An instrument for intracorporeal exploration and intervention, comprising: a dual-wall deformable tube, comprising: an inner sleeve extending from a proximal end to a distal end, and defining an axial lumen which opens on a distal side and on a proximal side; an outer sleeve, coaxial to the inner sleeve and extending from a proximal end to a distal end; and an imaging module, connected at an inner periphery to the distal end of the inner sleeve and at an outer periphery to the distal end of the outer sleeve; and an array of ultrasound transducers, carried by an outer support face of the imaging module; and the imaging module is an annular module connected with an hinge effect at its junction with (i) the distal end of the inner sleeve and with (ii) the distal end of the outer sleeve, the inner sleeve and the outer sleeve are mobile in relative axial translation under the effect of an axial effort, and the inner sleeve and the outer sleeve are adjacent and have a constant developed length; and in a folded position, both the inner sleeve and the outer sleeve have a cylindrical shape, and the imaging module substantially extends in the continuation of one of the inner sleeve or the outer sleeve; and in an expanded position, one of the inner sleeve has a cylindrical shape and the other of the inner sleeve or the outer sleeve has a flared shape widening on the distal side, and the imaging module substantially extends with the support face that carries the transducers of the array turned in the axial direction towards the front of the deformable tube. a dual-wall deformable tube, comprising: an inner sleeve extending from a proximal end to a distal end, and defining an axial lumen which opens on a distal side and on a proximal side; an outer sleeve, coaxial to the inner sleeve and extending from a proximal end to a distal end; and an imaging module, connected at an inner periphery to the distal end of the inner sleeve and at an outer periphery to the distal end of the outer sleeve; and an inner sleeve extending from a proximal end to a distal end, and defining an axial lumen which opens on a distal side and on a proximal side; an outer sleeve, coaxial to the inner sleeve and extending from a proximal end to a distal end; and an imaging module, connected at an inner periphery to the distal end of the inner sleeve and at an outer periphery to the distal end of the outer sleeve; and an array of ultrasound transducers, carried by an outer support face of the imaging module; and the imaging module is an annular module connected with an hinge effect at its junction with (i) the distal end of the inner sleeve and with (ii) the distal end of the outer sleeve, the inner sleeve and the outer sleeve are mobile in relative axial translation under the effect of an axial effort, and the inner sleeve and the outer sleeve are adjacent and have a constant developed length; and in a folded position, both the inner sleeve and the outer sleeve have a cylindrical shape, and the imaging module substantially extends in the continuation of one of the inner sleeve or the outer sleeve; and in an expanded position, one of the inner sleeve has a cylindrical shape and the other of the inner sleeve or the outer sleeve has a flared shape widening on the distal side, and the imaging module substantially extends with the support face that carries the transducers of the array turned in the axial direction towards the front of the deformable tube.