JP2010051534A - Actuator for intraductal moving body and endoscope - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To bring a propulsion mechanism into reliable contact with a duct wall and to transfer just a propulsion force to the duct wall without transferring an unnecessary retraction operation. <P>SOLUTION: An actuator for an intraductal moving body includes: a propulsion mechanism which generates a drive force via a duct wall to generate a propulsion force for movement in a duct; a base mechanism which supports the propulsion mechanism and causes the propulsion mechanism to abut against and separate from the duct wall; and two or more pairs of bilayer mechanisms provided axially symmetrically. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to an actuator for an intra-pipe moving body and an endoscope, and more particularly to a technique for transferring a propulsive force to a pipe wall to move the inside of the pipe.

  Patent Document 1 discloses an actuator for a moving body in a pipe that moves in a pipe line. Specifically, a balloon is attached to the insertion portion of the electronic endoscope, and the balloon is formed such that the rear portion in the traveling direction and the circumferential portion have a lower expansion rate than the other portions. Yes. Since the balloon expands toward the rear in the traveling direction by supplying air, the surface of the balloon in contact with the inner wall surface of the conduit passes through the inner wall surface in the rearward direction while contacting the inner wall surface. A driving force is generated, and the insertion portion moves in the traveling direction by this force.

Further, Patent Document 2 discloses an actuator body made of an elastic member having a plurality of pressure chambers formed therein and having a plurality of protrusions formed on the upper surface. And the partition between adjacent pressure chambers is shape | molded by the bellows shape. As a result, the inside of the pressure chamber is pressurized and depressurized, and the partition is greatly expanded and contracted up and down to increase the amplitude of the elastic deformation wave. The transport is not stopped.
JP 2008-43669 A JP 2000-230510 A

  Here, in order to ensure that the propulsion mechanism comes into contact with the intestinal wall elastically deformed in the radial direction, the outer peripheral surface diameter of the propulsion mechanism at the time of propulsion needs to be about three times the endoscope diameter. However, in the thing of patent document 1, 2, when a balloon surface and processus | protrusion do not contact an intestinal wall (it does not reach), it will become impossible to generate | occur | produce a thrust.

  Further, even if the intestinal wall contacts with the balloon surface or protrusion, the shape of the intestine may be deformed, and the driving force may not be exhibited. Specifically, in the case of Patent Document 1, when the balloon is inflated and contracted after being inflated, it contracts toward the front in the advancing direction. The balloon surface in contact with the inner wall surface generates a retreating force through the inner wall surface in the forward direction while contacting the inner wall surface, and this force transmits an unnecessary retreating operation to the tube wall, resulting in a large amount. There is a risk that the amount of advancement cannot be obtained.

  Moreover, in the thing of patent document 2, there exists a possibility that the surface of an intestine cannot exhibit a driving force only by shrink | contracting synchronizing with a processus | protrusion.

  In the self-propelled method using a double balloon, the distal end portion of the endoscope has only a locking function, and the pushing operation starts from the rear balloon. Therefore, the telescopic mechanism of the self-propelled portion is locked at the bent portion of the intestinal tract. May not be able to move forward.

  The present invention has been made in view of such circumstances, and an in-pipe moving body capable of reliably transmitting only a propulsion force without transmitting an unnecessary backward movement to the tube wall while reliably bringing the propulsion mechanism into contact with the tube wall. It is an object to provide an actuator and an endoscope.

  In order to achieve the above object, the invention according to claim 1 is an actuator for an in-pipe moving body, wherein a propulsion mechanism for generating a driving force to generate a driving force through a tube wall to move in the tube, and the propulsion And a base mechanism for supporting the mechanism and contacting and separating the propulsion mechanism with respect to the tube wall, and having two-layer mechanisms provided in two or more pairs in axial symmetry.

  According to the present invention, since the propulsion mechanism is reliably brought into contact with the tube wall by the base mechanism, the propulsion force by the propulsion mechanism can be reliably transmitted to the tube wall.

  In order to achieve the object, the invention according to claim 2 is the actuator for a moving body in tube according to claim 1, wherein the propulsion mechanism is brought into contact with the tube wall by the base mechanism and then the propulsion mechanism performs the propulsion. And a control unit that controls the propulsion mechanism to be separated from the tube wall by the foundation mechanism in a state where the propulsion force is generated by the propulsion mechanism.

  According to the present invention, since the propulsion mechanism is separated from the tube wall in a state where the propulsive force is generated, it is possible to reliably transmit only the propulsive force without transmitting an unnecessary backward movement operation to the tube wall.

  In order to achieve the above object, according to a third aspect of the present invention, in the actuator for a moving body in a pipe according to the first or second aspect, the base mechanism is a balloon, and the balloon of the base mechanism is inflated and deflated. The propulsion mechanism is brought into contact with and separated from the tube wall.

  According to the present invention, since the base mechanism is a balloon, the propulsion mechanism can be reliably brought into contact with and separated from the tube wall with a simple structure.

  In order to achieve the above object, the invention according to claim 4 is the actuator for a moving body in a pipe according to any one of claims 1 to 3, wherein the propulsion mechanism is a balloon, and at least a rear portion in the traveling direction. A portion having a smaller expansion coefficient than the portion is provided.

  According to the present invention, since the balloon of the propulsion mechanism is inflated toward the rear in the traveling direction to generate a driving force via the tube wall, the in-tube moving body can be moved in the traveling direction.

  In order to achieve the above object, the invention according to claim 5 is the actuator for a moving body in tube according to claim 4, wherein the base mechanism is brought into contact with the tube wall in a state where the balloon of the propulsion mechanism is contracted. The balloon of the propulsion mechanism is separated from the tube wall by the base mechanism in an inflated state.

  According to the present invention, the balloon is in a deflated state when contacting the tube wall, while the balloon is inflated when being separated from the tube wall, and the balloon is provided with hysteresis so that the tube wall is unnecessary. It is possible to reliably transmit only the propulsive force without transmitting the reverse movement.

  In order to achieve the above object, an invention according to claim 6 is an endoscope having a function of self-propelling in a tube, and includes the in-tube moving body actuator according to any one of claims 1 to 5.

  According to the present invention, it is possible to reliably transmit only the propulsive force without transmitting an unnecessary backward movement to the tube wall while reliably bringing the propulsion mechanism into contact with the tube wall.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

[Description of electronic endoscope]
In FIG. 1, the electronic endoscope 1 includes an insertion unit 10 that is inserted into a subject, and an operation unit 12 that is connected to a proximal end portion of the insertion unit 10. The distal end portion 10a (for example, outer diameter 12 mmφ) connected to the distal end of the insertion portion 10 has an objective lens for capturing image light of an observation site in the subject and an imaging device for capturing the image light (both are both). (Not shown). The image in the subject acquired by the imaging device is displayed as an endoscopic image on a monitor (not shown) of the processor device connected to the cord 14.

  Further, on the distal end portion 10a, an illumination window for irradiating illumination light from a light source device (not shown) to the site to be observed, a forceps outlet communicating with the forceps port 16, and an air / water feed button 12a are operated. Accordingly, there are provided a nozzle for spraying cleaning water and air for removing dirt on the observation window protecting the objective lens.

  A bending portion 10b connecting a plurality of bending pieces is provided behind the tip portion 10a. The bending portion 10b is bent in the vertical and horizontal directions when the angle knob 12b provided in the operation portion 12 is operated and the wire inserted in the insertion portion 10 is pushed and pulled. Thereby, the front-end | tip part 10a is orient | assigned to the desired direction in a subject.

  A flexible portion 10c having flexibility is provided behind the curved portion 10b. In order to maintain the distance from the patient so that the distal end portion 10a can reach the site to be observed and the operator does not interfere with the operation portion 12 when operating the flexible portion 10c, It has a length of 1 to several meters.

  Two-layer structure balloons α and β (represented by the two-layer structure balloon α in FIG. 1) are attached to the distal end portion 10a. As will be described later, the pair of two-layer balloons are arranged at positions facing each other in the circumferential direction of the insertion portion 10, that is, at a position separated by 180 °, and are made of, for example, latex rubber that can expand and contract.

  The two pairs of two-layer balloons are connected to a balloon controller 18 that controls the pressure of each balloon.

  When observing the inner wall surface of a conduit that is bent in a complicated manner, such as the large intestine or the small intestine, with the electronic endoscope 1 configured as described above, the two pairs of two-layer balloons α and β are contracted. In this state, the insertion unit 10 is inserted into the subject, and the endoscopic image obtained by the imaging element is observed on the monitor while the light source device is turned on to illuminate the subject.

  When the distal end portion 10a reaches the pipe line, the balloon control device 18 controls the expansion / contraction of the two pairs of two-layer structure balloons α and β to generate a driving force through the inner wall surface of the pipe line. Thus, the insertion portion 10 is moved in the traveling direction.

  A detailed description of the propulsion operation flow will be described later.

[Description of actuator for moving object in pipe]
Next, the actuator for in-pipe moving bodies will be described.

<Configuration and operation of actuator for moving body in pipe>
FIG. 2 is a diagram illustrating a configuration of the in-pipe moving body actuator at the distal end portion 10 a of the insertion portion 10. FIG. 2A is a diagram viewed from the side of the schematic side of the tip 10a, and FIG. 2B is a diagram viewed from the tip of the tip 10a.

  As shown in FIGS. 2A and 2B, the in-pipe moving body actuator is provided on the outer peripheral surface of the distal end portion 10a of the electronic endoscope 1 and lifts up a first propulsion balloon 32 described later. A lift-up balloon 30 and a first propulsion balloon 32 provided on the upper side (outer peripheral side) of the first lift-up balloon 30 are configured.

  The first lift-up balloon 30 serves as a base mechanism that supports the first propulsion balloon 32 and makes the first propulsion balloon 32 contact and separate from a tube wall such as an intestinal wall. Further, the first propulsion balloon 32 serves as a propulsion mechanism that generates a driving force to move through the tube by generating a driving force through a tube wall such as the intestinal wall.

  Note that the boundary portion between the first lift-up balloon 30 and the first propulsion balloon 32 is joined by adhesion or integral molding.

  The two-layer structure balloon α, which is a two-layer mechanism composed of the first lift-up balloon 30 and the first propulsion balloon 32, is paired in an axially symmetrical manner at the distal end portion 10a. The two-layer structure balloon β, which is a two-layer mechanism composed of the second lift-up balloon 34 and the second propulsion balloon 36, is axially symmetric at the distal end portion 10a of the endoscope. The two-layer structure balloons α and β are composed of a total of two pairs. Note that a total of three or more pairs of two-layer balloons may be configured.

  In the present embodiment, a pair of two-layer structure balloons α and a pair of two-layer structure balloons β are provided at substantially the same position in the axial direction at the distal end portion 10a of the electronic endoscope 1. The pair of two-layer structure balloons α and the pair of two-layer structure balloons β may be provided at positions shifted in the axial direction.

  FIG. 3 is an enlarged view of a portion of the first propulsion balloon 32. Note that the second propulsion balloon 36 has the same configuration as the first propulsion balloon 32. The first propulsion balloon 32 is made of latex rubber that can be expanded and contracted.

  3, the first propulsion balloon 32 has a rear portion 32a (indicated by diagonal lines) in the traveling direction of the insertion portion 10 (a direction from the proximal end portion of the insertion portion 10 toward the distal end portion 10a). And a circumferential portion 32b (shown by diagonal lines, hereinafter simply referred to as a circumferential portion) are formed to be thicker than the other portions.

  For this reason, when gas is supplied to the first propulsion balloon 32, it expands as shown by the dotted line in FIG. That is, since the rear portion 32a and the circumferential portion 32b are formed thicker than the other portions, the rear portion 32a and the circumferential portion 32b have a lower expansion rate than the other portions, and the rear portion 32a and the circumferential portion 32b A portion other than the circumferential portion 32b extends and expands in a substantially fan shape toward the rear in the traveling direction as indicated by a dotted line.

  3 shows an example in which the rear portion 32a and the circumferential portion 32b are formed thicker than the other portions, only the rear portion 32a is formed thicker than the other portions. It may be an example.

  Further, only the rear portion 32a and the circumferential portion 32b or only the rear portion 32a are formed in a low expansion coefficient material (for example, PET fiber or aramid fiber) having a lower expansion coefficient than the material of the first propulsion balloon 32 or a coil shape. The shape memory alloy wire or the like may be bonded to the surface, embedded, or integrally formed to partially vary the expansion coefficient.

  FIG. 4 is a block diagram of the balloon controller 18 that controls the pressure of the first lift-up balloon 30, the first propulsion balloon 32, the second lift-up balloon 34, and the second propulsion balloon 36. As shown in FIG. 4, the first lift-up balloon 30, the first propulsion balloon 32, the second lift-up balloon 34, and the second propulsion balloon 36 have a structure in which the internal pressure can be adjusted independently, A suction pump 48 and a discharge pump 50 are connected through a valve opening / closing control unit 44 and a pressure control unit 46.

  In the flow of the propulsion operation described later, the valve opening / closing control unit 44 controls the opening / closing of valves (not shown) connected to each balloon, and the pressure control unit 46 controls the suction pump 48 and the discharge pump 50. Executed.

<Propulsion flow>
FIG. 5 is a flowchart of a specific propulsion operation for the in-pipe moving body actuator of the present invention. FIG. 6 is a schematic view showing the state of inflation and deflation of each balloon corresponding to the flowchart of the propulsion operation shown in FIG. 5, and the left view of FIG. 6 is viewed from the schematic side surface side of the distal end portion 10a. The right figure of FIG. 6 is the figure seen from the front end side of the front-end | tip part 10a. Further, FIG. 7 is a timing chart showing a temporal change in the pressure of each balloon in the propulsion operation shown in FIG.

  Accordingly, the flow of the propulsion operation will be described in detail with reference to FIG.

  As shown in FIG. 5, the insertion of the distal end portion 10a of the electronic endoscope 1 into a measurement target (here, for example, the large intestine) is started, and the electronic endoscope 1 is automatically operated by an actuator for a moving body in a tube. An operation for instructing to start running is performed (step S1).

  Then, as a propulsion balloon preparation, a predetermined amount of gas is supplied to the first propulsion balloon 32 and the second propulsion balloon 36 (step S2).

  Then, a predetermined amount of gas is supplied to the first propulsion balloon 32 and the second propulsion balloon 36 and inflated appropriately to determine whether or not the propulsion balloon preparation is completed (step S3), and the gas is supplied until completion. To do. At this time, the state of expansion and contraction of each balloon is represented as shown in FIG.

  When the propulsion balloon preparation is completed, next, gas filling into the first lift-up balloon 30 is started (step S4).

  Then, it is determined whether or not the internal pressure of the first lift-up balloon 30 has reached a specified value (step S5), gas is filled until the internal pressure reaches the specified value, and the internal pressure of the first lift-up balloon 30 reaches the specified value. When reaching, the filling of the gas into the first lift-up balloon 30 is stopped (step S6). The prescribed value of the internal pressure in the first lift-up balloon 30 is a pressure value when the slack of the intestinal wall 52 is eliminated and the first propulsion balloon 32 is brought into close contact with the intestinal wall 52, and the intestinal wall 52 is broken. That is, the pressure value does not slip on the intestinal wall 52.

  At this time, the state of expansion and contraction of each balloon is expressed as shown in FIG. As shown in FIG. 6 (b), the first propulsion balloon 32 is lifted by filling the first lift-up balloon 30 with the gas, and the first propulsion balloon 32 comes into contact with and comes into close contact with the intestinal wall 52. The circumferential length of the intestinal wall 52 does not change, and the intestinal wall 52 is fully extended in the direction in which the first propulsion balloon 32 is lifted. As described above, the first propulsion balloon 32 is in close contact with the intestinal wall 52 in a state in which the sagging of the intestinal wall 52 is eliminated. The second propulsion balloon 36 is separated from the intestinal wall 52.

  At this time (steps S4 to S6), the timing chart of each balloon corresponds to the step A in FIG.

  Next, filling of gas into the first propulsion balloon 32 is started (step S7).

  Then, it is determined whether or not the internal pressure of the first propulsion balloon 32 has reached a prescribed value (step S8), gas is filled until the prescribed value is reached, and when the internal pressure of the first propulsion balloon 32 reaches the prescribed value. Then, the filling of the gas into the first propulsion balloon 32 is stopped (step S9).

  At this time, the state of expansion and contraction of each balloon is represented as shown in FIG. As shown in FIG. 6 (c), as the first propulsion balloon 32 is filled with gas, the first propulsion balloon 32 is rearward in the traveling direction of the distal end portion 10a as shown by the dotted line in FIG. Since the directional deformation is performed so as to expand in a substantially fan shape toward the black arrow in FIG. 6C, the direction of travel with respect to the intestinal wall 52 at the distal end portion 10a as indicated by the white arrow in FIG. The power of is generated.

  In addition, since the first propulsion balloon 32 is reliably brought into contact with the intestinal wall 52 in the above-described step S6, the distal end portion 10a is securely attached to the intestinal wall 52 by filling the gas into the first propulsion balloon 32. A traveling force is generated. Thereby, the front-end | tip part 10a of the electronic endoscope 1 moves to an advancing direction.

  At this time (steps S7 to S9), the timing chart of each balloon corresponds to the step B in FIG.

  Next, filling of gas into the second lift-up balloon 34 is started (step S10).

  Then, it is determined whether or not the internal pressure of the second lift-up balloon 34 has reached a predetermined passage value (step S11).

  Here, the predetermined passage value of the internal pressure in the second lift-up balloon 34 is a passage value that exists until the internal pressure reaches a specified value after the second lift-up balloon 34 is inflated, and the second propulsion balloon 36. Is the value of the internal pressure of the second lift-up balloon 34 when it comes into contact with the intestinal wall 52.

  At this time, the state of expansion and contraction of each balloon is expressed as shown in FIG. As shown in FIG. 6D, the second lift-up balloon 34 is filled with gas and inflated to lift the second propulsion balloon 36 in the direction of the white arrow, while the first lift-up balloon 30 and the first lift-up balloon 30 The 1 propulsion balloon 32 maintains the state filled with gas as it is.

  At this time (steps S10 to S11), the timing chart of each balloon corresponds to the step C in FIG.

  Then, when the internal pressure of the second lift-up balloon 34 reaches a predetermined passage value, the second propulsion balloon 36 comes into contact with the intestinal wall 52, but at this time, the exhaust from the first lift-up balloon 30 is started (step) S12).

  In this way, the first lift balloon 30 is deflated while maintaining the inflated state as it is. Therefore, the first propulsion balloon 32 is separated from the intestinal wall 52 in an expanded state. Therefore, an unnecessary backward movement that occurs when the first propulsion balloon 32 is contracted and separated from the intestinal wall 52 is not transmitted to the intestinal wall 52. Therefore, in step S9, the distal end portion 10a of the electronic endoscope 1 is not transmitted. Maintains the position that moved in the direction of travel.

  In addition, since the first propulsion balloon 32 is separated from the intestinal wall 52 after the second propulsion balloon 36 is brought into contact with the intestinal wall 52, the distal end portion 10 a remains in the first portion even if the first propulsion balloon 32 is separated from the intestinal wall 52. 2 It is locked to the intestinal wall 52 by the propulsion balloon 36 and can maintain its position.

  Next, it is determined whether or not the internal pressure of the second lift-up balloon 34 has reached a specified value after passing a predetermined passage value, and whether or not the exhaust from the first lift-up balloon 30 has been completed (step). S13) After the internal pressure of the second lift-up balloon 34 passes a predetermined passage value, the second lift-up balloon 34 is filled with gas until it reaches a specified value, and the exhaust from the first lift-up balloon 30 is completed. Exhaust from the first lift-up balloon 30 is performed until this occurs. The prescribed value of the internal pressure in the second lift-up balloon 34 is a pressure value when the slack of the intestinal wall 52 is eliminated and the second propulsion balloon 36 is brought into close contact with the intestinal wall 52, and the intestinal wall 52 is broken. That is, the pressure value does not slip on the intestinal wall 52.

  At this time, the state of expansion and contraction of each balloon is expressed as shown in FIGS. As shown in FIG. 6E, the first propulsion balloon 32 is deflated while maintaining the inflated state. Then, as shown in FIG. 6 (f), the first propulsion balloon 32 is separated from the intestinal wall 52 while maintaining the inflated state. The filling of the gas into the second lift-up balloon 34 is continuously inflated.

  On the other hand, by filling the second lift-up balloon 34 with the gas, the second propulsion balloon 36 is lifted, and the second propulsion balloon 36 contacts and comes into close contact with the intestinal wall 52. The circumferential length of the intestinal wall 52 does not change, and the intestinal wall 52 is fully extended in the direction in which the second propulsion balloon 36 is lifted. As described above, the second propulsion balloon 36 is in close contact with the intestinal wall 52 in a state in which the sagging of the intestinal wall 52 is eliminated.

  At this time (steps S12 and S13), the timing chart of each balloon corresponds to the step D in FIG.

  Then, when the internal pressure of the second lift-up balloon 34 reaches a specified value and the exhaust from the first lift-up balloon 30 is completed, gas filling into the second lift-up balloon 34 is stopped, and the first lift-up balloon 30 is stopped. Is stopped, and the second propulsion balloon 36 is started to be filled with gas, while the exhaust from the first propulsion balloon is started (step S14).

  Next, it is determined whether or not the internal pressure of the second propulsion balloon 36 has reached a specified value and whether or not the exhaust from the first propulsion balloon has been completed (step S15). Gas filling is performed until the specified value is reached, and exhaust is performed until exhaust from the first propulsion balloon is completed.

  Then, when the internal pressure of the second propulsion balloon 36 reaches a specified value, the filling of the gas into the second propulsion balloon 36 is stopped, and when the exhaust from the first propulsion balloon is completed, the exhaust from the first propulsion balloon is stopped ( Step S16).

  At this time, the state of expansion and contraction of each balloon is represented as shown in FIG. As shown in FIG. 6G, while the first propulsion balloon 32 is deflated, the second propulsion balloon 36 is filled with gas as shown in the dotted line in FIG. Since the directional deformation is performed so that the tip portion 10a expands in a substantially fan shape toward the rear in the traveling direction of the distal end portion 10a, similar to the action by the first propulsion balloon 32 in FIG. On the other hand, a force in the traveling direction of the distal end portion 10a is generated. Thereby, the front-end | tip part 10a of the electronic endoscope 1 moves to an advancing direction.

  At this time (steps S14 to S16), the timing chart of each balloon corresponds to the step E in FIG.

  After stopping filling of gas into the second propulsion balloon 36 and stopping exhausting from the first propulsion balloon 32 in step S16, the process returns to step S10, and thereafter the first lift-up balloon 30 and the second lift-up are performed. The balloon 34 is replaced, the first propulsion balloon 32 and the second propulsion balloon 36 are interchanged, the same flow is performed, and the propulsion operation of the in-pipe moving body actuator is continued by repeating these flows (Step S17). Detailed description will be omitted. At this time, the state of expansion and contraction of each balloon is represented as shown in FIGS. 6H to 6J, and the timing chart of each balloon corresponds to the portions F to H in FIG.

  Thereafter, when the self-propelled stop instruction is operated on the electronic endoscope 1 by the in-pipe moving body actuator (step S21), exhaust of the first propulsion balloon 32 and the second propulsion balloon 36 is started (step S22). The first lift-up balloon 30 and the second lift-up balloon 34 are started to be exhausted (step S23), and as soon as exhaust of all the valves is completed, a message to that effect is displayed (step S24).

  The above is the description of the flow of the propulsion operation.

  As described above, the first propulsion balloon 32 (second propulsion balloon 36) is brought into contact with the intestinal wall 52 in a state where the first propulsion balloon 32 (second propulsion balloon 36) is deflated as described in the propulsion operation. Thereafter, the first propulsion balloon 32 (second propulsion balloon 36) is filled with gas, and the first propulsion balloon 32 (second propulsion balloon 36) is inflated to give propulsive force to the intestinal wall 52, while The first propulsion balloon 32 (second propulsion balloon 36) is separated from the intestinal wall 52 while the first propulsion balloon 32 (second propulsion balloon 36) is inflated.

  Thus, the state of the first propulsion balloon 32 (second propulsion balloon 36) when the first propulsion balloon 32 (second propulsion balloon 36) is brought into contact with the intestinal wall 52, and the first propulsion balloon 32 ( When the second propulsion balloon 36) is separated from the intestinal wall 52, the state of the first propulsion balloon 32 (second propulsion balloon 36) is different. The state of the first propulsion balloon 32 (second propulsion balloon 36) is provided with hysteresis.

  Accordingly, unnecessary retracting action that occurs when the first propulsion balloon 32 (second propulsion balloon 36) is contracted and separated from the intestinal wall 52 is not transmitted to the intestinal wall 52. Therefore, the first propulsion balloon 32 (first 2) The moving amount of the distal end portion 10a of the electronic endoscope 1 advanced by the propulsive force generated when the propelling balloon 36) is brought into contact with the intestinal wall 52 can be maintained, and a large moving amount can be obtained in the traveling direction.

  Further, since the first lift-up balloon 30 (second lift-up balloon 34) is inflated and the first propulsion balloon 32 (second propulsion balloon 36) is surely brought into contact with the intestinal wall 52, the first propulsion balloon 32 is used. The propulsive force by the (second propulsion balloon 36) can be reliably transmitted to the intestinal wall 52.

<Modification>
Further, instead of the first propulsion balloon 32 and the second propulsion balloon 36 of the above-described embodiment, a first propulsion balloon 54 and a second propulsion balloon 56 configured as shown in FIG. FIG. 8 is a diagram showing a part of the propulsion operation when the first propulsion balloon 54 and the second propulsion balloon 56 are used.

  The first propulsion balloon 54 and the second propulsion balloon 56 are, like the first propulsion balloon 32 and the second propulsion balloon 36 of the above-described embodiment, two pairs of two-layer structure balloons α, As for constituting β, the first lift-up balloon 30 and the second lift-up balloon 34 are provided so as to overlap with each other.

  As shown in FIG. 8, the first propulsion balloon 54 and the second propulsion balloon 56 are formed by arranging a sub chamber 58, a main air chamber 60, and a sub air chamber 62 formed by three balloons in a row. The sub air chambers 58 and 62 are disposed on both sides of the main air chamber 60. The sub air chamber 58 is disposed on the front end side of the front end portion 10a, and the sub air chamber 62 is disposed on the rear end side of the front end portion 10a.

  After bringing the first propulsion balloon 54 (second propulsion balloon 56) into contact with the intestinal wall 52 by the first lift-up balloon 30 (second lift-up balloon 34), as shown in FIG. The sub air chamber 62 is filled with gas from a state in which the gas is not filled in the chamber 60 and the sub air chambers 58 and 62 located on both sides thereof, and then, as shown in FIG. 8B, the main air chamber 60 is filled. The first propulsion balloon 54 (second propulsion balloon 56) is brought into close contact with the intestinal wall 52 by filling with gas.

  Next, as shown in FIG. 8C, the sub air chamber 58 is filled with gas, while the sub air chamber 62 is exhausted. Then, as indicated by the arrow in the figure, a propulsive force is generated on the intestinal wall 52, so that the distal end portion 10a moves in the traveling direction.

  Next, as shown in FIG. 8D, after the sub air chamber 58 is expanded and the sub air chamber 62 is contracted, the main air chamber 60 is evacuated, and then the first lift-up balloon 30 (second lift) The first propulsion balloon 54 (second propulsion balloon 56) is separated from the intestinal wall 52 by the up balloon 34).

  As described above, with respect to the expansion and contraction states of the sub chamber 58, the main air chamber 60, and the sub air chamber 62 of the first propulsion balloon 54 (second propulsion balloon 56), the first propulsion balloon 54 (second propulsion balloon 56) is changed. The state is different when the abutting against the intestinal wall 52 and when the first propulsion balloon 54 (second propulsion balloon 56) is separated from the intestinal wall 52. In other words, the first propulsion balloon 54 (second propulsion balloon 56) is provided with hysteresis when being brought into contact with and separated from the intestinal wall 52.

  It should be noted that the first propulsion balloon 54 (second propulsion balloon 56) is separated from the intestinal wall 52 by the first lift-up balloon 30 (second lift-up balloon 34) as it is from the state shown in FIG. As shown in FIG. 8D, the main air chamber 60 may be evacuated while the sub air chamber 58 is expanded and the sub air chamber 62 is contracted.

  In the above embodiment, an example in which a balloon is directly attached to the insertion portion 10 of the electronic endoscope 1 has been described. However, the present invention is not limited to this, and the endoscope moving apparatus shown in FIG. 64 is also possible.

  The endoscope moving device 64 is representative of a cylindrical body 66 into which the insertion portion 10 is inserted and fixed, and two-layer structure balloons α and β attached to the tip of the cylindrical body 66 (in FIG. 9, the two-layer structure balloon α is representative). And a balloon control device 70 having a configuration similar to that of the balloon control device 18 to which a cord 68 extending from the cylindrical body 66 is connected. The two-layer structure balloons α, β are paired symmetrically with the two-layer structure balloon α, and the two-layer structure balloons α are positioned 90 ° out of phase in the circumferential direction. β is axisymmetrically paired, and two pairs of two-layer balloons α and β are configured. Note that a total of three or more pairs of two-layer balloons may be configured.

  When the insertion unit 10 is inserted into the subject, the cylindrical body 66 is inserted and fixed in the insertion unit 10, and the balloon control device 70 performs the same control as in the above embodiment to move the insertion unit 10. Let

  In the above embodiment, a balloon is used as the propulsion mechanism. However, for example, an elastic member 72 made of rubber or the like as shown in FIG. 10 may be used. As shown in FIG. 10, a plurality of pressure chambers 74 are formed in the elastic member 72 in a row in the A direction, and extend substantially parallel to the B direction perpendicular to the A direction. Further, protrusions 76 are formed on the upper surface at regular intervals in the A direction and extend substantially parallel to the B direction. A partition wall 78 between the pressure chambers 74 is formed in a bellows shape. The elastic member 72 generates elastic deformation waves by expanding and contracting the partition wall 78 by increasing and decreasing the pressure inside the pressure chamber 74. The protrusion 76 increases the amplitude of the elastic deformation wave.

  In the above-described embodiment, an example in which a balloon is used for the tip portion 10a (see FIG. 1) as a base mechanism has been introduced. However, for example, as shown in FIG. A lift mechanism 80 may be provided as a base mechanism in the soft part 10c. In FIG. 11A, the first propulsion balloon 32 or the second propulsion balloon 36 of the propulsion mechanism is omitted for convenience of explanation.

  As shown in FIG. 11B, the lift mechanism 80 includes a thin plate-like pad 82, a first gear 84 connected to the pad 82, and the first gear 84, and is a driving motor. A pair of second gears 86 (not shown) are provided, and one pair is provided symmetrically with respect to the soft portion 10c. The second gear 86 is shared between the pair of lift mechanisms 80. Although not shown in FIG. 11, another pair of lift mechanisms 80 is further provided at positions shifted in the circumferential direction by 90 ° at positions shifted in the axial direction of the soft portion 10c.

  Then, the lift mechanism 80 rotates the second gear 86 by the motor and moves the first gear 84 up and down, thereby moving the pad 82 up and down, and the first propulsion balloon 32 or the second propulsion of the propulsion mechanism. The balloon 36 is brought into contact with and separated from the intestinal wall 52.

  As described above, the actuator for an intra-pipe moving body and the endoscope of the present invention have been described in detail. However, the present invention is not limited to the above examples, and various improvements and modifications can be made without departing from the gist of the present invention. Of course you can go.

It is a block diagram of an electronic endoscope. It is a figure which shows the structure of the actuator for moving bodies in a pipe | tube in the front-end | tip part of an insertion part. It is an enlarged view of the part of a 1st propulsion balloon. It is a block block diagram of a balloon control apparatus. It is a flowchart figure of concrete propulsion operation | movement about the actuator for in-pipe moving bodies of this invention. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is the schematic which showed the mode of expansion | swelling and contraction of each balloon. It is a timing chart showing the time change of expansion and contraction (pressure) of each balloon. It is a figure which shows a part of propulsion operation of a modification. It is a block diagram when the moving apparatus for endoscopes is used. It is a block diagram of the elastic member which is a modification of a propulsion mechanism. It is the arrangement | positioning figure and block diagram of the lift mechanism which are the modifications of a base mechanism.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 ... Electronic endoscope, 10 ... Insertion part, 10a ... Tip part, 18 ... Balloon control part, 30 ... 1st lift-up balloon, 32 ... 1st propulsion balloon, 34 ... 2nd lift-up balloon, 36 ... 2nd Propulsion balloon, 44 ... valve opening / closing control unit, 46 ... pressure control unit, 52 ... intestinal wall

Claims (6)

A propulsion mechanism that generates a driving force to generate a driving force through the tube wall to move within the tube, and a base mechanism that supports the propulsion mechanism and causes the propulsion mechanism to abut against and separate from the tube wall. And having a two-layer mechanism provided two or more axisymmetrically,
An actuator for an in-pipe moving body. After the propulsion mechanism is brought into contact with the tube wall by the base mechanism, the propulsion force is generated by the propulsion mechanism, and the propulsion mechanism is moved by the base mechanism in a state where the propulsion force is generated by the propulsion mechanism. Having a control unit that controls to be separated from the tube wall;
The actuator for a moving body in a pipe according to claim 1. The foundation mechanism is a balloon, and the propulsion mechanism is brought into contact with and separated from the tube wall by inflating and deflating the balloon of the foundation mechanism.
The actuator for a moving body in a pipe according to claim 1 or 2. The propulsion mechanism is a balloon, and at least a portion having a lower expansion rate than other portions is provided at a rear portion in the traveling direction;
The actuator for a moving body in a pipe according to any one of claims 1 to 3. After the balloon of the propulsion mechanism is in contact with the tube wall by the base mechanism in a deflated state, the balloon of the propulsion mechanism is inflated and separated from the tube wall by the base mechanism;
The actuator for a moving body in a pipe according to claim 4.   An endoscope having a function of self-propelling in a tube, comprising the actuator for a moving body in a tube according to any one of claims 1 to 5.

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