Active bending tube, endoscope insertion section, and endoscope

Abstract

The utility model discloses a kind of active bending pipe, endoscope insertion part and endoscope.The active bending pipe is located the first bending pipe of active bending pipe proximal end, the first bending pipe includes multiple first serpentine joints connected head and tail, at least one elastic member is connected on the first bending pipe, and the axial projection length of elastic member covers at least two adjacent first serpentine joints.This active bending pipe of endoscope in the application, by setting elastic member, the mechanical properties and control mechanism of active bending pipe are optimized, can optimize the bending range of active bending pipe moderate, can meet operating requirement, and can maximumly reduce negative influence.

Description

Technical Field

[0001] This utility model relates to the field of medical device technology, and in particular to an active bending tube, an endoscope insertion part, and an endoscope. Background Technology

[0002] An endoscope is a commonly used medical device that can directly enter the body's natural cavities, providing doctors with ample diagnostic information for disease treatment. The insertion section of an endoscope includes an active bendable tube and a passive bendable tube. The active bendable tube is located at the distal end of the insertion section and comprises multiple interconnected serpentine joints. A traction cable is typically arranged symmetrically along both sides of the active bendable tube. During endoscopy, the endoscope lens is moved within the body cavity by pulling the traction cable. The flexible movement of the bendable tube allows for navigation around obstacles to reach the target area; or, by adjusting the position and angle of the endoscope lens, the observation range can be expanded to obtain diagnostic information.

[0003] Current endoscopes with active bending tubes bend proximally first and then distally when pulled by a traction cable, resulting in an excessively large scanning area at the distal end during bending. However, this excessive scanning area during bending can lead to various adverse consequences, including tissue damage, decreased operational precision, patient discomfort, equipment wear and tear, and reduced image quality.

[0004] Therefore, providing an endoscope active bending tube that can reduce the scanning area when the active bending tube bends and meet operational requirements is a technical problem that urgently needs to be solved by those skilled in the art. Utility Model Content

[0005] This utility model discloses an active bending tube, an endoscope insertion part, and an endoscope to solve the technical problem of excessively large scanning area when the active bending tube of the endoscope bends in the prior art.

[0006] To solve the above problems, the present invention adopts the following technical solution: In a first aspect, this application provides an active bending tube for an endoscope, including a first bending tube located on the proximal side of the active bending tube, the first bending tube including a plurality of first serpentine segments connected end to end, at least one elastic element connected to the first bending tube, and the axial projection length of the elastic element covering at least two adjacent first serpentine segments.

[0007] Secondly, this application provides an endoscope insertion part, including the active bending tube of the endoscope described above.

[0008] Thirdly, this application provides an endoscope, including the aforementioned endoscope insertion portion.

[0009] The technical solution adopted in this utility model can achieve the following beneficial effects: (1) The present application provides an active bending tube for an endoscope, including a first bending tube located at the proximal end of the active bending tube. An elastic element is connected to the first bending tube, and the design of the elastic element is intended to optimize the mechanical and control performance of the active bending tube. When the traction rope is pulled to drive the active bending tube to bend, the active bending tube bends towards the side where the traction rope is located, and the elastic element set on the first bending tube is also stretched at the same time. Since the elastic element itself has elasticity, the elasticity of the elastic element itself will increase the bending resistance of the first bending tube, so that when the active bending tube bends, the bending resistance at the distal end of the active bending tube is smaller, while the bending resistance at the proximal end of the active bending tube is larger. Thus, the proximal part (first bending tube) with greater bending resistance is more difficult to bend, and the distal part with less bending resistance is easier to bend. Therefore, when the traction rope is pulled to drive the active bending tube to bend, due to the setting of the elastic element, the distal part of the active bending tube will bend first, and the proximal part (first bending tube) will bend later, thereby reducing the area swept by the distal end during the bending process of the active bending tube, thereby reducing the operating space required for the endoscope inside the human body. Specifically, it has the following advantages: ① Reduced tissue damage: A smaller scanning area means that the contact area and probability of collision between the active bending tube and surrounding tissues are reduced during the bending process, thereby reducing the probability of mechanical damage to tissues and improving the safety of the surgery. ② Improved operational precision: The reduced scanning area allows for more precise movement of the active bending tube, enabling doctors to control the position and angle of the endoscope more accurately, especially in narrow or complex anatomical structures, where the target area can be located and observed more precisely. ③ It reduces patient discomfort. The smaller scanning area reduces the pressure and friction of the endoscope on surrounding tissues, thereby reducing patient discomfort and improving patient comfort and satisfaction.

[0010] ④ It extends the service life of the equipment. The reduced scanning area reduces the stress and wear of the active bending tube during the bending process, thereby extending the service life of the endoscope, reducing the frequency of maintenance and replacement, and reducing the operating costs of medical institutions. ⑤ Improved imaging quality: The reduced scanning area makes the movement of the active bending tube more stable, reducing lens position fluctuations and thus improving image clarity and stability; especially during dynamic observation and recording, it can provide higher quality images and video data.

[0011] (2) The active bending tube of the endoscope provided in this application has an elastic element whose resilience helps the active bending tube to quickly return to its original shape after the traction force is released, thereby improving the flexibility and accuracy of operation. The active bending tube of the endoscope in this application optimizes the mechanical properties and control mechanism of the active bending tube by setting an elastic element, which can ensure that the bending range of the active bending tube is moderate, so as to meet the operational requirements and minimize the negative impact. Attached Figure Description

[0012] To more clearly illustrate the technical solutions in the embodiments of this utility model or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this utility model. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0013] Figure 1 This is a schematic diagram of the structure of the elastic element arranged parallel to the axial direction on the first curved tube in Embodiment 1 of this application; Figure 2 This is a schematic diagram of the structure of the elastic element in Embodiment 1 of this application at another angle when it is arranged parallel to the axial direction on the first curved tube; Figure 3 yes Figure 2 Sectional view of AA; Figure 4 This is a schematic diagram of the structure in Embodiment 1 of this application, in which the elastic element is disposed on the inner side of the first snake joint on the first curved tube; Figure 5 This is a schematic diagram of the structure in Embodiment 1 of this application, in which the elastic element is disposed in the groove on the outside of the first snake joint of the first curved tube; Figure 6 This is a schematic diagram of the structure in Embodiment 1 of this application, in which the elastic element is disposed in the groove embedded inside the first snake joint on the first curved tube; Figure 7 This is a schematic diagram of the structure in Embodiment 1 of this application, in which the elastic element is a strip of braided wire arranged on the first curved tube; Figure 8 This is a schematic diagram of the structure of the elastic element in Embodiment 1 of this application, which has a first empty area and a second empty area on the outside; Figure 9 This is a schematic diagram of the structure in Embodiment 1 of this application, in which the elastic element is arranged in a spiral shape on the first curved tube; Figure 10 This is a schematic diagram of the structure of Embodiment 1 of this application; Figure 11 This is a schematic diagram of the bending of the active bending tube of an endoscope in the prior art; Figure 12This is a schematic diagram of the bending of the endoscope's active bending tube when the first bending tube of this application is used.

[0014] In the figure: 10, first curved tube; 101, first snake joint; 20, elastic element; 201, first elastic element; 202, second elastic element; 30, first traction rope; 40, first end; 50, second end; 60, second curved tube; 601, second snake joint; 70, first empty area; 80, second empty area; 90, second traction rope; 100, rivet. Detailed Implementation

[0015] To make the objectives, technical solutions, and advantages of this utility model clearer, the technical solutions of this utility model will be described in detail below. Obviously, the described embodiments are only a part of the embodiments of this utility model, and not all of them. Based on the embodiments of this utility model, all other implementation methods obtained by those skilled in the art without creative effort are within the scope of protection of this utility model.

[0016] The terms "first," "second," etc., used in the specification and claims of this application are used to distinguish similar objects and not to describe a specific order or sequence. It should be understood that such use of data can be interchanged where appropriate so that embodiments of this application can be implemented in orders other than those illustrated or described herein, and the objects distinguished by "first," "second," etc., are generally of the same class and the number of objects is not limited; for example, a first object can be one or more. Furthermore, in the specification and claims, "and / or" indicates at least one of the connected objects, and the character " / " generally indicates that the preceding and following objects are in an "or" relationship.

[0017] In the various embodiments of this application, "proximal end" and "distal end" refer to the position of each component relative to the medical user in the usage environment. The end closer to the user is designated as the "proximal end", and the end farther from the user is designated as the "distal end".

[0018] To facilitate understanding of the active bending tube, endoscope insertion part, and endoscope provided in the embodiments of this application, the relevant technologies are first introduced below in conjunction with the application scenario.

[0019] Endoscopes are inserted into the human body through the insertion port to observe and diagnose lesions. They are widely used in the medical field. The distal end of the insertion port is equipped with an active bending tube, allowing the distal end of the insertion port to bend, facilitating operation by doctors from multiple angles.

[0020] In existing technologies, the active bending tube bends by pulling a traction rope, causing the proximal end of the tube to bend first, followed by the distal end. This results in an excessively large area swept by the distal end during bending. However, in the human body, many lesion sites are in confined spaces, limiting the space for doctors to operate the endoscope. This makes it difficult to observe small areas and may also lead to tissue damage, decreased operational precision, patient discomfort, equipment wear, and reduced image quality.

[0021] Therefore, this application provides an active bending tube, an endoscope insertion part, and an endoscope, which are described below in conjunction with... Figures 1-12 The technical solutions disclosed in the various embodiments of this application are described in detail.

[0022] Example 1: Please see Figures 1-3 The present application provides an active bending tube for an endoscope, including a first bending tube 10 located on the proximal side of the active bending tube. The first bending tube 10 includes a plurality of first serpentine segments 101 connected end to end. At least one elastic element 20 is connected to the first bending tube 10, and the axial projection length of the elastic element 20 covers at least two adjacent first serpentine segments 101.

[0023] In some embodiments, the active bending tube further includes a second bending tube 60 connected to the distal end of the first bending tube 10. The second bending tube 60 includes a plurality of second snake-like segments 601 connected end-to-end. The first snake-like segments 101 and the second snake-like segments 601 have the same structure, and the bending direction of the second bending tube 60 is consistent with that of the first bending tube 10. The second bending tube 60 can adopt an existing snake-like structure, which will not be described in detail here.

[0024] In some embodiments, the plurality of first serpentine segments 101 of the first curved tube 10 are riveted end to end by rivets 100; the plurality of second serpentine segments 601 of the second curved tube 60 are riveted end to end by rivets 100; the first serpentine segment 101 at the distal end of the first curved tube 10 and the second serpentine segment 601 at the proximal end of the second curved tube 60 are riveted by rivets 100.

[0025] In some embodiments, a plurality of first snake-bone segments 101 of the first curved tube 10 are integrally cut and formed, and a plurality of second snake-bone segments 601 of the second curved tube 60 are integrally cut and formed.

[0026] In some embodiments, the side of the elastic element 20 is an open structure. It is understood that adopting an open structure has the following advantages: First, it simplifies the processing technology. Open structures (such as C-shaped or U-shaped cross-sections) do not require the complex forming process of closed annular cross-sections and can be completed through single steps such as rolling and bending, avoiding the high-cost equipment investment required for welding or seamless pipe processing. Second, it improves material utilization. Compared to closed structures that require processing from whole materials, open structures can be directly formed after strip cutting, reducing waste of scrap materials and significantly lowering raw material costs. Third, it increases assembly convenience. The open design allows the elastic element 20 to be placed outside the first snake-bone section 101 before being fixed, avoiding the complex operation of inserting it from the end in a closed structure, thus improving assembly efficiency.

[0027] In some embodiments, the elastic element 20 includes at least one of strip-shaped and linear elements. The linear elastic element 20 can be achieved by winding metal wire or fiber filaments, eliminating the need for custom molds or complex assembly. For example, by spirally winding nickel-titanium alloy wire onto the outer surface of a snake joint, the elastic coefficient can be controlled by adjusting the winding density; the process is simple and inexpensive. Furthermore, regardless of whether a strip-shaped or linear elastic element 20 is used, it can be produced using existing equipment without the need for additional specialized equipment, thus reducing equipment investment costs. Additionally, the processing of strip-shaped or linear elastic elements 20 is relatively simple, and the process parameters (such as thickness and diameter) for strip-shaped and linear structures are easily standardized, making process parameters easy to control and resulting in higher product consistency.

[0028] In some embodiments, when the elastic element 20 is strip-shaped, the elastic element 20 includes either strip-shaped braided yarn or strip-shaped sheet material. It is understood that the strip-shaped elastic element 20 can be selected from elastic sheet material or from a sheet structure woven from yarn and possessing elasticity. For production using existing equipment, for example, the strip-shaped elastic element 20 can be processed using a standard CNC cutting machine, and the strip-shaped braided yarn can be produced using mature equipment in the textile industry.

[0029] Please see Figure 7In some embodiments, when the elastic element 20 is a strip of braided wire, it is woven from multiple metal wires. It is understood that the selection of the metal wire material needs to consider its good elasticity and resilience after being woven into a sheet-like structure, ensuring that the active bending tube can bend flexibly and quickly return to its original shape during operation. It also needs to have sufficient mechanical strength to withstand various mechanical loads during endoscopic operation, and it needs to consider the temperature changes the endoscope may experience during use, requiring the material to have good temperature stability. Furthermore, the ease of processing and assembly of the elastic element 20, and lightweight design to reduce the overall weight of the endoscope and improve operational convenience, are also considerations. For example, the metal wire can be selected from stainless steel wire, nickel-titanium alloy wire, titanium alloy wire, and cobalt-chromium alloy wire, etc.

[0030] In some embodiments, when the elastic element 20 is a strip-shaped sheet, the material of the elastic element 20 includes any one of natural rubber, silicone, polyurethane, nylon, and polyester. It is understood that the selection of the strip-shaped sheet material requires consideration of good elasticity and resilience to ensure that the active bending tube can bend flexibly and quickly return to its original shape during operation. It also requires sufficient mechanical strength to withstand various mechanical loads during endoscopic operation. Furthermore, it is necessary to consider the temperature changes that the endoscope may experience during use, requiring the material to have good temperature stability. In addition, ease of processing and assembly of the elastic element 20, and lightweight design to reduce the overall weight of the endoscope and improve operational convenience, are also considerations. For example, polyurethane, silicone, nylon, polyester, and natural rubber can be selected.

[0031] In some embodiments, the elastic element 20 is arranged parallel to the axial direction of the first bent tube 10. It is understood that arranging the elastic element 20 parallel to the axial direction of the first bent tube 10 optimizes the mechanical properties and bending control effect of the first bent tube 10 by extending it in a straight line.

[0032] In some embodiments, when the elastic element 20 is arranged parallel to the axial direction of the first bending tube 10, the position and number of the elastic element 20 correspond to the position and number of the traction rope on the endoscope. It is understood that the purpose of the elastic element 20 is to increase the bending resistance of the first bending tube 10, so that when the active bending tube bends, the bending resistance at the distal end of the active bending tube is smaller than the bending resistance at the proximal end of the first bending tube 10. Therefore, when the elastic element 20 is arranged parallel to the axial direction of the first bending tube 10, it needs to be arranged according to the position and number of the traction rope. This allows the elastic force of the elastic element 20 to increase the bending resistance of the first bending tube 10 when the traction rope drives the active bending tube to bend, thereby achieving bending of the distal end of the active bending tube first, followed by the proximal end (first bending tube 10), reducing the area swept by the distal end during the bending process of the active bending tube.

[0033] In some embodiments, when the elastic element 20 is spirally arranged on the first bending tube 10, the elastic element 20 is spirally wound around the outer periphery of the first bending tube 10. It is understood that when the elastic element 20 is spirally arranged, regardless of the direction from which the traction rope is pulled, the elastic element 20 can increase the bending resistance of the first bending tube 10, thereby achieving bending of the distal end of the active bending tube first, followed by bending of the proximal end (first bending tube 10), reducing the area swept by the distal end during the bending process. Of course, the elastic element 20 can also be spirally fixed to the inner wall of the first bending tube 10, achieving the same effect. Therefore, the elastic element 20 can be located on the outer wall of the first bending tube 10; or, the elastic element 20 can be located on the inner wall of the first bending tube 10; or, the elastic element 20 can be located on both the outer and inner walls of the first bending tube 10, all of which can increase the bending resistance of the first bending tube 10, thereby achieving bending of the distal end of the active bending tube first, followed by bending of the proximal end (first bending tube 10), reducing the area swept by the distal end during the bending process.

[0034] In some embodiments, the endoscope has a first traction rope 30 and a second traction rope 90 symmetrically arranged on both sides of the first curved tube 10; when the elastic element 20 is arranged in a direction parallel to the axial direction of the first curved tube 10, the elastic element 20 includes a first elastic element 201 and a second elastic element 202 symmetrically arranged on both sides of the first curved tube 10. The first elastic element 201 and the second elastic element 202 are both arranged along the length direction of the first curved tube 10, and the first elastic element 201 and the second elastic element 202 both extend from their first end 40 to their second end 50 and are parallel to the axis of the first curved tube 10. The first elastic element 201 is located on the opposite side of the second traction rope 90, and the second elastic element 202 is located on the opposite side of the first traction rope 30. Understandably, existing endoscopes typically use two traction ropes (first traction rope 30 and second traction rope 90). These ropes are symmetrically arranged along both sides of the first curved tube 10. By pulling the two ropes, the tension is transmitted through the first serpentine joint 101, causing the active curved tube to bend and deform. This allows the active curved tube to bend in different directions, thus meeting the flexible movement requirements of the endoscope in complex anatomical structures. When the first traction rope 30 drives the active curved tube to bend, the first elastic element 201 located on the opposite side of the first traction rope 30 increases the bending resistance of the first curved tube 10 due to its own elasticity. This results in the distal end of the active curved tube bending first, followed by the proximal end (first curved tube 10), reducing the area swept by the distal end during the bending process. When the second traction rope 90 drives the active bending tube to bend, the second elastic element 202 located on the opposite side of the second traction rope 90 will increase the bending resistance of the first bending tube 10 due to its own elasticity. This results in the distal end of the active bending tube bending first, followed by the proximal end (first bending tube 10), reducing the area swept by the distal end during the bending process. If the endoscope is equipped with more than two traction ropes, elastic elements 20 can be added on the opposite side of the traction ropes according to their placement.

[0035] Please see Figure 3 , Figure 4 In some embodiments, when the elastic element 20 is arranged parallel to the axial direction of the first bent tube 10, the elastic element 20 is connected to the inner wall and / or outer wall of the first serpentine joint 101. It is understood that the elastic element 20, whether disposed on the outer wall or the inner wall, can increase the bending resistance of the first bent tube 10; therefore, the elastic element 20 can be disposed on the inner wall of the first serpentine joint 101, on the outer wall of the first serpentine joint 101, or simultaneously on both the inner and outer walls of the first serpentine joint 101.

[0036] Please see Figure 5In some embodiments, when the elastic member 20 is connected to the outer wall of the first serpentine segment 101, the outer wall of the first serpentine segment 101 is provided with an embedding groove adapted to the elastic member 20, and the elastic member 20 is embedded in the embedding groove. It is understood that when the elastic member 20 is disposed on the outer wall of the first serpentine segment 101, in order to avoid forming a protrusion, an embedding groove can be formed on the outer wall of the first serpentine segment 101 for embedding the elastic member 20 therein.

[0037] Please see Figure 6 In some embodiments, when the elastic element 20 is connected to the inner wall of the first snake joint 101, the inner wall of the first snake joint 101 is provided with an embedding groove adapted to the elastic element 20, and the elastic element 20 is embedded in the embedding groove. It is understood that when the elastic element 20 is disposed on the inner wall of the first snake joint 101, in order to avoid potential frictional resistance or wear on the traction rope, an embedding groove can be formed on the inner wall of the first snake joint 101 to embed the elastic element 20 therein.

[0038] In some embodiments, the length of the first bending tube 10 is 1 / 4 to 3 / 4 of the length of the active bending tube. It is understood that the longer the first bending tube 10 is, and the greater the stiffness of the elastic element 20 from the distal end to the proximal end of the first bending tube 10, the easier it is to control the area swept by the distal end when the active bending tube bends. In different endoscopes, the length of the first bending tube 10 can be selected as needed, depending on the size of the space into which the insertion part enters the human body cavity.

[0039] In some embodiments, the elastic member 20 has a first end 40 and a second end 50; the first end 40 of the elastic member 20 is connected to a first first serpentine segment 101 proximal to the first curved tube 10; the second end 50 of the elastic member 20 is connected to the last first serpentine segment 101 distal to the first curved tube 10. Alternatively, the first end 40 of the elastic member 20 may also be connected to a second, third, or fourth first serpentine segment 101 proximal to the first curved tube 10, or to other first serpentine segments 101 near the proximal end of the first curved tube 10; the second end 50 of the elastic member 20 may also be connected to the penultimate or penultimate first serpentine segment 101 distal to the first curved tube 10, or to other first serpentine segments 101 near the distal end of the first curved tube 10. Both can optimize the mechanical and control properties of the active bending tube and reduce the area swept by the far end during the bending process.

[0040] In some embodiments, the first end 40 of the elastic member 20 is flush with the proximal end of the first first serpentine segment 101 at the proximal end of the first curved tube 10, and the second end 50 of the elastic member 20 is flush with the distal end of the last first serpentine segment 101 at the distal end of the first curved tube 10.

[0041] Please see Figure 8 In some embodiments, the first end 40 of the elastic element 20 is connected to the outer wall of the first first serpentine segment 101 near the proximal end of the first curved tube 10, and a first gap region 70 is provided between the first end 40 of the elastic element 20 and the proximal end of the first first serpentine segment 101 near the proximal end of the first curved tube 10; the second end 50 of the elastic element 20 is connected to the outer wall of the last first serpentine segment 101 at the distal end of the first curved tube 10, and a second gap region 80 is provided between the second end 50 of the elastic element 20 and the distal end of the last first serpentine segment 101 at the distal end of the first curved tube 10. It is understood that when the elastic element 20 is woven from multiple metal wires, after its ends are trimmed during production, the metal wires are very sharp. To minimize the risk of the metal wires puncturing the outer skin of the second curved tube 60 and the first curved tube 10, the first gap region 70 and the second gap region 80 are provided to prevent the skin from being punctured by the metal wires and causing damage.

[0042] In some embodiments, the stiffness of the elastic element 20 gradually increases from the distal end to the proximal end of the first bending tube 10. It is understood that, in order to make the active bending tube gradually bend from the distal end to the proximal end, thereby reducing the area swept by the distal end of the active bending tube, the bending resistance experienced by the first bending tube 10 also needs to gradually increase from the distal end to the proximal end. Therefore, the stiffness of the elastic element 20 is set to gradually increase from the distal end to the proximal end of the first bending tube 10. During the bending process driven by the traction rope, as the bending process progresses, the gradual increase in the stiffness of the elastic element 20 from the distal end to the proximal end of the first bending tube 10 is more beneficial for reducing the area swept by the distal end of the active bending tube during the entire bending process. For example, for strip braided yarns, the diameter of the yarns can be changed, the braiding density can be changed, etc.; for strip sheets, the width of the strip sheet can be changed, the thickness of the strip sheet can be changed, etc.

[0043] In some embodiments, when the elastic element 20 is arranged in a spiral shape, there is at least one elastic element 20. It is understood that the number of elastic elements 20 and the winding method can be adjusted according to the pulling force of the traction rope that needs to be offset, and can be set as needed.

[0044] In some embodiments, the elastic element 20 is welded to the first snake joint 101; or, the elastic element 20 is bonded to the first snake joint 101. It is understood that the connection method of the elastic element 20 can be appropriately selected based on the material of the elastic element 20. For example, if the elastic element 20 is a strip woven from stainless steel wire, nickel-titanium alloy wire, titanium alloy wire, or cobalt-chromium alloy wire, welding is selected; if the elastic element 20 is a strip sheet made of natural rubber, silicone, polyurethane, nylon, or polyester, bonding is selected.

[0045] in addition, Figures 1-12 In the figures, the first curved tube 10 and the second curved tube 60 are only illustrated by way of example, and the number of the first snake joint 101 and the second snake joint 102 is not limited to the number shown in the figures of this application.

[0046] Example 2: An endoscope insertion part provided in this application includes a passive bending tube and an active bending tube of the endoscope in Embodiment 1.

[0047] Example 3: An endoscope provided in this application includes the endoscope insertion part as in Embodiment 2.

[0048] The above description is only a specific embodiment of this utility model, but the protection scope of this utility model is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in this utility model should be included within the protection scope of this utility model.

Claims

1. An active bending tube for an endoscope, comprising a first bending tube (10) located on the proximal side of the active bending tube, the first bending tube (10) comprising a plurality of first serpentine segments (101) connected end-to-end, characterized in that, At least one elastic element (20) is connected to the first curved tube (10), and the axial projection length of the elastic element (20) covers at least two adjacent first serpentine segments (101). The outer and / or inner walls of the first serpentine segment (101) are provided with a recessed groove adapted to the elastic element (20), and the elastic element (20) is embedded in the recessed groove.

2. The active bending tube of the endoscope according to claim 1, characterized in that, The elastic element (20) is arranged parallel to the axial direction of the first curved tube (10); the position and number of the elastic element (20) correspond to the position and number of the traction rope on the endoscope. And / or, the elastic element (20) is arranged in a spiral shape on the first curved tube (10); And / or, the sides of the elastic element have an open structure.

3. The active bending tube of the endoscope according to claim 2, characterized in that, The active bending tube includes the elastic element (20) disposed on the inner wall of the first serpentine segment (101); And / or, the active bending tube includes the elastic element (20) disposed on the outer wall of the first serpentine segment (101). And / or, the elastic element includes at least one of strip and wire.

4. The active bending tube of the endoscope according to claim 3, characterized in that, The endoscope has a first traction rope (30) and a second traction rope (90) symmetrically arranged on both sides of the first curved tube (10). When the elastic element (20) is arranged in a direction parallel to the axial direction of the first curved tube (10), the elastic element (20) includes a first elastic element (201) and a second elastic element (202) symmetrically arranged on both sides of the first curved tube (10). The first elastic element (201) and the second elastic element (202) are both arranged along the length direction of the first curved tube (10), and the first elastic element (201) is located on the opposite side of the second traction rope (90), and the second elastic element (202) is located on the opposite side of the first traction rope (30).

5. The active bending tube of the endoscope according to claim 4, characterized in that, When the elastic element (20) is arranged in a direction parallel to the axial direction of the first bent tube (10), at least one of the first elastic element (201) and the second elastic element (202) is included; And / or, when the elastic element (20) is arranged in a spiral shape, there is at least one elastic element (20); And / or, when the elastic element (20) is strip-shaped, the elastic element (20) includes either strip braided wire or strip sheet; And / or, the stiffness of the elastic element (20) gradually increases from the distal end to the proximal end of the first curved tube (10); And / or, the length of the first bending tube (10) is 1 / 4 to 3 / 4 of the length of the active bending tube; And / or, the elastic element (20) has a first end (40) and a second end (50), the first end (40) of the elastic element (20) being connected to the first first serpentine segment (101) at the proximal end of the first curved tube (10); the second end (50) of the elastic element (20) being connected to the last first serpentine segment 101 at the distal end of the first curved tube (10).

6. The active bending tube of the endoscope according to claim 5, characterized in that, When the elastic element (20) is a strip braided wire, the elastic element (20) is woven from multiple metal wires; And / or, when the elastic element (20) is a strip sheet, the material of the elastic element (20) includes any one of natural rubber, silicone, polyurethane, nylon and polyester.

7. The active bending tube of the endoscope according to any one of claims 1-6, characterized in that, The active bending tube also includes a second bending tube (60), which is connected to the far end of the first bending tube (10). The second bending tube (60) includes a plurality of second snake joints (601) connected end to end. The first snake joint (101) and the second snake joint (601) have the same structure, and the bending direction of the second bending tube (60) and the first bending tube (10) is consistent.

8. An endoscope insertion part, characterized in that, The active bending tube of the endoscope as described in any one of claims 1-7.

9. An endoscope, characterized in that, Includes the endoscope insertion portion as described in claim 8.

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