WO2023116666A1 - 蛇骨结构、探测器插入结构及柔性探测器 - Google Patents

蛇骨结构、探测器插入结构及柔性探测器 Download PDF

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Publication number
WO2023116666A1
WO2023116666A1 PCT/CN2022/140274 CN2022140274W WO2023116666A1 WO 2023116666 A1 WO2023116666 A1 WO 2023116666A1 CN 2022140274 W CN2022140274 W CN 2022140274W WO 2023116666 A1 WO2023116666 A1 WO 2023116666A1
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snake
limiting
main
auxiliary
adjacent
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PCT/CN2022/140274
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English (en)
French (fr)
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杨梦健
宋雨泽
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微创优通医疗科技（上海）有限公司
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Publication of WO2023116666A1 publication Critical patent/WO2023116666A1/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
    • 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
    • A61B1/008—Articulations

Definitions

  • the present application relates to the technical field of snake bone connection structures, in particular to a snake bone structure, a probe insertion structure and a flexible probe.
  • the snake bone structure has been widely used in the bending structure of endoscopes due to its simple processing, low cost, and certain bending strength and tensile strength.
  • the snake bone structure used in endoscopes is generally a whole composed of multiple snake joints connected by riveting.
  • the reliability of the snake bone structure is poor, so that the tensile strength and lateral bending strength of the snake bone structure cannot meet the high product requirements.
  • it is necessary to improve the existing snake bone structure so that it can adapt to the high-strength and high-standard use requirements in the curved structure of the endoscope.
  • the purpose of this application is to provide a snake bone structure, a detector insertion structure and a flexible detector, wherein the snake bone structure has better position-limiting effect and higher lateral resistance
  • the bending strength can effectively improve the force strength of the snake bone structure in the bending direction, thereby ensuring the reliability and safety of the snake bone structure when it is bent.
  • the present application provides a snake bone structure, which is formed by connecting a plurality of snake bone joints in sequence, and the adjacent snake bone joints can rotate relatively.
  • One end of the snake bone joint is provided with a plurality of rotation centers, each Both sides of each of the rotation center parts are provided with card slots, each of the rotation center parts is provided with at least one first main limiting structure;
  • the other end of the snake joint is provided with a plurality of accommodation spaces, the accommodation The space is formed by a plurality of hooks capable of axially limiting adjacent snake joints, and there is at least one second main limiting structure in the accommodating space;
  • Each of the rotating central parts is rotatably inserted into the corresponding accommodation space on an adjacent snake joint, and each of the first main limiting structures is connected to a corresponding one of the second main limiting structures. Cooperate; the hook of the adjacent one of the snake joints is inserted into the slot.
  • At least one first auxiliary limiting structure is further provided on the rotation central part, and the first auxiliary limiting structure alternates with the first main limiting structure in the circumferential direction of the rotation central part set up;
  • the accommodating space also has at least one second auxiliary limiting structure, the second auxiliary limiting structure and the second main limiting structure are arranged alternately in the circumferential direction of the accommodating space;
  • the first auxiliary limiting structure of the snake joint cooperates with the second auxiliary limiting structure of an adjacent snake joint.
  • the first auxiliary limiting structure is defined by two adjacent first main limiting structures, and/or the second auxiliary limiting structure is defined by two adjacent second main limiting structures.
  • the limiting structure is limited to form.
  • the first main limiting structure is a first main limiting protrusion
  • the second main limiting structure is a second main limiting groove
  • the first auxiliary limiting structure is a first auxiliary limiting structure.
  • the position groove, and the second auxiliary position-limiting structure is a second auxiliary position-limiting protrusion.
  • the sum of the lengths of the first main limiting protrusion and the first auxiliary limiting groove in the circumferential direction of the rotation center is a first length
  • the second main limiting groove and the The sum of the lengths of the second auxiliary position-limiting protrusions in the circumferential direction of the accommodating space is a second length
  • the first length is equal to the second length
  • the rotation center part is arranged symmetrically with respect to the axis of the serpentine structure.
  • a groove wall of each locking groove away from the rotation center part is configured as a guide part, and a guide groove is provided on a side of each of the hooks away from the accommodating space; The guide part is inserted into the guide groove of an adjacent snake joint.
  • the hook is an L-shaped hook or a T-shaped hook.
  • the present application also provides a probe insertion structure, which includes interconnected main bodies and any one of the snake bone structures.
  • the present application also provides a flexible detector, which includes a handle connected in sequence, the detector insertion structure, and a camera module.
  • the snake bone structure has a better circumference through the cooperation of the first main limiting structure and the second main limiting structure.
  • the position-limiting effect can effectively improve the force strength of the snake structure in the bending direction, thereby ensuring the reliability of the snake structure when it is bent; at the same time, the snake structure can also make the relative
  • the joint adjacent to the snake bone can limit the position in the axial direction, thereby improving the tensile strength of the snake bone structure in the axial direction and prolonging the service life of the flexible detector.
  • the structure of the snake bone structure is simple, the processing difficulty is low, and the existing processing equipment can be used for production without changing the existing processing technology, and the processing cost of the product is kept low, which has high economic benefits .
  • the snake structure can also stabilize the rotation center of the snake structure through the cooperation of the guide groove and the guide part, so that when the snake structure bends
  • the adjacent snake joints can be bent according to the rotation center of the rotation center, avoiding radial dislocation when adjacent snake joints bend, and improving the safety and reliability of the snake structure.
  • Fig. 1 is a schematic structural diagram of a snake joint in a preferred embodiment of the present application
  • Fig. 2 is a structural schematic diagram of a snake bone structure in a preferred embodiment of the present application
  • Fig. 3 is a schematic structural diagram of a snake joint in another preferred embodiment of the present application.
  • Fig. 4 is a schematic structural diagram of a snake-bone structure in another preferred embodiment of the present application.
  • snake joint 1 rotation center part 11; first main limit structure 111; first auxiliary limit structure 112; card slot 12; hook 13; hook 131; stopper part 132; first protruding end 1321 ; the second protruding end 1322 ; the accommodating space 14 ; the second main limiting structure 141 ; the second auxiliary limiting structure 142 ; the guide part 15 ;
  • first and second are used for description purposes only, and cannot be interpreted as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Thus, features defined as “first” and “second” may explicitly or implicitly include at least one of these features.
  • “plurality” means at least two, such as two, three, etc., unless otherwise specifically defined.
  • orientation or positional relationship is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the application and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation or be configured in a specific orientation. and operation, and therefore should not be construed as limiting the application.
  • axial in the present application refers to a direction parallel to the axis of the snake structure
  • radial refers to a direction around the axis of the snake structure.
  • the terms “installation”, “connection”, “fixation” and other terms should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integrated ; can be mechanically connected, can also be electrically connected or can communicate with each other; can be directly connected, can also be connected through an intermediary, can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limited.
  • installation can be a fixed connection, a detachable connection, or an integrated ; can be mechanically connected, can also be electrically connected or can communicate with each other; can be directly connected, can also be connected through an intermediary, can be the internal communication of two components or the interaction relationship between two components, unless otherwise specified limited.
  • this embodiment provides a snake bone structure, which is formed by connecting a plurality of snake joints 1 in sequence, and adjacent snake joints 1 can rotate relatively; one end of the snake joint 1 is provided with a There are two symmetrical rotation center parts 11, each side of the rotation center part 11 is provided with a card slot 12, each rotation center part 11 is provided with at least one first main stop structure 111, and the other end of the snake joint 1 is provided with There are a plurality of accommodating spaces 14, and the accommodating spaces 14 are formed by a plurality of hooks 13 capable of axially restricting the snake joint 1 adjacent to the other end (for example, formed by semi-surrounding the hooks 13), in the accommodating spaces 14 There is at least one second main limiting structure 141, the rotation center part 11 of each snake joint 1 is rotatably inserted into the corresponding accommodation space 14 on a snake joint 1 adjacent to the one end, and passes through the first main limiting structure.
  • the structure 111 cooperates with a corresponding second main limiting structure 141 to achieve circumferential limiting; the slot 12 is inserted by the hook 13 of an adjacent snake joint 1 .
  • two rotation center parts 11 are arranged on the circumferential direction of the serpentine structure, and each rotation center part 11 can cooperate with at least two hooks 13 .
  • the cooperation of the snake bone structure with the first main limiting structure 111 and the second main limiting structure 141 makes the snake bone structure have a better circumferential limiting effect, and can effectively improve the snake bone structure in bending direction, so as to ensure the reliability of the snake structure when it is bent; at the same time, the snake structure can also cooperate with the hook and the groove, so that the adjacent snake joints can be limited in the axial direction, so that Improve the tensile strength of the snake bone structure in the axial direction and prolong the service life of the flexible detector; the structure of the snake bone structure is simple, the processing difficulty is low, and the existing processing technology is not changed, so that the existing processing equipment can be used for processing Production, and maintain a low processing cost of the product, with high economic benefits.
  • This embodiment also provides a probe insertion structure, which includes a main body (not shown) connected to each other and the serpentine structure. Further, this embodiment also provides a flexible detector (not shown), including a handle connected in sequence, the detector insertion structure and a camera module. It should be understood that the flexible detectors involved in the embodiments of the present application include but are not limited to endoscopes. This application uses endoscopes as an example to illustrate the structural characteristics of the snake-bone structure, but those skilled in the art should know that the snake-bone structure It can also be applied to flexible detectors in other medical and industrial fields.
  • said flexible probe is an endoscope.
  • the endoscope generally includes an operating handle connected in sequence, a main body, a snake bone structure, and a lens module arranged at the distal end of the snake bone structure; the snake bone structure can be bent and enter the human body prior to the main tube to peep into a predetermined position of disease conditions.
  • the snake bone structure can be a structure formed by laser cutting of a stainless steel tube. After the stainless steel tube is cut, a plurality of snake joints that can rotate with each other can be formed in the axial direction, so as to realize the bending of the snake bone structure.
  • the first main limiting structure 111 is the first main limiting protrusion
  • the second main limiting structure 141 is the second main limiting groove; so set,
  • the first main limiting protrusion of each snake joint 1 can be inserted into the second main limiting groove of an adjacent snake joint 1 and connected with it in rotation, and the second main limiting groove can be in the opposite direction of the rotation direction Limit the first main limit protrusion.
  • the snake bone structure When two adjacent snake joints rotate relative to the maximum angle, the first main limiting protrusion of one snake joint and the part surface of the second main limiting groove of the other snake joint abut, the snake bone structure at this time It can have high lateral bending resistance strength, thereby improving the maneuverability of the snake bone structure and the success rate of endoscopic operation.
  • the "lateral bending resistance strength" here refers to the ultimate bending strength of the snake bone structure in other directions (that is, directions different from the bending direction), when the snake bone structure is subjected to a force greater than the lateral bending resistance in other directions.
  • the snake bone structure When the external force of the bending strength is high, the snake bone structure can be bent along the direction of the external force, but when the snake bone structure is subjected to an external force less than or equal to the lateral bending strength in other directions, the snake bone structure cannot be bent along the direction of the external force bending.
  • first main limiting structure 111 can also be the first main limiting groove
  • second main limiting structure 141 can also be the second main limiting protrusion, so as to realize the distance between adjacent snake joints 1 . Between rotation and limit.
  • first main limiting structures 111 and second main limiting structures 141 there are multiple first main limiting structures 111 and second main limiting structures 141, all first main limiting structures 111 are sequentially arranged in the circumferential direction of the rotation center part 11, and all second main limiting structures
  • the positioning structures 141 are sequentially arranged in the circumferential direction of the accommodating space 14, and each first main limiting structure 111 cooperates with a corresponding second main limiting structure 141, so that the adjacent snake joints 1 can rotate equally in the opposite direction.
  • There are multiple sets of main limiting structures (a first main limiting structure 111 and a second main limiting structure 141 form a set of main limiting structures), to avoid wear or loss of one or more of the main limiting structures , the adjacent snake joint 1 cannot be accurately limited.
  • such arrangement can also make the plurality of first main limiting structures 111 contact with the plurality of second main limiting structures 141 when the adjacent snake joint 1 rotates to the maximum angle, thereby increasing the speed of the adjacent snake joint 1 when it rotates to the maximum angle.
  • the contact area at the maximum angle improves the lateral bending resistance of the snake bone structure and the force strength in the bending direction, thereby improving the reliability of the snake bone structure when it is bent.
  • "sequentially set” may be set continuously or set at intervals.
  • the hook 13 is an "L-shaped" hook.
  • the hook 13 includes a curved hook 131.
  • the curved hook 131 is formed by the serpentine joint 1 protruding toward the direction away from the rotation center 11 on both sides of the accommodation space 14 and then extending toward the interior of the accommodation space 14.
  • the sidewall of crotch 131 is the sidewall of the second main spacer structure 141, namely crotch 131 can limit the first main spacer structure 111 of adjacent snake joints, on the one hand
  • the structure of the snake joint 1 can be simplified, and the processing difficulty and cost of the snake joint 1 can be reduced; on the other hand, the first main limiting structure 111 of the adjacent snake joint can limit the hook 131 in the axial direction, thereby It can make the connection of adjacent snake joints 1 more reliable in the axial direction, avoid the separation of adjacent snake joints 1 in the axial direction when bending, improve the axial tensile strength of the snake structure, and increase the strength of the snake structure during use.
  • the safety and reliability in the system can also improve the service life of the endoscope.
  • the "L-shaped" hook here means that the shape of the hook 13 is roughly L-shaped, or an absolutely standard L-shape.
  • At least one first auxiliary limiting structure 112 is also provided on the rotation center part 11, and the first auxiliary limiting structures 112 and the first main limiting structures 111 are arranged alternately in the circumferential direction of the rotation center part 11; accommodate
  • the space 14 also has at least one second auxiliary limiting structure 142, the second auxiliary limiting structure 142 and the second main limiting structure 141 are arranged alternately in the circumferential direction of the accommodation space 14; the first auxiliary limiting structure of each snake joint 1
  • the positioning structure 112 cooperates with the second auxiliary limiting structure 142 of an adjacent snake joint 1 .
  • the adjacent snake joints 1 can also be limited in the circumferential direction during the bending process through the cooperation of the first auxiliary limiting structure 112 and the second auxiliary limiting structure 142, thereby further strengthening the circumference between adjacent snake joints 1.
  • the first auxiliary limiting structure 112 is a first auxiliary limiting groove
  • the second auxiliary limiting structure 142 is a second auxiliary limiting protrusion
  • the second auxiliary limiting protrusion of each snake joint 1 It is rotatably inserted into the first auxiliary limiting groove of an adjacent snake joint 1 and is limited.
  • the first auxiliary limiting structure 112 may also be configured as a first auxiliary limiting protrusion
  • the second auxiliary limiting structure 142 may also be configured as a second auxiliary limiting groove.
  • first auxiliary limiting structures 112 and second auxiliary limiting structures 142 there are multiple first auxiliary limiting structures 112 and second auxiliary limiting structures 142, the plurality of first auxiliary limiting structures 112 are sequentially arranged in the circumferential direction of the rotation center part 11, and the plurality of second auxiliary limiting structures 142
  • the limiting structures 142 are sequentially arranged in the circumferential direction of the accommodating space 14, and each first auxiliary limiting structure 112 cooperates with a corresponding second auxiliary limiting structure 142; in such a configuration, on the one hand, adjacent snake joints 1 can be positioned oppositely.
  • auxiliary limiting structures There are multiple sets of auxiliary limiting structures (a first auxiliary limiting structure 112 and a second auxiliary limiting structure 142 form a set of auxiliary limiting structures) in the rotation direction of each direction, avoiding one or more of the auxiliary limiting structures. Wear or loss will affect the accuracy of the limit; on the other hand, setting multiple sets of auxiliary limit structures can increase the contact area of the adjacent snake joint 1 when it rotates to the maximum angle, thereby improving the lateral resistance of the snake structure. Bending strength and strength in the bending direction.
  • the first auxiliary limiting structure 112 is defined by two adjacent first main limiting structures 111 , that is, in the circumferential direction of the rotation center part 11 , the first auxiliary limiting structures 112 are arranged on two adjacent first main limiting structures 111 . between the first main limiting structures 111.
  • concavo-convex structures arranged in sequence can be formed in the circumferential direction of the rotation center part 11 , and the first auxiliary limiting structure and the first main limiting structure can be constructed at one time through the concavo-convex structures.
  • the first auxiliary limiting structure 112 when the first main limiting structure 111 is a first main limiting protrusion, the first auxiliary limiting structure 112 can be set as a groove formed between the two first main limiting protrusions, At this time, the second auxiliary limiting structure 142 can be inserted into the groove formed between the two first main limiting protrusions to rotate and limit.
  • the first auxiliary limiting structure 112 can be set as a protrusion formed between the two first main limiting grooves, so that At the same time, the protrusion formed in the middle of the two first main limiting grooves can be inserted into the second auxiliary limiting structure 142 to rotate and limit, so as to realize the rotational connection between adjacent snake joints 1 .
  • the second auxiliary limiting structure 142 is defined by two adjacent second main limiting structures 141, that is, in the circumferential direction of the accommodation space 14, the second auxiliary limiting structure 142 is arranged on two adjacent second main limiting structures 141. between the second main limiting structures 141.
  • concavo-convex structures arranged in sequence can be formed in the circumferential direction of the accommodating space 14 , where the concavo-convex structures can be directly used as the second auxiliary limiting structure and the second main limiting structure.
  • the first auxiliary limiting structure 112 is defined by two adjacent first main limiting structures 111
  • the second auxiliary limiting structure 142 is formed by defining two adjacent second main limiting structures 141 , that is, in the circumferential direction of the rotation center part 11 and the accommodation space 14, the first auxiliary limiting structure 112 is arranged between two adjacent first main limiting structures 111, and the second auxiliary limiting structure 142 is arranged between adjacent between the two second main limiting structures 141 .
  • concavo-convex structures can be arranged sequentially in the circumferential direction of the rotating center part 11 and the accommodation space 14.
  • the concave-convex structure on the rotating center part 11 can match the concave-convex structure on the accommodating space 14, that is, the concavo-convex structure on the rotating center part 11
  • the convex part matches the concave part of the receiving space 14 to form a mutual embedded structure.
  • the first main limiting structure 111 is a first main limiting protrusion protruding in the circumferential direction of the rotation center part 11, and the first auxiliary limiting structure 112 is two adjacent first main limiting structures.
  • the first auxiliary limiting groove formed between the limiting protrusions, the second auxiliary limiting structure 142 is a second auxiliary limiting protrusion protruding in the circumferential direction of the accommodation space 14, and the second main limiting structure 141 is a corresponding Adjacent to the second main limiting groove formed between the two second auxiliary limiting protrusions.
  • the first main limiting protrusion can be inserted into the second main limiting groove, and the second auxiliary limiting protrusion can be inserted into the first auxiliary limiting groove at the same time.
  • the rotation of the adjacent snake joint 1 makes the first main position-limiting protrusion abut against the side wall of the second auxiliary position-limiting protrusion, so as to limit the position of the adjacent snake joint 1 .
  • the number of the first main limiting protrusion and the second main limiting groove is multiple, and the number of the first main limiting protrusion and the second main limiting groove are the same, but
  • the specific number of the two includes but not limited to three, and can also be two or more than three.
  • the number of the first main limiting protrusion and the second main limiting groove is three
  • the number of the second auxiliary limiting protrusion and the second auxiliary limiting groove is two
  • the number of the second auxiliary limiting groove is two.
  • the two auxiliary limiting protrusions can be inserted into the matched first auxiliary limiting grooves, and at least two hooks 13 can be inserted into the card slots 12 .
  • the two second auxiliary stopper protrusions can be in contact with the first main limit protrusion at the same time or not at the same time, and the structure formed by the cooperation of the second auxiliary limit protrusion and the first main limit protrusion, or through the hook 13 and the groove 12 Cooperate with the formed structure (the structure formed by the second auxiliary limit protrusion and the first main limit protrusion, or the structure formed by the parts that first contact each other in the limit structure of the hook 13 and the groove 12 ) to limit the position, so that the adjacent snake joint 1 can reach the maximum rotation angle, and better limit the position.
  • the present application does not limit the number of matched first main limiting structures 111 and second main limiting structures 141 and the number of matched first auxiliary limiting structures 112 and second auxiliary limiting structures 142 .
  • the number of the first main limiting structure 111 and the second main limiting structure 141 can also be four, five or other numbers, and the first auxiliary limiting structure 112 and the second auxiliary limiting structure
  • the quantity of 142 also can be three, four or other numbers.
  • the "maximum rotation angle" here refers to the bending angle at which adjacent snake joints 1 cannot continue to rotate relative to each other.
  • the shapes of the first main limiting structure 111 and the second main limiting structure 141 match, so that the first main limiting structure 111 and the second main limiting structure 141 have a larger contact area .
  • the first main position-limiting protrusion generally has a structure with a large top and a small bottom
  • the first main position-limiting groove has a structure with a large bottom and a small mouth.
  • the shape of the first auxiliary limiting structure 112 matches the shape of the second auxiliary limiting structure 142 , so that the contact area of the first auxiliary limiting structure 112 and the second auxiliary limiting structure 142 can be increased.
  • the first auxiliary position-limiting groove generally has a structure with a large bottom and a small mouth
  • the second auxiliary position-limiting protrusion generally has a structure with a large top and a small bottom.
  • the shapes of the first main limiting structure 111, the second main limiting structure 141, the first auxiliary limiting structure 112 and the second auxiliary limiting structure 142 are fan-shaped, and the adjacent snake joints 1 When rotating to the maximum angle, in the above structure, the side walls that are in contact with each other can be fully attached, so that the snake bone structure has greater force strength in the bending direction.
  • the maximum rotation angle of adjacent snake joints 1 can be determined by the relative size of the first main limiting protrusion and the second main limiting groove.
  • the snake structure needs a larger rotation angle, it can be A relatively small first main limit protrusion or a relatively large second main limit groove is set, so that the first main limit protrusion and the second main limit groove have a larger rotation space, so that the second main limit After the first main limiting protrusion and the second main limiting groove rotate at a relatively large angle, the first main limiting protrusion will contact the side wall of the second main limiting groove. At this time, the first main limiting protrusion The rotation angle between the starting point and the second main limiting groove is the rotation angle between adjacent snake joints 1, so the snake structure can be bent at a larger angle.
  • the relative size of the first main limiting protrusion and the second main limiting groove in each pair of adjacent snake joints 1 can be set according to needs, so that the snake bone Different positions of the structure have different rotation angles. For example, a larger rotation angle can be set between adjacent snake joints 1 at the distal end of the snake structure, and a smaller rotation angle can be set between adjacent snake joints 1 at the proximal end of the snake structure. The small rotation angle meets the requirement of using the endoscope in the human body.
  • the sum of the lengths of the first main limiting protrusion and the first auxiliary limiting groove in the circumferential direction of the rotation center part 11 is the first length
  • the second main limiting groove and the second auxiliary limiting groove The sum of the lengths of the limiting protrusions in the circumferential direction of the accommodation space is the second length
  • the first length is equal to the second length; so set, when the adjacent snake joints 1 reach the maximum bending angle, each second length
  • the side wall of a main limiting protrusion can contact and limit the side wall of the corresponding second auxiliary limiting protrusion at the same time, so that when the snake structure rotates to the maximum angle, the adjacent snake joint 1 can be enlarged.
  • the contact area in the direction of rotation can help strengthen the limiting effect of the adjacent snake joint 1, thereby further increasing the force strength and lateral bending resistance of the snake structure in the bending direction, and improving the bending reliability of the snake structure properties, and can meet the strength requirements of snake bone structure in different situations.
  • the rotation center portion 11 is arranged symmetrically with respect to the axis of the serpentine structure.
  • the serpentine structure can have the same bending angle in opposite rotation directions.
  • Embodiment 1 Parts in this embodiment that are the same as those in Embodiment 1 will not be described in detail, and the following description will mainly focus on the differences, and for the same parts, refer to Embodiment 1.
  • the hook 13 is generally a "T-shaped” hook, that is, the hook 13 is a direction away from the rotation center 11 on both sides of the accommodation space 14 of the snake joint 1.
  • the two ends are respectively connected with a stopper 132 , thereby forming a “T-shaped” structure at one end of the snake joint 1 .
  • the stop portion 132 has a first protruding end 1321 extending toward the interior of the receiving space 14, and a second protruding end 1322 extending toward the outside of the accommodating space 14.
  • the side wall of the first protruding end 1321 is the second
  • the side wall of the main limiting structure 141 that is, the first protruding end 1321 can limit the first main limiting structure 111 , which can simplify the structure of the snake joint 1 and reduce the processing difficulty and cost of the snake joint 1 .
  • the first main limiting structure 111 can also limit the first protruding end 1321, and the locking groove 12 can also limit the second protruding end 1322 in the axial direction, thereby further increasing the axial position of the adjacent snake joint 1.
  • T-shaped hook here also means that the shape of the hook 13 is roughly T-shaped, or an absolutely standard T-shape.
  • first main limiting protrusions and two second main limiting grooves there are two first main limiting protrusions and two second main limiting grooves, one second auxiliary limiting protrusion and one second auxiliary limiting groove, and one second auxiliary limiting groove.
  • the limiting protrusion can be inserted into the matched first auxiliary limiting groove.
  • the snake joint 1 that matches the other snake joint 1 using the accommodation space 14 can rotate around the rotation center 11 of the other snake joint 1, and at this time the second auxiliary stop protrusion can Contact with the first main limit protrusion, and form the structure formed by the cooperation of the second auxiliary limit protrusion and the first main limit protrusion, or the structure formed by the cooperation of the hook 13 and the slot 12
  • the structure (the structure formed by the second auxiliary position-limiting protrusion and the first main position-limiting protrusion, or the structure formed by the part of the position-limiting structure of the hook 13 and the groove 12 that first contacts each other) is used for position-limiting, In order to make the adjacent snake joints reach the maximum rotation angle.
  • a groove wall of each locking groove 12 away from the rotation center portion 11 is configured as a guide portion 15 , and each hook 13 is provided with a guide groove 16 on a side away from the accommodating space 14 ;
  • the guide portion 15 of each snake joint 1 is inserted into the guide groove 16 of an adjacent snake joint 1 .
  • the guide portion 15 and the guide groove 16 are connected to each other and are used to define the relative position of adjacent snake joints 1 in the radial direction, so that the snake structure can have a stable center of rotation when it is bent, and the snake structure can follow the The center of the rotation center portion 11 is bent to avoid dislocation of adjacent snake joints 1 in the radial direction, thereby ensuring the reliability and safety of the connection of the snake joints 1 .
  • the snake-bone structure provided in the present application may be any one or a combination of the above-mentioned Embodiment 1 and Embodiment 2. Therefore, the snake bone structure can be flexibly designed according to needs to ensure that the snake bone structure has the required strength and maximum rotation angle, thereby ensuring the safety and reliability of endoscopic detection.
  • the present application can make the snake bone structure have a better circumferential limiting effect through the cooperation of the first main limiting structure 111 and the second main limiting structure 141, and effectively improve the bending direction of the snake bone structure.
  • the force strength of the snake bone structure ensures the reliability of the snake bone structure when it is bent; at the same time, the snake bone structure can also cooperate with the hook 13 and the groove 12, so that the adjacent snake bone joints 1 can be limited in the axial direction, Therefore, the axial tensile strength of the snake bone structure is improved, and the service life of the flexible detector is prolonged.
  • the structure of the snake bone structure is simple, the processing difficulty is low, and the existing processing technology is not changed, so that the existing processing equipment can be used for production, and the processing cost of the product is kept low, which has high economic benefits.
  • the serpentine structure provided by the present application can also stabilize the center of rotation of the serpentine structure when it is bent through the cooperation of the guide groove 16 and the guide part 15, so that the serpentine structure rotates according to the designed rotation center when the snake bone structure rotates, and avoids the radial direction of the serpentine joints when rotating.
  • the misalignment improves the safety and reliability of the snake bone structure.

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Abstract

一种蛇骨结构、探测器插入结构及柔性探测器，该柔性探测器包括依次连接的手柄、探测器插入结构以及摄像模组。探测器插入结构包括相互连接的主管体和蛇骨结构。蛇骨结构由多个蛇骨节（1）依次连接而成，且相邻蛇骨节（1）能够相对转动，蛇骨节（1）的一端设置有旋转中心部（11），旋转中心部（11）的两侧设置有卡槽（12），旋转中心部（11）上设置有第一主限位结构（111）；蛇骨节（1）的另一端设置有多个容纳空间（14），容纳空间（14）由多个能够轴向限位相邻蛇骨节（1）的卡钩（13）形成，容纳空间（14）中具有第二主限位结构（141），从而使蛇骨结构具有较好的限位效果和较高的抗侧向弯曲强度，从而确保蛇骨结构弯曲时的可靠性和安全性。

Description

蛇骨结构、探测器插入结构及柔性探测器 技术领域
本申请涉及蛇骨连接结构技术领域，特别涉及一种蛇骨结构、探测器插入结构及柔性探测器。
背景技术
在内窥镜领域中，蛇骨结构由于其加工简单、成本低，且能够具备一定的弯曲强度和抗拉强度，已较广泛的应用在内窥镜的弯曲结构中。
目前内窥镜上使用的蛇骨结构一般是由多节蛇骨节经铆接加工连接成的整体，该种蛇骨结构中的每个蛇骨节之间仅采用轴向上的铆接部相连接，连接的可靠性较差，从而使得蛇骨结构的抗拉强度、抗侧向弯曲强度均不能满足较高的产品要求。鉴于上述情况，有必要对现有的蛇骨结构加以改进，使其能够适应内窥镜弯曲结构中高强度和高标准的使用要求。
发明内容
为解决现有技术中存在的技术问题，本申请的目的在于提供一种蛇骨结构、探测器插入结构及柔性探测器，其中蛇骨结构具有较好的限位效果和较高的抗侧向弯曲强度，可有效提高蛇骨结构在弯曲方向上的受力强度，从而确保蛇骨结构弯曲时的可靠性和安全性。
为实现上述目的，本申请提供一种蛇骨结构，由多个蛇骨节依次连接而成，且相邻所述蛇骨节能够相对转动，所述蛇骨节的一端设置有多个旋转中心部，每个所述旋转中心部的两侧设置有卡槽，每个所述旋转中心部上设置有至少一个第一主限位结构；所述蛇骨节的另一端设置有多个容纳空间，所述容纳空间由多个能够轴向限位相邻蛇骨节的卡钩形成，所述容纳空间中具有至少一个第二主限位结构；
每个所述旋转中心部可转动地插入相邻一个所述蛇骨节上对应的所述容纳空间中，且每个所述第一主限位结构与对应的一个所述第二主限位结构配合；所述卡槽中插入相邻一个所述蛇骨节的卡钩。
可选的，所述旋转中心部上还设置有至少一个第一辅助限位结构，所述第一辅助限位结构与所述第一主限位结构在所述旋转中心部的周向上依次交替设置；
所述容纳空间还具有至少一个第二辅助限位结构，所述第二辅助限位结构与所述第二主限位结构在所述容纳空间的周向上依次交替设置；
所述蛇骨节的所述第一辅助限位结构与相邻一个所述蛇骨节的所述第二辅助限位结构配合。
可选的，所述第一辅助限位结构由相邻两个所述第一主限位结构限定形成，和/或，所述第二辅助限位结构由相邻两个所述第二主限位结构限定形成。
可选的，所述第一主限位结构为第一主限位凸起，所述第二主限位结构为第二主限位槽，所述第一辅助限位结构为第一辅助限位槽，所述第二辅助限位结构为第二辅助限位凸起。
可选的，所述第一主限位凸起和所述第一辅助限位槽在所述旋转中心部的周向上的长度之和为第一长度，所述第二主限位槽和所述第二辅助限位凸起在所述容纳空间的周向上的长度之和为第二长度，所述第一长度等于所述第二长度。
可选的，所述旋转中心部关于所述蛇骨结构的轴线对称设置。
可选的，每个所述卡槽远离所述旋转中心部的一个槽壁构造为导向部，且每个所述卡钩背离所述容纳空间的一侧设置有导向槽；所述蛇骨节的所述导向部插入相邻一个所述蛇骨节的所述导向槽中。
可选的，所述卡钩为L形卡钩或T形卡钩。
为实现上述目的，本申请还提供一种探测器插入结构，包括相互连接的主管体和任一项所述的蛇骨结构。
为实现上述目的，本申请还提供一种柔性探测器，包括依次连接的手柄、所述的探测器插入结构以及摄像模组。
在本申请提供的蛇骨结构、探测器插入结构及柔性探测器中，所述蛇骨结构通过第一主限位结构和第二主限位结构的配合，使蛇骨结构具有较好的周向限位效果，可有效提高蛇骨结构在弯曲方向上的受力强度，从而确保蛇 骨结构弯曲时的可靠性；同时所述蛇骨结构还可通过卡钩和卡槽的配合，使相邻蛇骨节能够在轴向上进行限位，从而提高蛇骨结构轴向上的抗拉强度，延长柔性探测器的使用寿命。而且该蛇骨结构的结构简单，加工难度低，在不改变现有的加工工艺的情况下，能够利用现有的加工设备进行生产，并保持产品较低的加工成本，具有较高的经济效益。
在本申请提供的蛇骨结构、探测器插入结构及柔性探测器中，所述蛇骨结构还可通过导向槽和导向部的配合稳定蛇骨结构弯曲时的旋转中心，使得蛇骨结构弯曲时，相邻蛇骨节能够按照旋转中心部的旋转中心进行弯曲，避免相邻蛇骨节弯曲时产生径向上的错位，提高蛇骨结构使用的安全性和可靠性。
附图说明
图1为本申请一优选实施例中蛇骨节的结构示意图；
图2为本申请一优选实施例中蛇骨结构的结构示意图；
图3为本申请另一优选实施例中蛇骨节的结构示意图；
图4为本申请另一优选实施例中蛇骨结构的结构示意图。
图中：蛇骨节1；旋转中心部11；第一主限位结构111；第一辅助限位结构112；卡槽12；卡钩13；弯钩131；止挡部132；第一突伸端1321；第二突伸端1322；容纳空间14；第二主限位结构141；第二辅助限位结构142；导向部15；导向槽16。
具体实施方式
以下结合附图和具体实施例对本申请作进一步详细说明。根据下面说明，本申请的优点和特征将更清楚。需说明的是，附图均采用非常简化的形式且均使用非精准的比例，仅用以方便、明晰地辅助说明本申请实施例的目的。
在本申请的描述中，需要理解的是，术语“第一”、“第二”仅用于描述目的，而不能理解为指示或暗示相对重要性或者隐含指明所指示的技术特征的数量。由此，限定有“第一”、“第二”的特征可以明示或者隐含地包括至少 一个该特征。本申请的描述中，“多个”的含义是至少两个，例如两个，三个等，除非另有明确具体的限定。
术语“中心”、“纵向”、“横向”、“长度”、“宽度”、“厚度”、“上”、“下”、“前”、“后”、“左”、“右”、“竖直”、“水平”、“顶”、“底”、“内”、“外”、“顺时针”、“逆时针”、“轴向”、“径向”、“周向”等指示的方位或位置关系为基于附图所示的方位或位置关系，仅是为了便于描述本申请和简化描述，而不是指示或暗示所指的装置或元件必须具有特定的方位、以特定的方位构造和操作，因此不能理解为对本申请的限制。其中，本申请中的“轴向”是指平行于蛇骨结构的轴线的方向，“径向”是指围绕蛇骨结构的轴线的方向。
在本申请中，除非另有明确的规定和限定，术语“安装”、“连接”、“固定”等术语应做广义理解，例如，可以是固定连接，也可以是可拆卸连接，或成一体；可以是机械连接，也可以是电连接或彼此可通讯；可以是直接相连，也可以通过中间媒介相连，可以是两个元件内部的连通或两个元件的相互作用关系，除非另有明确的限定。对于本领域的普通技术人员而言，可以根据具体情况理解上述术语在本申请中的具体含义。
以下结合附图对蛇骨结构及柔性探测器的优选实施例作进一步的说明，但以下说明不作为对本申请中蛇骨结构及柔性探测器的限定。
实施例一
如图1～图2所示，本实施例提供了一种蛇骨结构，由多个蛇骨节1依次连接而成，且相邻蛇骨节1能够相对转动；蛇骨节1的一端设置有关于轴线对称的两个旋转中心部11，每个旋转中心部11的两侧设置有卡槽12，每个旋转中心部11上设置有至少一个第一主限位结构111，蛇骨节1的另一端设置有多个容纳空间14，容纳空间14由多个能够轴向限位与该另一端相邻的蛇骨节1的卡钩13形成(例如，由卡钩13半合围而形成)，容纳空间14中具有至少一个第二主限位结构141，每个蛇骨节1的旋转中心部11可转动地插入与该一端相邻的一个蛇骨节1上对应的容纳空间14中，且通过第一主限位结构111与对应的一个第二主限位结构141的配合来实现周向限位；卡槽12由相邻的一个蛇骨节1的卡钩13插入。具体的，两个旋转中心部11设置在 蛇骨结构的周向上，每个旋转中心部11可与至少两个卡钩13相配合。
需理解，所述蛇骨结构通过第一主限位结构111和第二主限位结构141的配合，使得蛇骨结构具有较好的周向限位效果，并可有效提高蛇骨结构在弯曲方向上的受力强度，从而确保蛇骨结构弯曲时的可靠性；同时所述蛇骨结构还可通过卡钩和卡槽的配合，使得相邻蛇骨节能够在轴向上进行限位，从而提高蛇骨结构轴向上的抗拉强度，延长柔性探测器的使用寿命；该蛇骨结构的结构简单，加工难度低，且不改变现有的加工工艺，从而能够利用现有的加工设备进行生产，并保持产品较低的加工成本，具有较高的经济效益。
本实施例还提供了一种探测器插入结构，包括相互连接的主管体(未图示)和所述蛇骨结构。进一步的，本实施例还提供了一种柔性探测器(未图示)，包括依次连接的手柄、所述的探测器插入结构以及摄像模组。应理解，本申请实施例涉及的柔性探测器包括但不限于内窥镜，本申请以内窥镜为例来说明所述蛇骨结构的结构特点，但本领域技术人员应当知晓，该蛇骨结构还能够应用于其他医疗和工业领域的柔性探测器中。
在一具体实施例中，所述柔性探测器为内窥镜。所述内窥镜一般包括依次连接的操作手柄、主管体、蛇骨结构以及设置在蛇骨结构远端的镜头模组；所述蛇骨结构可弯曲并先于主体管进入人体以窥视预定位置的病变情况。
一般来说，所述蛇骨结构可为不锈钢管经过激光切割而形成的结构，不锈钢管切割后可在轴向上形成多个能够相互转动的蛇骨节，从而实现蛇骨结构的弯曲。
继续参照图1和图2所示，在本实施例中，第一主限位结构111为第一主限位凸起，第二主限位结构141为第二主限位槽；如此设置，每个蛇骨节1的第一主限位凸起可插入相邻一个蛇骨节1的第二主限位槽中并与之转动连接，且第二主限位槽能够在转动方向的相反方向上对第一主限位凸起进行限位。当两个相邻蛇骨节相对转动至最大角度时，一个蛇骨节的第一主限位凸起和另一个蛇骨节的第二主限位槽的部分表面相贴靠，此时的蛇骨结构能够具有较高的抗侧向弯曲强度，进而提升了蛇骨结构的操控性和内窥镜操作的成功率。应理解，此处的“抗侧向弯曲强度”是指蛇骨结构在其他方向(即 与弯曲方向不相同的方向)上的极限弯曲强度，当蛇骨结构在其他方向上受到大于抗侧向弯曲强度的外力时，所述蛇骨结构能够沿外力方向进行弯曲，而当蛇骨结构在其他方向上受到小于或等于抗侧向弯曲强度的外力时，所述蛇骨结构不能沿外力方向进行弯曲。
在另一实施例中，第一主限位结构111也可为第一主限位槽，第二主限位结构141也可为第二主限位凸起，以实现相邻蛇骨节1之间的转动和限位。
较优的，第一主限位结构111和第二主限位结构141的数量均为多个，所有第一主限位结构111在旋转中心部11的周向上依次设置，所有第二主限位结构141在容纳空间14的周向上依次设置，每个第一主限位结构111与对应的一个第二主限位结构141配合，如此可使相邻蛇骨节1在相反的转动方向上均具有多组主限位结构(一个第一主限位结构111和一个第二主限位结构141形成一组主限位结构)，避免主限位结构中的一个或多个发生磨损或缺失时，不能对相邻蛇骨节1进行准确的限位。此外，如此设置还可在相邻蛇骨节1转动到最大角度时多个第一主限位结构111与多个第二主限位结构141相接触，从而增大相邻蛇骨节1在转动到最大角度时的接触面积，提升蛇骨结构的抗侧向弯曲强度和在弯曲方向上的受力强度，从而提升蛇骨结构弯曲时的可靠性。还需理解，本文中，“依次设置”可以是连续的设置，也可以是间隔的设置。
本申请对卡钩13的形状未做特别的限制。如本实施例中，卡钩13为“L形”卡钩。具体的，参照图1所示，卡钩13包括弯钩131，弯钩131为蛇骨节1在容纳空间14的两侧朝远离旋转中心部11的方向突伸后又朝容纳空间14的内部延伸而形成的结构，此时弯钩131的侧壁即为第二主限位结构141的侧壁，即弯钩131可对相邻蛇骨节的第一主限位结构111进行限位，一方面可简化蛇骨节1的结构，并降低蛇骨节1的加工难度和加工成本；另一方面，相邻蛇骨节的第一主限位结构111可在轴向上对弯钩131进行限位，从而可使相邻蛇骨节1在轴向上的连接更牢靠，避免相邻蛇骨节1弯曲时在轴向上发生分离，提高蛇骨结构轴向的抗拉强度，并增加蛇骨结构在使用过程中的安全性和可靠性，还可提高内窥镜的使用寿命。应理解，此处的“L形” 卡钩是指卡钩13形状大致为L形，或绝对标准的L形。
较优的，旋转中心部11上还设置有至少一个第一辅助限位结构112，第一辅助限位结构112与第一主限位结构111在旋转中心部11的周向上依次交替设置；容纳空间14还具有至少一个第二辅助限位结构142，第二辅助限位结构142与第二主限位结构141在容纳空间14的周向上依次交替设置；每个蛇骨节1的第一辅助限位结构112与相邻一个蛇骨节1的第二辅助限位结构142配合。如此设置，相邻蛇骨节1还可通过第一辅助限位结构112和第二辅助限位结构142的配合进行弯曲过程中的周向限位，从而进一步加强相邻蛇骨节1之间的周向限位效果，提高蛇骨结构在弯曲方向上的受力强度。
在一些实施例中，第一辅助限位结构112为第一辅助限位槽，第二辅助限位结构142为第二辅助限位凸起，每个蛇骨节1的第二辅助限位凸起可转动的插入相邻一个蛇骨节1的第一辅助限位槽中并进行限位。当然，在另一些实施例中，第一辅助限位结构112也可设置为第一辅助限位凸起，第二辅助限位结构142也可设置为第二辅助限位槽。
进一步的，第一辅助限位结构112和第二辅助限位结构142的数量均为多个，多个第一辅助限位结构112在旋转中心部11的周向上依次设置，多个第二辅助限位结构142在容纳空间14的周向上依次设置，每个第一辅助限位结构112与对应的一个第二辅助限位结构142配合；如此构造，一方面可使相邻蛇骨节1在相反的转动方向上均具有多组辅助限位结构(一个第一辅助限位结构112和一个第二辅助限位结构142形成一组辅助限位结构)，避免辅助限位结构中一个或多个的发生磨损或缺失而影响限位的准确性；另一方面，设置多组辅助限位结构可增大相邻蛇骨节1在转动到最大角度时的接触面积，从而提升蛇骨结构的抗侧向弯曲强度和在弯曲方向上的受力强度。
在一些实施例中，第一辅助限位结构112由相邻两个第一主限位结构111限定形成，即在旋转中心部11的周向上，第一辅助限位结构112设置在相邻两个第一主限位结构111之间。优选可在旋转中心部11的周向上形成依次设置的凹凸结构，通过凹凸结构来一次性构造第一辅助限位结构和第一主限位结构。在一示例中，当第一主限位结构111为第一主限位凸起时，第一辅助 限位结构112可设置为在两个第一主限位凸起之间形成的凹槽，此时第二辅助限位结构142可插入两个第一主限位凸起之间形成的凹槽中转动并限位。在另一示例中，当第一主限位结构111为第一主限位槽时，第一辅助限位结构112可设置为在两个第一主限位槽之间形成的凸起，此时两个第一主限位槽中间形成的凸起可插入第二辅助限位结构142中转动并限位，以实现相邻蛇骨节1之间的转动连接。
在另一些实施例中，第二辅助限位结构142由相邻两个第二主限位结构141限定形成，即在容纳空间14的周向上，第二辅助限位结构142设置在相邻两个第二主限位结构141之间。优选可在容纳空间14的周向上形成依次设置的凹凸结构，这里的凹凸结构可以直接作为第二辅助限位结构和第二主限位结构。
在又一些实施例中，第一辅助限位结构112由相邻两个第一主限位结构111限定形成，第二辅助限位结构142由相邻两个第二主限位结构141限定形成，即在旋转中心部11和容纳空间14的周向上，第一辅助限位结构112设置在相邻两个第一主限位结构111之间，且第二辅助限位结构142设置在相邻两个第二主限位结构141之间。优选可在旋转中心部11和容纳空间14的周向上均形成依次设置凹凸结构，此时旋转中心部11上的凹凸结构能够与容纳空间14上的凹凸结构相匹配，即旋转中心部11上的凸部与容纳空间14的凹部相匹配，以形成相互嵌入的结构。
具体的，在本实施例中，第一主限位结构111为在旋转中心部11周向上凸伸的第一主限位凸起，第一辅助限位结构112为相邻两个第一主限位凸起之间形成的第一辅助限位槽，第二辅助限位结构142为在容纳空间14的周向上凸伸的第二辅助限位凸起，第二主限位结构141为相邻两个第二辅助限位凸起之间形成的第二主限位槽。在相邻蛇骨节1相配合时，第一主限位凸起可插入第二主限位槽中，同时第二辅助限位凸起可插入第一辅助限位槽中，此时可通过相邻蛇骨节1的转动使第一主限位凸起与第二辅助限位凸起的侧壁相贴靠，以对相邻蛇骨节1进行限位。参照图1和图2所示，第一主限位凸起和第二主限位槽的数量均为多个，且第一主限位凸起和第二主限位槽的 数量相同，但是两者的具体数目包括但不限于三个，还可以是两个或超过三个。
在本实施例中，第一主限位凸起和第二主限位槽的数量均为三个，第二辅助限位凸起和第二辅助限位槽的数量为两个，两个第二辅助限位凸起能够插入相配合的第一辅助限位槽中，且至少两个卡钩13能够插入卡槽12中。在相邻蛇骨节1转动时，使用容纳空间14与另一蛇骨节1相匹配的蛇骨节1能够围绕另一蛇骨节1的旋转中心部11发生转动，此时两个第二辅助限位凸起可同时或不同时与第一主限位凸起相接触，并通过第二辅助限位凸起和第一主限位凸起相配合所形成的构造，或通过卡钩13和卡槽12相配合所形成的构造(以第二辅助限位凸起和第一主限位凸起所形成的构造，或卡钩13和卡槽12的限位结构中先相互接触的部分所形成的构造)进行限位，以使相邻蛇骨节1达到最大转动角度，并更好的进行限位。
应理解，本申请对相配合的第一主限位结构111和第二主限位结构141的数量、以及相配合的第一辅助限位结构112和第二辅助限位结构142的数量不作限定。在其他实施例中，第一主限位结构111和第二主限位结构141的数量也可为四个、五个或其他个数，第一辅助限位结构112和第二辅助限位结构142的数量也可为三个、四个或其他个数。应理解，此处的“最大转动角度”是指相邻蛇骨节1不能继续发生相对转动时的弯曲角度。
进一步地，第一主限位结构111与第二主限位结构141的形状相匹配，如此可使第一主限位结构111和第二主限位结构141相接触时具有较大的接触面积。如第一主限位凸起大体上为上大、下小的结构，第一主限位槽为底大、口小的结构。
进一步地，第一辅助限位结构112与第二辅助限位结构142的形状相匹配，如此可使第一辅助限位结构112和第二辅助限位结构142相接触时的接触面积增大。如第一辅助限位槽大体上为底大、口小的结构，第二辅助限位凸起大体为上大、下小的结构。
在本实施例中，第一主限位结构111、第二主限位结构141、第一辅助限位结构112和第二辅助限位结构142的形状均为扇形，且在相邻蛇骨节1转 动到最大角度时，上述结构中，相互接触的侧壁能够贴靠的较为充分，从而使得蛇骨结构在弯曲方向上具有较大的受力强度。
应理解，相邻蛇骨节1的最大转动角度可由所述第一主限位凸起和第二主限位槽的相对大小来决定，当所述蛇骨结构需要较大的转动角度时，可设置相对较小的第一主限位凸起或相对较大的第二主限位槽，使得第一主限位凸起与第二主限位槽有较大的转动空间，如此可使第一主限位凸起与第二主限位槽进行较大角度的转动后，第一主限位凸起才会与第二主限位槽的侧壁接触，此时第一主限位凸起与第二主限位槽的转动角度即为相邻蛇骨节1之间的转动角度，故蛇骨结构能够进行较大角度的弯曲。
还应理解，所述蛇骨结构中，每一对相邻蛇骨节1中的第一主限位凸起与第二主限位槽的相对大小可根据需要进行设置，以使所述蛇骨结构的不同位置具有不同的转动角度，例如可将蛇骨结构远端的相邻蛇骨节1之间设置较大的转动角度，而将蛇骨结构近端的相邻蛇骨节1之间设置较小的转动角度，以满足内窥镜在人体内的使用要求。
进一步的，在本实施例中，第一主限位凸起和第一辅助限位槽在旋转中心部11的周向上的长度之和为第一长度，第二主限位槽和第二辅助限位凸起在容纳空间的周向上的长度之和为第二长度，所述第一长度等于所述第二长度；如此设置，当相邻蛇骨节1达到最大的弯曲角度时，每个第一主限位凸起的侧壁能够同时与相对应的第二辅助限位凸起的侧壁相接触并限位，从而可在蛇骨结构转动到最大角度时可增大相邻蛇骨节1在转动方向上的接触面积，进而可辅助加强相邻蛇骨节1的限位效果，从而进一步增大蛇骨结构在弯曲方向上的受力强度和抗侧向弯曲强度，提升蛇骨结构弯曲的可靠性，并可满足蛇骨结构不同情况下的强度要求。
在一较优实施例中，旋转中心部11关于所述蛇骨结构的轴线对称设置。如此构造，可使蛇骨结构在相反的转动方向上具有相同的弯曲角度。
实施例二
本实施例中与实施例一相同的部分不再详细叙述，以下主要针对不同之处进行描述，而相同之处可参阅实施例一。
如图3～图4所示，在本实施例中，卡钩13大体为“T形”卡钩，即卡钩13为蛇骨节1在容纳空间14的两侧朝远离旋转中心部11的方向突伸后，两端部又分别连接一个止挡部132，从而在蛇骨节1的一端形成“T形”结构。止挡部132朝容纳空间14的内部延伸有第一突伸端1321，并朝容纳空间14的外部延伸有第二突伸端1322，此时第一突伸端1321的侧壁即为第二主限位结构141的侧壁，即第一突伸端1321可对第一主限位结构111进行限位，如此可简化蛇骨节1的结构，并降低蛇骨节1的加工难度和加工成本。此外，第一主限位结构111还可对第一突伸端1321进行限位，且卡槽12还能够在轴向上限位第二突伸端1322，从而进一步增加相邻蛇骨节1在轴向上的限位效果，并使相邻蛇骨节1在轴向上的连接更牢靠，从而提高蛇骨结构轴向的抗拉强度，增加蛇骨结构的使用过程中的安全性和可靠性，并提高内窥镜的使用寿命。应理解，此处的“T形”卡钩也是指卡钩13形状大致为T形，或绝对标准的T形。
在本实施例中，第一主限位凸起和第二主限位槽的数量为两个，第二辅助限位凸起和第二辅助限位槽的数量均为一个，一个第二辅助限位凸起能够插入相配合的第一辅助限位槽中。在相邻蛇骨节1转动时，使用容纳空间14与另一蛇骨节1相匹配的蛇骨节1能够围绕另一蛇骨节1的旋转中心部11发生转动，此时第二辅助限位凸起可与第一主限位凸起相接触，并通过第二辅助限位凸起和第一主限位凸起相配合所形成的构造，或通过卡钩13和卡槽12相配合所形成的的构造(以第二辅助限位凸起和第一主限位凸起所形成的构造，或卡钩13和卡槽12的限位结构中先相互接触的部分所形成的构造)进行限位，以使相邻蛇骨节达到最大转动角度。
继续参照图3和图4所示，每个卡槽12远离旋转中心部11的一个槽壁构造为导向部15，且每个卡钩13背离容纳空间14的一侧设置有导向槽16；每个蛇骨节1的导向部15插入相邻一个蛇骨节1的导向槽16中。所述导向部15和导向槽16相互连接并用于限定相邻蛇骨节1在径向方向上的相对位置，如此可使蛇骨结构进行弯曲时能够具有稳定的旋转中心，并使蛇骨结构按照旋转中心部11的中心进行弯曲，避免相邻蛇骨节1在径向方向上发生错 位，从而确保蛇骨节1连接的可靠性和安全性。
应知晓，本申请提供的蛇骨结构可以是上述实施例一和实施例二中的任意一种或两种的组合。因此，可根据需要灵活的设计蛇骨结构，以确保蛇骨结构具备所需的强度和最大转动角度，从而保证内窥镜检测的安全性和可靠性。
综上所述，本申请可通过第一主限位结构111和第二主限位结构141的配合使得蛇骨结构具有较好的周向限位效果，并有效提高蛇骨结构在弯曲方向上的受力强度，从而确保蛇骨结构弯曲时的可靠性；同时所述蛇骨结构还可通过卡钩13和卡槽12的配合，使得相邻蛇骨节1能够在轴向上进行限位，从而提高蛇骨结构轴向上的抗拉强度，延长柔性探测器的使用寿命。同时该蛇骨结构的结构简单，加工难度低，且不改变现有的加工工艺，从而能够利用现有的加工设备进行生产，并保持产品较低的加工成本，具有较高的经济效益。
本申请提供的蛇骨结构还可通过导向槽16和导向部15的配合稳定蛇骨结构弯曲时的旋转中心，使得蛇骨结构旋转时按照设计的旋转中心旋转，避免蛇骨节旋转时产生径向上的错位，提高蛇骨结构使用的安全性和可靠性。
上述描述仅是对本申请较佳实施例的描述，并非对本申请范围的任何限定，本申请领域的普通技术人员根据上述揭示内容做的任何变更、修饰，均属于本申请的保护范围。

Claims (11)

  1. 一种蛇骨结构，其特征在于，由多个蛇骨节依次连接而成，且相邻所述蛇骨节能够相对转动，所述蛇骨节的一端设置有多个旋转中心部，每个所述旋转中心部的两侧设置有卡槽，每个所述旋转中心部上设置有至少一个第一主限位结构；所述蛇骨节的另一端设置有多个容纳空间，所述容纳空间由多个能够轴向限位相邻所述蛇骨节的卡钩形成，所述容纳空间中具有至少一个第二主限位结构；
    每个所述旋转中心部可转动地插入相邻一个所述蛇骨节上对应的所述容纳空间中，且每个所述第一主限位结构与对应的一个所述第二主限位结构配合；所述卡槽中插入相邻一个所述蛇骨节的卡钩。
  2. 如权利要求1所述的蛇骨结构，其特征在于，所述旋转中心部上还设置有至少一个第一辅助限位结构，所述第一辅助限位结构与所述第一主限位结构在所述旋转中心部的周向上依次交替设置；
    所述容纳空间还具有至少一个第二辅助限位结构，所述第二辅助限位结构与所述第二主限位结构在所述容纳空间的周向上依次交替设置；
    每个所述蛇骨节的所述第一辅助限位结构与相邻所述蛇骨节的所述第二辅助限位结构配合。
  3. 如权利要求2所述的蛇骨结构，其特征在于，所述第一辅助限位结构由相邻两个所述第一主限位结构限定形成。
  4. 如权利要求2或3所述的蛇骨结构，其特征在于，所述第二辅助限位结构由相邻两个所述第二主限位结构限定形成。
  5. 如权利要求1所述的蛇骨结构，其特征在于，所述第一主限位结构为第一主限位凸起，所述第二主限位结构为第二主限位槽，所述第一辅助限位结构为第一辅助限位槽，所述第二辅助限位结构为第二辅助限位凸起。
  6. 如权利要求5所述的蛇骨结构，其特征在于，所述第一主限位凸起和所述第一辅助限位槽在所述旋转中心部的周向上的长度之和为第一长度，所述第二主限位槽和所述第二辅助限位凸起在所述容纳空间的周向上的长度之和 为第二长度，所述第一长度等于所述第二长度。
  7. 如权利要求5所述的蛇骨结构，其特征在于，所述旋转中心部关于所述蛇骨结构的轴线对称设置。
  8. 如权利要求1所述的蛇骨结构，其特征在于，每个所述卡槽远离所述旋转中心部的一个槽壁构造为导向部，且每个所述卡钩背离所述容纳空间的一侧设置有导向槽；每个所述蛇骨节的所述导向部插入相邻所述蛇骨节的所述导向槽中。
  9. 如权利要求1所述的蛇骨结构，其特征在于，所述卡钩为L形卡钩或T形卡钩。
  10. 一种探测器插入结构，其特征在于，包括相互连接的主管体和如权利要求1-9任一项所述的蛇骨结构。
  11. 一种柔性探测器，其特征在于，包括依次连接的手柄、如权利要求10所述的探测器插入结构以及摄像模组。
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