CN220256437U - Flexible skeleton - Google Patents

Abstract

The utility model discloses a flexible framework, which comprises a proximal joint, a framework main body and a distal joint which are sequentially arranged, wherein the framework main body comprises a plurality of discs which are rotationally clamped together, the discs are limited by constraint tendons which are arranged in a penetrating manner, one end of each constraint tendon is fixedly connected with the proximal joint, and the other end of each constraint tendon is fixedly connected with the distal joint; the plurality of tray bodies penetrate through and are provided with driving tendons, one ends of the driving tendons are connected with the proximal end connector in a sliding mode, and the other ends of the driving tendons are connected with the distal end connector in a fixed mode. The flexible framework simplifies the assembly process of the framework, reduces the installation difficulty, has a simple overall structure and fewer parts, and ensures the connection reliability of a plurality of trays constituting the framework main body.

Description

a flexible skeleton

Technical field

The utility model relates to the technical field of medical devices, in particular to a flexible skeleton.

Background technique

An endoscope is a testing instrument that integrates traditional optics, ergonomics, precision machinery, modern electronics, mathematics, and software. It is a device used to peek into the inside of an object from the outside and is widely used in the medical field. Endoscopes have image sensors, optical lenses, light source illumination, water and gas channels, mechanical devices, etc. Clinically, they are divided into two types: rigid endoscopes and soft endoscopes based on whether the endoscope body can change its direction. Rigid endoscopes cannot be bent or twisted. They mainly enter sterile tissues and organs of the human body or enter closed body cavities through surgical incisions, such as the chest cavity, abdominal cavity, joint cavity, etc. Flexible endoscopes are soft and bendable, and the lens part can be manipulated to change the direction by the operator. They are mainly used to inspect the digestive tract, respiratory tract or urinary tract of the human body, such as gastroscopy, colonoscopy, bronchoscopy, ureteroscopy, etc. Due to the complex bends of the digestive tract, respiratory tract or urinary tract of the human body, in order to ensure the entry of the mirror, a flexible skeleton (snake bone) is provided at the front end of the insertion part. The bending of the flexible skeleton is adjusted through the expansion and contraction of the driving member to achieve the target position.

The flexible frame of the endoscope in the prior art is generally composed of multiple bent tubes connected by rivets or rotating pins. The connecting parts are easily detached, causing product failure. The production cost is high and the structure is complex.

Utility model content

In view of this, the present utility model provides a flexible skeleton, which simplifies the assembly process of the skeleton, reduces the difficulty of installation, has a simple overall structure and few parts, and ensures the reliability of the connection of multiple disks constituting the main body of the skeleton.

In order to achieve the above purpose, the present utility model provides the following technical solutions:

A flexible skeleton includes a proximal joint, a skeleton main body and a distal joint arranged in sequence. The skeleton main body includes a plurality of disks that are rotationally clamped together. The plurality of disks are limited by constraining tendons provided through them. , one end of the constraining tendon is fixedly connected to the proximal joint, and the other end is fixedly connected to the distal joint; a plurality of the disks are provided with driving tendons, and one end of the driving tendon is slidingly connected to the The other end of the proximal connector is fixedly connected to the distal connector.

Optionally, one end of the disk body is provided with a first snap-in portion, and the other end of the disk body is provided with a second snap-in portion. In the second clamping portion of the plate body;

The first clamping portion of the disk body close to the proximal connector is rotationally clamped with the proximal connector;

The second clamping portion of the disk body close to the distal connector is rotationally clamped with the distal connector.

Optionally, the disk body is provided with a first driving through hole and a first constraining through hole, and the axis of the first driving through hole and the first constraining through hole are arranged parallel to the axis of the disk body, so The driving tendon passes through the first driving through hole, and the constraining tendon passes through the first constraining through hole;

The disk body is also provided with a first central through hole, and the axis of the first central through hole coincides with the axis of the disk body.

Optionally, a first constraining arc surface and a first relief slope are provided on the end surface of the plate body, the first constraining through hole is provided on the first constraining arc surface, and the first driving through hole is provided on the first yielding slope, and the engaging portion of the plate body is provided on both ends of the first constraining arc surface;

The first restraining arc surface is arranged at the middle position of the end surface of the plate body, the first relief slope is provided on both sides of the first restraint arc surface, and the height of the first relief slope is from close to One side of the first constraining arc surface gradually decreases toward the far side;

The height of the middle position of the first constraining arc surface is higher than the height of its side close to the first relief slope.

Optionally, there are two first constraining through holes on the plate body, and the two first constraining through holes are provided on both sides of the first central through hole;

There are two first driving through holes on the plate body, and the two first driving through holes are provided on both sides of the first central through hole;

The two first constraining through holes are arranged symmetrically about the axis center of the disc body, and the two first driving through holes are arranged symmetrically about the axis center of the disc body.

Optionally, the first driving through hole is a circular hole or a rectangular hole, and the first constraining through hole is a circular hole or a rectangular hole.

Optionally, the distal joint is provided with a second driving through hole and a first constraining slot, and the second driving through hole and the first constraining slot are arranged parallel to the axis of the distal joint, and the driving The tendon is fixedly connected in the second driving through hole, and one end of the constraining tendon is fixedly connected in the first constraining slot;

The distal connector is also provided with a second central through hole, and the axis of the second central through hole coincides with the axis of the distal connector.

Optionally, a second constraining arc surface and a second relief slope are provided on the end surface of the distal joint close to the disk body, and the end of the first constraining slot is provided on the second constraining arc surface. On the top, the second driving through hole is provided on the second relief slope, and the distal connector is provided with a third clamping portion near the end of the disk body, and the third clamping portion is connected to the The disk body rotates and snaps;

The second constraining arc surface is disposed at the middle position of the end surface of the distal joint, the second relief slope is provided on both sides of the second restraint arc surface, and the height of the second relief slope is determined by The side close to the second constraining arc surface gradually decreases toward the side farther away;

The height of the middle position of the second constraining arc surface is higher than the height of its side close to the second relief slope.

Optionally, the proximal joint is provided with a third driving through hole, a second restraining slot and a second restraining through hole, and the axis of the third driving through hole, the extension direction of the second restraining slot and the third The axes of the two constraining through holes are both arranged parallel to the axis of the proximal connector;

The second constraining through hole is provided on the end surface of the proximal connector, the second constraining slot is provided on the side of the proximal connector, and the second constraining slot and the second constraining through hole are connected and arranged , the end of the constraining tendon passes through the second constraining through hole and is fixedly clamped in the second constraining slot;

The driving tendon is slidingly connected in the third driving through hole;

The proximal connector is also provided with a third central through hole, and the axis of the third central through hole coincides with the axis of the proximal connector.

Optionally, a third constraining arc surface and a third relief slope are provided on the end surface of the proximal joint close to the disk body, and the second constraining through hole is provided on the third constraining arc surface, so The third driving through hole is provided on the third yielding slope, and the proximal connector is provided with a fourth snap-in portion close to the end of the disk body. The fourth snap-in portion is connected to the disk body. Rotate and snap;

The third constraining arc surface is arranged at the middle position of the end surface of the proximal joint, the third relief slope is provided on both sides of the third restraint arc surface, and the height of the third relief slope is given by The side close to the third constraining arc surface gradually decreases toward the side farther away;

The height of the middle position of the third constraining arc surface is higher than the height of its side close to the third relief slope.

Optionally, the constraining tendon is a steel wire rope or a nickel-titanium wire, one end of the constraining tendon is clipped on the distal joint, and the other end is clipped on the proximal joint;

The driving tendon is a nickel-titanium sheet or a stainless steel sheet. One end of the driving tendon is fixedly connected to the distal joint, and the other end is slidingly connected to the proximal joint.

It can be seen from the above technical solution that in the flexible skeleton provided by the present utility model, multiple disks of the skeleton main body are rotationally clamped together. Compared with the riveting or rotating pin connection in the prior art, the assembly process is simplified and the cost is reduced. It is difficult to install, the overall structure is simple, and there are few parts. At the same time, multiple disks are restrained by penetrating restraining tendons, which ensures the reliability of the connection of multiple disks that constitute the main body of the skeleton, avoids the occurrence of disk detachment, and ensures The reliability of the flexible skeleton structure is improved.

Description of the drawings

In order to explain the embodiments of the present invention or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description These are only some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting creative efforts.

Figure 1 is a schematic structural diagram of a flexible skeleton provided by an embodiment of the present invention;

Figure 2 is a schematic structural diagram of the flexible skeleton provided by the embodiment of the present invention from another angle;

Figure 3 is a schematic structural diagram of the flexible skeleton provided by the embodiment of the present invention from another angle;

Figure 4 is a schematic structural diagram of the flexible skeleton provided by the embodiment of the present invention from a fourth angle;

Figure 5 is a schematic cross-sectional structural diagram of the position A-A in Figure 4;

Figure 6 is a schematic structural diagram of the disk body provided by the embodiment of the present invention from an angle;

Figure 7 is a schematic structural diagram of the disk body provided by the embodiment of the present invention from another angle;

Figure 8 is a schematic structural diagram of the disk body provided by the embodiment of the present invention from another angle;

Figure 9 is a schematic structural diagram of the fourth angle of the disk provided by the embodiment of the present invention;

Figure 10 is a schematic structural diagram of the distal connector provided by the embodiment of the present invention from an angle;

Figure 11 is a schematic structural diagram of the distal joint provided by the embodiment of the present invention from another angle;

Figure 12 is a schematic structural diagram of the distal joint provided by the embodiment of the present invention from another angle;

Figure 13 is a schematic structural diagram of the distal joint provided by the embodiment of the present invention from a fourth angle;

Figure 14 is a schematic structural diagram of the proximal joint provided by the embodiment of the present invention from an angle;

Figure 15 is a schematic structural diagram of the proximal joint provided by the embodiment of the present invention from another angle;

Figure 16 is a schematic structural diagram of the proximal connector provided by an embodiment of the present invention from another angle;

Figure 17 is a schematic structural diagram of the fourth angle of the proximal joint provided by the embodiment of the present invention;

Figure 18 is a schematic structural diagram of the fifth angle of the proximal joint provided by the embodiment of the present invention;

Figure 19 is a schematic structural diagram of a constrained tendon provided by an embodiment of the present invention. in:

1. Proximal connector,

101. The third central through hole, 102. The third driving through hole, 103. The second constraint slot, 1031. The third branch slot, 1032. The fourth branch slot, 104. The fourth clamping part, 105. The second constraint through hole, 106, the third constraint arc surface, 107, the third yielding slope,

2. Pan body,

201. The first yielding slope, 202. The first driving through hole, 203. The first constraining arc surface, 204. The snapping arc piece, 205. The first constraining through hole, 206. The first central through hole, 207. Snapping Connect the groove,

3. Remote connector,

301. Threaded hole, 302. Second driving through hole, 303. Second central through hole, 304. First constraint slot, 3041. First card slot, 3042. Second card slot, 305. Third card Connection part, 306, second yielding slope, 307, second constraining arc surface,

4. Constrain tendons,

401. The second tendon chuck, 402. The tendon main body, 403. The first tendon chuck,

5. Driving tendon,

6. Connectors.

Detailed ways

The utility model discloses a flexible skeleton, which simplifies the assembly process of the skeleton, reduces the installation difficulty, has a simple overall structure and few parts, and ensures the reliability of the connection of multiple disks constituting the main body of the skeleton.

The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only part of the embodiments of the present utility model, not all implementations. example. Based on the embodiments of the present utility model, all other embodiments obtained by those of ordinary skill in the art without creative efforts fall within the scope of protection of the present utility model.

Referring to Figures 1 to 19, the flexible skeleton of the present invention includes a proximal joint 1, a skeleton main body and a distal joint 3 arranged in sequence. The skeleton main body includes a plurality of disks 2 that are rotated and clamped together, and a plurality of The disc body 2 is limited by a constraining tendon 4 provided therethrough. One end of the constraining tendon 4 is fixedly connected to the proximal joint 1, and the other end is fixedly connected to the distal joint 3. The plurality of disk bodies 2 are provided with driving tendons 5 penetrating therethrough. One end of the driving tendons 5 is slidingly connected to the proximal joint 1 and the other end is fixedly connected to the distal joint 3. The skeleton body is pulled and bent by the driving tendons 5 provided therethrough.

Among them, a plurality of disk bodies 2 are rotated and locked in the axial direction. The proximal connector 1, the skeleton body and the distal connector 3 are coaxially arranged. The number of disks 2 constituting the main body of the skeleton can be adjusted according to the different bending angles required by the flexible instrument, and is specifically determined by those skilled in the art as needed. The distal connector 3 refers to the end far away from the operator and close to the patient, and the proximal connector 1 refers to the end close to the operator and away from the patient.

In the flexible skeleton of the present invention, multiple disks 2 of the main body of the skeleton are rotated and snap-locked together. Compared with the riveting or rotating pin connection in the prior art, the assembly process is simplified, the installation difficulty is reduced, and the overall structure is simple and zero-cost. There are few parts, and at the same time, the plurality of disks 2 are restrained by the penetrating restraining tendons 4, which ensures the reliability of the connection of the plurality of disks 2 constituting the main body of the skeleton and avoids the occurrence of detachment of the disks 2.

Specifically, one end of the tray body 2 is provided with a first snap-in portion, and the other end of the tray body 2 is provided with a second snap-in portion. The first snap-in portion of one tray body 2 is rotationally clipped to the adjacent tray body 2 . inside the second snap-in part. The first engaging portion of the disk body 2 close to the proximal connector 1 is rotationally engaged with the proximal connector 1 . The second clamping portion of the disk body 2 close to the distal connector 3 is rotationally clamped with the distal connector 3 .

In one embodiment, the first snap-in part is a snap-in groove 207, and the second snap-in part is a snap-in arc piece 204. As shown in FIGS. 6 to 9, the snap-in groove 207 is provided on the tray body 2. At one end, the snap-in arc piece 204 is provided at the other end of the disk body 2 , and the snap-in groove 207 is arranged correspondingly with the snap-in arc piece 204 . In order to improve the stability of the connection, two snap-in grooves 207 and two snap-in arcs 204 are provided.

In order to facilitate the connection of the driving tendon 5 , the disk body 2 is provided with a first driving through hole 202 . The driving tendon 5 is inserted into the first driving through hole 202 . The axis of the first driving through hole 202 is parallel to the axis of the disk body 2 . In order to facilitate the connection of the constraining tendon 4, the disk body 2 is provided with a first constraining through hole 205. The constraining tendon 4 is inserted into the first constraining through hole 205. The axis of the first constraining through hole 205 is parallel to the axis of the disk body 2. In order to facilitate the driving components of the actuator to pass through the skeleton body, the disk body 2 is also provided with a first central through hole 206. The axis of the first central through hole 206 coincides with the axis of the disk body 2, that is, the first central through hole 206 is provided At the center of the disk 2 , the first driving through hole 202 and the first constraining through hole 205 are disposed on the disk 2 around the first central through hole 206 . It can be understood that in order to improve the stability and reliability of the connection and ensure that the constraint tendons 4 that drive bending can smoothly drive the skeleton body to bend, the first constraint through hole 205 is provided close to the engaging portion of the plate body 2, and the first drive through hole 202 is arranged away from the clamping portion of the tray body 2 .

Wherein, the first driving through hole 202 is a circular hole or a rectangular hole, and the first constraining through hole 205 is a circular hole or a rectangular hole. In one embodiment, as shown in FIG. 6 , the first driving through hole 202 is a rectangular hole, and the first constraining through hole 205 is a circular hole. In other embodiments, the hole shapes of the first driving through hole 202 and the first constraining through hole 205 are selected by those skilled in the art according to actual needs, and are not limited here. It can be understood that the hole shape of the first driving through hole 202 is configured to correspond to the cross section of the driving tendon 5 , and the hole shape of the first constraining through hole 205 is configured to correspond to the cross section of the constraining tendon 4 .

In order to facilitate the deflection of the disk body 2 under the drive of the driving tendon 5 to achieve the bending of the skeleton body, a first constraining arc surface 203 and a first relief slope 201 are provided on the end surface of the disk body 2 . The first constraining through hole 205 is provided on the first constraining arc surface 203, and the first driving through hole 202 is provided on the first relief slope 201. The engaging arc pieces 204 of the disk body 2 are provided at both ends of the first constraining arc surface 203 on one end surface of the disk body 2 , and the engaging grooves 207 of the disk body 2 are provided on the first constraining surface of the other end surface of the disk body 2 At both ends of the arc surface 203, the connection line between the clamping arc piece 204 and the clamping groove 207 of the disk body 2 is parallel to the axis of the disk body 2, thereby ensuring the bending of the skeleton body.

Further, the first constraining arc surface 203 is provided at the middle position of the end surface of the plate body 2, and there are two first relief slopes 201. The two first relief slopes 201 are respectively provided on both sides of the first restraint arc surface 203. . In order to prevent the end surface of the plate body 2 from affecting the bending of the skeleton body, the height of the first relief slope 201 gradually decreases from the side close to the first constraining arc surface 203 to the far side, as shown in Figures 6 and 7 . In order to facilitate the disk body 2 to rotate around the clamping portion at a set angle, the height of the middle position of the first constraining arc surface 203 is higher than the height of the side close to the first relief slope 201 .

In order to improve the reliability of restraint, two restraint tendons 4 are provided. Correspondingly, the plate body 2 is provided with two first restraint through holes 205. The two first restraint through holes 205 are respectively located at the first center through hole 206. On both sides, the first constraining through hole 205 is provided close to the engaging arc piece 204 and the engaging groove 207 . In order to achieve two-way bending, two driving tendons 5 are provided. Correspondingly, two first driving through holes 202 are provided on the plate body 2. The two first driving through holes 202 are respectively provided at the first central through hole 206. On both sides, each first relief slope 201 is provided with a first driving through hole 202 . The two first constraining through holes 205 are arranged symmetrically about the axis center of the disc body 2 , and the two first driving through holes 202 are arranged symmetrically about the axis center of the disc body 2 . The connection line of the two first constraining through holes 205 is perpendicular to the connection line of the two first driving through holes 202 .

In order to facilitate the connection of the constraining tendon 4 and the driving tendon 5, the distal joint 3 is provided with a second driving through hole 302 and a first constraining slot 304. As shown in FIGS. 10 to 13, the second driving through hole 302 and the first constraining slot 304 are arranged on the distal joint 3. The driving through holes 202 are provided correspondingly, and the first constraining slot 304 and the first constraining through hole 205 are provided correspondingly. The second driving through hole 302 and the first constraining slot 304 are arranged parallel to the axis of the distal connector 3 . One end of the driving tendon 5 is fixedly connected in the second driving through hole 302 , and one end of the constraining tendon 4 is fixedly engaged in the first constraining slot 304 . Specifically, after the end of the driving tendon 5 is inserted into the second driving through hole 302, it is locked through the connector 6 connected to the side wall of the distal connector 3. The connector 6 is threadedly connected to the side wall of the distal connector 3. The threaded hole 301 is connected with the second driving through hole 302, and the connecting member 6 is a locking screw or a locking bolt. In other embodiments, the end of the driving tendon 5 can also be connected in the second driving through hole 302 through other common connection methods, such as welding, which is not limited here. The distal connector 3 is also provided with a second central through hole 303. The axis of the second central through hole 303 coincides with the axis of the distal connector 3. The second central through hole 303 is arranged corresponding to the first central through hole 206. The two central through holes 303 are used for the driving components of the actuator to pass through.

In order to prevent the end surface of the distal joint 3 close to the disk body 2 from affecting the rotation of the disk body 2, a second constraining arc surface 307 and a second relief slope 306 are provided on the end surface of the distal joint 3 close to the disk body 2. The end of the groove 304 is provided on the second constraining arc surface 307 , and the first constraining slot 304 is provided on the side wall of the distal connector 3 and penetrates both ends of the distal structure 3 . The second driving through hole 302 is provided on the second relief slope 306. The end of the distal connector 3 close to the disk body 2 is provided with a third engaging portion 305. The third engaging portion 305 is an arc-shaped groove. The connecting portion 305 is rotationally engaged with the engaging arc piece 204 of the disk body 2 .

Among them, the second constraining arc surface 307 is provided at the middle position of the end surface of the distal joint 3, and there are two second relief slopes 306. The two second relief slopes 306 are respectively provided on both sides of the second restraint arc surface 307. , each second relief slope 306 is provided with a second driving through hole 302 . There are two third latching parts 305 . The two third latching parts 305 are provided at both ends of the second constraining arc surface 307 . The third latching parts 305 are provided correspondingly to the latching arc pieces 204 . The height of the second relief slope 306 gradually decreases from the side close to the second restraining arc surface 307 to the far side. As shown in FIG. 13 , the height of the middle position of the second restraining arc surface 307 is higher than that of the second restraining arc surface 307 close to the second restraining arc surface 307 . Give way to the height of one side of ramp 306.

In order to facilitate the clamping of the end of the constraining tendon 4, the first constraining slot 304 includes a first clamping slot 3041 and a second clamping slot 3042 that are communicated with each other. As shown in Figures 10 and 13, the first clamping slot 3041 Set close to the disc body 2, the groove width of the first clamping slot 3041 is set correspondingly to the diameter of the tendon body 402 of the constrained tendon 4, and the slot width of the second clamping slot 3042 is corresponding to the diameter of the first tendon clamp 403 of the constrained tendon 4. Correspondingly, the groove width of the first clamping slot 3041 is smaller than the slot width of the second clamping slot 3042, thereby forming a stepped groove, and the end of the restraining tendon 4 passes through the first clamping slot 3041 and the second clamping slot set in the steps. 3042 limit.

Further, the proximal connector 1 is provided with a third driving through hole 102, a second restraining slot 103 and a second restraining through hole 105. As shown in Figures 14 to 18, the axis of the third driving through hole 102, the third The extension direction of the two constraining slots 103 and the axis of the second constraining through hole 105 are both arranged parallel to the axis of the proximal connector 1 . The second constraining through hole 105 is disposed on the end surface of the proximal connector 1, and the second constraining slot 103 is disposed on the side of the proximal connector 1. The second constraining slot 103 and the second constraining through hole 105 are coaxially connected to each other. The end of the tendon 4 passes through the second constraint through hole 105 and then is fixedly clamped in the second constraint slot 103 . The driving tendon 5 is slidably connected in the third driving through hole 102 , and the third driving through hole 102 is arranged corresponding to the first driving through hole 202 . The proximal connector 1 is also provided with a third central through hole 101. The axis of the third central through hole 101 coincides with the axis of the proximal connector 1. The third central through hole 101 is arranged corresponding to the first central through hole 206. The three central through holes 101 are used for the driving components of the actuator to pass through.

In order to prevent the end surface of the proximal joint 1 close to the disk body 2 from affecting the rotation of the disk body 2, a third constraining arc surface 106 and a third yielding slope 107 are provided on the end surface of the proximal joint 1 close to the disk body 2. The second constraint pass The hole 105 is provided on the third constraining arc surface 106, the third driving through hole 102 is provided on the third relief slope 107, the end of the proximal connector 1 close to the disk body 2 is provided with a fourth snap-in part 104. The clamping portion 104 is rotationally clamped with the disk body 2 . The fourth latching part 104 is an arc-shaped card, and the fourth latching part 104 is rotatably connected in the latching groove 207 . The third constraining arc surface 106 is provided at the middle position of the end surface of the proximal joint 1 , and there are two third relief slopes 107 . The two third relief slopes 107 are provided on both sides of the third constraint arc surface 106 . The height of the third relief slope 107 gradually decreases from the side close to the third constraining arc surface 106 to the far side, thereby leaving space for the rotating disk 2 . In order to facilitate the disk body 2 to rotate smoothly around the latch portion, the height of the middle position of the third constraining arc surface 106 is higher than the height of the side close to the third relief slope 107 .

In order to facilitate the clamping of the end of the constraining tendon 4, the second constraining slot 103 includes a third connecting slot 1031 and a fourth splitting slot 1032, as shown in Figures 15 and 17. The fourth splitting slot 1032 Set close to the disc body 2, the width of the fourth clamping groove 1032 is set correspondingly to the diameter of the tendon body 402 of the constraining tendon 4, and the slot width of the third clamping groove 1031 is corresponding to the diameter of the second tendon chuck 401 of the constraining tendon 4. Correspondingly, the slot width of the fourth clamping groove 1032 is smaller than the slot width of the third clamping slot 1031, thereby forming a stepped groove, and this end of the constraint tendon 4 passes through the third clamping slot 1031 and the fourth clamping slot set in the steps. 1032 limit.

In one embodiment, the constraining tendon 4 is a steel wire rope or a nickel-titanium wire. One end of the constraining tendon 4 is clamped on the distal connector 3 , and the other end is clamped on the proximal connector 1 . The driving tendon 5 is a nickel-titanium sheet or a stainless steel sheet. One end of the driving tendon 5 is fixedly connected to the distal joint 3, and the other end is slidingly connected to the proximal joint 1.

The distal joint 3 is a cylindrical joint. The end of the distal joint 3 away from the disk body 2 is provided with a first shoulder. The first shoulder is used to dock with the front end actuator part of the flexible instrument. The distal joint 3 is close to the disk body. One end of 2 is provided with a second shoulder. The second shoulder is used to connect one end of the steel wire braid outside the skeleton body. The other end of the steel wire braid is fixedly connected to one end of the proximal connector 1. The other end of the proximal connector 1 Connect the endoscope flexible tube. The driving tendon 5 passing through the proximal joint 1 is connected to the operating handle.

The flexible skeleton of the utility model can realize the flexible movement of the flexible instrument, realize the lifting movement of the target tissue and mucosa during the treatment process, and has flexible operation. The riveted connection structure of the traditional flexible skeleton is removed, which simplifies the assembly process and reduces the difficulty of installation. The overall structure is simple and easy to process, produce and assemble. The flexible skeleton of the present invention has a compact overall structure and good torsional strength, and under the constraints of the restraining tendons 4, the disc body 2 will not separate during use.

In the description of this solution, it should be understood that the orientation or positional relationship indicated by the terms "upper", "lower", "vertical", "inner", "outer", etc. is based on the orientation or position shown in the drawings. The relationship is only for the convenience of describing the present invention and simplifying the description, and does not indicate or imply that the equipment or components referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation of the present solution.

In addition, the terms “first” and “second” are used for descriptive purposes only and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of indicated technical features. Therefore, features defined as "first" and "second" may explicitly or implicitly include one or more of these features. In the description of this solution, "plurality" means two or more, unless otherwise explicitly and specifically limited.

Each embodiment in this specification is described in a progressive manner. Each embodiment focuses on its differences from other embodiments. The same and similar parts between the various embodiments can be referred to each other.

The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be practiced in other embodiments without departing from the spirit or scope of the invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (11)

1. The flexible framework comprises a proximal joint, a framework main body and a distal joint which are sequentially arranged, and is characterized in that the framework main body comprises a plurality of discs which are rotationally clamped together, the discs are limited by constraint tendons which are arranged in a penetrating manner, one end of each constraint tendon is fixedly connected with the proximal joint, and the other end of each constraint tendon is fixedly connected with the distal joint; the plurality of tray bodies penetrate through and are provided with driving tendons, one ends of the driving tendons are connected with the proximal end connector in a sliding mode, and the other ends of the driving tendons are connected with the distal end connector in a fixed mode.

2. The flexible framework of claim 1, wherein a first clamping part is arranged at one end of the tray body, a second clamping part is arranged at the other end of the tray body, and the first clamping part of one tray body is rotationally clamped in the second clamping part of the adjacent tray body;

the first clamping part of the tray body close to the proximal joint is rotationally clamped with the proximal joint;

the second clamping part of the tray body, which is close to the distal joint, is rotationally clamped with the distal joint.

3. The flexible skeleton of claim 1, wherein the tray body is provided with a first driving through hole and a first constraint through hole, the axis of the first driving through hole and the axis of the first constraint through hole are parallel to the axis of the tray body, the driving tendon is arranged through the first driving through hole, and the constraint tendon is arranged through the first constraint through hole;

the tray body is further provided with a first central through hole, and the axis of the first central through hole is overlapped with the axis of the tray body.

4. A flexible skeleton according to claim 3, wherein a first constraint cambered surface and a first abdication inclined surface are arranged on the end face of the tray body, the first constraint through hole is arranged on the first constraint cambered surface, the first drive through hole is arranged on the first abdication inclined surface, and the clamping parts of the tray body are arranged at two ends of the first constraint cambered surface;

the first constraint cambered surface is arranged at the middle position of the end surface of the disc body, the first yielding inclined surfaces are respectively arranged at two sides of the first constraint cambered surface, and the height of the first yielding inclined surfaces gradually decreases from one side close to the first constraint cambered surface to one side far away from the first constraint cambered surface;

the middle position of the first constraint cambered surface is higher than the side, close to the first abdication inclined surface, of the first constraint cambered surface.

5. The flexible skeleton according to claim 4, wherein two first constraint through holes are provided on the tray body, and the two first constraint through holes are respectively provided on both sides of the first center through hole;

two first driving through holes are formed in the disc body, and the two first driving through holes are respectively formed in two sides of the first center through hole;

the two first constraint through holes are arranged symmetrically about the center of the axis of the disc body, and the two first drive through holes are arranged symmetrically about the center of the axis of the disc body.

6. A flexible backbone as claimed in claim 3, wherein the first drive through hole is a circular hole or a rectangular hole and the first constraint through hole is a circular hole or a rectangular hole.

7. The flexible framework of claim 1, wherein a second driving through hole and a first constraint clamping groove are formed in the distal joint, the second driving through hole and the first constraint clamping groove are arranged in parallel with the axis of the distal joint, the driving tendon is fixedly connected in the second driving through hole, and one end of the constraint tendon is fixedly clamped in the first constraint clamping groove;

the distal joint is also provided with a second central through hole, and the axis of the second central through hole is overlapped with the axis of the distal joint.

8. The flexible framework of claim 7, wherein a second constraint cambered surface and a second abdication inclined surface are arranged on the end surface, close to the disc body, of the distal joint, the end part of the first constraint clamping groove is arranged on the second constraint cambered surface, the second driving through hole is arranged on the second abdication inclined surface, a third clamping part is arranged on the end part, close to the disc body, of the distal joint, and the third clamping part is rotationally clamped with the disc body;

the second constraint cambered surface is arranged at the middle position of the end face of the distal joint, the second yielding inclined surfaces are respectively arranged at two sides of the second constraint cambered surface, and the height of the second yielding inclined surfaces gradually decreases from one side close to the second constraint cambered surface to one side far away from the second constraint cambered surface;

the middle position of the second constraint cambered surface is higher than the side, close to the second abdication inclined surface, of the second constraint cambered surface.

9. The flexible backbone of claim 1, wherein the proximal joint is provided with a third drive through hole, a second constraint slot, and a second constraint through hole, and wherein an axis of the third drive through hole, an extension direction of the second constraint slot, and an axis of the second constraint through hole are all disposed parallel to an axis of the proximal joint;

the second constraint through hole is arranged on the end face of the proximal joint, the second constraint clamping groove is arranged on the side face of the proximal joint, the second constraint clamping groove is communicated with the second constraint through hole, and the end part of the constraint tendon is fixedly clamped in the second constraint clamping groove after passing through the second constraint through hole;

the driving tendon is connected in the third driving through hole in a sliding manner;

and a third central through hole is further formed in the proximal joint, and the axis of the third central through hole is overlapped with the axis of the proximal joint.

10. The flexible framework of claim 9, wherein a third constraint cambered surface and a third abdication inclined surface are arranged on the end surface, close to the tray body, of the proximal end connector, the second constraint through hole is arranged on the third constraint cambered surface, the third drive through hole is arranged on the third abdication inclined surface, a fourth clamping part is arranged on the end, close to the tray body, of the proximal end connector, and the fourth clamping part is rotationally clamped with the tray body;

the third constraint cambered surface is arranged at the middle position of the end surface of the proximal joint, the third abdication inclined planes are respectively arranged at two sides of the third constraint cambered surface, and the height of the third abdication inclined planes is gradually reduced from one side close to the third constraint cambered surface to one side far away from the third constraint cambered surface;

the middle position of the third constraint cambered surface is higher than the side, close to the third abdication inclined surface, of the third constraint cambered surface.

11. The flexible framework of claim 1, wherein the constraining tendons are steel wire ropes or nickel titanium wires, one end of the constraining tendons are clamped at the distal joint, and the other end of the constraining tendons are clamped at the proximal joint;

the driving tendon is nickel titanium sheet or stainless steel sheet, one end of the driving tendon is fixedly connected with the distal joint, and the other end of the driving tendon is slidably connected with the proximal joint.