CN116636795A - Active bending section, insertion section and endoscope - Google Patents

Abstract

The application relates to the technical field of medical instruments, in particular to an active bending section, an insertion part and an endoscope. The first abutting edges of the active bending sections are straight, the arrangement direction of the first abutting edges is inclined relative to the axial direction of the bending units, and the first abutting edges of the two adjacent bending units can be abutted and matched. Because the arrangement direction of the first abutting edge is inclined relative to the axial direction of the bending unit, when the bending unit rotates, the active bending section can be in a spiral bending state, and therefore the technical problem that the deflection angle of the active bending section in the prior art cannot exceed 180 degrees can be solved.

Description

Active bending section, insertion section and endoscope

Technical Field

The application relates to the technical field of medical instruments, in particular to an active bending section, an insertion part and an endoscope.

Background

The prior human body endoscope has small size and complex structure, and the small and precise endoscope needs to rotate and bend in the human body after entering the human body. The head of the endoscope is provided with a bendable active bending section, two traction ropes are usually arranged in the existing active bending section, the traction ropes are pulled to bend towards one side or the other side to drive the camera to deflect, but the deflection angle of the existing active bending section cannot exceed 180 degrees, otherwise, the front end of the active bending section collides or contacts with the rear part of the active bending section when continuously bending backwards, the visual field of the camera is shielded, and meanwhile, the operation of an instrument channel is also hindered.

Disclosure of Invention

The application aims to solve the technical problem that the deflection angle of the existing active bending section cannot exceed 180 degrees, and provides an active bending section, an insertion part and an endoscope, which are specifically as follows:

in a first aspect, the present application provides an active bending section for use with an endoscope, comprising a plurality of helically shaped bending units, each bending unit being circumferentially spaced about an axis, the bending units being connected in sequence to form a tubular structure; a first abutting part and a first restraining part are arranged on the first radial side of the bending unit, the first restraining part protrudes out of the outer wall of the first abutting part, the endoscope comprises a first traction rope, and the first restraining part is used for restraining the first traction rope on the outer wall side of the first abutting part; the first abutting part is provided with a first abutting edge close to the adjacent bending unit, the first abutting edge is straight, and the arrangement direction of the first abutting edge is inclined relative to the axial direction of the bending unit; under the pulling of the first traction rope, two adjacent first abutting edges can be in abutting fit, and two adjacent bending units can rotate spirally around the first abutting edges to the radial first side of the bending unit.

In a second aspect, the present application provides an endoscope insertion section comprising the active bending section described above.

In a third aspect, the present application provides an endoscope comprising a handle and the endoscope insertion section described above, the handle being connected to the endoscope insertion section, the handle being capable of controlling bending of the active bending section.

The active bending section provided by the application has at least the following beneficial effects:

the first abutting edges of the active bending sections are straight, the arrangement direction of the first abutting edges is inclined relative to the axial direction of the bending units, and the first abutting edges of two adjacent bending units can be abutted and matched. After the design, when the first traction rope on the first side of the bending unit is pulled, the first abutting edges of the two adjacent bending units are in abutting fit, the bending unit rotates around the first abutting edges towards the radial first side of the bending unit, and as the arrangement direction of the first abutting edges is obliquely arranged relative to the axial direction of the bending unit, when the bending unit rotates, the active bending section can be in a spiral bending state. Therefore, the active bending section can deflect more than 180 degrees without colliding or contacting with the rear structure of the active bending section, and meanwhile, when the bending angle of the active bending section exceeds 90 degrees, the spiral bending state of the application can enable the rear structure of the active bending section to occupy smaller drawing in an observation visual field or be located outside the observation visual field, so that the observation by users is facilitated.

The pitch and the spiral type of the active bending section can be regulated and controlled by adjusting the inclination angle of the first abutting edge along the arrangement direction and the axial direction of the bending unit, and the pitch and the spiral type are intuitively controlled by the inclination angle, so that the active bending section is convenient to adjust and has higher precision.

According to the application, the pulling force of the traction rope is transferred in a manner that the first abutting edges of the adjacent bending units are in abutting fit, so that the situation that the positions of the adjacent bending units are uncontrollable due to the fact that the adjacent bending units are rotated, large distortion occurs on the bending side, the adjacent bending units are embedded in a staggered manner, and the staggered sequence and the staggered depth are not determined can be avoided. In the bending process of the active bending section, the adjacent bending units rotate around the first abutting edge, the conditions of dislocation embedded and the like are avoided, the controllability and the rotation precision of the rotation angle of the active bending section are improved, the stability is high in the rotation process, and the imaging effect of the front-end camera module and the accurate positioning of the instrument in the instrument channel are ensured.

Drawings

FIG. 1 is a side view of an active bending section of the present application at a first angle;

FIG. 2 is an enlarged view of a portion of FIG. 1 at A;

FIG. 3 is a second angular side view of the active bending section of the present application;

FIG. 4 is a partial enlarged view at B in FIG. 3;

FIG. 5 is a front view of an active bending section of the present application;

FIG. 6 is a top view of FIG. 5;

fig. 7 is a left side view of fig. 5.

In the figure: 100. a bending unit; 10. a first abutting portion; 11. a first abutment edge; 20. a first constraint part; 30. a second abutting portion; 31. a second abutment edge; 40. a second constraint.

Detailed Description

The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.

For the active bending section in the endoscope, the deflection angle of the active bending section in the related art cannot exceed 180 degrees, otherwise, the front end of the active bending section collides with the rear structure of the active bending section when being bent backwards, the view of the camera is blocked, and meanwhile, the operation of an instrument channel is also blocked. In some application scenarios, the bending angle of the active bending section is required to exceed 90 degrees so as to observe images with corresponding angles, after the existing active bending section is bent to exceed 90 degrees, the middle and rear parts of the active bending section can appear in the shooting range of the shooting module and occupy a larger picture, so that the observation field of view of the shooting module is greatly reduced, and the observation of medical staff is inconvenient.

The applicant of the application analyzes the structure of the related technology and finds that the active bending section in the related technology comprises a riveted active bending section, a clamping active bending section, a spiral pipe type active bending section and the like, wherein the active bending section bends along the plane of the active bending section when bending, and collides with the structure at the rear part of the active bending section when the bending angle exceeds 180 degrees so as to prevent the active bending section from continuously bending; when the bending exceeds 90 degrees, the rear part of the active bending section can appear in the shooting range of the shooting module. The above technical problems can be solved if the active bending section can be in a spirally bent state.

Therefore, the application firstly provides an active bending section, which comprises a plurality of spiral bending units 100, wherein the bending units 100 are provided with first abutting edges 11, the arrangement direction of the first abutting edges 11 is inclined relative to the axis of the bending units 100, and two adjacent first abutting edges 11 are abutted and matched when rotating, so that the spiral deflection of the active bending section is realized, the bending angle of the active bending section can be more than 180 degrees, and the front end of the active bending section is not interfered by the rear structure of the active bending section or is less interfered by the rear structure of the active bending section when being bent or being observed by an imaging module; when the bending angle of the active bending section is larger than 90 degrees, the middle and rear parts of the active bending section occupy smaller visual field of the shooting module or are positioned outside the shooting visual field of the shooting module. The pitch and the spiral type of the active bending section can be controlled by adjusting the inclination angle of the first abutting edge along the arrangement direction and the axial direction of the bending unit, and the pitch and the spiral type can be controlled by adjusting the inclination angle of the first abutting edge along the arrangement direction in a more visual, easier-to-adjust and higher-precision manner.

The active bending section provided by the application is specifically as follows:

first, referring to fig. 1, the active bending section of the present application includes a plurality of helical bending units 100, each bending unit 100 is wound around an axis for one circle, and the bending units 100 are sequentially connected to form a tubular structure. That is, the side walls of the spiral units 100 are spirally arranged, and the spiral side walls form one spiral unit 100 around the axis thereof, and each spiral unit 100 is sequentially connected end to form a spiral pipe body structure.

In some embodiments of the application the helical tubular body is spliced into a unitary structure by a plurality of bending units 100. In preferred embodiments of the application the helical tubular body structure is formed by integral cutting, which may be in the form of laser cutting, high pressure water cutting, and the like, as examples. If the spiral pipe body structure is integrally cut and formed, the cutting path is much simpler than the active bending sections such as clamping connection and the like which are integrally cut and formed in the related technology, so that the cost is reduced, and the processing and manufacturing efficiency is improved. And each bending unit 100 is mutually connected after the integral cutting forming, the whole spiral pipe body structure is an integral body, and the active bending section such as clamping connection type or riveting type is formed by connecting a plurality of independent bending units, so that the integral cutting forming spiral pipe body structure is stronger in integrity and higher in strength. It should be emphasized that the active bending section provided by the application belongs to a spiral pipe type active bending section, and can be manufactured by adopting technological means such as laser cutting and matched stamping forming.

The bending unit 100 is provided with a first contact portion 10 and a first restraining portion 20 on a first side in a radial direction, the first restraining portion 20 protrudes from an outer wall of the first contact portion 10, and the first restraining portion 20 restrains the first traction rope on an outer wall side of the first contact portion 10.

The first traction rope is a transmission structure which is arranged on the radial first side of the bending unit 100 and is used for driving the active bending section to bend along the radial first side of the bending unit 100, one end of the first traction rope is connected to a traction mechanism in the endoscope handle, the other end of the first traction rope is fixedly connected to the front end of the active bending section, namely one end of the camera module is arranged, and the active bending section can be pulled to bend through the first traction rope by controlling the traction mechanism. The first traction rope is various in structure and material, and is not limited in the present application.

As shown in fig. 2, the first abutting portion 10 has a first abutting edge 11 adjacent to the bending unit 100, the first abutting edge 11 is straight, and the first abutting edge 11 is obliquely disposed with respect to the axial direction of the bending unit 100, when the first traction rope is pulled, the first abutting edges 11 of the two adjacent bending units 100 abut against each other, and the two adjacent bending units 100 can rotate around the first abutting edge 11 to the first side, so as to realize the spiral bending of the active bending section.

The active bending section of the present application has a first abutting edge 11 which is flat and is inclined to the bending unit 100 in the axial direction, the first abutting edges 11 of two adjacent active bending sections can be abutted and matched, and the first traction rope is located at the outer wall side of the first abutting portion 10. When the first traction rope is pulled, the first abutting edges 11 of the two adjacent bending units 100 are abutted and matched, and the first traction rope is located on the outer wall side of the first abutting portion 10, so that the two adjacent active bending sections rotate around the first abutting edges 11, and the bending units 100 deflect along the first abutting edges 11 when rotating due to the fact that the first abutting edges 11 are inclined with the axes of the bending units 100, and the active bending sections take on a spiral deflection mode when the bending units 100 deflect.

The inclined arrangement in the present application mentioned in the "arrangement direction of the first abutment edge 11 with respect to the axial direction of the bending unit 100" does not include the vertical arrangement. It is easy to understand that if the first abutment edge 11 is disposed perpendicularly to the axial direction of the bending unit 100, the active bending section will bend only in the plane thereof like the active bending section in the related art when the first traction rope is pulled, and the purpose of helical bending cannot be achieved.

The spiral rotation mode is various, and can be cylindrical spiral rotation, conical spiral rotation and the like. For the conical spiral, after the active bending section is bent for one circle, the radius of the next circle of spiral is smaller than that of the last circle of spiral, so that the front end of the active bending section can be reduced from being scraped to the inner wall of the cavity after the active bending section is bent for more than 180 degrees.

In one embodiment of the present application, as shown in fig. 6, the arrangement directions of the first abutment edges 11 on all the bending units 100 are parallel to each other, that is, the arrangement directions of the first abutment edges 11 on all the bending units 100 are the same, so that the deflection angle is uniform when each bending unit 100 rotates after the arrangement, and the final active bending section is bent in the form of a cylindrical spiral.

In another embodiment of the present application, the two first abutting edges 11 that are in abutting engagement with each other are parallel to each other, that is, the two first abutting edges 11 that are in abutting engagement with each other are identical in arrangement direction, and the two first abutting edges 11 that are in abutting engagement with each other form a revolute pair, the arrangement direction of the revolute pair is identical to the arrangement direction of the corresponding first abutting edge 11, and along the length direction of the active bending section, the included angle α between the arrangement direction of each revolute pair and the axial direction of the active bending section is in an increasing or decreasing trend. According to the application, the rotation of each bending unit 100 is realized through the abutting and matching of the two adjacent first abutting edges 11, one revolute pair is formed by the two adjacent first abutting edges 11, and the arrangement direction of the revolute pair is the same as the arrangement direction of the corresponding first abutting edges 11. Two adjacent first abutting edges 11 form a revolute pair, a plurality of revolute pairs can be formed among a plurality of bending units 100, the arrangement direction of each revolute pair is different from the axial inclination angle of the active bending section, namely the included angle alpha shown in fig. 6 is different, and the deflection angle of each bending unit 100 is different. Along the length direction of the active bending section, when the arrangement direction of the rotating pair and the axial included angle alpha of the active bending section are in increasing or decreasing trend, the active bending section can be bent to be in a conical spiral rotation mode. For the conical spiral rotation mode, after the active bending section is bent for one circle, the radius of the next spiral is smaller than that of the previous spiral, so that scraping of the front end of the active bending section on the inner wall of the cavity channel after the active bending section is bent for more than 180 degrees can be reduced.

The pitch of the spiral rotation of the active bending section is related to the degree of the inclined included angle alpha of the arrangement direction of the first abutting edge 11 relative to the axial direction of the bending unit 100, the pitch of the active bending section after bending can be intuitively controlled by adjusting the size of the inclined included angle, and the adjustment is convenient and has higher adjustment precision.

In one embodiment of the application, the arrangement directions of all the first abutting edges 11 are the same, and the inclined included angle between the arrangement direction of the first abutting edges 11 and the axial direction of the active bending section is 100-110 degrees, and experiments prove that the angle range can ensure that the rotation angle of the active bending section along the spiral axis direction in the deflection process is suitable, so that the active bending section is beneficial to use and observation of medical staff.

The first restraint part 20 is arranged protruding out of the outer wall of the first abutting part, and the first restraint part 20 is used for restraining the first traction rope on the outer wall side of the first abutting part 10, namely, the first traction rope pulls the active bending section on the outer wall of the spiral unit, and when the first traction rope is pulled, the first abutting edges 11 of the first sides of the adjacent bending units 100 abut against each other; the adjacent bending units 100 are far away from each other on the opposite side of the radial first side of the adjacent bending units 100 according to the lever principle, so that the adjacent bending units 100 rotate around the first abutting edge 11, and bending of the active bending section is realized.

In the application, the first abutting edges 11 of two adjacent bending units 100 are always in an abutting state in the rotation process of the active bending section, so that the situation that the adjacent bending units 100 are embedded in a staggered manner, the staggered sequence and the staggered depth cannot be determined, and the positions of the two adjacent bending units are uncontrollable is avoided. Therefore, the application is beneficial to improving the controllability and the rotation precision of the rotation angle of the active bending section, has strong stability in the rotation process, can effectively ensure the imaging effect of the front-end camera module and ensures the accurate positioning of the instrument in the instrument channel. In order to ensure that the adjacent two first abutting edges 11 always keep the abutting state without dislocation in the rotation process, it is preferable to provide a guiding surface on the contact surface of the first abutting edges 11, for example, one contact surface of the adjacent two first abutting edges 11 is provided with an arc convex surface, and the other contact surface is provided with an adaptive arc concave surface, so as to realize smooth abutting of the two first abutting edges 11 and prevent phase separation in the rotation process.

As described above, the present application solves the technical problem that the deflection angle of the existing active bending section cannot exceed 180 degrees by providing the first abutting edge 11, the first abutting edge 11 is flat, the first abutting edge 11 is obliquely disposed with respect to the axial direction of the bending unit 100 in the arrangement direction, and the adjacent two bending units 100 can rotate spirally around the first abutting edge to the first side, and the like, and on this basis, the present application makes further improvement as follows:

in an embodiment of the present application, as shown in fig. 3, the active bending section further includes a second abutment 30 and a second constraint 40, the second abutment 30 and the second constraint 40 being located on a radially second side of the bending unit 100, the radially second side of the bending unit 100 being facing away from the radially first side of the bending unit 100 in a radial direction of the bending unit 100. The second restraining portion 40 protrudes from the outer wall of the second abutting portion 30, and the endoscope further includes a second pulling rope, and the second restraining portion 40 is configured to restrain the second pulling rope on the outer wall side of the second abutting portion 30. Under the pulling of the second traction rope, the second abutting portions 30 of the two adjacent bending units 100 can be abutted and matched, and the two adjacent bending units 100 can rotate around the second abutting portions 30 to the second radial side of the bending units 100.

Similarly to the first side, the second abutting portions 30 of the radial second side of the bending unit 100 are also provided with second abutting edges 31, and the abutting engagement of the adjacent two second abutting portions 30 is achieved by the second abutting edges 31, as shown in fig. 4. The arrangement direction of the second abutting edge 31 is not limited to being inclined or perpendicular to the axial direction of the bending unit 100 in the present application. In the present application, the second abutting edge 31 may be disposed in an inclined manner or in a perpendicular manner with respect to the axial direction of the bending unit 100, and these two arrangements may perform different functions. When the second abutting edge 31 is obliquely arranged with the axial direction of the bending unit 100, the function of spirally deflecting the active bending section towards the other direction can be realized like the first abutting edge 11; when the arrangement direction of the second abutting edge 31 is perpendicular to the axial direction of the bending unit 100, the active bending section takes a spiral deflection form when rotating to the first side around the first abutting edge 11, and takes a non-spiral rotation form when rotating to the second side around the second abutting edge 31, that is, takes a form of rotating in the plane of the active bending section. Therefore, the diversification of the rotation form of the active bending section is realized, so that the method is suitable for more application scenes.

In the present application, when the active bending section rotates along the second side, the second abutting edges 31 of the two adjacent bending units 100 are also in abutting engagement, and are identical to the first abutting edges 11, and the beneficial effects thereof are identical to those brought by the abutting engagement of the two adjacent first abutting edges 11, and are not described herein.

When the active bending section rotates, two adjacent first abutting edges 11 or two adjacent second abutting edges 31 are in abutting fit and are in abutting state. In order to ensure that the adjacent two first abutting edges 11 and the adjacent two second abutting edges 31 can be smoothly abutted in bending, and no dislocation, jogging and other conditions can occur, it is preferable that when the active bending section does not rotate, the first abutting edges 11 of the adjacent two bending units 100 are attached to each other or the width of the gap between the first abutting edges 11 of the adjacent two bending units 100 is less than 0.2mm; and/or the second abutting edges 31 of two adjacent bending units 100 are attached or the width of the gap between the second abutting edges 31 of two adjacent bending units 100 is smaller than 0.2mm. When the first abutting edge 11 and the second abutting edge 31 of the adjacent bending units are abutted against each other, the adjacent bending units are directly abutted against each other in the rotation process, and no dislocation, jogging and the like occur. The reason why the width of the gap of the first abutting edge 11 and/or the width of the gap of the second abutting edge 31 are smaller than 0.2mm is to ensure that the first abutting edge 11 or the second abutting edge 31 cannot be abutted due to the distortion of the active bending section before abutting, such as dislocation and jogging, so as to ensure smooth abutting. That is, if the gap width is too large, before the two adjacent first abutting edges 11 or second abutting edges 31 are abutted, the active bending sections are deformed greatly in the bending process, so that the situation that the adjacent active bending sections cannot be abutted, such as mutual dislocation and jogging, is caused, the position of the adjacent active bending sections, such as mutual dislocation, is uncontrollable, and the problems of offset, influence on imaging and the like of the camera module are caused. The inventor researches find that the situation can be well avoided if the edge gap is smaller than 0.2mm. The width of the edge slit is less than 0.2mm, which may be 0.1mm, 0.15mm, 0.16mm, etc., without limitation in the present application. Of course, for the present application, when the active bending section is not rotated, the first abutting edges 11 of the two adjacent bending units 100 are in abutting engagement, and the second abutting edges 31 of the two adjacent bending units 100 are also in abutting engagement. The outside at initiative bending section still can set up one deck skin generally, and such structural design can also make the adjacent two bending units in bending one side can not clip the skin, avoids causing the damage to the skin, prevents outside liquid, tissue from entering into the insert portion through the skin breach of pressing from both sides, improves the security of insert portion.

In the present application, the first restraining portion 20 is used to restrain the first traction rope on the outer wall side of the first abutting portion 10, the second restraining portion 40 is used to restrain the second traction rope on the outer wall side of the second abutting portion 30, and the structures of the first restraining portion 20 and the second restraining portion 40 that can achieve the above-mentioned functions are various, for example, a stopper having a wire passing hole and welded and fixed on the outer wall of the active bending section may be used. In the embodiment of the present application, as shown in fig. 3, 5, 6 and 7, the first restraint portion 20 protrudes from the outer wall of the first contact portion 10 by being disposed with the first contact portion 10 being recessed toward the axis of the bending unit 100, so that a first traction rope threading channel is formed between the first restraint portion 20 and the bending unit 100, and the second contact portion 30 also protrudes from the outer wall of the second contact portion 30 by being disposed with the second restraint portion 40 being recessed toward the axis of the bending unit 100, so that a second traction rope threading channel is formed between the second restraint portion 40 and the bending unit 100. By means of the structural design, the first constraint part 20 and the second constraint part 40 can be prevented from protruding out of the peripheral wall of the active bending section, the periphery of the active bending section is smoother, the active bending section is more suitable for various channels in a human body, discomfort caused by a protruding structure to a patient is avoided in the use process, and better use experience is brought to the patient. Preferably, the outer walls of the first constraining section 20 and the second constraining section 40 have the same curvature, radius, etc. as the outer walls of the active bending section, so that the active bending section forms a smoother structure.

In addition, the concave arrangement of the first abutment 10 and the second abutment 30 towards the axis of the bending unit 100 may also provide a structural basis for the arrangement of the first abutment edge 11 and the second abutment edge 31 in a straight shape. Since the active bending section is generally small in volume, if only the first abutting edge 11 of the first abutting portion 10 is provided in a straight shape, the second abutting edge 31 of the second abutting portion 30 is provided in a straight shape, which requires high processing and material requirements. The spiral pipe is provided with the punching joint slits, the first abutting part 10 and the second abutting part 30 are concave in the punching process, the joint slits are changed into straight shapes along with the concave joint slits, the first abutting edge 11 and the second abutting edge are formed, the processing procedure is saved, and the traction rope passing channel is integrally formed.

Further, the first abutting portion 10 and the second abutting portion 30 are concavely arranged, and the concave structural form is various, preferably, the outer wall of the first abutting portion 10 is a plane and/or the outer wall of the second abutting portion 30 is a plane, as shown in fig. 2 and 4, the processing and forming are more convenient, and the installation and traction of the traction rope are not interfered.

Preferably, the bending unit 100, the first constraining portion 20, the first abutting portion 10, the second abutting portion 30 and the second constraining portion 40 on the active bending section provided by the present application are integrally formed. Typically by laser cutting in combination with a stamping process. In one embodiment of the present application, the active bending section is obtained by cutting the spiral line on a side wall of a tube by laser, cutting the punching slits of the first abutting portion 10 and the second abutting portion 30, and finally punching the first abutting portion and the second abutting portion to form the abutting edge and the wire passing channel. The integrated forming mode can strengthen the integrity of the active bending section, optimize the integral strength of the active bending section, and the integrated forming laser cutting path and stamping step are simple, thereby being beneficial to reducing the production cost of the active bending section and improving the processing and manufacturing efficiency.

The application also provides an endoscope insertion section comprising an active bending section as mentioned in any of the above aspects. In general, the endoscope insertion portion further includes a skin, a pulling rope, a passive bending section, and the like provided on an outer wall of the active bending section, and is not limited in the present application. Since the endoscope insertion portion employs the active bending section proposed by the present application, it also has a series of advantages brought by the active bending section of the present application.

The application also provides an endoscope, which comprises a handle and the endoscope insertion part provided by the application, wherein the handle is connected with the insertion part, and the bending action of the active bending section is controlled through the handle, so that the steering of the active bending section can be realized. The specific connection manner of the handle and the insertion portion is various, and is not limited in the present application. In some embodiments of the present application, the handle may include a steering adjustment mechanism that is capable of controlling the axial rotation of the insertion portion about the insertion portion, and in combination with the bending action of the active bending section, the universal rotation of the active bending section may be achieved. The endoscope of the embodiment of the application can be a gastroscope, a enteroscope, a laryngoscope, a fiberbronchoscope and the like, and the embodiment of the application does not limit the type of the endoscope.

Any feature disclosed in this specification (including abstract and drawings) may be replaced by alternative features serving the same, equivalent or similar purpose, unless expressly stated otherwise. That is, each feature is one example only of a generic series of equivalent or similar features, unless expressly stated otherwise.

Claims (10)

1. An active bending section applied to an endoscope, which is characterized in that:

comprises a plurality of spiral bending units (100), wherein each bending unit (100) winds around an axis for one circle, and the bending units (100) are sequentially connected to form a tubular structure;

a first abutting portion (10) and a first restraining portion (20) are arranged on a first side in the radial direction of the bending unit (100), the first restraining portion (20) protrudes out of the outer wall of the first abutting portion (10), the endoscope comprises a first traction rope, and the first restraining portion (20) is used for restraining the first traction rope on the outer wall side of the first abutting portion (10);

the first abutting part (10) is provided with a first abutting edge (11) close to the adjacent bending unit (100), the first abutting edge (11) is flat, and the arrangement direction of the first abutting edge (11) is inclined relative to the axial direction of the bending unit (100);

under the pulling of the first traction rope, two adjacent first abutting edges (11) can be in abutting fit, and two adjacent bending units (100) can rotate spirally around the first abutting edges (11) towards the radial first side of the bending units (100).

2. An active bending section according to claim 1, wherein: the arrangement directions of the first abutting edges (11) on all the bending units (100) are mutually parallel; or, two first abutting edges (11) which are mutually abutted and matched are mutually parallel and two first abutting edges (11) which are mutually abutted and matched form a revolute pair, the arrangement direction of the revolute pair is the same as the arrangement direction of the corresponding first abutting edges (11), and along the length direction of the active bending section, the arrangement direction of each revolute pair and the axial included angle alpha of the active bending section are in an increasing or decreasing trend.

3. An active bending section according to claim 1 or 2, wherein: a second abutting portion (30) and a second restraining portion (40) are arranged on a second radial side of the bending unit (100), and the second radial side of the bending unit (100) is deviated from the first radial side of the bending unit (100) in the radial direction of the bending unit (100);

the second constraint part (40) protrudes out of the outer wall of the second abutting part (30); the endoscope further includes a second pulling rope, and the second restraining portion (40) is configured to restrain the second pulling rope to an outer wall side of the second abutting portion (30);

under the pulling of the second traction rope, the second abutting portions (30) of two adjacent bending units (100) can be in abutting fit, and the two adjacent bending units (100) can rotate around the second abutting portions (30) to the second radial side of the bending units (100).

4. An active bending section according to claim 3, wherein: the second abutting part (30) is provided with a second abutting edge (31) close to the adjacent bending unit (100), and the second abutting edge (31) is straight; the arrangement direction of the second abutting edge (31) is inclined relative to the axial direction of the bending unit (100), or the arrangement direction of the second abutting edge (31) is vertical relative to the axial direction of the bending unit (100).

5. An active bending section according to claim 4, wherein: the first abutting edges (11) of two adjacent bending units (100) are attached to each other or the width of a gap between the first abutting edges (11) of two adjacent bending units (100) is smaller than 0.2mm; and/or the second abutting edges (31) of two adjacent bending units (100) are attached or the width of a gap between the second abutting edges (31) of two adjacent bending units (100) is smaller than 0.2mm.

6. An active bending section according to claim 3, wherein: the first abutting part (10) is concavely arranged towards the axis of the bending unit (100), and a first traction rope threading channel is formed between the first constraint part (20) and the bending unit (100); and/or the second abutting part (30) is concavely arranged towards the axis of the bending unit (100), and a second traction rope wire passing channel is formed between the second restraining part (40) and the bending unit (100).

7. An active bending section according to claim 6, wherein: the outer wall of the first abutting part (10) is plane and/or the outer wall of the second abutting part (30) is plane.

8. An active bending section according to claim 3, wherein: the bending unit (100), the first restraining portion (20), the first abutting portion (10), the second abutting portion (30) and the second restraining portion (40) are integrally formed.

9. An endoscope insertion portion comprising the active bending section of any one of claims 1 to 8.

10. An endoscope comprising a handle and the endoscope insertion section of claim 9, the handle being coupled to the endoscope insertion section, the handle being capable of controlling bending of the active bending section.