Endoscope insertion tube and endoscope

Abstract

The application relates to an endoscope insertion tube and an endoscope. The endoscope insertion tube comprises a flexible tube body, an adjustable unit and a control unit; the adjustable unit is located in the cavity of the flexible tube body, and the outer surface of the adjustable unit is in contact with the inner wall of the flexible tube body; the control unit is electrically connected with the adjustable unit; the control unit is used for outputting a control signal to the adjustable unit, and the adjustable unit generates an axial force on the inner wall of the flexible tube body through the control signal; the axial force is positively correlated with the hardness of the flexible tube body. The endoscope insertion tube realizes stepless adjustment of the hardness of the flexible tube body, improves the adaptability of the flexible tube body to the natural cavity of the human body, and is beneficial to the smooth passing of the endoscope insertion tube through the natural cavity of the human body.

Description

Technical Field

[0001] This application relates to the field of medical device technology, and in particular to an endoscopic insertion tube and an endoscope. Background Technology

[0002] An endoscope is a commonly used medical device. When used, the endoscope tube is inserted into the body's natural cavities for examination, diagnosis, and treatment.

[0003] In traditional techniques, the rigidity of the endoscope insertion tube is usually changed by altering its material or by applying prestress to it.

[0004] However, the endoscope insertion tubes obtained by the above methods have a uniform rigidity and low compatibility with the body's natural cavities. Summary of the Invention

[0005] Therefore, it is necessary to provide an endoscope insertion tube and endoscope to address the above-mentioned technical problems, so as to achieve stepless adjustment of the softness and hardness of the flexible tube and improve the adaptability of the flexible tube to the natural cavities of the human body.

[0006] In a first aspect, this application provides an endoscope insertion tube, comprising: a flexible tube body, an adjustable unit, and a control unit; the adjustable unit is located within the cavity of the flexible tube body, and the outer surface of the adjustable unit contacts the inner wall of the flexible tube body; the control unit is electrically connected to the adjustable unit.

[0007] The control unit is used to output control signals to the adjustable unit, and the adjustable unit is controlled to generate axial force on the inner wall of the flexible tube through the control signals; the axial force is positively correlated with the hardness of the flexible tube.

[0008] In one embodiment, the control unit is further configured to adjust the extension and retraction tendency of the adjustable unit by means of a control signal to generate an axial force on the inner wall of the flexible tube.

[0009] If the expansion / contraction trend is a stretching trend, the axial force is an axial stretching force; if the expansion / contraction trend is a contraction trend, the axial force is an axial contraction force.

[0010] In one embodiment, the adjustable unit is a piezoelectric thin-walled tube made of piezoelectric material;

[0011] If the control signal is a positive voltage output by the control unit to the piezoelectric thin-walled tube, the piezoelectric thin-walled tube will tend to stretch under the action of the positive voltage.

[0012] If the control signal is a reverse voltage output by the control unit to the piezoelectric thin-walled tube, the piezoelectric thin-walled tube will tend to shrink under the action of the reverse voltage.

[0013] In one embodiment, the adjustable unit is an electromagnetic elastomer, which includes two electromagnetic bodies disposed opposite each other, and an elastic component located between and connected to the two electromagnetic bodies.

[0014] If the control signal is the first current output by the control unit to control the two electromagnets to generate repulsive polarity, the electromagnetic elastic body will have a stretching tendency under the action of the first current.

[0015] If the control signal is a second current output by the control unit to control the two electromagnets to generate mutual attraction, the electromagnetic elastic body will tend to contract under the action of the second current.

[0016] In one embodiment, the adjustable unit is a strip-shaped telescopic structure; the strip-shaped telescopic structure is made of any one of a thermo-shrinkable material, a photo-shrinkable material, or an electro-shrinkable material.

[0017] In one embodiment, the endoscope insertion tube includes multiple adjustable units distributed at different positions within the flexible tube body.

[0018] In one embodiment, each adjustable unit is connected to the control unit via a flexible circuit.

[0019] In one embodiment, the flexible tube includes a hardness adjustment region, a transition region, a passive adjustment region, and an active adjustment region, with the adjustable unit located in the hardness adjustment region.

[0020] In one embodiment, the outer surface of the adjustable unit is adhered to the inner wall of the flexible tube by an adhesive.

[0021] In one embodiment, the flexible tube has an internal receiving groove, and the adjustable unit is embedded in the receiving groove.

[0022] Secondly, this application provides an endoscope, including the endoscope insertion tube provided in any of the above embodiments.

[0023] In the aforementioned endoscope insertion tube and endoscope, the endoscope insertion tube includes a flexible tube body, an adjustable unit located within the cavity of the flexible tube body, and a control unit electrically connected to the adjustable unit. The outer surface of the adjustable unit contacts the inner wall of the flexible tube body. The control unit can output a control signal to the adjustable unit, which in turn controls the adjustable unit to generate an axial force on the inner wall of the flexible tube body, thus causing the flexible tube body to exhibit different levels of stiffness. Based on the control signal output by the control unit, stepless adjustment of the stiffness of the flexible tube body can be achieved, improving the adaptability of the flexible tube body to the body's natural cavities and facilitating the smooth passage of the endoscope insertion tube through these cavities. Attached Figure Description

[0024] Figure 1This is a schematic diagram of the internal structure of the endoscope insertion tube in one embodiment;

[0025] Figure 2a This is a schematic diagram of the adjustable unit under a stretching trend in one embodiment.

[0026] Figure 2b This is a schematic diagram of the structure of an adjustable unit under a contraction trend in one embodiment;

[0027] Figure 3 This is a schematic diagram of the internal structure of the endoscope insertion tube in another embodiment;

[0028] Figure 4a This is a schematic diagram of the adjustable unit under a stretching trend in another embodiment.

[0029] Figure 4b This is a schematic diagram of the adjustable unit under a contraction trend in another embodiment;

[0030] Figure 5 This is a schematic diagram of the internal structure of the endoscope insertion tube in another embodiment;

[0031] Figure 6 This is a schematic diagram of the overall structure of the endoscope insertion tube in another embodiment.

[0032] Explanation of reference numerals in the attached figures:

[0033] 101: Flexible tube body; 102: Adjustable unit; 103: Control unit. Detailed Implementation

[0034] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0035] It should be noted that when a component is referred to as "fixed to" or "set on" another component, it can be directly on or indirectly on that other component. When a component is referred to as "connected to" another component, it can be directly connected to or indirectly connected to that other component. Furthermore, a connection can be used for fixing, coupling, or communication.

[0036] It should also be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical or equivalent elements in the process, method, article, or apparatus that includes said element. Additionally, the terms "upper," "lower," "top," and "bottom," etc., do not constitute absolute spatial limitations but are relative concepts.

[0037] Endoscopes, as commonly used medical devices, are primarily used to perform examinations, diagnoses, and treatments by inserting a cannula into the body's natural cavities. Endoscopes such as gastroscopes, colonoscopes, laryngoscopy endoscopes, and bronchoscopes enter the body mainly through the digestive, respiratory, and urinary tracts. The rigidity of the endoscopic cannula affects patient comfort and insertion performance. A softer cannula provides greater patient comfort, but a rigider cannula is more effective at navigating complex structures like the sigmoid colon, preventing cannula entanglement. Therefore, variable rigidity endoscopic cannulas represent a major technological direction that balances patient comfort and insertion performance.

[0038] This application provides an endoscope insertion tube. Figure 1 This is a schematic diagram of the internal structure of the endoscope insertion tube in one embodiment, as shown below. Figure 1 As shown, the endoscope insertion tube includes: a flexible tube body 101, an adjustable unit 102, and a control unit 103. The adjustable unit 102 is located inside the cavity of the flexible tube body 101, and the outer surface of the adjustable unit 102 is in contact with the inner wall of the flexible tube body 101. The control unit 103 is electrically connected to the adjustable unit 102.

[0039] Optionally, the flexible tube 101 described above can be a tubular body made of flexible materials, such as PET (Polyethylene terephthalate) tubes, rubber tubes, silicone tubes, etc. In this embodiment, the material and shape of the flexible tube 101 are merely illustrative examples and are not specifically limited.

[0040] The control unit 103 outputs a control signal to the adjustable unit 102, thereby controlling the adjustable unit 102 to generate an axial force on the inner wall of the flexible tube 101. The axial force is positively correlated with the stiffness of the flexible tube 101.

[0041] Optionally, the control unit 103 may be a microprocessor located at the handheld end of the entire endoscope insertion tube, which can output control signals to different adjustable units 102 in response to control commands triggered by the user through touch buttons on the handheld end.

[0042] Optionally, under the action of the control signal, the adjustable unit 102 undergoes expansion and contraction deformation, and the expansion and contraction deformation of the adjustable unit 102 generates an axial force on the inner wall of the flexible tube 101.

[0043] See above for further details. Figure 1 The axial force is the force acting along the length of the flexible tube 101. If the adjustable unit 102 undergoes tensile deformation, an axial tensile force is generated on the inner wall of the flexible tube 101; if the adjustable unit 102 undergoes contractile deformation, an axial tensile force is generated on the inner wall of the flexible tube 101.

[0044] Furthermore, when an axial tensile force is generated on the inner wall of the flexible tube 101, the flexible tube 101 at the position where the adjustable unit 102 is placed is stretched under the action of the axial tensile force, and appears to harden outwards; when an axial contraction force is generated on the inner wall of the flexible tube 101, the flexible tube 101 at the position where the adjustable unit 102 is placed is contracted under the action of the axial contraction force, and appears to soften outwards.

[0045] Specifically, the magnitude of the axial force is positively correlated with the stiffness of the flexible tube 101. When the axial force is less than the force threshold of the flexible tube 101, the greater the axial tensile force, the stiffer the flexible tube 101 exhibits externally; conversely, the greater the axial contraction force, the softer the flexible tube 101 exhibits externally. However, the stiffness of the flexible tube 101 has a certain adjustable range; it is not infinitely hard or soft. This adjustable range depends on the specific material of the flexible tube 101.

[0046] When the control signal output by the control unit 103 remains constant, the adjustable unit 102 can form a stable axial force on the inner wall of the flexible tube 101, thereby locking the softness and hardness of the flexible tube 101 in the part where the adjustable unit 102 is located.

[0047] During the use of the endoscopic insertion tube, the user can adjust the stiffness of the flexible tube at the adjustable unit 102 via the control unit 103 to ensure smooth passage of the endoscopic insertion tube through the body's natural cavities. For example, initially, as the endoscopic insertion tube passes through the body's natural cavities, the control unit 103 adjusts the adjustable unit 102 to generate an axial contraction force on the inner wall of the flexible tube 101, making the flexible tube 101 softer. This allows the flexible tube 101 to adapt to the extension of the body's natural cavities and penetrate deeper, reducing patient discomfort and improving comfort. After the endoscopic insertion tube reaches the sigmoid colon (e.g., in a three-dimensional simulated sigmoid colon), the control unit 103 adjusts the adjustable unit 102 to generate an axial tension force on the inner wall of the flexible tube 101, making the flexible tube 101 stiffer to ensure smooth passage of the flexible tube 101 through the sigmoid colon and prevent looping.

[0048] In this embodiment, the endoscopic insertion tube includes a flexible tube body, an adjustable unit located within the cavity of the flexible tube body, and a control unit electrically connected to the adjustable unit. The outer surface of the adjustable unit contacts the inner wall of the flexible tube body. The control unit can output control signals to the adjustable unit, thereby controlling the adjustable unit to generate an axial force on the inner wall of the flexible tube body, thus allowing the flexible tube body to exhibit different levels of stiffness. Based on the control signals output by the control unit, stepless adjustment of the stiffness of the flexible tube body can be achieved, improving the adaptability of the flexible tube body to the body's natural cavities and facilitating the smooth passage of the endoscopic insertion tube through these cavities.

[0049] In one embodiment, in order to achieve integrated deployment of the adjustable unit 102 within the flexible tube 101, the control unit 103 is also used to adjust the extension and retraction tendency of the adjustable unit 102 through control signals to generate an axial force on the inner wall of the flexible tube 101.

[0050] The stretching tendency refers to the fact that the adjustable unit 102 does not undergo actual stretching deformation, but exhibits a stretching deformation tendency under the action of internal forces.

[0051] Specifically, if the expansion / contraction trend is a stretching trend, the axial force is an axial stretching force; if the expansion / contraction trend is a contraction trend, the axial force is an axial contraction force.

[0052] Optionally, each adjustable unit 102 is electrically connected to the control unit 103 via a flexible circuit. The flexible circuit can be composed of microstrip lines arranged on a flexible substrate. The flexible substrate is lightweight, thin, flexible, and can be made of polymer materials such as polyimide plastic, polyetheretherketone, or transparent conductive polyester.

[0053] In this embodiment, the control unit generates an axial force on the inner wall of the flexible tube by adjusting the extension and retraction of the adjustable unit. Compared with the control unit generating an axial force on the inner wall of the flexible tube by adjusting the extension and retraction deformation of the adjustable unit, the control unit occupies less space in the flexible tube, which is beneficial for the integrated deployment of the adjustable unit in the flexible tube.

[0054] In an optional embodiment, to simplify the structure of the adjustable unit 102, the adjustable unit 102 may be a piezoelectric thin-walled tube made of piezoelectric material.

[0055] Piezoelectric materials are materials that exhibit a voltage across their ends when subjected to pressure (positive piezoelectric effect). Piezoelectric materials also exhibit the inverse piezoelectric effect, meaning that under voltage, a force is generated across the material's ends, causing it to tend to contract or stretch.

[0056] Optionally, the piezoelectric material used in this embodiment can be an organic piezoelectric material suitable for the human body, such as polyvinylidene fluoride (PVDF). The above-mentioned piezoelectric material is only an example, and this embodiment does not specifically limit the type of piezoelectric material.

[0057] See above for further details. Figure 1 The adjustable unit 102 is a piezoelectric thin-walled tube made of piezoelectric material. For example, two piezoelectric thin-walled tubes are disposed inside the flexible tube body. The outer surface of the piezoelectric thin-walled tube is in contact with the inner wall of the flexible tube body 101, and each piezoelectric thin-walled tube is electrically connected to the control unit 103. The control unit 103 outputs a control signal, and the piezoelectric thin-walled tube tends to expand and contract under the action of the control signal.

[0058] If the control signal is a positive voltage output by the control unit 103 to the piezoelectric thin-walled tube, the piezoelectric thin-walled tube will exhibit a stretching tendency under the action of the positive voltage. Figure 2a This is a schematic diagram of a piezoelectric thin-walled tube (adjustable unit) under stretching conditions. If the control signal is a reverse voltage output from control unit 103 to the piezoelectric thin-walled tube, the tube will contract under the action of the reverse voltage. Figure 2b This is a schematic diagram of a piezoelectric thin-walled tube (adjustable unit) under a contraction trend.

[0059] In this embodiment, the adjustable unit is a piezoelectric thin-walled tube made of piezoelectric material. When the control unit outputs a positive voltage to the piezoelectric thin-walled tube, the tube exhibits a stretching tendency; conversely, when the control unit outputs a negative voltage, the tube exhibits a contraction tendency. Using this piezoelectric thin-walled tube as the adjustable unit simplifies the structure of the adjustable unit while achieving the aforementioned stretching or contraction tendency. This facilitates its integration into a flexible tube, thereby simplifying the entire manufacturing process of the endoscope insertion tube, reducing manufacturing difficulty, and improving manufacturing efficiency.

[0060] In an alternative embodiment, to enhance the degree of stretching tendency of the adjustable unit 102, the adjustable unit 102 may be an electromagnetic elastomer.

[0061] Figure 3 This is a schematic diagram of the internal structure of the endoscope insertion tube in another embodiment. (See diagram below.) Figure 3 As shown, the adjustable unit 102 is an electromagnetic elastomer. For example, two electromagnetic elastomers are disposed inside the flexible tube 101. The outer surface of the electromagnetic elastomer is in contact with the inner wall of the flexible tube 101, and each electromagnetic elastomer is electrically connected to the control unit 103. The control unit 103 outputs a control signal, and the electromagnetic elastomer exhibits a tendency to expand and contract under the action of the control signal.

[0062] Specifically, the electromagnetic elastomer includes two electromagnets disposed opposite to each other, and an elastic component located between and connected to the two electromagnets. Optionally, the elastic component is a spring.

[0063] If the control signal is a first current output by the control unit 103 to control the two electromagnets to generate repulsive polarities, the electromagnetic elastic body will exhibit a stretching tendency under the action of the first current. Figure 4a This is a schematic diagram of the electromagnetic elastomer (adjustable unit) under stretching conditions; if the control signal is a second current output by the control unit 103 to control the two electromagnets to generate attractive polarity, the electromagnetic elastomer will exhibit a contraction tendency under the action of the second current. Figure 4b This is a schematic diagram of the structure of an electromagnetic elastomer (adjustable unit) under contraction trend.

[0064] In this embodiment, the adjustable unit is an electromagnetic elastomer formed by connecting two electromagnets with an elastic component. The control unit outputs a first current to the electromagnetic elastomer, causing a repulsive force between the two electromagnets of the same polarity, resulting in a stretching tendency of the electromagnetic elastomer. The control unit outputs a second current to the electromagnetic elastomer, causing an attractive force between the two electromagnets of opposite polarity, resulting in a contraction tendency of the electromagnetic elastomer. By using the above-mentioned electromagnetic elastomer as the adjustable unit, while achieving the above-mentioned stretching or contraction tendency, the large force (repulsive or attractive force) between the electromagnets enhances the degree of the stretching tendency of the adjustable unit, thereby expanding the adjustable range of the softness and hardness of the flexible tube.

[0065] In some scenarios, considering that the size of the endoscope insertion tube has a certain impact on the endoscopic operation, in order to avoid these impacts, in an optional embodiment, the entire endoscope insertion tube can be miniaturized. Based on this, the adjustable unit 102 in the embodiment of this application can be a strip-shaped telescopic structure.

[0066] like Figure 5 As shown, Figure 5 This is a schematic diagram of the internal structure of an endoscope insertion tube in one embodiment. In this schematic structure, the adjustable unit 102 is a strip-shaped telescopic structure. For example, four strip-shaped telescopic structures are provided inside the flexible tube 101. The outer surface of the strip-shaped telescopic structure is in contact with the inner wall of the flexible tube 101, and each strip-shaped telescopic structure is electrically connected to the control unit 103. The control unit 103 outputs a control signal, and the strip-shaped telescopic structure expands or contracts under the action of the control signal.

[0067] Optionally, the strip-shaped expansion structure is made of any one of a thermo-shrinkable material, a photo-shrinkable material, or an electro-shrinkable material. If the strip-shaped expansion structure is made of a thermo-shrinkable material, the control unit 103 controls the output of heat to control the expansion and contraction tendency of the strip-shaped expansion structure; if the strip-shaped expansion structure is made of a photo-shrinkable material, the control unit 103 controls the output of light energy to control the expansion and contraction tendency of the strip-shaped expansion structure; if the strip-shaped expansion structure is made of an electro-shrinkable material, the control unit 103 controls the output of current to control the expansion and contraction tendency of the strip-shaped expansion structure.

[0068] Optionally, the strip-shaped telescopic structure can be a rectangular strip or a columnar strip, and can be of a regular shape or an irregular shape. In order to increase the contact area between the outer surface of the strip-shaped telescopic structure and the inner wall of the flexible tube 101, so as to generate an effective axial force on the inner wall of the flexible tube, in this embodiment, the strip-shaped telescopic structure is a rectangular strip.

[0069] To ensure uniform hardness and softness of the flexible tube at the location of the strip-shaped telescopic structure, the strip-shaped telescopic structure can be arranged circumferentially around the inner wall of the flexible tube 101.

[0070] In this embodiment, the adjustable unit is a strip-shaped telescopic structure that can generate a stretching or contracting tendency under the action of the control unit. While generating the above-mentioned stretching or contracting tendency, it saves the space occupied in the flexible tube, so as to set a thinner flexible tube and realize the miniaturization design of the entire endoscope insertion tube.

[0071] In practical applications, the endoscope insertion tube has a certain length, and the requirements for its hardness may be different at different positions of the endoscope insertion tube. Therefore, in one embodiment, in order to adjust the hardness at different positions of the endoscope insertion tube, the endoscope insertion tube includes multiple adjustable units 102, which are distributed at different positions in the flexible tube body 101.

[0072] Optionally, multiple adjustable units 102 can be distributed at different positions within the flexible tube 101 according to a preset distribution rule. This preset distribution rule can be a close arrangement, a spaced arrangement, a uniformly spaced arrangement, a non-uniformly spaced arrangement, or a arrangement at a designated position. It should be noted that the shorter the length of the adjustable units 102 within the flexible tube 101, and the closer their arrangement within the flexible tube 101, the smoother the process of the endoscope insertion tube passing through the body's natural cavities.

[0073] For example, taking a three-dimensional simulation of the sigmoid colon as an example, during the process of the endoscopic insertion tube passing through the sigmoid colon, the user can control the contraction state of the adjustable unit 102 through the control unit 103 to adjust the stiffness of the flexible tube 101 that is passing through the sigmoid colon, so that the flexible tube 101 in this part maintains a certain stiffness to pass through the sigmoid colon smoothly. The user can also adjust the stiffness of the flexible tube 101 that has passed through and has not yet passed through the sigmoid colon, so that the flexible tube 101 in this part maintains a certain softness to adapt to the trend of intestinal extension, reduce patient discomfort, and prevent excessive pressure on the lumen, which could cause tissue puncture or even perforation.

[0074] Figure 6 This is a schematic diagram of the overall structure of the endoscope insertion tube in another embodiment. (See diagram below.) Figure 6 As shown, the flexible tube 101 of the endoscope insertion tube can be divided into a hardness adjustment area, a transition area, a passive adjustment area and an active adjustment area according to actual needs, and the hardness adjustment area, the transition area, the passive adjustment area and the active adjustment area are connected in sequence.

[0075] The various regions on the flexible tube 101 can be used to achieve different functions. The active adjustment region is controlled by the control unit 103, allowing the user to actively adjust the rotation direction of the flexible tube 101 in this region. The passive adjustment region is not controlled by the control unit 103, and its rotation direction passively changes in accordance with the extension trend of the cavity. The transition region connects the passive adjustment region to the hardness adjustment region. The adjustable unit 102 is located in the hardness adjustment region, which is controlled by the control unit 103, and is used to freely adjust the hardness of the flexible tube 101 in this region.

[0076] In this embodiment, the endoscope insertion tube is provided with multiple adjustable units, which can be distributed in different positions in the flexible tube. The control unit can independently control the contraction trend of each adjustable unit, thereby realizing the softness and hardness of the flexible tube at any location where an adjustable unit is set, and realizing the softness and hardness adjustment at different positions on the endoscope insertion tube. This improves the flexibility of the adjustment position and also enables multi-segment softness and hardness adjustment of the endoscope insertion tube.

[0077] In one embodiment, in order to generate an effective axial force on the inner wall of the flexible tube 101, the outer surface of the adjustable unit 102 can be adhered to the inner wall of the flexible tube 101 by an adhesive, or a receiving groove can be provided on the inner wall of the flexible tube 101, and the adjustable unit 102 can be embedded in the receiving groove.

[0078] Optionally, the adhesive can be elastic silicone. This embodiment does not impose specific limitations on the type of adhesive, as long as it is harmless to the human body and has adhesive properties. Similarly, this embodiment does not impose specific limitations on the shape and size of the receiving groove, as long as it can effectively withstand the axial force generated by the adjustable unit 102 under different contraction trends.

[0079] In this embodiment, either the outer surface of the adjustable unit is adhered to the inner wall of the flexible tube, or the adjustable unit is embedded in the receiving groove on the inner wall of the flexible tube. Both methods can directly act on the inner wall of the flexible tube when the adjustable unit undergoes expansion and contraction or shows a tendency to expand and contract. This is beneficial for generating an effective axial force on the inner wall of the flexible tube, thereby achieving effective adjustment of the softness and hardness of the flexible tube.

[0080] This application embodiment also provides an endoscope, including an endoscope insertion tube, the endoscope insertion tube comprising:

[0081] The flexible tube 101, the adjustable unit 102, and the control unit 103 are included. The adjustable unit is located inside the cavity of the flexible tube 101, and the outer surface of the adjustable unit 102 is in contact with the inner wall of the flexible tube 101. The control unit 103 is electrically connected to the adjustable unit 102.

[0082] The control unit 103 is used to output a control signal to the adjustable unit 102, and control the adjustable unit 102 to generate an axial force on the inner wall of the flexible tube 101 through the control signal; the axial force is positively correlated with the hardness of the flexible tube 101.

[0083] In one embodiment, the control unit 103 is also configured to adjust the extension and retraction tendency of the adjustable unit 102 by means of a control signal to generate an axial force on the inner wall of the flexible tube 101.

[0084] If the expansion / contraction trend is a stretching trend, the axial force is an axial stretching force; if the expansion / contraction trend is a contraction trend, the axial force is an axial contraction force.

[0085] In one embodiment, the adjustable unit 102 is a piezoelectric thin-walled tube made of piezoelectric material;

[0086] If the control signal is a positive voltage output by the control unit 103 to the piezoelectric thin-walled tube, the piezoelectric thin-walled tube will tend to stretch under the action of the positive voltage.

[0087] If the control signal is the reverse voltage output by the control unit 103 to the piezoelectric thin-walled tube, the piezoelectric thin-walled tube will tend to shrink under the action of the reverse voltage.

[0088] In one embodiment, the adjustable unit 102 is an electromagnetic elastomer, which includes two electromagnetic bodies disposed opposite each other, and an elastic component located between and connected to the two electromagnetic bodies.

[0089] If the control signal is the first current output by the control unit 103 to control the two electromagnets to generate repulsive polarity, the electromagnetic elastic body will generate a stretching tendency under the action of the first current.

[0090] If the control signal is a second current output by the control unit 103 to control the two electromagnets to generate a mutual attraction polarity, the electromagnetic elastic body will tend to contract under the action of the second current.

[0091] In one embodiment, the adjustable unit 102 is a strip-shaped telescopic structure; the strip-shaped telescopic structure is made of any one of thermo-shrinkable material, photo-shrinkable material or electro-shrinkable material.

[0092] In one embodiment, the endoscope insertion tube includes a plurality of adjustable units 102, which are distributed at different positions within the flexible tube body 101.

[0093] In one embodiment, each adjustable unit 102 is connected to the control unit 103 via a flexible circuit.

[0094] In one embodiment, the flexible tube 101 includes a hardness adjustment region, a transition region, a passive adjustment region, and an active adjustment region, with the adjustable unit 102 located in the hardness adjustment region.

[0095] In one embodiment, the outer surface of the adjustable unit 102 is adhered to the inner wall of the flexible tube 101 by an adhesive.

[0096] In one embodiment, the flexible tube 101 has an internal receiving groove, and the adjustable unit 102 is embedded in the receiving groove.

[0097] The endoscope insertion tube included in this embodiment has the same structure, working principle, and usage process as the endoscope insertion tube in the previous embodiment. For details, please refer to the previous embodiment, which will not be repeated here.

[0098] The above description provides a further detailed explanation of the present invention in conjunction with specific / preferred embodiments, and it should not be construed that the specific implementation of the present invention is limited to these descriptions. For those skilled in the art, various substitutions or modifications can be made to these described embodiments without departing from the concept of the present invention, and all such substitutions or modifications should be considered within the scope of protection of the present invention. In the description of this specification, the reference to terms such as "an embodiment," "some embodiments," "preferred embodiment," "example," "specific example," or "some examples," etc., indicates that the specific features, structures, materials, or characteristics described in connection with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in any suitable manner in one or more embodiments or examples. The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described; however, as long as the combination of these technical features does not contradict each other, it should be considered within the scope of this specification.

[0099] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. An endoscope insertion tube, characterized in that, The endoscope insertion tube includes: a flexible tube body, an adjustable unit, and a control unit; the adjustable unit is located within the cavity of the flexible tube body, and the outer surface of the adjustable unit is in contact with the inner wall of the flexible tube body; the control unit is electrically connected to the adjustable unit. The control unit is configured to output a control signal to the adjustable unit, adjusting the expansion and contraction tendency of the adjustable unit to generate an axial force on the inner wall of the flexible tube. If the expansion and contraction tendency is a stretching tendency, the axial force is an axial stretching force; if the expansion and contraction tendency is a contraction tendency, the axial force is an axial contraction force. The axial force is positively correlated with the stiffness of the flexible tube. The expansion and contraction tendency refers to the adjustable unit not undergoing actual expansion and contraction deformation, but exhibiting a tendency to expand and contract under internal forces.

2. The endoscope insertion tube according to claim 1, characterized in that, The adjustable unit is a piezoelectric thin-walled tube made of piezoelectric material; If the control signal is a positive voltage output by the control unit to the piezoelectric thin-walled tube, the piezoelectric thin-walled tube will generate the stretching tendency under the action of the positive voltage; If the control signal is a reverse voltage output by the control unit to the piezoelectric thin-walled tube, the piezoelectric thin-walled tube will exhibit the shrinkage tendency under the action of the reverse voltage.

3. The endoscope insertion tube according to claim 1, characterized in that, The adjustable unit is an electromagnetic elastomer, which includes two electromagnetic bodies arranged opposite each other, and an elastic component located between and connected to the two electromagnetic bodies. If the control signal is a first current output by the control unit for controlling the two electromagnets to generate repulsive polarities, the electromagnetic elastic body will generate the stretching tendency under the action of the first current. If the control signal is a second current output by the control unit to control the two electromagnets to generate an attractive polarity, the electromagnetic elastomer will generate the contraction tendency under the action of the second current.

4. The endoscope insertion tube according to claim 1, characterized in that, The adjustable unit (102) is a strip-shaped telescopic structure; the strip-shaped telescopic structure is made of any one of thermo-shrinkable material, photo-shrinkable material or electro-shrinkable material.

5. The endoscopic insertion tube according to any one of claims 1-4, characterized in that, The endoscope insertion tube includes multiple adjustable units, which are distributed at different positions within the flexible tube.

6. The endoscope insertion tube according to claim 5, characterized in that, Each of the adjustable units is electrically connected to the control unit via a flexible circuit.

7. The endoscopic insertion tube according to any one of claims 1-4, characterized in that, The flexible tube includes a hardness adjustment region, a transition region, a passive adjustment region, and an active adjustment region, with the adjustable unit located in the hardness adjustment region.

8. The endoscope insertion tube according to any one of claims 1-4, characterized in that, The outer surface of the adjustable unit is adhered to the inner wall of the flexible tube by an adhesive.

9. The endoscopic insertion tube according to any one of claims 1-4, characterized in that, The flexible tube has an internal receiving groove, and the adjustable unit is embedded in the receiving groove.

10. An endoscope, characterized in that, Includes the endoscope insertion tube as described in claims 1-9.

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