A rigid endoscope, comprising a disposable endoscope body structure and a reusable camera assembly, wherein the endoscope body structure comprises a handle portion, an endoscope body inserting portion and a line connecting portion; the endoscope body inserting portion is directly or indirectly connected to the handle portion, the line connecting portion comprises a receptacle located in the handle portion and an external connecting portion located outside the handle portion, and the receptacle is directly or indirectly connected with the external connecting portion; the handle portion is provided with a camera assembly access port for the camera assembly to access; after accessing and being assembled to the camera assembly access port, the camera assembly is configured to be able to be inserted into the receptacle to transmit electrical energy and/or a signal with the external connecting portion by using the receptacle; wherein the camera assembly comprises a camera, a conducting rod, a grip, a male connector disposed at the grip, and a first electrical wire; one end of the conducting rod is connected with the grip, and the camera is disposed at the other end of the conducting rod; the first electrical wire penetrates through the conducting rod and the grip, one end of the first electrical wire is directly or indirectly connected with the camera, and the other end of the first electrical wire is directly or indirectly connected with the male connector; after the camera assembly accesses and is assembled to the camera assembly access port, the male connector is inserted into the receptacle, and the conducting rod penetrates through the endoscope body inserting portion; the grip comprises a grip head characterized in that the grip further comprises: an elastic compensation structure disposed at the grip head; one end of the elastic compensation structure along a length direction of the conducting rod is directly or indirectly connected with the conducting rod, and the other end of the elastic compensation structure along the length direction of the conducting rod is directly or indirectly connected with the grip head, the grip head being fixed relative to the handle portion after the camera assembly accesses and is assembled to the camera assemble access port; the elastic compensation structure is configured to directly or indirectly push the conducting rod by using an elastic force after the camera assembly accesses and is assembled to the camera assembly access port, so that the camera is located at a tip of the endoscope body inserting portion. the handle portion is provided with a camera assembly access port for the camera assembly to access; after accessing and being assembled to the camera assembly access port, the camera assembly is configured to be able to be inserted into the receptacle to transmit electrical energy and/or a signal with the external connecting portion by using the receptacle; wherein the camera assembly comprises a camera, a conducting rod, a grip, a male connector disposed at the grip, and a first electrical wire; one end of the conducting rod is connected with the grip, and the camera is disposed at the other end of the conducting rod; the first electrical wire penetrates through the conducting rod and the grip, one end of the first electrical wire is directly or indirectly connected with the camera, and the other end of the first electrical wire is directly or indirectly connected with the male connector; after the camera assembly accesses and is assembled to the camera assembly access port, the male connector is inserted into the receptacle, and the conducting rod penetrates through the endoscope body inserting portion; the grip comprises a grip head characterized in that the grip further comprises: an elastic compensation structure disposed at the grip head; one end of the elastic compensation structure along a length direction of the conducting rod is directly or indirectly connected with the conducting rod, and the other end of the elastic compensation structure along the length direction of the conducting rod is directly or indirectly connected with the grip head, the grip head being fixed relative to the handle portion after the camera assembly accesses and is assembled to the camera assemble access port; the elastic compensation structure is configured to directly or indirectly push the conducting rod by using an elastic force after the camera assembly accesses and is assembled to the camera assembly access port, so that the camera is located at a tip of the endoscope body inserting portion. an elastic compensation structure disposed at the grip head; one end of the elastic compensation structure along a length direction of the conducting rod is directly or indirectly connected with the conducting rod, and the other end of the elastic compensation structure along the length direction of the conducting rod is directly or indirectly connected with the grip head, the grip head being fixed relative to the handle portion after the camera assembly accesses and is assembled to the camera assemble access port; the elastic compensation structure is configured to directly or indirectly push the conducting rod by using an elastic force after the camera assembly accesses and is assembled to the camera assembly access port, so that the camera is located at a tip of the endoscope body inserting portion.