WO2024077922A1 - Distal end bending section of endoscope, and endoscope - Google Patents

Abstract

The present invention relates to the field of endoscopes, and provides a distal end bending section of an endoscope, and an endoscope. The distal end bending section comprises: at least three unit sections; and connectors, wherein each connector is located between two adjacent unit sections; the connector is fixedly connected to the two adjacent unit sections and is capable of undergoing bending deformation; the connector that is capable of undergoing bending deformation is used for enabling the two adjacent unit sections to deflect relatively; among the connectors arranged along the axis of the distal end bending section, at least two connectors are made of different materials, and due to the different materials, the connectors have different bending resistance capabilities; alternatively, in a direction from a distal end to a proximal end of the distal end bending section, at least one connector has a stronger bending resistance capability than at least one of the other connectors located on a proximal end side of the connector. The present invention mainly solves the problem of a bending process of a distal end bending section being unable to match an ideal bending process and bending shape.

Description

Endoscope tip curved section and endoscope Technical Field

The present invention relates to the field of endoscopes, and in particular to a curved section at the leading end of an endoscope.

Background technique

An endoscope is a commonly used medical device. The typical endoscope structure includes a handle, an insertion tube, and a tip. The handle can be grasped and operated by the operator, and is often equipped with an imaging display unit or an interface for connecting to an external display; the insertion tube is connected to the distal end of the handle and is used to be inserted into the body; the tip is located at the distal end of the endoscope, and usually includes a visual inspection unit such as a camera and a lighting unit (such as an LED or optical fiber outlet, etc.), which can realize the lighting and imaging of the internal tissues of the body.

The insertion tube generally includes a tip bending section and an extension section. The tip bending section is located between the extension section and the tip head. The length of the tip bending section is often much smaller than the extension section. It can bend under the control of the handle, thereby controlling the propulsion direction of the insertion tube in the biological body.

The tip bending section of the endoscope generally includes a distal unit section, a proximal unit section, and a plurality of identical or similar intermediate unit sections. Among them, the distal unit section is used to connect the tip head portion, and the proximal unit section is used to connect to the extension section of the insertion tube. In order to achieve the bending of the tip bending section, the units of the tip bending section need to be able to swing relative to each other. Therefore, the tip bending section usually adopts an articulated structure, and the units are connected to each other and articulated by rivets (such as the structure disclosed in the Chinese utility model patents with authorization announcement numbers CN209059122U and CN208582372U), or the articulation is achieved by an articulated shaft integrally provided with the unit section body (such as the structure disclosed in the Chinese utility model patent with authorization announcement number CN204192566U). However, this type of structure is complicated to assemble and has high manufacturing costs. There are also some tip bending sections that adopt a molded single-piece structure. The unit sections of the molded single-piece structure are an integral structure. Adjacent unit sections are partially connected by connectors. The strength of the connectors is relatively weak, and they can produce bending deformation under the action of external force, and realize the bending of the tip bending section during bending deformation.

Each unit section of the tip bending section is provided with a through hole, and a control rope is passed through the through hole. The control ropes are arranged in pairs on both sides of the unit section in the swing direction. The distal ends of the control ropes are connected to the distal unit section, and the proximal ends are connected to the control mechanism in the handle. When the tip bending section of the endoscope needs to be bent, one of the control ropes is tightened and the other control rope is released, so that the tip bending section can be controlled to bend toward the side where the control rope is tightened.

In some scenarios, the front bending section needs to bend according to the set requirements. For example, one bending requirement of the front bending section is: the distal unit section is bent first to change the direction of the distal end of the endoscope, and then gradually drives the next unit section (the middle unit section closest to the distal end) to bend and change direction until the last unit section to bend completes the bending and changing direction action. However, the current bending process of the front bending section cannot match the required bending process, and it is difficult to better meet the actual application needs.

technical problem

The main technical problem solved by the present invention is that the bending process of the tip bending section cannot match the ideal bending process and bending shape.

Technical Solutions

In a first aspect, the present invention provides a distal curved section of an endoscope.

In one technical solution, the tip curved section of the endoscope comprises:

At least three unit sections;

and a connector, the connector being located between two adjacent unit sections, the connector being fixedly connected to the two adjacent unit sections and being bendable and deformable, the bendable and deformable connector being used to enable the two adjacent unit sections to deflect relative to each other;

Among the sections of the connectors arranged along the axis of the tip bending section, at least two sections of the connectors are made of different materials, and the difference in materials results in different bending resistance of the connectors.

In one technical solution, among the sections of the connectors arranged in the direction from the distal end to the proximal end of the tip bending section, the material of at least one section of the connector is different from that of at least one other connector located on its proximal side, and the difference in material makes the corresponding connector have weaker bending resistance than the other connectors located on its proximal side.

In a technical solution, at least one section of the connector is integrally injection-molded with two adjacent unit sections, and the connector integrally injection-molded with the two adjacent unit sections forms a swing center for the two adjacent unit sections to swing relative to each other.

In a technical solution, in each section of the connector arranged in the direction from the distal end to the proximal end of the tip bending section, the bending resistance of the connector is enhanced sequentially.

In a technical solution, the connector includes a first connector group, a second connector group, and a third connector group, each of the connector groups is composed of a section of the connector or two or more adjacent sections of the connector, and the connectors in the same connector group have the same bending resistance; the bending resistance of the first connector group, the second connector group, and the third connector group decreases in sequence, the connectors in the first connector group are made of POM, PEEK, stainless steel wire, stainless steel wire rope or stainless steel spring sheet, the connectors in the second connector group are made of PP, PPS or PPSU, and the connectors in the third connector group are made of silicone material or rubber material.

In a technical solution, all the connectors between two adjacent unit sections form a connector segment, and the connector segment includes at least two connectors. Each connector in the connector segment is located on a straight line that perpendicularly intersects the axis of the tip bending section.

In a second aspect, the present invention provides another distal curved section of an endoscope.

In one technical solution, the tip curved section of the endoscope comprises:

At least three unit sections;

and a connector, the connector being located between two adjacent unit sections, the connector being fixedly connected to the two adjacent unit sections and being bendable and deformable, the bendable and deformable connector being used to enable the two adjacent unit sections to deflect relative to each other;

Among the connectors arranged along the axis of the tip bending section, at least one connector has a stronger bending resistance than at least one other connector located on its proximal side in the direction from the distal end to the proximal end of the tip bending section.

In a technical solution, the connectors with different bending resistances have different materials and/or cross-sectional dimensions, and the difference in materials and/or cross-sectional dimensions results in different bending resistances of the connectors.

In a technical solution, the connector includes a first connector group, a second connector group, and a third connector group, each of the connector groups is composed of a section of the connector or two or more adjacent sections of the connector, and the connectors in the same connector group have the same bending resistance; the bending resistance of the first connector group, the second connector group, and the third connector group decreases in sequence, the connectors in the first connector group are made of POM, PEEK, stainless steel wire, stainless steel wire rope or stainless steel spring sheet, the connectors in the second connector group are made of PP, PPS or PPSU, and the connectors in the third connector group are made of silicone material or rubber material.

In one technical solution, the connecting body has different cross-sectional sizes in a direction perpendicular to the axis of the tip bending section.

In one technical solution, the connector is divided into at least two connector groups, each connector group includes at least one connector, and the connectors in the same connector group have the same anti-bending ability; along the direction from the distal end to the proximal end of the tip bending section, the anti-bending ability of each connector group shows alternating changes from strong to weak.

In one technical solution, the bending resistance of at least one connector group is different from the bending resistance of two adjacent connector groups on both sides thereof.

In a technical solution, at least one section of the connector is integrally injection-molded with two adjacent unit sections, and the connector integrally injection-molded with the two adjacent unit sections forms a swing center for the two adjacent unit sections to swing relative to each other.

In a technical solution, all the connectors between two adjacent unit sections form a connector segment, and the connector segment includes at least two connectors. Each connector in the connector segment is located on a straight line that perpendicularly intersects the axis of the tip bending section.

In a third aspect, the present invention provides an endoscope.

In one technical solution, an endoscope comprises:

A handle, for an operator to grasp and operate;

An insertion tube, which is connected to the distal end of the handle and is used to be inserted into a living body; the insertion tube comprises a tip bending section and an extension section, the tip bending section is located between the extension section and the tip head, and the tip bending section can be bent under the control of the handle, so as to control the propulsion direction in the insertion tube;

and a tip, the tip being located at the distal end of the endoscope and being used for realizing illumination and/or imaging;

The tip bending section is the tip bending section described in any of the above technical solutions.

Beneficial Effects

According to the above technical solution, at least two sections of the connector are made of different materials. The connectors using different materials can achieve different bending resistance, thereby being able to control the relative degree of deflection between two adjacent unit sections. When the tip bending section of the endoscope is subjected to a bending force, the corresponding unit section can deflect preferentially, so that the bending process of the tip bending section can better match the ideal bending process and bending shape.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG1 is a schematic diagram of the structure of an endoscope corresponding to an embodiment of a curved section at the tip of the endoscope in the present invention;

FIG2 is a perspective view of the tip bending section in FIG1;

FIG3 is a front view of FIG2 ;

Fig. 4 is a cross-sectional view taken along line A-A of Fig. 3;

List of feature names corresponding to the reference numerals in the figure:

10. Handle;

20. Insertion tube; 21. Tip bending section; 211. Distal unit section; 212. Middle unit section; 213. Proximal unit section; 214. Connector; 22. Extension section; 23. Rope penetration; 24. Working channel;

30. Start with the end.

Embodiments of the present invention

The present invention is further described in detail below by specific embodiments in conjunction with the accompanying drawings. Wherein similar elements in different embodiments adopt associated similar element numbers. In the following embodiments, many detailed descriptions are for making the present application better understood. However, those skilled in the art can easily recognize that some features can be omitted in different situations, or can be replaced by other elements, materials, methods. In some cases, some operations related to the present application are not shown or described in the specification, this is to avoid the core part of the present application being overwhelmed by too much description, and for those skilled in the art, it is not necessary to describe these related operations in detail, and they can fully understand the related operations according to the description in the specification and the general technical knowledge in the art.

In addition, the features, operations or characteristics described in the specification can be combined in any appropriate manner to form various implementations. At the same time, the steps or actions in the method description can also be interchanged or adjusted in a manner that is obvious to those skilled in the art. Therefore, the various sequences in the specification and the drawings are only for the purpose of clearly describing a certain embodiment and are not meant to be a required sequence, unless otherwise specified that a certain sequence must be followed.

The serial numbers assigned to the components herein, such as "first", "second", etc., are only used to distinguish the objects described and do not have any order or technical meaning. The "connection" and "coupling" mentioned in this application, unless otherwise specified, include direct and indirect connections (couplings).

In the present invention, the connectors between different unit segments in the tip bending section are made of different materials and have different bending resistances, so that the bending resistance of the connector near the distal end is weaker than that of the connector near the proximal end, so that the unit segments at the distal end and the proximal end have different degrees of difficulty in deflection. When the tip bending section is bent, the unit segment at the distal end can be deflected first, so as to better match the ideal bending process and bending shape.

Embodiments of the tip bending section of the endoscope in the present invention:

Please refer to FIG1 . The tip bending section 21 of the endoscope is located on the insertion tube 20 of the endoscope, connected between the tip head 30 of the endoscope and the extension section 22 of the insertion tube 20. The proximal end of the tip bending section 21 is connected to the distal end of the extension section 22, and the distal end of the tip bending section 21 is connected to the tip head 30. The length of the tip bending section 21 is often much smaller than the extension section 22, and it can be bent under the control of the handle 10, so as to control the propulsion direction of the insertion tube 20 in the biological body. The proximal end of the insertion tube 20 is fixed on the handle 10, and the longitudinal thrust and rotational torque applied at the handle 10 can be transmitted through the extension section 22 and the tip bending section 21.

Please refer to Figures 2, 3 and 4. As a preferred embodiment, the tip bending section 21 of the endoscope includes multiple sections, namely, a distal section 211, an intermediate section 212 and a proximal section 213. The distal section 211, the intermediate section 212 and the proximal section 213 are arranged from the distal end to the proximal end of the tip bending section 21. The distal section 211 and the proximal section 213 each have only one section, which are respectively used to connect with the tip head 30 and the extension section 22 of the endoscope. The intermediate section 212 is provided with multiple sections for realizing the bending adjustment of the tip bending section 21. In other embodiments, the number of sections of the intermediate section 212 can also be increased or decreased as needed, but there should be at least one intermediate section 212, so that the tip bending section 21 can include at least three sections, which can form a bending process with a sequential action sequence.

Those skilled in the art know that, as shown in FIG4 , a working channel 24 is generally provided in the front curved section 21, and the working channel 24 can allow cables of the visual inspection unit and the lighting unit to pass through, and can allow some catheter-type instruments to pass through. In addition, the front curved section 21 of the endoscope can be covered with a protective sheath to isolate the front curved section 21 from the external environment.

The tip bending section 21 also includes a connector 214. Each section of the tip bending section 21 is connected by two connectors 214, which are connected to the outer wall of the corresponding section and are respectively located on opposite sides of the radial direction of the tip bending section 21, that is, 180 degrees apart in the circumferential direction. The above-mentioned circumferential direction refers to the direction around the extension axis of the tip bending section 21. The connector 214 can be bent and deformed to enable two adjacent sections to swing relative to each other, and the connector 214 forms a swing center for the two adjacent sections to swing relative to each other. Those skilled in the art know that the purpose of setting the two connectors 214 is to determine the swing axis of the section, which can be considered as the swing axis when the two adjacent sections swing relative to each other; the swing axis is determined by the circumferential position of the connector 214 on the tip bending section 21, and the swing axis coincides with the line connecting the two connectors 214 and is perpendicular to the extension axis of the tip bending section 21. In other embodiments, the number of connectors 214 between each segment unit may also increase or decrease. When the number of connectors 214 is greater than or equal to three, each connector 214 is located on a straight line perpendicular to the axis of the tip bending section 21 .

As a preferred embodiment, the tip bending section 21 can be integrally formed by an injection molding process using a mold to form a molded single-piece structure, and the connector 214 constitutes a segment connecting portion in the tip bending section 21 for connecting two adjacent unit sections. In other embodiments, the unit section and the connector 214 can also be made separately and then assembled into one, for example, they can be fixed together by bonding, or fixed together by heat fusion, secondary injection molding, laser welding, ultrasonic welding, etc. The corresponding process can be selected according to the materials used for the connector and the unit section. In addition, in other embodiments, the connector 214 can also be integrally formed on one of the unit sections adjacent to it, and then connected to the other unit section as a whole. As a preferred embodiment, the material of the tip bending section 21 can be selected from plastics, rubber, etc., and those skilled in the art can select a suitable material according to their needs.

In this embodiment, the connectors 214 are arranged along the extension axis of the tip bending section 21, and each unit section forms a same-direction bending section with the same swing direction. The swing axes of each unit section are parallel to each other, and the tip bending section 21 can only swing back and forth in two opposite directions. The fact that each unit section is located in the same same-direction bending section can facilitate the manufacture and control of the tip bending section 21. In other embodiments, for the tip bending section 21 that needs to bend in four directions, the connectors 214 on both sides of the axial direction of the middle unit section among the three adjacent unit sections can have a position difference in the circumferential direction, and the two groups of connectors 214 on both sides of the axial direction of the unit section can respectively realize the swinging action with the swing axes crossing.

In this embodiment, the tip bending section 21 includes 8 intermediate unit sections 212. Along the direction from the distal end to the proximal end of the tip bending section 21, the connector 214 between the distal unit section 211 and the adjacent intermediate unit section 212 forms the first connector section on the tip bending section 21. The intermediate unit sections 212 form the second connector section, the third connector section, ... the eighth connector section in sequence. The connector 214 between the proximal unit section 213 and the adjacent intermediate unit section 212 forms the ninth connector section on the tip bending section 21. In order to achieve the control of the bending process and bending shape of the tip bending section 21, for any group of connectors 214 used to enable the tip bending section 21 to bend in the same direction, the bending resistance of the connector 214 shows an increasing trend from the distal end to the proximal end of the tip bending section 21. In this embodiment, the bending resistance of the first to ninth connector sections increases in sequence. In other embodiments, the bending resistance of each segment of the connector can also be changed according to the bending process and bending shape requirements. For example, each segment of the connector is arranged in pairs along the direction from the distal end to the proximal end, and the two connectors in the same group are made of the same material, but the bending resistance of the group closer to the proximal end is stronger than the previous group; for another example, the bending resistance adjustment is set once every several connectors, and the number of connectors in the interval can be a constant number (for example, the bending resistance of the 1st, 3rd, 5th, 7th, and 9th connectors is enhanced in turn, but the bending resistance of the other connectors is the same, and the number of connectors in the interval is 1), or it can be a variable number (for example, the bending resistance of the 1st, 3rd, and 6th connectors is enhanced in turn, but the bending resistance of the other connectors is the same, and the number of connectors in the interval is 2 and 3 respectively). In summary, the specific arrangement of the bending resistance of the connector segments can be set according to the requirements, as long as the bending resistance of at least one segment of the connector 214 is weaker than that of the other connectors 214 located on its proximal side, it falls within the protection scope of this patent.

The difference in the bending resistance of the above-mentioned connector 214 is achieved by the material difference of the connector 214. Each segment of the connector can use different materials to achieve the change of the bending resistance, and can also use the same material but with different components to achieve the change of the bending resistance. For example, when relying on the material difference of the connector 214, the connector 214 may include a first connector group, a second connector group, and a third connector group, each connector group is composed of a segment of the connector or two or more adjacent segments of the connector, and the connectors in the same connector group have the same bending resistance; the bending resistance of the first connector group, the second connector group, and the third connector group is weakened in turn, the connector in the first connector group is made of POM, PEEK, stainless steel wire, stainless steel wire rope or stainless steel spring sheet, the connector in the second connector group is made of PP, PPS or PPSU, and the connector in the third connector group is made of silicone or rubber. The arrangement order of the above-mentioned first connector group, the second connector group, and the third connector group in the tip bending section can be adjusted according to the actual application scenario to meet the bending sequence control.

Since the corresponding connecting body segment adopts a material different from that of the unit segment, in order to realize the molding of the tip bending section 21, as a preferred embodiment, the tip bending section 21 is an integral injection molded part formed by a mold through an injection molding process, and a two-color injection molding process or a multi-color injection molding process is adopted. The above-mentioned two-color injection molding process and multi-color injection molding process are existing processes. The basic principle is to inject two or more materials into the mold cavity through their respective flow paths and finally combine them into one. The specific process and structure are not repeated here.

In order to control the bending of the tip bending section 21, two rope through holes 23 are provided on the unit section, and the connection line of the two rope through holes 23 is perpendicular to the connection line of the connectors 214 on both sides. The two rope through holes 23 can allow a pulling rope to pass through respectively. The distal end of the pulling rope is fixed on the distal unit section 211, and the proximal end of the pulling rope is connected to the driving device in the handle 10. Under the control of the driving device, one of the pulling ropes is tightened and the other is loosened, and the tip bending section 21 can be bent toward the side where the pulling rope is tightened. The pulling rope can be a steel wire rope, and the driving device can be controlled manually or automatically.

During the use of the endoscope, the operator can hold the handle 10, and transmit the longitudinal thrust along the extension direction of the axis of the insertion tube 20 and the rotational torque around the axis of the insertion tube 20 to the insertion tube 20 by holding the handle 10, insert the insertion tube 20 into the human body, and cooperate with the handle 10 to control the bending of the tip bending section 21, so that the tip head 30 at the farthest end of the insertion tube 20 moves to the target position. Since the connector 214 of different materials can make the relative deflection difficulty between the corresponding two adjacent unit sections different, when the tip bending section 21 of the endoscope is subjected to the bending force, the distal unit section can deflect first, so that the bending process and bending shape of the tip bending section 21 can better match the ideal bending process and bending shape.

In the above embodiments, the material of the connector is changed so that the bending resistance of the tip bending section has an overall trend of strengthening from the distal end to the proximal end. According to the use requirements, in some other embodiments, the material of the connector can also be changed so that the bending resistance of the tip bending section can be weakened from the distal end to the proximal end; in other other embodiments, the material of the connector can also be changed so that the bending resistance of the tip bending section can be changed alternately from strong to weak, or the bending resistance in the middle is weak and the two ends are strong, or the bending resistance in the middle is strong and the two ends are weak. In addition, in some other embodiments, for the situation that the bending resistance of at least one section of the connector is stronger than that of at least one section of the other connector located on its proximal side, the material of the connector can be different, and/or the cross-sectional size of the connector can be different, and the bending resistance of the connector can be different by the difference in material and/or cross-sectional size. When the bending resistance of the connector is controlled by the cross-sectional size of the connector, the connector can have different sizes in the direction perpendicular to the axis of the tip bending section, or different sizes in the direction perpendicular to the straight line where the radius of the corresponding part of the tip bending section is located.

Embodiments of the endoscope of the present invention:

Please refer to FIG1 . The endoscope includes a handle 10, an insertion tube 20 and a tip 30. The handle 10 is for the operator to grasp and operate. The insertion tube 20 is connected to the distal end of the handle 10 and is used to be inserted into a living body. The insertion tube 20 includes a tip bending section 21, an extension section 22 and a tip 30. The tip bending section 21 is located between the extension section 22 and the tip 30. The tip bending section 21 can be bent under the control of the handle 10, so as to control the propulsion direction in the insertion tube 20. The tip 30 is located at the end of the distal end of the endoscope and is used to achieve lighting and/or imaging. The tip bending section 21 is the tip bending section mentioned above, and the specific structure will not be repeated here.

The above specific examples are used to illustrate the present invention, which is only used to help understand the present invention and is not intended to limit the present invention. For those skilled in the art, according to the idea of the present invention, some simple deductions, modifications or substitutions can be made.

Claims (15)

The tip curved section of the endoscope is characterized by comprising: At least three unit sections; and a connector, the connector being located between two adjacent unit sections, the connector being fixedly connected to the two adjacent unit sections and being bendable and deformable, the bendable and deformable connector being used to enable the two adjacent unit sections to deflect relative to each other; Among the sections of the connectors arranged along the axis of the tip bending section, at least two sections of the connectors are made of different materials, and the difference in materials results in different bending resistance of the connectors. The tip bending section of the endoscope as described in claim 1 is characterized in that, among the sections of the connectors arranged in the direction from the distal end to the proximal end of the tip bending section, the material of at least one section of the connector is different from that of at least one other connector located on its proximal side, and the difference in material makes the corresponding connector weaker in bending resistance than the other connectors located on its proximal side. The tip bending section of the endoscope as described in claim 1 or 2 is characterized in that at least one section of the connector is integrally injection molded with two adjacent unit sections, and the connector integrally injection molded with the two adjacent unit sections forms a swing center for the two adjacent unit sections to swing relative to each other. The tip bending section of the endoscope as described in claim 1 or 2 is characterized in that the bending resistance of the connector in each section arranged in the direction from the distal end to the proximal end of the tip bending section is enhanced successively. The tip bending section of the endoscope as described in claim 1 or 2 is characterized in that the connector includes a first connector group, a second connector group, and a third connector group, each of the connector groups is composed of a section of the connector or two or more adjacent sections of the connector, and the connectors in the same connector group have the same anti-bending ability; the anti-bending ability of the first connector group, the second connector group, and the third connector group decreases in sequence, the connectors in the first connector group are made of POM, PEEK, stainless steel wire, stainless steel wire rope or stainless steel spring sheet, the connectors in the second connector group are made of PP, PPS or PPSU, and the connectors in the third connector group are made of silicone material or rubber material. The tip bending section of the endoscope as described in claim 1 or 2 is characterized in that all the connectors between two adjacent unit sections form a connector section, and one of the connector sections includes at least two connectors, and each of the connectors in the connector section is located on a straight line that is perpendicular to the axis of the tip bending section. The tip curved section of the endoscope is characterized by comprising: At least three unit sections; and a connector, the connector being located between two adjacent unit sections, the connector being fixedly connected to the two adjacent unit sections and being bendable and deformable, the bendable and deformable connector being used to enable the two adjacent unit sections to deflect relative to each other; Among the connectors arranged along the axis of the tip bending section, at least one connector has a stronger bending resistance than at least one other connector located on its proximal side in the direction from the distal end to the proximal end of the tip bending section. The tip bending section of the endoscope as described in claim 7 is characterized in that the materials and/or cross-sectional dimensions of the connectors with different bending resistance are different, and the difference in materials and/or cross-sectional dimensions makes the bending resistance of the connectors different. The tip bending section of the endoscope as described in claim 8 is characterized in that the connector includes a first connector group, a second connector group, and a third connector group, each of the connector groups is composed of a section of the connector or two or more adjacent sections of the connector, and the connectors in the same connector group have the same anti-bending ability; the anti-bending ability of the first connector group, the second connector group, and the third connector group decreases in sequence, the connectors in the first connector group are made of POM, PEEK, stainless steel wire, stainless steel wire rope or stainless steel spring sheet, the connectors in the second connector group are made of PP, PPS or PPSU, and the connectors in the third connector group are made of silicone material or rubber material. The tip bending section of the endoscope as described in claim 8 is characterized in that the connecting body with different cross-sectional dimensions has different dimensions in a direction perpendicular to the axis of the tip bending section. The tip bending section of an endoscope as described in any one of claims 7 to 10 is characterized in that the connector is divided into at least two connector groups, each connector group includes at least one connector, and the connectors in the same connector group have the same anti-bending ability; along the direction from the distal end to the proximal end of the tip bending section, the anti-bending ability of each connector group shows alternating changes from strong to weak. The tip bending section of an endoscope as described in claim 11 is characterized in that the bending resistance of at least one connector group is different from the bending resistance of two adjacent connector groups on both sides thereof. The tip bending section of the endoscope as described in any one of claims 7 to 10 is characterized in that at least one section of the connector is integrally injection molded with two adjacent unit sections, and the connector integrally injection molded with the two adjacent unit sections forms a swing center for the two adjacent unit sections to swing relative to each other. The tip bending section of the endoscope as described in any one of claims 7 to 10 is characterized in that all the connectors between two adjacent unit sections form a connector section, and one of the connector sections includes at least two connectors, and each of the connectors in the connector section is located on a straight line that intersects perpendicularly with the axis of the tip bending section. An endoscope, characterized in that it comprises: A handle, for an operator to grasp and operate; An insertion tube, which is connected to the distal end of the handle and is used to be inserted into a living body; the insertion tube comprises a tip bending section and an extension section, the tip bending section is located between the extension section and the tip head, and the tip bending section can be bent under the control of the handle, so as to control the propulsion direction in the insertion tube; and a tip, the tip being located at the distal end of the endoscope and being used for realizing illumination and/or imaging; The tip bending section is the tip bending section according to any one of claims 1 to 14.