WO2023087462A1 - Insertion portion, endoscope, and driving method - Google Patents

Abstract

An insertion portion, an endoscope, and a driving method, applied in the technical field of endoscopes. The insertion portion comprises: an insertion tube (1), a first radial deformation body (2), a first axial deformation body (3) and a second radial deformation body (4), two ends of the first axial deformation body (3) being fixedly connected to the first radial deformation body (2) and the second radial deformation body (4), respectively, and the second radial deformation body (4) being fixedly disposed at a far end of the insertion tube (1); the first radial deformation body (2) and the second radial deformation body (4) can deform to contact inner wall of an insertion object (5) of the insertion tube (1); the first axial deformation body (3) is used to generate a force enabling the first radial deformation body (2) to approach or move away from the second radial deformation body (4). A front-driven advancing solution achieves advancing of the insertion portion in a human body cavity; this type of driving solution has low requirements for hardness of an insertion tube (1), and the insertion tube (1) can be relatively soft, so that minimal pain is caused to a patient.

Description

Insertion part, endoscope and driving method technical field

The present invention relates to an endoscope, in particular to an insertion part, an endoscope and a driving method.

Background technique

Endoscope is a commonly used medical device, an inspection device that can directly enter the natural pipeline of the human body, and can provide doctors with sufficient diagnostic information to treat diseases. When in use, the insertion part of the endoscope enters the human body through the natural orifice of the human body or through a small incision made by surgery, and the doctor can directly observe the changes of the relevant parts.

The insertion portion of an endoscope generally includes a snake section, a passive bending section, and an insertion tube section. Among them, the snake bone segment is the softest, and the insertion tube segment is the hardest. Existing endoscopes go deep into the human cavity generally by applying force to the harder insertion tube end, so that the entire endoscope advances in the human cavity, which is a rear-driven structure. However, since the lumens in the human body, such as the large intestine and the small intestine, are very curved, the insertion of the tube will cause the large intestine or small intestine to be straightened, which will bring a painful experience to the patient.

Contents of the invention

In order to solve the above-mentioned problems, the object of the first aspect of the present invention is to provide an insertion part, which includes: an insertion tube, a first radial deformation body, a first axial deformation body and a second radial deformation body , the two ends of the first axial deformation body are respectively fixedly connected with the first radial deformation body and the second radial deformation body, and the second radial deformation body is fixedly arranged at the distal end of the insertion tube ;

The first radially deformable body and the second radially deformable body are deformable to contact with the inner wall of the insertion object of the insertion tube; the first axially deformable body is used to make the first diameter A force that moves toward or away from the second radially deformable body.

Further, both the first radially deformable body and the second radially deformable body are spherical airbags.

Further, the first axially deformable body is a strip-shaped airbag.

Further, the number of the first radial deformation body is one.

Further, the number of the first radially deformable bodies is greater than one, and adjacent first radially deformable bodies are connected by the strip-shaped airbags.

Further, a first trachea channel is attached to the outer wall of the insertion tube, and the first trachea channel communicates with the first radial deformation body.

Further, a second trachea channel is provided in the insertion tube, and the second trachea channel communicates with the second radial deformation body.

Further, the outer diameter of the first axial deformation body is smaller than the outer diameters of the first radial deformation body and the second radial deformation body.

The second aspect of the present invention provides an endoscope, the endoscope includes a handle part and the aforementioned insertion part, the handle part is used to control the movement of the insertion part along the axial direction of the insertion part .

A third aspect of the present invention provides the aforementioned insertion part driving method, the method comprising the following steps:

Step S001: Selecting one of the first radially deformable bodies as a target airbag, inflating the target airbag to inflate the target airbag until the target airbag presses against the inner wall of the insertion object;

Step S002: Inflate air into the strip-shaped airbag between the target airbag and the second radially deformable body, so as to push the second radially deformable body forward;

Step S003: When the movement of the second radially deformable body stops, inflate the second radially deformable body with air to expand the second radially deformable body until the second radially deformable body reaches Tightly inserting into the inner wall of the object, and deflate the target air bag, causing the target air bag to deflate;

Step S004: deflate the strip-shaped airbag between the target airbag and the second radially deformable body, so as to attract the target airbag close to the second radially deformable body;

Step S005: When the movement of the target airbag stops, deflate the second radially deformable body to shrink the second radially deformable body;

Step S006: Repeat steps S001 to S005.

Compared with the prior art, the beneficial technical effect of the present invention is: the present invention proposes a front-drive scheme completely different from the prior art. By arranging the first radial deformation body, the first axial deformation body and the second radial deformation body on the outer wall of the distal end of the insertion tube, and by controlling the contraction and expansion of the first axial deformation body in the axial direction of the insertion tube, The distance and approach between the first radial deformation body and the second radial deformation body are realized, and the crawling advance of the insertion tube in the insertion object is realized. Since this driving method does not need to transmit thrust from the insertion tube, it has lower requirements on the hardness of the insertion tube, so the insertion tube can be set softer, and the entire insertion part is easily deformed in the inserted object, so that when using the endoscope , to minimize the pain to the patient.

Description of drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings that need to be used in the embodiments of the present invention or in the description of the prior art. Obviously, the accompanying drawings described below are only illustrations of the present invention For some embodiments, those of ordinary skill in the art can also obtain other drawings based on these drawings without creative effort.

Fig. 1 is a schematic structural view of an insertion part in an embodiment of the present invention;

Fig. 2 is a schematic diagram of the original state of the insertion part shown in Fig. 1;

Fig. 3 is a schematic diagram of the structure of the insertion part shown in Fig. 2, after the expansion of the first radially deformable body;

Fig. 4 is a structural schematic diagram of the insertion part shown in Fig. 3, after the first axial deformation body expands, and the second radial deformation body is away from the first radial deformation body;

Fig. 5 is a schematic diagram of the structure of the insertion part shown in Fig. 4, the second radially deformable body expands, and the first radially deformable body shrinks;

Fig. 6 is a schematic diagram of the structure of the first radially deformable body close to the second radially deformable body after the first axially deformable body shrinks in the insertion part shown in Fig. 5 ;

Fig. 7 is another embodiment of the present invention, a schematic structural view of the insertion part with two first radially deformable bodies;

Fig. 8 is a schematic diagram of the original state of the insertion part shown in Fig. 7;

Fig. 9 is the structure of the insertion part shown in Fig. 8, the first radially deformable body in the first position and all the first axially deformable bodies expanding so that the second radially deformable body moves away from the first radially deformable body schematic diagram;

Fig. 10 is a structural schematic diagram of the second radial deformation body expanding and the first radial deformation body contracting in the insertion part shown in Fig. 9;

Fig. 11 is a structural schematic diagram of all the first axially deformable bodies shrinking in the insertion part shown in Fig. 10 to make the first radially deformable bodies move closer to the second radially deformable bodies.

In the figure: 1-insertion tube, 2-first radial deformation body, 3-first axial deformation body, 4-second radial deformation body, 5-insertion object.

Detailed ways

The following description provides many different embodiments, or examples, for implementing various features of the invention. The components and arrangements described in the following specific examples are only used to express the present invention in a concise manner, which are only examples and not intended to limit the present invention.

Endoscope is a commonly used medical device, an inspection device that can directly enter the natural pipeline of the human body, and can provide doctors with sufficient diagnostic information to treat diseases. When in use, the insertion part of the endoscope enters the human body through the natural orifice of the human body or through a small incision made by surgery, and the doctor can directly observe the changes of the relevant parts.

The insertion portion of an endoscope generally includes a snake section, a passive bending section, and an insertion tube section. Among them, the snake bone section is formed by connecting snake bone units one by one; the insertion pipe section and the passive complete break are usually formed by threaded pipes, and the thread pitch of the insertion pipe section is greater than that of the passive bending pipe section. Therefore, the existing internal In the insertion part of the speculum, the insertion section is the hardest, followed by the passive bending section, and the snake bone section is the softest.

In the prior art, the insertion part of the endoscope is inserted deep into the human body cavity, generally by applying force to a relatively hard insertion tube section, so that the entire insertion part of the endoscope advances in the body cavity. Therefore, this rear-drive structure has certain requirements on the hardness of the insertion tube section of the endoscope. When the hardness of the insertion tube section of the endoscope is low, the user cannot advance the endoscope from the rear end according to the predetermined lumen direction; when the hardness of the insertion tube section is high, due to the cavity in the human body, such as the large intestine And the small intestine is very curved. After inserting the tube, the large intestine or small intestine will be straightened, which will bring painful experience to the patient.

Therefore, there is an urgent need to provide an insertion portion with lower hardness, which can also realize the smooth advancement of the insertion of the endoscope in the human cavity.

It needs to be explained in advance that the "distal end" and "near end" in the present invention are relative to the handle part of the endoscope, and the end closer to the handle part of the endoscope is called the "near end" , the end farther from the handle of the endoscope is called the "distal end"

In view of this, one embodiment of the present invention, as shown in FIG. 1 , provides an insertion part, which includes: an insertion tube 1, a first radial deformation body 2, a first axial deformation body 3 and a second Two radially deformable bodies 4, the two ends of the first axially deformable body 3 are respectively fixedly connected to the first radially deformable body 2 and the second radially deformable body 4, and the second radially deformable body 4 fixedly arranged at the distal end of the insertion tube 1;

The first radially deformable body 2 and the second radially deformable body 4 can be deformed to contact with the inner wall of the insertion object 5 of the insertion tube 1; the first axially deformable body 3 is used to produce The first radially deformable body 2 approaches or moves away from the acting force of the second radially deformable body 4 .

In the above solution, the insertion part refers to the part of the flexible endoscope other than the handle part and the electrical connection wire. The insertion object 5 may be a cavity in the human body, such as the intestinal tract of the human body, or a cavity in the animal body. The following description will be made by taking the insertion object 5 as the cavity of the human body as an example.

In the initial state, the first radially deformable body 2 and the second radially deformable body 4 have an outer diameter smaller than an inner diameter inserted into the cavity of a human body. In the deformed state, the first radially deformable body 2 and the second radially deformable body 4 can expand along their radial direction, and the maximum expansion diameter of the first radially deformable body 2 and the second radially deformable body 4 is larger than the body cavity inner diameter of the channel.

In the initial state, the first axially deformable body 3 has a relatively short length in the axial direction. In the deformed state, the first axially deformable body 3 can be expanded along its axial direction to elongate its length in the axial direction. The diameter of the first axially deformable body 3 is smaller than the inner diameter of the body cavity.

The endoscope in the prior art is often pushed forward by the handle part to insert the insertion tube 1 into the cavity of the human body. Different from the prior art, the above-mentioned solution adopts a front-driven solution to realize the advancement of the insertion part in the cavity of the human body. specifically:

In the initial state, the insertion tube section 1 including the first radial deformable body 2, the first axial deformable body 3 and the second radially deformable body 4 can be inserted into the human cavity by forcefully pushing the handle end;

Step 1: deform the first radially deformable body 2 in its radial direction to contact with the inner wall of the insertion object 5, and make the first radially deformable body 2 immovable relative to the insertion object 5;

Step 2: deform the first axially deformable body 3 along its axial direction, because the other end of the first axially deformable body 3 is fixedly connected with the second radially deformable body 4 and the distal end of the insertion tube 1, thus It can drive the second radial deformation body 4 and the insertion tube 1 forward;

Step 3: When the forward movement of the second radially deformable body 4 stops, deform the second radially deformable body 4 in its radial direction to contact with the inner wall of the insertion object 5, and deform the second radially Body 4 is not movable relative to insertion object 5;

Step 4: Make the first radial deformable body 2 shrink in the radial direction and separate from the inner wall of the human cavity; at the same time make the first axial deformable body 3 shrink in the axial direction, so that the first axial deformable body 3 is in the axial direction Shorten in the direction, thereby pulling the first radially deformable body 2 to move close to the second radially deformable body 4;

Step 5: When the approaching movement of the first radially deformable body 2 stops, the second radially deformable body 4 is shrunk in the radial direction and separated from the inner wall of the human cavity;

After performing the above five steps, the insertion part has completed a forward movement in the insertion object 5. When it is necessary to continue to realize the advancement of the insertion part, repeat the above steps 1 to 5.

Different from the prior art, the above solution adopts a front-drive solution that is completely different from the prior art. By setting the first radial deformation body 2, the first axial deformation body 3, and the second radial deformation body 4 on the outer wall of the distal end of the insertion tube 1, by controlling the first axial deformation body 3 in the axial direction of the insertion tube 1 The contraction and expansion in the direction realize the separation and closeness between the first radial deformation body 2 and the second radial deformation body 4 , and realize the crawling advancement of the insertion tube 1 in the insertion object 5 . Since this driving method does not need to transmit thrust from the insertion tube 1, it has lower requirements on the hardness of the insertion tube 1, so the insertion tube 1 can be set softer, and the entire insertion part is easily deformed in the insertion object 5. When using an endoscope, the pain to the patient can be minimized.

Further, both the first radially deformable body 2 and the second radially deformable body 4 are spherical airbags.

The outer diameter of the balloon-type first radially deformable body 2 and the second radially deformable body 4 is smaller and smaller than the inner diameter of the insertion object 5 in an uninflated state;

When it is necessary to position between the first radially deformable body 2 and the inner wall of the insertion object 5, gas can be filled into the first radially deformable body 2 to make the first radially deformable body 2 move in the radial direction. Inflate, when it expands to fit the inner wall of the insertion object 5, then fill a little gas into the first radial deformation body 2, the first radial deformation body 2 will slightly squeeze the inner wall of the insertion object 5, so that The first radially deformable body 2 abuts against the inner wall of the insertion object 5 and is not easy to move.

Similarly, when the second radially deformable body 4 needs to be positioned between the inner wall of the insertion object 5, gas can be filled into the second radially deformable body 4, so that the second radially deformable body 4 Expand in the direction, and when it expands to fit the inner wall of the insertion object 5, then fill a little gas into the second radial deformation body 4, and the second radial deformation body 4 will slightly squeeze the inner wall of the insertion object 5 , so that the second radially deformable body 4 is pressed against the inner wall of the insertion object 5 and is difficult to move.

Further, the first axial deformation body 3 is a strip-shaped airbag. It is sleeved on the outer wall of the insertion tube 1, one end of the strip-shaped airbag is fixedly connected to the spherical airbag of the first radial deformation body 2, and the other end of the strip-shaped airbag is fixedly connected to the first The spherical air bag of two radial deformation bodies 4,

When it is necessary to make the first axially deformable body 3 keep the first radially deformable body 2 away from the acting force of the second radially deformable body 4, then fill the first axially deformable body 3 with gas, so that The first axially deformable body 3 expands in the axial direction, so that the relative distance between the first radially deformable body 2 and said second radially deformable body 4 becomes longer.

On this basis, when the first axially deformable body 3 is required to make the first radially deformable body 2 approach the second radially deformable body 4, the first axially deformable body 3 is placed The air makes the first axially deformable body 3 shrink in the axial direction, so that the relative distance between the first radially deformable body 2 and the second radially deformable body 4 becomes closer.

Since the second radially deformable body 4 is fixedly connected to the outer wall of the insertion tube 1, the end of the first axially deformable body 3 close to the second radially deformable body 4 can be directly fixedly connected to the second radially deformable body 4. Of course, one end of the first axially deformable body 3 close to the second radially deformable body 4 can also be directly fixedly connected to the insertion tube 1 on the proximal side of the second radially deformable body 4 . As long as the relative position between the first axially deformable body 3 and the second radially deformable body 4 remains unchanged.

In addition, one first axially deformable body 3 may be fixedly arranged only on the distal end surface of the first radially deformable body 2, or one first axially deformable body 3 may be fixedly arranged on the proximal end surface and the distal end surface of the first radially deformable body 2 respectively. An axial deformation body 3 , how to set it up depends on the quantity of the first radial deformation body 2 .

In practical application, in order to facilitate assembly, the second radially deformable body 4 and the first radially deformable body 2 can be set as two spherical airbags with the same structure, material and shape.

Further, the number of the first radial deformation body 2 is one.

In the above solution, when the number of the first radially deformable body 2 is one, the principle of realizing the movement of the insertion part in the human cavity is as follows:

In the initial state, the insertion tube section 1 including the first radial deformable body 2, the first axial deformable body 3 and the second radially deformable body 4 can be inserted into the human cavity by forcefully pushing the handle end;

Step 1: Inflate the first radially deformable body 2 with air so that it expands in the radial direction until it contacts the inner wall of the insertion object 5, and continue to fill the first radially deformable body 2 with a little gas to make the first The radial deformation body 2 slightly squeezes the inner wall of the insertion object 5, thereby positioning the first radial deformation body 2 in the inner wall of the insertion object 5, so that the first radial deformation body 2 cannot move relative to the insertion object 5;

Step 2: Fill gas into the first axial deformation body 3 to make it expand in the axial direction, because the other end of the first axial deformation body 3 and the second radial deformation body 4 and the insertion tube 1 The distal end is fixedly connected so as to drive the second radially deformable body 4 and the insertion tube 1 forward;

Step 3: When the forward movement of the second radially deformable body 4 stops, gas is filled into the second radially deformable body 4 to expand the second radially deformable body 4 in the radial direction until it is inserted The inner wall of the object 5 is in contact, and continue to fill a little gas into the second radially deformable body 4, so that the second radially deformable body 4 slightly squeezes the inner wall of the inserted object 5, thereby positioning the second radially deformable body 4 within the inner wall of the insertion object 5, making the second radially deformable body 4 immovable relative to the insertion object 5;

Step 4: At the same time, deflate the first radial deformation body 2 so that it shrinks in the radial direction and separate from the inner wall of the human cavity; at the same time, deflate the first axial deformation body 3 to make it Shrinking in the axial direction, since the first axial deformation body 3 becomes shorter in the axial direction, the first radial deformation body 2 is pulled to move close to the second radial deformation body 4;

Step 5: When the approaching motion of the first radially deformable body 2 stops, the second radially deformable body 4 is deflated to shrink in the radial direction and separate from the inner wall of the human cavity;

After performing the above five steps, the insertion part has completed a forward movement in the insertion object 5. When it is necessary to continue to realize the advancement of the insertion part, repeat the above steps 1 to 5.

Further, the number of the first radially deformable bodies 2 is greater than one, and the adjacent first radially deformable bodies 2 are connected by the strip-shaped airbags.

When the outer wall of the insertion tube 1 is provided with a plurality of first radially deformable bodies 2, the plurality of first radially deformable bodies 2 are sequentially arranged on the proximal side of the second deformable body, and two adjacent first radially deformable bodies The deformation bodies 2 are connected through the first axial deformation body 3 .

The principle of setting a plurality of first radial deformation bodies 2 to realize the advancement of the insertion part is the same as the principle of setting one first radial deformation body 2 to realize the advancement of the insertion part. The difference is that setting multiple first radial deformation bodies 2 can realize the insertion The first radially deformable body 2 can achieve a longer distance at one time. In the following, the driving principle will be described with the number of the first radially deformable bodies 2 being two:

In the initial state, the insertion tube section 1 including the first radial deformable body 2, the first axial deformable body 3 and the second radially deformable body 4 can be inserted into the human cavity by forcefully pushing the handle end;

Step 1: Select the first radially deformable body 2 at the first position (that is, the leftmost position in FIG. 8 ) as the target airbag, and inflate the target airbag so that it expands in the radial direction until it meets the inner wall of the insertion object 5 Contact, continue to fill the first radial deformation body 2 with a little gas, so that the first radial deformation body 2 will slightly squeeze the inner wall of the insertion object 5, thereby positioning the first radial deformation body 2 on the insertion object 5 within the inner wall of the first radially deformable body 2 relative to the insertion object 5 immovable;

Step 2: Inflate gas into all strip-shaped airbags to make them expand in the axial direction, so that the first radially deformable body 2 in the second position will deform relative to the first radially deformable body in the first position The body 2 is far away from the distance L (L is the length change of the strip-shaped airbag before and after expansion), on this basis, the second radial deformation body 4 will drive the insertion tube 1 relative to the first radial deformation in the second position. The bodies 2 are separated by a distance L; thus, the second radially deformable body 4 moves a total distance of 2L relative to the first radially deformable body 2 in the first position.

Step 3: When the forward movement of the second radially deformable body 4 stops, gas is filled into the second radially deformable body 4 to expand the second radially deformable body 4 in the radial direction until it is inserted The inner wall of the object 5 is in contact, and continue to fill a little gas into the second radially deformable body 4, so that the second radially deformable body 4 slightly squeezes the inner wall of the inserted object 5, thereby positioning the second radially deformable body 4 within the inner wall of the insertion object 5, making the second radially deformable body 4 immovable relative to the insertion object 5;

Step 4: At the same time, deflate the first radially deformable body 2 so that it shrinks in the radial direction and separates from the inner wall of the human cavity; Contraction, because the strip-shaped airbag becomes shorter in the axial direction, thereby pulling the first radially deformable body 2 to move closer to the second radially deformable body 4;

Step 5: When the approaching motion of the first radially deformable body 2 stops, the second radially deformable body 4 is deflated to shrink in the radial direction and separate from the inner wall of the human cavity;

After performing the above five steps, the insertion part has completed a forward movement in the insertion object 5. When it is necessary to continue to realize the advancement of the insertion part, repeat the above steps 1 to 5.

It should be noted that the first radially deformable body 2 at different positions can be selected as the target airbag; as in the above scheme, the first radially deformable body 2 at the first position (ie, the leftmost position in FIG. 8 ) is selected as the target airbag , of course, according to the advance distance of the insertion tube 1 that needs to be realized once, the first radial deformation body in the second position (that is, the second first radial deformation body 2 from the left in Fig. 8 ) or other positions can also be selected. 2 As the target airbag, repeat the above steps.

Further, a first trachea channel is attached to the outer wall of the insertion tube 1 , and the first trachea channel communicates with the first radial deformation body 2 .

Further, the insertion tube 1 is provided with a second trachea channel, and the second trachea channel communicates with the second radially deformable body 4 . A ventilation hole (not shown) is provided at the position corresponding to the insertion tube 1 and the second radially deformable body 4, and the second tracheal channel realizes communication with the second radially deformable body 4 through the vent hole, and inflates it and deflate.

Further, the outer diameter of the first axial deformation body 3 is smaller than the outer diameters of the first radial deformation body 2 and the second radial deformation body 4 . So that when the axial direction of the first axially deformable body 3 expands, it will not contact the inner wall of the insertion object 5 .

The second aspect of the present invention provides an endoscope, the endoscope includes a handle part and the aforementioned insertion part, the handle part is used to control the movement of the insertion part along the axial direction of the insertion part .

The endoscope in the above solution adopts a front-drive method to realize the front-drive advancement of the insertion part in the insertion object 5 . The insertion tube 1 of this endoscope can be set relatively soft, and the entire insertion part is easily deformed on the inner wall of the insertion object 5, so that the pain caused to the patient can be minimized when using the endoscope.

A third aspect of the present invention provides the aforementioned insertion part driving method, the method comprising the following steps:

Step S001: Selecting one of the first radially deformable bodies 2 as the target airbag, inflating the target airbag to inflate the target airbag until the target airbag presses against the inner wall of the insertion object 5;

Step S002: Inflate air into the strip-shaped airbag between the target airbag and the second radially deformable body 4, so as to push the second radially deformable body 4 forward;

Step S003: When the movement of the second radially deformable body 4 stops, inflate the second radially deformable body 4 to expand the second radially deformable body 4 until the second diameter Press against the inner wall of the insertion object 5 against the deformable body 4, and deflate the target airbag to shrink the target airbag;

Step S004: Deflate the strip-shaped airbag between the target airbag and the second radially deformable body 4, so as to attract the target airbag close to the second radially deformable body 4;

Step S005: When the movement of the target airbag stops, deflate the second radially deformable body 4 to shrink the second radially deformable body 4;

Step S006: Repeat steps S001 to S005.

The above method is realized by setting the first radially deformable body 2, the first axially deformable body 3, and the second radially deformable body 4, and by controlling the contraction and expansion of the first axially deformable body 3 in the axial direction of the insertion tube 1. The distance and approach between the first radial deformation body 2 and the second radial deformation body 4 are realized, and the crawling advancement of the insertion tube 1 in the insertion object 5 is realized. Since this driving method does not need to transmit thrust from the insertion tube 1, it has lower requirements on the hardness of the insertion tube 1, so the insertion tube 1 can be set softer, and the entire insertion part is easily deformed in the insertion object 5. When using an endoscope, the pain to the patient can be minimized.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention. within the scope of protection.

Claims (10)

An insertion part, characterized by comprising: an insertion tube (1), a first radially deformable body (2), a first axially deformable body (3) and a second radially deformable body, the first axially deformable body Both ends of the deformation body (3) are respectively fixedly connected with the first radial deformation body (3) and the second radial deformation body (4), and the second radial deformation body (4) is fixedly arranged on the the distal end of the insertion tube (1); The first radially deformable body (2) and the second radially deformable body (4) are deformable to contact with the inner wall of the insertion object (5) of the insertion tube (1); the first shaft The directional deformation body (3) is used to generate an acting force to make the first radial deformation body (2) approach or move away from the second radial deformation body (4). The insertion part according to claim 1, characterized in that, both the first radially deformable body (2) and the second radially deformable body (4) are spherical airbags. The insertion part according to claim 2, characterized in that, the first axially deformable body (3) is a strip-shaped air bag. The insertion part according to claim 3, characterized in that the number of the first radial deformation body (2) is one. The insertion part according to claim 3, characterized in that, the number of the first radially deformable bodies (2) is greater than one, and the adjacent first radially deformable bodies (2) pass through the strip airbag connection. The insertion part according to claim 4 or 5, characterized in that, a first trachea channel is attached to the outer wall of the insertion tube (1), and the first trachea channel is connected to the first radial deformation body (2 ) connected. The insertion part according to claim 6, characterized in that, a second trachea channel is provided in the insertion tube (1), and the second trachea channel communicates with the second radial deformation body (4). The insertion part according to claim 4 or 5, characterized in that, the outer diameter of the first axial deformation body (3) is smaller than that of the first radial deformation body (2) and the second radial deformation body The outer diameter of the body (4). An endoscope, characterized by comprising a handle part and the insertion part according to any one of claims 1-8, the handle part is used to control the movement of the insertion part along the axial direction of the insertion part. A driving method for an insertion part according to any one of claims 3-8, comprising the following steps: Step S001: Select one of the first radially deformable bodies (2) as the target airbag, inflate the target airbag to inflate the target airbag until the target airbag presses against the inner wall of the insertion object (5); Step S002: Inflate air into the bar-shaped airbag between the target airbag and the second radially deformable body (4), so as to push the second radially deformable body (4) forward; Step S003: when the movement of the second radially deformable body (4) stops, inflate the second radially deformable body (4) to expand the second radially deformable body (4), until the second radially deformable body (4) presses against the inner wall of the object to be inserted, and deflates the target airbag to shrink the target airbag; Step S004: Deflate the strip-shaped airbag between the target airbag and the second radially deformable body (4), so as to attract the target airbag close to the second radially deformable body (4); Step S005: When the movement of the target airbag stops, deflate the second radially deformable body (4), so that the second radially deformable body (4) contracts; Step S006: Repeat steps S001 to S005.

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