Endoscope insertion section, endoscope, and lithotripsy system

Abstract

The application relates to the technical field of endoscopes, in particular to an endoscope insertion part, an endoscope and a lithotripsy system. The endoscope insertion part comprises a pipe body and a suction channel. The proximal end of the suction channel is used for connecting a negative pressure source. The suction channel comprises a pre-bending section at the distal end. The suction channel is slidably connected with the pipe body in the axial direction to realize the adjustment of the length of the pre-bending section extending out of the distal end of the pipe body. The pre-bending section has a preset included angle with the axial direction of the pipe body in the direction of extending out of the distal end of the pipe body. The preset included angle is an acute angle. For the stones in the lower calices, the endoscope insertion part can not enter the lower calices, but the target stones are adsorbed and fixed by the negative pressure in the suction channel, then the target stones are pulled to the distal end surface of the endoscope insertion part through the suction channel, and the laser lithotripsy operation on the target stones can be carried out, so that the efficient treatment of the stones in the lower calices is realized, and the operation safety in the lithotripsy process is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of endoscopes, in particular to an endoscope insertion part, an endoscope and a lithotripsy system. BACKGROUND

[0002] An endoscope is a medical instrument that can directly enter the body cavity for examination, providing sufficient diagnostic information for doctors. An endoscope generally includes an insertion part for insertion into the human body, a handle for controlling the bending of the front end of the insertion part, and a display device for displaying the internal environment of the natural cavity of the human body; the endoscope can realize peeping, lesion exploration and treatment of the human body through the cooperation of the above three parts. An instrument mouth is arranged on the handle, which is in communication with an instrument channel in the insertion part, and is used for placing a surgical instrument, such as a holmium laser for performing laser lithotripsy in a renal calyx.

[0003] The applicant found in the process of implementing the present application that due to the limitation of the structure of the renal calyx, the distal end of the endoscope is difficult to extend into the lower calyx, resulting in the easy retention of stones in the lower calyx and the increase of the difficulty of stone treatment. SUMMARY

[0004] The purpose of the present application is to provide an endoscope insertion part, an endoscope and a lithotripsy system, which solve the above technical problems existing in the prior art.

[0005] The present application is implemented as follows:

[0006] In a first aspect, the present application provides an endoscope insertion part, comprising:

[0007] A tube body, a camera module is arranged on the distal end of the tube body, the camera module is used to acquire image information in the axial direction of the distal end of the tube body, an instrument channel is arranged in the tube body in the axial direction of the tube body, and the instrument channel is used to place a surgical instrument;

[0008] An aspiration channel, a proximal port of the aspiration channel is used to communicate with a negative pressure source, the aspiration channel includes a pre-bending section at the distal end, the aspiration channel is connected with the tube body in sliding along the axial direction of the tube body to realize the adjustment of the length of the pre-bending section extending out of the distal end of the tube body, the pre-bending section has a preset included angle with the axial direction of the tube body in the direction of extending out of the distal end of the tube body, and the preset included angle is an acute angle; the sliding stroke of the aspiration channel and the tube body includes a first position, and in the first position, the distal port of the aspiration channel is located on the central axis of the camera module, the instrument channel or the tube body.

[0009] In a second aspect, the present application provides an endoscope, comprising a handle and the above-mentioned endoscope insertion part, and the proximal end of the endoscope insertion part is connected with the distal end of the handle.

[0010] In a third aspect, the application provides a lithotripsy system, comprising a control module and the endoscope described above, the control module being configured to determine whether the calculus is at a target point based on image information obtained by the camera module, the target point being a position of the distal end of the suction channel.

[0011] The technical scheme provided by the application can achieve the following beneficial effects:

[0012] The endoscope insertion part can not enter the lower calyx, but is first adjusted to a position such that the target calculus in the lower calyx is at a preset distance from the distal end face of the endoscope, then the suction channel is extended into the lower calyx, the target calculus is adsorbed and fixed by the negative pressure in the suction channel, and then the target calculus is pulled to the distal end face of the endoscope insertion part, so that laser lithotripsy operation can be performed on the target calculus, thereby achieving efficient treatment of the calculus in the lower calyx and improving the safety of the lithotripsy operation. BRIEF DESCRIPTION OF DRAWINGS

[0013] In order to more clearly illustrate the technical scheme in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiments or the prior art description. Obviously, the drawings in the following description are only some embodiments of the application, and for those skilled in the art, other drawings can also be obtained without creative labor on the basis of these drawings.

[0014] Figure 1 is a structural schematic diagram of the endoscope of the application;

[0015] Figure 2 is a structural schematic diagram of the endoscope of the application; Figure 1 is a partial enlarged view of A in

[0016] Figure 3 is a structural schematic diagram of the inside of the handle of the endoscope of the application;

[0017] Figure 4 is a structural schematic diagram of the endoscope insertion part of the application;

[0018] Figure 5 is a structural schematic diagram of the inside of the distal end of the endoscope insertion part of the application;

[0019] Figure 6 is a structural schematic diagram of the endoscope insertion part of the application; Figure 5 is a partial enlarged view of B in

[0020] Figure 7 is a structural schematic diagram of the endoscope insertion part of the application when the pre-bending section is extended;

[0021] Figure 8 is a use state diagram of the endoscope insertion part of the application;

[0022] Figure 9 is a schematic diagram of the working state of the endoscope insertion part in the present application when determining the target calculus;

[0023] Figure 10 is a schematic diagram of the working state of the endoscope insertion part in the present application when adjusting the endoscope insertion part to the target calculus at the target point;

[0024] Figure 11 is a schematic diagram of the working state of the endoscope insertion part in the present application when extending the suction channel to the target point;

[0025] Figure 12 is a schematic diagram of the working state of the endoscope insertion part in the present application when pulling back the target calculus by using the suction channel.

[0026] In the figure:

[0027] 10, tube body; 110, camera module; 120, instrument channel; 130, suction channel; 131, pre-bent section; 132, rigid section; 133, redundant section; 134, socket; 135, flexible rib; 140, mounting cavity; 141, limiting groove; 150, illumination unit; 151, guide surface; 152, elastic member; 153, traction member; 20, handle; 210, sliding block. DETAILED DESCRIPTION

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

[0029] In the specification and claims, “and / or” means at least one of the connected objects, and the character “ / ” generally means that the front and rear associated objects are in an “or” relationship.

[0030] In the embodiments of the present application, “proximal end” and “distal end” refer to the relative positions of the endoscope and its accessories in the use environment relative to the user, wherein the end closer to the user is designated as “proximal end”, and the end farther away from the user is designated as “distal end”.

[0031] Endoscope soft mirror is used to enter into kidney calyx through natural cavity of human body to perform laser lithotripsy surgery on kidney calyx stones. In the prior art, after the endoscope enters into the kidney calyx through the ureter, the distance between the stone and the front end face of the endoscope insertion part can be obtained based on image technology through the camera module at the front end of the endoscope, so as to perform lithotripsy on the stone. However, in the process of laser lithotripsy in the kidney calyx, due to the large bending angle between the lower calyx and the ureter and the small space in the kidney calyx, it is difficult to control the endoscope to directly enter into the lower calyx for stone treatment operation on the premise that the endoscope does not damage the inner wall of the kidney calyx, thereby causing the difficulty in treating the stones in the lower calyx or the stones falling into the lower calyx, and only the stones in the lower calyx can be flushed out of the lower calyx by perfusion fluid for treatment, resulting in the problem of low efficiency of stone treatment in the lower calyx. Therefore, the present application provides an endoscope insertion part, an endoscope and a lithotripsy system. An aspiration channel is added to the endoscope insertion part. For the stones in the lower calyx, the endoscope insertion part does not enter into the lower calyx, but adjusts the position of the endoscope insertion part so that the target stone in the lower calyx and the distal end face of the endoscope are at a predetermined distance. Then the aspiration channel is extended into the lower calyx. When the aspiration channel moves to the first position, the distal end port of the aspiration channel is just corresponding to the target stone. The target stone is adsorbed and fixed by the negative pressure in the aspiration channel. Then the target stone is pulled to the distal end face of the endoscope insertion part through the aspiration channel. The laser lithotripsy operation on the target stone can be performed, so as to realize efficient treatment of the stones in the lower calyx, and improve the safety of the operation in the lithotripsy process. The specific embodiments are as follows.

[0032] The present embodiment provides an endoscope insertion part, as shown in Figures 1-7 The present embodiment provides an endoscope insertion part, as shown in

[0033] The tube body 10 can realize directional bending, which is a prior art. Specifically, the directional bending can be realized by the bending serpentine at the distal end of the tube body 10, cooperating with the lever on the handle 20. The lever is connected with the bending serpentine through a traction rope. The directional bending of the bending serpentine is realized by moving the lever. The distal end of the tube body 10 is provided with a camera module 110. The camera module 110 is used to obtain the image information of the distal end axis of the tube body 10, so as to obtain the field of view of the distal end of the endoscope insertion part to observe the internal condition of the body cavity. The camera module 110 can be a fixed focus or zoom camera module. Whether the target stone is at the focal point of the camera module 110 can be used to judge the distance between the target stone and the distal end face of the endoscope insertion part. An instrument channel 120 is arranged in the tube body 10 along the axial direction of the tube body. The instrument channel 120 is used to place a surgical instrument. The surgical instrument can be a biopsy forceps, a stone basket, a dilator, an electrotome, a laser fiber, a guide wire, a double J tube, a drainage tube or an injection needle. In order to cooperate with the camera module 110, the distal end of the tube body 10 is also provided with an illumination unit 150 to provide illumination light.

[0034] An aspiration channel 130, a proximal end of the aspiration channel 130 is configured to be connected to a negative pressure source, the proximal end of the aspiration channel 130 can be a socket 134 arranged on the handle 20, the negative pressure source is a prior art, and can be a vacuum pump, a container in a negative pressure state, etc., which is not limited here; the aspiration channel 130 includes a pre-bent section 131 at a distal end, the aspiration channel 130 is axially and slidably connected to the tube body 10 to adjust the length of the pre-bent section 131 extending out of the distal end of the tube body 10, when the aspiration channel 130 corresponds to the tube body 10, the pre-bent section 131 is consistent with the tube body 10 due to the sliding connection with the tube body 10, and after the pre-bent section 131 extends out of the distal end of the tube body 10, the extended part of the pre-bent section 131 is in a bent shape; the pre-bent section 131 extends out of the distal end of the tube body 10 at a preset angle with the axial direction of the tube body 10, the preset angle is an acute angle, based on which, the pre-bent section 131 extending out of the distal end of the tube body 10 can reduce the shielding of the camera module 110, avoid the shielding of the target stone in the front by the extended pre-bent section 131, and make it easier for the operator to correspond the extended pre-bent section 131 with the target stone; the sliding stroke of the aspiration channel 130 and the tube body 10 includes a first position, at the first position, the distal end of the aspiration channel 130 is located on the central axis of the camera module 110, the instrument channel 120 or the tube body 10, and in the embodiment, the distal end of the aspiration channel 130 is located on the optical axis of the camera module 110, at this time, the distal end of the aspiration channel 130 is a target point, when processing the stone in the limited space, the endoscope insertion part can be controlled to not enter the limited space or a small part of the endoscope insertion part enters the limited space, so that the endoscope insertion part has a larger adjustment space when adjusting the posture to align the target stone, which reduces the risk of interference between the endoscope insertion part and the inner wall of the limited space, and improves the posture adjustment efficiency of the endoscope insertion part, then the endoscope insertion part is adjusted based on the target stone to make the target stone at the target point, and then the aspiration channel 130 is axially slid relative to the tube body 10 to slide the aspiration channel 130 to the first position, so that the distal end of the extended aspiration channel 130 corresponds to the target stone, and then the target stone can be fixed on the distal end of the aspiration channel 130 by using the negative pressure in the aspiration channel 130, and then the aspiration channel 130 is reversely slid to move the target stone close to the distal end surface of the endoscope insertion part, so that the target stone is moved out of the limited space, and then the target stone can be quickly crushed by the laser fiber or the stone basket in the instrument channel 120; for example, when the stone in the lower calyx needs to be crushed, as shown in Figures 8-12 , the endoscope insertion part is arranged in the renal pelvis close to the lower calyx, and then the posture of the endoscope insertion part is adjusted to make the target stone in the lower calyx and the distal end surface of the endoscope insertion part at a preset distance, as shown in Figure 10As shown, the target calculus is at the target point; then the pre-bent section 131 of the suction channel 130 is extended into the inferior horn, and when the suction channel 130 slides to the first position, the distal port of the suction channel 130 is just corresponding to the target calculus at the target point. Figure 11 As shown, the target calculus is fixed by the negative pressure in the suction channel 130, and then the target calculus is pulled out of the inferior horn by the suction channel 130. Figure 12 As shown, the target calculus is close to the distal end face of the endoscope insertion part, and the laser fiber in the instrument channel 120 can be used to perform laser lithotripsy operation on the target calculus, so as to realize efficient treatment of the calculus in the inferior horn and improve the safety of the operation during the lithotripsy.

[0035] In some embodiments, in order to realize that the extension direction of the pre-bent section 131 from the distal end of the tube body 10 keeps a preset angle with the axial direction of the tube body 10, a guide surface 151 can be arranged on the tube body 10, which cooperates with the suction channel 130 to reduce the resistance when the suction channel 130 is extended, and to ensure that the pre-bent section 131 extends along the extension direction of the guide surface 151, so that the extension direction of the pre-bent section 131 from the distal end of the tube body 10 keeps a preset angle with the axial direction of the tube body 10, avoiding that the pre-bent section 131 directly blocks the view of the target calculus when it is extended, so that the suction channel 130 can approach the target calculus in the visual environment, so as to cope with unexpected situations and make corresponding adjustments in time, and improve the operation safety.

[0036] In some embodiments, a mounting cavity 140 can be arranged on the tube body 10, the suction channel 130 is arranged in the mounting cavity 140, and the guide surface 151 is arranged at the distal end of the mounting cavity 140. The mounting cavity 140 is used to constrain the pre-bent section 131, so that the pre-bent section 131 keeps the same posture with the tube body 10 when it is not extended out of the mounting cavity 140, so as to improve the passability and use safety of the endoscope insertion part.

[0037] In some embodiments, to improve the steering flexibility of the endoscope insertion part, the guide surface 151 can be arranged on a movable plate in the mounting channel 140, which is hinged to the inner wall of the mounting channel 140 to adjust the direction of the pre-bent section 131 extending out of the distal end of the tube 10. Based on the above structure, if the relative position of the target calculus and the distal end of the endoscope insertion part moves during the extension of the suction channel 130 to approach the target calculus, the movable plate can be steered to change the direction of the extension of the suction channel 130 out of the mounting channel 140, so that the pre-bent section 131 actively approaches the target calculus after the relative displacement, without the need to adjust the posture of the endoscope insertion part, which can improve the convenience and safety of calculus treatment. When the target calculus is pulled back, the guide surface 151 can also be adjusted to reduce the preset angle, so that the pulled back target calculus is closer to the instrument channel 120, facilitating subsequent laser lithotripsy operation.

[0038] In some embodiments, to improve the convenience of the extension of the pre-bent section 131 out of the mounting channel 140, the distal end of the mounting channel 140 can be arranged to extend from the distal end surface of the tube 10 to the distal end peripheral wall of the tube 10, so that the pre-bent section 131 extends out of the distal end surface of the tube 10 or retracts, and the pulled back target calculus is in front of the distal end surface of the tube 10, facilitating lithotripsy treatment. At the same time, based on the mounting channel 140 distal end portion arranged on the peripheral wall of the tube 10, which corresponds to the guide surface 151, the pre-bent section 131 passing through the guide surface 151 is avoided, reducing the resistance of the pre-bent section 131 passing through the guide surface 151, and improving the convenience and stability of the sliding control of the suction channel 130 on the tube 10.

[0039] Specifically, the fixed end of the movable plate can be hinged to the mounting channel 140, and the free end of the movable plate can be connected to the inner wall of the mounting channel 140 through the elastic member 152. The insertion part further comprises a traction member 153 connected to the movable plate. When the traction member 153 is pulled proximally, the traction member 153 drives the movable plate to compress the elastic member 152, so that the movable plate swings forward, reducing the angle between the guide surface 151 and the axis of the tube 10. If the pre-bent section 131 has already extended out of the mounting channel at this time, it will swing towards the axis of the tube 10. When the traction member 153 is released or pushed distally, the elastic force of the elastic member 152 drives the movable plate to swing reversely, increasing the angle between the guide surface 151 and the axis of the tube 10. If the pre-bent section 131 has already extended out of the mounting channel 140 at this time, it will swing away from the axis of the tube 10, so that the distal end of the suction channel 130 can quickly capture the target calculus that has been displaced.

[0040] In some embodiments, in order to produce the suction channel 130 at low cost, a flexible rib 135 can be arranged on the peripheral wall of the suction channel 130, the flexible rib 135 is arranged along the axial direction of the suction channel 130, and the flexible rib 135 is arranged at least corresponding to the pre-bending section 131, and the corresponding part of the flexible rib 135 and the pre-bending section 131 is a pre-bending structure. Based on the above structure, the flexible rib 135 and the corresponding pipe of the suction channel 130 can be produced separately, and then the flexible rib 135 is fixed with the pipe, so that the flexible rib 135 imparts a pre-bending structure to the distal end of the pipe, thereby reducing the difficulty and cost of preparing the suction channel 130.

[0041] In some embodiments, in order to ensure that the pre-bending section 131 extends out of the installation cavity 140 to approach the target calculus at a preset posture, a limiting groove 141 corresponding to the flexible rib 135 can be arranged on the inner wall of the installation cavity 140, and the flexible rib 135 and the limiting groove 141 are used in cooperation to prevent the suction channel 130 from rotating circumferentially in the installation cavity 140, so that the pre-bending section 131 extends out to approach the target calculus at a preset posture, thereby reducing the risk of damaging the inner wall of the lower calyx during the extension of the pre-bending section 131, and improving the safety of the equipment.

[0042] In some embodiments, the installation cavity 140 can be arranged as a hole or a groove on the pipe body 10, and preferably, the installation cavity 140 is arranged as a groove on the pipe body 10, so as to facilitate the installation of the suction channel 130 on the pipe body 10, and then a coating layer is added outside the pipe body 10 during production to seal the corresponding groove of the installation cavity 140, thereby reducing the risk of damaging the human body cavity when the pipe body 10 is placed in the human body cavity.

[0043] In some embodiments, in order to reduce the shielding of the corresponding field of view of the camera module 110 during the extension of the pre-bending section 131, the axis of the flexible rib 135 and the suction channel 130 can be arranged on the same radial direction of the pipe body 10, and the flexible rib 135 is located between the axis of the suction channel 130 and the axis of the pipe body 10. Correspondingly, the bending direction of the pre-bending section 131 is consistent with the radial direction of the pipe body 10 where the flexible rib 135 is located, so that the pre-bending section 131 is located at a radial position in the field of view of the camera module 110 after extension, thereby reducing the shielding of the field of view of the camera module 110, and also facilitating the control of the extension posture of the pre-bending section 131, and reducing the risk of lithotripsy by judging the risk of scratching the inner wall of the renal calyx by the pre-bending section 131.

[0044] In some embodiments, to facilitate driving the suction channel 130 to slide along the tube body 10 in the axial direction, the suction channel 130 can be provided with a rigid section 132 at the proximal end, which is used to achieve sliding control between the suction channel 130 and the tube body 10. By pushing the rigid section 132 to slide in the installation cavity 140, the pre-bent section 131 is driven to extend out of or retract into the installation cavity 140. Specifically, the rigid section 132 can be arranged to pass through the proximal end of the installation cavity 140, and a sliding block 210 can be arranged on the handle 20, which is in sliding connection with the housing of the handle 20. The rigid section 132 is connected to the sliding block 210 through a transmission member, and the tube body 10 is fixedly connected to the handle 20. By controlling the sliding block 210 to slide on the housing of the handle 20, the rigid section 132 is driven to slide relative to the installation cavity 140, so as to control the pre-bent section 131 to extend out of or retract into the installation cavity 140.

[0045] In some embodiments, the suction channel 130 can be provided with a passive bending section between the rigid section 132 and the pre-bent section 131, to adapt to the adaptive bending of the insertion part during placement in the human body. Preferably, the stroke between the suction channel 130 and the tube body 10 can include a second position, at which the pre-bent section 131 of the suction channel 130 corresponds to the passive bending section of the tube body 10. In this way, during the placement of the insertion part of the endoscope into the body cavity, the interference of the suction channel 130 with the directional bending of the insertion part is reduced, and the stability and convenience of the directional bending control of the insertion part are improved. It should be noted that the active bending section of the tube body 10 is located at the distal end of the passive bending section of the tube body 10, and the active bending section of the tube body 10 is controlled by the traction rope of the endoscope to achieve directional bending. The active bending section and the passive bending section of the tube body 10 are structures of the prior art, and will not be described here.

[0046] The present embodiment provides an endoscope, which can be a nephroscope, a bronchoscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a nasoscope, an oral cavity scope, a laryngoscope, a colposcope, a laparoscope, an arthroscope, etc. The type of the endoscope is not specifically limited in the present embodiment. Figures 1-3 As shown in the figure, the endoscope includes a handle 20 and an insertion part of the endoscope as described in the above embodiments, and the proximal end of the insertion part is connected to the distal end of the handle 20.

[0047] The endoscope provided in the present embodiment can be a nephroscope, a bronchoscope, an esophagoscope, a gastroscope, a colonoscope, an otoscope, a nasoscope, an oral cavity scope, a laryngoscope, a colposcope, a laparoscope, an arthroscope, etc. The type of the endoscope is not specifically limited in the present embodiment.

[0048] The embodiment provides a lithotripsy system, which comprises a control module and the endoscope in the above embodiment, and the control module is configured to determine whether a calculus is at a target point based on image information acquired by the camera module 110, and the target point is a position of a distal port of the suction channel 130. In application, the endoscope insertion part in the renal pelvis can acquire image information of a calculus in the lower calyx through the camera module 110, after the target calculus is determined, the distance between the target calculus and the distal end surface of the insertion part can be determined based on existing image technology, or whether the target calculus is at the focal point of the camera module 110 can be determined through the image information. Since the focal point of the camera module 110 can be determined through the physical parameters of the camera module 110, when the focal point of the camera module 110 corresponds to the target point, whether the target calculus is at the target point can be determined directly through the target calculus image information acquired by the camera module 110. The posture of the endoscope insertion part in the renal pelvis is adjusted through directional bending, circumferential rotation and other actions of the endoscope insertion part, the relative position between the distal end surface of the endoscope insertion part and the target calculus is changed, the target calculus is at the target point relative to the endoscope insertion part, then the suction channel 130 can be controlled to extend, the pre-bent section 131 extends to the first position, so that the distal port of the suction channel 130 corresponds to the target calculus. Since the proximal end of the suction channel 130 is connected to the negative pressure source, when the negative pressure source is started, the target calculus can be adsorbed and fixed at the distal end of the suction channel 130 by using the pressure difference. Then, the suction channel 130 is controlled to retract, so that the target calculus is moved out of the lower calyx and pulled back to the distal end surface of the insertion part. The calculus can be cleaned and treated by cooperating with the laser fiber or the stone basket arranged in the instrument channel 120.

[0049] It should be noted that, in this document, the terms "comprising", "containing", or any other similar term are intended to encompass non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not necessarily include those elements only, but can include other elements not expressly listed, or can include elements inherent in such process, method, article, or apparatus. Without more limitations, the element defined by the phrase "comprising a" does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0050] The above is only a specific embodiment 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 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 endoscope insertion section characterized by comprising: The application relates to an endoscope insertion part. The endoscope insertion part comprises a tube body, a camera module arranged on the distal end of the tube body, an instrument channel arranged in the tube body along the axial direction of the tube body, and an attraction channel. The attraction channel is connected with a negative pressure source through a proximal port, and comprises a pre-bent section at the distal end. The attraction channel is connected with the tube body in a sliding mode to adjust the length of the pre-bent section extending out of the distal end of the tube body. The pre-bent section extends out of the distal end of the tube body at a preset angle with the axial direction of the tube body.

2. An insertion section of an endoscope according to claim 1, characterized in that The tube body is provided with a guide surface which cooperates with the attraction channel to realize the preset angle between the extending direction of the pre-bent section out of the distal end of the tube body and the axial direction of the tube body.

3. An insertion section of an endoscope according to claim 1, characterized in that The guide surface is arranged on a movable plate in the installation cavity.

4. An insertion section of an endoscope according to any one of claims 1 to 3, characterized in that The distal end of the installation cavity extends from the distal end surface of the tube body to the distal end peripheral wall of the tube body.

5. An endoscope insertion section according to claim 4, wherein The fixed end of the movable plate is hinged to the installation cavity, and the free end of the movable plate is connected to the inner wall of the installation cavity through an elastic member.

6. An insertion section for an endoscope according to claim 4, wherein The attraction channel is provided with flexible ribs on the peripheral wall.

7. An insertion section for an endoscope according to claim 4, wherein The flexible ribs are arranged along the axial direction of the attraction channel.

8. An insertion section of an endoscope according to any one of claims 1 to 3, characterized in that The flexible ribs are arranged corresponding to the pre-bent section.

9. An endoscope characterized by comprising: The inner wall of the installation cavity is provided with limiting grooves corresponding to the flexible ribs.

10. A rock fragmentation system characterized by, The installation cavity is a hole or a groove on the tube body. The flexible ribs and the axis of the attraction channel are located on the same radial direction of the tube body. The attraction channel comprises a rigid section at the proximal end. The rigid section is used for realizing the sliding control between the attraction channel and the tube body. The endoscope insertion part comprises a handle and the endoscope insertion part of any one of claims 1-8. The proximal end of the endoscope insertion part is connected with the distal end of the handle. The endoscope comprises a control module. The control module is configured to determine whether the calculus is at a target point based on the image information obtained by the camera module. The target point is the position of the distal port of the attraction channel when the attraction channel is at the first position.

Images