JP2011161138A - Endoscope insertion aid - Google Patents

Abstract

Disclosed is an endoscope insertion aid that can improve the followability to changes in the diameter of a tube into which an endoscope is inserted.
A self-propelling device (endoscope insertion assisting tool) 20 is provided with a substantially toroidal running portion 30 so as to cover the periphery of a mounting portion to which a distal end portion of the endoscope is attached. . The traveling unit 30 is supported by a support unit 31 and is driven by a worm gear that is rotatably supported by the support unit 31. By this driving, the traveling unit 30 circulates and rolls in the propulsion direction (insertion direction). A plurality of through holes 32 through which fluid flows between the inner space of the toroid and the outside are formed in the traveling unit 30, and the outer diameter is freely deformable. Therefore, the diameter of the tube into which the endoscope is inserted Can follow the changes of
[Selection] Figure 2

Description

  The present invention relates to an endoscope insertion aid for causing an insertion portion of an endoscope inserted into a digestive tract such as a large intestine to self-propell in an insertion direction.

  In endoscopy, it is very difficult to insert an endoscope into the large intestine because the large intestine has a tortuous structure in the body and there are portions that are not fixed in the body cavity. Therefore, a lot of experience is required to learn the technique for insertion into the large intestine, and if the insertion technique is immature, the patient will be greatly distressed.

  The part of the large intestine that is said to be difficult to insert an endoscope is the so-called sigmoid colon and transverse colon. The reason is that the sigmoid colon and transverse colon are not fixed in the body cavity unlike other parts, so that any shape change within the range of their own length, or when the endoscope is inserted It is to be deformed in the body cavity by the contact force. For this reason, many procedures have been proposed that make it possible to straighten the sigmoid colon and transverse colon so as to reduce contact with the intestinal tract as much as possible when the endoscope is inserted.

  On the other hand, in recent years, an endoscope insertion assisting tool has been proposed in which an endoscope is self-propelled in the insertion direction in the intestinal tract so that even an inexperienced insertion technique can be easily inserted (Patent Literature). 1). An endoscope insertion aid described in Patent Document 1 includes a housing that houses an insertion portion of an endoscope, and a toroid-like (doughnut) that is attached so as to surround the periphery of the housing around the insertion direction of the endoscope. And a drive unit that circulates and rotates the bag body like a caterpillar to propel the endoscope in the insertion direction. This bag is made of a flexible material, and fluid (liquid or gas) is sealed inside it, so that it depends on the contact force with the inner surface of the intestinal tract, like a rubber balloon. Perform some contraction / expansion. For this reason, the bag can be propelled while maintaining a state in which the bag continuously contacts the inner surface of the intestinal tract into which the endoscope is inserted.

JP 2008-200399 A

  However, in the endoscope insertion aid described in Patent Document 1, since the bag body is completely sealed and the volume of the fluid inside thereof is constant, the contact force with the inner surface of the intestinal tract described above. The deformation amount of the bag body is limited to a range in which the internal fluid can be contracted and expanded. For this reason, the following problems arise when the thickness (inner diameter) of the intestinal tract is significantly different from the size of the bag.

  In general, the thickness of the intestinal tract varies from person to person. Even in the same individual, the thickness of the intestinal tract changes depending on the balance between the abdominal pressure and the amount of air in the intestine. For this reason, the bag body of the endoscope insertion aid has poor followability to changes in the thickness of the intestinal tract. In particular, in a region where the diameter of the intestinal tract is small (anus or stenosis), the bag body cannot be shrunk to a certain size or less. . On the other hand, in a region where the diameter of the intestinal tract is large, there is a problem that the bag body does not sufficiently contact the inner surface of the intestinal tract and the propulsion performance is lowered.

  The present invention has been made in view of the above problems, and an object of the present invention is to provide an endoscope insertion assisting tool that can improve followability to changes in the diameter of a tube into which an endoscope is inserted. To do.

  In order to achieve the above object, an endoscope insertion aid of the present invention includes a mounting portion on which a distal end portion of an endoscope is mounted, a substantially toroidal traveling portion that covers the periphery of the mounting portion, and the traveling In an endoscope insertion assisting device provided with a support part that supports a moving part and a drive part that circulates and rolls the traveling part in the propulsion direction, fluid flows between the inner space of the toroid and the outside. It is characterized by providing a distribution section for distributing the product.

  The support portion includes a cylindrical first support body disposed in an internal space of the travel portion, and a cylindrical second support body disposed in a central space formed by the travel portion. Thus, it is preferable that the first and second supports are arranged substantially coaxially.

  Moreover, it is preferable that the cross-sectional shape perpendicular | vertical to the said axis | shaft of the said 1st and 2nd support body is a substantially polygon, and the relative rotation to the surroundings of the said axis | shaft is controlled.

  Moreover, it is preferable that the said mounting part and the said drive part are arrange | positioned inside the said 2nd support body.

  The drive unit is a worm gear that is externally fitted to the mounting unit and is rotatably supported. The second support member causes the drive unit to contact the outer surface of the traveling unit. It is preferable that a slit is formed, and the driving unit directly contacts the outer surface of the traveling unit and directly drives the traveling unit.

  Further, it is preferable that the first support body is provided with a plurality of driven rollers for circulating and rolling the traveling unit in the propulsion direction.

  Moreover, it is preferable that the said travel part consists of one outer surface and one inner surface, and the said distribution | circulation part is a some through-hole formed in the said travel part.

  Moreover, it is preferable that the said through-hole is arrange | positioned in areas other than the part which the said driven roller contacts.

  Moreover, an endless linear protrusion extending in the circulating rolling direction is formed on the inner surface of the traveling portion, and the linear protrusion is formed on the driven roller or the first support. It is preferable to engage with the groove.

  Further, the traveling unit is composed of a plurality of endless belts arranged in a circumferential direction around the axis, and one end is fitted into the other so that side end portions of two endless belts adjacent in the circumferential direction overlap each other. It is also preferable that the flow portion is constituted by a gap between side end portions of an endless belt adjacent in the circumferential direction.

  In this case, endless linear protrusions extending in the circulating rolling direction are formed on the inner surface of each endless belt, and the linear protrusions are formed on the driven roller or the first support. It is preferable to engage with the formed groove.

Further, the traveling portion is composed of a plurality of endless belts arranged in the circumferential direction around the axis, and the side end portions of a pair of endless belts adjacent in the circumferential direction are spaced apart without overlapping, One end of the pair of endless belts is inserted into the other so as to overlap each other, and the flow part is configured by a gap between the side end parts of the endless belt adjacent in the circumferential direction. And
It is also preferable that a balloon having a variable internal pressure is provided inside the traveling unit, and a pipe for pressurizing the balloon is connected to the balloon via the separation portion.

  In this case, endless linear protrusions extending in the circulating rolling direction are formed on the inner surface of each endless belt, and the linear protrusions are formed by the driven roller or the first support body. It is preferable to be engaged with the groove formed in the.

  Moreover, it is preferable that the said travel part is formed with biocompatible plastics.

  In the endoscope insertion aid of the present invention, since the toroid-shaped running part has a circulation part that circulates fluid between the inner space of the toroid and the outside, the outer diameter of the running part is freely deformable, It is possible to follow changes in the diameter of the tube into which the endoscope is inserted. For this reason, the pressure at the time of inserting an endoscope in a small-diameter anus or a stenosis part is reduced, and a patient's burden can be reduced.

It is a mimetic diagram of an endoscope equipped with a self-propulsion device concerning a 1st embodiment of the present invention. It is a perspective view which shows the external appearance of a self-propulsion apparatus. It is a perspective view which shows the decomposition | disassembly structure of a support part. It is a schematic sectional drawing which shows the cross-sectional structure perpendicular | vertical to the insertion direction of a self-propulsion apparatus. FIG. 5 is a schematic cross-sectional view showing a cross-sectional structure taken along line B-B ′ of FIG. 4. It is a perspective view which shows the self-propulsion apparatus which concerns on 2nd Embodiment of this invention. It is a schematic sectional drawing which shows the cross-sectional structure perpendicular | vertical to the insertion direction of the self-propulsion apparatus shown in FIG. It is a perspective view which shows the external appearance of the self-propulsion apparatus which concerns on 3rd Embodiment of this invention. It is a schematic sectional drawing which shows the cross-sectional structure perpendicular | vertical to the insertion direction of a self-propulsion apparatus. FIG. 10 is a schematic cross-sectional view showing a cross-sectional structure taken along line D-D ′ of FIG. 9.

(First embodiment)
In FIG. 1, an endoscope 10 is an electronic endoscope in which an ultra-small solid-state imaging device (CCD sensor, CMOS sensor, etc.) is mounted on the distal end portion of a scope. The endoscope 10 includes the solid-state imaging device, an insertion portion 11 that is inserted into a digestive tract such as a large intestine, an operation portion 12 that is used for grasping the endoscope 10 and operating the insertion portion 11, and an endoscope. It comprises a universal cord 13 for connecting the mirror 10 to a processor device and a light source device (both not shown).

  The insertion part 11 is a rod-shaped body having flexibility. Although not shown, the distal end portion 11a of the insertion portion 11 is provided with an observation window, an illumination window, an air / water supply nozzle, and the like. The operation unit 12 includes an angle knob 14, an operation button 15, and the like. The angle knob 14 is rotated when adjusting the bending direction and the bending amount of the insertion portion 11. The operation button 15 is used in various operations such as air / water supply and suction.

  A universal cord 13 is connected to the operation unit 12. The universal cord 13 incorporates an air / water supply channel, an imaging signal output cable, and a light guide.

  A self-propulsion device (endoscope insertion aid) 20 is attached to the distal end portion 11 a of the insertion portion 11. The self-propelling device 20 moves the insertion part 11 forward or backward in the digestive tract. The self-propulsion device 20 is driven by a power source 21. The power source 21 is connected to a torque wire 53 (see FIG. 3) that transmits a rotational torque for propelling the self-propulsion device 20, and the torque wire 53 is placed inside the protective sheath 22 over the entire length. It is inserted. The torque wire 53 rotates within the protective sheath 22 by driving the power source 21.

  Although illustration is omitted, the power source 21 is controlled by a control device, and the control device is connected to the operation unit. The operation unit includes a button for inputting a forward / reverse / stop instruction for the self-propulsion device 20 and a speed change button for changing the moving speed of the self-propulsion device 20.

  In addition, an overtube 23 is fitted on the insertion portion 11, and the protective sheath 22 is inserted between the overtube 23 and the insertion portion 11. The overtube 23 has a bellows structure that can expand and contract in the direction of the axis of the insertion portion 11 (insertion axis A).

  In FIG. 2 showing the appearance of the self-propelling device 20, the self-propelling device 20 contacts the inner wall of the digestive tract and generates a forward force in the opposite insertion direction to the insertion direction of the insertion portion 11 of the endoscope 10. A traveling unit 30 is provided. The traveling unit 30 is a toroidal (doughnut-shaped) bag body that surrounds the insertion axis A, and has one outer surface 30a and one inner surface 30b (see FIG. 4). The traveling unit 30 is made of a flexible material (flexible member). Specifically, the traveling unit 30 is preferably formed of a biocompatible plastic such as polyvinyl chloride, polyamide resin, or fluororesin.

  In addition, the traveling unit 30 is supported by a support unit 31 whose cross-sectional shape in a direction orthogonal to the insertion axis A is a substantially triangular shape (a shape in which each corner of a regular triangle is rounded). For this reason, the cross-sectional shape of the traveling part 30 is a substantially triangular shape following the cross-sectional shape of the support part 31.

  When propelling the self-propulsion device 20 in the insertion direction (advancing), the outer surface 30a that engages the inner wall of the digestive tract of the traveling unit 30 moves in the anti-insertion direction and turns 180 ° at the rear end. Wrapped inside. Then, after the outer surface 30a moves in the insertion direction on the inner side, the outer surface 30a is turned 180 ° again at the front end portion and folded outward. Thus, the traveling unit 30 advances the insertion unit 11 of the endoscope 10 by circulatingly rolling so that the outer side is the anti-insertion direction and the inner side is the insertion direction. On the other hand, when the self-propulsion device 20 is propelled (reversed) in the anti-insertion direction, the outer surface 30a of the traveling unit 30 circulates and rolls in the opposite direction to the above.

  A plurality of through holes (circulation portions) 32 are formed in the traveling unit 30. The through-hole 32 allows fluid (air, water, etc.) to flow between the inside of the traveling unit 30 (inside the bag) and the outside. The through hole 32 improves the flexibility of the traveling unit 30 and allows the outer diameter of the traveling unit 30 to be freely deformed. Further, the through-hole 32 is not disposed in a region 33 where first to third driven rollers 42 to 44 (see FIG. 3) described later contact. This is because the portion where the through-hole 32 is formed is weak in durability and easily worn, and the contact between the portion where the through-hole 32 is formed and the first to third driven rollers 42 to 44 is prevented. Thus, the durability of the traveling unit 30 is enhanced.

  The traveling unit 30 has a length in the longitudinal direction (the direction of the insertion axis A) of about 30 mm and a diameter of about 20 mm. In this case, the diameter of the through hole 32 is preferably about 0.5 mm to 3 mm.

  FIG. 3 shows an exploded structure of the support portion 31. In the figure, the traveling unit 30 is not shown. The support portion 31 is roughly divided into a first support body 40 and a second support body 41. As described above, the cross section of the first support 40 in the direction orthogonal to the insertion axis A is substantially triangular, and as shown in FIG. 4, the internal space 30 c formed by the inner surface 30 b of the traveling unit 30. It is arranged in. The second support body 41 is disposed in a central space 30 e that surrounds the insertion axis A formed by the outer surface 30 a of the traveling unit 30.

  First to third driven rollers 42 to 44 are rotatably attached to the first support 40 along the insertion axis A on each of three sides of a substantially triangular shape. Specifically, the first driven roller 42 is disposed at the end in the insertion direction, and the third driven roller 44 is disposed at the end in the anti-insertion direction. The second driven roller 43 is disposed approximately in the middle between the first driven roller 42 and the third driven roller 44.

  In addition, the first to third driven rollers 42 to 44 are formed with groove portions 42 a to 44 a in the respective central portions. The first to third driven rollers 42 to 44 are in contact with the inner surface 30b of the traveling unit 30 and hold the traveling unit 30 so as to circulate and roll around it. As shown in FIG. 5, an endless linear protrusion 30 d extending in the direction of the insertion axis A is formed on the inner surface 30 b of the traveling portion 30. The linear protrusions 30d are arranged at equal intervals on the inner surface 30b of the traveling unit 30 so as to correspond to the three sets of first to third driven rollers 42 to 44, respectively. Each linear protrusion 30d is slidably engaged with the groove portions 42a to 44a, and prevents the traveling portion 30 from rotating around the insertion axis A (circumferential direction C). In addition, it is preferable to apply | coat a lubricant between the groove parts 42a-44a and the linear protrusion 30d in order to improve the slidability between both.

  The second support 41 includes a storage portion 45 that stores a worm gear 50 described later, a lid member 46 that is joined to an opening 45a formed at one end of the storage portion 45 in order to insert the worm gear 50, and a storage portion 45. The first guide member 47 joined to the other end of the first guide member 47 and the second guide member 48 joined to the lid member 46.

  In addition, a cylindrical mounting portion 49 to which the distal end portion 11a of the endoscope 10 is mounted is joined to the second support body 41 while rotatably supporting the worm gear 50.

  The worm gear 50 is a cylindrical gear having the insertion axis A as a rotationally symmetric axis, and is externally fitted to the mounting portion 49. The worm gear 50 is a drive unit for driving the traveling unit 30, and a helical thread 51 having an insertion axis A as a central axis is formed on the outer surface. This thread 51 comes into contact with the outer surface 30 a of the traveling unit 30. In addition, it is preferable to apply a lubricant between the screw thread 51 and the traveling unit 30 in order to improve the slidability between the two.

  A peripheral tooth portion 52 in which a plurality of teeth are arranged in the circumferential direction is formed at the rear end portion of the worm gear 50. A pinion (small gear) 54 connected to the torque wire 53 meshes with the peripheral tooth portion 52. The pinion 54 is rotated by the torque wire 53, and the peripheral tooth portion 52 is driven by this rotation to rotate the worm gear 50.

  The storage portion 45 is smaller in diameter than the first support body 40 and is disposed in the inner space of the first support body 40 through which the insertion shaft A is inserted so as to be coaxial with the first support body 40. The storage portion 45 has a cross-sectional shape in the direction orthogonal to the insertion axis A (similar triangle) to the first support body 40, and the first to third driven rollers 42 to 42 of the first support body 40. Cut portions (slit portions) 45 b are formed at positions corresponding to the respective groups 44. As shown in FIGS. 4 and 5, the worm gear 50 comes into contact with the traveling unit 30 through the slit 45 b and sandwiches the traveling unit 30 with the first support body 40.

  A circular opening 45 c to which one end of the mounting portion 49 is joined is formed on the end surface of the storage portion 45. The size of the opening 45 c is substantially the same as the diameter of the mounting portion 49, and the opening 45 c communicates with the internal space 49 a of the mounting portion 49. The first guide member 47 is joined to the opening 45c. The first guide member 47 includes a ring-shaped joint portion 47 a that is joined so as to communicate with the opening 45 c and a guide portion 47 b that sandwiches the traveling portion 30 between the first driven roller 42. The guide portion 47b has a mortar shape whose diameter increases according to the distance from the joint portion 47a, and the cross-sectional shape thereof is the same shape (substantially triangular) as the cross-sectional shape of the storage portion 45.

  The lid member 46 has the same shape as the portion of the storage portion 45 where the opening 45c is formed. Similarly, the lid member 46 has an opening 46a that is substantially the same as the diameter of the mounting portion 49 and communicates with the internal space 49a. Is provided. Similarly, the mounting portion 49 is joined to the opening 46a. And the recessed part 46b which accommodates the above-mentioned pinion 54 rotatably is formed in the part which the peripheral tooth part 52 of the worm gear 50 fits among the cover members 46. As shown in FIG. The torque wire 53 is connected to the pinion 54 through a hole (not shown) formed in the lid member 46.

  The second guide member 48 has the same configuration as the first guide member 47, and includes a ring-shaped joint portion 48 a that is joined so as to communicate with the opening 46 a of the lid member 46, a third driven roller 44, and the like. The guide part 48b which clamps the traveling part 30 between them. The guide portion 48b has a mortar shape whose diameter increases according to the distance from the joint portion 48a, and the cross-sectional shape thereof is the same shape (substantially triangular) as the cross-sectional shape of the storage portion 45.

  With the above configuration, when driven by the pinion 54, the worm gear 50 rotates about the insertion axis A and drives the traveling unit 30. The traveling unit 30 is driven by the screw thread 51 and moves (circulates and rolls) in the insertion direction or the counter-insertion direction according to the rotation direction of the worm gear 50 (that is, the rotation direction of the pinion 54). Since the screw thread 51 is spiral, in addition to the driving force in the insertion direction or the anti-insertion direction, a driving force in the circumferential direction C is also applied to the traveling unit 30, but the traveling unit 30 is linear as described above. Since the protrusions 30d are engaged with the groove portions 42a to 44a of the first to third driven rollers 42 to 44, the movement in the circumferential direction C is prevented.

  In addition, since the first support body 40 is disposed inside the traveling unit 30, the first support body 40 and the second support body 41 are not connected, but as shown in FIG. Since the cross-sectional shape in the direction orthogonal to the insertion axis A of the first support 40 and the storage portion 45 is not circular, both are substantially triangular and relatively close in size, the first support 40 and the second support 40 Relative rotation in the circumferential direction C with the support body 41 is prevented.

  Next, the operation of the endoscope 10 to which the self-propulsion device 20 configured as described above is attached will be described. First, the overtube 23 is attached to the insertion portion 11 of the endoscope 10, and the self-propulsion device 20 is attached to the distal end portion 11a. This attachment is performed by fitting the distal end portion 11 a into the internal space 49 a of the mounting portion 49. Next, after the power of the processor device, the light source device, the operation unit, etc. is turned on and the preparation for examination is completed, the distal end portion 11a of the endoscope 10 is inserted into the digestive tract of the patient.

  After the distal end portion 11a is advanced to a predetermined position in the digestive tract, for example, before the sigmoid colon, the power source 21 of the self-propelling device 20 is turned on by operating the operation unit. When a forward instruction is input by operating the button of the operation unit, the power source 21 rotates the torque wire 53 in a predetermined direction. The rotation of the pinion 54 accompanying the rotation of the torque wire 53 causes the worm gear 50 to rotate, and the traveling unit 30 circulates and rolls in the direction indicated by the arrow in FIG. The traveling unit 30 is in contact with the inner wall of the gastrointestinal tract, and generates a forward force in a direction opposite to the insertion direction of the distal end portion 11a. The self-propelling device 20 advances the distal end portion 11a of the endoscope 10 along the inner wall of the digestive tract by moving the inner wall of the digestive tract from the front to the rear with this forward force.

  When a speed change instruction is input by operating the button of the operation unit, the power source 21 changes the rotation speed of the torque wire 53, and as a result, the moving speed of the self-propulsion device 20 is changed. When a reverse instruction is input by operating the button of the operation unit, the power source 21 rotates the torque wire 53 in the reverse direction, and as a result, the self-propelling device 20 moves backward. Furthermore, when a stop instruction is input by operating the button of the operation unit, the power source 21 stops the rotation of the torque wire 53, and as a result, the self-propulsion device 20 stops. By appropriately performing the above operations, the distal end portion 11a of the endoscope 10 can be propelled to a desired position in the digestive tract.

  In the self-propulsion device 20 of the present embodiment, the traveling unit 30 has a toroidal shape, and a through hole 32 is formed in the bag body, and fluid flows between the internal space 30c of the traveling unit 30 and the outside. Therefore, the outer diameter of the traveling unit 30 is freely deformable. For this reason, since the traveling unit 30 can follow the change in the thickness of the digestive tract and does not press the small-diameter anus or stenosis more than necessary, the burden on the patient can be reduced.

  In the above-described embodiment, the cross-sectional shapes of the first support body 40 and the storage portion 45 are both substantially triangular. However, the cross-sectional shape is not limited to a triangle and may be any polygon such as a quadrangle or a hexagon. Also good. Thus, by making the cross-sectional shape of the 1st support body 40 and the accommodating part 45 into a polygon, the relative rotation to the circumferential direction C of both can be prevented, but this rotation is a problem. If not, the cross-sectional shape is not limited to a polygon, and may be a circle. When the cross-sectional shape is circular, the first support body 40 and the storage portion 45 are two cylindrical tubes, one of which is disposed in the other.

  Moreover, in the said embodiment, the area | region 33 (refer FIG. 2) in which the through-hole 32 is not arrange | positioned among the traveling parts 30 has the same physical property as the area | region in which the other through-hole 32 was arrange | positioned. Although it is formed of a material, the region 33 may be formed of a material having physical properties (composition or thickness) different from those of other regions. Since the region 33 is a portion where the first to third driven rollers 42 to 44 are in contact with each other, it is preferable to form the region 33 with a material that is hard and has excellent wear resistance.

(Second Embodiment)
Next, FIG.6 and FIG.7 shows the self-propulsion apparatus 60 which concerns on 2nd Embodiment of this invention. The self-propulsion device 60 differs from the first embodiment only in the configuration of the traveling unit 61. About the other same component, the code | symbol same as the said 1st Embodiment is attached | subjected, and detailed description is abbreviate | omitted.

  In FIG. 6, the traveling unit 61 includes first to third belts 62 to 64, and through holes as in the first embodiment are formed in the first to third belts 62 to 64. Not. The first to third belts 62 to 64 are endless belts wound around the first to third driven rollers 42 to 44, respectively, and are driven by the worm gear 50. The first to third belts 62 to 64 are made of a material having flexibility (flexible member), and are specifically formed of biocompatible plastics such as polyvinyl chloride, polyamide resin, and fluororesin. It is preferable.

  The end portions (side ends) in the circumferential direction C of the first to third belts 62 to 64 overlap with the end portions (side ends) of the adjacent belts. In other words, the overall shape of the traveling unit 61 has a toroidal shape (doughnut shape) that is substantially the same as that of the traveling unit 30 of the first embodiment. Specifically, as shown in FIG. 7, one side end of the first belt 62 is fitted into one side end of the second belt 63, and the other side end of the first belt 62 is One end of the third belt 64 is fitted. The other side end of the second belt 63 is fitted into the other side end of the third belt 64.

  Since gaps (circulation portions) 65 are respectively formed between adjacent belts, the internal spaces 62c to 64c of the first to third belts 62 to 64 and the outside are interposed via these gaps 65. Fluid flows. Thereby, like the first embodiment, the outer diameter of the traveling portion 61 is freely deformable. Further, since the widths of the first to third belts 62 to 64 in the circumferential direction C are substantially the same, the overlap amount of the side ends in the circumferential direction C between the belts is set to the inner partial overlap amount W1. However, it is larger than the overlap amount W2 of the outer portion.

  In the case of the toroidal traveling unit 30 that is not separated with respect to the circumferential direction C as in the first embodiment, when the traveling unit 30 is folded back from the outside to the inside by the above-described circular rolling, the outer shape and the inner diameter are reduced. Due to the difference, the traveling unit 30 needs to be partially folded (wrinkled) on the inside. For this reason, in 1st Embodiment, the part by which the traveling part 30 is folded inside is not constant, and there exists a possibility of causing the rolling rolling of the traveling part 30 to be troubled. However, the traveling unit 61 of the self-propulsion device 60 of the present embodiment is configured by first to third belts 62 to 64 that are arranged separately with respect to the circumferential direction C, and is adjacent to the circumferential direction C. Since the side ends of the three belts 62 to 64 overlap each other, the above-described folding does not occur, and more stable circulating rolling can be performed.

  In addition, endless linear protrusions 62d to 64d extending in the direction of the insertion axis A are formed on the inner surfaces 62b to 64b of the first to third belts 62 to 64, and the linear protrusions 62d to 64d are formed. Are slidably engaged with the groove portions 42 a to 44 a of the first to third driven rollers 42 to 44. Thereby, the movement to the circumferential direction C of the 1st-3rd belts 62-64 is prevented. In addition, it is preferable to apply | coat a lubricant between the groove parts 42a-44a and the linear protrusions 62d-64d in order to improve the slidability between both.

  The operation of the endoscope 10 to which the self-propulsion device 60 of the present embodiment is attached is the same as that of the first embodiment. After the preparation for the examination is completed and the distal end portion 11a of the endoscope 10 is inserted into the patient's digestive tract, when a forward instruction is input by operating the button of the operation unit, the traveling unit 61 rotates and rolls. The outer surfaces 62a to 64a of the third belts 62 to 64 apply advancing force to the inner wall of the digestive tract, and the self-propelling device 60 moves forward. Similarly, the backward movement, the speed change, and the stop operation of the self-propulsion device 60 are performed by operating the buttons of the operation unit.

  As described above, the self-propulsion device 60 of the present embodiment can follow the change in the thickness of the digestive tract because the outer diameter of the traveling portion 61 is freely deformable. Therefore, the burden on the patient can be reduced.

  Also in the second embodiment, the cross-sectional shape of the first support body 40 and the storage portion 45 is not limited to a triangle, and is not limited to a triangle, and may be any polygon such as a quadrangle or a hexagon. Thus, by making the cross-sectional shape of the 1st support body 40 and the accommodating part 45 into a polygon, the relative rotation to the circumferential direction C of both can be prevented, but this rotation is a problem. If not, the cross-sectional shape is not limited to a polygon, and may be a circle.

  In the second embodiment, the traveling unit is divided into three belts, but the number of divisions may be changed as appropriate. For example, when the first support body 40 and the storage unit 45 are two cylindrical tubes, one of which is disposed in the other, the number of divisions is set to 2, and the traveling unit has a side end. It is preferable that the two belts overlap each other.

(Third embodiment)
Next, FIGS. 8 to 10 show a self-propelling device 70 according to a third embodiment of the present invention. The self-propulsion device 70 is different from the second embodiment only in the configuration of a part of the traveling unit 71 and the support unit 72. About the other same component, the same code | symbol as the said 2nd Embodiment is attached | subjected, and detailed description is abbreviate | omitted.

  In FIG. 8, the traveling unit 71 includes first to third belts 73 to 75. The first to third belts 73 to 75 have substantially the same configuration as the first to third belts 62 to 64 of the second embodiment, and adjacent portions of the second belt 74 and the third belt 75. However, the only difference is that the end portions (side ends) of both do not overlap and are separated from each other. As shown in FIG. 9, the adjacent portions of one of the first belt 73 and the second belt 74 and the adjacent portion of the first belt 73 and the third belt 75 have their side ends over. There is a gap (circulation part) 76 between them.

  As in the second embodiment, the first to third belts 73 to 75 are made of a material having flexibility (flexible member), and specifically, polyvinyl chloride, polyamide resin, fluororesin, or the like. It is preferably formed of a biocompatible plastic. Therefore, the traveling portion 71 can be freely deformed in outer diameter as in the second embodiment.

  Further, as shown in FIG. 9, endless linear protrusions extending in the direction of the insertion axis A are respectively formed on the inner surfaces 73b to 75b of the first to third belts 73 to 75 as in the second embodiment. 73d to 75d are formed, and the linear protrusions 73d to 75d are slidably engaged with the groove portions 42a to 44a of the first to third driven rollers 42 to 44, respectively. Thereby, the movement to the circumferential direction C of the 1st-3rd belts 73-75 is prevented. In addition, it is preferable to apply | coat a lubricant between the groove parts 42a-44a and the linear protrusions 73d-75d in order to improve the slidability between both.

  In the internal spaces 73c to 75c of the first to third belts 73 to 75, a toroid-shaped (donut-shaped) balloon 78 is formed so as to surround the periphery of the support portion 72 (that is, the periphery of the first support body 77). Is provided. The first support 77 includes an opening 77a for passing an introduction tube 79 for introducing gas (or liquid) into the balloon 78, and a cover member 77b covering the outside of the first to third driven rollers 42 to 44. Except for the provision, it is the same as the first support body 40 described in the first embodiment.

  The opening 77 a is provided at a position corresponding to the adjacent portion between the second belt 74 and the third belt 75. The introduction pipe 79 is connected to an external pressurization pump (not shown), and is connected to a pipe 80 for sending gas into the balloon 78 and pressurizing it. The pipe 80 extends along the insertion axis A and is inserted into the overtube 23 described above. Thus, in order to guide the piping 80 from the self-propulsion device 70 to the outside, the adjacent portions of the second belt 74 and the third belt 75 are separated from each other. The pipe 80 may be fixed to the storage unit 45.

  The cover member 77b prevents contact between the first to third driven rollers 42 to 44 and the balloon 78, and avoids damage to the balloon 78 by the first to third driven rollers 42 to 44.

  The balloon 78 is made of an elastic member such as rubber, and its volume changes (expands or contracts) according to the pressure of the gas supplied from the pressure pump. The balloon 78 is in contact with the inner surfaces 73b to 75b of the first to third belts 73 to 75, and changes the size of the outer diameter of the traveling portion 71 by its own volume change.

  The pressurizing pump can be operated by, for example, the operation unit described above, and the inner pressure of the balloon 78 can be changed and the size of the outer diameter of the traveling unit 71 can be changed by the operation of the operation unit.

  The operation of the endoscope 10 to which the self-propulsion device 70 of the present embodiment is attached is basically the same as that of the second embodiment. After the preparation for the examination is completed and the distal end portion 11a of the endoscope 10 is inserted into the patient's digestive tract, when a forward instruction is input by operating the button of the operation unit, the traveling unit 71 rotates and rolls. The outer surfaces 73a to 75a of the third belts 73 to 75 apply advancing force to the inner wall of the digestive tract, and the self-propelling device 70 moves forward. Similarly, the backward movement, speed change, and stop operation of the self-propulsion device 70 are performed by operating the buttons of the operation unit. Further, when an instruction to change the size of the traveling unit 71 is input by operating the operation unit, the internal pressure of the balloon 78 is changed in accordance with the change instruction, and the size of the outer diameter of the traveling unit 71 is changed.

  Thus, since the self-propulsion device 70 of the present embodiment can actively change the outer diameter of the traveling unit 71, by always bringing the traveling unit 71 into contact with the inner wall in the digestive tract and obtaining a frictional force, The gastrointestinal tract can be efficiently promoted. In addition, the self-propulsion device 70 can propel the inside of the digestive tract so as to follow the change in the diameter of the digestive tract while maintaining a constant contact pressure with the inner wall of the digestive tract. The patient's burden can be reduced without pressing more than necessary.

  In the first to third embodiments, the traveling unit is directly driven by the worm gear. However, as described in Japanese Patent Application Laid-Open No. 2008-200379, the traveling unit is driven from the worm gear via a gear (motive roller). May be driven. Specifically, a gear supported by a support so as to roll on the insertion shaft A is disposed between the worm gear and the traveling portion. The gear is rotated by the worm gear, and the traveling unit is driven by the gear. Note that the rotation direction of the worm gear for moving the self-propelling device forward / backward is reversed depending on whether the gear is provided or not, so the forward / backward instruction issued by the operation unit and the torque wire from the power source 21 are provided. It is necessary to change the relationship of the rotation direction of 53.

  Further, in the first to third embodiments, the linear protrusion formed on the inner surface of the traveling portion is engaged with the groove portion formed on the driven roller, thereby preventing the traveling portion from shifting in the circumferential direction. However, the groove for engaging the linear protrusion is not limited to the driven roller, and may be formed directly on the first support to which the driven roller is attached. In addition, when forming a groove part in a 1st support body, in order to improve slidability with a driving | running | working part, it is preferable to apply | coat a lubricant between a groove part and a linear protrusion.

  Each embodiment described above applies the present invention to an endoscope for medical diagnosis. However, the present invention is not limited to medical diagnosis use, and is applied to other endoscopes and probes for industrial use. It is also possible to do.

DESCRIPTION OF SYMBOLS 10 Endoscope 11 Insertion part 11a Tip part 20 Self-propulsion apparatus 21 Power source 22 Protective sheath 23 Overtube 30 Running part 30a Outer surface 30b Inner surface 30c Inner space 30d Linear protrusion 30e Central space 31 Support part 32 Through-hole 40 First 1 support body 41 2nd support body 42-44 1st-3rd driven roller 42-44a Groove part 45 Storage part 45a Opening 45b Slit part 45c Opening 46 Lid member 46a Opening 46b Recessed part 47, 48 1st and 2nd Guide member 47a, 48a Joint part 47b, 48b Guide part 49 Mounting part 49a Internal space 50 Worm gear 51 Screw thread 52 Peripheral tooth part 53 Torque wire 54 Pinion 60 Self-propelling device 61 Traveling part 62-64 First to third belts 62a-64a outer surface 62b-64b inner surface 62c-6 4c Internal space 62d to 64d Linear protrusion 65 Clearance 70 Self propulsion device 71 Running portion 72 Supporting portion 73 to 75 First to third belts 73a to 75a Outer surface 73b to 75b Inner surface 73c to 75c Inner space 73d to 75d Line 77a Opening 77b Cover member 78 Balloon 79 Introduction pipe 80 Piping

Claims (14)

A mounting portion to which the distal end portion of the endoscope is mounted, a substantially toroidal traveling portion that covers the periphery of the mounting portion, a support portion that supports the traveling portion, and the rolling portion that circulates and rolls in the propulsion direction. In an endoscope insertion assisting tool comprising a drive unit,
An endoscope insertion aid characterized in that a flow part for allowing fluid to flow between the internal space of the toroid and the outside is provided in the traveling part.   The support portion includes a cylindrical first support body disposed in an internal space of the travel portion, and a cylindrical second support body disposed in a central space formed by the travel portion, The endoscope insertion aid according to claim 1, wherein the first and second supports are arranged substantially coaxially.   3. The inner surface according to claim 2, wherein a cross-sectional shape perpendicular to the axis of the first and second supports is a substantially polygonal shape, and relative rotation about the axis is restricted. 4. Endoscope insertion aid.   The endoscope insertion assisting tool according to claim 2 or 3, wherein the mounting portion and the driving portion are disposed inside the second support body.   The drive unit is a worm gear that is externally fitted to the mounting unit and is rotatably supported. The second support body is configured to bring the drive unit into contact with an outer surface of the traveling unit. The endoscope insertion assisting tool according to claim 4, wherein a slit is formed, and the driving unit directly drives the traveling unit by contacting an outer surface of the traveling unit.   The endoscope insertion assisting tool according to claim 5, wherein the first support body is provided with a plurality of driven rollers for circulating and rolling the traveling portion in the propulsion direction.   The inner portion according to claim 6, wherein the traveling portion includes one outer surface and one inner surface, and the flow portion is a plurality of through holes formed in the traveling portion. Endoscope insertion aid.   The endoscope insertion aid according to claim 7, wherein the through hole is disposed in a region other than a portion in contact with the driven roller.   An endless linear protrusion extending in the circulating rolling direction is formed on the inner surface of the traveling part, and the linear protrusion is formed in a groove formed on the driven roller or the first support. The endoscope insertion aid according to claim 7 or 8, wherein the endoscope insertion aid is engaged.   The traveling portion is composed of a plurality of endless belts arranged in the circumferential direction around the shaft, and one of the endless belts that are adjacent to each other in the circumferential direction is inserted into the other so that the side end portions overlap each other. The endoscope insertion aid according to claim 6, wherein the flow part is configured by a gap between side end parts of endless belts adjacent in the circumferential direction.   Endless linear protrusions extending in the circulating rolling direction are formed on the inner surface of each endless belt, and the linear protrusions are grooves formed on the driven roller or the first support. The endoscope insertion aid according to claim 10, wherein the endoscope insertion aid is engaged with the endoscope. The traveling portion is composed of a plurality of endless belts arranged in the circumferential direction around the axis, and the side end portions of a pair of endless belts adjacent in the circumferential direction are spaced apart without overlapping, One end of the endless belt is inserted into the other so as to overlap each other, and the flow part is constituted by a gap between the side ends of the endless belt adjacent in the circumferential direction,
7. A balloon having a variable internal pressure is provided inside the traveling portion, and a pipe for pressurizing the balloon is connected to the balloon via the separation portion. The endoscope insertion aid according to 1.   Endless linear protrusions extending in the circulating rolling direction are formed on the inner surface of each endless belt, and the linear protrusions are grooves formed on the driven roller or the first support. The endoscope insertion aid according to claim 12, wherein the endoscope insertion aid is engaged with the endoscope.   The endoscope insertion aid according to any one of claims 1 to 13, wherein the traveling unit is made of a biocompatible plastic.

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