WO2019218726A1 - 内窥镜 - Google Patents

内窥镜 Download PDF

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Publication number
WO2019218726A1
WO2019218726A1 PCT/CN2019/073617 CN2019073617W WO2019218726A1 WO 2019218726 A1 WO2019218726 A1 WO 2019218726A1 CN 2019073617 W CN2019073617 W CN 2019073617W WO 2019218726 A1 WO2019218726 A1 WO 2019218726A1
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WO
WIPO (PCT)
Prior art keywords
tube
shaped
nip
pipe joint
bending
Prior art date
Legal status (The legal status 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 status listed.)
Ceased
Application number
PCT/CN2019/073617
Other languages
English (en)
French (fr)
Inventor
严航
唐伟
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Anqing Medical Co Ltd
Original Assignee
Anqing Medical Co Ltd
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 Anqing Medical Co Ltd filed Critical Anqing Medical Co Ltd
Priority to US16/649,987 priority Critical patent/US11596296B2/en
Priority to JP2020540668A priority patent/JP6902170B2/ja
Priority to EP19803902.6A priority patent/EP3795060A4/en
Publication of WO2019218726A1 publication Critical patent/WO2019218726A1/zh
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • 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
    • 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
    • A61B1/00064—Constructional details of the endoscope body
    • 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
    • A61B1/00112—Connection or coupling means
    • 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
    • A61B1/00112—Connection or coupling means
    • A61B1/00119—Tubes or pipes in or with an endoscope
    • 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
    • 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
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires
    • 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
    • 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
    • A61B1/04—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 combined with photographic or television appliances
    • A61B1/05—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 combined with photographic or television appliances characterised by the image sensor, e.g. camera, being in the distal end portion
    • 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
    • A61B1/06—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 with illuminating arrangements
    • A61B1/0661—Endoscope light sources

Definitions

  • the present invention relates to the field of medical devices, and more particularly to an endoscope including a controllable curved tube.
  • An insertion portion that is inserted into a living body or a tube is provided in an endoscope that can be applied to industrial use or medical use.
  • a controllable bending portion is provided on the distal end side of the insertion portion.
  • the bending portion can perform a bending operation in accordance with an operation of the operating device provided in the operating portion. Therefore, in the endoscope having the curved portion, the direction of the observation portion provided at the distal end portion can be directed to the desired direction by the operation device.
  • a bendable portion (8') is disclosed, which is arranged at the distal end of the insertion tube of the endoscope, comprising: a plurality of tubes Section (9'), each of the pipe segments (9') has a connecting device (11) that cooperates with a connecting device (11) of an adjacent pipe joint (9') And a control line with which the bending of the bendable portion (8') can be controlled; wherein the respective connecting means (11) of the tube segments (9') are arranged such that they are from their faces (12 and 13 respectively) Extending axially and positioned within the outer casing (15') of the pipe joint (9') such that they do not exceed the thickness of the outer casing, which is disposed on each side of the adjacent pipe joint (9') (12 and 13)
  • the connecting means (11) which are positioned above and positioned opposite each other are complementary to each other in a hinge type connection.
  • a bending portion having a bending block group in which a plurality of bending pieces are continuously provided in a rotatable manner, the bending block group being cut by hard Forming a curved piece and forming a convex portion on one side of the bending piece and forming a concave portion on the other side of the bending piece, and being provided to rotatably couple the engaging portion between the bending pieces, wherein the engaging portion has a first engaging portion formed of a first convex portion formed on the side of the bending piece by cutting and a first concave portion simultaneously formed on the other side of the bending piece and sliding the first convex portion; and the second engagement portion a pair of second convex portions formed on the other side of the bending piece via the first concave portion by cutting, and a pair of second concave portions simultaneously formed on the side of the bending piece and sliding the pair of second convex portions
  • the engaging portion has a first engaging portion formed of a first convex portion formed on the side of the
  • an endoscope device having a curved tube with enhanced external resistance, which is applied to a plurality of curved blocks formed by laser drawing to be connected External forces, including pulling, bending and twisting.
  • a bending tube includes: a first bending piece for forming a bendable bending tube; a second bending piece for rotating relative to the first bending piece; a portion that is formed in the first bending piece and has a rotating shaft that rotates the second bending piece, and an engaging portion that is formed in the second bending piece and that is substantially parallel to the rotation axis and opposite to a sliding surface on which the link portion slides, the engagement portion is engaged with the link portion to be rotatable, and a receiving portion formed in the vicinity of the link portion in the first bending piece
  • the vertical surface is capable of abutting against the engaging portion when the engaging portion that is engaged with the link portion is rotated, and is formed in a direction substantially perpendicular to the rotation axis.
  • the respective bending blocks or the joints of the pipe joints constituting the curved pipe are notches and projections which are engaged with each other, and the opening direction of the notch coincides with the axial direction of the curved pipe.
  • the protrusions are inserted into the recesses along the axial direction of the curved tube to connect the respective bending blocks or tube segments.
  • the invention discloses an endoscope, wherein the insertion portion is provided with a controllable bending tube, the controllable bending tube comprises a plurality of circular tubular tube joints connected in series, and a control device for controlling bending of the controllable bending tube, each One end of the pipe joint is provided with a first C-shaped nip portion, and the opening direction of the first C-shaped nip portion is at a first angle with the axial direction of the pipe joint to which it belongs, and the first C-shaped gap is provided around the outside of the first C-shaped nip portion.
  • the other end of the pipe joint is provided with a second C-shaped nip portion that cooperates with the first C-shaped notch of the other pipe joint, and the inside of the second C-shaped nip portion is provided with a first C-shaped nip portion with other pipe joints.
  • the spherical protrusion of the first pipe joint is engaged with the inside of the first C-shaped nip of the second pipe joint, so that the first pipe type of the second pipe joint
  • the occlusal portion is embedded in the second C-shaped notch of the first pipe joint, and the second C-shaped nip portion of the first pipe joint is embedded in the first C-shaped notch of the second pipe joint;
  • the first C-shaped nip of the second pipe joint after the engagement can be relatively moved in the second C-shaped notch of the first pipe joint, and the first pipe joint and the second C-shaped nip portion can The relative movement in the first C-shaped notch of the second tube section.
  • the first angle ranges from 10° to 90°.
  • the opening direction of the second C-shaped nip portion is at a second angle with the axial direction of the tube segment to which the tube portion belongs, and the second angle ranges from 10° to 90°.
  • each pipe joint is oppositely disposed with two first C-shaped nips and a first C-shaped notch in the circumferential direction, and correspondingly, the other end of the pipe joint is oppositely disposed with two sets of second C-shaped nip portions and a second C-shaped notch and a spherical protrusion matched by the first C-shaped nip portion, and a nip between any two adjacent pipe joints after the engagement, the nip is spaced apart by the first C-shaped occlusal portion or the second C-shaped occlusal portion Set and extend along the circumference of the tube section.
  • one or more slots are provided in the wall of the tube between each tube section and the nip formed by the adjacent tube segments, and the slots extend circumferentially of the respective tube segments.
  • control device comprises one or more traction wires which are inserted from one end of the pipe joints connected in series and are fixedly connected to the pipe joints at the outermost ends of the other ends of the pipe joints connected in series.
  • the tube joint is further provided with one or more fixing portions for fixing the pulling wire.
  • the fixing portion is evenly distributed in the circumferential direction of the pipe joint.
  • the fixing portion is a circular tube fixedly connected to the inner wall of the pipe joint.
  • the change in the degree of curvature in the controllable curved tube is generated by a change in the length of the corresponding tube section.
  • controllable curved tube is formed by cutting the same metal pipe.
  • the endoscope of the present invention since the opening of the C-shaped engaging portion of each joint constituting the curved tube is at an angle to the axial direction of the tube portion to which it belongs, the spherical projection that is engaged with the bending is hard to fall off therefrom, so that The connection between the individual pipe joints is more tight, because the C-shaped nip can form a displacement in the C-shaped notch, thereby providing the bending space required for the bending of the pipe body, and is advantageous for controlling the degree of bending by controlling the degree of displacement for the operation.
  • the operation provides great convenience and has high practical value.
  • the opening direction of the C-shaped notch is also at an angle to the axial direction of the curved tube, which further increases the fastening of the connection.
  • FIG. 1 is a schematic overall structural view of an endoscope disclosed in an embodiment of the present invention.
  • FIG. 2 is a side view of an endoscope controllable curved tube disclosed in an embodiment of the present invention
  • FIG. 3 is a schematic structural view of a pipe joint disclosed in an embodiment of the present invention.
  • FIG. 4 is a schematic overall structural view of an endoscope controllable curved tube disclosed in an embodiment of the present invention.
  • FIG. 5 is a schematic view showing another overall structure of an endoscope controllable curved tube according to an embodiment of the present invention.
  • FIG. 6 is a schematic overall view of a curved state of an endoscope controllable curved tube disclosed in an embodiment of the present invention.
  • FIG. 7 is a partially enlarged schematic view showing a curved state of an endoscope controllable curved tube disclosed in an embodiment of the present invention.
  • an embodiment of the present invention provides an endoscope 200 to which the above-described controllable curved tube is applied, which is provided with the inner side as described above at the front end side of the insertion portion inserted into the living body or the tube.
  • the speculum controls the curved tube structure.
  • the endoscope may include an insertion tube for the endoscope 1, a control device 2, and a handle 3; a controllable curved tube structure 100 is provided on a portion of the insertion tube 1 that can enter the interior of the human body.
  • the structure of the endoscope controllable bending tube 100 shown in Fig. 2 is clearly visible, and includes a plurality of circular tubular tube segments 10 that are connected in series to form a controllable bending tube. As can be seen from Fig. 3, one end of each tube segment 10 The first C-shaped nip 101 is provided, and the opening direction of the first C-shaped nip portion is at a first angle r with the axial direction of the pipe joint 10 thereof, and the first C-shaped gap is provided around the outside of the first C-shaped nip portion 101.
  • the other end of the pipe joint 10 is provided with a second C-shaped nip portion 111 that cooperates with the first C-shaped notch of the other pipe joint 10, and the inside of the second C-shaped nip portion 111 is provided with the other pipe joint 10
  • a C-shaped nip 101 is fitted with a second C-shaped notch 112 and a spherical protrusion 113, and the second C-shaped notch 112 surrounds the spherical protrusion 113.
  • the spherical projection 113 of the pipe joint 10' is engaged inside the first C-shaped nip 101 of the pipe joint 10, so that the first C-shaped mesh of the pipe joint 10
  • the portion 101 is embedded in the second C-shaped notch 112 of the tube segment 10', while the second C-shaped nip portion 111 of the tube segment 10' is embedded in the first C-shaped notch 102 of the tube segment 10, and the first C of the tube segment 10 is engaged
  • the occlusal portion 101 and the second C-shaped nip 111 of the tube segment 10' are relatively movable in the second C-shaped notch 112 of the tube segment 10' and the first C-shaped notch 102 of the tube segment 10, respectively.
  • the pipe joint and its adjacent pipe joint are expressed as the first pipe joint and the second pipe joint, the above description can also be understood as: when two adjacent pipe joints are connected in series, the first one of them The spherical protrusion 113 of the section is engaged with the inside of the first C-shaped nip 101 of the second tube section, so that the first C-shaped nip 101 of the second tube section is embedded in the first The second C-shaped notch 112 of one tube section, while the second C-shaped nip 111 of the first tube section is embedded in the first C-shaped notch 102 of the second tube section.
  • the first C-shaped nip 101 of the second tube section after the engagement can be relatively moved in the second C-shaped notch 112 of the first tube section, and the first tube section is
  • the second C-shaped nip 111 is relatively movable in the first C-shaped notch 102 of the second tube section.
  • the first C-shaped nip 101 is disposed in the pipe joint, and the adjacent pipe joint is provided with a second C-shaped gap 112 that cooperates with the first C-shaped nip, and is in the A spherical protrusion 113 is disposed on a central side of the second C-shaped notch.
  • the spherical protrusion 113 is disposed in the opening direction.
  • the central side of the second C-shaped notch 112 is offset from the axial direction of the pipe joint, and the diameter of the spherical protrusion 113 is larger than the opening diameter of the first C-shaped nip 101, so that the spherical protrusion 113 is offset from the axial direction.
  • the spherical protrusion includes a spherical portion and a connecting portion, and the connecting portion respectively connects the second C-shaped nip portion 111 and the spherical portion, the spherical protrusion described above.
  • 113 is offset from the axial direction, which can be understood as the connection is offset from the axial direction.
  • the connecting spherical portion and the second C-shaped engaging portion 111 have an angle with respect to the axial direction.
  • the spherical projection described above is engaged with the center of the first C-shaped engaging portion 101, which can be understood as the spherical portion being engaged with the first portion.
  • the center of a C-shaped nip 101 is engaged with the center of a C-shaped nip 101.
  • the spherical projection 113 when stretched or bent, the spherical projection 113 is hard to fall off from the opening of the first C-shaped nip 101, and can be firmly engaged in the first C-shaped nip 101, and the first C-shaped nip 101 Displacement may occur in the second C-shaped notch 112 to provide a curved space for the tubular body, thereby improving the stability of the connection between the tubular segments while ensuring the controllability of the bending.
  • the pipe joint 10 in the embodiment of the invention has a simple structure and can be formed by laser cutting, has low processing cost and high yield.
  • the material of the pipe wall is preferably a metal material such as sus304, sus316 or nickel titanium alloy.
  • Non-metallic materials such as nylon, polyurethane (PU), thermoplastic polyurethane elastomer (TPU), polyvinyl chloride (PVC), thermoplastic elastomer (TPE) and other plastic materials can also be used.
  • controllable curved tube is formed by cutting the same metal tube. That is, a plurality of pipe joints connected in series may be formed by cutting the same metal pipe. It can have a positive effect of low cost and ease of assembly.
  • each tube section may be separately cut and formed, and then assembled.
  • the first angle r formed by the opening direction of the first C-shaped nip 101 and the axial direction of the pipe joint 10 thereof may range from 10° to 90°.
  • the best snap-in limit effect can not only achieve the convenience of the connection process, but also obtain a stable limit effect, so it can be well applied in practice.
  • a first C-shaped notch 102 is disposed around the outer side of the first C-shaped nip 101, and the other end of the pipe joint 10 is provided with a first C-shaped notch 102 of the other pipe joint 10.
  • the second C-shaped nip 111 also has an opening whose orientation may coincide with the axial direction of the tube segment to which it belongs, and preferably the orientation of the opening is in the axial direction of the tube segment to which it belongs. It is also possible to form an angle, that is, the second angle y shown in FIG. 3, and when the tubular body is stretched or bent, the second C-shaped nip 111 is also difficult to fall off from the opening of the first C-shaped notch 102.
  • the design is equivalent to providing a double limit guarantee, which can further increase the stability of the connection between the individual pipe joints 10, minimize the risk of pipe joint falling off, and has good application value.
  • the second angle y formed by the opening direction of the second C-shaped nip 111 and the axial direction of the tube segment thereof may be 10°-90°, and the best engagement limit effect can be obtained in the range. It can not only achieve the convenience of the connection process, but also obtain a stable limit effect.
  • the change in the degree of curvature in the controllable bend tube is produced by a change in the length of the corresponding position tube section.
  • the degree of curvature can be understood as the bending ability of the tube. It can also be understood that the higher the degree of bending, the stronger the bending ability and the greater the degree of bending.
  • the degree of curvature of the arc is greater than the arc generated when the length of the tube segments are short together, and it can be seen that the degree of bending is small, that is, the degree of curvature is small.
  • a plurality of sets of first C-shaped nips 101 and first C-shaped notches may be disposed in one circumferential direction of each of the tube segments 10 in the embodiment of the present invention to meet the bending direction requirements of different application scenarios.
  • each of the tube segments 10 is provided with two sets of opposing first C-shaped nips 101 and first C-shaped notches 102 in the circumferential direction, correspondingly
  • Two sets of second C-shaped nips 111 and second C-shaped notches 112 and spherical protrusions 113 that cooperate with the first C-shaped nip 101 are provided in the circumferential direction of the other end thereof, and the adjacent pipe sections 10 are engaged after being engaged.
  • the controllable curved pipe of this embodiment can be bent in two directions under the control of the control device, and the nip 104 is controllable.
  • the bending of the bending tube 100 provides a bending space. As shown in FIG. 7, when the controllable bending tube is bent and deformed in one direction, the first C-shaped nip 101 of each tube section 10 is adjacent to the adjacent tube section 10'.
  • a displacement occurs in the two C-shaped notches 112, specifically, a certain angle of rotation around the spherical protrusions 113, and the opening direction of the second C-shaped notches 112 also rotates correspondingly, and the relative positions of the first C-shaped nips 101 are spaced apart.
  • the slits 104 on both sides increase the gap on one side and decrease the gap on the other side.
  • one or more slots 105 may be provided between each of the tube segments 10 and the nip 104 formed by the adjacent tube segments 10'.
  • the slots 105 extend in the circumferential direction of the tube segments 10, and the slots 105 can be various shapes such as a circle, a square, or a strip.
  • two elongated grooves 105 are formed parallel to each other, and the grooves 105 can further provide a space required for the pipe body to bend, and increase the angle at which the controllable bending pipe bends.
  • the range which enhances the flexibility of the pipe body and reduces the weight of the pipe body and the manufacturing cost, is a very clever design in practice.
  • control unit is also used to control the tube segments 10 connected in series.
  • control device is preferably one or more traction wires for controlling the tube segments 10 connected in series to be bent in one or more directions, the traction wires penetrating from one end of the pipe joints 10 connected in series, and located at the mutual The outermost end of the pipe joint 10 of the other end of the pipe joint 10 is fixedly connected.
  • the first C-shaped nip 101 on the pipe joint 10 rotates with the spherical projection 113 of the pipe joint 10' adjacent thereto, when the C-shaped nip 101 of the pipe joint 10 is turned to the adjacent pipe joint 10'
  • the driving of the adjacent pipe joint 10' can continue to be rotated, thereby bending the whole bending device; when the bending device is bent to the user's desired After the angle, the external force applied to the bending device is removed and the traction wire is fixed to maintain the bending device in the bent position.
  • the traction portion is preferably a steel wire, but is not limited thereto, and the traction portion may be any filament-like structure, and the filament-like structure may also be any metal or non-metal material.
  • the traction wire is prevented from moving within the tube joint 10 of the bending device, affecting the effect of the bending.
  • one or more of the tube segments 10 may be provided.
  • one or two traction wires may preferably be provided in the plurality of series of tube segments 10 as control means 20 such that the controllable bending device can be bent in one or both directions.
  • a plurality of fixing portions are provided on the pipe joint 10
  • a plurality of fixing portions are uniformly distributed on the pipe joint 10 to ensure that the bending device can be bent in various directions.
  • the fixing portion may be a circular tube fixedly connected to the inner wall of the pipe joint 10, or may be a wire groove opened on the inner wall of the pipe joint 10. Fixing the pulling wire through the fixing portion can prevent the pulling wire from slipping off and causing the controllable bending device to fail.
  • the controllable bending device according to the present invention can bend the tube joint group by the control portion according to the needs of the user, and can bend in any direction required by the user, which is flexible and convenient.
  • the above provides a preferred control method for controlling the controllable curved tube.
  • Those skilled in the art will also know that many control methods or control devices for controlling the bending of the controllable curved tube in a desired direction are included in the practice, and are not limited to the above preferred embodiment. Control device provided in the middle.
  • the insertion end of the insertion tube 1 is further provided with a camera and one or more light sources, and the camera is connected to the display.
  • the non-inserted end of the insertion tube 1 is provided with a handle 3 on which the control device 2 for controlling the bending of the bending device can be placed.
  • the light source provides a bright shooting environment for the camera, and the display displays the image captured and output by the camera.
  • the camera can also take a picture of the process of entering the human body, and transmit the captured picture to the display and display through the display; when the insertion tube 1 enters a predetermined position in the human body, the camera can be directed to the person The internal environment is photographed, and the real-time picture taken is displayed on the display for the user to observe.
  • the controllable curved tube 100 disposed on the insertion tube 1 includes a plurality of circular tubular tube segments 10 which are connected in series to form a controllable curved tube.
  • one end of each tube portion 10 is provided with a first a C-shaped nip 101
  • the opening direction of the first C-shaped nip portion is at a first angle r with the axial direction of the controllable bending tube
  • the first C-shaped notch 102 is disposed around the outside of the first C-shaped nip 101
  • One end is provided with a second C-shaped nip 111 that cooperates with the first C-shaped notch, and a second C-shaped notch 112 and a spherical convex that cooperate with the first C-shaped nip 101 are disposed inside the second C-shaped nip 111.
  • the second C-shaped notch 112 surrounds the spherical protrusion 113.
  • the spherical protrusion 113 is engaged with the inside of the first C-shaped nip 101, so that the first C The occlusal portion 101 is embedded in the second C-shaped notch 112, and the second C-shaped nip portion 111 is embedded in the first C-shaped notch 102.
  • the first C-shaped nip 101 and the second C-shaped nip 111 can be respectively in phase.
  • the second C-shaped notch 112 of the adjacent tube section and the first C-shaped notch 102 move relative to each other.
  • the handle 3 in order to give the operator a more comfortable hand feeling, can also be provided at the non-insertion end of the insertion tube 1 to facilitate the user's operation. In order to make the connection of the handle 3 and the insertion tube 1 more reliable, it is also possible to provide a connection between the handle and the insertion tube to reinforce the connection between the handle and the outer tube. Further, the handle 3 may be provided with a control device 2 for controlling the traction wire. The control portion is connected to the traction wire to pull the traction wire, thereby achieving traction of the bending device and bending the bending device.
  • the opening of the first C-shaped nip portion of each of the tube segments constituting the curved tube is at an angle to the axial direction of the tube segment to which it belongs.
  • the spherical protrusions that are engaged in the bending phase are difficult to fall off therefrom, so that the connection between the individual pipe segments is more tight, because the first C-shaped nip can be displaced in the second C-shaped notch to form a displacement, At the same time, the second C-shaped occlusal portion can be displaced in the first C-shaped notch to form a displacement, thereby providing a bending space required for the bending of the tubular body, and is convenient for controlling the degree of bending by controlling the degree of displacement, thereby providing a large operation operation. Convenience, with high practical value.

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  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Rehabilitation Therapy (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
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Abstract

一种内窥镜(200)，其插入部设有可控弯曲管(100)，可控弯曲管(100)包括多个相互串联的圆管状管节(10)，每个管节(10)一端设有第一C型咬合部(101)，其开口方向与其所属管节的轴向成第一夹角(r)，围绕第一C型咬合部(101)外侧设有第一C型缺口(102)，另一端设有与其他管节(10)的第一C型缺口(102)相配合的第二C型咬合部(111)，其内侧设有与其他管节(10)的第一C型咬合部(101)相配合的第二C型缺口(112)和球状凸起(113)。球状凸起(113)很难自第一C型咬合部(101)中脱落，各个管节(10)之间的连接更为紧固，第二C型咬合部(111)的开口方向与可控弯曲管(100)的轴向也成一夹角(y)，进一步增加了连接的紧固性。

Description

内窥镜 技术领域
本发明涉及医疗器械领域，特别是涉及一种包括可控弯曲管的内窥镜。
背景技术
在能够应用于工业用途、医疗用途的内窥镜中设有被插入活体内或管内的插入部。一般在具有软性插入部的内窥镜中，在插入部的前端侧设有可控弯曲部。弯曲部可随着设于操作部中的操作装置的操作而进行弯曲动作。因此，在具有弯曲部的内窥镜中，能够通过操作装置使设于前端部的观察部的方向朝向期望方向。
在申请号为CN200510076111.1的发明专利中，公开了一种可弯曲部分(8′)，该可弯曲部分(8′)布置在内窥镜的插入管的远端处，包括：多个管节(9′)，所述管节(9′)中的每个管节具有连接装置(11)，该连接装置(11)与相邻管节(9′)的连接装置(11)相配合；以及控制线，使用该控制线能够控制可弯曲部分(8′)的弯曲；其中管节(9′)的各个连接装置(11)设置为使得它们从其面(分别为12和13)上在轴向伸出并定位在管节(9′)的外壳(15′)内，并使得它们不超过外壳的厚度，其中设置在相邻管节(9′)的各个面(分别为12和13)上并定位成彼此相对的连接装置(11)以铰链型连接的方式彼此互补。
在申请号为CN201280041664.1的发明专利文献中，公开了一种弯曲部，该弯曲部具有以转动自如的方式连续设置有多个弯曲块的弯曲块组，该弯曲块组是通过切断硬质管而形成弯曲块、并且在弯曲块一侧形成凸部并在弯曲块另一侧形成凹部而设置以能够转动的方式连结弯曲块之间的卡合部而形成的，其中，卡合部具有：第1卡合部，其由通过切断而形成在弯曲块一侧的第1凸部和同时形成在弯曲块另一侧且供第1凸部滑动的第1凹部构成；以及第2卡合部，其由通过切断而隔着第1凹部形成在弯曲块另一侧的一对第2凸部和同时形成在弯曲块一侧且供一对第2凸部分别滑动的一对第2凹部构成，在弯曲块中设置有切掉第1 凹部的底部的一部分并加宽一端侧的弯曲块端的第1加强部或从一对第2凹部的底面起加宽另一端侧的弯曲块端的第2加强部中的任意一方。
在申请号为CN201580047959.3的发明专利文献中，提供一种具有对外力的耐性得到增强的弯曲管的内窥镜装置，所述外力是对通过激光描绘而形成为相连的多个弯曲块施加的外力，包含牵拉、弯曲和扭转。为了达成上述目的，该发明的实施方式的弯曲管具有：第1弯曲块，其用于构成能够弯曲的弯曲管；第2弯曲块，其用于相对于所述第1弯曲块转动；连杆部，其形成于所述第1弯曲块，具有使所述第2弯曲块转动的转动轴；卡合部，其形成于所述第2弯曲块，具有与所述转动轴大致平行且相对于所述连杆部滑动的滑动面，所述卡合部与所述连杆部卡合为能够旋转；以及承受部，其形成在所述第1弯曲块中所述连杆部的附近，具有垂直面，该垂直面在与所述连杆部卡合的所述卡合部转动时能够与所述卡合部抵接，形成于与所述转动轴大致垂直的方向上。
然而，上述文件中所提供的弯曲管结构，构成弯曲管的各个弯曲块或者管节的连接结构均为相互卡合的凹口和凸起，且凹口的开口方向与弯曲管的轴向一致，凸起沿着弯曲管的轴向方向卡入凹口中来串联各个弯曲块或者管节，这种设计容易造成弯曲块或者管节脱落，增加手术安全隐患，影响器械的使用寿命。
发明内容
本发明公开了一种内窥镜，其插入部设有可控弯曲管，可控弯曲管包括多个相互串联的圆管状的管节，以及控制可控弯曲管发生弯曲的控制装置，每个管节的一端设有第一C型咬合部，第一C型咬合部的开口方向与其所属管节的轴向成第一夹角，围绕第一C型咬合部外侧设有第一C型缺口，所述管节的另一端设有与其他管节的第一C型缺口相配合的第二C型咬合部，第二C型咬合部内侧设有与其他管节的第一C型咬合部相配合的第二C型缺口和球状凸起，第二C型缺口围绕球状凸起，
当两个相邻的的管节串联时，其中第一个管节的球状凸起卡合于第二个管节的第一C型咬合部内部，使得第二个管节的第一C型咬合部嵌入第一个管节的第二C型缺口，同时第一个管节的第二C型咬合部嵌入第二个管节的第一C型缺口；
卡合后第二个管节的第一C型咬合部能够在第一个管节的所述第二C型缺口中相对运动，且第一个管节的和第二C型咬合部能够在第二个管节的第一C型缺口中相对运动。
可选的，第一夹角的范围为10°-90°。
可选的，第二C型咬合部的开口方向与其所属管节的轴向成第二夹角，第二夹角的范围为10°-90°。
可选的，每个管节的一端周向上相对设有两个第一C型咬合部和第一C型缺口，相应地其另一端周向上相对设有两组第二C型咬合部以及与第一C型咬合部相配合的第二C型缺口和球状凸起，卡合后相邻的任意两个管节之间具有夹缝，夹缝间隔第一C型咬合部或第二C型咬合部设置并沿着管节的周向延伸。
可选的，每个管节与相邻管节所形成的夹缝之间的管节壁上设有一个或多个槽，槽在各个管节的周向延伸。
可选的，控制装置包含一根或多根牵引丝，牵引丝从相互串联的管节一端穿入，并与位于相互串联的管节的另一端最外端的管节固定连接。
可选的，管节还设有一个或多个用于固定牵引丝的固定部。
可选的，固定部均布于管节的周向。
可选的，固定部为固定连接于管节内壁上的圆管。
可选的，所述可控弯曲管中弯曲度的变化是通过对应位置管节长度的变化产生的。
可选的，所述可控弯曲管是通过对同一根金属管材进行切割而成型的。
本发明涉及的内窥镜，由于构成弯曲管的各个关节的C型咬合部的开口朝向与其所属管节的轴向成一夹角，弯曲时相卡合的球状凸起很难自其中脱落，使得各个管节之间的连接更为紧固，由于C型咬合部可以在C型缺口中形成位移，从而提供了管体弯曲所需要的弯曲空间，利于通过控制位移程度来控制弯曲程度，为手术操作提供了很大的便利性，具有很高的实用价值。
同时，在本发明可选方案中，C型缺口的开口方向与弯曲管的轴向也成一夹角，进一步增加了连接的紧固性。
为让本发明的上述内容能更明显易懂，下文特举优选实施例，并结合附图，作详细说明如下。
附图说明
下面将结合附图介绍本发明。
图1为本发明实施例中公开的内窥镜的整体结构示意图；
图2为本发明实施例中公开的内窥镜可控弯曲管的侧视图；
图3为本发明实施例中公开的管节的结构示意图；
图4为本发明实施例中公开的内窥镜可控弯曲管的整体结构示意图；
图5为本发明实施例中公开的内窥镜可控弯曲管的另一整体结构示意图；
图6为本发明实施例中公开的内窥镜可控弯曲管的弯曲状态整体示意图；
图7为本发明实施例中公开的内窥镜可控弯曲管的弯曲状态局部放大示意图。
具体实施方式
以下由特定的具体实施例说明本发明的实施方式，本领域技术人员可由本说明书所揭示的内容轻易地了解本发明的其他优点及功效。
现在参考附图介绍本发明的示例性实施方式，然而，本发明可以用许多不同的形式来实施，并且不局限于此处描述的实施例，提供这些实施例是为了详尽地且完全地公开本发明，并且向所属技术领域的技术人员充分传达本发明的范围。对于表示在附图中的示例性实施方式中的术语并不是对本发明的限定。在附图中，相同的单元/元件使用相同的附图标记。
除非另有说明，此处使用的术语(包括科技术语)对所属技术领域的技术人员具有通常的理解含义。另外，可以理解的是，以通常使用的词典限定的术语，应当被理解为与其相关领域的语境具有一致的含义，而不应该被理解为理想化的或过于正式的意义。
如图1所示，本发明的一个实施例中提供了一种应用上述可控弯曲管的内窥镜200，其在插入到活体内或管内的插入部的前端侧设置有如上所述的内窥镜可控弯曲管结构。如图2所示，内窥镜可以包括：内窥镜用插 入管1、控制装置2和手柄3；插入管1上可进入人体内部的部分上设有可控弯曲管结构100。
图2所示的内窥镜可控弯曲管100的结构明显可视，其包括构成可控弯曲管的多个相互串联的圆管状管节10，由图3可知，每个管节10的一端设有第一C型咬合部101，第一C型咬合部的开口方向与其所属管节10的轴向成第一夹角r，围绕第一C型咬合部101外侧设有第一C型缺口102，管节10的另一端设有与与其他管节10的第一C型缺口相配合的第二C型咬合部111，第二C型咬合部111内侧设有与其他管节10的第一C型咬合部101相配合的第二C型缺口112和球状凸起113，第二C型缺口112围绕球状凸起113。
当管节10与相邻的管节10＇串联时，管节10＇的球状凸起113卡合于管节10的第一C型咬合部101内部，使得管节10的第一C型咬合部101嵌入管节10’的第二C型缺口112，同时管节10＇的第二C型咬合部111嵌入管节10的第一C型缺口102，卡合后管节10的第一C型咬合部101和管节10＇的第二C型咬合部111可分别在管节10＇的第二C型缺口112和管节10的第一C型缺口102中相对运动。
若将管节与其相邻的一个管节表述为第一个管节与第二个管节，则，以上描述也可理解为：当两个相邻的管节串联时，其中第一个管节的所述球状凸起113卡合于第二个管节的所述第一C型咬合部101内部，使得所述第二个管节的所述第一C型咬合部101嵌入所述第一个管节的所述第二C型缺口112，同时所述第一个管节的所述第二C型咬合部111嵌入所述第二个管节的所述第一C型缺口102。
卡合后所述第二个管节的所述第一C型咬合部101能够在第一个管节的所述第二C型缺口112中相对运动，且所述第一个管节的所述第二C型咬合部111能够在所述第二个管节的所述第一C型缺口102中相对运动。
具体地，若需要将管节之间连接在一起，同时能够枢转而不必适用螺栓等附加装置，便需要管节的一端设有夹持结构来将相邻管节另一端的突出部位夹持或卡合，本发明的实施例中采用了在管节设置第一C型咬合部101，相邻管节设置与该第一C型咬合部相互配合的第二C型缺口112，并在第二C型缺口中央一侧设置球状凸起113，由于第二C型咬合部112的开口方向与其所属管节的轴向成第一夹角r，球状凸起113需配合该开口 方向而设置于第二C型缺口112的中央一侧，偏置于管节的轴向方向，且球状凸起113的直径大于第一C型咬合部101的开口口径，使得球状凸起113偏置于轴向卡合于第一C型咬合部101中央，具体可理解为：球状凸起包括球状部与连接部，该连接部分别连接第二C型咬合部111与球状部，以上所描述的球状凸起113偏置于轴向，可理解为连接部偏置于轴向，即连接球状部与第二C型咬合部111的方向与轴向是具有夹角的，以上所描述的球状凸起卡合于第一C型咬合部101中央，可理解为球状部卡合于第一C型咬合部101中央。
这样当拉伸或弯曲时，球状凸起113很难自第一C型咬合部101的开口处脱落，能够稳固地卡合于第一C型咬合部101中，而第一C型咬合部101可以在第二C型缺口112中发生位移来为管体提供弯曲空间，从而在保证了弯曲的可控性的同时提高了管节之间连接的稳固性。
本发明实施例中的管节10结构简单，可通过激光切割加工成型，加工成本低廉，且成品率高。管壁的材质优选为金属材料，例如sus304，sus316或者是镍钛合金等。也可以选用非金属材料，如如尼龙、聚氨酯(PU)、热塑性聚氨酯弹性体橡胶(TPU)、聚氯乙烯(PVC)、热塑性弹性体(TPE)等各种塑胶材料。
其中一种实施方式中，所述可控弯曲管是通过对同一根金属管材进行切割而成型的。即多个互相串联的管节可以是对同一根金属管材进行切割而成型的。其可具有成本低、便于装配的积极的效果。
同时，本发明实施例中也可以是对各管节分别进行切割成型，进而装配而成的。
本发明的一个可选实施例中，第一C型咬合部101的开口方向与其所属管节10的轴向所成的第一夹角r范围可以为10°-90°，位于该范围可以获得最佳的卡合限位效果，既能够取得连接工艺的便利性，又能够获得稳固的限位效果，因此能够在实践中得到很好的应用。
根据本发明的一个实施例，围绕第一C型咬合部101外侧设有第一C型缺口102，管节10的另一端设有与其他管节10的第一C型缺口102相配合的第二C型咬合部111，当球状凸起113卡合于第一C型咬合部101内部时，第一C型咬合部101嵌入第二C型缺口112，同时第二C型咬合部111嵌入第一C型缺口102，第二C型咬合部111同样具备一个开口， 其开口的朝向可以与其所属管节的轴向可以是一致，而较为优选地，该开口的朝向与其所属管节的轴向也能够成一夹角，即图3中所示的第二夹角y，当管体发生拉伸或弯曲时，第二C型咬合部111也很难自第一C型缺口102的开口处脱落，该设计相当于提供了双重的限位保障，能够进一步增加各个管节10之间连接的稳固性，最大程度地降低了管节脱落的风险，具有很好的应用价值。
进一步地，第二C型咬合部111的该开口方向与其所属管节的轴向所成的第二夹角y可以为10°-90°，位于该范围可以获得最佳的卡合限位效果，既能够取得连接工艺的便利性，又能够获得稳固的限位效果。
本发明实施例的一种可选方案中，所述可控弯曲管中弯曲度的变化是通过对应位置管节长度的变化产生的。其中的弯曲度，可以理解为管的弯曲能力，也可理解为：所能弯曲的程度越高，弯曲能力越强，弯曲度越大。
由于弯曲是管节之间的相对旋转产生的，而两个管节之间相对旋转的最大角度是确定的，进而，若长度较长的管节串在一起，若将其所形成的线看作弧线，则该弧线的曲率半径则会大于长度较短的管节串在一起时所产生的弧线，可见，其所能弯曲的程度较小，即弯曲度较小。
本发明实施例中的各个管节10的一端周向上可以设置多组第一C型咬合部101和第一C型缺口，以满足不同应用场景的弯曲方向要求。在本发明的另一个优选实施例中，如图4到图7中，每个管节10的一端周向上设有两组相对的第一C型咬合部101和第一C型缺口102，相应在其另一端周向上相对设有两组第二C型咬合部111以及与第一C型咬合部101相配合的第二C型缺口112和球状凸起113，卡合后相邻管节10之间具有夹缝104，夹缝104间隔C型咬合部设置并沿着管节的周向延伸，该实施例的可控弯曲管可以在控制装置的控制下向两个方向弯曲，夹缝104为可控弯曲管100的弯曲提供了弯曲空间，如图7所示，当可控弯曲管向一个方向发生弯曲形变时，各个管节10的第一C型咬合部101在相邻管节10＇的第二C型缺口112中发生位移，具体为围绕球状凸起113发生一定角度的转动，同时第二C型缺口112的开口方向也相应地发生转动，而间隔第一C型咬合部101设置的相对的两侧夹缝104，则一侧缝隙增大，相对另一侧的缝隙减小，以满足管体弯曲所需空间，当可控弯曲管向另一侧弯曲时上述所有变化反向生成，使得该实施例中的可控弯曲管100可以向两个 方向弯曲。本领域技术人员应当理解，第一C型咬合部的设计应当不仅仅限于该实施例中所提供的位置和数量，可以根据具体的应用场景进行相应设计，以满足不同的弯曲方向需求。
自图5中可见，每个管节10与相邻的管节10＇所形成的夹缝104之间还可以设有一个或多个槽105，槽105在管节10的周向延伸，且槽105可以为圆形、方形或长条形等各种形状。图5中所示的每个管节10的夹缝104之间设有相互平行的两个长条形的槽105，槽105能够进一步提供管体弯曲所需空间，增加可控弯曲管弯曲的角度范围，增强管体的柔性，且能够降低管体重量和制造成本，是实践中非常巧妙的一种设计。
为了使使用者更好地对可控弯曲装置进行控制，在本发明的一个实施例中，还利用控制装置对相互串联的管节10进行控制。进一步地，控制装置优选为一根或多根牵引丝，用于控制串联后的管节10朝一个或多个方向弯曲，牵引丝从相互串联的管节10的一端穿入，并与位于相互串联的管节10的另一端最外端的管节10固定连接，当将外力施加在牵引丝上，即牵拉牵引丝时，可带动与牵引丝固定连接的管节10发生移动，此时该管节10上的第一C型咬合部101与与之相邻的管节10＇的球状凸起113间发生转动，当该管节10的C型咬合部101转至相邻管节10＇的第二C型缺口112的极限位置后继续牵拉牵引丝，可继续带动相邻管节10＇继续发生转动，从而使整根弯曲装置发生弯曲；当弯曲装置弯曲至到使用者所需的角度后，撤去施加在弯曲装置上的外力并固定牵引丝，即可使弯曲装置保持在该弯曲位置。
进一步地，在发明的一个实施例中，牵引部优选为钢丝，但并不局限于此，牵引部还可以是任何细丝状的结构，细丝状结构还可以选用任何金属或非金属材质。
为了使牵引丝与弯曲装置更好地配合，防止牵引丝在弯曲装置的管节10内活动，影响弯曲的效果，在本发明的一个实施例中，管节10上还可设有一个或多个用于固定牵引丝的固定部。本发明的一个实施例中，可优选在多个串联的管节10内设置一根或两根牵引丝作为控制装置20以使可控弯曲装置可以朝向一个或两个方向弯曲。进一步地，该实施例中，当管节10上设有多个固定部时，多个固定部均布于管节10上，以保证弯曲装置可以朝各个方向弯曲。
更进一步地，固定部可以为固定连接于管节10内壁上的圆管，也可以是开设于管节10内壁上的线槽。通过固定部将牵引丝进行固定，可防止牵引丝滑脱导致可控弯曲装置失效。本发明所涉及的可控弯曲装置可以根据使用者的需要，利用控制部对管节组进行弯曲，并可以朝向使用者所需要的任何方向进行弯曲，灵活方便。以上提供对可控弯曲管进行控制的优选控制方式，本领域技术人员可知，实践中还包括诸多控制可控弯曲管向所需方向弯曲的控制方式或控制装置，而不仅仅限于上述优选实施例中所提供的控制装置。
本发明的实施例，插入管1的插入端上还设有摄像头以及一个或多个光源，摄像头与显示器相连接。插入管1的非插入端设有手柄3，用于可控弯曲装置弯曲的控制装置2可设置于所述手柄3上。当摄像头进行拍摄时，光源为摄像头提供明亮的拍摄环境，显示器将摄像头所拍摄并输出的影像显示出来。当插入管1进入人体时，摄像头还可以对进入人体的过程进行拍摄，并将拍摄的画面传输至显示器，并通过显示器进行显示；当插入管1进入人体内的预定位置后，摄像头可以对人体内环境进行拍摄，同时将拍摄的实时画面在显示器进行显示，以供使用者进行观察。
在上述实施例中，插入管1上设置的可控弯曲管100包括构成可控弯曲管的多个相互串联的圆管状管节10，由图3可知，每个管节10的一端设有第一C型咬合部101，第一C型咬合部的开口方向与可控弯曲管的轴向成第一夹角r，围绕第一C型咬合部101外侧设有第一C型缺口102，另一端设有与第一C型缺口相配合的第二C型咬合部111，第二C型咬合部111内侧设有与第一C型咬合部101相配合的第二C型缺口112和球状凸起113，第二C型缺口112围绕球状凸起113，当管节10与相邻的管节10＇串联时，球状凸起113卡合于第一C型咬合部101内部，使得第一C型咬合部101嵌入第二C型缺口112，同时第二C型咬合部111嵌入第一C型缺口102，卡合后第一C型咬合部101和第二C型咬合部111可分别在相邻的管节的第二C型缺口112和第一C型缺口102中相对运动。
在本实施例中，为了使操作者拥有更舒适的手感，还可以在插入管1的非插入端设置手柄3，方便使用者操作。为了使手柄3与插入管1的连接更为可靠，还可以在手柄与插入管间设置连接件，加固手柄与外管间的连接。进一步地，手柄3上可设置有用于控制牵引丝的控制装置2，控制 部与牵引丝相连接，对牵引丝进行牵引，从而实现对弯曲装置的牵引，使弯曲装置弯曲。
综上所述，本发明所涉及的内窥镜，其可控弯曲管结构中，由于构成弯曲管的各个管节的第一C型咬合部的开口朝向与其所属管节的轴向成一夹角，弯曲时相卡合的球状凸起很难自其中脱落，使得各个管节之间的连接更为紧固，由于第一C型咬合部可以在第二C型缺口中发生相对运动形成位移，同时第二C型咬合部可以在第一C型缺口中发生相对运动形成位移，从而提供了管体弯曲所需要的弯曲空间，利于通过控制位移程度来控制弯曲程度，为手术操作提供了很大的便利性，具有很高的实用价值。
此外，本发明上述实施例仅例示性说明本发明的原理及其功效，而非用于限制本发明。任何本领域技术人员皆可在不违背本发明的精神及范畴下，对上述实施例进行修饰或改变。因此，本领域技术人员在未脱离本发明所揭示的精神与技术思想下所完成的一切等效修饰或改变，仍应由本发明的权利要求所涵盖。

Claims (10)

  1. 一种内窥镜，其特征在于，所述内窥镜的插入部设有可控弯曲管，所述可控弯曲管包括多个相互串联的圆管状的管节，以及控制所述可控弯曲管发生弯曲的控制装置，每个所述管节的一端设有第一C型咬合部，所述第一C型咬合部的开口方向与所属管节的轴向成第一夹角，围绕所述第一C型咬合部外侧设有第一C型缺口，所述管节的另一端设有与其他管节的第一C型缺口相配合的第二C型咬合部，所述第二C型咬合部内侧设有与其他管节的第一C型咬合部相配合的第二C型缺口和球状凸起，所述第二C型缺口围绕所述球状凸起；
    当两个相邻的管节串联时，其中第一个管节的所述球状凸起卡合于第二个管节的所述第一C型咬合部内部，使得所述第二个管节的所述第一C型咬合部嵌入所述第一个管节的所述第二C型缺口，同时所述第一个管节的所述第二C型咬合部嵌入所述第二个管节的所述第一C型缺口；
    卡合后所述第二个管节的所述第一C型咬合部能够在第一个管节的所述第二C型缺口中相对运动，且所述第一个管节的所述第二C型咬合部能够在所述第二个管节的所述第一C型缺口中相对运动。
  2. 如权利要求1所述的内窥镜，其特征在于，所述第一夹角的范围为10°-90°。
  3. 如权利要求1所述的内窥镜，其特征在于，所述第二C型咬合部的开口方向与其其所属管节的轴向成第二夹角，所述第二夹角的范围为10°-90°。
  4. 如权利要求1所述的内窥镜，其特征在于，每个所述管节的一端周向上相对设有两个所述第一C型咬合部和第一C型缺口，相应地其另一端周向上相对设有两组第二C型咬合部以及与所述第一C型咬合部相配合的第二C型缺口和球状凸起，卡合后相邻的任意两个所述管节之间具有夹缝，所述夹缝间隔所述第一C型咬合部或所述第二C型咬合部设置并沿着所述管节的周向延伸。
  5. 如权利要求4所述的内窥镜，其特征在于，每个所述管节与相邻管节所形成的夹缝之间的管节壁上设有一个或多个槽，所述槽在各个管节的周向延伸。
  6. 如权利要求1至5任一项所述的内窥镜，其特征在于，所述控制装 置包含一根或多根牵引丝，所述牵引丝从相互串联的所述管节一端穿入，并与位于相互串联的所述管节的另一端最外端的所述管节固定连接。
  7. 如权利要求6所述的内窥镜，其特征在于，所述管节还设有一个或多个用于固定所述牵引丝的固定部；所述固定部均布于所述管节的周向。
  8. 如权利要求7所述的内窥镜，其特征在于，所述固定部为固定连接于所述管节内壁上的圆管。
  9. 如权利要求1至5任一项所述的内窥镜，其特征在于，所述可控弯曲管中弯曲度的变化是通过对应位置管节长度的变化产生的。
  10. 如权利要求1至5任一项所述的内窥镜，其特征在于，所述可控弯曲管是通过对同一根金属管材进行切割而成型的。
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