An insertion portion, an endoscope, an intrarenal pressure detection system, and an endoscope processing system

Abstract

The application relates to the technical field of medical devices, and particularly discloses an insertion part, an endoscope, a kidney internal pressure detection system and an endoscope processing system. The insertion part comprises an insertion part body and an elastic coating. A camera module is arranged in the insertion part body. The elastic coating is connected to the outer side of the distal end of the insertion part body. The elastic coating is made of transparent material. A deformation mark is arranged on the elastic coating. The deformation mark is located in the viewfinder window of the camera module and can be captured by the camera module. When the distal end of the insertion part is inserted into the renal pelvis, the elastic coating is elastically deformed under the action of the kidney internal pressure, and then the deformation mark is changed. The change of the deformation mark can be quantified through image processing, so that the pressure in the renal pelvis can be conveniently measured. This method does not need to embed a micro pressure sensor in the distal end of the insertion part, and can avoid the error caused by external measurement, thereby improving the accuracy and timeliness of the kidney internal pressure measurement.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of medical devices, in particular to an insertion part, an endoscope, an intrarenal pressure detection system and an endoscope processing system. BACKGROUND

[0002] In the field of minimally invasive treatment of urology, transurethral ureteroscopy laser lithotripsy has become an important treatment method for upper urinary tract calculi due to its significant advantages of small trauma and rapid recovery. However, the accurate control of intrarenal pressure during the operation is always a core challenge affecting the safety of the operation. The continuous perfusion of the renal pelvis and the accumulation of debris generated by stone crushing during the operation can lead to abnormal increase of intrarenal pressure, and the excessively high intrarenal pressure (usually > 30 mmHg) can cause acute complications such as renal parenchyma injury and renal pelvis venous reflux, and significantly increase the risk of postoperative infection and sepsis. Therefore, real-time monitoring and accurate regulation of intrarenal pressure are key technical requirements for optimizing the safety of the operation and the clinical prognosis.

[0003] At present, the monitoring of intrarenal pressure during the operation mainly relies on two types of schemes, i.e. endoscope integrated pressure sensing technology and extracorporeal indirect measurement. The former realizes real-time feedback by embedding a miniature pressure sensor at the front end of the ureteroscope insertion part, but is limited by the size and power supply requirements of the sensor, and such design will significantly increase the diameter of the end of the endoscope, resulting in decreased operational flexibility when the endoscope passes through the narrow ureter, and even increasing the risk of intraoperative tissue damage. The latter connects a pressure sensor through an extended pipeline outside the body, but due to the long perfusion pipeline, dynamic changes of the flow resistance of the irrigation fluid and fluctuations of the manual perfusion pressure, there is a significant error between the actual measured pressure value and the real intrarenal pressure, especially during the complex operation field or the stone crushing operation stage, it is difficult to achieve accurate calibration.

[0004] Therefore, it is a technical problem to be solved by those skilled in the art to develop a miniaturized, low-delay and high-precision intrarenal pressure detection technology. SUMMARY

[0005] The present application discloses an insertion part, an endoscope, an intrarenal pressure detection system and an endoscope processing system to solve the above technical problems in the related art.

[0006] In order to solve the above problems, the present application adopts the following technical solutions:

[0007] In a first aspect, the present application provides an insertion part applied to an endoscope, the insertion part comprising an insertion part body and an elastic coating, a camera module is arranged in the insertion part body, the elastic coating is connected to the outer side of the distal end of the insertion part body, the elastic coating is made of transparent material, and a deformation mark is arranged on the elastic coating, the deformation mark is located in the viewfinder window of the camera module, and the deformation mark can be captured by the camera module.

[0008] In a second aspect, the present application provides an endoscope, which comprises the insertion part as described above.

[0009] In a third aspect, the present application further provides a renal pressure detection system, which applies the insertion part as described above, and comprises:

[0010] a first acquisition module, configured to acquire first image information collected by a camera module arranged at a distal end of the insertion part;

[0011] a recognition module, configured to recognize current marker information of the deformation marker in the first image information;

[0012] a calculation module, configured to determine a pressure value of the elastic covering membrane in a current environment according to the current marker information.

[0013] In a fourth aspect, the present application further provides an endoscope processing system, which comprises:

[0014] a second acquisition module, configured to acquire first image information collected by a camera module arranged at a distal end of the insertion part;

[0015] a processing module, configured to process the first image information to obtain second image information in which the current marker information in the first image information is eliminated;

[0016] a display module, configured to display the second image information.

[0017] The technical solution adopted by the present application can achieve the following beneficial effects:

[0018] The insertion part, the endoscope, the renal pressure detection system and the endoscope processing system of the present application can achieve the following beneficial effects: when the distal end of the insertion part is inserted into the kidney, the elastic covering membrane is elastically deformed under the influence of the renal pressure, and the deformation marker on the elastic covering membrane changes accordingly; the camera module can record the change of the deformation marker in real time and quantize the change of the deformation marker through image processing, so as to obtain the pressure value applied to the elastic covering membrane, which is the renal pressure value to be detected; this detection method does not need to embed a micro pressure sensor at the distal end of the insertion part, so that the radial size of the distal end of the insertion part can be effectively controlled, the passability of the distal end of the insertion part is ensured, and the trauma risk can be significantly reduced; at the same time, since the elastic covering membrane is directly in the renal environment, compared with the detection method of connecting a pressure sensor outside the body through an extended pipeline, the influence of factors such as pipeline length, flushing liquid flow resistance dynamic change and manual perfusion pressure fluctuation can be eliminated, the accuracy and timeliness of renal pressure detection can be ensured, and the method is especially suitable for complex surgical operations and lithotripsy operation stages. BRIEF DESCRIPTION OF DRAWINGS

[0019] In order to more clearly illustrate the technical solutions of the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or prior art description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and all other embodiments obtained by those of ordinary skill in the art without creative work based on these drawings are within the scope of the present application.

[0020] Figure 1 is a structural schematic diagram of an insertion part of an embodiment of the present application;

[0021] Figure 2 is a schematic diagram of a distal end surface of an insertion part of an embodiment of the present application;

[0022] Figure 3 is a schematic diagram of deformation of a deformation mark of an embodiment of the present application;

[0023] Figure 4 is one of the schematic diagrams of an intrarenal pressure detection system of an embodiment of the present application;

[0024] Figure 5 is another schematic diagram of an intrarenal pressure detection system of an embodiment of the present application;

[0025] Figure 6 is a schematic diagram of an endoscope processing system of an embodiment of the present application.

[0026] In the drawings:

[0027] 100, insertion part body; 200, elastic film; 210, transparent part; 220, connecting part; 230, deformation mark; 300, cavity; 400, camera module; 500, intrarenal pressure detection system; 510, first acquisition module; 520, identification module; 530, comparison module; 540, calculation module; 600, endoscope processing system; 610, second acquisition module; 620, processing module; 630, display module. DETAILED DESCRIPTION

[0028] In order to make the objects, technical solutions and advantages of the present application clearer, the technical solutions of the present application will be described in detail. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative work are within the scope of the present application.

[0029] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein, and the objects distinguished by "first", "second", etc. are generally of a kind and do not limit the number of objects, for example, the first object can be one or more. In addition, "and / or" in the specification and claims indicates at least one of the connected objects, and the character " / " generally indicates that the objects before and after are in an "or" relationship.

[0030] The insertion portion, endoscope, intrarenal pressure detection system and endoscope processing system provided by the embodiments of the present application will be described in detail below in combination with the specific embodiments and application scenarios. Figures 1 to 6 The insertion portion, endoscope, intrarenal pressure detection system and endoscope processing system provided by the embodiments of the present application will be described in detail below in combination with the specific embodiments and application scenarios.

[0031] Please refer to Figure 1 , Figure 2 and Figure 3 The insertion portion disclosed by the embodiments of the present application comprises an insertion portion body 100 and an elastic coating 200, wherein the insertion portion body 100 can comprise an active bending section and a lens seat, the active bending section can be one of a riveted snake bone, an integrated cutting snake bone and an integrated injection snake bone, the lens seat is connected to the distal end of the active bending section, and a camera module 400 is arranged in the insertion portion body 100. Specifically, the lens seat can provide a mounting basis for a light source, the camera module 400 and the distal end of an instrument tube, that is, the light source, the camera module 400 and the distal end of the instrument tube can be mounted in the lens seat.

[0032] In the embodiments of the present application, the elastic coating 200 is connected to the outside of the distal end of the insertion portion body 100, that is, the outside of the distal end of the lens seat, the elastic coating 200 is made of transparent material, for example, the elastic coating 200 can be made of high-transparency silicone material or optical-grade epoxy resin, a deformation mark 230 is arranged on the elastic coating 200, the elastic coating 200 is located on the distal end side of the camera module 400 and opposite to the camera module 400, at least part of the elastic coating 200 covers the viewfinder window of the camera module 400, light can pass through the elastic coating 200 and enter the camera module 400 from the viewfinder window, in the embodiments of the present application, the deformation mark 230 is located in the viewfinder window of the camera module 400, and the deformation mark 230 can be captured by the camera module 400.

[0033] When the distal end of the insertion portion is inserted into the kidney of the human body, the elastic cover film 200 made of transparent material does not affect the normal observation of the camera module 400 to the tissue in the human body. Under the influence of the intrarenal pressure, the elastic cover film 200 will elastically deform, and the deformation mark on the elastic cover film 200 will change along with the deformation of the elastic cover film 200. The camera module 400 in the lens seat can observe the tissue in the human body while recording the changes of the deformation mark 230. It can be understood that, in the case that the insertion portion is provided with an instrument tube or an instrument channel, the elastic cover film 200 should be provided with an avoidance area corresponding to the instrument tube or the instrument channel.

[0034] Based on the above technical solution, in the specific application of the insertion portion, when the distal end of the insertion portion is inserted into the kidney of the human body, the elastic cover film 200 elastically deforms under the influence of the intrarenal pressure, and the deformation mark 230 on the elastic cover film 200 changes along with the deformation of the elastic cover film 200. The camera module 400 can record the changes of the deformation mark 230 in real time, and can quantify the changes of the deformation mark 230 through image processing, so as to obtain the pressure value applied to the elastic cover film 200. This pressure value is also the intrarenal pressure value to be detected. This detection method does not need to embed a micro pressure sensor at the distal end of the insertion portion, so as to effectively control the radial size of the distal end of the insertion portion, ensure the passability of the distal end of the insertion portion, and significantly reduce the risk of trauma. At the same time, since the elastic cover film 200 is directly in the intrarenal environment, compared with the detection method of connecting a pressure sensor outside the body through an extended pipeline, the influence of factors such as the length of the pipeline, the dynamic change of the flow resistance of the irrigation liquid, and the fluctuation of the manual perfusion pressure can be eliminated, the accuracy and timeliness of the intrarenal pressure detection can be ensured, and it is especially suitable for complex surgical operations and lithotripsy operation stages.

[0035] It should be noted that, in the embodiment of the present application, the insertion portion body 100 has a sealed cavity which is distributed on the proximal end side of the elastic cover film, and the sealed cavity corresponds to the camera module 400. For example, the sealed cavity can be located between the camera module 400 and the elastic cover film 200, the distal end side of the sealed cavity is sealed by the elastic cover film 200, and the proximal end side of the sealed cavity can be sealed by a transparent glass sheet to ensure that the camera module 400 can normally shoot the deformation mark 230 on the elastic cover film 200; or the camera module mounting cavity of the lens seat for mounting the camera module 400 can constitute the sealed cavity, the distal end side of the sealed cavity is sealed by the elastic cover film 200, and the proximal end side of the sealed cavity can be sealed by the injection method. In this case, the distal end side of the elastic cover film 200 is exposed to the intrarenal environment, the proximal end side of the elastic cover film 200 is exposed to the sealed cavity, and the driving force for the deformation of the elastic cover film 200 comes from the pressure difference between the intrarenal environment and the sealed cavity, that is, the sealed cavity can provide a stable reference pressure to make the deformation of the elastic cover film 200 truly reflect the intrarenal pressure.

[0036] It can be understood that if the sealed cavity is in a pressure relief state, the pressure difference between the intrarenal environment and the sealed cavity decreases, the deformation of the elastic membrane 200 in the intrarenal environment decreases, thereby causing the deformation of the deformation marker 230 obtained through image information to decrease, and further causing the mapping relationship between the deformation of the deformation marker 230 and the intrarenal pressure to fail, that is, the real intrarenal pressure value cannot be accurately measured in this case.

[0037] In some embodiments of the present application, a hydrophilic coating is arranged on the elastic membrane 200. Exemplarily, the hydrophilic coating can be made of PEG material (polyethylene glycol) or PVP material (polyvinylpyrrolidone). The hydrophilic coating forms a uniform hydrogel layer on the surface of the elastic membrane 200 by forming hydrogen bonds with water molecules. This structure can effectively repel nonpolar contaminants such as blood proteins and lipids, reduce their adhesion and deposition pollution on the surface of the elastic membrane 200, thereby ensuring the transparency of the elastic membrane 200 and further ensuring the observation effect of the camera module 400, avoiding the case that the observed human tissues and / or deformation markers are disturbed, and thereby ensuring the effectiveness and accuracy of the camera module 400.

[0038] In the embodiments of the present application, the deformation marker 230 can have various forms. Exemplarily, the deformation marker 230 can be at least one of a point marker, a linear marker, a curved marker, a ring-shaped marker, and a grid marker. In the case where the deformation marker 230 is a point marker, the local deformation amount of the elastic membrane 200 can be determined by tracking the displacement of the point marker, and further the pressure value borne by the elastic membrane 200 can be determined. In the case where the deformation marker 230 is a linear marker, a plurality of linear markers can be arranged in parallel or intersected, and the local stretching amount or compression amount of the elastic membrane 200 can be reflected by the change of the interval between the plurality of linear markers, and further the pressure value borne by the elastic membrane 200 can be determined. The curved marker and the ring-shaped marker will not be described herein again.

[0039] In the preferred embodiments of the present application, the deformation marker 230 can be a grid marker. The deformation amounts of a plurality of local positions within the field of view of the camera module 400 can be obtained by the coordinate change of the grid intersection points in the grid marker, thereby more accurately obtaining a plurality of local pressures within the field of view of the camera module 400, which is suitable for complex multi-directional pressure distribution, for example, the case of uneven expansion of the renal pelvis.

[0040] In some embodiments of the present application, the elastic membrane 200 is sleeved on the distal end portion of the insertion portion body 100 and can be connected and fixed to the distal end portion of the insertion portion body 100 by gluing. The sleeving manner can significantly improve the convenience of connecting the elastic membrane 200 to the lens seat. During the assembly process, the operator only needs to adjust the posture of the elastic membrane 200 to accurately avoid the instrument tube or instrument channel in the avoidance area.

[0041] In the related art, the insertion part body usually further comprises a skin covering the outer side of the active bending section and the lens seat, which can serve as a physical barrier to prevent body fluids and tissues in the human body from penetrating into the internal structure of the insertion part, damaging the mechanical components or electronic elements of the insertion part.

[0042] Based on this, in some embodiments of the present application, the elastic film 200 comprises a transparent part 210 and a connecting part 220 surrounding the transparent part 210, and a deformation mark 230 is arranged on the transparent part 210. When the elastic film 200 is sleeved on the distal end of the insertion part body 100, the transparent part 210 is matched with the distal end face of the insertion part body 100, and the connecting part 220 is sleeved on the radial outer side of the insertion part body 100 and can be fixedly connected with the insertion part body 100 by gluing. The skin can cover the outer side of the connecting part 220. In this way, based on the covering effect of the skin, the elastic film 200 can be prevented from being edge peeled when the insertion part is bent, twisted or rubbed with tissues, and the elastic film 200 can also be prevented from being worn out. At the same time, the skin can also be fixedly connected with the outer side of the connecting part 220. In this way, the inner side and the outer side of the connecting part 220 are both fixedly connected by gluing, which can ensure the stability of the connection of the elastic film 200 and also can achieve good sealing effect on the distal end of the insertion part.

[0043] In some embodiments of the present application, the deformation mark 230 can be displayed on the display device after being photographed by the camera module 400. When performing the surgical operation, the doctor can roughly judge the pressure of each part in the visual field range through the real-time change of the deformation mark 230, so as to consciously control the perfusion and other operations.

[0044] In the embodiments of the present application, the deformation mark 230 has a specific color, for example, red, blue, green and the like. In the preferred embodiments of the present application, the deformation mark 230 can be made of colored light material. In this way, in the post-processing process, the image information of the deformed deformation mark 230 can be extracted first to facilitate the processing of the image information to measure the intrarenal pressure, and then the light of the color matched with the deformation mark 230 can be filtered out through the filter, so that the doctor does not see the deformation mark 230 on the display device. In this way, the doctor can observe without being disturbed by the deformation mark 230, can see the surgical area more clearly, reduces visual interference, that is, the doctor can pay more attention to the surgical operation in the surgical area, improves the accuracy and safety of the operation.

[0045] In the preferred embodiment of the present application, the deformation mark 230 is made of green light filtering material and is arranged on the elastic coating 200. Hemoglobin is an important component in blood, which has different absorption characteristics for different wavelengths of light. Hemoglobin in blood has strong absorption characteristics for green light, that is, less green light is reflected to the elastic coating 200. By arranging the deformation mark 230 to be coated on the elastic coating 200 by green light filtering material, the permeability of green light can be increased and the light of other colors can be weakened. That is, among the light reflected back from the cavity wall, the green light is less, and the absorption of the green light filtering material for filtering light is less than the absorption of other light. In this way, the green light and the light of other colors can be more uniformly captured by the camera module 400, thereby ensuring the authenticity of the image information obtained by the camera module 400 and avoiding the situation of serious image distortion to ensure the accuracy of the doctor's diagnosis and treatment.

[0046] In the embodiment of the present application, the transparent part 210 of the elastic coating 200 can be a planar structure with equal thickness, which has the characteristic of convenient molding when the elastic coating 200 is manufactured.

[0047] In some embodiments of the present application, the transparent part 210 can be pre-protruded towards the distal end. For example, the transparent part 210 can be pre-formed to protrude towards the distal end. When the distal end of the insertion part is in the intrarenal environment, the transparent part 210 deforms towards the proximal side and gradually changes the distal end surface to a planar or nearly planar structure under the influence of intrarenal pressure. This way can effectively reduce the image proportion distortion. It can be understood that the intrarenal pressure value is usually within a safe range. Within this safe range, the transparent part 210 deforms towards the proximal side and gradually changes the distal end surface to a planar or nearly planar structure. That is, when the intrarenal pressure is within the safe range, the elastic coating 200 deforms within the range close to the plane.

[0048] In the preferred embodiment of the present application, the transparent part 210 and the distal end part of the insertion part body 100 have a cavity 300, which can be arranged between the camera module 400 and the transparent part 210. The cavity 300 is sealed and filled with a fluid medium, for example, the fluid medium can be a gas. Based on the filling effect of the fluid medium, the transparent part 210 protrudes towards the distal end and the distal end surface of the transparent part 210 is a convex arc surface. When the distal end of the insertion part is in the intrarenal environment, the transparent part 210 deforms towards the proximal side and gradually changes the distal end surface to a planar or nearly planar structure under the influence of intrarenal pressure. Since the transparent part 210 is a planar structure in the initial state, the distal end surface is a convex arc surface due to the filling of the fluid medium. Therefore, during the deformation process of the transparent part 210 in the intrarenal pressure, the transparent part 210 is more likely to deform controllably and change to a planar or nearly planar structure, and the deformation stability is better.

[0049] This application also discloses a renal pressure detection system 500. The disclosed renal pressure detection system 500 uses the aforementioned insertion portion to detect renal pressure. For details, please refer to... Figure 4 The intrarenal pressure detection system 500 includes a first acquisition module 510, an identification module 520, and a calculation module 540, wherein:

[0050] The first acquisition module 510 is used to acquire the first image information collected by the camera module 400. The first image information includes intrarenal environment image information and deformation marker image information. The intrarenal environment image information can be transmitted to the display device for doctors to observe, and the deformation marker image information is used for measuring intrarenal pressure.

[0051] The recognition module 520 is used to recognize the current marking information of the deformation mark 230 in the first image information. It is understood that the current marking information of the deformation mark 230 can be recognized by the recognition module 520 in the aforementioned deformation mark image information. The current marking information includes, but is not limited to, the geometric shape information, position information, angle information, size information, stretching state information and / or compression state information of the deformation mark 230.

[0052] The calculation module 540 determines the pressure value of the elastic membrane 200 in the current environment based on the current marking information, which is also the pressure value of the intrarenal environment.

[0053] For further technical solutions, please refer to Figure 5 The intrarenal pressure detection system may also include a comparison module 530. Specifically, the comparison module 530 is used to compare the current marking information of the deformation mark 230 with the standard marking information of the deformation mark 230, and determine the difference between the current marking information and the standard marking information. The standard marking information is the marking information of the deformation mark 230 under standard atmospheric pressure. The standard marking information includes, but is not limited to, the geometric shape information, position information, angle information, size information, tensile state information and / or compression state information of the deformation mark 230 under standard atmospheric pressure. In this case, the calculation module 540 can calculate and determine the pressure value of the elastic membrane 200 in the current environment based on the difference between the current marking information and the standard marking information.

[0054] In some embodiments of the present application, an in-vivo kidney simulation environment can be constructed, which can simulate the in-vivo kidney environment of a human body, and the environmental pressure in the in-vivo kidney simulation environment can be changed within a set range. The insertion part described above is placed in the in-vivo kidney simulation environment, and a plurality of deformation marker image information and corresponding pressure information of each deformation marker image information are obtained during the change of the in-vivo kidney simulation environment pressure. A database corresponding to the deformation marker image information, the marker information and the pressure information is established. During the in-vivo kidney pressure detection process, the deformation marker image information of the deformation marker 230 obtained by the camera module 400 can be matched with the corresponding pressure information, that is, the pressure value of the in-vivo kidney pressure.

[0055] The present application also discloses an endoscope processing system 600, which can apply the insertion part described above. Specifically, please refer to Figure 6 The endoscope processing system 600 comprises:

[0056] The second acquisition module 610 is configured to acquire second image information collected by the camera module 400, and the camera module 400 is arranged at the distal end of the insertion part. The second image information comprises in-vivo kidney environment image information and deformation marker image information.

[0057] The processing module 620 is configured to process the deformation marker image information in the first image information to obtain second image information in which the current marker information in the first image information is eliminated. For example, the processing module 620 can comprise a filter, and the deformation marker image information can be eliminated by filtering.

[0058] The display module 630 is configured to display the second image information, that is, the in-vivo kidney environment image information.

[0059] It should be noted that, in this document, the terms “comprising”, “including” or any other variant thereof are intended to cover non-exclusive inclusion, so that processes, methods, articles or devices including a series of elements not only include those elements, but also include other elements not explicitly listed, or further include elements inherent to such processes, methods, articles or devices. Without more limitations, the element defined by the statement “comprising a” does not exclude the presence of additional identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the methods and devices in the present application is not limited to the order of functions shown or discussed, but can also include functions performed in a substantially simultaneous manner or in reverse order, for example, the described method can be performed in an order different from that described, and various steps can be added, omitted or combined. In addition, the features described with reference to some examples can be combined in other examples.

[0060] The above merely provides the specific implementation of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of the changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. An insertion part for use in an endoscope, characterized in that, The device includes an insertion body (100) and an elastic film (200). A camera module (400) is disposed inside the insertion body (100). The elastic film (200) is connected to the outer side of the distal end of the insertion body (100). The elastic film (200) is made of transparent material and has a deformation mark (230) on it. The deformation mark (230) is located in the viewfinder of the camera module (400) and can be captured by the camera module (400). The elastic film (200) includes a transparent portion (210) and a connecting portion (220) surrounding the transparent portion (210), the deformation mark (230) is provided on the transparent portion (210), and the connecting portion (220) is sleeved on the insertion body (100); The transparent portion (210) is pre-protruded, so that the distal end surface of the transparent portion (210) is a convex arc surface; or, there is a cavity (300) between the transparent portion (210) and the distal end of the insertion body (100), and the cavity (300) is filled with a fluid medium so that the distal end surface of the transparent portion (210) is a convex arc surface.

2. The insertion part according to claim 1, characterized in that, The deformation mark (230) is at least one of a dot mark, a linear mark, a curve mark, a ring mark, and a grid mark; and / or, the insertion body (100) has a sealing cavity distributed on the proximal side of the elastic membrane (200) and the sealing cavity corresponds to the camera module (400).

3. The insertion part according to claim 2, characterized in that, The elastic membrane (200) is fitted onto the distal end of the insertion body (100).

4. The insertion part according to claim 3, characterized in that, The connecting portion (220) is fixed to the insertion portion body (100), and / or, if the insertion portion body (100) includes a skin, the skin covers the connecting portion (220).

5. The insertion portion according to any one of claims 1 to 4, characterized in that, The deformation mark (230) is made of colored light material.

6. The insertion portion according to claim 5, characterized in that, The deformation mark (230) is made of green light material.

7. An endoscope, characterized in that, Includes the insertion portion as described in any one of claims 1 to 6.

8. A renal pressure detection system, using the insertion part according to any one of claims 1 to 6, characterized in that, The intrarenal pressure detection system includes: The first acquisition module (510) is used to acquire the first image information collected by the camera module (400), wherein the camera module (400) is disposed at the distal end of the insertion part; The recognition module (520) is used to recognize the current marking information of the deformation mark (230) in the first image information; The calculation module (540) determines the pressure value of the elastic membrane (200) in the current environment based on the current marking information.

9. An endoscope processing system, employing the insertion portion according to any one of claims 1 to 6, characterized in that, include: The second acquisition module (610) is used to acquire the first image information collected by the camera module (400), wherein the camera module (400) is disposed at the distal end of the insertion part; Processing module (620), the processing module (620) is used to process the first image information to obtain second image information in which the current marker information in the first image information is removed; Display module (630), the display module is used for the second image information.

Images