Endoscope

Abstract

The utility model provides an endoscope. The endoscope comprises a bendable insertion tube, a magnetic piece and a sensing piece. The insertion tube is provided with a cavity extending in the length axis direction of the insertion tube. The magnetic piece is arranged in the cavity in a penetrating mode and synchronously bends along with the insertion pipe when the insertion pipe is bent, and the magnetic piece is at least partially provided with a magnetic field generating part used for generating a magnetic field in the length axis direction of the magnetic piece. The sensing piece is arranged in the circumferential direction of the insertion tube, located in the magnetic field generated by the magnetic field generation part and used for sensing changes of the magnetic field so as to determine the bending angle of the insertion tube at the position where the sensing piece is arranged. Therefore, both the magnetic part and the sensing part can be integrated in the insertion tube, and while it is guaranteed that the bending angle of the insertion tube of the endoscope can be accurately detected, the integration level of the endoscope and the use convenience of an operator can be improved.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, specifically to an endoscope. Background Technology

[0002] Endoscopes are frequently used to examine patients during diagnosis. An endoscope typically consists of a handle and a flexible insertion tube. The handle is connected to the base of the insertion tube, and a lens is attached to the distal end of the tube (the end furthest from the handle). During use, the physician inserts the distal end of the endoscope's insertion tube from outside the body through a natural body cavity or open incision into the patient's body. The physician can control the bending of the distal end of the insertion tube using the handle to reach the target site and examine specific areas of the body.

[0003] In related technologies, multiple magnetic field generating elements are placed inside the endoscope insertion tube along its length axis, and a magnetic field detection element is placed on the external part of the endoscope. The magnetic field detection element is used to detect the spatial position of each magnetic field generating element, and then the bending shape of the insertion tube is deduced based on the relative spatial positions of each magnetic field generating element. Based on this, the bending angle of the insertion tube at a certain position can be further deduced. However, the above solution requires the installation of magnetic field detection elements on the external part and external equipment for deducing the bending shape of the insertion tube and / or the bending angle at a certain position based on the spatial position information of each magnetic field generating element. The structure is relatively complex, the integration between the components is low, and it is not conducive to the operation of the operator. Utility Model Content

[0004] In order to at least partially solve the problems existing in the prior art, according to one aspect of the present invention, an endoscope is provided, the technical solution of which is as follows.

[0005] The endoscope includes a bendable insertion tube, a magnetic component, and a sensing component. The insertion tube has a cavity extending along its length axis. The magnetic component is disposed within the cavity and bends synchronously with the insertion tube when it bends. The magnetic component has at least partially provided a magnetic field generating portion along its length axis for generating a magnetic field. The sensing component is disposed circumferentially on the insertion tube and within the magnetic field generated by the magnetic field generating portion, for sensing changes in the magnetic field to determine the bending angle of the insertion tube at the location where the sensing component is disposed.

[0006] This invention relates to an endoscope in which a magnetic component is inserted into the cavity of an insertion tube, bending synchronously with the tube when it bends. This ensures that the insertion tube and the magnetic component have approximately the same bending shape and angle. Furthermore, since the magnetic component has at least partially a magnetic field generating part along its length axis, and a sensing element is disposed within this magnetic field, the bending angle of the magnetic component at the sensing element's location can be determined by detecting changes in the magnetic field at that location, thereby determining the bending angle of the endoscope insertion tube at that location. Therefore, both the magnetic component and the sensing element can be integrated into the insertion tube, ensuring accurate detection of the endoscope insertion tube's bending angle while improving the endoscope's integration and ease of use for the operator.

[0007] By way of example, the endoscope also includes a bending control assembly having a bending actuation element, a magnetic element connected to the bending actuation element and the distal end of the insertion tube respectively, and configured to bend the distal end of the insertion tube under the control of the bending actuation element.

[0008] For example, the magnetic component includes a traction wire connected to a bending operation member and the distal end of an insertion tube, respectively, and configured to bend the distal end of the insertion tube under the control of the bending operation member. The traction wire is at least partially covered with a magnetic plating layer along its length axis, and the magnetic plating layer forms a magnetic field generating portion.

[0009] For example, the traction wire is coated with a magnetic layer at least on the outer periphery of the portion passing through the cavity.

[0010] For example, the insertion tube includes a flexible portion and a bending portion connected in sequence, a magnetic element located within the flexible portion, the magnetic element including a spring tube; the endoscope also includes a bending control assembly having a bending operation element and a traction wire, the traction wire passing through the spring tube and connected to the distal ends of the bending operation element and the bending portion respectively, and configured to cause the bending portion to bend under the control of the bending operation element.

[0011] For example, there are multiple sensors, which are spaced apart along the length axis of the insertion tube.

[0012] For example, the magnetic component has multiple magnetic field generating parts arranged along its own length direction, and the multiple magnetic field generating parts correspond one-to-one with multiple sensing elements.

[0013] For example, the magnetic elements include a plurality of magnetic elements, which are spaced apart in the circumferential direction of the insertion tube.

[0014] For example, a protective layer is formed on the outer surface of the magnetic field generating part.

[0015] The above description is merely an overview of the technical solution of this utility model. In order to better understand the technical means of this utility model and to implement it in accordance with the contents of the specification, and to make the above and other objects, features and advantages of this utility model more obvious and understandable, specific embodiments of this utility model are given below. Attached Figure Description

[0016] The above and other objects, features, and advantages of this utility model will become more apparent from the more detailed description of the embodiments thereof in conjunction with the accompanying drawings. The drawings are provided to further illustrate the embodiments of this utility model and form part of the specification. They are used together with the embodiments of this utility model to explain the utility model and do not constitute a limitation thereof. In the drawings, the same reference numerals generally represent the same components or steps.

[0017] Figure 1 A schematic diagram of the structure of an endoscope according to an exemplary embodiment of the present invention is shown;

[0018] Figure 2 A schematic diagram showing the change in magnetic field as the insertion tube passes through the sensing element in a non-bent state, according to an exemplary embodiment of the present invention, is shown.

[0019] Figure 3 A schematic diagram showing the change in the magnetic field as the insertion tube passes through the sensing element in a bent state, according to an exemplary embodiment of the present invention;

[0020] Figure 4 A schematic flowchart of an endoscope insertion tube bending detection method according to an embodiment of the present invention is shown.

[0021] The components indicated by the reference numerals in the figures are:

[0022] 1. Insertion tube; 11. Cavity; 2. Magnetic component; 21. Magnetic field generating part; 22. Traction wire; 3. Sensing component; 4. Bending operation component; 5. Magnetic field. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this utility model more apparent, exemplary embodiments according to this utility model will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are merely some embodiments of this utility model, and not all embodiments of this utility model. It should be understood that this utility model is not limited to the exemplary embodiments described herein. Based on the embodiments of this utility model described herein, all other embodiments obtained by those skilled in the art without inventive effort should fall within the protection scope of this utility model.

[0024] In the following description, numerous details are provided to enable a thorough understanding of the present invention. However, those skilled in the art will appreciate that the following description merely illustrates preferred embodiments of the present invention, which may be practiced without one or more of these details. Furthermore, to avoid confusion with the present invention, some technical features well-known in the art have not been described in detail.

[0025] To fully understand the embodiments of this utility model, a detailed structure will be presented in the following description. Obviously, the implementation of the embodiments of this utility model is not limited to the specific details familiar to those skilled in the art. Preferred embodiments of this utility model are described in detail below; however, in addition to these detailed descriptions, this utility model may have other embodiments.

[0026] One embodiment of this utility model provides an endoscope that can be used in medical, industrial, and other fields. Taking the use of an endoscope in the medical field as an example, the following will provide a detailed description of an endoscope according to an embodiment of this utility model with reference to the accompanying drawings.

[0027] like Figure 1 As shown, the endoscope includes a bendable insertion tube 1, a magnetic element 2, and a sensing element 3. The insertion tube 1 has a cavity 11 extending along its length axis. The magnetic element 2 passes through the cavity 11 and bends synchronously with the insertion tube 1 when it bends. The magnetic element 2 is at least partially provided with a magnetic field generating part 21 for generating a magnetic field 5 along its length axis. The sensing element 3 is disposed circumferentially on the insertion tube 1 and located within the magnetic field 5 generated by the magnetic field generating part 21, for sensing changes in the magnetic field 5 to determine the bending angle of the insertion tube 1 at the location where the sensing element 3 is provided.

[0028] The insertion tube 1 is flexible and can be bent under external force, allowing it to move along cavities within the patient's body. To facilitate control of the insertion tube 1's direction of travel, the operator can control the distal end of the insertion tube 1 at a predetermined bending angle using a bending control assembly described later.

[0029] The shape of the insertion tube 1 can be a cuboid or a cylinder, etc., preferably a cylinder.

[0030] The sensing element 3 can be used to sense changes in the surrounding magnetic field 5. The signal sensed by the sensing element 3 (i.e., the change in the magnetic field 5) can be transmitted to the endoscope host via wired or wireless transmission, so that the endoscope host can determine the bending angle of the insertion tube 1 at the location where the sensing element 3 is set based on the signal sensed by the sensing element 3. The sensing element 3 can be set at any location along the length axis of the insertion tube 1 where the bending angle of the insertion tube 1 needs to be detected. For example, the sensing element 3 can be a Hall sensor, which is suitable for different application scenarios and working environments. The Hall sensor can provide reliable measurement results in both low and high magnetic field environments. Furthermore, the Hall sensor is highly sensitive to changes in the magnetic field 5, providing accurate detection results and effectively ensuring the reliability and accuracy of the endoscope's bending angle detection.

[0031] See also Figure 2 and Figure 3 When the magnetic field lines generated by the magnetic component 2 (since magnetic field lines are curves used to represent the direction and intensity of the magnetic field 5, they will be referred to as magnetic field 5 in the following text for ease of explanation) pass through the sensing component 3, the sensing component 3 will generate a corresponding voltage value. When the magnetic component 2 bends along with the insertion tube 1, different voltage values ​​are formed on opposite sides of the magnetic component 2. Furthermore, the magnetic field 5 intensity on the side of the magnetic component 2 that is bent will become stronger, and the magnetic field 5 intensity on the side away from the bend of the magnetic component 2 will become weaker. The output voltage difference of the sensing component 3 can reflect the bending direction and angle of the magnetic component 2 at the location of the sensing component 3, thereby realizing the detection of the bending angle of the magnetic component 2. In addition, since the magnetic component 2 bends synchronously with the insertion tube 1, the bending angle of the insertion tube 1 is approximately the same as the bending angle of the magnetic component 2. Therefore, the detected bending angle of the magnetic component 2 can be used as the bending angle of the insertion tube 1, thereby realizing the detection of the bending angle of the insertion tube 1 of the endoscope.

[0032] The endoscope of this invention incorporates a magnetic component 2 inserted into the cavity of the insertion tube 1, allowing it to bend synchronously with the insertion tube 1 when it bends. This ensures that the insertion tube 1 and the magnetic component 2 have approximately the same bending angle. Furthermore, since the magnetic component 2 has at least partially a magnetic field generating part 21 for generating a magnetic field 5 along its length axis, and a sensing element 3 is disposed within this magnetic field 5, the bending angle of the magnetic component 2 at the location of the sensing element 3 can be determined by detecting changes in the magnetic field at that location. This, in turn, determines the bending angle of the endoscope insertion tube 1 at the location of the sensing element 5. Therefore, both the magnetic component 2 and the sensing element 3 can be integrated into the insertion tube 1, ensuring accurate detection of the bending angle of the endoscope insertion tube 1 while also improving the integration of the endoscope and the ease of use for the operator.

[0033] In some embodiments, such as Figure 1As shown, the endoscope also includes a bending control assembly with a bending operation member 4, which is typically disposed in the operating section of the endoscope. The magnetic member 2 is connected to the bending operation member 4 and the distal end of the insertion tube 1, respectively, and is configured to bend the distal end of the insertion tube 1 under the control of the bending operation member 4.

[0034] The distal end of the insertion tube 1 can be represented as the end of the insertion tube 1 furthest from the operator. The operator can use the bending operation member 4 to pull the magnetic member 2, thereby causing the distal end of the insertion tube 1 to bend. It can be understood that since the magnetic member 2 is inserted into the cavity 11 of the insertion tube 1 and is used to bend the distal end of the insertion tube 1 under the control of the bending operation member 4, the magnetic member 2 is usually in a taut state and always has a bending shape consistent with the insertion tube 1. Thus, the bending shape of the insertion tube 1 can be accurately simulated.

[0035] In the above embodiments, the magnetic component 2 is used as a traction component to control the bending of the distal end of the insertion tube 1. Based on the same component, the bending control function of the distal end of the insertion tube 1 and the bending angle detection function of the insertion tube 1 can be realized simultaneously. This can effectively reduce the contents in the cavity 11 of the insertion tube 1, which is beneficial to reducing the radial dimension of the insertion tube 1.

[0036] In some embodiments, the magnetic element 2 includes a traction wire 22, which is connected to the bending operation member 4 and the distal end of the insertion tube 1, and is configured to bend the distal end of the insertion tube 1 under the control of the bending operation member 4. The traction wire 22 is at least partially covered with a magnetic plating layer along its length axis, and the magnetic plating layer forms a magnetic field generating part 21.

[0037] The bending operation member 4 can bend the distal end of the insertion tube 1 by means of the traction line 22. The traction line 22 can be covered with a magnetic coating to ensure that a magnetic field 5 can be generated around the traction line 22.

[0038] The position of the magnetic field generating unit 21 can correspond to the position of the sensing element 3.

[0039] More specifically, in some embodiments, the traction wire 22 has a magnetically plated layer covering the outer periphery of the portion passing through the cavity 11.

[0040] In the above embodiment, the outer periphery of the traction wire 22 located in the cavity 11 may be covered with a magnetic plating layer so that when the traction wire 22 moves along the length axis, a stable magnetic field 5 can still be formed near the sensing element 3, so that the change in magnetic field sensed by the sensing element 3 is only related to the bending angle of the traction wire 22, thereby improving the accuracy of bending angle detection.

[0041] In some embodiments, the insertion tube 1 includes a flexible portion and a bending portion connected in sequence, a magnetic element 2 is located within the flexible portion of the insertion tube 1 and the magnetic element 2 includes a spring tube (not shown in the figure); the endoscope also includes a bending control assembly having a bending operation element 4 and a traction wire 22, the traction wire 22 being inserted through the spring tube and connected to the bending operation element 4 and the distal end of the bending portion of the insertion tube 1 respectively, and being configured to drive the bending portion of the insertion tube 1 to bend under the control of the bending operation element 4.

[0042] In the above embodiment, the bent portion of the insertion tube 1 is the part that bends under the control of the traction line 22, while the flexible portion of the insertion tube 1 is the part that bends without the control of the traction line 22 but can be bent by external force. When the bending operation member 4 drives the bent portion of the insertion tube 1 to bend via the traction line 22, the spring tube sleeved outside the traction line 22 can cause the flexible portion of the insertion tube 1 to bend without the control of the traction line 22, but the spring tube can bend together with the flexible portion of the insertion tube 1 under the action of external force.

[0043] It is understood that the bending angle of the bent portion of the insertion tube 1 is controlled by the bending operation component 4, so the bending angle of the bent portion is usually known. Therefore, in most application scenarios, detecting the bending angle of the insertion tube 1 usually refers to detecting the bending angle of the flexible portion of the insertion tube 1. Furthermore, the spring tube is a conventional component inside the insertion tube 1 of most endoscopes and can be bent synchronously with the flexible portion of the insertion tube 1. Therefore, the bending shape of the spring tube is highly consistent with the bending shape of the flexible portion of the insertion tube 1. Thus, by constructing the spring tube as a magnetic component 2 (for example, using a magnetic material to make the spring tube or plating a conventional spring tube with magnetism), the bending angle of the insertion tube 1 can also be accurately detected.

[0044] As can be seen from the above, in practical applications, conventional components (such as the traction wire 22 and spring tube as described above, or fiber optic bundles, water vapor tubes, etc.) that pass through the cavity 11 of the insertion tube 1 can be configured as magnetic components 2. This allows them to not only perform their original function but also detect the bending angle of the insertion tube 1, thereby avoiding an increase in the radial dimension of the insertion tube 1. Of course, in other embodiments, to further improve the detection accuracy of the bending angle of the insertion tube 1, other components can be introduced as magnetic components 2 and combined with fixing components to ensure the consistency between the bending shape of the magnetic component 2 and the insertion tube 1.

[0045] In some embodiments, such as Figure 1 As shown, there are multiple sensing elements 3, which are spaced apart along the length axis of the insertion tube 1.

[0046] Multiple sensing elements 3 can be arranged at preset intervals along the length axis of the insertion tube 1. The preset interval can range from 10 mm to 100 mm, for example, 10 mm, 25 mm, 50 mm, 75 mm, 100 mm, etc., preferably 50 mm.

[0047] In the above embodiments, when the insertion tube 1 bends in multiple places, the multiple sensing elements 3 can more comprehensively and accurately determine the bending position and bending angle of the insertion tube 1, thereby further improving the accuracy of the endoscope insertion tube 1 bending angle detection.

[0048] In some embodiments, such as Figure 1 As shown, the magnetic component 2 has multiple magnetic field generating parts 21 arranged along its own length direction, and the multiple magnetic field generating parts 21 correspond one-to-one with the multiple sensing components 3.

[0049] In the above embodiment, the sensing element 3 can detect the magnetic field 5 generated by the corresponding magnetic field generating unit 21, so as to further improve the accuracy of the detection of the magnetic field 5 of the endoscope insertion tube 1.

[0050] In some embodiments, the magnetic element 2 includes a plurality of magnetic elements 2, which are spaced apart in the circumferential direction of the insertion tube 1.

[0051] like Figure 1 As shown, there can be two magnetic elements 2. The two magnetic elements 2 are respectively arranged on opposite sides of the cavity 11 along the length axis of the insertion tube 1. The two magnetic elements 2 can generate a strong magnetic field 5 to improve the detection accuracy of the sensing element 3.

[0052] In the above embodiment, by using multiple magnetic elements 2 disposed in the magnetic cavity 11 of the insertion tube 1, the change of magnetic field 5 at the bend can be reflected more sensitively and accurately when the insertion tube 1 bends, effectively improving the accuracy of detecting the bending angle of the insertion tube 1 of the endoscope.

[0053] In some embodiments, a protective layer (not shown) is formed on the outer surface of the magnetic field generating part 21.

[0054] The protective layer can be a zinc coating, nickel coating, epoxy resin coating, or polymer material coating, etc., and this application does not make any specific limitation.

[0055] In the above embodiments, the protective layer can prevent wear of the magnetic field generating part 21, which would reduce the strength of the magnetic field 5 of the magnetic field generating part 21, and effectively ensure the accuracy and reliability of the endoscope insertion tube 1 bending angle detection.

[0056] According to another aspect of this utility model, such as Figure 4As shown, a method for detecting the bending of the endoscope insertion tube 1 is also provided, which is applied to the endoscope described above. The method for detecting the bending of the endoscope insertion tube 1 includes steps S110 to S130.

[0057] Step S110: Obtain the voltage difference between the two opposite sides of the insertion tube collected by the sensing device.

[0058] When the insertion tube 1 bends, the sensing element 3 inside the cavity 11 of the insertion tube 1 can obtain the voltage values ​​on both sides of the bend and calculate the difference between them.

[0059] The voltage acquired by sensing element 3 can be calculated using the following formula:

[0060] Vout = K × B × sinθ;

[0061] Where Vout represents the output voltage of sensor 3, K represents the sensitivity of sensor 3, B represents the strength of magnetic field 5, and sinθ represents the angle between magnetic field 5 and sensor 3. The specific value of K is determined according to the different types of sensor 3.

[0062] Step S120: Determine the magnetic field density difference between the two opposite sides of the insertion tube based on the voltage difference.

[0063] The density difference of magnetic field 5 can be expressed as the rate of change of magnetic field 5 in space, and the amount of change in the strength of magnetic field 5 per unit distance.

[0064] Step S130: Determine the bending angle of the insertion tube at the location where the sensing element is set, based on the magnetic field density difference.

[0065] The sensing element 3 can detect changes in the surrounding magnetic field 5 and determine the bending angle of the insertion tube 1.

[0066] Based on the endoscope insertion tube 1 bending detection method of this utility model, during the bending process of the insertion tube 1, the sensing element 3 set in the cavity 11 of the insertion tube 1 can detect the change in the magnetic field 5 of the magnetic element 2 at its location, thereby determining the bending angle of the endoscope insertion tube 1 at the sensing element 3. This allows the operator to operate according to the bending angle of the endoscope insertion tube 1, thus improving the safety of endoscope operation and the user experience. Furthermore, when multiple sensing elements 3 are arranged along the longitudinal axis of the insertion tube 1, the overall bending shape of the insertion tube 1 can be determined by combining the bending direction and bending angle of the insertion tube 1 at the location of each sensing element 3, thereby facilitating the operator's understanding of the progress of endoscope insertion or withdrawal.

[0067] In some embodiments, the method further includes: issuing an alarm when the bending angle exceeds a preset threshold corresponding to the position.

[0068] The endoscope may have a storage component and a buzzer. The storage component can record and store the detected bending angle information. When the bending angle of the insertion tube 1 exceeds a preset threshold corresponding to its position, the buzzer can emit a warning sound to remind the operator to operate correctly and avoid damage to the contents of the insertion tube 1 (e.g., optical fiber, cable, etc.) due to improper operation by the operator, thus reducing the service life of the endoscope.

[0069] In the above embodiments, when the insertion tube 1 of the endoscope is bent at an excessive angle, an alarm can be issued to the operator, effectively ensuring the safety and reliability of the endoscope.

[0070] Although exemplary embodiments have been described herein with reference to the accompanying drawings, it should be understood that the above exemplary embodiments are merely illustrative and are not intended to limit the scope of the invention. Various changes and modifications can be made therein by those skilled in the art without departing from the scope and spirit of the invention. All such changes and modifications are intended to be included within the scope of the invention as claimed in the appended claims.

[0071] For ease of description, the term "connection" may be used herein to describe the relationship between one or more elements or features shown in the figure and other elements or features. It should be understood that "connection" may include direct connections or indirect connections via other elements or features, and this document is intended to encompass all such cases.

[0072] It should be noted that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the exemplary embodiments according to this application. As used herein, the singular form is intended to include the plural form as well, unless the context clearly indicates otherwise. Furthermore, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, parts, components, and / or combinations thereof.

[0073] It should be noted that the terms "first," "second," etc., used in the specification, claims, and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in sequences other than those illustrated or described herein.

[0074] This utility model has been described through the above embodiments. However, it should be understood that the above embodiments are for illustrative purposes only and are not intended to limit the utility model to the described embodiments. Furthermore, those skilled in the art will understand that this utility model is not limited to the above embodiments, and many more variations and modifications can be made based on the teachings of this utility model, all of which fall within the scope of protection claimed by this utility model. The scope of protection of this utility model is defined by the appended claims and their equivalents.

Claims

1. An endoscope, characterized in that, include: A bendable insertion tube having a cavity extending along its length axis; A magnetic component, which is inserted into the cavity and bends synchronously with the insertion tube when the insertion tube bends, and the magnetic component is provided with a magnetic field generating part for generating a magnetic field at least partially along its length axis. as well as, A sensing element is disposed circumferentially on the insertion tube and located within the magnetic field generated by the magnetic field generating part, for sensing changes in the magnetic field to determine the bending angle of the insertion tube at the position where the sensing element is disposed.

2. The endoscope according to claim 1, characterized in that, The endoscope also includes: A bending control assembly having a bending actuating element, the magnetic element being connected to both the bending actuating element and the distal end of the insertion tube, and configured to bend the distal end of the insertion tube under the control of the bending actuating element.

3. The endoscope according to claim 2, characterized in that, The magnetic component includes a traction wire connected to the bending operation member and the distal end of the insertion tube, and configured to bend the distal end of the insertion tube under the control of the bending operation member. The traction wire is at least partially covered with a magnetic plating layer along its length axis, and the magnetic plating layer forms the magnetic field generating part.

4. The endoscope according to claim 3, characterized in that, The traction wire has a magnetic plating layer covering the outer periphery of the portion passing through the cavity.

5. The endoscope according to claim 1, characterized in that, The insertion tube includes a flexible portion and a bending portion connected in sequence, the magnetic element is located within the flexible portion, and the magnetic element includes a spring tube; the endoscope further includes: A bending control assembly having a bending actuating element and a traction line, the traction line being threaded through the spring tube and connected to the bending actuating element and the distal end of the bending portion, respectively, and configured to drive the bending portion to bend under the control of the bending actuating element.

6. The endoscope according to claim 1, characterized in that, There are multiple sensing elements, and the multiple sensing elements are spaced apart along the length axis of the insertion tube.

7. The endoscope according to claim 6, characterized in that, The magnetic component has a plurality of magnetic field generating parts arranged along its own length direction, and the plurality of magnetic field generating parts correspond one-to-one with the plurality of sensing elements.

8. The endoscope according to claim 1, characterized in that, The magnetic element comprises a plurality of magnetic elements, which are spaced apart in the circumferential direction of the insertion tube.

9. The endoscope according to any one of claims 1 to 8, characterized in that, A protective layer is formed on the outer surface of the magnetic field generating part.

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