Active bending section, insertion portion, and endoscope

Abstract

The present application relates to the technical field of medical devices, in particular to an active bending section, an insertion part and an endoscope. The first abutting edge of the active bending section is flat, the arrangement direction of the first abutting edge is inclined relative to the axial direction of the bending unit, and the first abutting edges of the adjacent two bending units can abut and cooperate. After the design, when the first traction rope on the first side of the bending unit is pulled, the first abutting edges of the adjacent two bending units abut and cooperate, and the bending unit rotates around the first abutting edge to the first side. Since 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 will present a spiral bending state, so that the technical problem that the deflection angle of the active bending section in the prior art cannot exceed 180 degrees can be solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an active bending section, an insertion part and an endoscope. BACKGROUND

[0002] The current human endoscope has small size and complex structure. After the small and precise endoscope enters the human body, it needs to be rotated and bent in the human body. The head of the endoscope is provided with an active bending section which can be bent and deflected. The existing active bending section is usually provided with two traction ropes inside. By pulling the traction ropes, the active bending section is bent towards one side or the other side, and the camera is deflected. However, the deflection angle of the existing active bending section cannot exceed 180 degrees. Otherwise, when the front end of the active bending section continues to bend backward, it will collide or contact with the rear part of the active bending section, blocking the view of the camera and hindering the work of the instrument channel. SUMMARY

[0003] The present application solves 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 as follows:

[0004] In a first aspect, the present application provides an active bending section applied to an endoscope, which comprises a plurality of spiral bending units, each bending unit is one turn around an axis, and the bending units are connected in sequence to form a tubular structure; a first abutting portion and a first constraint portion are arranged on a first radial side of the bending unit, the first constraint portion protrudes from the outer wall of the first abutting portion, the endoscope comprises a first traction rope, and the first constraint portion is used for constraining the first traction rope on the outer wall side of the first abutting portion; the first abutting portion has a first abutting edge close to the adjacent bending unit, the first abutting edge is flat, 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, the two adjacent first abutting edges can be abutted and matched, and the adjacent two bending units can be spirally rotated around the first abutting edge to the first radial side of the bending unit.

[0005] In a second aspect, the present application provides an endoscope insertion part comprising the above-mentioned active bending section.

[0006] In a third aspect, the present application provides an endoscope comprising a handle and the above-mentioned endoscope insertion part, the handle is connected with the endoscope insertion part, and the handle can control the bending of the active bending section.

[0007] The active bending section provided by the present application has at least the following beneficial effects:

[0008] The first abutting edge of the active bending section is flat, the arrangement direction of the first abutting edge is obliquely arranged relative to the axial direction of the bending unit, and the first abutting edges of the two adjacent bending units can be abuttingly matched. After such 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 abuttingly matched, the bending unit rotates around the first abutting edge to the radial first side of the bending unit, and since the arrangement direction of the first abutting edge is obliquely arranged relative to the axial direction of the bending unit, when the bending unit rotates, the active bending section presents a spiral bending state. In this way, the active bending section can be deflected by more than 180 degrees without colliding with or contacting the rear structure of the active bending section, and when the bending angle of the active bending section is more than 90 degrees, the spiral bending state of the active bending section can also make the middle and rear structures of the active bending section occupy a smaller frame in the observation field of view or be located outside the observation field of view, thereby facilitating observation by the user.

[0009] The pitch and spiral type of the active bending section can be controlled by adjusting the inclination angle of the arrangement direction of the first abutting edge relative to the axial direction of the bending unit, and the inclination angle control method is intuitive, convenient to adjust and high in precision.

[0010] The pulling force of the traction rope is transmitted by the abutting matching of the first abutting edges of the adjacent bending units, so that the adjacent bending units cannot be inlaid in a wrong position due to rotation, the wrong position sequence and the wrong position depth cannot be determined, and the position of the two bending units cannot be controlled. In the bending process of the active bending section, the adjacent bending units rotate around the first abutting edge, and the inlaid condition does not occur, which is beneficial to improve the controllability and rotation accuracy of the rotation angle of the active bending section, and the stability is high during rotation, which is beneficial to ensure the imaging effect of the front camera module and the accurate positioning of the instrument in the instrument channel. BRIEF DESCRIPTION OF DRAWINGS

[0011] Figure 1 is a side view of the first angle of the active bending section of the application;

[0012] Figure 2 is Figure 1 is an enlarged view of A in figure

[0013] Figure 3 is a side view of the second angle of the active bending section of the application;

[0014] Figure 4 is Figure 3 is an enlarged view of B in figure

[0015] Figure 5 is a front view of the active bending section of the application;

[0016] Figure 6 isFigure 5 Top view;

[0017] Figure 7 for Figure 5 The left view.

[0018] In the figure: 100, bending unit; 10, first abutting part; 11, first abutting edge; 20, first constraint part; 30, second abutting part; 31, second abutting edge; 40, second constraint part. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0020] For the active bending segment in an endoscope, the deflection angle of the active bending segment in related technologies cannot exceed 180 degrees. Otherwise, when the front end of the active bending segment bends backward, it will collide with the rear structure of the active bending segment, obstructing the camera's field of view and hindering the operation of the instrument channel. In some application scenarios, the bending angle of the active bending segment is required to exceed 90 degrees in order to observe images at the corresponding angle. With existing active bending segments, when the bending angle exceeds 90 degrees, the rear part of the active bending segment will appear within the camera module's field of view and occupy a large portion of the image, significantly reducing the camera module's field of view and making it inconvenient for medical personnel to observe.

[0021] The applicant of this invention analyzed the structure of related technologies and found that the active bending sections in these technologies include riveted active bending sections, snap-fit ​​active bending sections, and spiral tube active bending sections. These active bending sections all bend along the plane in which they are located. When the bending angle exceeds 180 degrees, they collide with the structure at the rear of the active bending section, hindering further bending. When the bending angle exceeds 90 degrees, the rear part of the active bending section appears within the shooting range of the camera module. If the active bending section could be in a spiral bending state, the above-mentioned technical problems could be solved.

[0022] Therefore, this application first provides an active bending section, which includes multiple helical bending units 100. Each bending unit 100 has a first abutting edge 11, the arrangement direction of which is inclined relative to the axis of the bending unit 100. Two adjacent first abutting edges 11 abut against each other during rotation, thereby realizing the helical deflection of the active bending section. This allows the bending angle of the active bending section to be greater than 180 degrees. The front end of the active bending section is not disturbed or is minimally disturbed by the rear structure of the active bending section during bending or observation by the camera module. When the bending angle of the active bending section is greater than 90 degrees, the middle and rear parts of the active bending section occupy a small portion of the field of view of the camera module or are located outside the field of view of the camera module. Furthermore, the pitch and helix type of the active bending section of this application can be controlled by adjusting the inclination angle between the arrangement direction of the first abutting edge and the axis of the bending unit. Controlling the pitch and helix type by adjusting the inclination angle of the arrangement direction of the first abutting edge is more intuitive, easier to adjust, and has higher precision.

[0023] The active bending segment provided by this invention is specifically as follows:

[0024] First, please refer to Figure 1 As shown, the active bending section of this application includes multiple helical bending units 100, each bending unit 100 revolving around an axis, and the bending units 100 are connected in sequence to form a tubular structure. That is, the sidewalls of the helical unit 100 are arranged in a helical shape, and one helical sidewall revolves around its axis to form a helical unit 100. The helical units 100 are connected end to end in sequence to form a helical tubular structure.

[0025] In some embodiments of this application, the spiral tube is formed into an integral structure by splicing multiple bending units 100. In some preferred embodiments of this application, the spiral tube structure is integrally cut, for example, by laser cutting, high-pressure water cutting, etc. If the spiral tube structure is integrally cut in this application, the cutting path is much simpler than the interlocking active bending sections in related technologies, which helps to reduce costs and improve manufacturing efficiency. Moreover, after integral cutting, each bending unit 100 is interconnected, and the entire spiral tube structure is a whole, rather than being composed of multiple separate bending units connected together like interlocking or riveting active bending sections. The integrally cut spiral tube structure has stronger integrity and higher strength. It should be emphasized that the active bending section provided in this application is a spiral tube active bending section, which can be made by laser cutting combined with stamping and other processes. Compared with the interlocking active bending sections in the prior art, the laser cutting path of this application is very simple, the manufacturing cost is lower, and the manufacturing efficiency is higher.

[0026] A first abutting part 10 and a first restraining part 20 are provided on the first radial side of the bending unit 100. The first restraining part 20 protrudes from the outer wall of the first abutting part 10 and restrains the first traction rope on the outer wall side of the first abutting part 10.

[0027] The first traction rope is a transmission structure installed on the radial first side of the bending unit 100 to drive the active bending section to bend along the radial first side of the bending unit 100. One end of the rope is connected to the traction mechanism inside the endoscope handle, and the other end is fixedly connected to the front end of the active bending section, i.e., the end where the camera module is installed. By controlling the traction mechanism, the active bending section can be bent by pulling the first traction rope. The structure and material of the first traction rope are diverse and are not limited in this application.

[0028] like Figure 2 As shown, the first abutting part 10 has a first abutting edge 11 close to the adjacent bending unit 100. The first abutting edge 11 is straight and its arrangement direction is inclined relative 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, thereby realizing the spiral bending of the active bending section.

[0029] The active bending section of this application has a straight first abutting edge 11 that is inclined to the axis of the bending unit 100. The first abutting edges 11 of two adjacent active bending sections can abut against each other. The first traction rope is located on the outer wall side of the first abutting part 10. When the first traction rope is applied, the first abutting edges 11 of two adjacent bending units 100 will abut against each other. Since the first traction rope is located on the outer wall side of the first abutting part 10, when the first traction rope is pulled further, the two adjacent active bending sections will rotate around their respective first abutting edges 11. Since the first abutting edge 11 is inclined to the axis of the bending unit 100, the bending unit 100 will deflect along the first abutting edge 11 when it rotates. The deflection of multiple bending units 100 makes the active bending section present a spiral deflection shape.

[0030] The "inclined setting" mentioned in this application, which refers to "the arrangement direction of the first abutting edge 11 being inclined relative to the axial direction of the bending unit 100," does not include a vertical setting. It is easy to understand that if the first abutting edge 11 is vertically set relative to the axial direction of the bending unit 100, then when the first traction rope is pulled, the active bending section will bend only within its own plane, just like the active bending section in related technical solutions, and will not achieve the purpose of spiral bending.

[0031] The forms of helical rotation are diverse, including cylindrical helical rotation and conical helical rotation. For conical helical rotation, after the active bending section bends once, the radius of the next helical rotation is smaller than that of the previous rotation. This reduces the risk of the active bending section scraping against the inner wall of the cavity when the bending exceeds 180 degrees.

[0032] In one embodiment of this application, such as Figure 6 As shown, the arrangement directions of the first abutting edges 11 on all bending units 100 are parallel to each other, that is, the arrangement directions of the first abutting edges 11 on all bending units 100 are the same. With this setting, the deflection angle of each bending unit 100 when it rotates is consistent, and the final active bending section bends into a cylindrical spiral shape.

[0033] In another embodiment of this application, the two first abutting edges 11 that abut against each other are parallel to each other, that is, the two first abutting edges 11 that abut against each other have the same arrangement direction, and the two first abutting edges 11 that abut against each other form a revolute joint. The arrangement direction of the revolute joint is the same as the arrangement direction of its corresponding first abutting edge 11. Along the length of the active bending segment, the angle α between the arrangement direction of each revolute joint and the axial direction of the active bending segment shows an increasing or decreasing trend. This application achieves the rotation of each bending unit 100 by abutting against each other with two adjacent first abutting edges 11. Two adjacent first abutting edges 11 form a revolute joint, and the arrangement direction of the revolute joint is the same as the arrangement direction of its corresponding first abutting edge 11. Two adjacent first abutting edges 11 form a revolute joint, and multiple bending units 100 can form multiple revolute joints. The arrangement direction of each revolute joint is set to have a different inclination angle with the axial direction of the active bending segment, that is... Figure 6 Different included angles α result in different deflection angles for each bending unit. Along the length of the active bending segment, when the angle α between the arrangement direction of the rotating joints and the axial direction of the active bending segment increases or decreases, the active bending segment can bend in a conical helical rotation form. For this conical helical rotation, after one complete bend of the active bending segment, the radius of the next helix is ​​smaller than the radius of the previous helix. This reduces the scraping of the leading edge of the active bending segment against the inner wall of the cavity after the bend exceeds 180 degrees.

[0034] The pitch of the active bending section's spiral rotation is related to the degree of the angle α between the arrangement direction of the first contact edge 11 and the axis of the bending unit 100. The pitch after bending of the active bending section can be directly controlled by adjusting the size of the angle α, which is convenient and has high adjustment accuracy.

[0035] In one embodiment of this application, all the first abutting edges 11 are arranged in the same direction, and the angle between the arrangement direction of the first abutting edges 11 and the axial tilt of the active bending section is 100° to 110°. Experiments have shown that this angle range can ensure that the rotation angle of the active bending section along the spiral axis is appropriate during the deflection process, which is beneficial for medical staff to use and observe.

[0036] In this application, the first constraint part 20 is provided to protrude from the outer wall of the first stop part, and the first constraint part 20 is used to constrain the first traction rope to the outer wall side of the first abutment part 10. That is, the first traction rope pulls the active bending section on the outer wall of the spiral unit. When the first traction rope is pulled, the first abutment edge 11 of the first side of the adjacent bending unit 100 abuts against each other; while on the opposite side of the radial first side of the adjacent bending unit 100, the adjacent bending unit 100 moves away from each other according to the lever principle, thereby realizing the rotation of the adjacent bending unit 100 around the first abutment edge 11, and realizing the bending of the active bending section.

[0037] In this application, the first abutting edges 11 of two adjacent bending units 100 remain in abutting state during the rotation of the active bending section, preventing the adjacent bending units 100 from misaligning and embedding, and avoiding situations where the misalignment sequence and depth are uncertain, leading to uncontrollable positions. Therefore, this application is beneficial to improving the controllability and rotation accuracy of the active bending section's rotation angle, exhibiting strong stability during rotation, effectively ensuring the imaging effect of the front-end camera module, and guaranteeing accurate positioning of instruments within the instrument channel. To ensure that the two adjacent first abutting edges 11 remain in abutting state without misalignment during rotation, it is preferable to provide a guide surface or other structure on the contact surface of the first abutting edges 11. For example, the contact surface of one of the two adjacent first abutting edges 11 can be set as an arc-shaped convex surface, and the contact surface of the other can be set as a matching arc-shaped concave surface, thereby achieving smooth abutment of the two first abutting edges 11 and preventing them from separating during rotation.

[0038] As described above, this application solves the technical problem that the deflection angle of the existing active bending section cannot exceed 180 degrees by setting a first abutment edge 11, the first abutment edge 11 being straight, the arrangement direction of the first abutment edge 11 being inclined relative to the axial direction of the bending unit 100, and the adjacent two bending units 100 being able to rotate spirally around the first abutment edge toward the first side. Based on this, this application makes further improvements, as follows:

[0039] In the embodiments of this application, such as Figure 3As shown, the active bending section also includes a second abutment portion 30 and a second constraint portion 40. The second abutment portion 30 and the second constraint portion 40 are located on the second radial side of the bending unit 100, and the second radial side of the bending unit 100 is opposite to the first radial side of the bending unit 100 in the radial direction of the bending unit 100. The second constraint portion 40 protrudes from the outer wall of the second abutment portion 30. The endoscope also includes a second traction rope, and the second constraint portion 40 is used to constrain the second traction rope to the outer wall side of the second abutment portion 30. Under the pull of the second traction rope, the second abutment portions 30 of two adjacent bending units 100 can abut and engage, and two adjacent bending units 100 can rotate about the second abutment portion 30 toward the second radial side of the bending unit 100.

[0040] Similar to the first side, the second abutting portion 30 on the radial second side of the bending unit 100 also has a second abutting edge 31, which enables the abutting engagement of adjacent second abutting portions 30, such as... Figure 4 As shown. This application does not limit the arrangement direction of the second abutment edge 31 to be inclined or perpendicular to the axis of the bending unit 100. In this application, the arrangement direction of the second abutment edge 31 can be either inclined or perpendicular to the axis of the bending unit 100, and these two arrangements can achieve different functions. When the arrangement direction of the second abutment edge 31 is inclined to the axis of the bending unit 100, it can achieve the function of the active bending segment spirally deflecting in another direction, just like the first abutment edge 11 described above. When the arrangement direction of the second abutment edge 31 is perpendicular to the axis of the bending unit 100, the active bending segment exhibits a spiral deflection shape when rotating around the first abutment edge 11 towards the first side, and a non-spiral rotation shape when rotating around the second abutment edge 31 towards the second side, that is, a rotation shape within the plane of the active bending segment. This achieves diversification of the rotation shape of the active bending segment to adapt to more application scenarios.

[0041] In this application, when the active bending segment rotates along the second side, the second abutting edges 31 of the two adjacent bending units 100 also abut and cooperate, consistent with the first abutting edge 11. The beneficial effects it has are consistent with the beneficial effects brought about by the abutting cooperation of the two adjacent first abutting edges 11, and will not be repeated here.

[0042] When the active bending section of this application rotates, the two adjacent first abutting edges 11 or the two adjacent second abutting edges 31 are in abutting engagement, in an abutting state. To ensure that the two adjacent first abutting edges 11 and the two adjacent second abutting edges 31 can smoothly abut during bending without misalignment or jamming, preferably, when the active bending section is not rotating, the first abutting edges 11 of the two adjacent bending units 100 are in contact with each other, or the width of the gap between the first abutting edges 11 of the two adjacent bending units 100 is less than 0.2 mm; and / or the second abutting edges 31 of the two adjacent bending units are in contact with each other, or the width of the gap between the second abutting edges 31 of the two adjacent bending units 100 is less than 0.2 mm. When the first abutting edges 11 and the second abutting edges 31 of the adjacent bending units are in contact with each other, the two adjacent bending units are directly in abutting state during rotation, without misalignment or jamming. The reason for setting the width of the gap at the first abutting edge 11 and / or the width of the gap at the second abutting edge 31 to be less than 0.2mm is to ensure that the torsional deformation of the active bending section before abutting the first abutting edge 11 or the second abutting edge 31 is insufficient to cause misalignment or other failures to abut, thus ensuring smooth abutting. In other words, if the gap width is set too large, the active bending section will undergo significant torsional deformation during bending before the two adjacent first abutting edges 11 or second abutting edges 31 abut, resulting in misalignment or other failures to abut. This would lead to uncontrollable misalignment of adjacent active bending sections, causing camera module displacement and affecting imaging. The inventors have found that a gap width of less than 0.2mm can effectively avoid the above situation. The width of the edge gap is less than 0.2mm, but it can be 0.1mm, 0.15mm, 0.16mm, etc., and is not limited in this application. Of course, for this application, the optimal implementation is that when the active bending section is not rotating, the first abutting edges 11 of two adjacent bending units 100 are in contact with each other, and the second abutting edges 31 of two adjacent bending units 100 are also in contact with each other. A skin is usually also provided on the outside of the active bending section. This structural design also prevents two adjacent bending units on the bending side from clamping the skin, avoiding damage to the skin and preventing external liquids or tissues from entering the insertion part through the clamped skin notch, thus improving the safety of the insertion part.

[0043] In this application, the first constraint part 20 is used to constrain the first traction rope to the outer wall side of the first abutment part 10, and the second constraint part 40 is used to constrain the second traction rope to the outer wall side of the second abutment part 30. The structures of the first constraint part 20 and the second constraint part 40 that can achieve the above functions are diverse; for example, they can be a limiting member with a wire-passing hole welded and fixed to the outer wall of the active bending section. In the embodiments of this application, such as... Figure 3 , Figure 5 ,Figure 6 and Figure 7 As shown, the first abutment portion 10 is recessed towards the axis of the bending unit 100, causing the first constraint portion 20 to protrude from the outer wall of the first abutment portion 10. This forms a first traction rope passage between the first constraint portion 20 and the bending unit 100. Similarly, the second abutment portion 30 is recessed towards the axis of the bending unit 100, causing the second constraint portion 40 to protrude from the outer wall of the second abutment portion 30. This forms a second traction rope passage between the second constraint portion 40 and the bending unit 100. This structural design avoids the first constraint portion 20 and the second constraint portion 40 protruding from the peripheral wall of the active bending section, making the outer periphery of the active bending section smoother. This allows the active bending section to better adapt to various cavities within the human body, avoiding discomfort caused by protruding structures during use and providing a better user experience. Preferably, the outer walls of the first constraint portion 20 and the second constraint portion 40 have the same curvature and radius as the outer wall of the active bending section, resulting in a smoother structure for the active bending section.

[0044] Furthermore, the recessed arrangement of the first abutment portion 10 and the second abutment portion 30 towards the axis of the bending unit 100 provides a structural basis for setting the first abutment edge 11 and the second abutment edge 31 as straight. Since the volume of the active bending section is typically small, setting only the first abutment edge 11 of the first abutment portion 10 and the second abutment edge 31 of the second abutment portion 30 as straight would place high demands on processing technology and materials. By setting a stamping slit on the spiral tube, the first abutment portion 10 and the second abutment portion 30 become recessed during the stamping process, and the slit becomes straight, forming the first abutment edge 11 and the second abutment edge. This saves processing steps and also integrally forms the traction rope passageway.

[0045] Furthermore, the first abutting portion 10 and the second abutting portion 30 are recessed. The recessed structure can take many forms; preferably, the outer wall of the first abutting portion 10 is planar and / or the outer wall of the second abutting portion 30 is planar, such as... Figure 2 , Figure 4 As shown, it is easier to process and shape, and will not interfere with the installation and traction of the traction rope.

[0046] Preferably, the bending unit 100, the first constraint portion 20, the first abutment portion 10, the second abutment portion 30, and the second constraint portion 40 on the active bending segment provided in this application are integrally formed. Typically, this is achieved through laser cutting combined with stamping. In one embodiment of this application, a spiral line is first cut on the sidewall of a tube using a laser, followed by cutting stamping slits in the first abutment portion 10 and the second abutment portion 30, and finally stamping the first and second abutment portions to form abutment edges and a wire passage, thus obtaining the active bending segment. The integral forming method enhances the integrity of the active bending segment, optimizes its overall strength, and simplifies the laser cutting path and stamping steps, thereby reducing production costs and improving manufacturing efficiency.

[0047] This application also provides an endoscope insertion section, which includes the active bending section mentioned in any of the above-described solutions. Typically, the endoscope insertion section also includes a skin, traction rope, passive bending section, etc., disposed on the outer wall of the active bending section, and is not limited thereto in this application. Since this endoscope insertion section utilizes the active bending section proposed in this application, it also possesses a series of advantages brought about by the active bending section of this application.

[0048] This application also provides an endoscope, which includes a handle and an endoscope insertion part provided in this application. The handle and the insertion part are connected, and the bending action of the active bending section can be controlled by the handle to realize the steering of the active bending section. The specific connection method between the handle and the insertion part is varied and is not limited in this application. In some embodiments of this application, the handle may include a steering adjustment mechanism, which can control the rotation of the insertion part around its axis. Combined with the bending action of the active bending section, omnidirectional rotation of the active bending section can be realized. The endoscope in the embodiments of this application can be a gastroscope, colonoscope, laryngoscope, fiberoptic bronchoscope, etc., and the embodiments of this application do not specifically limit the type of endoscope.

[0049] Any feature disclosed in this specification (including the abstract and drawings) may be replaced by other equivalent or similar features, unless otherwise stated. That is, unless otherwise stated, each feature is merely one example of a series of equivalent or similar features.

Claims

1. An active bending segment for use in an endoscope, characterized in that: It includes multiple spiral bending units (100), each bending unit (100) revolves around an axis, and the bending units (100) are connected in sequence to form a tubular structure; A first abutting part (10) and a first restraining part (20) are provided on the first radial side of the bending unit (100). The first restraining part (20) protrudes from the outer wall of the first abutting part (10). The endoscope includes a first traction rope. The first restraining part (20) is used to restrain the first traction rope to the outer wall side of the first abutting part (10). The first abutting portion (10) has a first abutting edge (11) close to the adjacent bending unit (100), the first abutting edge (11) is straight, and the arrangement direction of the first abutting edge (11) is inclined relative to the axial direction of the bending unit (100). Under the pull of the first traction rope, two adjacent first abutting edges (11) can abut and engage, and two adjacent bending units (100) can spiral around the first abutting edge (11) toward the first radial side of the bending unit (100).

2. The active bending segment according to claim 1, characterized in that: The first abutting edges (11) on all bending units (100) are arranged in parallel directions; or, two first abutting edges (11) that abut against each other are parallel to each other and form a rotating pair. The arrangement direction of the rotating pair is the same as the arrangement direction of its corresponding first abutting edge (11). Along the length of the active bending segment, the angle α between the arrangement direction of each rotating pair and the axial direction of the active bending segment increases or decreases.

3. An active bending segment according to claim 1 or 2, characterized in that: A second abutting part (30) and a second restraining part (40) are provided on the second radial side of the bending unit (100), and the second radial side of the bending unit (100) is opposite to the first radial side of the bending unit (100) in the radial direction of the bending unit (100). The second restraint part (40) protrudes from the outer wall of the second abutment part (30); the endoscope also includes a second traction rope, and the second restraint part (40) is used to restrain the second traction rope to the outer wall side of the second abutment part (30); Under the pull of the second traction rope, the second abutment portions (30) of two adjacent bending units (100) can abut and engage, and the two adjacent bending units (100) can rotate radially to the second side of the bending unit (100) around the second abutment portion (30).

4. The active bending segment according to claim 3, characterized in that: The second abutting portion (30) has 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 perpendicular to the axial direction of the bending unit (100).

5. The active bending segment according to claim 4, characterized in that: The first abutting edges (11) of two adjacent bending units (100) are in contact with each other or the width of the gap between the first abutting edges (11) of two adjacent bending units (100) is less than 0.2 mm; and / or, the second abutting edges (31) of two adjacent bending units (100) are in contact with each other or the width of the gap between the second abutting edges (31) of two adjacent bending units (100) is less than 0.2 mm.

6. The active bending segment according to claim 3, characterized in that: The first abutting part (10) is recessed toward the axis of the bending unit (100), and a first traction rope passage is formed between the first restraining part (20) and the bending unit (100); and / or, the second abutting part (30) is recessed toward the axis of the bending unit (100), and a second traction rope passage is formed between the second restraining part (40) and the bending unit (100).

7. An active bending segment according to claim 6, characterized in that: The outer wall of the first abutting part (10) is planar and / or the outer wall of the second abutting part (30) is planar.

8. The active bending segment according to claim 3, characterized in that: The bending unit (100), the first constraint part (20), the first abutting part (10), the second abutting part (30) and the second constraint part (40) are integrally formed.

9. An endoscope insertion part, characterized in that, Includes the active bending segment as described in any one of claims 1 to 8.

10. An endoscope, characterized in that, It includes a handle and the endoscope insertion part as described in claim 9, wherein the handle is connected to the endoscope insertion part and the handle is capable of controlling the bending of the active bending section.

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