CN1933761A - Endoscope insertion auxiliary device - Google Patents

Abstract

An endoscope insertion auxiliary device which has a flexible tube whose front end is provided with a front end member having an outer diameter equal to or greater than the outer diameter of the tube. The outer peripheral surface of the tube is provided with a spiral structure.

Description

Endoscope Insertion Aids

technical field

The present invention relates to an endoscope insertion assisting device using a helical structure to assist endoscope insertion.

Background technique

In recent years, endoscopes have been widely used in the medical and industrial fields. When inserting the endoscope into a curved part such as a body cavity, an endoscope insertion assisting device may be used so that the endoscope can be inserted smoothly.

For example, Japanese Patent Laying-Open No. 54-78884 as a first precedent discloses a fiber optic endoscope in which the insertion part itself is formed into a helical shape, and the insertion part is easily inserted by twisting on the hand part side. In the large intestine.

In addition, Japanese Patent Application Laid-Open No. 51-73884, which is the second precedent example, discloses an endoscope insertion assisting device in which a cylinder and a wheel (ring) are connected at multiple places by rivets, and a helical ring is provided on the outside. A fiberoptic endoscope is inserted inside it, so it can be easily inserted into the large intestine.

In the above-mentioned first prior example, there is a disadvantage that it cannot be used for insertion of an ordinary endoscope whose insertion portion is linear. In addition, the structure of the second prior example is complicated and expensive.

Also, in the second prior example, since the outer diameter cannot be changed, the contact with the body cavity that can have various diameters is insufficient, and the propulsion force may be insufficient during rotation.

In addition, in the second prior example, when pulling out, the unevenness formed by the helical member may become an obstacle to smooth pulling out.

Contents of the invention

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an endoscope insertion assisting device capable of smoothly advancing the endoscope by rotation.

The endoscope insertion assisting device of the present invention is characterized in that the device has: a flexible tube; a front end part provided at the front end of the tube and having an outer diameter greater than or equal to the outer diameter of the tube; and a helical structure body, which is provided on the outer peripheral surface of the tube.

According to the above structure, the tip part having the outer diameter equal to or larger than the outer diameter of the tube contacts the inner wall of the lumen. At this time, by increasing the contact area between the tip part and the inner wall of the lumen, the tube is inserted into the lumen without being caught by the colonic folds. In addition, the helical structure provided on the tube contacts the inner wall of the lumen and rotates, so as to push the tube forward and achieve smooth insertion.

Description of drawings

FIG. 1 is an overall configuration diagram of an endoscope apparatus according to Embodiment 1 of the present invention.

Fig. 2 is a perspective view showing the appearance of the endoscope insertion assisting device of the first embodiment.

FIG. 3 is a configuration diagram showing the front end side of FIG. 2 .

Fig. 4 is a cross-sectional view showing the structure of the rotary drive device in Fig. 1 .

Fig. 5 is a diagram showing the relationship between the rotation direction and the travel direction.

Fig. 6 is a diagram showing a state in which the insertion portion of the endoscope is inserted into the endoscope insertion assisting device.

FIG. 7 is a view showing that the endoscope can be bent by a bending mechanism in a state where the insertion portion of the endoscope is inserted.

8 is a cross-sectional view showing a state in which a fluid is injected into a gap between the endoscope and the endoscope insertion assisting device.

FIG. 9A is an explanatory view showing a state in which an endoscope is inserted into the large intestine using the endoscope insertion assisting device.

Fig. 9B is a diagram showing the state after insertion into the anus.

Fig. 9C is an explanatory diagram of a state inserted into a deep side of a curved lumen.

Fig. 10 is a perspective view showing a rotation drive device according to a first modification.

11A is an exploded perspective view showing a rotary drive device and the like according to a second modified example.

FIG. 11B is a diagram showing a motor having a hollow rotating shaft.

Fig. 12A is a cross-sectional view showing a rotation drive device according to a third modification.

Fig. 12B is a sectional view taken along line A-A of Fig. 12A.

13 is a diagram showing a schematic configuration of an endoscope insertion assisting device according to a fourth modification.

Fig. 14A is a view showing a state in which the tip member is inserted into the insertion site.

Fig. 14B is a diagram showing a state in which the air bag is inflated in the state shown in Fig. 14A.

FIG. 15 is a schematic diagram of an internal structure of a fifth modification.

FIG. 16 is a schematic diagram of an internal structure of a sixth modification.

Fig. 17 is an overall configuration diagram of an endoscope insertion assisting device according to Embodiment 2 of the present invention.

Fig. 18A is a diagram showing a state in which the balloon constituting the helical structure is inflated and protruded.

Fig. 18B is a diagram showing a state where the balloon constituting the helical structure is not inflated.

Fig. 18C is a diagram showing a state in which the air bag is further inflated than that shown in Fig. 18A.

Fig. 19 is an overall configuration diagram of an endoscope insertion assisting device according to a first modified example.

Fig. 20 is a state diagram showing a state where the protruding height portion of the helical structure made of the hollow tube is flattened in the first modified example.

FIG. 21 is a perspective view showing the structure of the bending portion of the second embodiment.

Fig. 22 is a perspective view showing the configuration of a bending portion of a modified example.

FIG. 23A is a diagram showing a curved shape on the tip side when bending control is performed.

Fig. 23B is a diagram showing a state when the tube is rotated in a bent state.

Fig. 24A is an explanatory diagram of the operation of the torque limiter.

Fig. 24B is a diagram showing a state when a torque equal to or greater than a predetermined torque acts in Fig. 24A.

Fig. 25 is a diagram showing a helical structure formed by a thin-diameter closely wound coil-shaped member in a second modification.

Fig. 26A is a diagram showing a tube structure of a third modification.

Fig. 26B is a diagram showing a state in which air is injected into the outer tube in Fig. 26A.

Fig. 27A is a diagram showing a tube structure of a fourth modification.

Fig. 27B is a diagram showing the state of inflating the air bag in Fig. 27A.

Fig. 28A is a diagram showing a tube structure of a fifth modification.

Fig. 28B is a view showing a state in which the helical structure is detached from the tube in Fig. 28A.

FIG. 29A is a diagram showing a rotation restricting mechanism of a sixth modified example.

Fig. 29B is a diagram showing a state when a torque equal to or greater than a predetermined torque acts in Fig. 29A.

Fig. 30 is a configuration diagram showing a rotation restricting mechanism according to a seventh modification.

Fig. 31A is a diagram showing an installation location of a torque limiter.

Fig. 31B is a diagram showing a case where the torque limiter is installed at a position different from that in Fig. 31A.

Fig. 31C is a diagram showing a case where the torque limiter is installed at a position different from that of Figs. 31A and 31B.

Fig. 32 is a configuration diagram showing a partial rotation restricting mechanism according to an eighth modification.

Fig. 33A is an explanatory diagram of the operation of insertion into a body cavity according to a ninth modification.

Fig. 33B is a diagram showing a state of insertion deeper than that shown in Fig. 33A.

Fig. 33C is a diagram showing a state of insertion deeper than that shown in Fig. 33B.

Fig. 34A is a diagram showing the front end side of a tenth modification.

Fig. 34B is a diagram showing a state in which the tip member is bent.

Fig. 35 is a perspective view showing the front end side structure of Embodiment 3 of the present invention.

Fig. 36A is a diagram showing the structure of a propulsion holder according to a first modification.

Fig. 36B is a diagram showing the internal structure of the propulsion holder.

Fig. 37 is a perspective view showing a schematic configuration of a propulsion holder according to a second modified example.

Fig. 38 is a diagram showing the internal structure of the propulsion holder shown in Fig. 37 .

39 is a perspective view showing the vicinity of the propulsion holder in a state of being attached to the endoscope according to a third modification.

Fig. 40 is a perspective view showing a schematic configuration of the propulsion holder shown in Fig. 39 .

Fig. 41 is a diagram showing the internal structure of the propulsion holder shown in Fig. 40 .

Fig. 42 is a perspective view showing the distal end side of a fourth modified example inserted into the channel of a dedicated endoscope.

Fig. 43A is a perspective view showing the appearance of the vicinity of the distal end of the dedicated endoscope.

Figure 43B is a front view of Figure 43A.

Fig. 44 is a diagram showing a state in which a treatment tool is inserted into a hollow portion in a fourth modification.

Fig. 45 is a perspective view showing the front end side structure of Embodiment 4 of the present invention.

Fig. 46 is a perspective view showing the structure of the front end side of the first modified example.

Fig. 47 is a perspective view showing the structure of the distal end side of the second modified example.

Fig. 48 is a perspective view showing the structure of the tip side of a third modification.

Fig. 49 is a perspective view showing the structure of the distal end side of a fourth modification.

Fig. 50 is a perspective view showing the structure of the distal end side of the endoscope insertion assisting device provided with a distal end member whose outer diameter is the same as that of the tube.

FIG. 51 is an overall configuration diagram of an endoscope insertion assisting system according to Embodiment 5. FIG.

Fig. 52 is a perspective view showing the distal end side of the insertion part and the distal end side of the auger probe of the endoscope shown in Fig. 51 .

Fig. 53 is a cross-sectional view showing the internal structure of the helical propelling portion shown in Fig. 52 .

Fig. 54 is an explanatory view showing the screw drive unit shown in Fig. 51 .

Fig. 55 is an explanatory view showing the connection of the motor unit shown in Fig. 54 and the flexible shaft.

Fig. 56 is a first explanatory diagram showing the operation of the insertion portion of the endoscope and the auger probe.

Fig. 57 is an explanatory view showing the operation of the helical propelling portion of the helical propelling probe shown in Fig. 56 .

Fig. 58 is a second explanatory view showing the operation of the insertion portion of the endoscope and the auger probe.

Fig. 59 is an explanatory view showing a helical propelling portion according to a first modification.

Fig. 60 is a sectional view showing the internal structure of the helical propelling part shown in Fig. 59 .

Fig. 61 is an explanatory view showing a helical propelling portion according to a second modification.

Fig. 62 is a sectional view showing the internal structure of the helical propelling part shown in Fig. 61 .

Fig. 63 is an explanatory view showing a helical propelling portion according to a third modified example.

Fig. 64 is a cross-sectional view showing a helical propelling portion according to a fourth modification.

Fig. 65 is an explanatory diagram of the helical propelling part in the state in which the tapered air bag shown in Fig. 64 is inflated.

FIG. 66 is a front view of the conical balloon shown in FIG. 65. FIG.

Fig. 67 is a cross-sectional view showing a helical propelling portion according to a fifth modification.

Figure 68 is a front view of the planetary gear of Figure 67.

Fig. 69 is an explanatory diagram when the helical propelling part shown in Fig. 67 is attached to a flexible rotating shaft.

Fig. 70 is a cross-sectional view showing a helical propelling portion according to a sixth modification.

Fig. 71 is a cross-sectional view showing a helical propelling portion according to a seventh modification.

Fig. 72 is a perspective view showing the distal end side of the auger probe and the distal end side of the insertion part of the endoscope constituting the endoscope insertion assisting system according to the sixth embodiment of the present invention.

Fig. 73 is an explanatory diagram of the helical propelling part in the state in which the rear end side air bag shown in Fig. 72 is inflated.

Fig. 74 is a first explanatory view showing the operation of the insertion portion of the endoscope and the auger probe.

Fig. 75 is a second explanatory view showing the operation of the insertion portion of the endoscope and the auger probe.

Fig. 76 is a third explanatory view showing the operation of the insertion portion of the endoscope and the auger probe.

Fig. 77 is a perspective view showing an endoscope insertion assisting device according to a first modified example and a distal end side of an insertion portion of the endoscope.

Fig. 78 is an explanatory view showing the endoscope insertion assisting device shown in Fig. 77 and the endoscope insertion portion distal end side.

Fig. 79 is a perspective view showing an endoscope insertion assisting device and a distal end side of an insertion portion of the endoscope according to a second modification.

Fig. 80 is a perspective view showing the operating portion of the auger probe shown in Fig. 79 .

Fig. 81 is a perspective view showing an endoscope insertion assisting device according to a third modified example and the distal end side of the insertion portion of the endoscope.

82 is a perspective view showing the distal end side of the auger probe and the distal end side of the insertion portion of the endoscope constituting the endoscope insertion assisting system according to Embodiment 7 of the present invention.

Fig. 83 is an explanatory view showing the structure of the forward and backward movement mechanism unit shown in Fig. 82 .

Fig. 84 is an explanatory view showing an endoscope insertion assisting device and the endoscope insertion portion distal end side according to the first modification.

Fig. 85 is a front view showing the helical propelling portion shown in Fig. 84 .

Fig. 86 is a perspective view showing an endoscope insertion assisting device according to a second modification and the distal end side of the insertion portion of the endoscope.

Fig. 87 is an explanatory view showing the detachable unit shown in Fig. 86 and the distal end side of the insertion portion of the endoscope.

Fig. 88 is a cross-sectional view showing the structure of the endoscope propulsion device according to the eighth embodiment of the present invention when it is attached to the endoscope.

FIG. 89 is a side view of FIG. 88 .

Fig. 90 is a front view of Fig. 88 .

Fig. 91 is a schematic diagram of the rotary driving method.

Fig. 92 is a diagram showing an example of use in a body cavity.

Fig. 93 is a cross-sectional view showing a magnetic field applying member according to a first modified example arranged in a channel.

Fig. 94 is a longitudinal sectional view showing a magnetic field applying member according to a first modification example arranged in a channel.

Fig. 95 is a cross-sectional view showing a second modification of a magnetic field applying member arranged in a channel.

Fig. 96 is a cross-sectional view showing the structure of a third modified example attached to an endoscope.

Fig. 97 is a cross-sectional view showing a configuration in a state where a fourth modification is attached to an endoscope.

Fig. 98 is a cross-sectional view showing the configuration of a fifth modified example attached to an endoscope.

Fig. 99 is a cross-sectional view showing the configuration of a sixth modified example attached to an endoscope.

Fig. 100 is a cross-sectional view showing the structure of a seventh modification example attached to an endoscope.

Fig. 101 is an explanatory diagram for magnetically lifting the rotating member side by the magnet on the tip side and the magnet on the rotating member side and holding it freely rotatable.

Fig. 102 is a cross-sectional view showing the structure of an eighth modification attached to an endoscope.

Fig. 103 is an explanatory diagram of the operation of the eighth modification.

FIG. 104 is a diagram of a part of a ninth modification.

Fig. 105 is a front view showing the structure of a tenth modified example attached to an endoscope.

Fig. 106 is a perspective view showing a state of being attached to the distal end portion of the endoscope.

Fig. 107 is a cross-sectional view showing the configuration of an eleventh modified example attached to an endoscope.

Fig. 108 is a sectional view showing part of a thirteenth modification in a state of being attached to an endoscope.

Fig. 109 is a sectional view showing part of a thirteenth modification in a state of being attached to an endoscope.

Fig. 110 is a cross-sectional view showing a state in which a fourteenth modification is attached to an endoscope.

Fig. 111 is a cross-sectional view showing a state in which a fifteenth modification is attached to an endoscope.

Fig. 112 is a cross-sectional view showing the structure of a sixteenth modified example attached to an endoscope.

Fig. 113 is a sectional view showing the structure of Embodiment 9 of the present invention.

Fig. 114 is an action principle diagram of the rotary drive.

Fig. 115 is a sectional view showing the structure of Embodiment 10 of the present invention.

FIG. 116 is a front view of FIG. 115 .

Fig. 117 is a perspective view showing a state in which the endoscope is attached.

Fig. 118 is an action principle diagram of the rotary drive.

Fig. 119 is a cross-sectional view showing a state in which the first modified example is attached to the endoscope.

Fig. 120 is a perspective view showing a state in which the first modified example is attached to the endoscope.

Fig. 121 is a cross-sectional view showing a state in which a second modified example is attached to an endoscope.

Fig. 122 is a perspective view showing a state in which the second modification is attached to the endoscope.

Fig. 123 is a function explanatory diagram of propulsion by rotation of the wheels.

Detailed ways

Hereinafter, various embodiments of the present invention will be described with reference to the drawings.

(Example 1)

Embodiment 1 of the present invention will be described with reference to FIGS. 1 to 16 .

As shown in FIG. 1 , the endoscope device 1 provided with Embodiment 1 has: an endoscope 2 for performing endoscopic examination, etc.; The endoscope insertion assisting device 3 of Example 1; the light source device 4 for providing illumination light to the endoscope 2; the camera control unit (abbreviated as CCU) 5 for performing signal processing for the imaging element built in the endoscope 2; And the monitor 6, which is input from the video signal output from the CCU 5, thereby displaying the endoscopic image captured by the imaging element.

The endoscope 2 has a flexible and elongated insertion portion 7 inserted into a body cavity or the like; an operation portion 8 provided at the rear end of the insertion portion 7 ; and a cable portion 9 extending from the side of the operation portion 8 . Here, the end of the cable portion 9 is connected to the light source device 4 and the CCU 5.

And, insertion part 7 has: front end is provided with the hard front end portion 11 (referring to Fig. 6 and Fig. 8) of illumination window and observation window; ). The bending portion 12 can be bent in a desired direction by operating the bending operation handle 14 provided on the operating portion 8 .

The light source device 4 supplies illumination light to a light guide (not shown) of the endoscope 2 . The provided illumination light is emitted from the illumination window to illuminate the inside of the body cavity. The light reflected or diffused in the illuminated body cavity passes through the objective lens attached to the observation window, forms an optical image on the solid-state imaging element arranged at the imaging position of the objective lens, and undergoes photoelectric conversion on the imaging surface. The photoelectrically converted signal by the solid-state imaging element is processed by the CCU 5, converted into a standard video signal, and then sent to the monitor 6. Then, the optical image formed on the solid-state imaging element is displayed on the display surface of the monitor 6 as an endoscopic image.

As shown in FIGS. 1 and 2 , the endoscope insertion assisting device 3 of the present embodiment has a flexible (flexible) tube 16 . At the tip of the tube 16 is provided a tip member 17 having a larger diameter than the tube 16 and having a suitable hardness formed of a soft material such as resin.

In addition, a helical structure 18 is provided on the outer surface of the tube 16, and a thin hollow or solid rope-shaped resin is attached in a helical shape, and this part protrudes in a helical shape from the outer surface. Furthermore, a helical structure 19 is similarly provided on the substantially cylindrical outer surface of the tip member 17 . In addition, the helical structures 18 and 19 may be connected and formed.

The feature in this embodiment is that a helical structure 18 is provided on the outer peripheral surface of the pipe 16, a front end part 17 with an enlarged diameter is also provided at the front end of the pipe 16, and a helical structure is also provided on the outer peripheral surface of the front end part 17. The helical structure 19 can be used to propel the endoscope by rotating the tube 16, especially by utilizing the large propulsion force of the helical structure 19 provided on the outer peripheral surface of the distal end member 17.

As shown in FIG. 3 , the hollow portion 16 a inside the tube 16 communicates with a through hole 17 a provided along the central axis of the tip member 17 . And, the insertion part 7 of the endoscope 2 is inserted from the rear end of the hollow part 16a, the front end part 11 of the insertion part 7 is arranged in the through hole 17a, and the lighting window and the lighting window of the endoscope 2 are set again. The state where the observation window is exposed at the front end opening of the through hole 17a enables observation of the inside of the body cavity.

As shown in FIG. 1 , at the rear end of the pipe 16 is provided a rotation drive device 21 for rotating the pipe 16 .

As shown in FIGS. 1 and 4 , the rotary driving device 21 has: a motor 23 mounted on the holding body 22; a gear 24 mounted on the rotating shaft of the motor 23; a barrel mounted on the rear end of the holding pipe 16 The gear 25 on the front end of body 26. This gear 25 meshes with a gear 24 mounted on the rotating shaft of the motor 23 . When the motor 23 is rotated, the gear 25 is rotated, whereby the cylindrical body 26 and the pipe 16 can be rotated.

And, this motor 23 is connected to a motor drive unit 27 through a cable. The motor drive unit 27 is built with a driving battery, and is also built with a control circuit for controlling the number of revolutions and the direction of rotation of the motor 23 .

And, when the user tilts the operation knob 28 to the front side, the pipe 16 can be moved to the front side, that is, the motor 23 can be rotated in the direction of advancing; When the pipe 16 moves to the rear side, the motor 23 can be rotated in the backward direction.

In addition, as shown in FIG. 4 , the rear end of the pipe 16 is attached to the inner peripheral surface of a cylindrical body 26 , and the cylindrical body 26 is rotatably held by the holding body 22 via a bearing 29 rotatably supported.

Fig. 5 shows the relationship between the direction of rotation and the direction of travel. As shown in FIG. 5 , the helical structures 18 and 19 are provided in the form of external threads, and the tube 16 can be advanced by rotating the tube 16 in the clockwise direction, and the tube 16 can be moved forward by rotating the tube 16 in the counterclockwise direction. Move to the rear side.

However, as shown in FIG. 6 , the insertion portion 7 of the endoscope 2 may be inserted into the hollow portion 16 a of the tube 16 . That is, the distal end side of the insertion portion 7 of the narrow-diameter endoscope 2 can be inserted from the distal end of the tube 16 , and the insertion portion 7 can be inserted up to the distal end member 17 . In FIG. 6 , a state in which the tip portion 11 of the insertion portion 7 is slightly protruded from the through hole 17 a of the tip member 17 is shown. The observation function can be used by making the front end surface of the endoscope 2 exposed at the front end opening of the through hole 17a.

Moreover, the endoscope 2 is provided with a bending portion 12, so as shown in FIG. 1 or FIG. The tube 16 is bent by the bending mechanism of the endoscope 2 .

That is, in this embodiment, the observation function and the bending function of the endoscope 2 can be used in a state where the endoscope 2 is inserted. Therefore, the endoscope insertion assisting device 3 of this embodiment realizes a device having a mechanism for assisting the insertion of the endoscope 2 smoothly with a simple structure.

And, as shown in FIG. 8 , in order to improve the function of smoothly rotating the tube 16 on the outer peripheral side and the distal end member 17 side without rotating the insertion portion 7 side of the endoscope 2 (smooth rotation function) , Fluid 31 such as water or air as a lubricant may be injected from the end side of the tube 16 into the gap between the two.

In this way, when the fluid 31 is injected into the gap between the two to push the insertion part 7 and rotate the drive tube 16 side, the insertion part 7 side of the endoscope 2 does not rotate, and smoother insertion can be maintained.

The operation of inserting the endoscope 2 into a body cavity using the endoscope insertion assisting device 3 of this embodiment configured in this way will be described.

9A shows that the endoscope insertion assisting device 3 of this embodiment is used in the large intestine 37, and the insertion part 7 of the endoscope 2 is inserted into the hollow part of the endoscope insertion assisting device 3, and the endoscope insertion assisting device 3 is inserted from the anus. 36 is inserted into the deep side of the large intestine 37 .

When inserting the insertion part 7 of the endoscope 2 into the deep side of the large intestine 37, in the state where the insertion part 7 is inserted into the endoscope insertion assisting device 3 of this embodiment, insert the auxiliary device from the endoscope. The front part 17 of the device 3 is inserted into the anus 36 .

As shown in FIG. 9B showing the state after being inserted into the anus 36, when the large intestine 37 is substantially straight, no bending operation is required, and the rear end of the tube 16 can be rotated by the rotation drive device 21 on the front side, so that the The distal end member 17 is advanced toward the deep side of the large intestine 37 . That is, in the present embodiment, at the front end of the tube 16, the helical structure 19 is provided on the outer peripheral surface (outer surface) of the front end member 17 having an outer diameter larger than that of the tube 16, so the The distal end member 17 is rotated while the frictional force due to the contact of the wall surface acts, and the helical structure 19 moves along a trajectory of contacting the inner wall surface of the large intestine 37 sequentially in a helical shape.

In addition, the distal end member 17 can be efficiently pushed to the deep side along the helical movement trajectory.

And, in the curved part such as S-shaped colon, as shown in FIG. Rotation is performed so that the front end member 17 passes through the bend.

In this way, as shown in FIG. 9A , the distal end member 17 can be pushed to the deep side in the large intestine 37 . In addition, the deep side can be inserted more smoothly. FIG. 10 shows the configuration of a portion of a rotation drive device 21B of an endoscope insertion assisting device 3B according to the first modification. The rotation driving device 21B is configured by attaching a pulley 41 to the rotating shaft of the motor 23 and rotating the pulley 43 attached to the cylinder 26 for holding the rear end of the tube 16 via the conveyor belt 42 .

In addition, in FIG. 10 , for the sake of simplification, the holding body 22 for holding the cylindrical body 26 and the motor 23 shown in FIG. 1 or 4 is omitted. The effect when using this first modification is substantially the same as when using the gears 24 and 25 in FIG. 1 or FIG. 4 .

FIG. 11A shows an exploded view of a rotational drive device 21C according to a second modified example. As shown in FIG. 11B , this rotary driving device 21C employs a motor 44 having a hollow rotating shaft 44 a. Thus, by forming the motor 44 as the hollow rotating shaft 44a, a structure in which the rotational driving force generated by the rotation of the motor 44 is directly transmitted to the tube 16 can be realized.

That is, the rear end of the tube 16 is mounted on the front end of the hollow rotating shaft 44a of the motor 44, and the insertion part 7 of the endoscope 2 is inserted into the hollow of the rotating shaft 44a from the rear end of the hollow rotating shaft 44a. Ministry.

Using the rotary drive device 21C of the second modified example, the transmission loss can be reduced, and it can be realized with a simple structure, and the cost can be reduced.

FIG. 12A shows a longitudinal section of a rotary drive device 21D according to a third modified example, and FIG. 12B shows a cross-sectional view along line A-A thereof.

The vicinity of the rear end of the pipe 16 is rotatably held by a holding cylinder 46 via a bearing 29 . For example, a coil (or electromagnet) 47 is installed on the rear end outer peripheral surface of the pipe 16, and a coil (or electromagnet) is also installed on the inner peripheral surface of the holding cylinder 46 facing the outer peripheral side of the coil 47. 48.

As shown in FIG. 12B , two coils 47 and 48 are formed by dividing into a plurality in the circumferential direction. In addition, a power supply unit (not shown) is set so as to apply an alternating current with a phase shift between the opposing coils 47 and 48 . In this way, a rotating magnetic field is applied to the coil 47 side relative to the coil 48 fixed on the inner peripheral surface of the holding cylinder 46 , and the coil 47 can be rotated together with the tube 16 side.

This modification has substantially the same effect as the second modification shown in FIG. 11A . In addition, in this modified example, one of the two coils 47 and 48 may be replaced with a magnet. For example, if the coil 47 on the rotating side is replaced with a magnet, structures such as contacts for supplying current to the coil 47 can be eliminated.

FIG. 13 shows a schematic configuration of an endoscope insertion assisting device 3E according to a fourth modification. In this endoscope insertion assisting device 3E, a compressor 51 that supplies and discharges compressed air (as a fluid) is provided as fluid supply and discharge means. In this modified example, the spiral structure 18 provided on the pipe 16 is formed of a hollow pipe, and the rear end of the hollow pipe is connected to the compressor 51 .

And, the front end of the hollow tube constituting the spiral structure 18 is connected to the air bag 52 provided on the outer peripheral surface of the front end member 17 . In this case, the spiral structure 19 is formed by elastic members such as elastic rubber provided on the outer peripheral surface of the air bag 52 covering the outer peripheral surface of the tip member 17 .

In addition, the air bag 52 can be inflated by sending compressed air from the compressor 51 to the inside of the air bag 52 through the hollow tube.

The user can send compressed air from the compressor 51 to the air bag 52 by turning the switch 53 from OFF to ON.

14A and 14B are explanatory diagrams showing the operation of the endoscope insertion assisting device 3E.

As shown in FIG. 14A , for example, when the endoscope insertion assisting device 3E is inserted into a body cavity 54, if the inner diameter of the body cavity 54 is larger than the outer diameter of the distal end member 17, a sufficient propulsive force may not be obtained even if the distal end member 17 is rotated. .

In this case, the user turns on the switch 53 to operate the compressor 51 to supply compressed air to the inflatable bag 52, as shown in FIG. 14B, the inflatable bag 52 can be inflated.

Furthermore, the helical structure 19 on the outer peripheral surface may contact the inner wall of the body cavity 54 . By rotating the endoscope insertion assisting device 3E in this state, it can be set to a state where a large propulsion force can be generated, enabling smooth propulsion in the body cavity 54 .

Furthermore, by arranging the hollow tube used for the spiral structure 18 at the front end of the front end member 17, fluids such as air and water can also be supplied from the rear end of the hollow tube to the front end of the front end member 17. By forming such a structure, the observation window at the front end of the endoscope 2 inserted into the endoscope insertion assisting device 3 can be cleaned with the provided water, or in order to expand the observed body cavity to ensure a field of view, aspirated.

FIG. 15 schematically shows the internal structure of an endoscope insertion assisting device 3F according to a fifth modification. In this modified example, in order to improve the lubricity between the tube 16 and the insertion portion 7 of the endoscope 2, a ring such as a bearing is arranged between the outer peripheral surface of the distal end portion 11 of the insertion portion 7 and the inner peripheral surface of the distal end member 17. The annular bearing 55 is sealed so that the bearing 55 can rotate, and a lubricating material 56 such as oil is filled in the sealed interior.

In this way, the tube 16 on the outer peripheral side and the distal end member 17 can be rotated without rotating the endoscope 2 side.

FIG. 16 schematically shows the internal structure of an endoscope insertion assisting device 3G according to a sixth modification. In this modified example, in order to improve the lubricity between the tube 16 and the insertion portion 7 of the endoscope 2, the tube 16 is constituted by double sleeves 57, 58.

The inner sleeve 58 is basically exactly matched to the insertion portion 7 of the endoscope 2 to be inserted therethrough, and bearings 59 are arranged between the sleeves 57 and 58 at, for example, an appropriate interval.

By forming such a structure, only the outer sleeve 57 side can be easily rotated.

(Example 2)

Next, Embodiment 2 of the present invention will be described.

FIG. 17 schematically shows an endoscope insertion assisting device 3H according to Embodiment 2 of the present invention. In this endoscope insertion assisting device 3H, for example, a rotation drive device 60 is provided on the rear end side of the tube 16 .

The rotation driving device 60 has a gear 61a attached to the rear end of the pipe 16, and a gear 61b meshing with the gear 61a and connected to a motor 63 via a torque limiter 62 serving as rotation limiting means.

Furthermore, the spiral structure 18 provided on the outer peripheral surface of the tube 16 is constituted by a hollow tube. The front end of the hollow tube is closed, and the rear end is connected to a compressor 64 .

Furthermore, the motor 63 and the compressor 64 are connected to a control unit 65 , and the control unit 65 is connected to an operation unit 66 . By operating the operation unit 66 , control of rotation and stop of the motor 63 , control of the rotation speed, and control of turning on/off the supply of compressed air from the compressor 64 can be performed.

By operating the operation part 66, the compressor 64, for example, is supplied with compressed air, so that, as shown in FIG. 17 or FIG. The state in which the outer diameter protrudes.

On the other hand, operating the above-mentioned operation part 66 to form a state in which compressed air is not delivered by the compressor 64, thereby forming a state in which the hollow tube forming the helical structure 18 does not expand as shown in FIG. The outer diameter of the tube 16 is approximately the same as the outer diameter of the tube 16.

In addition, by adjusting the amount of compressed air to be fed, the height of protrusion from the surface of the tube 16 forming the hollow tube 18 can be adjusted.

For example, by further increasing the amount of compressed air fed from the state shown in FIG. 18A , as shown in FIG. 18C , it is possible to make the helical structure 18 protrude higher from the outer surface of the tube 16 .

In this way, in this embodiment, by controlling the supply or stop of fluids such as compressed air to the hollow tube for forming the helical structure 18, it is possible to select the state in which the helical structure 18 is formed or not to form the helical structure 18. The state of the structure 18 can also be adjusted, and the height at which the helical structure 18 protrudes from the surface of the tube 16 can also be adjusted.

Therefore, for example, when the tube 16 is inserted into the body cavity, as shown in FIG. 18A or 18C , the height of the state in which the helical structure 18 protrudes from the outer surface of the tube 16 is formed. In addition, when pulling out the tube 16, as shown in FIG. 18B, the surface of the tube 16 is made flat, so that the tube 16 can be pulled out smoothly and in a short time.

In addition, like the endoscope insertion assisting device 3H' of the first modified example shown in FIG. The hollow tubes constituting the helical structure 19 on the outer peripheral surface of the member 17 are connected so that the hollow parts communicate with each other.

In this case, since the front end of the hollow tube constituting the helical structure 19 is closed, if compressed air is supplied by the compressor 64, a protruding helical structure is formed on the outer peripheral surface of the tube 16 as shown in FIG. 19 . 18, and a protruding helical structure 19 is also formed on the outer peripheral surface of the front end part 17.

On the other hand, by discharging the compressed air, as shown in FIG. 20 , the outer peripheral surface of the tip member 17 becomes a substantially flat outer peripheral surface, and the outer peripheral surface on the tube 16 side also becomes a flat surface. In addition, the heights of the portions of the helical structures 18 and 19 that protrude from the outer peripheral surfaces can be controlled by changing the delivery amount of compressed air.

Thus, in this modified example, in the state where the helical structures 18 and 19 formed by the hollow tube on the outer peripheral surface of the pipe 16 and the outer peripheral surface of the tip member 17 communicate with each other, by controlling the volume of the portion protruding from the outer peripheral surface, The height allows smoother insertion during insertion and extraction during extraction.

Furthermore, in the present embodiment (including the first modified example), for example, a bending portion (bending means) 67 is formed in a portion near the front end of the pipe 16 , that is, a portion adjacent to the rear end of the front end member 17 . The curved portion 67 is formed using a conductive polymer artificial muscle (abbreviated as EPAM) that can expand and contract by applying a voltage, for example.

That is, as shown in FIG. 21, near the front end of the pipe 16, for example, a tubular EPAM 68 of the same size is connected and integrated, and electrodes 69 are respectively formed on both sides of the upper, lower, and left and right band-shaped portions of the tubular EPAM 68.

Furthermore, the electrode 69 is connected to one end of a signal line 70 passing through the inside of the tube 16 or the like. 17, the other end of the signal line 70 is connected to the concentric contact of the hollow disc-shaped contact member 71 on the rotor side mounted on the rear end outer peripheral surface of the tube 16, and by contacting the concentric The stator-side contact member 72 of a rectangular contact is connected to the control unit 65 .

And, by performing the operation of tilting the joystick 66a provided on the operation part 66, for example, as a bending direction indicating operation means, the control part 65 applies a driving voltage to the electrode 69 of the EPAM 68 in response to the tilting operation, and the bending part 67 Bend in the direction in which (joystick 66a) tilts.

For example, when the joystick 66a is tilted upward, the maximum driving voltage is applied to the electrode 69 corresponding to the downward direction, so that the EPAM 68 of this part is stretched to the maximum, and a suitable driving voltage is applied to the left and right electrodes 69 on both sides of them, so that The EPAM 68 of this part stretches a little, can make the bending portion 67 bend to the upper direction that does not stretch thus.

In addition, the EPAM 68 has, for example, a characteristic that the amount of strain is proportional to approximately the square of the electric field intensity formed by the applied voltage.

As a bending device for bending the bending portion 67, devices other than the EPAM 68 can also be used. For example, instead of the EPAM 68, as shown in FIG. 22, an SMA wire 78 of a shape memory alloy (abbreviated as SMA) contracted by energization can be used.

The SMA wires 78 are provided, for example, in portions corresponding to the upper, lower, and left and right sides of the bent portion 67 so that parallel wires are folded back on the front end side, and the signal lines 70 are respectively connected to the vicinity of the rear end of the bent portion 67 .

The rear end side of the signal line 70 has the same structure as that of the EPAM 68. Furthermore, the bending portion 67 can be bent by energizing the SMA wire 78 in the direction to be bent.

Alternatively, a device that mechanically pulls the wire connected to the bending portion 67 may be used. In this way, in order to bend the bending portion 67, several devices and methods can be selected and used.

In this way, in the endoscope insertion assisting device 3H of this embodiment, since the tube 16 itself is provided with a bending mechanism, the distal end side of the endoscope 2 can be bent even when the insertion portion 7 of the endoscope 2 is not inserted therethrough. . That is, in Embodiment 1, in the state where the insertion portion 7 of the endoscope 2 is inserted, the bending function of the endoscope 2 can be used to bend as shown in FIG. The front end side of the tube 16 may be bent even in a state where the insertion portion 7 is not inserted.

That is, in this embodiment, as shown in FIG. 23A , the distal end side of the tube 16 can be bent in a desired direction (in a state where the endoscope is not inserted). In addition, if the tube 16 in the bent state is rotated, the front end side swings as shown in FIG. 23B , so when the tube 16 is rotated, as shown in FIG. 23A , it is also possible to control the bending portion 67 so that the curved shape of the tube 16 maintained in one direction only.

Also, in this embodiment, when the motor 63 is rotated to rotate the pipe 16, the helical structures 18, 19 can be used to push the side of the pipe 16 more smoothly, but if the helical structures 18, 19 are applied When the torque exceeds a predetermined value, the pipe 16 side is prevented from rotating by the torque limiter 62 as rotation restricting means.

The torque limiter 62 may be constructed using a clutch-based slip mechanism. For example, as shown in FIG. 24A , two circular plates 62 a and 62 b for rotation transmission having friction surfaces are brought into contact with each friction surface facing each other and an appropriate pressure is applied thereto.

Therefore, when a torque equal to or greater than a predetermined force acts on one disc, as shown in FIG. 24B , the two discs 62a and 62b are in a state where no rotational force is transmitted. In the present embodiment, the disc 62a connected to the motor 63 rotates, but the other disc 62b does not rotate.

Thus, since the torque limiter 62 is provided, it is prevented that a force exceeding a predetermined value is applied to the helical structures 18 and 19 from the body cavity inner wall side due to the rotation of the helical structures 18 and 19 .

In this way, in this embodiment, as in Embodiment 1, the helical structures 18, 19 are provided on the outer peripheral surfaces of the pipe 16 and the front end member 17, and a rotation drive mechanism for rotating the pipe 16 is provided, so it has the same characteristics as the embodiment. Example 1 has the same effect.

In addition, in this embodiment (including the first modified example), the heights (protruding from the surface) of the helical structures 18 and 19 provided on the outer peripheral surfaces of the pipe 16 and the tip member 17 can be changed, so that plug in and out.

Furthermore, since the torque limiter 62 is provided as the rotation restricting means, it is possible to prevent the helical structures 18 and 19 from being subjected to a force exceeding a predetermined value from the body cavity inner wall side due to the rotation of the helical structures 18 and 19 .

In addition, in this embodiment, since the bending portion 67 is provided, it is not necessary to insert the front end of the insertion portion 7 of the endoscope 2 into the front end member 17. insertion etc.

FIG. 25 shows a helical structure 18b according to a second modification. In this modified example, the height of the helix is reduced so that the pipe 16 can be pulled out more smoothly when pulling out the tube 16 . In addition, in FIG. 25 , the helical structure 18 b is provided in a thin-diameter dense coil shape (the tube 16 not shown is provided inside the helical structure 18 b ). This helical structure 18b is a small helical structure, but since many helical structures 18b are provided per unit length, a predetermined propulsion force can be maintained during rotation.

On the other hand, when pulling out, since the helical structure 18b has a helical structure with relatively small concavities and convexities, it can be pulled out smoothly.

26A and 26B show an example of the pipe structure of the third modified example. In this modified example, for the same purpose as in FIG. 25 , the surface of the tube 16 is covered with a flexible thin-walled outer tube 74 . The rear end side of the outer pipe 74 is connected to the compressor 64, and the air 75 can be fed into the inner side of the outer pipe 74, or the sent air can be discharged.

And, when the tube 16 is inserted, air is exhausted, and the outer tube 74 is in a state of being in close contact with the helical structure 18 and the outer surface of the tube 16 to form a helical structure as shown in FIG. 26A .

On the other hand, during extraction, air 75 is injected into the soft outer tube 74 to expand it, thereby forming a smooth surface structure as shown in FIG. 26B. By forming such a state, the tube 16 can be pulled out smoothly and in a short time.

27A and 27B show an example of the pipe structure of the fourth modification. In this modified example, similar to FIG. 25 , in order to improve the mobility of the tube 16 during extraction, a helical structure is formed by a helical groove 76 provided on the outer surface of the tube 16 as shown in FIG. 27A .

In addition, a flexible and thin tube 77 is attached to the groove 76, and air can be supplied and discharged from the rear end thereof. And, at the time of insertion, it becomes the state shown in FIG. 27A.

On the other hand, when pulling out, air is supplied to the tube 77 provided along the inside of the groove 76 to expand it, thereby forming a smooth surface as shown in FIG. 27B . By forming such a state, the tube 16 can be pulled out smoothly.

28A and FIG. 28B , in order to improve detachability, the helical structure 18 is detached from the tube 16 after the tube 16 is inserted, as shown in FIGS. 28A and 28B . That is, in this modified example, as shown in FIG. 28A , the spiral structure 18 is fixed to the front end and the rear end of the tube 16 by bonding or the like.

And when the tube 16 is pulled out, the rear end of the helical structure 18 is pulled with a force equal to or greater than a predetermined value, and the fixation of the front end by adhesion or the like is loosened. As shown in FIG. 28B , the helical structure 18 Remove from tube 16.

FIG. 29A shows a rotation restricting mechanism 81 according to a sixth modification. In this modified example, in order to maintain the connected state of the two disks 62a and 62b, for example, an adhesive tape 82 is attached to the two disks 62a and 62b.

Then, in a state equal to or less than a predetermined torque value, as shown in FIG. 29A , when the disc 62 a on the motor side is rotated, the disc 62 b is also rotated.

On the other hand, in the state equal to or greater than the predetermined torque value, as shown in FIG. 29B, the adhesive tape 82 is separated or disconnected, and the connection state is broken, so that the disc 62a on the motor side rotates, but the disc 62b The state of not rotating. In this way, when a torque equal to or greater than the predetermined torque value acts, the rotation is restricted. In addition, it is not limited to the adhesive tape 82, and other means such as an adhesive for connection may be used. For example, there may be a connection means in which the two discs 62a, 62b are held in a connected state by magnets, and the connection is broken and separated in a state equal to or greater than a predetermined torque value.

FIG. 30 shows a rotation restricting mechanism 81B of a seventh modification. In this modified example, a torque sensor 83 for detecting torque is connected to the rotating shaft of the motor 63 . That is, in this modified example, a torque sensor 83 is used instead of providing a torque limiter 62 on the rotating shaft of a motor 63 as shown in FIG. 17 .

The torque sensor 83 outputs a torque detection signal to the control unit 65 . Then, the control unit 65 monitors whether the torque detection signal is equal to or greater than a predetermined torque value, and stops the rotation of the motor 63 when the torque detection signal is equal to or greater than the predetermined torque value. Alternatively, a rotation speed control unit having a function of reducing the rotation speed may be provided so that the torque value does not exceed a predetermined value.

FIG. 31A and the like show examples of installation locations of the torque limiter 62 shown in FIG. 24A and the like. As the position where the torque limiter 62 is disposed, besides between the motor 63 and the gear 61b, between the gears 61a, 61b, 61c, and 61d, between the gear 61a and the pipe 16, and the like are suitable. 31A to 31C specifically show these examples. In FIG. 31A , the configuration of the torque limiter 62 is the same as that in FIG. 17 .

That is, the motor 63 is connected to the motor 63 through the torque limiter 62 to the gear 61 b meshed with the gear 61 a installed at the rear end of the pipe 16 .

In a modified example shown in FIG. 31B, gears 61c and 61d are further interposed between the torque limiter 62 and the motor 63 in FIG. 31A.

And, in the modified example shown in Fig. 31C, the torque limiter 62 of hollow structure is installed on the rear end of pipe 16, and gear 61a is installed on the hollow shaft of this torque limiter 62, and this gear 61a is installed with The gear 61b on the rotating shaft of the motor 63 meshes.

In FIG. 31A and the like, when torque of a predetermined value or more acts, the torque limiter 62 restricts the transmission of rotation, but FIG. 32 shows a configuration in which partial rotation is restricted by a different configuration.

The endoscope insertion assisting device 3I of the eighth modified example has a structure as a rotation restricting mechanism on the front end member 17 and the tube 16: a screw is embedded in a cylindrical body 85a, 86a set to an appropriate length, respectively. Cylindrical structures 85, 86 of cylindrical structures 85b, 86b.

By virtue of the frictional force between the outer peripheral surface of the tube 16 and the inner peripheral surface of the cylindrical body 86a, the tube 16 (because the outer peripheral surface of the cylindrical structure 86 contacts the inner wall of the body cavity, etc.) When the cylinder structure 86 rotates, it slides. By dividing the cylindrical structure 86 into a plurality, the rotation is stopped at the part with high resistance, specifically, the part that is in strong contact with the inner wall of the surrounding body cavity and becomes difficult to rotate, and the other parts are rotated. propulsion can be obtained. The front end member 17 side also produces substantially the same effect. That is, when the tip member 17 rotates with a torque greater than or equal to a certain torque relative to the cylindrical structure 85 by the frictional force between the outer peripheral surface of the tip member 17 and the inner peripheral surface of the cylindrical body 85a, slippage occurs.

Furthermore, when the cylindrical structure 85 strongly contacts the inner wall of the body cavity and becomes difficult to rotate, the rotation of the cylindrical structure 85 stops. In addition, since the length of the front end member 17 itself is shorter than the pipe 16, only one cylindrical structure 85 is provided, but it may be divided into a plurality.

Next, a ninth modified example will be described. In FIG. 17 , a bending mechanism capable of bending in four directions of up and down and left and right is provided, but the endoscope insertion assisting device 3J of this modified example employs a bending mechanism provided with a bending portion 67b that bends only in one direction. Even in this case, when the insertion is performed as described below, it is easy to smoothly insert into the curved body cavity.

33A to 33C show the state of insertion into a body cavity 54 such as the large intestine. As shown in FIG. 33A , when inserted into a substantially linear body cavity 54 , it can be rotated and inserted in a straight state. And, as shown in FIG. 33B , when reaching the bending site, first stop the rotation, bend in a certain direction, watch the image of the endoscope inserted into the body cavity, etc., and confirm the current bending direction. When this direction is different from the intended direction of advancement (curving direction of the body cavity), slowly start to rotate again so that the bending direction matches the advancing direction. In this state, release the bending function, start rotating at normal speed, and insert along the bending direction.

By repeating this operation, it is possible to pass through the curved portion, and as shown in FIG. 33C , it is possible to insert to a deeper depth side.

Next, a tenth modified example will be described. 34A and 34B show the distal end side of an endoscope insertion assisting device 3K according to a tenth modification. This modified example uses the EPAM explained in FIG. 21 , and forms the tip member 17B instead of the tip portion of the tube 16 . Also, it can be bent in four directions or at least one direction.

By forming the bendable front end member 17B, the front end member 17B can be bent as shown in FIG. 34B from the straight state shown in FIG. 34A. By forming a structure in which the front end member 17B can be bent, smooth insertion can be performed more easily.

That is, the distal end member 17B itself is made of a soft material and is equipped with a bending function so that the rigid length is shortened. When inserted into the body cavity, the distal end member 17B is bent corresponding to the curved portion to ensure good insertion performance.

In addition, the front end member may be made of only a soft material without a bending function, and the front end member may be bent according to an applied force.

In this case, since the tip part is passively bent along the curvature of the intestine, good insertion property can be ensured as well.

(Example 3)

Next, Embodiment 3 of the present invention will be described. Fig. 35 schematically shows an endoscope insertion assisting device 3L according to a third embodiment of the present invention. The endoscope insertion assisting device 3L is attached to the outer peripheral surface of the endoscope 2 for assisting insertion.

In the endoscope insertion assisting devices 3 to 3K described in Embodiments 1 and 2, a hollow portion for inserting the insertion portion 7 of the endoscope 2 is provided, but the insertion portion 7 that can be inserted into the hollow portion is formed for the thin diameter. In this way, observation is actually possible, but sometimes it is limited to an endoscope that does not have a channel for inserting a treatment tool, and in this case, treatment cannot be performed.

Therefore, this embodiment can also be applied to the endoscope 2 having the channel 91 through which the treatment instrument can be inserted.

Therefore, in this embodiment, as described above, there is a structure that is attached to the outer peripheral surface of the endoscope 2 to assist insertion.

And, using this endoscope insertion assisting device 3L, it is inserted into a body cavity such as the large intestine to be inserted like a guide wire (before the endoscope 2), and then after the inserted endoscope insertion assisting device 3L, it can be easily inserted. The insertion part 7 of the endoscope 2 having a channel difficult to insert is easily inserted.

In the endoscope insertion assisting device 3L of the present embodiment, a cylindrical body 92 serving as a holder for propulsion is fixed on the front end portion 11 of the endoscope 2 by using an adhesive tape 93. The structure bodies with helical structures 18 and 19 on the outer peripheral surface of the front end part 17 pass through.

In addition, the pipe 16 provided with the helical structure 18 freely passes through the cylindrical body 92 .

In addition, in the present embodiment, the hollow portion 16a and the through hole 17a are provided on the tube 16 and the front end member 17, which can be used to insert a small-diameter therapeutic instrument etc. inside, but it can also be formed as a solid cord. shape structure.

The rear end of the tube 16 is connected to the rotary drive device 60 as described in the second embodiment shown in FIG. 17 , and the tube 16 can be pushed smoothly by rotating the rear end of the tube 16 .

And, the rear end of the helical structure 18 is connected to the compressor 64 shown in Embodiment 2 of FIG. 17, and by supplying or discharging air, etc., the air conditioner formed by the hollow tube can be adjusted as described in FIG. 18A and the like. Concavity and convexity of the helical structure 18 .

In addition, an illumination window 94 and an observation window 95 are provided at the distal end portion 11 of the endoscope 2 .

According to the present embodiment thus constituted, as shown in FIG. 35 , the endoscope insertion assisting device 3L is passed through the inside of the cylindrical body 92, and the cylindrical body 92 is fixed to the endoscope 2 for performing endoscopic examination and treatment. on the front end 11.

Then, the distal end member 17 of the endoscope insertion assisting device 3L protruding forward from the distal end portion 11 of the endoscope 2 is inserted into the large intestine or the like first. By rotating the rear end of the tube 16 by the rotation drive mechanism, the endoscope insertion assisting device 3L can be smoothly advanced and inserted into the deep side of the body cavity such as the large intestine.

After inserting the endoscope insertion auxiliary device 3L, the operation of inserting the rear end side of the endoscope 2 is performed, so that the insertion part 7 of the endoscope 2 can be smoothly inserted using the endoscope insertion auxiliary device 3L as a guide. The front end side is inserted into the deep side of the body cavity such as the large intestine.

When inserting the distal end side of the insertion portion 7 of the endoscope 2 into the deep side of a body cavity such as the large intestine, in the endoscope insertion assisting device 3L, the surface of the tube 16 can be formed as In the flat surface state shown in FIG. 18B , the endoscope 2 can be inserted smoothly.

According to this embodiment, of course, it can be used for the endoscope 2 having a thin-diameter insertion portion 7 without a channel, or it can be used for an endoscope 2 having a relatively thick insertion portion 7 with a channel 91, which can be used for this endoscope. Insertion aid for speculum.

In addition to the configuration of FIGS. 18A to 18C , the insertion operation of the endoscope 2 can be performed using the configuration of the modified example of FIGS. 25 to 28B , and substantially the same effect can be obtained.

FIG. 36A shows a propulsion holder 92B of the first modification. As shown in FIG. 36B, the propulsion holder 92B is provided with a hole 96a through which the tube 16 passes, and grooves at the same pitch as the helical structure 18 provided on the outer peripheral surface of the tube 16, and has a structure for accommodating the helical structure. A nut-shaped guide 92B of the helical groove 96 b of the structure 18 .

According to this first modification, the endoscope 2 having the thicker insertion portion 7 having the channel 91 can be advanced more efficiently.

The propulsion holder 92C shown in FIG. 37 has a hole 97a through which, for example, the vicinity of the front end 11 of the insertion portion 7 of the endoscope 2 passes, as shown in the cross-sectional view of FIG. 38, and has a hole 97b through which the device The nut-shaped guide 92B through which the pipe 16 having the helical structure 18 passes is held freely rotatable.

A motor 99 for rotational driving is provided inside the propulsion holder 92C, and a gear 100a attached to the rotating shaft of the motor 99 meshes with a gear 100b attached to the outer peripheral surface of the nut-shaped guide 92B. In addition, part of the propulsion holder 92C around the gears 100a, 100b is notched so that the gears 100a, 100b can rotate.

In addition, the motor 99 is connected to the control unit 65 on the front side through a signal line not shown, and the rotation and stop of the motor 99 can be controlled by operating the operation unit 66 .

In addition, a user such as an operator can drive the motor 99 to rotate by operating the operation unit 66 to drive the nut-shaped guide 92B to rotate. In addition, a hole through which the tube 16 passes and a helical groove through which the helical structure 18 is fitted are provided on the inner peripheral surface of the nut-shaped guide 92B as described in FIG. 36B .

By forming such a structure, after the tube 16 is inserted into a body cavity such as the large intestine, when the rotation driving motor 99 mounted on the propulsion holder 92C is rotated, the front end side of the endoscope 2 can automatically follow a similar guide line. The role of the tube 16 is to advance.

FIG. 39 shows a state where the endoscope insertion assisting device 3N according to the second modification is attached to the endoscope 2 at the distal end side. In this modification, for example, in the endoscope insertion assisting device 3L shown in FIG. The sleeve 102 of the tube 16 of the helical structure 18 .

In addition, in this modified example, a propulsion holder 92D is provided at the front end of the sleeve 102 . FIG. 40 shows this propulsion holder 92D. In addition, FIG. 41 shows the internal structure of the propulsion holder 92D. This propulsion holder 92D has substantially the same structure as that shown in FIG. 38 .

That is, as shown in FIG. 41 , inside the holding body 92D for propulsion, there are: a motor 99 for rotational driving; a gear 100 a mounted on the rotating shaft of the motor 99 ; a gear 100 b meshing with the gear 100 a; There is a nut-like guide 92B for this gear 100b.

In addition, after a user such as an operator inserts the tube 16 deep into the body cavity, the motor 99 is driven to rotate by operating the operation part 66, and the nut-shaped guide 92B held rotatably inside the propulsion holding body 92D can be driven to rotate. , the sleeve 102 can be advanced to the front end of the tube 16 .

In this modification, the tube 16 provided with the helical structure 18 on the outer peripheral surface is covered with the sheath 102 having a flat outer peripheral surface, so that the insertion operation of the endoscope 2 is effected smoothly.

FIG. 42 shows a state in which the distal end side of the endoscope insertion assisting device 3P according to the third modified example is inserted into the dedicated endoscope 112 . In this modification, for example, as shown in FIG. 43A , for example, a dedicated endoscope 112 having a front opening 113 (and a channel with the same cross-sectional shape as the front opening 113 ) that can be inserted and removed from the lower side is used, and the endoscope insertion assisting device 3P is inserted from the bottom side. The front opening 113 protrudes forward and can be used to assist insertion. In addition, FIG. 43A shows a perspective view of the distal end side of the endoscope 112, and FIG. 43B shows a front view.

In addition, the insertion portion 7 and other parts of this endoscope 112 have the same configuration as that of the above-mentioned endoscope 2 .

In this modified example, the endoscope insertion assisting device 3P can be used like a guide wire.

Furthermore, this endoscope insertion assisting device 3P can insert a treatment tool 114 into the hollow portion of the tube 16 to perform treatment, as shown in FIG. 44 .

Also, although not shown, it is also possible to use a method of inserting the endoscope insertion assisting device from the endoscope tip into the channel of an endoscope for a therapeutic instrument having a thick-diameter channel or a plurality of channels.

(Example 4)

Next, Embodiment 4 of the present invention will be described. FIG. 45 shows the configuration of the distal end side of an endoscope insertion assisting device 3Q according to Embodiment 4 of the present invention. In the present embodiment, the tip member 17 is not provided with a helical structure.

In this endoscope insertion assisting device 3Q, the hardness of the distal end member 17 becomes softer toward the distal end side, and its hardness continuously changes toward the rear end side.

Specifically, the front end member 17 is composed of a conical-shaped member 121 with high hardness and a member 122 with low hardness covering the outer peripheral surface of the relatively hard conical-shaped member 121, as indicated by a dotted line. .

In addition, it has a structure that facilitates smooth insertion of the distal end side into a curved body cavity. For example, when the front end side of the pipe line is bent downward, the front end side of the front end member 17 is bent as shown by a dashed-dotted line corresponding to the bend, so that smooth insertion is possible. Other structures are the same as in Embodiment 1 and the like.

By forming such a structure, according to the present embodiment, the hardness of the tip member 17 changes, the tip member 17 is easily bent, and there is an effect of improving bending followability.

FIG. 46 shows the configuration of the distal end side of an endoscope insertion assisting device 3R according to the first modification. The endoscope insertion assisting device 3R is formed in such a shape that the distal end member 17 has a conical surface 123 whose outer diameter becomes smaller toward the distal end side, or a tapered tapered shape. This modification has the effect of improving performance through a closed lumen.

FIG. 47 shows the configuration of the distal end side of an endoscope insertion assisting device 3S according to the second modification. In this endoscope insertion assisting device 3S, for example, a lubricant 124 or the like is applied to the surface of the distal end member 17 shown in FIG. 45 to improve the surface smoothness of the distal end member 17 .

According to this modified example, the lubricity of the tip member 17 is improved by lubricating treatment, and the insertability is improved. The lubricant may be a hydrophilic lubricant such as a photocatalyst or a fluororesin coating such as Teflon (registered trademark) having good lubricity.

FIG. 48 shows the configuration of the distal end side of an endoscope insertion assisting device 3T according to the third modification. This endoscope insertion assisting device 3T is formed with a tip member 17 rotatably connecting a plurality of hollow magnetic cores 125 . According to such a structure, the structure which makes the front-end|tip part 17 bend easily can be realizable.

In addition, when inserted into the body cavity, for example, when the front end side is bent downward, it can be bent in this direction as shown by the dashed-two dotted line, thereby improving the followability to the bent portion.

According to this modified example, the front end is configured to be softly curved, and there is an effect of improving followability with respect to the curved portion.

FIG. 49 shows the configuration of the distal end side of an endoscope insertion assisting device 3Y according to a fourth modification. This endoscope insertion assisting device 3Y is configured to change the hardness of the member 125 constituting the distal end member 17 at a predetermined period T. As shown in FIG. Specifically, protrusions and recesses are formed at a predetermined period T along the longitudinal direction of the front end of the tube 16 and rounded to make the portion formed with the recesses softer and easier to bend.

According to this modified example, since the hardness is changed, the tip member is easily bent, and there is an effect of improving the bending followability.

In the above-mentioned embodiments and the like, the tip part 17 is thicker than the outer diameter of the tube 16. As shown in FIG. Device 3V.

In this endoscope insertion assisting device 3V, a tip member 17' having the same outer diameter as the tube 16 is provided at the tip of a tube 16 provided with a helical structure 18. In addition, the endoscope 2 can be inserted into the hollow portion.

Also in this modified example, good insertability into a body cavity can be ensured.

Furthermore, the shape and hardness of the distal end member 17' shown in Fig. 50 may be applied to the above-mentioned distal end member 17.

That is, a device having a diameter substantially equal to or larger than the outer diameter of the tube 16 as the tip member also belongs to the present invention.

Furthermore, an apparatus obtained by partially combining the above-described respective embodiments or modifying a part also belongs to the present invention.

(Example 5)

Next, Embodiment 5 of the present invention will be described with reference to FIGS. 51 to 71. FIG.

As shown in FIG. 51 , the endoscope insertion assisting system 201 is configured to include: an endoscope device 202 having an insertion part to be inserted into a body cavity described later; Endoscope insertion assisting device 203 .

The endoscope device 202 includes: an endoscope 204 provided with an observation window to be described later; a light source device 205 for supplying illumination light to the endoscope 204; A CCU (Camera Control Unit) 206 for signal processing of the imaging section; and a monitor 207 which is input with a video signal from the CCU 206 and displays an endoscopic image.

The endoscope insertion assisting device 203 has: a helical propulsion probe 208, which abuts against the inner wall of the body cavity and generates a propulsion force so as to guide the insertion part of the endoscope 204 to a target site in the body cavity; a helical driving part 209, It provides driving force to the helical propulsion part 231 described later of the auger probe 208 , and controls the helical propulsion control device 210 of the helical drive part 209 .

First, the configuration of the endoscope apparatus 202 will be described.

The endoscope 204 includes: an elongated and flexible insertion portion 211 ; and an operation portion 212 also serving as a grip portion 212 a provided continuously on the proximal end side of the insertion portion 211 . The endoscope 204 is provided with a universal cord 213 extending from the side of the operation part 212 . A light guide and a signal line (not shown) are inserted into the universal cord 213 . The connector portion 214 disposed at the end of the universal cord 213 is connected to the CCU 206.

The insertion portion 211 of the endoscope 204 is constituted by continuously providing a hard distal end portion 215, a freely bending bending portion 216, and a long flexible flexible tube portion 217. The front end portion 215 is provided at the front end of the insertion portion 211 . The curved portion 216 is provided on the base end side of the front end portion 215 . The flexible tube portion 217 is provided on the base end side of the bent portion 216 .

The operation part 212 of the endoscope 204 has a grip part 212a on the proximal end side. The holding portion 212a is a part held by the surgeon. An unillustrated video switch for remotely operating the CCU 206 is disposed on the upper side of the operation unit 212. In addition, the operation unit 212 is provided with an air supply and water supply switch for operating the air supply operation and water supply operation, and a suction switch for operating the suction operation, which are not shown. In addition, a bending operation handle 218 is provided on the operation part 212 , and the bending part 216 can be operated to be bent by holding the grip part 212 a and operating the bending operation handle 218 .

In addition, in the operation portion 212, a treatment instrument insertion opening 221 for inserting a treatment instrument such as biopsy forceps is provided near the front end of the grip portion 212a. The treatment tool insertion port 221 communicates with a treatment tool insertion channel 222 inside. The treatment instrument insertion port 221 is inserted into the treatment instrument not shown in the figures such as forceps, and the front end side of the treatment instrument protrudes from the channel opening 222a formed in the front end portion 215 through the internal treatment instrument insertion channel 222, so that biopsy and the like can be performed.

In this embodiment, the rear end side of the flexible tube described later of the helical propulsion probe 208 is inserted from the channel opening 222a of the channel 222 for insertion of the treatment instrument, and the rear end side of the flexible tube is removed from the treatment device. The instrument insertion port 221 is drawn out and connected to the screw driving part 209 installed on the treatment instrument insertion port 221 . In addition, the screw drive unit 209 and the screw propulsion control device 210 are electrically connected by a connection cable 223 .

In addition, a driving switch 224 for starting and stopping the screw driving part 209 is provided on the operation part 212 . The starting signal of the drive switch 224 is input to the screw propulsion control device 210 through the CCU 206, and according to the power supply and control signal from the screw drive control device 210, the screw drive part 209 is driven to propel the probe to the screw drive 208 provides driving force.

In addition, the drive switch 224 may also be connected to the control device 210 and detachably installed on the operation portion 212 .

In the endoscope 204 , a light guide (not shown) is inserted through the universal cord 213 , the insertion portion 211 , and the operation portion 212 . The base end side of this light guide reaches the connector part 214 of the universal cord 213 through the operation part 212, and transmits the illumination light from the light source device 205. Illumination light transmitted from the light guide passes through an illumination optical system (not shown) arranged at the distal end portion 215 of the insertion portion, and illuminates a subject such as an affected part through an illumination window 225 .

The reflected light of the illuminated subject is taken in as a subject image from the observation window 226 arranged adjacent to the illumination window 225 . The captured subject image is captured by an imaging unit such as a CCD (Charge Imaging Device) disposed at the imaging position through the objective optical system, and is photoelectrically converted into an imaging signal.

And, the camera signal is transmitted in the signal cable extending from the camera part, passes through the operation part 212 to the video connector of the universal cord 213, and is output to the CCU 206 through the connecting cable. The CCU 206 performs signal processing on the imaging signal from the imaging unit of the endoscope 204 to generate a standard video signal, and causes the monitor 7 to display an endoscopic image.

Next, a specific configuration of the endoscope insertion assisting device 203 will be described.

As shown in FIG. 52 , the helical propulsion probe 208 is configured to have a cylindrical helical propulsion portion 231 provided on the distal end side, and a flexible tube 232 provided continuously to the helical propulsion portion 231 .

The helical propelling part 231 is formed with a helical protrusion 234 as a thrust generating structure on the outer peripheral surface of the packaging container 233 to generate thrust by rotation. The helical protrusion 234 is formed using a rubber-like elastic body or hard resin. In addition, in the figure, the said helical protrusion 234 is formed near the center part of the said helical propulsion part 231, but it may be formed to the edge part of a cylinder for easy propulsion.

As shown in FIG. 53 , a flexible shaft 235 serving as a flexible rotating shaft is inserted through the flexible tube 232 for transmitting a driving force for rotating the helical propelling part 231 . In addition, instead of the above-mentioned flexible shaft 235 , a torque tube (a tube in which a metal mesh is integrally molded with resin inside the tube wall surface, etc.) or a coil sleeve may be used as the flexible rotating shaft.

The rear end side of the flexible tube 232 is connected to the screw driving part 209, and the flexible shaft 235 transmits the rotational force from the motor unit described later provided on the screw driving part 209 to the screw driving part 209. propulsion unit 231 .

The packaging container 233 is integrally formed by connecting and fixing the front-end container 236 and the rear-end container 237 with an adhesive. The front end portion of the flexible shaft 235 inserted through the flexible tube 232 is press-fitted into the front end side container 236 , and a driving force is transmitted from the flexible shaft 235 .

In addition, the front end side of the flexible tube 232 is attached to the rear end side container 237 and can be rotatable relative to the flexible tube 232 via a bearing 238 . In addition, an O-ring 239 forms a watertight structure between the rear end side container 237 and the flexible tube 232 .

Therefore, the packaging container 233 integrally rotates the front-end side container 236 and the rear-end side container 237 relative to the flexible tube 232 by the driving force transmitted from the flexible shaft 235 .

Thus, the helical propelling part 231 makes the helical protrusion 234 abut against the inner wall of the body cavity, and the packaging container 233 rotates so that it can move forward and backward in the body cavity, and can guide the insertion of the endoscope 204 in the body cavity. Section 211.

And, since the helical propelling part 231 protrudes from the channel opening 222a of the treatment instrument insertion channel 222, the helical propelling probe 208 is located within the observation field of view of the observation window 226 of the endoscope 204, and can Grasp the contact state and action state of the helical propelling part 231 with respect to the inner wall of the body cavity.

Next, the helical drive unit 209 that generates a driving force for rotating the helical propelling unit 231 will be described. As mentioned above, the screw driving part 209 is mounted on the treatment instrument insertion port 221 .

As shown in FIG. 54 , the helical driving part 209 is configured to have: a motor unit mounting part 241 mounted on the therapeutic instrument insertion 221; The motor unit part 242 of the driving force; the slider part 243 as a forward and backward movement unit, which slides the motor unit part 242 up and down to move the flexible tube 232 forward and backward.

The slider part 243 moves the motor unit part 242 forward and backward by a sliding action, thereby moving the flexible tube 232 forward and backward, and can move the helical propelling part 231 forward and backward to a predetermined position. Therefore, the helical propelling probe 208 can move the helical propelling part 231 forward and backward to a position where the observation field of view of the observation window 226 of the endoscope 204 is not obstructed.

The slider part 243 may also be a mechanism that manually slides the motor unit part 242 up and down, or may be an electric mechanism that has a built-in motor to slide the motor unit part 242 up and down. In addition, the slider part 243 has a sliding groove part which slides the said motor unit part 242 which is not shown in figure, and the sliding protrusion part of the said motor unit part 242 which can slide is provided in this sliding groove part. In addition, the slider part 243 can fix the motor unit part 242 at a predetermined position by using a locking member such as a screw. Therefore, the auger probe 208 is locked on the insertion portion 211 of the endoscope 204 .

The motor unit part 242 is connected to the rear end side of the flexible tube 232 drawn out from the treatment instrument insertion opening 221 . Between the package part 242a of the motor unit part 242 and the flexible tube 232, an O-ring 244 is used to form a watertight structure.

The motor unit 242 has a motor 245 that generates a rotational force, and a gear 246 that reverses the rotational force of the motor 245 and transmits a desired torque to an output shaft 246a. The motor 245 is driven by supplying power and control signals from the auger control device 210 through the connection cable 223 . In addition, the motor unit 242 may be configured to include a battery and supply power from the battery.

As shown in FIG. 55 , in the flexible tube 232 , the rear end side of the flexible shaft 235 is connected to the output shaft 246 a of the motor unit 242 through a connection portion 247 . In addition, the output shaft 246a is connected and fixed on the connecting portion 247 through D-cut embedding.

Thus, the helical driving part 209 can transmit the driving force from the motor unit part 242 to the flexible shaft 235 to rotate the helical propelling part 231 of the helical propelling probe 208 .

The endoscope insertion assisting system 201 configured in this way is used as described in FIG. 51 . In this embodiment, the endoscope 204 is inserted through the anus.

The surgeon inserts the insertion portion 211 of the endoscope 204 from the patient's anus. At this time, the insertion portion 211 of the endoscope 204 is elongated and flexible, and the surgeon pushes and pulls the insertion portion 211 to insert it into the body cavity.

Here, the endoscope device 202 uses the CCU 206 to perform signal processing on the endoscopic image captured by the imaging unit of the endoscope 204, and causes the monitor 207 to display the endoscopic image. The operator performs an insertion operation of the insertion portion 211 of the endoscope 204 while viewing the endoscope image displayed on the monitor 207 .

The insertion portion distal end 215 of the endoscope 204 is inserted into the colon from the patient's anus through the rectum. Here, as shown in FIG. 56 , the friction in the tangential direction of the sliding contact surface between the outer peripheral surface of the insertion portion 211 and the inner wall of the body cavity of the insertion portion front end portion 215 of the endoscope 204 in the middle from the S-shaped portion of the rectum to the S-shaped colon The force becomes large, and insertion is not easy in this state.

In the present embodiment, the endoscope insertion assisting device 203 that can guide the insertion portion 211 of the endoscope 204 in the body cavity is provided as described above. That is, as shown in FIG. 57 , the endoscope insertion assisting device 203 makes the helical propelling portion 231 of the helical propelling probe 208 pass through the channel 222 for insertion of a therapeutic instrument formed on the distal end portion 215 of the insertion portion 215 of the endoscope 204 . The passage opening 222a protrudes.

Here, when the helical propulsion part 231 is located outside the observation field of view of the observation window 226 of the endoscope 204, it is impossible to grasp the contact state and operation state of the helical propulsion part 231 with respect to the inner wall of the body cavity, and it is difficult to obtain the helical propulsion. Operation timing of the unit 231.

However, in this embodiment, the helical propelling part 231 is located within the observation field of view of the observation window 226 of the endoscope 204 and can be observed, so the helical propelling part 231 can be operated at a desired timing. .

That is, the surgeon can confirm the contact state and operation state of the helical propelling part 231 with respect to the inner wall of the body cavity based on the endoscopic image displayed on the monitor 207, and when it is judged that the helical propelling part 231 needs to be actuated, he can check the contact state of the helical propelling part 231 with respect to the inner wall of the body cavity. The drive switch 224 of the operation unit 212 is pressed to be activated.

The starting signal from the drive switch 224 is transmitted to the screw propulsion control device 210 through the CCU 206, and the screw drive control device 210 outputs power and control signals for driving the screw drive part 209.

The screw driving part 209 receives power and control signals from the screw propulsion control device 210 , drives the motor unit part 242 , and transmits the driving force from the motor unit part 242 to the flexible shaft 235 . The driving force transmitted from the flexible shaft 235 is transmitted to the helical propelling portion 231 of the helical propelling probe 208 .

The spiral propelling part 231 makes the front-end container 236 of the packaging container 223 receive the driving force from the flexible shaft 235, and is integrally bonded and fixed to the rear-end container 237 on the front-end container 236. Together, they rotate integrally with respect to the flexible tube 232 .

Thereby, as shown in FIG. 57 , the helical propelling part 231 advances forward by making the helical protrusion 234 abut against the inner wall of the body cavity and rotates in the body cavity pipeline. Guided by the helical propelling part 231, the operator inserts the insertion part 211 of the endoscope 204 and inserts it forward together with the helical propelling part 231, and passes through the sigmoid colon as shown in FIG. 58 .

In addition, the helical propelling part 231 of the endoscope insertion assisting device 203 may also advance the flexible tube 232 by sliding the slider part 243 so that the helical propelling part 231 advances first, thereby moving along the The flexible tube 232 is inserted into the insertion portion 211 of the endoscope 204 .

As a result, the endoscope insertion assisting device 203 of this embodiment can grasp the contact state and operation state of the helical propelling portion 231 with respect to the inner wall of the body cavity, and can improve the insertability of the insertion portion 211 of the endoscope 204 .

In addition, the endoscope insertion assisting device 203 of this embodiment can be detachably attached to an existing endoscope 204, and it is easy to clean and disinfect. In addition, the helical propulsion unit 231 may also be configured to include an illuminating unit such as an LED (Light Emitting Diode, Light Emitting Diode), which is not shown, and an imaging unit such as an imaging unit.

In addition, the helical propelling part can also be configured as shown in Fig. 59 and Fig. 60, and the packaging container is covered by an air bag.

As shown in FIGS. 59 and 60 , the helical propelling portion 231B is configured to cover the packaging container 233B with the air bag 251 provided with the helical protrusion 234B. The helical protrusion 234B is formed, for example, by stretchable material such as an elastic tube.

The packaging container 233B is configured such that a through-hole 252 is formed in the front-side container 236 from the inside toward the outer peripheral surface, so that air can be supplied to the air bag 251 provided on the outer periphery. In addition, the flexible tube 232 also serves as an air supply line in addition to the line of the flexible shaft 235 .

In addition, although not shown, a compressor for supplying air is connected to the flexible tube 232 . This compressor can be configured independently, and can also be provided in the screw drive part 9 .

Thus, the helical propelling part 231B can inflate the air bag 251 to closely adhere to the inner wall of the body cavity at the part of the organ with a larger diameter. Here, for example, the lumen diameter of the digestive tract differs depending on the body cavity and the person, so by adjusting the inflation amount of the balloon 251, the contact with the lumen (=propelling force) can be adjusted.

In addition, the timing for inflating the air bag 251 is set when the drive switch 224 is pressed and operated. After the air compressor is started and the air bag 251 is inflated, according to the power supply and control signal from the screw propulsion control device 210, the The helical driving part 209 is driven to provide a driving force to the auger probe 208, so that the helical propelling part 231B rotates.

And, when the helical propelling part 231B obtains an endoscopic image and observes the front with the endoscope 204 and when the insertion part 211 of the endoscope 204 is pulled out, air is sucked to shrink the air bag 251 so that the air bag 251 will not be an obstacle.

In addition, the helical propelling part 231 may be configured to form a suction hole for suctioning the gap formed between the inner wall of the body cavity and the packaging container as shown in FIGS. 61 and 62 .

As shown in FIGS. 61 and 62 , the helical pusher 231C forms, on the packing container 233C, a suction hole 253 for sucking the gap formed between the inner wall of the body cavity and the packing container 233C.

The packaging container 233C has a suction hole 253 formed on the front end side container 236 from the outer peripheral surface toward the inside, as a stretchable waterproof membrane provided inside the container, and the air bag 254 prevents body fluids from entering the inside. Furthermore, the flexible tube 232C also serves as a suction line in addition to the line of the flexible shaft 235 . In addition, the air bag 254 may not be provided if it is configured such that body fluid and the like can be discharged out of the body through the suction line.

In addition, although not shown, a suction device for suction is connected to the flexible tube 232C. The suction device may be formed independently, or may be provided in the screw driving part 209 .

Thus, the helical propelling part 231C attracts the gap formed between the inner wall of the body cavity and the packaging container 233C, and increases or decreases the frictional force by utilizing the closeness between the inner wall of the body cavity and the packaging container 233C, so that the propulsion force can be adjusted.

In addition, as shown in FIG. 63, the helical propelling part may be configured such that the tip side thereof is tapered so that it can be easily inserted into a thin lumen.

As shown in FIG. 63 , the helical propelling portion 231D is configured such that its front end side is tapered. Thus, the helical propelling part 231D can be easily inserted into a thin body cavity tube, and can easily expand the body cavity tube. In addition, the helical propulsion part 231D may also be configured such that only the front end portion is formed of an elastic body, so that it can easily follow the direction of travel of the tube in the body cavity.

In addition, the helical propelling part may also be configured as shown in FIGS. 64 to 66 , and a tapered air bag is provided at the front end of the cylindrical packaging container.

As shown in FIGS. 64 to 66 , the helical propelling portion 231E is configured by providing a conical air bag 255 at the front end of a cylindrical packaging container 233E. In addition, FIG. 65 and FIG. 66 show the state in which the conical air bag 255 is inflated.

The packaging container 233E is configured such that a through hole 256 is formed in the front-end side container 236 from the inside toward the outer peripheral surface of the front end, so that air can be supplied to the conical air bag 255 provided on the outer periphery of the front end. Furthermore, the flexible tube 232E also serves as an air supply line in addition to the line of the flexible shaft 235 . In addition, the front end side container 236 may be formed in an internal shape that allows air supplied from the flexible tube 232 to pass through, instead of the shape shown in the drawing.

Thus, in addition to obtaining the same effect as the helical propulsion part 231D, the helical propelling part 231E can also inflate the conical airbag 255 when, for example, abutting against a curved part like a sigmoid colon as described above. , so that it passes through the bend.

And, the helical propelling part 231E is at the position where the pipeline in the body cavity is closed, and by inflating the conical inflatable bag 255, the helical propelling part 231E has been extended to the front before the conical inflatable bag 255 is inflated, so as long as It is easy to travel by rotating.

In addition, the helical propelling part 231E can also inflate the conical air bag 255 only when needed, for example, it can inflate the conical air bag 255 periodically every 1 second. In addition, the helical propelling part may be configured so that it can be attached to and detached from the flexible tube as shown in FIGS. 67 to 69 .

As shown in FIGS. 67 to 69 , the helical propelling portion 231F is configured to be detachable from the flexible tube 232F. More specifically, the helical propelling part 231F is provided with a planetary gear mechanism 257 for rotating the packaging container 233F inside the packaging container 233F formed integrally. In addition, another rotation mechanism may be provided instead of the planetary gear mechanism 257 .

In addition, the helical pusher 231F is provided with a locking mechanism 258 for pressing and fixing the distal end side of the flexible tube 232F on the tube fixing member 259 . In the lock mechanism 258, grooves 261 facing each other are formed on the inner peripheral surface side of the tube fixing member 259, and a coil spring 262 embedded in the grooves 261 is provided with a coil spring 262 for pressing and fixing the flexible tube 232F. 263 of the protrusions. In addition, the lock mechanism 258 may be formed not in the above-mentioned mechanical structure but in a structure using the attraction force of a magnet or the like.

In addition, a bearing 238 is provided between the inner peripheral surface of the packaging container 233F and the tube fixing member 259 , and the packaging container 233F can rotate relative to the tube fixing member 259 through the bearing 238 . In addition, an O-ring 264 forms a watertight state between the tube fixing member 259 and the inner peripheral surface of the packaging container 233F. In addition, an O-ring 265 forms a watertight state between the tube fixing member 259 and the flexible tube 232F.

On the other hand, the flexible tube 232F to which the helical propelling part 231F is detachably attached is provided with a shaft 257a for fitting the shaft 257a of the planetary gear mechanism 257 of the helical propelling part 231 on the front end side. Section 266. In addition, the flexible tube 232F may be inserted with a torque tube 267 instead of the flexible shaft 235 .

Therefore, the helical propelling part 231F may be configured to be detachably attachable to the flexible tube 232F.

Here, the flexible tube 232F is inserted through the treatment instrument insertion channel 222 of the endoscope 204 before the detachable helical propelling part 231F is attached, and the front end side of the tube protrudes from the channel opening 222a. , so that the helical propelling portion 231F can be freely attached and detached to be watertightly installed on the front end side of the pipe.

Thus, when the helical propelling part 231F is inserted into the treatment instrument insertion channel 222 of the endoscope 204 in the state pre-installed on the flexible tube 232F, it is possible to prevent the flexible tube 232F from being damaged by the treatment instrument. The branch or the like of the insertion channel 222 abuts to make it difficult to insert the treatment tool insertion channel 222 .

In addition, as shown in FIG. 70, the helical propulsion part may be configured so that a motor unit part is provided inside the packaging container.

As shown in FIG. 70 , the spiral propulsion unit 231G is configured such that the motor unit unit 242 is provided inside an integrally formed packaging container 233G. The motor unit part 242 is fixed and held by a motor fixing member 268 . The output shaft 246 a of the motor unit 242 is connected to a planetary gear mechanism 257 .

A bearing 238 is provided between the inner peripheral surface of the packing container 233G and the motor fixing part 268 , and the packing container 233G can rotate relative to the motor fixing part 268 through the bearing 238 . In addition, an O-ring 269 forms a watertight state between the inner peripheral surface of the packaging container 233G and the motor fixing member 268 .

Furthermore, a mounting portion 268a of the flexible tube 232G is formed on the rear end side of the motor fixing member 268, and the front end side of the flexible tube 232G is fitted into the mounting portion 268a and fixed by winding. A signal line 242b extending from the motor unit portion 242 is inserted through the flexible tube 232G. The motor unit 242 is driven by being supplied with power supply power and a control signal from the screw propulsion control device 210 through the signal line 242b.

In addition, an air bag protrusion 271 formed by an air bag is provided on the outer peripheral surface of the packaging container 233G as the spiral protrusion. Therefore, a through hole 272 for guiding the air supplied from the flexible tube 232G to the air bag protrusion 271 is formed in the packing container 233 and the motor fixing member 268 .

The air bag protrusion 271 can adjust the height of the protrusion by using the amount of air provided. Thus, the helical propulsion part 231G is the same as the helical propulsion part 231B, and can optimize the propulsion force according to the diameter change of the pipeline in the body cavity.

In addition, when the endoscope image is obtained and the endoscope 204 is used to observe the front and when the insertion part 211 of the endoscope 204 is pulled out, the helical propelling part 231G sucks air to shrink the inflatable protrusion 271 so that the inflatable bag 254 will not be an obstacle.

In addition, as shown in FIG. 71 , the helical propelling portion may be partially configured as a field of view securing means so as not to obstruct the observation field of view of the endoscope 204 .

As shown in FIG. 71 , the helical propelling part 231H is configured by forming a part of the packaging container 233H and the helical protrusion 234 with a material having a transparent shape. In addition, the helical propulsion part 231H may form a part of built-in structures such as planetary gears with a transparent material.

Thus, when the helical propelling part 231H uses the endoscope 204 to observe the internal pipeline of the body cavity, such as the inside of the digestive tract, the transparent part can enter the observation field of view by adjusting the angle, so as not to interfere with the illumination light and light of the endoscope 204 as much as possible. Observe the field of view.

In addition, although the helical propelling part 231 is not shown in the figure, it may be configured such that a portion corresponding to the transparent part of the helical propelling part 231H is removed as a visual field ensuring means, and an air bag is provided in the removed part.

In this case, the helical propelling part 231 expands the air bag into a cylindrical shape during screwing, and shrinks the air bag when the endoscope 204 is used for observation, thereby adjusting so that it does not become a cylindrical shape of the endoscope 204. Obstacles to the observation field of view.

And, although the helical propelling part 231 is not shown in the figure, as a field of view ensuring unit, the forceps jack-up function provided on the channel opening 222a of the treatment instrument insertion channel 222 can also be used to lift the forceps away from the observation field of view during observation. scope.

(Example 6)

Next, Embodiment 6 of the present invention will be described with reference to FIGS. 72 to 81. FIG.

The fifth embodiment described above is configured to insert the helical propelling probe 208 into the treatment instrument insertion channel 222 of the endoscope 204, but in this embodiment, the helical propelling probe is mounted along the outer periphery of the endoscope 204 using a detachable mounting part. 208. The configuration other than that is the same as that of the above-mentioned fifth embodiment, so the description thereof will be omitted, and the same components will be described with the same reference numerals.

That is, as shown in FIG. 72 , the endoscope insertion assisting device of Embodiment 6 is configured to attach the screw-propelling probe 208 to the insertion portion 211 of the endoscope 204 by using the detachable unit 280 as a detachable attaching portion. .

The detachable unit 280 is formed in a substantially 8-shaped ring shape, has a large-diameter ring 281 for fitting into the front end side of the insertion part 211 of the endoscope 204, and a flexible ring 281 for fitting the auger probe 208 into. Small diameter ring 282 of tube 232 .

That is, after the detachable unit 280 inserts the front end side of the insertion portion 211 of the endoscope 204 into the large-diameter ring 281 and is mounted on the insertion portion 211 of the endoscope 204, the The flexible tube 232 of the auger probe 208 is fitted into the small-diameter ring 282 , so that the auger probe 208 can be attached to the front end side of the insertion part 211 of the endoscope 204 and can be freely attached and detached.

In this embodiment, at least the front end portion 215 of the insertion portion and the flexible tube portion 217 of the endoscope 204 are provided with two detachable units 280 that can slide.

Thus, the auger probe 208 can insert the flexible tube 232 into the detachable unit 280 and the endoscope 204 by moving the flexible tube 232 back and forth from the operation portion 212 side of the endoscope 204 . The part 211 slides, and slides back and forth.

In addition, the helical propelling part 231I is provided with a rear end side air bag 283 on the rear end side.

As shown in FIG. 73 , the rear end side balloon 283 is formed to be inflated to the same size as the diameter of the body cavity tubing. As a result, the rear end side air bag 283 can position the helical propelling part 231I in the body cavity pipeline as described later. In addition, air is supplied from the flexible tube 232 to the rear end side air bag 283 .

The endoscope insertion assisting system configured in this way is used as described in the fifth embodiment above. The surgeon inserts the insertion portion 211 of the endoscope 204 from the patient's anus. At this time, since the insertion portion 211 of the endoscope 204 is elongated and flexible, the insertion portion 211 is pushed and pulled to be inserted into the body cavity.

The endoscope insertion assisting device is the same as that described in the above-mentioned Embodiment 5. The auger driving part 209 is driven by pressing the operation drive switch 224 under the control of the auger propulsion control device 210, and the helical propulsion part 231I is driven. advance.

In this embodiment, as shown in FIG. 74 , only the helical pusher 231I is pushed forward first. As shown in FIG. 75 , the helical propelling part 231I inflates the rear end side air bag 283 after reaching the cecum.

Here, the helical propelling probe 208 fixes the helical propelling part 231I in the cecum by inflating the rear end side air bag 283 to the size of the pipeline diameter of the cecum. Thus, as shown in FIG. 76 , the auger probe 208 can insert the endoscope 204 into the cecum by using the flexible tube 232 as a guide wire. In addition, before inserting the endoscope 204, the screw probe 208 may be inflated by blowing air into the large intestine by the endoscope 204 in advance, and then inserted into the endoscope 204 after ensuring the observation field of view.

In addition, although the auger probe 208 is not shown in the figure, it may be configured such that a hardness variable function (coil case) is incorporated inside the flexible tube 232 . In this case, after the helical propelling part 231I of the helical propulsion probe 208 reaches the cecum and is locked by the rear end side air bag 283 , the hardness of the flexible tube 232 is increased to facilitate insertion of the endoscope 204 . In addition, when the helical propelling probe 208 is inserted through the helical propelling part 231I, the hardness variable function can be activated/stopped appropriately to improve the insertability.

As a result, in addition to obtaining the same effect as that of the fifth embodiment, the endoscope insertion assisting device of this embodiment can also be configured without a treatment instrument insertion unit 280 by attaching the detachable unit 280 to the insertion portion 211 of the endoscope 204. A narrow-diameter endoscope with a universal channel 222 (or thinner).

In addition, the endoscope insertion assisting device may be configured such that, as shown in FIG. 77 , an air bag is provided on the detachable unit.

As shown in FIG. 77 , the detachable unit 280 is configured such that two air bags 284 are provided on the side of the large-diameter ring 281 and the side of the small-diameter ring 282 . An air supply pipe 285 for supplying air to the two air bags 284 extends from the detachable unit 280 , and the air supply pipe 285 is connected to a compressor not shown.

The endoscope insertion assisting system configured in this way is used as described in the fifth embodiment above. The surgeon inserts the insertion portion 211 of the endoscope 204 from the patient's anus. At this time, since the insertion portion 211 of the endoscope 204 is elongated and flexible, the insertion portion 211 is pushed and pulled to be inserted into the body cavity.

Here, the endoscope insertion assisting device first inflates the air bag 284 of the detachable unit 280, fixes the insertion portion front end 215 of the endoscope 204 in the intestine, and then pushes the helical propulsion portion 231.

As shown in FIG. 78 , the endoscope insertion assisting device inflates the balloon 234 of the helical propelling unit 231 as described in FIG. 73 after the helical propelling unit 231 has been propelled to a certain extent. Then, the endoscope insertion assisting device shrinks the balloon 234 of the endoscope 204 and inserts the endoscope 204 under the guidance of the helical propelling part 231 . By repeating the above operations, the endoscope insertion assisting device 203 makes the insertion portion distal end portion 215 of the endoscope 204 reach the cecum.

Thus, the endoscope insertion assisting device 203 can insert the insertion portion 211 of the endoscope 204 into the body cavity conduit in an inchworm-like manner.

In addition, the endoscope insertion assisting device may be configured such that, as shown in FIGS. 79 and 80 , a freely bendable bending portion is provided on the flexible tube 232 .

As shown in FIG. 79 , the auger probe 208 is configured by providing a freely bendable probe bending portion 286 on the flexible tube 232 . The probe bending part 286 is provided near the rear end of the helical propelling part 231 so as to have tracking performance.

Furthermore, as shown in FIG. 80 , the screw probe 208 is provided with a probe operation part 287 on the rear end side. A motor unit constituting a screw drive unit is incorporated in the probe operation unit 287 . And, the probe operation part 287 is provided with: a bending operation knob 288 for bending the probe bending part 286; a start-stop switch 289a for starting and stopping the rotation of the helical propulsion part 231; The direction of rotation, the direction of rotation of the rotation speed, and the switch section 289 such as the speed adjustment switch 289b.

As a result, the endoscope insertion assisting device actively directs the helical propelling part 231 toward the advancing direction of the lumen, so that the helical propelling part 231 can be advanced more easily. In addition, when the endoscope insertion assisting device observes the inside of the digestive canal with the endoscope 204, the helical propelling part 231 is arranged outside the observation field of the endoscope 204, so when the probe bending part 286 is bent, Easy to observe the inside of the body cavity.

In addition, the endoscope insertion assisting device may be configured such that, as shown in FIG. 81 , a forward and backward movement mechanism for moving the flexible tube 232 forward and backward is provided.

As shown in FIG. 81 , the endoscope insertion assisting device is configured such that a traction rope 291 passing through a treatment instrument insertion channel 222 is connected to a flexible tube 232 through a rope connection portion 292 . In addition, the detachable unit 280B is configured such that the small-diameter ring 282B extends over the entire insertion portion 211 of the endoscope 4 to hold and fix the flexible tube 232 on the side of the insertion portion 211 .

Thus, when the endoscope insertion assisting device pulls the pulling cord 291 from the front part of the endoscope 204, the flexible tube 232 is pulled forward, and the helical propelling part 231 advances, passing through the front part of the endoscope 204. Pulling the flexible tube 232 backward can make the helical propelling part 231 retreat.

Therefore, the endoscope insertion assisting device improves the situation that the "pressing" action due to the long flexible tube 232 is not easily transmitted, and the operability is improved.

(Example 7)

Next, Embodiment 7 of the present invention will be described with reference to FIGS. 82 to 87. FIG.

This embodiment is constituted by providing a forward and backward movement mechanism on the detachable unit 280 of the sixth embodiment. The configuration other than that is the same as that of the above-mentioned fifth embodiment, so the description thereof will be omitted, and the same components will be described with the same reference numerals.

That is, as shown in FIG. 82 , the endoscope insertion assisting device of this embodiment is configured such that a detachable unit 280C in which the screw-propelling probe 208C is attached to the distal end portion 215 of the insertion portion of the endoscope 204 is provided with a forward and backward movement mechanism unit 300 .

The auger probe 208C has a flexible tube 301 formed shorter. Furthermore, the helical propelling part 231 is configured, for example, the same as the helical propelling part 231G described in FIG. 70 , and the motor unit part 242 is provided. In addition, the flexible tube 301 has strong elasticity, its hardness and elasticity are optimized, and it can straighten immediately when no force is applied while tracking the progress of the lumen.

Power and control signals provided to the auger probe 208C are provided via the cable 302 passing through the treatment instrument insertion channel 222 of the endoscope 204 . The cable 302 is connected to the auger control device 210 at the near side. In addition, the cable 302 may be attached to the outside of the endoscope 204 instead of passing through the treatment instrument insertion channel 222 .

As shown in FIG. 83 , the forward and backward movement mechanism unit 300 is configured to include: a motor 303 that generates a driving force for moving the flexible tube 301 forward and backward; the bevel gear; the roller 304 that transmits the rotation from the bevel gear to the flexible tube 301 to move forward and backward. In addition, a motor and mechanism for rotating the screw propulsion unit 231 may be incorporated in the forward and backward movement mechanism unit 300 .

The endoscope insertion assisting system configured in this way is used as described in the fifth embodiment above. The surgeon inserts the insertion portion 211 of the endoscope 204 from the patient's anus. At this time, since the insertion portion 211 of the endoscope 204 is elongated and flexible, the insertion portion 211 is pushed and pulled to be inserted into the body cavity.

The endoscope insertion assisting device is the same as that described in the above-mentioned fifth embodiment, the driving switch 224 is pressed, and the screw driving part 209 is driven by the control of the screw driving control device 210, and the screw driving part 231 is driven. advance. At this time, the endoscope insertion assisting device 203 drives the forward and backward movement mechanism unit 300 to advance the flexible tube 301 .

Alternatively, the endoscope insertion assisting device 203 drives the forward and backward moving mechanism unit 300 to the helical shape when the endoscope image is obtained and the endoscope 204 is used to observe the front and when the insertion part 211 of the endoscope 204 is pulled out. The propulsion unit 231 moves the flexible tube 301 forward and backward at a predetermined position where it does not become an obstacle.

As a result, the endoscope insertion assisting device of this embodiment can achieve the same effect as that of the above-mentioned embodiment 6, and can be miniaturized and easy to handle because the auger probe 208 is short.

In addition, as shown in FIGS. 84 and 85 , the helical propelling portion may be partially removed as a field of view ensuring unit so as not to hinder the observation field of view of the endoscope 204 .

As shown in FIG. 84 , the helical propulsion unit 310 may be configured as a field of view securing means with a part removed so as not to obstruct the observation field of view of the endoscope 204 .

Accordingly, as shown in FIG. 85 , the helical propelling part 310 does not enter the observation field of view of the endoscope 204 as much as possible. In addition, the helical propelling unit 310 is adjusted to a predetermined angle during endoscopic observation.

In addition, the detachable unit can also be configured as shown in Fig. 86 and Fig. 87 without a built-in motor unit.

As shown in FIGS. 86 and 87 , the detachable unit 280D is configured so that the driving force transmitted from the flexible shaft 235 or the torque tube through the treatment instrument insertion channel 222 of the endoscope 204 is rotated via the gear 311. transfer.

Accordingly, the endoscope insertion assisting device has a simple structure and improves assembly workability.

(Embodiment 8)

Next, Embodiment 8 of the present invention will be described with reference to FIGS. 88 to 92 .

The endoscope apparatus 401 shown in FIG. 88 is configured to include: an endoscope 402; The endoscope 402 can be freely attached and detached, and the endoscope 402 can be smoothly introduced or inserted into a body cavity or other subject.

The endoscope 402 has an elongated insertion portion 404 inserted into a body cavity, and an unillustrated operation portion is provided on the base end side of the insertion portion 404 . And, the insertion part 404 has: the hard front end part 405 that is provided at its front end; Long soft part 407 (refer to FIG. 92).

In addition, the user can bend the bending portion 406 in a desired direction by operating an unillustrated bending operation knob provided on the operating portion.

A light guide 408 for transmitting illumination light is inserted into the insertion portion 404 , and a light source device (not shown) supplies illumination light to an incident end of the illumination light at the rear end of the light guide 408 . The front end surface of the light guide 408 serves as an emission end surface of the illumination light. The illuminating light transmitted through the light pipe 408 is emitted to the front side through the illuminating lens 409 from the exiting end surface, and illuminates the inside of the body cavity on the front side.

As shown in FIG. 88, an observation window (imaging window) adjacent to the illumination window on which the illumination lens 409 is installed is provided at the front end portion 405 of the insertion portion 404. optical imaging. A charge-coupled device (abbreviated as CCD) 412, for example, is arranged as an imaging element at the imaging position, and the CCD 412 performs photoelectric conversion on the formed optical image.

The CCD 412 is connected to a signal processing device not shown in the figure through a signal line, and the output signal of the CCD 412 is converted into a video signal by the signal processing device, and the image captured by the CCD 412 is displayed on the display surface of the monitor.

And, in the insertion part 404 of this endoscope 402, be provided with the channel 413 that can insert the treatment instrument such as forceps, the rear end side of this channel 413 is branched near the rear end of the insertion part 404, and one side of this branch is connected with the treatment instrument. The insertion port 414 communicates, and the other reaches a suction joint connected to a suction device not shown.

Furthermore, a magnetic field applying member 415 that is separate from a rotating member 417 constituting the endoscope insertion assisting device 403 described below can be inserted through the treatment instrument insertion port 414 .

Further, a rotatable rotating member 417 provided with a magnet 416 is attached to the outer peripheral surface of the front end portion 405 of the insertion portion 404 .

The rotating member 417 has a substantially cylindrical shape. As shown in FIG. . In addition, the protruding portion 418 may be a hollow tube attached in a helical shape, or a solid rope may be attached in a helical shape. In addition, one, two, or three or more lines may be used.

When the above-mentioned rotating member 417 is mounted on the outer peripheral surface of the front end portion 405, the ring-shaped fixing member 419 fitted and fixed on the outer peripheral surface near the rear end of the front end portion 405 and the hollow fixed member 419 fixed on the front end surface are used. The substantially disk-shaped fixing member 420 provided with the opening 420a. The fixing member 420 is provided with a protrusion 421 that is attached to the front end opening of the passage 413 by press fitting or the like.

That is, by attaching the fixing members 419 and 420 to the front end portion 405 on both sides of the rotation member 417 , the rotation member 417 can be freely rotatably attached to the front end portion 405 . In this case, as shown in FIG. 90 , an opening 420 a for securing a field of view is provided at a portion of the fixing member 420 facing the front end of the endoscope 402 so as not to block light from the illumination window and the observation window.

A ring magnet 416 is fixed in the longitudinal direction of the inner peripheral surface of the rotating member 417 , for example, approximately in the center. As shown in FIG. 91, this magnet 416 is formed in a structure in which N and S magnetic poles are alternately arranged and magnetized in the circumferential direction.

On the other hand, the magnetic field applying member 415 inserted in the channel 413 has a magnet 423 attached to the tip of a flexible shaft 422 that transmits rotational force. The rear end of the flexible shaft 422 is attached to the rotating shaft of the motor 424 , and the magnet 423 at the front end of the flexible shaft 422 can be rotated by rotating the motor 424 .

As shown in FIG. 91, the magnet 423 is formed in a structure in which N and S magnetic poles are arranged in the circumferential direction or in the radial direction, and can drive the rotating member 417 to rotate by using a rotating magnet method.

That is, in the ring magnet 416 in which S and N poles are alternately arranged, the bar magnet 423 with magnetic poles arranged in the radial direction is rotated, and the ring magnet 416 on the outer peripheral side is rotated by mutual attraction and repulsion of the magnets 416 and 423 .

In this embodiment, the endoscope 402 can use a common endoscope having the channel 413, so the endoscope 402 itself is formed into a watertight structure that can be cleaned and sterilized.

On the other hand, the rotating member 417 is formed by, for example, a washable and sterilizable resin member to which the ring magnet 416 is attached. In addition, the fixing members 419 and 420 are also formed of resin members or the like that can be cleaned and sterilized.

In addition, the structure of the magnetic field applying member 415 is simple, so it is easy to form a watertight structure that can be cleaned and sterilized.

In this way, in the present embodiment, the rotating member 417 that is freely rotatably arranged on the outer peripheral surface of the distal end portion 5 and the rotating member 416 that is provided on the rotating member 417 are separately disposed in the channel 413 of the endoscope 402 . By forming the magnetic field applying member 415 in such a structure, the front end portion 405 can not be thickened more than necessary, and the structure can be applied to the existing endoscope 402 having the channel 413 . Furthermore, by forming a structure in which the side of the rotating member 417 and the side of the magnetic field applying member 415 are separated, the respective structures can be simplified, and a watertight structure can be easily achieved.

The operation of this embodiment based on this structure will be described with reference to FIG. 92 . In the vicinity of the rear end of the outer peripheral surface of the distal end portion 405 of the insertion portion 404 of the endoscope 402 , the fixing member 419 is attached first, and then the rotating member 417 is fitted into the outer peripheral surface of the distal end portion 405 . After that, the protrusion 421 of the fixing member 420 is pressed into the opening of the front end of the passage 413, and the fixing member 420 is attached. Thus, the user can freely rotatably attach the rotating member 417 to the outer peripheral surface of the front end portion 405 .

Then, as shown in FIG. 88 , the distal end side of the magnetic field applying member 415 is inserted through the treatment instrument insertion port 414 . In addition, the magnet 423 provided at the front end of the magnetic field applying member 415 is set at a position facing the vicinity of the inner periphery of the magnet 416 provided on the rotating member 417 .

In addition, a scale or the like is provided on the rear end side of the flexible shaft 422, and the position of the scale when the magnet 423 is set to face the center position of the inner circumference (longitudinal direction) of the magnet 416 is marked in advance. At this position, the rear end side of the flexible shaft 422 is rotatably fixed to the treatment tool insertion opening 414 .

Then, the insertion portion 404 of the endoscope 402 to which the rotating member 417 is attached is inserted into the body cavity. A surgeon performing an endoscopic examination inserts the distal end side of the insertion part 404 from the anus side, for example.

Then, the surgeon turns on a switch (not shown) for driving the motor 424 of the magnetic field applying member 415 to rotate the motor 424 . By the rotation of the motor 424, the magnet 423 at the front end rotates together with the flexible shaft 422, and the rotating magnetic field of the magnet 423 acts on the ring magnet 416 arranged on the outer peripheral side. And, the rotating member 17 rotates together with the magnet 416 .

A spiral protrusion 418 is provided on the outer peripheral surface of the rotating member 417. As shown in FIG. ) is engaged with the inner wall surface to act a propulsive force on the rotating member 417. That is, by rotating the screw, the screw can be screwed into the deep side of the component to which the screw is to be mounted.

In this way, by rotating the rotating member 417 to act a propulsive force on the rotating member 417, the front end portion 405 to which the rotating member 417 is freely rotatably attached can be smoothly pushed or guided into the large intestine 425 while the rotating member 417 is rotating. deep side. This embodiment has the following effects.

According to the configuration of this embodiment, a substantially cylindrical rotating member provided with a magnet 416 is attached to the outer peripheral side of the front end portion 405, and the magnetic field applying member 415 that magnetically rotates the rotating member without contact is arranged in the channel 413. , so the outer diameter of the front end portion 405 will not be too thick, and the front end portion 405 can be pushed smoothly.

That is, a substantially cylindrical rotating member 417 provided with a magnet 416 is attached to the outer peripheral side of the front end portion 405, and the magnetic field applying member 415 is arranged in the channel 413, thereby magnetically rotating the rotating member 417 without contact. In addition, by configuring the rotating member 417 side and the magnetic field applying member 415 as separate bodies, the respective structures can be simplified, and a watertight structure can be easily formed.

In addition, if the watertightness of the endoscope 402 itself can be realized in advance, there will be no obstacle to the contact of the rotating member 417 with liquid or the like. The rotating member 417 is easy to attach and detach. Furthermore, it is known from its structure that it is easy to clean and can be cleaned and sterilized reliably.

Also, the structure of this embodiment can be installed on an existing endoscope 402 . Furthermore, since the functions of the endoscope 402 other than the channel 413 for the treatment instrument can be directly used, it is possible to smoothly advance while using the bending function.

A first modified example will be described with reference to FIGS. 93 and 94 . FIG. 93 shows the vicinity of the channel 413 of the distal end portion 405 (of the endoscope 402 ) in cross-section, and FIG. 94 shows the vicinity of the electromagnet 427 disposed inside the channel 413 in a vertical section.

In Embodiment 8, a rod-shaped magnet 423 is attached to the tip of the flexible shaft 422 as the magnetic field applying member 415, but in this modified example, an electromagnet 427 is attached as shown in FIGS. 93 and 94 .

That is, at the tip of the flexible shaft 422, a coil 429 is provided on an iron core 428, and an electromagnet 427 is provided. In addition, signal lines connected to both ends of the coil 429 are inserted into the hollow portion of the flexible shaft 422, and a DC power source such as a battery is connected to the rear end side.

In addition, as in the eighth embodiment, the motor 424 rotates the flexible shaft 422 , and the electromagnet 427 rotates simultaneously with the rotation of the flexible shaft 422 .

When the electromagnet 427 rotates, the direction of its magnetic field is rotated, and a force is generated to rotate the magnet 416 arranged on the outer peripheral side of the electromagnet 427 in the same way as when the magnet 423 is rotated.

In addition, on the electromagnet 427, a ferromagnetic body such as pure iron may be provided at the center of the coil 429. In this case, the magnetic field generated by the electromagnet 427 can be strengthened to more reliably rotate the magnet 416 . This modified example has substantially the same effect as that of the eighth embodiment.

Fig. 95 shows a second modified example. In this modified example, a magnetic field for rotating the magnet 416 arranged on the outer peripheral side is applied by changing the current flowing through the electromagnets 427a and 427b arranged in parallel in the channel 413 for the treatment tool. For example, as shown in FIG. 95 , by changing the magnitude of the current flowing through two electromagnets 427 a and 427 b arranged adjacently, a magnetic field for rotating the magnet 416 can be generated. In addition, the direction of the current flow can also be changed.

In the case of this modified example, it is not necessary to rotate the magnet 416 by the motor 424 . According to this modification, there is an advantage that it is not necessary to rotate the magnetic field applying member 415 side. Other than that, it has substantially the same effect as that of Embodiment 8.

Fig. 96 shows a third modified example. In this modified example, the magnet 416 disposed in the rotating member 417 is a large magnet 416B, and the freely rotatable magnet 423 disposed in the treatment instrument channel 413 is also a large magnet 423B.

That is, it is formed as the ring magnet 416B whose length is close to the total length of the rotating member 417 in the longitudinal direction. The magnet 423B is also formed to have substantially the same length.

Also, in this modified example, the fixing members 419 and 420 are not used. That is, the rotating member 417 is formed so as to be freely rotatable on the outer peripheral surface of the distal end portion 405 so as to have an inner diameter that substantially fits into the outer peripheral surface of the distal end portion 405 . In this case, if the state is maintained as it is, the rotating member 417 may move from the front end 405 in the longitudinal direction of the front end 405. However, since the magnet 423B is arranged on the inner peripheral side, the magnet 416B and this magnet The magnetic force of 423B can limit the movement along the length direction.

According to this modified example, the rotational force can be increased, and the rotating member 417 can be rotatably fixed to the front end portion 405 , and there is no mechanical constraint caused by the fixing members 419 and 420 .

Therefore, in this modified example, the structure can be simplified, and the rotation member 417 can be rotated with a large force by rotating the magnet 423B side. In addition, the rotating member 417 can be easily attached to and detached from the front end portion 405 without using the fixing members 419 and 420 .

Fig. 97 shows a fourth modified example. In this modification, the magnet 416B is used to constitute the entire rotating member 417 in the third modification. According to this modification, the rotational force can be increased. Other than that, it has the same effects as those of the third modification.

Fig. 98 shows a fifth modified example. In this modified example, the fixing member 420 on the distal end side in the eighth embodiment is made of a transparent member, and a hemispherical portion 420b is provided in which the distal side of the fixing member 420 is formed into a hemispherical shape. According to this modified example, observation with the endoscope 402 can be ensured, and smooth contact with the inner wall of the body cavity can be ensured by forming the tip side in a hemispherical shape. Furthermore, if the fixing member 419 is also formed as a spherical body 419a toward the rear side, the endoscope 402 can be pulled out smoothly.

Fig. 99 shows a sixth modified example. This modified example is configured such that, in the fifth modified example shown in FIG. 98 , the protrusion 421 is deleted from the fixing member 420 so that the fixing member 420 can rotate integrally with the rotating member 417 (together with the rotating member 417 ). Furthermore, the rotating member 417 is formed of a transparent member, and the spiral protrusion 418 on the outer peripheral surface of the rotating member 417 is provided to the front end side.

According to this modification, the propulsion force can be increased. Other than that, it has the same effects as those of the fifth modification. 100 and 101 show a seventh modified example. This modified example is configured by providing a magnetic bearing in the structure of the eighth embodiment so that the rotation center axis and the center axis of the endoscope 402 do not deviate. Specifically, ring-shaped recesses are respectively provided on the outer peripheral surface positions near the front end and the rear end of the front end portion 405 of the endoscope 402, and ring-shaped magnets 431a, 431b are installed respectively.

Also, on the rotating member 417 side, ring-shaped recesses are provided on the inner peripheral surfaces of the front and rear sides of the magnet 416, and ring-shaped magnets 432a, 432b are attached to face the magnets 431a, 431b, respectively.

The magnets 431a and 431b at this time have different magnetic poles formed on the inside and outside in the radial direction, as shown in FIG. 101 . Specifically, the inner side is the N pole and the outer side is the S pole. On the other hand, magnets 432a and 432b have different magnetic poles formed on the inside and outside in the radial direction as shown in FIG. 101, and are set so as to generate repulsive force with magnets 431a and 431b. Specifically, the inner side is the S pole and the outer side is the N pole.

Therefore, the repulsive force acts on the magnets 431a, 432a facing on the front end side, and the repulsive force acts on the magnets 431b, 432b facing on the rear end side, and the rotating member 417 side is held so as to float from the outer peripheral surface of the front end portion 405. status. Thereby, the rotating member 417 can rotate without contacting the endoscope 402, so the rotation efficiency is improved.

102 and 103 show an eighth modification. The eighth modified example shown in FIG. 102 is configured such that magnets 431 a and 431 b and magnets 432 a and 432 b facing each other are shifted in the longitudinal direction of the tip portion 405 from the configuration shown in FIG. 103 . Specifically, the distance between the magnets 431a and 431b provided on the distal end portion 405 side of the endoscope 402 is set larger than the distance between the magnets 432a and 432b provided on the rotating member 417 side. And, when the user installs the freely rotatable rotating member 417 on the outer peripheral surface of the front end portion 405, as shown in FIG. Talk about only staggering Δ) and facing each other.

By forming such a structure, the effect shown in FIG. 103 can be obtained.

For example, for the rotating member 17 side, as shown on the left side in FIG. The magnets 431a, 432a of the magnets 431a, 432a, (closed due to the offset, thus) stronger magnetic repulsion also works. Therefore, as shown on the right side in FIG. 103 , by means of this magnetic repulsion force, the rotating member 417 returns to the state before the shift. When the rotary member 417 moves toward the rear end side, a magnetic return force also acts.

Therefore, the fixing members 419 and 420 in the structure shown in FIG. 100 are not required.

According to this modified example, the rotating member 417 can be held rotatably with a simple structure without using the fixing members 419 and 420 .

Fig. 104 shows a ninth modification. This modified example is configured similarly to the seventh modified example, and the rotating member 417 is held by bearings so that the central axis of rotation and the central axis of the endoscope 402 do not deviate. Specifically, as shown in FIG. 104 , when attaching the rotating member 417 to the front end portion 405 , a bearing 434 is used.

That is, the bearing 434 is attached to the front end part 405, and this bearing 434 is inserted between the front end part 405 and the rotating member 417, and the rotating member 417 is attached. In this modified example, since the bearing 434 is difficult to clean, a disposable bearing 434 is used

According to this modified example, compared with the case of the eighth embodiment, the rotating member 417 can be held rotatably more reliably.

105 and 106 show a tenth modified example. In this modified example, a plurality of rollers (or needle bearings) 435 are used when mounting the rotating member 417 for the same reason as the seventh modified example. In FIG. 105 , three rollers 435 are held freely rotatable by, for example, stoppers 436 provided at three positions on the inner peripheral surface of the rotating member 417 .

In this case, as shown in FIG. 106 , the roller 435 may be inserted into the stopper 436 provided on the inner peripheral surface of the rotating member 417 , and then the distal end portion 405 of the endoscope 402 may be inserted. In addition, the distal end portion 405 of the endoscope 402 may be inserted in a state where the roller 435 is inserted halfway.

According to this modified example, compared with the case of the eighth embodiment, the rotating member 417 can be held rotatably more reliably.

In addition, the number of rollers 435 may also be greater.

Fig. 107 shows an eleventh modified example. In this modified example, ball bearings 438 are used when attaching the rotating member 417 for the same reason as the seventh modified example.

In this modified example, for example, at a plurality of positions on the surfaces of the fixed members 419 and 420 facing the rotating member 417, for example, three or four positions, recesses slightly larger than a hemisphere are formed, and the recesses are freely rotatable inside. The ball 439 is accommodated.

On the surface of the rotary member 417 facing the fixed members 419 and 420 , annular recesses slightly smaller than a hemisphere are respectively formed in the circumferential direction, and ball bearings 438 rotatably in contact with balls 439 are formed.

Also in this modified example, the rotating member 417 can be reliably held rotatably.

Next, a twelfth modified example will be described. In this modified example, in the structure of the eighth embodiment, a member having a small friction coefficient such as Teflon (registered trademark )membrane. Also according to this modified example, friction can be reduced, slidability can be improved, and rotation member 417 can be smoothly rotated. Next, a thirteenth modified example will be described with reference to FIG. 108 . This modification corresponds to, for example, a modification of the configuration shown in FIG. 109 . In the structure shown in FIG. 99, the movement of the rotating member 417 to the front end side is not mechanically restricted, so it is possible to move from a desired position without using a large magnet as shown in FIG. 96, for example.

Therefore, in this modified example, even when a small magnet is used, it is possible to restrict movement of the rotating member 417 toward the distal end side.

As shown in FIGS. 108 and 109 , at multiple positions in the circumferential direction of the rear surface of the rotating member 417 , elastic members are provided to extend from the axial direction of the rotating member 417 toward the central axis side of the front end portion 405 of the endoscope 402 . A shaft portion 441 protruding obliquely has a freely rotatable roller or tire 442 attached to the shaft portion 441 .

Then, the tire 442 is biased so that the outer peripheral surface of the distal end portion 405 of the endoscope 402 engages with a circumferential groove 443 formed by notching into a substantially hemispherical shape. Therefore, the tire 442 is elastically pressed against the inner wall of the circumferential groove 443 and rotatably engaged, while restricting the movement of the rotating member 417 toward the front end side.

According to this modification, there is a function of a movement prevention mechanism that prevents the rotating member 417 from moving back and forth, and the rotating member 417 can be held smoothly and freely rotatably by the tire 442 like a bearing is used.

Fig. 110 shows a fourteenth modified example. In this modified example, in the structure of Embodiment 8, a threaded hole 445 is formed at the front end opening of the channel 413, and the fixing member 420 on the front end side is fixed to the front end by using the fixing screw 446 to pass through the hole or the threaded hole of the fixing member 420. 405 on.

That is, in Embodiment 8, the fixing member 420 on the front end side is fixed in the front end opening of the channel 413 by means of pressing or other insertion, but in this modified example, the front end of the channel 413 for the treatment instrument is The opening is provided with a screw hole portion 445, and is formed in a screw-fixing type.

According to this modified example, since the fixing member 420 can be more firmly fixed to the front end portion 405, it is possible to more reliably prevent the rotation member 417 from moving toward the front end side.

Fig. 111 shows a fifteenth modified example. In this modified example, an external thread portion 451 is provided on the distal end side outer peripheral surface of the distal end portion 405 of the endoscope 402 . Then, the external thread portion 451 is screwed to the internal thread portion 454 provided on the inner peripheral surface of a cylinder 453 having a flange 452 on the outer periphery of the distal end, thereby fixing the cylinder 453 to the outer peripheral surface of the distal end portion 405 .

And, the rotation member 417 is held rotatably by the flange 452 of the cylinder 453 and the fixing member 419, and the movement of the rotation member 417 in the longitudinal direction thereof is restricted. According to this modified example, it is possible to reliably prevent the fixing member 420 from moving from a desired rotational position.

Fig. 112 shows a sixteenth modified example. In this modified example, the protruding portion 421 in the eighth embodiment is formed in a shape that fits into the front end opening of the channel 413 , and an extending portion 456 is provided rearward from the protruding portion 421 . The protruding portion 456 is rotatably connected by a connecting member 457 protruding from the tip of the magnet 423 inserted into the channel 413 . Specifically, an enlarged diameter portion is provided at the rear end of the protruding portion 456, and a hollow portion for accommodating the enlarged diameter portion is provided at the front end of the connecting member 457, and are rotatably connected to each other. Therefore, the magnet 423 side is held freely rotatable with respect to the extension part 456 side. According to this modified example, the magnet 423 in the channel 413 can be easily arranged at the position of the magnet 416 of the rotating member 417 . This modification has the same effects as those of the fifteenth modification.

(Example 9)

Next, Embodiment 9 of the present invention will be described with reference to FIG. 113 and FIG. 114 . Fig. 113 shows an endoscope insertion assisting device according to Embodiment 9 of the present invention. The endoscope insertion assisting device 403 of this embodiment is the same as the eighth embodiment, and has a rotating member 417 and fixing members 419 and 420 .

On the other hand, on the outer peripheral surface of the distal end portion 405 of the endoscope 402, an electromagnet 461 having the function of the magnetic field applying member 415 of Embodiment 8 is provided, and the position of the electromagnet 461 is on the outer peripheral side of the electromagnet 461. The magnet 416 provided on the rotating member 417 faces, and the magnet 416 of the rotating member 417 is rotated by direct drive.

That is, the same rotating member 417 and fixing members 419 and 420 as in the eighth embodiment are used. In this embodiment, the difference from the eighth embodiment is that an electromagnet 461 that generates a rotating magnetic field is built in the endoscope 402 . The electromagnet 461 is sealed so that moisture cannot enter from the outside.

Fig. 114 is a diagram showing the principle of operation of the direct drive method in this case.

Similar to the rotating magnet system, a plurality of electromagnets 461 that generate a magnetic field in the radial direction are arranged inside the ring magnet 416 . The ring-shaped magnet 416 can be rotated by changing the magnetic field generated by the electromagnet 461 . As shown in FIG. 113 , the electromagnet 461 is disposed on the endoscope 402 side to constitute a rotation mechanism for rotating the rotation member 417 provided with the magnet 416 . In addition, a signal line connected to the electromagnet 461 is inserted into the inside of the endoscope 402 and connected to a power supply device for generating a rotating magnetic field.

The other configurations are the same as those described in Embodiment 8, and the same components are given the same symbols and their descriptions are omitted. The side view and the front view of this embodiment are the same as those in Fig. 89 and Fig. 90 in Embodiment 8, so the illustration is omitted.

This embodiment has the following effects.

Although it is necessary to design the endoscope 402 exclusively, as in the eighth embodiment, it is easy to form the rotating member 417 and the endoscope 402 into watertight structures respectively.

In addition, as modification examples of the present embodiment, in addition to the first modification example to the third modification example of the eighth embodiment, the fourth modification example to the fifteenth modification example can be directly applied.

(Example 10)

Next, Embodiment 10 of the present invention will be described with reference to FIGS. 115 to 118. FIG. Fig. 115 shows the cross-sectional structure of the endoscope insertion assisting device having Embodiment 10 attached to the endoscope, Fig. 116 shows the front view of Fig. 115, and Fig. 117 shows the endoscope insertion assisting device installed therein Perspective view of the state on the speculum, Figure 118 shows a schematic diagram of the rotary drive.

An endoscope device 471 according to this embodiment is composed of an endoscope 402 and an endoscope insertion assisting device 473 which is detachably attached to the endoscope 402 .

In the endoscope 402 shown in Embodiment 8, there is one channel 413, but the endoscope 402 of this embodiment is formed to have a structure having a plurality of channels 413a and 413b. At this time, the passages 413a and 413b are symmetrically provided on the front end surface of the front end portion 405 in the vertical direction on the central axis, for example, as shown in FIG. 116 . The rest of the configuration of the endoscope 402 is the same as that of the endoscope 402 shown in Embodiment 8, so the same symbols are used for description.

Furthermore, rotating magnetic field applying members 474a, 474b are inserted into the respective passages 413a, 413b. Rotating magnetic field applying members 474a, 474b are equipped with rod-shaped magnets 476a, 476b at the front ends of flexible shafts 475a, 475b, and the rear ends of flexible shafts 475a, 475b are respectively connected with motors 477a, 477b.

Furthermore, the motors 477a and 477b are connected to a rotation control circuit 478, and by operating an operation panel 479 provided on the rotation control circuit 478, the motors 477a and 477b can be rotated in the same phase or in antiphase in a synchronous state.

Furthermore, in the present embodiment, a cylindrical body 481 is attached to the outer peripheral surface of the distal end portion 405 of the endoscope 402 . The cylindrical body 481 has an inner diameter fitted to the outer peripheral surface of the front end portion 405 , and the front end portion 405 is inserted into the cylindrical body 481 .

For example, protrusions 482a, 482b are provided on the end surface (front end surface) of the cylindrical body 481 that becomes the deep side when the front end portion 405 is inserted, and these protrusions 482a, 482b are respectively pressed into the channels 413a, 413b, and the cylindrical body 481 It is fixed on the front end portion 405 . In addition, as shown in FIG. 116 , an opening 481 a is provided in at least a portion of the front end surface of the cylindrical body 481 facing the illumination window and the observation window.

And, as shown in FIG. 117 , on the outer peripheral side of the cylindrical body 481, magnet tires (or rollers) 483a, 483b and non-magnetic dummy tires (rollers) 484a, 484b that become rotating bodies are held in a form by a support frame 485. Free spins.

More specifically, support frames 485a protruding radially outward are provided at four circumferential locations on the outer peripheral surface of the cylindrical body 481, and ring-shaped support frames 485b are continuously provided at the ends of the respective support frames 485a. On the ring-shaped support frame 485b, at the two positions facing the vertical direction and the two positions facing the left and right directions, the ring or disk-shaped tires 483a and 483b made of magnets and the dummy tires made of non-magnets are placed respectively. 484a, 484b are mounted for free rotation.

Therefore, as shown in FIG. 116 , the magnet tires 483a, 483b face the magnets 476a, 476b arranged in the channels 413a, 413b of the endoscope 402 inside. Furthermore, by rotating the magnets 476a, 476b arranged in the channels 413a, 413b by the motors 477a, 477b, the tires 483a, 483b made of magnets can be rotated, respectively. At this time, since the motors 477a and 477b are driven to rotate in opposite directions, the tires 483a and 483b made of magnets rotate in opposite directions.

Fig. 118 shows a principle diagram of the magnetic pole structure and rotational drive of the magnet 476a (the same is true for 476b) and the tire 483a (the same is true for 483b).

The bar magnet 476a rotating around the axis in the longitudinal direction is magnetized so that N and S magnetic poles are alternately formed obliquely with respect to the axis of rotation. On the other hand, the annular magnet constituting the tire 483a is magnetized so that N and S magnetic poles are alternately formed in the circumferential direction.

Therefore, by rotating the bar magnet 476a, the magnetic field of the annular magnet constituting the tire 483a changes periodically at the magnet portion close to the magnet 476a. Using this periodically changing magnetic field, the tire 483a can be rotated, for example, as indicated by an arrow.

The effect of this embodiment is as follows. The insertion portion 404 of the endoscope 402 is inserted into the body cavity from the distal end side. Then, the user operates the operation panel 479 to rotate the motors 477a and 477b in opposite directions.

In this way, the bar magnets 476a, 476b arranged in the channels 413a, 413b rotate in opposite directions to each other. And as shown in the principle diagram of FIG. 118, the tires 483a, 483b made of magnets rotate in opposite directions.

Therefore, the outer peripheral sides of the tires 483a and 483b play a role of pushing forward the cylindrical body 481 and the front end portion 405 side inside the inner wall surface of the body cavity.

In addition, since the tires 483a and 483b can be operated independently, the traveling direction can be changed.

For example, by operating the operation panel 479 to set the rotation speed of the motor 477a side lower than the rotation speed of the motor 477b side, the rotation speed of the tire 483a on the upper side of the front end portion 405 can be lower than the rotation speed of the tire 483b on the lower side, And push in the direction of the upward curve.

This embodiment has the following effects.

If the bearing portions of the tires 483a and 483b are simple structures such as sliding bearings using low-friction materials, the cleanability will be good. In addition, as described above, since the tires 483a and 483b can be operated independently, the traveling direction can be changed.

A first modified example will be described with reference to FIGS. 119 and 120 . FIG. 119 shows the structure of the first modified example by using a sectional view. In this modified example, instead of the tires 483a and 483b in the tenth embodiment, a pair of magnet-made rollers 491a, 492a and 491b, 492b rotatably installed along the longitudinal direction.

That is, on the outer peripheral surface of the cylinder 481 (opposed to the passages 413a, 413b) at positions corresponding to the vertical direction, recesses (grooves) are provided along the longitudinal direction of the cylinder 481, and magnets are accommodated in the grooves. The rollers 491a, 492a and 491b, 492b are supported to be freely rotatable.

Furthermore, a belt-shaped crawler 493a is stretched between the pair of rollers 491a and 492a, and a crawler 493b is stretched between the rollers 491b and 492b to form crawler drive mechanisms 494a and 494b.

And, as shown in FIG. 120, instead of the tires 484a, 484b in Example 10, a pair of non-magnetic rollers 491c, 492c, 491d, 492d freely rotatable along the longitudinal direction are attached. In addition, in FIG. 120, since the roller 491d, 492d is on the opposite side to the roller 491c, 492c, it is not shown in figure.

In addition, a crawler belt 493c is stretched between the pair of rollers 491c and 492c, and a crawler belt 493d is stretched between the rollers 491d and 492d to form pseudo crawler drive mechanisms 494c and 494d. Here, the track 493d and the track-type drive mechanism 494d are not shown in the drawings.

Also, in Example 10, the bar magnets 476a, 476b are magnetized near the portions facing the tires 483a, 483b, but in this modified example, the portions facing the rollers 491a, 492a and the rollers 491b, 492b are formed These are obliquely magnetized bar magnets 476a', 476b'.

Other structures are the same as in Embodiment 10. According to this modified example, since the pair of rollers 491a, 492a, etc. are provided in the longitudinal direction of the front end portion 405, the front end portion 405 side can be pushed more stably than in the tenth embodiment. Other than that, it has the same effect as Example 10.

A second modified example will be described with reference to FIGS. 121 to 123 . Fig. 121 shows the structure of the second modified example by using a cross-sectional view. In this modified example, crank push type drive mechanisms 495a, 495b are provided instead of the crawler-type drive mechanism in the first modified example.

That is, as shown in FIGS. 121 and 122, recesses (grooves) are provided at positions corresponding to the vertical direction in the cylinder body 481 and along the longitudinal direction of the cylinder body 481, and magnet-made magnets are respectively accommodated at two places, front and rear. The wheels 496a, 497a and 496b, 497b support the respective wheels h (h=496a, 497a, 496b, 497b) in the cylindrical body 481 so as to be rotatable.

Each wheel h is provided with a crank mechanism, and by the rotation of the wheel h, a push rod 498 connected at one end to the wheel h can freely protrude from the recess or sink into the recess (the amount of protrusion can be freely changed). Each push rod 498 passes through the rod holding cylinder 499 and is slidably held by the rod holding cylinder 499 .

Fig. 123 shows the schematic diagram of the crank pushing type driving mechanism. As shown in FIG. 123 , the wheel h rotates about half a turn, and the push rod 498 protrudes obliquely rearward, and the amount of protrusion gradually increases, so that its front end pushes the body cavity inner wall w obliquely rearward. Therefore, the side of the cylindrical body 481 and the front end portion 405 on which the wheel h is provided is pushed forward by the body cavity inner wall w in a direction obliquely downward.

123 shows, for example, the case of 496a, 497a disposed on the outer peripheral surface of the front end portion 405, and similarly by 496b, 497b disposed on the lower side of the outer peripheral surface of the front end portion 405, the cylindrical body 481 and the front end portion 405 side are inclined. Push the front side in the upward direction. That is, the cylindrical body 481 and the front end portion 405 are pushed forward.

In addition, as described in the tenth embodiment, by operating the operation panel 479 to control the rotation speed of the motors 477a and 477b, the direction of propulsion can also be changed. Other than that, it has the same effect as Modification 1.

In addition, embodiments and the like that are configured by partially combining the above-described respective embodiments and the like also belong to the present invention.

By rotating the distal end member or the like provided with the helical structure, a large propulsion force can be obtained, and the endoscope can be smoothly inserted into the body or the like.

Claims (49)

1. endoscope insertion auxiliary device, this device has:

Flexible pipe;

Front end component, it is located at the front end of described pipe, and external diameter is more than or equal to the external diameter of described pipe; And

The helicoidal structure body, it is located at the outer peripheral face of described pipe.

2. endoscope insertion auxiliary device according to claim 1 is provided with the helicoidal structure body on the outer peripheral face of described front end component.

3. endoscope insertion auxiliary device according to claim 1, described front end component has the through hole that is communicated with the hollow bulb of described pipe, and the insertion section of endoscope can be inserted from the end side of described pipe and be led to the through hole.

4. endoscope insertion auxiliary device according to claim 2, described front end component has the through hole that is communicated with the hollow bulb of described pipe, and the insertion section of endoscope can be inserted from the end side of described pipe and be led to the through hole.

5. endoscope insertion auxiliary device according to claim 1, this device have the rotary drive unit that drives described pipe rotation.

6. endoscope insertion auxiliary device according to claim 3, this device have the rotary drive unit that drives described pipe rotation.

7. endoscope insertion auxiliary device according to claim 1, this device has the change unit, and it can change described helicoidal structure body at least one side's who is located at described pipe and described front end component the outer peripheral face from the outstanding height of described outer peripheral face.

8. endoscope insertion auxiliary device according to claim 3, this device has the change unit, and it can change described helicoidal structure body at least one side's who is located at described pipe and described front end component the outer peripheral face from the outstanding height of described outer peripheral face.

9. endoscope insertion auxiliary device according to claim 1, the external diameter of described front end component can change.

10. endoscope insertion auxiliary device according to claim 2, the external diameter of described front end component can change.

11. endoscope insertion auxiliary device according to claim 1, the described helical structure body that is located on the outer peripheral face of described pipe is a hollow structure.

12. endoscope insertion auxiliary device according to claim 7, the described helicoidal structure body that is located at least one side's the outer peripheral face of described pipe and described front end component is a hollow structure, utilizes the fluid that provides from the front operating portion by this hollow bulb to drive described change unit.

13. endoscope insertion auxiliary device according to claim 1, this device has bending mechanism, and it makes at least one side of described pipe and front end component crooked.

14. endoscope insertion auxiliary device according to claim 13, described bending mechanism are to use, and parts that voltage shrinks constitute by applying.

15. endoscope insertion auxiliary device according to claim 13, described bending mechanism is located near the front end of described pipe.

16. endoscope insertion auxiliary device according to claim 13, described bending mechanism is at least one direction bending.

17. endoscope insertion auxiliary device according to claim 13, described bending mechanism constitute by dragging line and bending at front operating portion layback.

18. endoscope insertion auxiliary device according to claim 13, described bending mechanism can be to a plurality of direction bendings, this endoscope insertion auxiliary device is provided with control unit, even it controls the feasible pipe rotation that makes under the state of bending mechanism bending, bending direction is also constant.

19. endoscope insertion auxiliary device according to claim 13, described bending mechanism can only be to a direction bending, this endoscope insertion auxiliary device is provided with control unit, its control make by rotation, the rotation of carrying out bending, pipe repeatedly stop, bending Solution removes and passes through sweep.

20. endoscope insertion auxiliary device according to claim 3, described pipe with inserted the position that logical curvature section of endoscope overlaps near, by constituting than the softish material of part in addition.

21. constitute by flexible material near the endoscope insertion auxiliary device according to claim 3, described pipe and connecting portion described front end component, thereby can be crooked.

22. endoscope insertion auxiliary device according to claim 5, described rotary drive unit utilize the revolving force of motor to drive described pipe rotation.

23. endoscope insertion auxiliary device according to claim 22, described motor has the rotating shaft of hollow, can be used for the insertion section of endoscope inserted leading in wherein.

24. a plurality of electric magnet that endoscope insertion auxiliary device according to claim 5, described rotary drive unit use a plurality of electric magnet on the outer peripheral face of being located at pipe and be located at the outer circumferential side of described a plurality of electric magnet constitute.

25. endoscope insertion auxiliary device according to claim 5, described rotary drive unit has the rotation limiting unit, and when the torque more than setting was worked, this rotation limiting unit limited the rotation of described pipe side.

26. two disk-like members that endoscope insertion auxiliary device according to claim 25, described rotation limiting unit use rubbing surface to be crimped constitute.

27. endoscope insertion auxiliary device according to claim 25, described rotation limiting unit comprises: two disk-like members that are crimped; And link, it is held in connection status with two disk-like members and can utilizes suitable torque that they are separated.

28. endoscope insertion auxiliary device according to claim 25, described rotation limiting unit has: the pick off that detects torque; And control unit, its output according to described pick off stops the rotation driving of rotary drive unit.

29. endoscope insertion auxiliary device according to claim 25, described rotation limiting unit comprises: a plurality of cylinder parts of its length direction configuration in the outer peripheral face upper edge of described pipe; Be located at the helicoidal structure body on the outer peripheral face of each cylinder part respectively.

30. endoscope insertion auxiliary device according to claim 1, being shaped as towards the described external diameter of front end of described front end component diminishes.

31. endoscope insertion auxiliary device according to claim 1, described front end component are more near the more little cone-shaped of front end external diameter.

32. endoscope insertion auxiliary device according to claim 1, described front end component is by can be by external force and the flexible material of passive bending constitutes.

33. endoscope insertion auxiliary device according to claim 1, the external diameter that is shaped as of described front end component is cyclically-varying.

34. endoscope insertion auxiliary device according to claim 1, the hardness that is shaped as of described front end component is cyclically-varying.

35. endoscope insertion auxiliary device according to claim 1, described front end component constitute hardness soft more to front end more, change continuously towards the rear end.

36. endoscope insertion auxiliary device according to claim 1, the surface of described front end component has been implemented lubricated.

37. endoscope insertion auxiliary device according to claim 1, described front end component constitute the diameter of external diameter and described pipe is roughly the same or connect into and can rotate freely greater than a plurality of hollow pearl bodies of its diameter.

38. endoscope insertion auxiliary device according to claim 12, the helicoidal structure body of being located at the outer peripheral face of described pipe is formed by hollow pipe respectively with the helicoidal structure body of being located at the outer peripheral face of described front end component, and two hollow pipes are communicated with.

39. endoscope insertion auxiliary device according to claim 9, the unit that changes the external diameter of described front end component comprises: the gas cell of being located at the outer peripheral face of described front end component; With the supply deliverying unit that described gas cell is carried out fluidic supply and discharge.

40. having, endoscope insertion auxiliary device according to claim 3, this device between the inner peripheral surface of the outer peripheral face of described insertion section and described pipe, supply with fluidic unit.

41. airtightly between the endoscope insertion auxiliary device according to claim 3, the outer peripheral face of described insertion section and the inner peripheral surface of described pipe become can rotate freely, lubriation material has been filled in its inside.

42. endoscope insertion auxiliary device according to claim 3 also is inserted with between the inner peripheral surface of the outer peripheral face of described insertion section and described pipe and is retained the pipe that can rotate freely.

43. endoscope insertion auxiliary device according to claim 1, this device has the maintenance body, and it is installed in the side of front of the insertion section of endoscope, and the described pipe that keeps movably being provided with described helicoidal structure body makes it.

44. according to the described endoscope insertion auxiliary device of claim 43, described maintenance body has the rotary drive unit that drives described pipe rotation.

45. endoscope insertion auxiliary device according to claim 1, the described pipe that is provided with described helicoidal structure body can be inserted in the passage that leads to endoscope.

46. endoscope insertion auxiliary device according to claim 7, this device have after inserting body cavity the helical structure body from the mechanism that pipe unloads, and make the described pipe smooth unit that flattens as the height of eliminating described helical structure body.

47. endoscope insertion auxiliary device according to claim 1, the endoscope that is inserted into after described endoscope insertion auxiliary device inserts is to have the special-purpose endoscope that can plug the cross sectional shape of described endoscope insertion auxiliary device from lower side.

48. endoscope insertion auxiliary device according to claim 1, when described endoscope insertion auxiliary device inserts back insertion endoscope, overlapping other pipe on described pipe, eliminate because of described helical structure body form concavo-convex, the insertion of endoscope is carried out smoothly.

49. endoscope insertion auxiliary device according to claim 3, the through hole that is communicated with described pipe and described front end component can be used as endoscope path way, is used for therapeutic appliance inserted leading in wherein.

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