Soft endoscope

The utility model discloses a soft endoscope. The soft endoscope comprises an endoscope insertion part and a soft actuator which are connected in sequence, the soft body actuator comprises a body part and a head part which are connected in sequence; a cavity is formed in the soft actuator; the cavity penetrates through the soft body actuator along a central shaft of the soft body actuator; a camera, a light source and an optical fiber force sensor are arranged in the cavity of the head part; an air cavity which is circumferentially distributed in the axis direction of the cavity is formed in the body part; an air channel pipeline is arranged in the epidermis of the endoscope insertion part and is communicated with the air cavity, and the bending motion of the soft body actuator is adjusted through the air pressure input into the air cavity by the air channel pipeline in the endoscope insertion part, so that the soft body actuator can move more flexibly in the body; in addition, an optical fiber force sensor i