A method for adjusting a steering of an endoscope, the endoscope comprising: a plurality of joints, a steering wire provided with a tension sensor, said steering wire passing through the plurality of joints, and a driver, one end of said steering wire being connected to said driver, the method comprising a controller comprising a processor and memory communicably connected thereto performing the steps of acquiring a bending direction and a bending angle θ 1 of the endoscope when steering of the endoscope is to be adjusted; determining, based on the bending direction, a steering steel wire to be adjusted among the plurality of steering steel wires, and determining, based on the bending angle θ 1 , a tension value F y1 of the steering steel wire to be adjusted and a rotation angle of the driver corresponding to the steering steel wire to be adjusted; controlling the driver corresponding to the steering steel wire to be adjusted to rotate by the rotation angle; reading a value of the tension sensor corresponding to the steering steel wire to be adjusted, and recording the value as F 1 ; identifying whether F 1 is less than F y1 ; and controlling the driver corresponding to the steering steel wire to be adjusted to stop working when an absolute value of a difference between F 1 and F y1 is less than a threshold, or continuing to control the driver corresponding to the steering steel wire to be adjusted to rotate in a same direction until the value of the tension sensor corresponding to the steering steel wire to be adjusted is equal to F y1 , if F 1 is less than F y , characterised in that said endoscope comprises a plurality of drivers, an elastic member disposed between two adjacent joints of the joints and a plurality of steering wires, said wires being made of steel, whereby each of the steering steel wires are provided with a tension sensor with one end of each of said steering wires being connected to a different driver.▪ acquiring a bending direction and a bending angle θ 1 of the endoscope when steering of the endoscope is to be adjusted; determining, based on the bending direction, a steering steel wire to be adjusted among the plurality of steering steel wires, and determining, based on the bending angle θ 1 , a tension value F y1 of the steering steel wire to be adjusted and a rotation angle of the driver corresponding to the steering steel wire to be adjusted; controlling the driver corresponding to the steering steel wire to be adjusted to rotate by the rotation angle; reading a value of the tension sensor corresponding to the steering steel wire to be adjusted, and recording the value as F 1 ; identifying whether F 1 is less than F y1 ; and controlling the driver corresponding to the steering steel wire to be adjusted to stop working when an absolute value of a difference between F 1 and F y1 is less than a threshold, or continuing to control the driver corresponding to the steering steel wire to be adjusted to rotate in a same direction until the value of the tension sensor corresponding to the steering steel wire to be adjusted is equal to F y1 , if F 1 is less than F y , characterised in that said endoscope comprises a plurality of drivers, an elastic member disposed between two adjacent joints of the joints and a plurality of steering wires, said wires being made of steel, whereby each of the steering steel wires are provided with a tension sensor with one end of each of said steering wires being connected to a different driver.▪ <EOS>