Insertion structure and endoscope

Abstract

The invention relates to an insertion structure and an endoscope. The insertion structure comprises a suction channel and an instrument channel, and the suction channel comprises an inclined section. The inclined section is designed to deviate to the instrument channel and intersect with the instrument channel, so that the working instrument penetrating out of the instrument channel can directly extend into the inclined section of the suction channel, the working instrument can directly extend out of the suction opening of the suction channel without being greatly bent, and then the bending amplitude of the working instrument is reduced; the risk of clamping stagnation of the working apparatus is reduced, the risk of breaking of the working apparatus caused by too large bending amplitude can be reduced, the use reliability of the working apparatus is improved, and the service life of the working apparatus is prolonged. Taking the insertion structure applied to the flexible ureteroscope as an example, the structure not only improves the stone breaking and stone removing efficiency, but also plays a role in preventing blockage.

Description

Technical Field

[0001] The present application relates to the technical field of medical devices, and in particular to an insertion structure and an endoscope. Background Art

[0002] An endoscope is a commonly used medical device that is an inspection instrument that can directly enter the natural channels of the human body and provide doctors with sufficient diagnostic information to treat diseases.

[0003] Taking the flexible ureteroscope used to treat urinary stones as an example, in order to improve the efficiency of lithotripsy and stone removal, the front end of the flexible ureteroscope is generally designed with an instrument channel and a suction channel for breaking up the stones, and the broken stones are discharged from the body by negative pressure suction to improve the stone removal rate. In order to better achieve suction and blow, the lithotripsy instrument located in the instrument channel is tilted at the exit and extends from the suction channel.

[0004] Due to the overall outer diameter requirement of the ureteroscope, the suction channel cannot be made too large. Therefore, the lithotripsy instrument must be bent significantly in a very small space to extend out of the suction channel, which makes it easy for the lithotripsy instrument to get stuck or even break. Summary of the invention

[0005] Based on this, it is necessary to provide an insertion structure for an endoscope to address the problem that lithotripsy instruments are prone to getting stuck or even breaking.

[0006] An insertion structure is applied to an endoscope, and the insertion structure comprises:

[0007] The tube mirror body has at least one suction channel and at least one instrument channel configured therein; the suction channel includes an inclined section, the extending direction of the inclined section is arranged at a first angle with the axial direction of the instrument channel, and the inclined section is inclined toward the instrument channel, so that the instrument channel and the inclined section meet at the outlet of the instrument channel;

[0008] A working tool is inserted into the tool channel and extends out from the suction port of the suction channel.

[0009] In one embodiment, the suction channel further includes a first section, and the first section is spaced apart from the instrument channel along the radial direction of the tube mirror body.

[0010] In one embodiment, the extension direction of the first section is parallel to the axial direction of the instrument channel;

[0011] The suction channel further includes a transition section connected between the first section and the inclined section, and an extending direction of the transition section is arranged at a second angle to the axial direction of the instrument channel.

[0012] In one embodiment, the instrument channel is located on the left side, right side, upper side or lower side of the first section.

[0013] In one embodiment, the outlet of the instrument channel is located on the side wall of the inclined section.

[0014] In one embodiment, the axial direction of the instrument channel is parallel to the axial direction of the tube mirror body.

[0015] In one embodiment, the axial direction of the instrument channel is arranged at a third angle with the axial direction of the tube mirror body.

[0016] In one embodiment, the instrument channel is inclined toward the suction channel.

[0017] In one embodiment, the working tool extends from the center of the suction port.

[0018] In one embodiment, the insertion structure further includes a camera module connected to the tube mirror body, and the camera module is used to photograph the suction port and the working instrument.

[0019] In one of the embodiments, the insertion structure also includes a transparent window, and the transparent window is located within the field of view of the camera module.

[0020] In one of the embodiments, the insertion structure further comprises a negative pressure source in communication with the suction channel;

[0021] The insertion structure further includes a stone collection unit disposed between the suction channel and the negative pressure source;

[0022] The insertion structure further comprises a negative pressure regulating unit for regulating the negative pressure in the suction channel;

[0023] The tube mirror body is also configured with an irrigation channel and at least one irrigation opening communicating with the irrigation channel.

[0024] An endoscope comprises the insertion structure as described above.

[0025] The above-mentioned insertion structure includes a suction channel and an instrument channel, and the suction channel includes an inclined section. By designing the inclined section to be biased toward the instrument channel and intersecting with the instrument channel, the working instrument passing through the instrument channel can be directly extended into the inclined section of the suction channel, and can be directly extended from the suction port of the suction channel without the need for the working instrument to be bent significantly, thereby reducing the bending amplitude of the working instrument, which not only reduces the risk of the working instrument getting stuck, but also reduces the risk of the working instrument breaking due to excessive bending, thereby improving the reliability and service life of the working instrument. Taking the application of the insertion structure to ureteroscope as an example, this structure not only improves the efficiency of lithotripsy and stone removal, but also prevents blockage. BRIEF DESCRIPTION OF THE DRAWINGS

[0026] Figure 1 A three-dimensional diagram of the insertion structure provided in the first embodiment of the present application.

[0027] Figure 2 for Figure 1 A half-section view of the insert structure shown.

[0028] Figure 3 for Figure 1 A cross-sectional view of the insert structure is shown.

[0029] Figure 4 A cross-sectional view of an insertion structure provided in the second embodiment of the present application.

[0030] Figure 5 A cross-sectional view of an insertion structure provided in the third embodiment of the present application.

[0031] Figure 6 A cross-sectional view of an insertion structure provided in the fourth embodiment of the present application.

[0032] Figure numbers: 100, insertion structure; 110, suction channel; 111, first section; 112, inclined section; 1121, side wall; 113, suction port; 114, transition section; 120, instrument channel; 121, outlet; 130, working instrument; 140, camera module; 150, transparent window. DETAILED DESCRIPTION

[0033] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. In the following description, many specific details are set forth to facilitate a full understanding of the present application. However, the present application can be implemented in many other ways different from those described herein, and those skilled in the art can make similar improvements without violating the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0034] In the description of the present application, it should be understood that if the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc. appear, the orientation or position relationship indicated by these terms is based on the orientation or position relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, and does not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as a limitation on the present application.

[0035] In addition, if the terms "first" or "second" appear, these terms are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include at least one of the features. In the description of this application, if the term "plurality" appears, the meaning of "plurality" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0036] In this application, unless otherwise clearly specified and limited, if the terms "installed", "connected", "connected", "fixed" and the like appear, these terms should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integrated connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, it can be the internal connection of two elements or the interaction relationship between two elements, unless otherwise clearly defined. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0037] In the present application, unless otherwise clearly specified and limited, if there is a description that a first feature is "above" or "below" a second feature, etc., or similar descriptions appear, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature being "above", "above" and "above" the second feature may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is higher in level than the second feature. The first feature being "below", "below" and "below" the second feature may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is lower in level than the second feature.

[0038] It should be noted that if an element is referred to as being "fixed to" or "disposed on" another element, it may be directly on the other element or there may be a central element. If an element is considered to be "connected to" another element, it may be directly connected to the other element or there may be a central element at the same time. If any, the terms "vertical", "horizontal", "upper", "lower", "left", "right" and similar expressions used in this application are for illustrative purposes only and do not represent the only implementation method.

[0039] See also Figures 1 to 3 As shown, an insertion structure 100 for an endoscope provided in an embodiment of the present application includes a tube endoscope body and a working instrument 130. The tube endoscope body is internally configured with at least one suction channel 110 and at least one instrument channel 120; the suction channel 110 includes an inclined section 112, the extension direction of the inclined section 112 is set at a first angle to the axial direction of the instrument channel 120, and the inclined section 112 is inclined toward the instrument channel 120, so that the instrument channel 120 and the inclined section 112 meet at the outlet of the instrument channel 120. The working instrument 130 is arranged in the instrument channel 120 and extends from the outlet of the instrument channel 120 and the suction port 113 of the suction channel 110 in turn. Figure 2 As shown, in an actual application scenario, the axial direction of the instrument channel 120 is the X direction in the figure, and the extending direction of the inclined section 112 is set at an angle to the X direction.

[0040] The above-mentioned insertion structure 100, by designing the inclined section 112 to be biased towards the instrument channel 120 and intersecting with the instrument channel 120, allows the working tool 130 passing through the instrument channel 120 to be directly extended into the inclined section 112 of the suction channel 110, and can be directly extended from the suction port 113 of the suction channel 110 without the need for the working tool 130 to be significantly bent, thereby reducing the bending amplitude of the working tool 130, which not only reduces the risk of the working tool 130 getting stuck, but also reduces the risk of the working tool 130 breaking due to excessive bending, thereby improving the reliability and service life of the working tool 130, thereby improving the efficiency of crushing and clearing stones, and preventing blockage. The special-shaped suction channel 110 can be processed by metal 3D printing or metal powder injection molding, so that the suction channel 110 bends toward the instrument channel 120, and the instrument channel 120 does not bend significantly, thereby reducing the curvature of the working instrument 130, which not only reduces the risk of the working instrument 130 getting stuck, but also reduces the risk of the working instrument 130 breaking due to excessive bending. The suction pipe can be made of transparent material, such as a transparent tube.

[0041] Taking the application of the insertion structure 100 to a ureteroscope as an example, when the insertion structure 100 is inserted into the renal pelvis, the laser emitted by the working device 130, such as an optical fiber, can hit the stones in the ureter to perform a lithotripsy. The suction channel 110 cooperates with the negative pressure source to form a negative pressure area at the suction port 113 to generate an adsorption force on the stones or gravel near the suction port 113 to offset the impact force of the laser energy, so that the stones remain relatively fixed at the suction port 113 to prevent them from escaping, so that the high-frequency energy of the laser can be used to effectively act on the stones to smash them. At the same time, the gravel enters the suction channel 110 under the negative pressure suction of the suction port 113 to be discharged from the body, which not only improves the efficiency of lithotripsy, but also greatly improves the efficiency of stone removal, thereby preventing blockage.

[0042] like Figure 2 As shown, in one embodiment, the suction channel 110 includes a first section 111, and the first section 111 and the instrument channel 120 are spaced apart in the radial direction of the tube mirror body, wherein the extension direction of the first section 111 can be parallel to the axial direction of the instrument channel 120 or be set at an angle to the axial direction of the instrument channel 120, so that a transition is formed between the first section 111 and the inclined section 112. For example, the extension direction of the first section 111 is parallel to the X direction. The instrument channel 120 and the first section 111 are spaced apart in the radial direction of the tube mirror body. Specifically, Figure 2 As shown, the instrument channel 120 can be located on the right side of the first section 111. Figure 4 As shown, in another embodiment, the instrument channel 120 can be located on the left side of the first section 111, or as shown in FIG. Figure 5 As shown, the instrument channel 120 is located on the upper side of the first section 111, or as shown in FIG. Figure 6 As shown, the instrument channel 120 is located at the lower side of the first section 111. The specific location of the instrument channel 120 can be set according to actual needs.

[0043] like Figure 6 As shown, in one embodiment, the suction channel 110 further includes a transition section 114 connected between the first section 111 and the inclined section 112, and the transition section 114 is arranged at a second angle with the instrument channel 120, wherein the second angle may be greater than or less than the first angle. This arrangement is used to adapt to the insertion path of the working instrument 130, and the curvature of the working instrument 130 is reduced to the greatest extent, thereby reducing the risk of the working instrument 130 being stuck or broken.

[0044] like Figure 3As shown, in one embodiment, the outlet of the instrument channel 120 is located on the side wall 1121 of the inclined section 112. That is, after the working instrument 130 passes through the outlet of the instrument channel 120, the inclined section 112 still has an extended length to accommodate the inclined extension of the working instrument 130 and reduce the bending amplitude of the working instrument 130.

[0045] like Figure 2 As shown, in one embodiment, the axial direction of the instrument channel 120 is parallel to the axial direction of the tube mirror body, so that the processing of the instrument channel 120 is convenient.

[0046] In other embodiments, both the instrument channel 120 and the suction channel 110 have a preset curvature, that is, both the suction channel 110 and the instrument channel 120 are curved, and the extension directions of the two are arranged at an angle to the X direction. In this way, it is beneficial for the intersection of the instrument channel 120 and the suction channel 110, so that the working tool 130 passing through the instrument channel 120 can directly extend into the inclined section 112 of the suction channel 110, and can directly extend from the suction port 113 of the suction channel 110 without the working tool 130 being greatly bent.

[0047] like Figure 5 or Figure 6 As shown, in another embodiment, the axial direction of the instrument channel 120 can be set at a third angle with the axial direction of the tube mirror body. Further, the instrument channel 120 is inclined toward the suction channel 110, which is conducive to the intersection of the instrument channel 120 and the suction channel 110, so that the working instrument 130 passing through the instrument channel 120 can directly extend into the inclined section 112 of the suction channel 110, and can directly extend from the suction port 113 of the suction channel 110 without the working instrument 130 being greatly bent.

[0048] like Figure 1 and Figure 2 As shown, in another embodiment, the working tool 130 can extend from the center of the suction port 113, reducing the possibility of the working tool 130 being deformed by force due to the contact between the side wall 1121 of the suction channel 110 and the working tool 130, thereby increasing its service life.

[0049] like Figure 1 and Figure 2As shown, in one embodiment, the insertion structure 100 further includes a camera module 140 connected to the tube mirror body, and the camera module 140 is used to shoot the suction port 113 and the working device 130. It can be understood that the suction port 113 is within the field of view of the camera module 140. The direction in which the insertion structure 100 enters the body is defined as the front, and the direction outside the body is defined as the back. Furthermore, the suction port 113 is located in front of the camera module 140 to achieve the technical effect of suction in front and shooting in the back, ensuring that part or all of the suction port 113 is within the field of view of the camera module 140. At the same time, the working instrument 130 is also within the field of view of the camera module 140, so that the image of the suction port 113 and the image of the working instrument 130 can be captured by the camera module 140, so that the image can be displayed in combination with the display unit, so as to observe the working status of the suction port 113 and the working instrument 130 in real time, such as whether the gravel enters the suction port 113, or whether the suction port 113 is blocked, or whether the working instrument 130 is working normally, etc., which helps the doctor to make an accurate judgment on the surgical status in time. Furthermore, the suction port is cut obliquely to ensure that part or all of the suction port is within the field of view of the camera module.

[0050] The camera module 140 can specifically be a camera or a camera module 140 composed of a lens group and a CMOS image sensor, or it can be other types of camera modules 140, as long as it can collect image information. The display unit can be installed on the insertion structure 100, or it can be independent of the insertion structure 100, as long as the display unit can communicate with the camera module 140 through wired or wireless means. The display unit can be a display screen, etc. In other embodiments, the display unit can also be implemented as other electronic devices with display functions, such as computers, notebooks, smart watches, AR / VR, etc., as long as the corresponding images can be displayed for observation by doctors, and this application will not go into details.

[0051] In particular, since the images displayed by the display unit are usually flat image frames, not only will the distance information be lost, but visual deviation will also occur easily, so it is difficult for doctors to accurately estimate the distance and direction between the head of the working instrument and the stone. Once the distance between the head of the working instrument and the stone is too large, or the direction of the head of the working instrument is misaligned with the direction of the stone, the laser emitted by the working instrument, such as an optical fiber, will not be able to break up the stone, and may even accidentally damage the tissue of human organs, causing unnecessary harm to the patient.

[0052] In order to solve this problem, the insertion structure of the present application may further include an image processing unit, wherein the image processing unit includes an image acquisition module, an image processing module, a posture calculation module and a data transmission module which are communicatively connected in sequence, wherein the image acquisition module is communicatively connected to the camera module for acquiring original image information taken by the camera module, wherein the original image information includes an image of the suction port, an image of the head of the working instrument and an image of the stone; wherein the image processing module is used to denoise and filter the original image information to obtain preprocessed image information; wherein the posture calculation module is used to target the preprocessed image information to calculate the posture transformation data between the head of the working instrument and the stone; wherein the data transmission module is communicatively connected to the display unit for transmitting the posture transformation data to the display unit for display through the display unit, so that the doctor can accurately grasp the distance and orientation between the head of the working instrument and the stone, so as to make reasonable medical operations in time.

[0053] It is worth noting that in the process of denoising and filtering the original image information by the image processing module, Gaussian filtering can be used to scan each pixel in the image with a template, and the value of the center pixel of the template is replaced by the weighted average grayscale value of the pixels in the area determined by the template to ensure the high definition and accuracy of the image, thereby ensuring the accuracy of subsequent data calculations.

[0054] In another embodiment, since the front end of the tube mirror body will be inserted into the human body when the insertion structure is used for diagnosis and treatment, the camera module installed on the tube mirror body may be in a dark environment. In order to ensure that the camera module can collect image information, the insertion structure may also include at least one light source, the light source is used to emit light to illuminate the object to be photographed, such as the renal pelvic cavity or the suction port, and the camera module is used to receive the light reflected back by the object to be photographed to capture the image of the object to be photographed, so that the captured image data can be transmitted to the outside of the body to be displayed in the display unit, so that doctors and other personnel can observe the situation in the body. The light source can be an LED or a cold light source.

[0055] like Figure 1 and Figure 2 As shown, in one embodiment, the insertion structure 100 also includes a transparent window 150, which is located within the field of view of the camera module 140, so that the doctor can directly see the front end of the suction channel 110 and the working instrument 130, which is convenient for real-time monitoring.

[0056] In one embodiment, the insertion structure also includes a negative pressure source connected to the suction channel. Taking the insertion structure applied to a ureteroscope as an example, the suction channel cooperates with the negative pressure source to form a negative pressure area at the suction port, so as to generate adsorption force on the stones or gravel near the suction port to offset the impact force of the laser energy, so that the stones remain relatively fixed at the suction port to prevent them from escaping, so as to use the high-frequency energy of the laser to effectively act on the stones and smash them. At the same time, the gravel enters the suction channel under the negative pressure suction of the suction port to be discharged from the body, which not only improves the efficiency of stone crushing, but also greatly improves the efficiency of stone removal.

[0057] In some embodiments, the insertion structure also includes a negative pressure regulating unit for adjusting the negative pressure in the suction channel. In this way, the adsorption force at the suction port can be adjusted as needed. It is understandable that the negative pressure regulating unit can be a regulating valve connected to the suction channel, and the negative pressure in the suction channel can be adjusted by adjusting the opening of the regulating valve. Of course, in other embodiments, the negative pressure regulating unit can also be a switch that is communicatively connected to the negative pressure source so as to directly control the negative pressure generated by the negative pressure source, and the effect of adjusting the negative pressure in the suction channel can still be achieved.

[0058] Furthermore, the insertion structure also includes a stone collection unit disposed between the suction channel and the negative pressure source. The stone collection unit is disposed in the passage between the suction channel and the negative pressure source, and is used to collect the crushed stones discharged through the suction channel to prevent the crushed stones from entering the negative pressure source and affecting the normal operation of the negative pressure source. It is understood that the negative pressure source can be implemented as a vacuum pump but is not limited to; the stone collection unit can be implemented as a filtering container but is not limited to.

[0059] In some embodiments, the endoscopic body is also configured with a perfusion channel, which is used to perfuse perfusion fluid into human organs. In this way, after the insertion structure is inserted into the kidney, perfusion fluid such as water is perfused into the kidney through the perfusion channel to achieve perfusion operation; optical fibers and other working instruments extend through the instrument channel to the suction port for lithotripsy; at the same time, excess perfusion fluid and gravel can enter the suction channel from the suction port to be discharged from the body. Furthermore, the endoscopic body is also configured with at least one perfusion opening connected to the perfusion channel, and the perfusion fluid flows outward through the perfusion opening to form a controllable and orderly fluid circulation, which helps to drive the gravel to the suction port in all directions for efficient suction.

[0060] In some other embodiments, the insertion structure may further include an infusion unit connected to the infusion channel, and the movement trajectory of the infusion liquid is controlled by adjusting the infusion flow rate by the infusion unit and adjusting the attraction force by the negative pressure regulating unit, thereby achieving targeted and controllable attraction of the gravel, which helps to greatly improve the efficiency of stone removal. The infusion unit may be a fluid pump connected to a container containing the infusion liquid.

[0061] In some embodiments, the insertion structure may further include a bending portion that can be bent or straightened to approach a target location, such as a stone location in the renal pelvis, so as to perform a corresponding medical operation. Accordingly, the insertion structure may further include an operating portion that controls the bending or straightening of the bending portion.

[0062] Furthermore, an embodiment of the present application also provides an endoscope, including the above-mentioned insertion structure 100. In an actual application scenario, the endoscope is specifically a ureteroscope, and correspondingly, the insertion structure is used to insert into the patient's ureter, break up the stones in the ureter through working instruments such as optical fibers, and suck the broken stones in the ureter through the suction channel in conjunction with the negative pressure source, and use the principle of negative pressure suction to promptly suck the crushed stones out of the body.

[0063] The technical features of the above-described embodiments may be arbitrarily combined. To make the description concise, not all possible combinations of the technical features in the above-described embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0064] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be construed as limiting the scope of the patent application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the patent application shall be subject to the attached claims.

Claims

1. An insertion structure, applied to an endoscope, characterized in that: The insertion structure comprises: A tube mirror body, internally configured with at least one suction channel (110) and at least one instrument channel (120); the suction channel (110) comprises an inclined section (112); the extending direction of the inclined section (112) is arranged at a first angle with the axial direction of the instrument channel (120); and the inclined section (112) is inclined toward the instrument channel (120), so that the instrument channel (120) and the inclined section (112) meet at an outlet (121) of the instrument channel (120); A working tool (130) is inserted into the tool channel (120) and extends out from the suction port (113) of the suction channel (110).

2. The insertion structure according to claim 1, characterized in that: The suction channel (110) further comprises a first section (111), wherein the first section (111) is spaced apart from the instrument channel (120) along the radial direction of the tube mirror body.

3. The insertion structure according to claim 2, characterized in that: The extension direction of the first section (111) is parallel to the axial direction of the instrument channel (120); The suction channel (110) further comprises a transition section (114) connected between the first section (111) and the inclined section (112), and an extension direction of the transition section (114) is arranged at a second angle to the axial direction of the instrument channel (120).

4. The insertion structure according to claim 3, characterized in that: The instrument channel (120) is located on the left side, right side, upper side or lower side of the first section (111).

5. The insertion structure according to claim 1, characterized in that: The outlet (121) of the instrument channel (120) is located on the side wall (1121) of the inclined section (112).

6. The insertion structure according to claim 1, characterized in that: The axial direction of the instrument channel (120) is parallel to the axial direction of the tube mirror body; or The axial direction of the instrument channel (120) is arranged at a third angle with the axial direction of the tube mirror body.

7. The insertion structure according to claim 6, characterized in that: The instrument channel (120) is inclined toward the suction channel (110).

8. The insertion structure according to claim 1, characterized in that: The working tool (130) extends from the center of the suction port (113).

9. The insertion structure according to claim 1, characterized in that: The insertion structure further comprises a camera module (140) connected to the tube mirror body, and the camera module (140) is used to photograph the suction port (113) and the working tool (130); The insertion structure also includes a transparent window (150), and the transparent window (150) is located within the field of view of the camera module (140).

10. An endoscope, characterized in that: It comprises an insertion structure (10) as claimed in any one of claims 1 to 9.

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