JPH08322783A - Robot endoscope for large intestine - Google Patents
Robot endoscope for large intestineInfo
- Publication number
- JPH08322783A JPH08322783A JP8060460A JP6046096A JPH08322783A JP H08322783 A JPH08322783 A JP H08322783A JP 8060460 A JP8060460 A JP 8060460A JP 6046096 A JP6046096 A JP 6046096A JP H08322783 A JPH08322783 A JP H08322783A
- Authority
- JP
- Japan
- Prior art keywords
- endoscope
- tip
- large intestine
- motor
- vertical axis
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Landscapes
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、大腸用のロボット
内視鏡に、関するものである。TECHNICAL FIELD The present invention relates to a robot endoscope for the large intestine.
【０００２】[0002]
【従来の技術】検査で、棒状の内視鏡が、大腸の曲り
を、通り抜ける手順は、先ず映像で、可動の先端を、大
腸の曲りに挿入し、先端で大腸の曲りを直線に延ばす。
次にその直線の先端の回転で、大腸の摩擦を払拭しなが
ら、前記の先端が直線に延ばした大腸を通り、次の曲り
に先端を、曲げ進めて挿入する。そして、同様の小刻み
の操作を、何十回も繰り返して、先端が大腸の最深部に
到達する。しかし実際には、医師の技量にも、ばらつき
があり、体内で先端の形状が判らず、直線の積もりの先
端が、手動で直線にならずに曲がり、押しても先端が滑
らず、捩じりで大腸を巻き込み、パニック状態になる事
も、日常珍しくない。そして、映像で先が見えても、安
心は出来ず、柔軟に移動する大腸に、曲げの先端の、押
しみは非常に危険で、大腸を突っ張り、患者に苦痛を与
え、大腸破壊を、引き起こす。そして、上記パニック状
態が、検査中に一度でも発生すると、患者が耐難き苦痛
と、恐怖を覚え、拒絶反応を示す。とにかく、先端の押
込みに、何よりも先端の直線が、絶対に必要である。然
るに体内で、形状不可視の先端の、手動の操作で直線
の、確認の出来ない所が、内視鏡の操作を困難にし、大
腸検査を危険にする、根本的な理由である。そし現状の
続く限り、医師不足や患者の苦痛、大腸破壊の危険は、
永久に解決されない。一方現在の、大腸癌の増加の中
で、癌の予防には、癌の早期発見が不可欠であり、それ
には細胞採取の、内視鏡が絶対である。特に、大腸の自
覚症状前の、定期検診の普及は、地球規模で重要、且つ
緊急な課題である。2. Description of the Related Art In an examination, a rod-shaped endoscope passes through a bend of the large intestine by first inserting a movable tip into the bend of the large intestine and linearly extending the bend of the large intestine at the tip.
Then, while the friction of the large intestine is wiped off by rotating the distal end of the straight line, the distal end passes through the large intestine that is linearly extended, and the distal end is bent and inserted to the next bend. Then, the same small step operation is repeated tens of times, and the tip reaches the deepest part of the large intestine. However, in practice, there are variations in the skills of doctors, the shape of the tip is not known inside the body, the tip of the pile of straight lines bends instead of being manually straight, and the tip does not slip even when pushed, and twists. It's not uncommon to have a panic condition involving the large intestine. And even if you can see the tip in the image, you can not feel relieved, the pushing of the bending tip, which is very dangerous, to the flexibly moving large intestine, it is very dangerous to push the large intestine, cause pain to the patient, and cause colon destruction . When the panic condition occurs even once during the examination, the patient feels pain and fear, and shows a rejection reaction. Anyway, the tip straight line is absolutely necessary for pushing the tip. However, the fact that the shape-invisible tip is linear and cannot be confirmed by manual operation in the body is a fundamental reason that makes operation of the endoscope difficult and makes colon examination dangerous. However, as long as the current situation continues, there is a risk of doctor shortage, patient distress, and colon destruction.
It will never be solved. On the other hand, in the current increase in colorectal cancer, early detection of cancer is indispensable for the prevention of cancer, and an endoscope for cell collection is absolutely necessary for that purpose. In particular, the spread of regular screening before subjective symptoms of the large intestine is an important and urgent issue on a global scale.
【０００３】[0003]
【発明の解決しようとする課題】体内で、形状不可視の
先端に対処、内視鏡の制御ノブの手動から、モ−タ−駆
動の方式に切り替える。そして、大腸の曲りに挿入の先
端を、自動的に直線に延ばす。ヒンジを設け、自動の直
線の先端に、回転を与える構造にする。先端の回転で摩
擦を払拭、自在に先端を進めて、患者に苦痛を与えない
ようにする。一人操作式の内視鏡から、左手開放、指一
本操作の、内視鏡の操作ロボット。In the body, the tip whose shape is invisible is dealt with, and the manual operation of the control knob of the endoscope is switched to the motor drive method. Then, the tip of the insertion in the bend of the large intestine is automatically extended in a straight line. A hinge is provided to automatically rotate the tip of a straight line. Rotate the tip to wipe away friction and move the tip freely to avoid causing pain to the patient. A robot that operates an endoscope from a single-operator type endoscope to the left hand open and one finger operation.
【０００４】[0004]
【課題を解決するための手段】スイッチの操作盤１と、
モ−タ−の制御回路２と、縦軸制御モ−タ−３と、内視
鏡の制御ボックス４と、内視鏡の先端５と、移動支持台
６と、内視鏡と平行なヒンジ７からなる、大腸用のロボ
ット内視鏡。また上記の、大腸用のロボット内視鏡に於
て、スイッチの操作盤１の、延ばしのスイッチを押す
と、内視鏡の先端５が、曲りから直線に、変化して止ま
る、大腸用のロボット内視鏡。また、内視鏡の制御ボッ
クス４と、移動支持台６の間に、内視鏡と平行なヒンジ
７を設け、内視鏡の先端５に、回転を与る事の出来る、
大腸用のロボット内視鏡。[Means for Solving the Problems] A switch operation panel 1,
A control circuit 2 for the motor, a vertical axis control motor 3, a control box 4 for the endoscope, a tip 5 of the endoscope, a movable support 6, and a hinge parallel to the endoscope. Robot endoscope for the large intestine consisting of 7. Further, in the above-mentioned robot endoscope for the large intestine, when the extension switch of the switch operation panel 1 is pressed, the tip 5 of the endoscope changes from bending to linear and stops. Robot endoscope. In addition, a hinge 7 parallel to the endoscope is provided between the control box 4 of the endoscope and the movable support base 6, so that the tip 5 of the endoscope can be rotated.
Robotic endoscope for the large intestine.
【０００５】[0005]
１、一人操作式の内視鏡から、左手開放、指一本操作
の、内視鏡のロボット。 ２、スイッチの押す時間で，先端の曲げ延しの、角度が
自在に制御される。 ３、延ばしのスイッチで、先端は曲げから直線に、自動
的に形状が変化する。 ４、内視鏡支持の、ヒンジの動きで、先端の方向を変
え、大腸の摩擦を払拭。 ５、安全の為、モ−タ−は、一定のトルク超えると、失
速し動かなくなる。 ６、モ−タ−の操作に加え、先端の曲げ延ばしに、指先
の力の補助も可能。 ７、電源を切ると、モ−タ−が軽く動き、検査時に先端
が、楽に引き抜ける。 ９、電源は、１００ボルト、商用電源を使用する。1. Endoscope robot with a left hand open and one finger operation from a single-manipulation endoscope. 2. The angle of bending and extending the tip can be freely controlled by the time the switch is pressed. 3. With the extension switch, the shape of the tip automatically changes from bending to straight. 4. The movement of the hinge, which supports the endoscope, changes the direction of the tip to wipe off the large intestine. 5. For safety, the motor stalls and becomes immobile when the torque exceeds a certain level. 6. In addition to the operation of the motor, it is possible to assist the force of the fingertip in bending and extending the tip. 7. When the power is turned off, the motor moves lightly and the tip can be pulled out easily during inspection. 9. The power source is a 100-volt commercial power source.
【０００６】[0006]
【実施例】図１の、各構成の説明は、下記の通りであ
る。 １、スイッチの操作盤１に、電源、曲げ、延ばし、上下
切替のスイッチがある。 ２、モ−タ−制御回路２は、パルス発振器、出力回路、
原点復帰の回路を含む。 ３、縦軸制御モ−タ−３は、超低速、制限トルクの、多
極型同期電動機である。 ４、内視鏡の制御ボックス４は、下記の、図２の説明
の、通りである。 ５、内視鏡と平行なヒンジ７は、先端５が回転させ、先
端の摩擦の払拭と、先端の曲げ向きの変更が目的であ
る。DESCRIPTION OF THE PREFERRED EMBODIMENTS The description of each component in FIG. 1 is as follows. 1. The switch operation panel 1 has switches for power supply, bending, extending, and up / down switching. 2. The motor control circuit 2 includes a pulse oscillator, an output circuit,
Includes home return circuit. 3. The vertical axis control motor-3 is a multi-pole synchronous motor with an ultra-low speed and a limiting torque. 4. The control box 4 of the endoscope is as described below with reference to FIG. 5. The hinge 7, which is parallel to the endoscope, has the purpose of rotating the tip 5, wiping off the friction at the tip, and changing the bending direction of the tip.
【０００７】図２、内視鏡の制御ボックス４の内部で、
縦軸制御モ−タ−３の、動きは、モ−タ−側カム付プ−
リ−13から、ベルト12へ、そして回転アダプタ−側プ−
リ−11を経て、回転アダプタ−10に伝わり、内視鏡の縦
軸操作ノブ８を駆動する。図１、スイッチの操作盤１
の、曲げのスイッチで、縦軸制御モ−タ−３が作動し、
内視鏡の先端５が、曲がりに動く。また、延ばし、のス
イッチで、先端５は曲げから、延ばしに動く。そして内
視鏡の先端５が、直線になると、それに連動する、図３
の、モ−タ−側カム付プ−リ−13のカムが、原点復帰ス
イッチ14に接触する。そして前記14の働きで、図１の、
モ−タ−制御回路２の、内部リレ−が働き、縦軸制御モ
−タ−３の、延ばしの電流が絶たれ、内視鏡の先端５
が、直線の状態で、自動的に止まる。2, inside the control box 4 of the endoscope,
The movement of the vertical axis control motor-3 is based on the motor side cam
From the reel 13 to the belt 12, and then the rotation adapter-side plug
It is transmitted to the rotary adapter 10 via the reel 11 and drives the vertical axis operation knob 8 of the endoscope. Figure 1, Switch operation panel 1
With the bending switch, the vertical axis control motor-3 operates,
The tip 5 of the endoscope bends. In addition, with the switch of the extension, the tip 5 moves from the bending to the extension. Then, when the distal end 5 of the endoscope becomes a straight line, it interlocks with the straight line.
The cam of the pulley 13 with the cam on the motor side comes into contact with the home position return switch 14. And, by the function of 14 described above,
The internal relay of the motor control circuit 2 works, the extension current of the vertical axis control motor-3 is cut off, and the tip 5 of the endoscope is cut off.
However, it will stop automatically in a straight line.
【０００８】[0008]
１、一人操作式の内視鏡から、左手開放、指一本操作
の、内視鏡のロボット。 ２、先端の、曲げ、伸ばし、回転の、操作が確実で、余
裕の検査が出来る。 ３、カメラの先端で挿入の、大腸の曲りを、先端が自動
的に、直線に延ばす。 ４、自動の、直線の先端は、外部の捩じり、押しに、腸
内を滑り、自在に動く。 ５、手動なら必至の、大腸の摩擦、患者の苦痛や拒絶、
大腸破壊の危険がない。 ６、手探り不要で、上手下手がなく、患者に苦痛を与え
ず、迅速で絶対安全。 ７、内視鏡の、一日二人の予約が数倍に、大腸の可能の
医師は、数百倍に増加。 ８、大腸癌予防の、定期検診や、ポリ−ブ除去が、身近
かの病院で可能になる。1. Endoscope robot with a left hand open and one finger operation from a single-manipulation endoscope. 2. The operation of bending, stretching, and rotating the tip is reliable, and a margin can be inspected. 3. The bend of the large intestine, which is inserted at the tip of the camera, automatically extends in a straight line. 4. Automatic, straight tip slides freely in the intestine by external twisting and pushing. 5. Intestinal friction, patient pain and rejection, which is inevitable if manually
There is no risk of colon destruction. 6. No fumbling, no weaknesses, no pain to the patient, quick and absolutely safe. 7. The number of appointments for two people per day for endoscopy has increased several times, and the number of doctors who have the possibility of large intestine has increased several hundred times. 8. Regular screening for prevention of colorectal cancer and removal of polybec become possible at a nearby hospital.
【図１】図１は、大腸用のロボット内視鏡の、全体の構
成を示す図である。FIG. 1 is a diagram showing an overall configuration of a robot endoscope for the large intestine.
【図２】図２は、内視鏡の制御ボックスの、内部構造を
示す図である。FIG. 2 is a diagram showing an internal structure of a control box of an endoscope.
【図３】図３は、モ−タ−側カム付プ−リ−と、原点復
帰スイッチの、関係を示す。FIG. 3 shows a relationship between a motor-side cam pulley and an origin return switch.
１、スイッチの操作盤 ２、モ−タ−制御回路 ３、縦軸制御モ−タ− ４、内視鏡の制御ボックス ５、内視鏡の先端 ６、移動支持台 ７、内視鏡と平行なヒンジ ８、縦軸操作ノブ ９、内視鏡のホルダ− 10、回転アダプタ− 11、回転アダプタ−側プ−リ− 12、ベルト 13、モ−タ−側カム付プ−リ− 14、原点復帰スイッチ 1, switch operation panel 2, motor control circuit 3, vertical axis control motor 4, endoscope control box 5, endoscope tip 6, movable support 7, parallel to endoscope Hinge 8, vertical axis control knob 9, endoscope holder-10, rotation adapter-11, rotation adapter-side pulley-12, belt-13, motor-side pulley with cam-14, origin Return switch
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【手続補正書】[Procedure amendment]
【提出日】平成８年５月２８日[Submission date] May 28, 1996
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００２[Name of item to be corrected] 0002
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００２】[0002]
【従来の技術】検査で、棒状の内視鏡が、大腸の曲り
を、通り抜ける手順は、先ず映像で、可動の先端を、大
腸の曲りに挿入し、先端で大腸の曲りを直線に延ばす。
次にその直線の先端を回転させて、大腸の摩擦を払拭さ
せながら、先端が直線に延ばした大腸を通り、次の曲り
に先端を、曲げ進めて挿入し、また直線にのばす。同様
の小刻みの操作を、何十回も繰り返して、先端を大腸の
最深部までに到達させる。しかし実際には、映像で先が
見えても、先端の形状が見えず、直線に延ばした積もり
の先端が、直線にならずに曲がる事が、頻繁に起こる。
特に、先端の曲げ延ばしで、柔軟なＳ字結腸が通過出来
ても、先端が固定の、下降結腸の入口に引っ掛かり、先
端が曲がって入らず、外から押し込むに、先端の曲がり
腹で、大腸を突っ張り、患者に苦痛や、パニックが起き
て、大腸を突き破る危険さえある。物理的に肛門から、
棒状の内視鏡を押込んでも、体内の先端が直線でない
と、柔軟な大腸が先端に密着。摩擦で滑らない道理であ
る。また、固定の下降結腸の入口を、先端が入り込むに
も、先端の直線が必要である。そして、形状不可視の先
端で、外からの操作に戸惑いが生じ、先端の摩擦と患者
の苦痛、大腸破壊の恐怖とで、検査の荷を重くする。特
に癌患者の集まる、特殊な病院を除き、熟練の医師は育
たず、それも、癌手術後の経過観察だけで、手一杯の状
態である。所で、癌から生還の条件は、癌の早期発見で
あり、肌色の変化が判り、細胞採取の内視鏡が、癌の早
期発見の、絶対の決め手である。そして、大腸癌の早期
発見とは、自覚症状の全く無い時の発見であって、血便
等の症状あっての発見は、最早手遅れである。然るに、
肝心の人間ドックや、定期集団検診の、大腸癌に対する
内視鏡の検査は、専門医師の不足で除外されて、大腸が
盲点となり、大腸癌の早期発見率は極めて低く、毎年世
界中で多くの人が、大腸癌で死亡する。2. Description of the Related Art In an examination, a rod-shaped endoscope passes through a bend of the large intestine by first inserting a movable tip into the bend of the large intestine and linearly extending the bend of the large intestine at the tip.
Then, while rotating the tip of the straight line to wipe away the friction of the large intestine, the tip passes through the large intestine that is extended in a straight line, bends and inserts the tip in the next bend, and extends it in a straight line. The same small step is repeated tens of times to reach the deepest part of the large intestine. However, in reality, even if the tip is visible in the image, the shape of the tip cannot be seen, and the tip of the piled up straight line often bends instead of becoming a straight line.
In particular, even if a flexible S-shaped colon can be passed by bending and extending the tip, the tip is fixed, it is caught in the entrance of the descending colon, the tip does not bend, and when pushing from the outside, the tip of the abdomen bends and the large intestine There is a risk that the patient will suffer pain, panic, and even break through the large intestine. Physically from the anus,
Even if you push in a rod-shaped endoscope, the flexible large intestine will stick to the tip unless the tip is straight. It is a reason not to slip due to friction. A straight tip is also required for the tip to enter the entrance of the fixed descending colon. Then, the shape-invisible tip causes confusion in the operation from the outside, and the friction of the tip, the pain of the patient, and the fear of the large intestine damage make the load of the examination heavy. Skilled doctors do not grow up except for special hospitals, where cancer patients gather, and they are full of only the follow-up after cancer surgery. By the way, the condition for survival from cancer is the early detection of cancer, the change in skin color is known, and the endoscope for cell collection is the decisive factor for the early detection of cancer. The early detection of colorectal cancer is the detection when there is no subjective symptom, and the detection with the symptom such as bloody stool is already too late. However,
Endoscopic examinations for colorectal cancer, which are essential medical checkups and regular mass screenings, are excluded due to a lack of specialists, resulting in a blind spot in the large intestine, and the early detection rate of colorectal cancer is extremely low. A person dies of colorectal cancer.
【手続補正２】[Procedure Amendment 2]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００３[Name of item to be corrected] 0003
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００３】[0003]
【発明の解決しようとする課題】体内で、形状不可視の
先端を、自動的に直線に直し、棒状の先端の、形状の把
握で操作する、大腸に経験のない、初めての医師でも、
絶対に安全で、絶対に無痛の、大腸用のロボット内視
鏡。この発明により、大腸可能の医師を無限に増やし、
人間ドックや、定期集団検診に、大腸の内視鏡検査を可
能にする。大腸癌の早期発見、死亡率の低下を、地球の
規模で実現する。Even a first-time doctor who has no experience with the large intestine who automatically manipulates the shape-invisible tip into a straight line in the body and operates by grasping the shape of the rod-shaped tip,
A robot endoscope for the large intestine that is absolutely safe and absolutely painless. With this invention, the number of doctors capable of large intestine is increased infinitely,
Enables endoscopic examination of the large intestine for routine medical examinations and regular group medical examinations. Realize early detection of colorectal cancer and reduction of mortality on a global scale.
【手続補正３】[Procedure 3]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００５[Name of item to be corrected] 0005
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００５】[0005]
【発明の実施の形態】 １、大腸用の、横軸を中立に固定し、内視鏡の制御ボッ
クスに、装着する。 ２、手を離し、曲げ、延ばしの、スイッチを、指一本操
作の、ロボット内視鏡。 ３、スイッチの押す時間と、ヒンジの角度で、先端が自
在に制御される。 ４、体内で、形状不可視の先端を、延ばしで自動的に直
線に直し、棒状にする。 ５、ヒンジを動かし、先端の方向を変え、次の曲がり
へ、先端を曲げ進める。 ６、電源は、１００ボルト、商用電源を使用する。BEST MODE FOR CARRYING OUT THE INVENTION 1. For the large intestine, the horizontal axis is fixed to be neutral and mounted on a control box of an endoscope. 2. A robot endoscope with one finger operation, a switch for releasing the hand, bending, and extending. 3. The tip can be freely controlled by the pressing time of the switch and the angle of the hinge. 4. In the body, the tip of which shape is invisible is automatically straightened by extending it into a rod shape. 5. Move the hinge to change the direction of the tip and bend the tip to the next bend. 6. The power source is a 100 volt commercial power source.
【手続補正４】[Procedure amendment 4]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００８[Correction target item name] 0008
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００８】[0008]
【発明の効果】 １、両手で支持の内視鏡から、両手を開放、指一本の操
作で、絶対安全、絶対無痛の、大腸用のロボット内視
鏡。これで、誰でも内視鏡の名人になれる。 ２、体内で、形状不可視の先端を、自動的に直線に変え
て、棒状の先端の、把握で外から操作する。絶対安全、
迅速無痛の、大腸用のロボット内視鏡。 ３、この発明で、大腸可能の内視鏡医が、無限に増加
し、大腸癌の早期発見の為の、大腸の内視鏡検査が可能
になり、検査需要が爆発的に増大する。 ４、大腸が盲点の、人間ドックや、定期集団検診にも、
大腸の内視鏡検査を可能にする。大腸癌の早期発見、死
亡率の低下が、地球規模で実現される。 ─────────────────────────────────────────────────────
[Effects of the Invention] 1. A robot endoscope for the large intestine which is absolutely safe and painless by opening both hands from an endoscope supported by both hands and operating one finger. With this, anyone can become a master of endoscopy. 2. In the body, automatically change the shape-invisible tip into a straight line, and operate from the outside by grasping the rod-shaped tip. Absolutely safe,
A rapid and painless robotic endoscope for the large intestine. 3. With the present invention, the number of endoscopists capable of large intestine is increased infinitely, and the endoscopic examination of the large intestine for early detection of large intestine cancer becomes possible, and the examination demand explosively increases. 4. For medical checkups with a blind spot in the large intestine and regular group medical examinations,
Allows endoscopy of the large intestine. Early detection of colorectal cancer and reduction of mortality will be realized on a global scale. ─────────────────────────────────────────────────── ───
【手続補正書】[Procedure amendment]
【提出日】平成８年６月１７日[Submission date] June 17, 1996
【手続補正１】[Procedure Amendment 1]
【補正対象書類名】明細書[Document name to be amended] Statement
【補正対象項目名】０００８[Correction target item name] 0008
【補正方法】変更[Correction method] Change
【補正内容】[Correction content]
【０００８】[0008]
【発明の効果】 １、内視鏡の操作部より、両手が離れ、先端の曲げ延ば
しが、指先一本で可能。 ２、内部に潤滑水なく、内視鏡を通さない、大腸模型に
対して、本発明は、直線の先端の回転で、摩擦を払拭。
本番前の模型で、習熟が充分可能である。 ３、直腸とＳ字結腸が、肛門と下降結腸間に、直線に収
まらない時、先端を直角に曲げて固定、外から左に捩じ
り、押し込んでループを作り、ループで結腸の弛みを吸
収、逆回転で元に戻す。結腸は直腸側に圧縮、引き寄せ
られる。 ４、外から、形状不可視の先端を、自動で直線に変え
て、肛門を支点に棒状の先端を、下降結腸に挿入する。
機械支持で可動の先端が、押込む力で折れ曲がらず、大
腸を破壊する事の無い、絶対安全の、大腸用のロボット
内視鏡。 ５、この発明で、大腸検査の可能の医師が、無限に増加
し、人間ドックや、定期検診の段階で、大腸の内視鏡検
査が可能になり、検査需要が増大する。 ６、人間ドックや、定期集団検診に、大腸の内視鏡検査
が導入され、大腸癌の早期発見、死亡率の低下が、地球
規模で実現される。EFFECTS OF THE INVENTION 1. Both hands are separated from the operation portion of the endoscope, and bending and extending of the tip can be performed with one fingertip. 2. With respect to the large intestine model, which has no lubricating water inside and does not pass through the endoscope, the present invention wipes friction by rotating the tip of a straight line.
The model before the production is fully proficient. 3. When the rectum and sigmoid colon do not fit in a straight line between the anus and the descending colon, bend the tip at a right angle to fix it, twist it from the outside to the left, push it in to make a loop, and loosen the colon with the loop. Absorption, reverse rotation to restore. The colon is compressed and pulled toward the rectum. 4. From outside, automatically change the shape-invisible tip into a straight line, and insert the rod-shaped tip with the anus as the fulcrum into the descending colon.
A robot endoscope for the large intestine that is absolutely safe and does not break the large intestine because the mechanically supported movable tip does not bend due to the pushing force. 5. According to the present invention, the number of doctors who can perform large intestine examination increases infinitely, and endoscopic examination of the large intestine becomes possible at the stage of medical checkup and regular examination, and the examination demand increases. 6. Introducing colonoscopies for medical checkups and regular mass screenings will enable early detection of colon cancer and reduce mortality on a global scale.
Claims (2)
２と、縦軸制御モ−タ−３と、内視鏡の制御ボックス４
と、内視鏡の先端５と、移動支持台６と、内視鏡と平行
なヒンジ７からなる、大腸用のロボット内視鏡。1. A switch operation panel 1, a motor control circuit 2, a vertical axis control motor 3 and a control box 4 for an endoscope.
A robot endoscope for the large intestine, which comprises a distal end 5 of the endoscope, a movable support base 6, and a hinge 7 parallel to the endoscope.
鏡に於て、スイッチの操作盤１の、延ばしのスイッチを
押すと、内視鏡の先端５が、曲りから、直線状に変化し
て止まる、大腸用のロボット内視鏡。また、内視鏡の制
御ボックス４と、移動支持台６の間に、内視鏡と平行な
ヒンジ７を設け、内視鏡の先端５に、回転を与る事の出
来る、大腸用のロボット内視鏡。2. The robot endoscope for the large intestine according to claim 1, wherein when the extension switch of the switch operation panel 1 is pressed, the distal end 5 of the endoscope is straightened from bending. A robotic endoscope for the large intestine that changes and stops. A robot for the large intestine, in which a hinge 7 parallel to the endoscope is provided between the control box 4 of the endoscope and the movable support base 6 so that the distal end 5 of the endoscope can be rotated. Endoscope.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP8060460A JPH08322783A (en) | 1995-03-30 | 1996-03-18 | Robot endoscope for large intestine |
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7-72626 | 1995-03-30 | ||
| JP7072626A JPH0866351A (en) | 1994-06-21 | 1995-03-30 | Robot endoscope |
| JP8060460A JPH08322783A (en) | 1995-03-30 | 1996-03-18 | Robot endoscope for large intestine |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH08322783A true JPH08322783A (en) | 1996-12-10 |
Family
ID=26401530
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP8060460A Pending JPH08322783A (en) | 1995-03-30 | 1996-03-18 | Robot endoscope for large intestine |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH08322783A (en) |
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| US6770027B2 (en) | 2001-10-05 | 2004-08-03 | Scimed Life Systems, Inc. | Robotic endoscope with wireless interface |
| US6835173B2 (en) | 2001-10-05 | 2004-12-28 | Scimed Life Systems, Inc. | Robotic endoscope |
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| US10327625B2 (en) | 2000-04-03 | 2019-06-25 | Intuitive Surgical Operations, Inc. | Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities |
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-
1996
- 1996-03-18 JP JP8060460A patent/JPH08322783A/en active Pending
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| US11026564B2 (en) | 2000-04-03 | 2021-06-08 | Intuitive Surgical Operations, Inc. | Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities |
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| US10736490B2 (en) | 2000-04-03 | 2020-08-11 | Intuitive Surgical Operations, Inc. | Connector device for a controllable instrument |
| US10327625B2 (en) | 2000-04-03 | 2019-06-25 | Intuitive Surgical Operations, Inc. | Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities |
| US10105036B2 (en) | 2000-04-03 | 2018-10-23 | Intuitive Surgical Operations, Inc. | Connector device for a controllable instrument |
| US9808140B2 (en) | 2000-04-03 | 2017-11-07 | Intuitive Surgical Operations, Inc. | Steerable segmented endoscope and method of insertion |
| US7097615B2 (en) | 2001-10-05 | 2006-08-29 | Boston Scientific Scimed, Inc. | Robotic endoscope with wireless interface |
| US8517924B2 (en) | 2001-10-05 | 2013-08-27 | Boston Scientific Scimed, Inc. | Robotic endoscope with wireless interface |
| US8328714B2 (en) | 2001-10-05 | 2012-12-11 | Boston Scientific Scimed, Inc. | Robotic endoscope |
| US7666135B2 (en) | 2001-10-05 | 2010-02-23 | Boston Scientific Scimed, Inc. | Robotic endoscope |
| US6835173B2 (en) | 2001-10-05 | 2004-12-28 | Scimed Life Systems, Inc. | Robotic endoscope |
| US6770027B2 (en) | 2001-10-05 | 2004-08-03 | Scimed Life Systems, Inc. | Robotic endoscope with wireless interface |
| US7261686B2 (en) | 2002-06-21 | 2007-08-28 | Boston Scientific Scimed, Inc. | Universal, programmable guide catheter |
| US6679836B2 (en) | 2002-06-21 | 2004-01-20 | Scimed Life Systems, Inc. | Universal programmable guide catheter |
| US6997870B2 (en) | 2002-06-21 | 2006-02-14 | Boston Scientific Scimed, Inc. | Universal, programmable guide catheter |
| US10512392B2 (en) | 2008-02-06 | 2019-12-24 | Intuitive Surgical Operations, Inc. | Segmented instrument having braking capabilities |
| US10952594B2 (en) | 2008-02-06 | 2021-03-23 | Intuitive Surgical Operations, Inc. | Segmented instrument having braking capabilities |
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