the third accommodating cavity and the fourth accommodating cavity are located at one end of the snake bone unit body along the second radial direction, the third accommodating cavity communicates with one end surface of the snake bone unit body, and the The fourth accommodating chamber communicates with the other end face of the snake bone unit body;
  • the fifth accommodating cavity and the sixth accommodating cavity are located at the other end of the snake bone unit body along the second radial direction, and the fifth accommodating cavity communicates with one end surface of the snake bone unit body, so The sixth accommodating chamber communicates with the other end face of the snake bone unit body;
  • the second radial direction is perpendicular to the first radial direction.
  • the accommodating cavity includes a seventh accommodating cavity, an eighth accommodating cavity, a ninth accommodating cavity and a tenth accommodating cavity;
  • the seventh accommodating cavity and the tenth accommodating cavity are respectively located at both ends of the snake bone unit body along the third radial direction; the eighth accommodating cavity and the ninth accommodating cavity are respectively located at the two ends of the snake bone unit body along the third radial direction.
  • the object of the second aspect of the present invention is to provide a snake bone.
  • the snake bone includes a plurality of snake bone units connected end to end in sequence, and two adjacent snake bone units can rotate relative to each other.
  • the purpose of the third aspect of the present invention is to provide an endoscope, the endoscope includes a handle part, an insertion part, the insertion part is provided with the aforementioned snake bone, and the accommodating chamber of each snake bone unit Magnetic bodies are contained inside, and the magnetic bodies are variable polarity magnetic bodies.
  • the handle part is provided with a control assembly
  • the magnetic bodies are electromagnets
  • each of the magnetic bodies is electrically connected to the control assembly.
  • an interference fit is provided between the magnetic body and the accommodating cavity.
  • the purpose of the fourth aspect of the present invention is to provide a bending control method of the aforementioned endoscope, the bending control method controls the rotation of the snake-bone unit by changing the magnetic properties of the opposite surfaces of adjacent magnetic bodies.
  • the snake bone unit in the present invention can be made in an integrated manner, and the processing technology is simple.
  • the serpentine unit in the present invention does not include a steel wire rope penetration structure. That is, it is different from the way in the prior art that the snake bone unit is driven to rotate by a wire rope.
  • the snake bone and the endoscope provided by the present invention realize the mutual attraction or repulsion of the magnetic bodies of two adjacent snake bone units. Relative rotation between snake bone units.
  • the snake bone structure can be bent in multiple directions, so that when the endoscope is in use, it can enter the patient's lesion more smoothly and reduce the patient's pain , to improve the patient experience.
  • the present invention provides a variety of arrangement forms of the accommodation cavities in the snake bone unit, such as one accommodation cavity is arranged at both ends of the snake bone unit in the second radial direction, and one accommodation cavity is arranged at both ends of the snake bone unit in the second radial direction.
  • Two coaxial accommodating cavities are arranged at each end, or two symmetrical accommodating cavities are respectively arranged at both ends of the serpentine unit in the second radial direction.
  • the accommodating cavities in various arrangements can provide sufficient suction or repulsion for the relative rotation of two adjacent snake-bone units, and can also avoid the situation that the snake-bone unit cannot rotate when one of the magnetic bodies fails.
  • Fig. 1 is a schematic structural diagram of a snake bone unit provided with a first accommodation cavity and a second accommodation cavity in one embodiment of the present invention
  • Fig. 2 is a schematic structural diagram of a snake bone unit provided with a third accommodation chamber, a fourth accommodation chamber, a fifth accommodation chamber, and a sixth accommodation chamber in an embodiment of the present invention
  • Fig. 3 is a schematic structural diagram of a snake bone unit provided with seventh, eighth, ninth, and tenth accommodation chambers in one embodiment of the present invention
  • Fig. 4 is a schematic diagram of snake bone structure in an embodiment of the present invention.
  • Fig. 5 is a structural schematic diagram of the snake bone structure shown in Fig. 4 after being assembled with a magnetic body;
  • Fig. 6 is a schematic structural view of the snake bone shown in Fig. 5 after being bent arbitrarily;
  • Fig. 7 is a partial sectional view of the snake bone structure shown in Fig. 6;
  • Fig. 8 is a schematic structural view of an endoscope in an embodiment of the present invention.
  • 1-snake bone unit 11-snake bone unit body, 12-lug, 13-accommodating cavity, 131-first accommodating cavity, 132-second accommodating cavity, 133-third accommodating cavity, 134-the first Four accommodation chambers, 135-fifth accommodation chamber, 136-sixth accommodation chamber, 137-seventh accommodation chamber, 138-eighth accommodation chamber, 139-ninth accommodation chamber, 1310-tenth accommodation chamber, 2-snake bone , 3-endoscope, 31-handle part, 32-insertion part, 33-magnetic body.
  • a conventional endoscope includes an operating part (also referred to as a handle) and an insertion part.
  • the handle part is used for manipulating the insertion part to enter the human body.
  • the insertion part can be divided into a module segment, a snake bone segment, a passive bending segment, and the like. Two (or four) steel wire ropes are threaded through the snake bone segment, and the steel wire ropes are connected with the runner on the handle part.
  • one of the steel wire ropes can be tightened, and the other steel wire rope can be loosened, thereby making the The snake bone section of the endoscope rotates toward the side where the wire rope is tightened; changing the rotation direction of the runner can make the snake bone section rotate in the opposite direction.
  • this method of controlling the bending of the snake bone segment through the wire rope can only realize the rotation of the snake bone segment in a limited direction (only to the left or right).
  • the inner curved structure is complex, and there are often some S-shaped or more complicated curved parts.
  • the relatively simple curved form of the endoscope insertion part in the prior art cannot well adapt to the internal environment of the human body, and cannot smoothly enter those parts of the human body with complex curved structures. If it is forced to enter, it will cause a very bad experience for the patient , and even cause damage to the patient's body.
  • holes for the steel wire ropes to pass through need to be provided on the inner wall of the snake bone unit, the required manufacturing process is complicated and the production cost is high.
  • one embodiment of the present invention provides a snake bone unit 1, the snake bone unit 1 includes a snake bone unit body 11, and the snake bone unit body 11 is Tubular, the snake bone unit body 11 is provided with two lugs 12 along the first radial direction, and the two lugs 12 are used to connect with another snake bone unit 1; the snake bone unit body 11 is located on the An accommodating chamber 13 is provided between the two lugs 12 , and the accommodating chamber 13 is used for accommodating the magnetic body 33 .
  • the first radial direction refers to the radial direction where the two lugs 12 on one end surface of the serpentine unit 1 are located.
  • the snake bone unit 1 in the above scheme does not require additional processing of through holes for penetrating steel wire ropes on the inner wall of the snake bone unit, it can be made in an integrated manner, and the processing technology Simple.
  • the serpentine unit 1 in the above solution does not include a wire rope penetration structure. That is to say, it is different from the way in the prior art that the snake bone unit 1 is driven to rotate by a steel wire rope.
  • the magnetic bodies 33 of the two adjacent snake bone units 1 attract or repel each other to realize the rotation of two adjacent snake bone units 1 . relative rotation between them.
  • the advantage of this driving method is that by controlling the magnetism of the magnetic bodies 33 in the accommodation chambers 13 of two adjacent snake-bone units 1 , the snake-bone structure can be bent in multiple directions, which can better meet the needs of practical applications.
  • the snake bone unit 1 is made of non-conductive material; preferably, the shape of the accommodating cavity 13 is adapted to the shape of the magnetic body 33 .
  • the accommodating cavity 13 includes a first accommodating cavity 131 and a second accommodating cavity 132 extending axially along the serpentine unit body 11;
  • the cavity 131 and the second accommodating cavity 132 are respectively located at two ends of the serpentine unit body 11 along the second radial direction; the second radial direction is perpendicular to the first radial direction.
  • the two ends of the snake bone unit body 11 along the second radial direction are provided with accommodating cavities 13, that is, the first accommodating cavity 131 and the second accommodating cavity 132, preferably, the snake bone unit body 11
  • the first radial direction is the axis of symmetry, and the first accommodating chamber 131 and the second accommodating chamber 132 are symmetrically arranged.
  • the opposite surfaces of the magnetic bodies 33 in the two first accommodation cavities 131 of the two adjacent snake bone units 1 can be set to repel each other.
  • the magnetic properties of the opposite surfaces of the magnetic bodies 33 in the two second accommodation chambers 132 are opposite. In this way, the magnetic force required for one snake bone unit 1 to rotate relative to the other snake bone unit 1 can be increased, and the snake bone unit 1 is driven to rotate to a predetermined angle by the attraction or repulsion force provided by the two sets of magnetic bodies 33 . Avoid the situation that the snake unit 1 cannot rotate to a predetermined angle due to insufficient magnetic force of the magnetic body 33 in one of the accommodating chambers 13 .
  • first accommodating chamber 131 and the second accommodating chamber 132 are arranged on the outer wall of the snake bone unit body 11, and both the first accommodating chamber 131 and the second accommodating chamber 132 communicate with the snake bone unit 1 both ends of the .
  • the front end of the endoscope insertion part is provided with a camera module and an illumination module, which are connected to the handle part through an image signal transmission line and an electrical signal transmission line. Therefore, during the use of the endoscope, the image signal transmission line and the electrical signal transmission line in the insertion part of the endoscope are in the energized state, and the image signal transmission line and the electrical signal transmission line in the energized state will generate a disturbing magnetic field.
  • a shielding film may also be provided on the inner wall of the snake bone unit body 11 to further isolate the influence of the interfering magnetic field.
  • both the first accommodation chamber 131 and the second accommodation chamber 132 communicate with the two ends of the snake bone unit 1; so that the opposite surfaces of the magnetic bodies 33 on two adjacent snake bone units 1 directly opposite.
  • the accommodating cavity 13 includes a third accommodating cavity 133 , a fourth accommodating cavity 134 , a fifth accommodating cavity 135 and a sixth accommodating cavity 136 ;
  • the third accommodation chamber 133 and the fourth accommodation chamber 134 are located at one end of the snake bone unit body 11 along the second radial direction, and the third accommodation chamber 133 and one side of the snake bone unit body 11 The end face is connected, and the fourth accommodating cavity 134 is connected with the other end face of the snake bone unit body 11;
  • the fifth accommodation chamber 135 and the sixth accommodation chamber 136 are located at the other end of the snake bone unit body 11 along the second radial direction, and one of the fifth accommodation chamber 135 and the snake bone unit body 11 The side end surface is connected, and the sixth accommodating cavity 136 is connected with the other side end surface of the snake bone unit body 11;
  • the second radial direction is perpendicular to the first radial direction.
  • the accommodating cavity 13 provided on the serpentine unit 1 is given. That is to say, two accommodating chambers (one end being the third accommodating chamber 133 and the fourth accommodating chamber 134, and one end being the fifth accommodating chamber 135 and the sixth accommodating chamber) are respectively arranged at both ends in the second radial direction of the serpentine unit 1. 136), the two accommodation cavities are respectively located near the two ends of the snake bone unit body 11. Compared with the scheme in which only one accommodating cavity is provided at one end of the second radial unit, the magnetism of the two ends of the serpentine unit 1 can only be the opposite magnetism. In this scheme, two The advantage of each accommodation cavity is that this solution can achieve magnetic independence at both ends of each snake bone unit 1 .
  • a snake bone unit 1 for the magnetism at both ends of a snake bone unit 1 (essentially, the magnetic body 33 at both ends on the snake bone unit 1 is close to the magnetism of the snake bone unit 1 end face side), it can be N pole or S pole at the same time, or it can be One end is N pole and the other end is S pole. Therefore, the snake bone composed of the snake bone unit 1 in this solution can realize a more complicated curved shape.
  • the accommodating cavity 13 includes a seventh accommodating cavity 137 , an eighth accommodating cavity 138 , a ninth accommodating cavity 139 and a tenth accommodating cavity 1310 ;
  • the seventh accommodating chamber 137 and the tenth accommodating chamber 1310 are respectively located at both ends of the snake bone unit body 11 along the third radial direction; the eighth accommodating chamber 138 and the ninth accommodating chamber 139 are respectively located in the Both ends of the bone unit body 11 along the fourth radial direction; the second radial direction is perpendicular to the first radial direction, and the third radial direction and the fourth radial direction are relative to the The second radial direction is symmetrical.
  • two accommodating cavities i.e., the seventh accommodating cavity 137 and the tenth accommodating cavity 1310 are arranged on the upper side of the two lugs 12 of the snake bone unit 1, and the two accommodating cavities are symmetrical with respect to the second radial direction (such as the seventh accommodating cavity 137 and the first radial direction have an included angle of 120°, and the tenth accommodation chamber 1310 has an included angle of 60° with the first radial direction), and two accommodation chambers are arranged on the underside of the two lugs 12 of the serpentine unit 1 (i.e.
  • the two accommodating chambers are symmetrical with respect to the second radial direction (such as the angle between the seventh accommodating chamber 137 and the first radial direction is -120°, the tenth accommodating chamber The angle between cavity 1310 and the first radial direction is -60°).
  • two accommodation chambers are respectively provided on both sides of the two lugs 12 of the snake bone unit 1, so that there are four groups of magnetic bodies 33 to provide the suction or repulsion to drive the relative rotation of two adjacent snake bone units 1, so that It is possible to increase the magnetic force required for one snake bone unit 1 to rotate relative to the other snake bone unit 1, to ensure that the snake bone unit 1 can rotate to a predetermined angle, and to avoid the lack of magnetic force caused by one of the strong and medium magnetic bodies 33.
  • the snake bone unit 1 cannot rotate to a predetermined angle.
  • a snake bone 2 which includes a plurality of the aforementioned snake bone units 1 connected end to end in sequence, two adjacent The snake bone units 1 can rotate relative to each other.
  • the snake 2 in the above solution drives the two snake units 1 through the magnetic force of the magnetic body 33 in the accommodation cavity 13 of the two adjacent snake units 1. relative rotation.
  • the snake bone 2 described in this embodiment can present a more complex curved shape.
  • an endoscope 3 is provided.
  • the endoscope 3 includes a handle part 31 and an insertion part 32.
  • the insertion part 32 is provided with the aforementioned snake bone 2.
  • Each of the The accommodating cavity 13 of the snake bone unit 1 contains a magnetic body 33 , and the magnetic body 33 is a variable polarity magnetic body.
  • the provided snake bone 2 in the endoscope 3 can drive the relative rotation of the two snake bone units 1 through the magnetic force of the magnetic body 33 in the accommodating chamber 13 of two adjacent snake bone units 1, so that the snake bone 2 can appear More complex curved shapes. Therefore, when the endoscope 3 is in use, it can enter the lesion position of the patient more smoothly, reduce the pain of the patient, and improve the experience of the patient.
  • the handle part 31 is provided with a control assembly (not shown), the magnetic bodies 33 are electromagnets, and each of the magnetic bodies 33 is electrically connected to the control assembly.
  • the magnetic body 33 is an electromagnet
  • all the magnetic bodies 33 on the snake bone unit 1 are electrically connected to the control device arranged in the handle 31 through wires.
  • the magnetism at both ends of the electromagnet is changed, so that the adjacent two magnetic bodies 33 of two adjacent snake bone units 1 are attracted or mutually attracted.
  • the change of the bending angle of snake bone unit 1 is realized.
  • the magnetic body 33 can be fixed in the accommodating cavity 13 after being installed in the accommodating cavity 13 through an interference fit between the magnetic body 33 and the accommodating cavity 13 .
  • a bending control method of the aforementioned endoscope 3 controls the rotation of the snake-bone unit 1 by changing the magnetic properties of the opposite surfaces of adjacent magnetic bodies 33,
  • the operator can obtain the bending shape requirement of the snake bone 2 in advance, and the control component in the handle calculates the magnetism of each end of each magnetic body 33 in each snake bone unit 1 according to the bending shape requirement, and controls the snake bone unit 1.
  • the magnetism of each magnetic body 33 in the bone 2 makes it consistent with the calculation result, so that the snake bone presents a required curved shape.

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biomedical Technology (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Endoscopes (AREA)

Abstract

一种蛇骨单元（1）、蛇骨（2）、内窥镜（3）及弯曲控制方法，蛇骨单元（1），包括蛇骨单元本体（11），蛇骨单元本体（11）呈管状，蛇骨单元本体（11）沿第一径向方向设有两凸耳（12），凸耳（12）用于与另一蛇骨单元（1）连接；蛇骨单元本体（11）上位于两凸耳（12）之间设有容纳腔（13），容纳腔（13）用于容纳磁性体（33）。通过控制相邻两蛇骨单元（1）容纳腔（13）内磁性体（33）的磁性可以实现蛇骨（2）沿多个方向弯曲，可以更好地适应实际应用需求。

Description

一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法 技术领域
本发明涉及一种内窥镜，尤其是涉及一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法。
背景技术
内窥镜是一种常用的医疗器械，经人体的自然孔道或经手术做的小切口进入人体内，使用时将内窥镜导入预检查的器官，可直接窥视有关部位的变化。现有的内窥镜一般是通过钢丝绳结构控制蛇骨单元，实现插入部在径向两个方向的对称弯曲，比如向左弯曲或者向右弯曲。
这种结构存在一定的缺陷，一方面，人体内的组织结构复杂，尤其是在一些复杂的肠道中，弯曲结构复杂，所以现有的内窥镜的插入部无法顺利地进入人体中那些弯曲结构复杂的部位，强行进入会对患者造成很不好的体验，甚至对患者身体造成损害。另一方面，在蛇骨上需要设置供钢丝绳贯穿的孔，所需的制作工艺复杂，生产成本高。
发明内容
为了解决上述问题，本发明第一方面的目的是，提供了一种蛇骨单元，所述蛇骨单元，包括蛇骨单元本体，所述蛇骨单元本体呈管状，所述蛇骨单元本体沿第一径向方向设有两凸耳，所述凸耳用于与另一蛇骨单元连接；所述蛇骨单元本体上位于所述两凸耳之间设有容纳腔，所述容纳腔用于容纳磁性体。
进一步地，所述容纳腔包括沿所述蛇骨单元本体轴向延伸的第一容纳腔和第二容纳腔；所述第一容纳腔和第二容纳腔分别位于所述蛇骨单元本体沿第二径向方向的两端；所述第二径向方向与所述第一径向方向垂直。
进一步地，所述第一容纳腔和第二容纳腔设置于所述蛇骨单元本体的外壁 上，所述第一容纳腔和第二容纳腔均连通所述蛇骨单元的两端面。
进一步地，所述容纳腔包括第三容纳腔、第四容纳腔、第五容纳腔和第六容纳腔；
所述第三容纳腔和所述第四容纳腔位于所述蛇骨单元本体沿第二径向方向的一端，所述第三容纳腔和所述蛇骨单元本体的一侧端面连通，所述第四容纳腔和所述蛇骨单元本体的另一侧端面连通；
所述第五容纳腔和所述第六容纳腔位于所述蛇骨单元本体沿第二径向方向的另一端，所述第五容纳腔和所述蛇骨单元本体的一侧端面连通，所述第六容纳腔和所述蛇骨单元本体的另一侧端面连通；
所述第二径向方向与所述第一径向方向垂直。
进一步地，所述容纳腔包括第七容纳腔、第八容纳腔、第九容纳腔和第十容纳腔；
所述第七容纳腔和第十容纳腔分别位于所述蛇骨单元本体沿第三径向方向的两端；所述第八容纳腔和第九容纳腔分别位于所述蛇骨单元本体沿第四径向方向的两端；所述第二径向方向与所述第一径向方向垂直，所述第三径向方向和所述第四径向方向相对于所述第二径向方向对称。
本发明第二方面的目的是，提供了一种蛇骨，所述蛇骨包括多个首尾依次连接的前述的蛇骨单元，相邻两个蛇骨单元之间可相对转动。
本发明第三方面的目的是，提供了一种内窥镜，所述内窥镜包括手柄部、插入部，所述插入部设有前述的蛇骨，每个所述蛇骨单元的容纳腔内均容纳有磁性体，所述磁性体为可变极性磁性体。
进一步地，所述手柄部设有控制组件，所述磁性体为电磁体，每个所述磁性体均与所述控制组件电连接。
进一步地，所述磁性体与所述容纳腔之间为过盈配合。
本发明第四方面的目的是，提供了一种前述内窥镜的弯曲控制方法，所述弯曲控制方法通过改变相邻磁性体相对面的磁性来控制蛇骨单元的转动。
与现有技术相比，本发明的有益技术效果为：
1)本发明中的蛇骨单元可以采用一体成型的方式制成，加工工艺简单。同时，本发明中的蛇骨单元不包括钢丝绳贯穿结构。即不同于现有技术中通过钢丝绳驱动蛇骨单元转动的方式，本发明所提供的蛇骨及内窥镜是通过相邻两蛇骨单元的磁性体的相吸或者相斥来实现相邻两蛇骨单元之间的相对转动。通过控制相邻两蛇骨单元容纳腔内磁性体的磁性可以实现蛇骨结构沿多个方向弯曲，从而使得内窥镜在使用时，可以更顺利地进入患者的病灶位置，减小患者的痛苦，提高患者体验。
2)本发明中给出了蛇骨单元中容纳腔的多种布置形式，如在蛇骨单元第二径向方向的两端各布置一个容纳腔，在蛇骨单元第二径向方向的两端各布置两个容纳腔同轴的容纳腔，或者在蛇骨单元第二径向方向的两端各布置两个对称的容纳腔。通过多种布置形式的容纳腔，可以为相邻两蛇骨单元的相对转动提供足够大小的吸力或者斥力，还可以避免其中某一磁性体发生故障时，导致蛇骨单元无法转动的情形。
附图说明
为了更清楚地说明本发明实施例的技术方案，下面将对本发明实施例或现有技术描述中所需要使用的附图作简单的介绍，显而易见地，下面所描述的附图仅仅是本发明的一些实施例，对于本领域普通技术人员来讲，在不付出创造性劳动的前提下，还可以根据这些附图获得其他的附图。
图1是本发明一个实施例中设有第一容纳腔和第二容纳腔的蛇骨单元结构示意图；
图2是本发明一个实施例中设有第三容纳腔、第四容纳腔、第五容纳腔、第六容纳腔的蛇骨单元结构示意图；
图3是本发明一个实施例中设有第七容纳腔、第八容纳腔、第九容纳腔、第十容纳腔的蛇骨单元结构示意图；
图4是本发明一个实施例中蛇骨结构示意图；
图5是图4所示蛇骨结构与磁性体装配后的结构示意图；
图6是图5所示蛇骨产生任意弯曲后的结构示意图；
图7是图6所示蛇骨结构部分剖视图；
图8是本发明一个实施例中内窥镜结构示意图；
图中：1-蛇骨单元，11-蛇骨单元本体，12-凸耳，13-容纳腔，131-第一容纳腔，132-第二容纳腔，133-第三容纳腔，134-第四容纳腔，135-第五容纳腔，136-第六容纳腔，137-第七容纳腔，138-第八容纳腔，139-第九容纳腔，1310-第十容纳腔，2-蛇骨，3-内窥镜，31-手柄部，32-插入部，33-磁性体。
具体实施方式
以下的说明提供了许多不同的实施例、或是例子，用来实施本发明的不同特征。以下特定例子所描述的元件和排列方式，仅用来精简的表达本发明，其仅作为例子，而并非用以限制本发明。
现有技术中，常规的内窥镜包括操作部(又称为手柄)和插入部。手柄部用于操控插入部进入人体。其中，插入部可分为模组段、蛇骨段、被动弯曲段等。在蛇骨段中穿设有两根(或者四根)钢丝绳，钢丝绳与手柄部的转轮连接，通过转轮的转动，可以使得其中一根的钢丝绳收紧，另一根钢丝绳松弛，从而使得内窥镜的蛇骨段朝着钢丝绳收紧的一侧转动；改变转轮的转动方向，可以使得蛇骨段朝着相反的方向转动。
可以看出，这种通过钢丝绳控制蛇骨段弯曲的方式，只能实现蛇骨段向着有限的方向转动(只能向左或者向右)。而对于人体组织结构比较复杂的一些部位，如肠道，其内部弯曲结构复杂，常存在一些S形或者更复杂的弯曲部位。现有技术中内窥镜插入部这种比较单一的弯曲形式不能很好地适应人体内部环境，无法顺利地进入人体中那些弯曲结构复杂的部位，若强行进入会对患者造成很不好的体验，甚至对患者身体造成损害。同时，因需要在蛇骨单元的内壁上设置供钢丝绳贯穿的孔，所需的制作工艺复杂，生产成本高。
鉴于此，本发明的一个实施例，如图1至图3所示，提供了一种蛇骨单元1，所述蛇骨单元1，包括蛇骨单元本体11，所述蛇骨单元本体11呈管状，所述蛇骨单元本体11沿第一径向方向设有两凸耳12，所述两凸耳12用于与另一蛇骨单元1连接；所述蛇骨单元本体11上位于所述两凸耳12之间设有容纳腔13，所述容纳腔13用于容纳磁性体33。
上述方案中，第一径向方向指的是蛇骨单元1一侧端面上两凸耳12所在的径向方向。
相比于现有技术，由于上述方案中的蛇骨单元1，不需要额外的在蛇骨单元的内壁上加工用于贯穿钢丝绳的通孔，因此，可以采用一体成型的方式制成，加工工艺简单。
同时，上述方案中的蛇骨单元1不包括钢丝绳贯穿结构。即不同于现有技术中通过钢丝绳驱动蛇骨单元1转动的方式，本实施例中是通过相邻两蛇骨单元1的磁性体33的相吸或者相斥来实现相邻两蛇骨单元1之间的相对转动。这种驱动方式的优点在于，通过控制相邻两蛇骨单元1容纳腔13内磁性体33的磁性可以实现蛇骨结构沿多个方向弯曲，可以更好地适应实际应用需求。
优选地，所述蛇骨单元1为非导电材质；优选地，所述容纳腔13的形状与所述磁性体33的形状相适应。
在本发明的一个实施例中，如图1所示，所述容纳腔13包括沿所述蛇骨单元本体11轴向延伸的第一容纳腔131和第二容纳腔132；所述第一容纳腔131和第二容纳腔132分别位于所述蛇骨单元本体11沿第二径向方向的两端；所述第二径向方向与所述第一径向方向垂直。
上述方案中，在所述蛇骨单元本体11沿第二径向方向的两端均设有容纳腔13，即第一容纳腔131和第二容纳腔132，优选地，以蛇骨单元本体11的第一径向方向为对称轴，第一容纳腔131和第二容纳腔132相对称布置。
如图7所示，在实现相邻两蛇骨单元1之间的相对转动时，可以将相邻两蛇骨单元1的两第一容纳腔131内的磁性体33相对面设置为相斥，两第二容纳 腔132中的磁性体33相对面的磁性设置为异性。如此，可以加大其中一蛇骨单元1相对于另一蛇骨单元1转动时所需要的磁力，便由两组磁性体33所提供的吸力或斥力来驱动蛇骨单元1转动到预定角度，避免因其中某一容纳腔13中磁性体33磁力不足而导致蛇骨单元1无法转动到预定角度的情况。
进一步地，所述第一容纳腔131和第二容纳腔132设置于所述蛇骨单元本体11的外壁上，所述第一容纳腔131和第二容纳腔132均连通所述蛇骨单元1的两端面。
现有技术中，内窥镜插入部的前端部设有摄像模组以及照明模组，其通过图像信号传输线和电信号传输线与手柄部连接。因此，内窥镜使用过程中，内窥镜插入部内的图像信号传输线和电信号传输线是处于通电状态的，上述通电状态的图像信号传输线和电信号传输线会产生干扰磁场。
上述方案中，通过将磁性体33设置于蛇骨单元本体11的外壁，来减小上述干扰磁场对第一容纳腔131/第二容纳腔132内磁性体的影响。进一步地，还可以在所述蛇骨单元本体11的内壁设置屏蔽膜，以进一步隔离其干扰磁场的影响。
进一步地，为了保证相邻两蛇骨单元1的容纳腔13中的两磁性体33间的磁力不被其他组件影响(如两磁性体33中间包含其他结构时，导致两磁性体33之间的吸引力不足)，优选地，所述第一容纳腔131和第二容纳腔132均连通所述蛇骨单元1的两端面；从而使得相邻两蛇骨单元1上的磁性体33的相对面直接相对。
在本发明的一个实施例中，如图2所示，所述容纳腔13包括第三容纳腔133、第四容纳腔134、第五容纳腔135和第六容纳腔136；
所述第三容纳腔133和所述第四容纳腔134位于所述蛇骨单元本体11沿第二径向方向的一端，所述第三容纳腔133和所述蛇骨单元本体11的一侧端面连通，所述第四容纳腔134和所述蛇骨单元本体11的另一侧端面连通；
所述第五容纳腔135和所述第六容纳腔136位于所述蛇骨单元本体11沿第 二径向方向的另一端，所述第五容纳腔135和所述蛇骨单元本体11的一侧端面连通，所述第六容纳腔136和所述蛇骨单元本体11的另一侧端面连通；
所述第二径向方向与所述第一径向方向垂直。
上述方案中，给出了设置于蛇骨单元1上的容纳腔13的另一实施例。即在蛇骨单元1第二径向方向的两端分别设置有两个容纳腔(一端为第三容纳腔133和所述第四容纳腔134，一端为第五容纳腔135和第六容纳腔136)，两个容纳腔分别位于蛇骨单元本体11靠近两端面处。相比于在第二径向单元的一端只设置一个容纳腔的方案中，蛇骨单元1两端面的磁性只能是相反的磁性，本方案中这种在第二径向方向的一端设置两个容纳腔的好处是，本方案可以实现各蛇骨单元1两端磁性的独立性。即对于某一蛇骨单元1两端的磁性(实质为蛇骨单元1上两端的磁性体33靠近蛇骨单元1端面侧的磁性)，可以同时为N极，也可以同时为S极，还可以一端为N极一端为S极。由此，本方案所述蛇骨单元1组成的蛇骨可以实现更为复杂形状的弯曲形态。
在本发明的一个实施例中，如图3所示，所述容纳腔13包括第七容纳腔137、第八容纳腔138、第九容纳腔139和第十容纳腔1310；
所述第七容纳腔137和第十容纳腔1310分别位于所述蛇骨单元本体11沿第三径向方向的两端；所述第八容纳腔138和第九容纳腔139分别位于所述蛇骨单元本体11沿第四径向方向的两端；所述第二径向方向与所述第一径向方向垂直，所述第三径向方向和所述第四径向方向相对于所述第二径向方向对称。
上述方案中，给出了设置于蛇骨单元1上的容纳腔11的另一实施例。即在蛇骨单元1两凸耳12的上侧设置两个容纳腔(即第七容纳腔137和第十容纳腔1310)，两容纳腔相对于第二径向方向对称(如第七容纳腔137和第一径向方向的夹角为120°，第十容纳腔1310和第一径向方向的夹角为60°)，在蛇骨单元1两凸耳12的下侧设置两个容纳腔(即第八容纳腔138和第九容纳腔139)，两容纳腔相对于第二径向方向对称(如第七容纳腔137和第一径向方向的夹角为-120°，第十容纳腔1310和第一径向方向的夹角为-60°)。
上述方案，通过在蛇骨单元1两凸耳12的两侧分别设置两个容纳腔，如此便有四组磁性体33提供的吸力或者斥力来驱动相邻两蛇骨单元1的相对转动，从而可以加大其中一蛇骨单元1相对于另一蛇骨单元1转动时所需要的磁力，保证蛇骨单元1可以转动到预定角度，避免因其中某一容纳强中磁性体33磁力不足而导致蛇骨单元1无法转动到预定角度。
在本发明的另一个实施例中，如图4至图7所示，提供了一种蛇骨2，所述蛇骨2包括多个首尾依次连接的前述的蛇骨单元1，相邻两个蛇骨单元1之间可相对转动。
相比于现有技术中，通过钢丝绳驱动蛇骨单元1转动的方式，上述方案中的蛇骨2通过相邻两蛇骨单元1容纳腔13中磁性体33的磁力驱动两蛇骨单元1的相对转动。本实施例所述的蛇骨2可以呈现更为复杂的弯曲形态。
在本发明的另一个实施例中，提供了一种内窥镜3，所述内窥镜3包括手柄部31、插入部32，所述插入部32设有前述的蛇骨2，每个所述蛇骨单元1的容纳腔13内均容纳有磁性体33，所述磁性体33为可变极性磁性体。
上述方案中，所提供的内窥镜3中的蛇骨2，通过相邻两蛇骨单元1容纳腔13中磁性体33的磁力驱动两蛇骨单元1的相对转动，可以使蛇骨2呈现更为复杂的弯曲形态。从而使得内窥镜3在使用时，可以更顺利地进入患者的病灶位置，减小患者的痛苦，提高患者体验。
进一步地，所述手柄部31设有控制组件(未图示)，所述磁性体33为电磁体，每个所述磁性体33均与所述控制组件电连接。
上述方案中，给出了一种磁性体33的具体实施例，即所述磁性体33为电磁体，将蛇骨单元1上所有的磁性体33通过导线电连接至设置于手柄31中的控制组件上，通过改变蛇骨单元1上每一电磁体中电流的方向，从而改变电磁体两端的磁性，进而使得相邻两蛇骨单元1发的相邻两磁性体33之间相吸或者相斥，最终实现蛇骨单元1弯曲角度的变化。
进一步地，所述磁性体33与所述容纳腔13之间为过盈配合。
上述方案中，通过将磁性体33与容纳腔13之间为过盈配合，从而使得磁性体33在装入容纳腔13后可以固定于所述容纳腔13内。
在本发明的另一个实施例中，提供了一种前述内窥镜3的弯曲控制方法，所述弯曲控制方法通过改变相邻磁性体33相对面的磁性来控制蛇骨单元1的转动，
实际使用中，操作者可以预先获取蛇骨2的弯曲形态需求，手柄中的控制组件根据所述弯曲形态需求，计算出各蛇骨单元1中各磁性体33各端的磁性，并控制所述蛇骨2中各磁性体33的磁性，使其与所述计算结果一致，进而使所述蛇骨呈现出需求的弯曲形态。
以上所述仅为本发明的较佳实施例而已，并不用以限制本发明，凡在本发明的精神和原则之内所作的任何修改、等同替换和改进等，均应包含在本发明的保护范围之内。

Claims (10)

  1. 一种蛇骨单元(1)，其特征在于，包括蛇骨单元本体(11)，所述蛇骨单元本体(11)呈管状，所述蛇骨单元本体(11)沿第一径向方向设有两凸耳(12)，所述凸耳(12)用于与另一蛇骨单元(1)连接；所述蛇骨单元本体(11)上位于所述两凸耳(12)之间设有容纳腔(13)，所述容纳腔(13)用于容纳磁性体(33)。
  2. 如权利要求1所述的蛇骨单元(1)，其特征在于，所述容纳腔(13)包括沿所述蛇骨单元本体(11)轴向延伸的第一容纳腔(131)和第二容纳腔(132)；所述第一容纳腔(131)和第二容纳腔(132)分别位于所述蛇骨单元本体(11)沿第二径向方向的两端；所述第二径向方向与所述第一径向方向垂直。
  3. 如权利要求2所述的蛇骨单元(1)，其特征在于，所述第一容纳腔(131)和第二容纳腔(132)设置于所述蛇骨单元本体(11)的外壁上，所述第一容纳腔(131)和第二容纳腔(132)均连通所述蛇骨单元(1)的两端面。
  4. 如权利要求1所述的蛇骨单元(1)，其特征在于，所述容纳腔(13)包括第三容纳腔(133)、第四容纳腔(134)、第五容纳腔(135)和第六容纳腔(136)；
    所述第三容纳腔(133)和所述第四容纳腔(134)位于所述蛇骨单元本体(11)沿第二径向方向的一端，所述第三容纳腔(133)和所述蛇骨单元本体(11)的一侧端面连通，所述第四容纳腔(134)和所述蛇骨单元本体(11)的另一侧端面连通；
    所述第五容纳腔(135)和所述第六容纳腔(136)位于所述蛇骨单元本体(11)沿第二径向方向的另一端，所述第五容纳腔(135)和所述蛇骨单元本体(11)的一侧端面连通，所述第六容纳腔(136)和所述蛇骨单元本体(11)的另一侧端面连通；
    所述第二径向方向与所述第一径向方向垂直。
  5. 如权利要求1所述的蛇骨单元(1)，其特征在于，所述容纳腔(13)包 括第七容纳腔(137)、第八容纳腔(138)、第九容纳腔(139)和第十容纳腔(1310)；
    所述第七容纳腔(137)和第十容纳腔(1310)分别位于所述蛇骨单元本体(11)沿第三径向方向的两端；所述第八容纳腔(138)和第九容纳腔(139)分别位于所述蛇骨单元本体(11)沿第四径向方向的两端；所述第二径向方向与所述第一径向方向垂直，所述第三径向方向和所述第四径向方向相对于所述第二径向方向对称。
  6. 一种蛇骨(2)，其特征在于，包括多个首尾依次连接的如权利要求1-5之一所述的蛇骨单元(1)，相邻两个蛇骨单元(1)之间可相对转动。
  7. 一种内窥镜(3)，其特征在于，包括手柄部(31)、插入部(32)，所述插入部(32)设有如权利要求6所述的蛇骨(2)，每个所述蛇骨单元(1)的容纳腔(13)内均容纳有磁性体(33)，所述磁性体(33)为可变极性磁性体。
  8. 如权利要求7所述的内窥镜(3)，其特征在于，所述手柄部(31)设有控制组件，所述磁性体(33)为电磁体，每个所述磁性体(33)均与所述控制组件电连接。
  9. 如权利要求7所述的内窥镜(3)，其特征在于，所述磁性体(33)与所述容纳腔(13)之间为过盈配合。
  10. 一种如权利要求7-9之一所述的内窥镜(3)的弯曲控制方法，其特征在于，所述弯曲控制方法通过改变相邻磁性体(33)相对面的磁性来控制蛇骨单元(1)的转动。
PCT/CN2021/138465 2021-08-30 2021-12-15 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法 WO2023029294A1 (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
CN202111003596.7A CN113576379B (zh) 2021-08-30 2021-08-30 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法
CN202111003596.7 2021-08-30

Publications (1)

Publication Number Publication Date
WO2023029294A1 true WO2023029294A1 (zh) 2023-03-09

Family

ID=78240313

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/CN2021/138465 WO2023029294A1 (zh) 2021-08-30 2021-12-15 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法

Country Status (2)

Country Link
CN (1) CN113576379B (zh)
WO (1) WO2023029294A1 (zh)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117324792A (zh) * 2023-11-30 2024-01-02 杭州鑫泽源医疗科技有限公司 内窥镜蛇骨生产装置

Families Citing this family (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113576379B (zh) * 2021-08-30 2022-05-03 湖南省华芯医疗器械有限公司 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法
CN113876285B (zh) * 2021-12-08 2022-03-18 德宝恒生科技服务有限公司 一种内窥镜

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08201705A (ja) * 1995-01-23 1996-08-09 Olympus Optical Co Ltd 内視鏡用ガイドチューブ
CN105710873A (zh) * 2016-04-21 2016-06-29 北京信息科技大学 无节肢机器人
CN211723073U (zh) * 2020-01-18 2020-10-23 深圳市柠檬叶科技有限公司 内窥镜的旋转弯曲控制装置
CN212650818U (zh) * 2020-09-18 2021-03-05 深圳市澳藤医疗科技有限公司 内窥镜及其硬度可变组件、硬度可变单元
CN113576379A (zh) * 2021-08-30 2021-11-02 湖南省华芯医疗器械有限公司 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2001096478A (ja) * 1999-09-27 2001-04-10 Ueda Seni Kagaku Shinkokai 索状形屈曲機構および、索状形屈曲機構を備えたマニピュレータ、屈曲形液体内推進体、内視鏡
DE102010012417B4 (de) * 2010-03-23 2012-08-02 Gottfried Wilhelm Leibniz Universität Hannover Biegeaktor und Endoskop mit einem Biegeaktor
KR101631883B1 (ko) * 2014-04-01 2016-06-20 (주) 태웅메디칼 내시경관절 구조
CN104207749A (zh) * 2014-06-20 2014-12-17 乐虹信息科技(上海)有限公司 可以控制角度的内窥镜
CN111493798B (zh) * 2020-05-25 2021-11-02 华中科技大学 一种电磁驱动型刚柔耦合内窥镜

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH08201705A (ja) * 1995-01-23 1996-08-09 Olympus Optical Co Ltd 内視鏡用ガイドチューブ
CN105710873A (zh) * 2016-04-21 2016-06-29 北京信息科技大学 无节肢机器人
CN211723073U (zh) * 2020-01-18 2020-10-23 深圳市柠檬叶科技有限公司 内窥镜的旋转弯曲控制装置
CN212650818U (zh) * 2020-09-18 2021-03-05 深圳市澳藤医疗科技有限公司 内窥镜及其硬度可变组件、硬度可变单元
CN113576379A (zh) * 2021-08-30 2021-11-02 湖南省华芯医疗器械有限公司 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117324792A (zh) * 2023-11-30 2024-01-02 杭州鑫泽源医疗科技有限公司 内窥镜蛇骨生产装置
CN117324792B (zh) * 2023-11-30 2024-02-13 杭州鑫泽源医疗科技有限公司 内窥镜蛇骨生产装置

Also Published As

Publication number Publication date
CN113576379A (zh) 2021-11-02
CN113576379B (zh) 2022-05-03

Similar Documents

Publication Publication Date Title
WO2023029294A1 (zh) 一种蛇骨单元、蛇骨、内窥镜及弯曲控制方法
US8287446B2 (en) Vibratory device, endoscope having such a device, method for configuring an endoscope, and method of reducing looping of an endoscope
US20030125788A1 (en) Self-propelled, intraluminal device with electrode configuration and method of use
US10384044B2 (en) Sinus balloon catheter with adjustable bending angle and balloon position
JP2003275170A5 (zh)
US11464397B2 (en) Soft robot to navigate the natural lumens of a living organism using undulatory locomotion generated by a rotating magnetic dipole field
CN212650818U (zh) 内窥镜及其硬度可变组件、硬度可变单元
US20220160212A1 (en) Endoscope Module and Modular Endoscopic Device Including the Same
CN104207749A (zh) 可以控制角度的内窥镜
CN102240204B (zh) 一种细径内窥镜
CN215838935U (zh) 一种蛇骨单元、蛇骨及内窥镜
EP2564759B1 (en) Actuation control system of a capsule endoscope
CN104116484A (zh) 可调整拍摄角度的内窥镜系统及方法
Sendoh et al. Spiral type magnetic micro actuators for medical applications
JPH03109022A (ja) 内視鏡装置
JP6784825B2 (ja) 補助具セット及び体内撮像装置
KR101012034B1 (ko) 조향모듈 및 이를 이용한 로봇 시스템
CN204260713U (zh) 可以控制角度的内窥镜
JP6441375B2 (ja) 医療システム
CN214342218U (zh) 内窥镜弯曲部
CN110772324B (zh) 连接组件、操作臂、从操作设备及手术机器人
CN211381248U (zh) 一种用于内窥镜的柔性连接装置
CN204072033U (zh) 可调整拍摄角度的内窥镜系统
KR101631883B1 (ko) 내시경관절 구조
CN113229770A (zh) 医疗装置引导和控制系统及方法

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 21955822

Country of ref document: EP

Kind code of ref document: A1

NENP Non-entry into the national phase

Ref country code: DE