WO2016139752A1

WO2016139752A1 - Flexible tube insertion device

Info

Publication number: WO2016139752A1
Application number: PCT/JP2015/056227
Authority: WO
Inventors: 周至中村; 高橋　毅
Original assignee: オリンパス株式会社
Priority date: 2015-03-03
Filing date: 2015-03-03
Publication date: 2016-09-09

Abstract

A flexible tube insertion device (10) has: an insertion section (40), which is partitioned into a plurality of segments (50) aligned in a row in the axis direction, and which is to be inserted into a duct section (200); and a plurality of stiffness variable sections (51) the hardness of which varies, said stiffness variable sections being provided in the segments (50). The flexible tube insertion device (10) also has: a start instructing section (160) that outputs, at the time when the insertion section (40) travels in the duct section (200), a start instruction, i.e., the instruction to start changing the stiffness of the segments (50) at relative positions of the insertion section (40) with respect to the duct section (200); and a control device (120) that controls, on the basis of the start instruction, the start of the hardness change of the stiffness variable sections (51) for the purpose of changing the stiffness of the segments (50), said stiffness variable sections being provided in the segments (50) at the relative positions of the insertion section (40) with respect to the duct section (200).

Description

Flexible tube insertion device

The present invention relates to a flexible tube insertion device.

For example, in the endoscope system disclosed in Patent Document 1, a flexible and elongated insertion portion is inserted into a duct portion such as the large intestine, and the inside of the duct portion is observed using an image sensor provided at the distal end of the insertion portion. The

In this endoscope system, a portion where the flexibility of the flexible tube portion provided in the insertion portion is changed is selected based on the past insertion pattern, and the flexibility of the flexible tube portion is partially changed. In addition, selection of the location which changes flexibility is implemented by an operator's remote operation. For example, the operator and the patient can improve the insertability of the insertion portion with respect to the large intestine in endoscopy by selecting the location where the flexibility is changed based on the past insertion pattern and the partial change in flexibility. To reduce the burden.

JP-A-6-70879

For example, the shape of the duct portion such as the large intestine and the shape of the insertion portion associated with the shape of the duct portion change in real time. For this reason, the location where the flexibility is changed is selected based on the past insertion pattern, but the selected insertion pattern is not always the best in a situation where the shape changes in real time. There is a fear.
In endoscopy for the large intestine, the hardness of the internal organs and the hardness of the intestines arranged around the large intestine differ depending on the patient and their placement positions. Therefore, a pattern for improving the insertability is not uniquely determined by a past insertion pattern recorded in advance.
As the insertion portion advances, the portion whose flexibility has changed is displaced relative to the bent portion such as the sigmoid colon. For this reason, even if the insertability is improved by the insertion pattern selected first, the insertability may be deteriorated at the moment of deviation.
Patent Document 1 does not mention the timing of changing the flexibility, but it is assumed that there are a plurality of locations where the flexibility of the flexible tube portion is changed according to a predetermined insertion pattern. In this case, depending on the operator, a change in the amount of insertion force with no experience is transmitted to the operator. As a result, there is a possibility that insertion of the insertion portion may be stopped while the insertion portion should be pushed in as it is, or conversely, insertion of the insertion portion should be further inserted even though the insertion portion should originally be stopped. May occur.

Therefore, depending on the selected insertion pattern, the insertion property is deteriorated, and there arises a problem that the bending part such as the sigmoid colon is extended to give pain to the patient.

The present invention has been made in view of these circumstances, and an object of the present invention is to provide a flexible tube insertion device that can easily insert a flexible tube portion into a bent portion provided in a pipeline portion.

One aspect of the flexible tube insertion device of the present invention is divided into a plurality of segments arranged in a line along the axial direction, and is provided with an insertion portion to be inserted into a conduit portion and for each of the segments. A plurality of variable stiffness sections, and an instruction to start a change in the rigidity of the segment at a relative position of the insertion section with respect to the pipe section when the insertion section advances in the pipe section. In order to change the rigidity of the segment, a start instruction unit that outputs a start instruction, and the segment that is provided in the segment at a relative position of the insertion unit with respect to the pipe line unit based on the start instruction And a control device for controlling the start of change in the hardness of the stiffness variable portion.

FIG. 1A is a schematic view of a flexible tube insertion device according to the first embodiment of the present invention. FIG. 1B is a diagram illustrating the flow of control of the stiffness varying unit. FIG. 2A is a diagram for explaining that the rigidity of the segment at the relative position of the insertion portion with respect to the pipeline portion changes as the insertion portion advances in the pipeline portion. FIG. 2B is a diagram for explaining that the rigidity of the segment at the relative position of the insertion portion with respect to the pipeline portion changes as the insertion portion advances in the pipeline portion. FIG. 3A is a schematic view of a flexible tube insertion device according to a second embodiment of the present invention. FIG. 3B is a diagram illustrating a configuration of a start instruction unit according to the second embodiment and illustrating a control flow in the start instruction unit. FIG. 4 is a diagram illustrating the configuration of the control device according to the third embodiment of the present invention and illustrating the control flow in the control device. FIG. 5A shows a change from a stiffness variable portion provided in a segment passing a bent portion close to the operator to a stiffness variable portion provided in a segment passing a bent portion away from the operator in the fourth embodiment of the present invention. It is a figure explaining changing the hardness of a rigidity variable part. FIG. 5B shows a direction from a stiffness variable portion provided in a segment passing through a bent portion away from an operator to a stiffness variable portion provided in a segment passing through a bent portion close to the operator in the fourth embodiment of the present invention. It is a figure explaining changing the hardness of a rigidity variable part. FIG. 6 is a diagram for explaining changing the hardness of a selected stiffness variable portion in a modification of the fourth embodiment of the present invention. FIG. 7 is a diagram for explaining the flow of control of the stiffness variable unit associated with detection of the stack state in the fifth embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In FIG. 2A, the illustration of the state detection unit 60 is omitted, and in some drawings, a part of the members is omitted for clarity of illustration.

[First Embodiment]
[Constitution]
The first embodiment will be described with reference to FIGS. 1A, 1B, 2A, and 2B.
[Flexible tube insertion device (hereinafter referred to as insertion device 10)]
An insertion device 10 as shown in FIG. 1A is provided, for example, in an examination room or an operating room. The insertion device 10 includes a medical endoscope 20, a light source device 100 connected to the endoscope 20, and a control device 120 connected to the endoscope 20. The insertion device 10 further includes a display device 140 connected to the control device 120 and a start instruction unit 160 connected to the control device 120.

The endoscope 20 is inserted into a duct part 200 such as a large intestine, for example, and images the inside of the duct part 200 by an imaging unit (not shown).
The light source device 100 emits illumination light emitted from the endoscope 20 in order for the imaging unit to capture an image.
The control device 120 processes an image in the pipeline section 200 captured by the imaging unit. The control device 120 controls the endoscope 20 and the display device 140. Although details will be described later, the control device 120 controls the rigidity of the insertion portion 40 provided in the endoscope 20.
The display device 140 displays an image captured by the imaging unit and subjected to image processing by the control device 120.
The start instruction unit 160 outputs an instruction for changing the rigidity of the insertion unit 40 to the control device 120.

[Endoscope 20]
An endoscope 20 as shown in FIG. 1A is used as an example of an example of an insertion device. Examples of the insertion device include the medical endoscope 20 that is inserted into the duct portion 200 such as the large intestine, as in the present embodiment, but is not limited thereto. The insertion device is also preferably an industrial endoscope that is inserted into the pipe section 200 of an industrial product such as a pipe, or an insertion instrument such as a catheter having only an illumination optical system. The endoscope 20 may be a direct-view type endoscope 20 or a side-view type endoscope 20.

As illustrated in FIG. 1A, the endoscope 20 includes an operation unit 30 that is gripped by an operator and an insertion unit 40 that is inserted into the conduit unit 200.
As shown in FIG. 1A, the operation unit 30 is connected to the proximal end portion of the insertion unit 40. The operation unit 30 includes a bending operation unit 31 that operates a bending unit 43 described later, and a switch unit 33 that operates each unit such as an imaging unit. The operation unit 30 further includes a universal cord 35, and is connected to the light source device 100 and the control device 120 via the universal cord 35.
As shown in FIG. 1A, the insertion portion 40 is elongated and flexible. The insertion portion 40 has a distal end hard portion 41, a bending portion 43, and a flexible tube portion 45 in order from the distal end portion of the insertion portion 40 toward the proximal end portion of the insertion portion 40. The proximal end portion of the distal end rigid portion 41 is connected to the distal end portion of the bending portion 43, the proximal end portion of the bending portion 43 is connected to the distal end portion of the flexible tube portion 45, and the proximal end portion of the flexible tube portion 45 is operated. It is connected to the part 30.

[Rigidity variable part 51]
As shown in FIG. 1A, the flexible tube portion 45 of the insertion portion 40 is divided into a plurality of segments 50 arranged in a line along the axial direction of the insertion portion 40. The segment 50 may function as a virtual area that does not exist or may function as an existing structure.

The rigidity of each segment 50 can be changed independently under the control of the control device 120. The rigidity of the flexible tube portion 45 can be partially changed by the rigidity of each segment 50 that is independently controlled by the control device 120. Therefore, the flexible tube portion 45 can be bent according to the shape of the conduit portion 200.
In addition, although the flexible tube part 45 is divided | segmented into the segment 50, it does not need to be limited to this and the insertion part 40 may be divided into the segment 50. Thereby, the rigidity of the insertion portion 40 can be partially changed by the rigidity of each segment 50 that is independently controlled by the control device 120. Therefore, the insertion part 40 can be bent according to the shape of the pipe line part 200.

As shown in FIG. 1A, the flexible tube portion 45 has a stiffness variable portion 51 whose hardness is variable. The stiffness variable portion 51 is built in each segment 50. The stiffness variable part 51 may be built in all the segments 50 or may be built only in some of the segments 50. In this case, the place where the stiffness variable portion 51 is provided functions as at least the segment 50. One rigidity variable portion 51 may be incorporated across the plurality of segments 50. The stiffness variable parts 51 may be arranged in a line along the axial direction of the insertion part 40, or may be arranged in a plurality of lines. When the stiffness variable portions 51 are arranged in a plurality of rows, the stiffness variable portions 51 may be provided at the same position so that the stiffness variable portions 51 are adjacent to each other in the circumferential direction of the flexible tube portion 45, The insertion portion 40 may be provided so as to be shifted in the axial direction.

Although not shown, the stiffness variable portion 51 is, for example, a coil pipe formed of a metal wire, and an electroconductive polymer artificial muscle (hereinafter referred to as EPAM) enclosed in the coil pipe. The central axis of the coil pipe is provided to coincide with or parallel to the central axis of the insertion portion 40. The coil pipe has electrodes provided at both ends of the coil pipe.
The electrodes are connected to the control device 120 via a signal cable (not shown) built in the endoscope 20 and supplied with power from the control device 120. When a voltage is applied to the EPAM through the electrodes, the EPAM tends to expand and contract along the central axis of the coil pipe. However, the expansion and contraction of EPAM is restricted by the coil pipe. Thereby, the hardness of the rigidity variable part 51 changes. Note that the hardness of the variable stiffness portion 51 increases as the value of the applied voltage increases. When the hardness of the stiffness variable portion 51 changes, the stiffness of the segment 50 incorporating the stiffness variable portion 51 also changes accordingly. As described above, the rigidity variable unit 51 changes the rigidity of the segment 50 by changing the hardness of the rigidity variable part 51, and changes the rigidity of the flexible tube part 45 partially by changing the rigidity of the segment 50.

The stiffness variable portion 51 may use a shape memory alloy instead of EPAM.

[Start instruction unit 160]
As shown in FIG. 2A and FIG. 2B, when the insertion portion 40 advances in the pipeline portion 200, the start instruction portion 160 is positioned relative to the pipeline portion 200 as shown in FIG. 1B. An instruction to start changing the rigidity of the segment 50 (hereinafter referred to as a start instruction) is output to the control device 120.
In the present embodiment, the start instruction unit 160 only outputs a start instruction, for example, a specification instruction that specifies the stiffness variable unit 51 that changes the hardness, and a hardness specification command that specifies the hardness of the stiffness variable unit 51. The instruction to return the hardness of the stiffness variable portion 51 whose hardness has changed to the original is not output.

[Control device 120]
As shown in FIGS. 1A and 1B, the control device 120 includes a state calculation unit 121 that calculates the state of the insertion unit 40 based on the detection result of the state detection unit 60 provided in the insertion unit 40.

As shown in FIG. 1A, the state detection unit 60 is built in the insertion unit 40. The state detection unit 60 is preferably provided at least for each segment 50, and in the case of this embodiment, it is particularly preferable that the state detection unit 60 is provided at least at a location where the stiffness variable unit 51 is provided.
The state detection unit 60 detects the state of the insertion unit 40 such as the shape and twist of the insertion unit 40. The state detection unit 60 includes, for example, at least one of a coil that generates a magnetic field, an output unit that outputs electromagnetic waves or ultrasonic waves, an optical fiber sensor, a strain sensor, and an absorbing member that absorbs X-rays. .
As illustrated in FIG. 1B, the state detection unit 60 is connected to the state calculation unit 121 by, for example, wired or wireless, and outputs a detection result detected by the state detection unit 60 to the state calculation unit 121. The state detection unit 60 always detects (operates) after the insertion device 10 is driven.

1A and 1B calculate the state of the insertion unit 40 such as the shape and twist of the insertion unit 40 based on the detection result of the state detection unit 60. The state calculation unit 121 further calculates the state of the pipe line part 200 in which the insertion part 40 is inserted and the position of the bent part 201 in the pipe line part 200 based on the detection result of the state detection part 60.

As shown in FIG. 1B, the state calculation unit 121 is connected to the display device 140. As illustrated in FIG. 2A, the display device 140 displays the current state of the insertion unit 40 in the pipeline unit 200 based on the calculation result calculated by the state calculation unit 121. The display is performed by, for example, three dimensions. The operator can monitor the position of the insertion unit 40 in the pipe line unit 200 based on the state of the insertion unit 40 displayed on the display device 140.

In a situation where the position of the insertion portion 40 in the pipeline section 200 is monitored by the operator via the display device 140, the control device 120 changes the rigidity of the segment 50 as shown in FIGS. 1B and 2B. Therefore, based on the start instruction input from the start instruction unit 160 and the position of the bending part 201 in the pipe line part 200 calculated by the state calculation part 121, the insertion part 40 with respect to the bending part 201 of the pipe line part 200 is used. The start of change in the hardness of the variable stiffness portion 51 provided in the segment 50 at the relative position is controlled. The timing to control is the timing instructed by the start instructing unit 160 in the state where the position of the bent portion 201 is calculated, and the start output from the start instructing unit 160 in the state in which the position of the bent portion 201 is calculated. This is the timing when the instruction is input to the control device 120. The control timing is started at a time T0 (see FIGS. 2A and 2B) described later, and the control is always performed at times T1, T2, T3 (see FIGS. 2A and 2B) after the time T0 has elapsed. The stiffness variable portion 51 to be controlled is the stiffness variable portion 51 that is located at the bent portion 201 and is painted black in FIGS. 2A and 2B.

The state calculation unit 121 always calculates (operates) after the insertion device 10 is driven.

[Action]
After the insertion device 10 is driven, the insertion portion 40 is inserted into the conduit portion 200 as shown in FIG. 2A. After the insertion device 10 is driven, the state detection unit 60 detects the state of the insertion unit 40. As shown in FIG. 1B, the detection result detected by the state detection unit 60 is output to the state calculation unit 121. The state calculation unit 121 calculates the state of the insertion unit 40 based on the detection result of the state detection unit 60. The state calculation unit 121 further calculates the state of the pipe line part 200 in which the insertion part 40 is inserted and the position of the bent part 201 in the pipe line part 200 based on the detection result of the state detection part 60. As shown in FIG. 1B and FIG. 2A, the display device 140 displays the current state of the insertion unit 40 in the pipeline unit 200 based on the calculation result calculated by the state calculation unit 121. The operator monitors the position of the insertion unit 40 in the conduit unit 200 based on the state of the insertion unit 40 displayed on the display device 140.

As illustrated in FIG. 2A, when the insertion unit 40 passes through the bent part 201 of the pipe line part 200, the display device 140 bends according to the shape of the bent part 201 by the state detection unit 60 and the state calculation unit 121. The shape of the insertion portion 40 and the insertion portion 40 passing through the bending portion 201 while being bent are displayed. This situation is monitored by the operator.

The operator operates the start instruction unit 160 when the insertion unit 40 passes through the bent part 201 of the pipe line unit 200 and is monitored by the operator. As illustrated in FIG. 1B, the start instruction unit 160 outputs a start instruction to the control device 120.

As illustrated in FIG. 1B, the control device 120 uses the start instruction input from the start instruction unit 160 and the position of the bent portion 201 in the conduit section 200 calculated by the state calculation unit 121 to determine the conduit section 200. The start of change in the hardness of the stiffness variable portion 51 provided in the segment 50 at the position of the insertion portion 40 relative to the bent portion 201 is controlled.

Specifically, as shown in FIGS. 2A and 2B, as the insertion portion 40 is inserted, the absolute part (position) of the insertion portion 40 whose hardness changes is shifted backward, but the rigidity changes. The control device 120 changes (switches) the stiffness variable portion 51 whose hardness changes so that the portion 210 of the portion 40 does not change relative to the bent portion 201. At this time, the control device 120 shifts the stiffness variable portion 51 so that the stiffness variable portion 51 whose hardness changes is shifted to the stiffness variable portion 51 passing through the bent portion 201 and the stiffness variable portion 51 passing through the bent portion 201 from this. Control. Therefore, when the insertion part 40 passes the bending part 201, the rigidity of the insertion part 40 in the site | part 210 which passes the bending part 201 will always change. The region 210 may include at least one segment 50.

As shown in FIG. 2B, specifically, the stiffness

variable parts

51a, 51b, 51c, 51d, 51e, 51f, 51g, 51h, 51i, 51j, 51k, 51l are provided from the bending part 43 toward the operation part 30. Suppose they are in order.
In this case, at time T0, the stiffness of the stiffness varying portion 51e provided in the segment 50a passing through the bent portion 201 changes.
The insertion section 40 is further inserted (the insertion section 40 further proceeds), and the time flows from time T0 to time T1. At time T1, the segment 50b that passes through the bent portion 201 is not a segment 50a that passes through the bent portion 201 at time T0 but a segment that is disposed behind the segment 50a that has passed through the bent portion 201 at time T0. And the rigidity of the rigidity variable part 51f provided in this segment 50b and arrange | positioned behind the rigidity variable part 51e changes.
Similarly, the segment 50c is disposed behind the segment 50b, and the segment 50d is disposed behind the segment 50c. The stiffness variable portion 51g is provided in the segment 50c, and the stiffness variable portion 51h is provided in the segment 50d. When the insertion portion 40 is further inserted (the insertion portion 40 further advances) and the time T2 and T3 have elapsed, the rigidity of the rigidity

variable portions

51g and 51h provided in the

segments

50c and 50d changes.
Accordingly, the portion 210 where the rigidity changes does not change relative to the bent portion 201, and the rigidity of the insertion portion 40 in the portion 210 that passes through the bent portion 201 always changes.

When the insertion of the insertion portion 40 is stopped, the stiffness variable portion 51 whose hardness changes does not change. In other words, the absolute portion (position) of the insertion portion 40 where the hardness changes does not change, and the hardness of the stiffness variable portion 51 that is always located at the same position relative to the bent portion 201 of the duct portion 200 is the same. It will be changing.

Further, for example, in the change in rigidity of the stiffness variable portion 51e and the change in stiffness of the stiffness variable portion 51f at time T1, for example, the stiffness of the stiffness variable portion 51e gradually increases and the stiffness of the stiffness variable portion 51f gradually decreases. To do. The rate of increase is substantially the same as the rate of decrease. The raising and lowering may be performed stepwise or may be performed linearly. Alternatively, the stiffness of the stiffness variable portion 51e may be instantaneously lowered at the same time as the stiffness of the stiffness variable portion 51e is instantaneously returned to the original stiffness. This is the same for the times T2 and T3.

[effect]
In the present embodiment, at the timing when the start instruction output from the start instructing unit 160 is input to the control device 120, in other words, at the timing of passing through the bent portion 201, the insertion portion 40 in the portion 210 that passes through the bent portion 201. The rigidity of the can always be varied. For this reason, in this embodiment, the flexible tube portion 45 can be easily inserted into the bent portion 201.

In the present embodiment, even in a situation where the shape of the pipe section 200 and the shape of the insertion section 40 accompanying the shape of the pipe section 200 are changing in real time, the past insertion pattern is not used. At the timing of passing through the bent portion 201, the rigidity of the insertion portion 40 in the portion 210 that passes through the bent portion 201 can always be varied. Therefore, in this embodiment, the flexible tube portion 45 can be easily inserted into the bent portion 201.

In general, in endoscopy for the large intestine, the hardness of the internal organs arranged around the large intestine and the hardness of the intestine are different depending on the patient and their arrangement positions. Therefore, a pattern for improving the insertability is not uniquely determined by a past insertion pattern recorded in advance. However, in the present embodiment, the rigidity of the insertion portion 40 in the portion 210 that passes through the bent portion 201 can always be varied at the timing of passing through the bent portion 201. Therefore, in this embodiment, the flexible tube portion 45 can be easily inserted into the bent portion 201.
Generally, as the insertion portion 40 moves forward, the portion where the flexibility has changed is displaced relative to the bent portion 201. For this reason, even if the insertability is improved by the insertion pattern selected first, the insertability may be deteriorated at the moment of deviation. However, in the present embodiment, the control device 120 is configured so that the stiffness variable portion 51 whose hardness changes is shifted to the stiffness variable portion 51 passing through the bent portion 201 and the stiffness variable portion 51 passing through the bent portion 201. The variable unit 51 is controlled. Therefore, in this embodiment, the flexible tube portion 45 can be easily inserted into the bent portion 201.
It is assumed that there are a plurality of bent portions 201 and there are a plurality of locations where the flexibility of the flexible tube portion 45 is changed according to a predetermined insertion pattern. In this case, depending on the operator, a change in the amount of insertion force with no experience is transmitted to the operator. As a result, there is a possibility that the insertion of the insertion portion 40 may be stopped although the insertion portion 40 should be pushed in as it is, or the insertion of the insertion portion 40 should be stopped. In addition, there is a possibility of being inserted. However, in the present embodiment, the rigidity of the insertion portion 40 in the portion 210 that passes through the bent portion 201 can always be varied at the timing of passing through the bent portion 201. Therefore, in this embodiment, the flexible tube portion 45 can be easily inserted into the bent portion 201.

In the present embodiment, the rigidity of the insertion portion 40 in the portion 210 that passes through the bent portion 201 can always be varied at the timing of passing through the bent portion 201. Therefore, in this embodiment, even if it inserts the insertion part 40 accidentally, it can prevent pushing an intestinal wall, can prevent extension of the bending part 201, and can prevent giving a pain to a patient. In the present embodiment, the insertion portion 40 can be safely inserted without increasing the amount of force for pushing the insertion portion 40.

[Second Embodiment]
Only the differences from the first embodiment will be described below with reference to FIGS. 3A and 3B. In the present embodiment, the start instruction unit 160 will be described in more detail than the start instruction unit 160 of the first embodiment.

[Constitution]
[Start instruction unit 160]
The start instruction unit 160 is operated based on the state of the insertion unit 40 displayed on the display device 140, and an output that outputs a start instruction to the control device 120 when the operation unit 161 is operated. Part 163.

The operation unit 161 is operated by the operator at a predetermined timing in a state where the state of the insertion unit 40 in the pipe line unit 200 displayed on the display device 140 is monitored by the operator. The operation unit 161 is also a detection unit that detects an operation of the operator.

The operation unit 161 is provided outside the endoscope 20 separately from the endoscope 20, for example. In this case, the operation unit 161 includes, for example, a foot switch or a touch panel operated by the operator, or a microphone that collects sound generated by the operator, for example. The foot switch is connected to the control device 120 by wireless or wired, for example. The touch panel is provided in the display device 140, for example.

Although not shown, the operation unit 161 may be provided in the endoscope 20, for example. In this case, the operation unit 161 includes a switch unit 33 or a motion sensor provided in the operation unit 30.

[Action / Effect]
In the present embodiment, the operation unit 161 and the output unit 163 can reliably output a start instruction in real time when the insertion unit 40 passes through the bending unit 201, and reliably extend the bending unit 201 and give pain to the patient. Can be prevented.

[Third Embodiment]
Hereinafter, only points different from the first and second embodiments will be described with reference to FIG. In the present embodiment, the control device 120 will be described in more detail than the control device 120 of the first embodiment.

[Constitution]
[Control device 120]
The control device 120 determines the state of the insertion portion 40 as a calculation result of the state calculation unit 121 by calculating the number of at least one bent portion 201 (hereinafter referred to as the number of bends) of the duct portion 200 in which the insertion portion 40 is inserted. It further has a bend number detection unit 123 that detects based on the above. The bending number detection unit 123 always detects the number of bendings when the insertion unit 40 is inserted. The timing at which the bending number detection unit 123 starts detection is desired.

When the start instruction is input to the control device 120, the control device 120 identifies the segment 50 whose stiffness is changed based on the detection result (the number of the bent portions 201) of the bend number detection unit 123, and the identified segment 50 There is further provided a specific control unit 125 for controlling the stiffness variable portion 51 so that the hardness of the stiffness variable portion 51 provided in the head changes.
The specific control unit 125 is connected to each stiffness variable unit 51 via a signal cable (not shown) built in the endoscope 20. The specific control unit 125 outputs a start instruction to the specified stiffness variable unit 51 via the signal cable, and controls the stiffness variable unit 51 based on the start instruction.

[Action / Effect]
In the present embodiment, the number of bends can be reliably detected by the bend number detection unit 123, and all the stiffness variable portions 51 corresponding to at least one bend portion 201 can be specified by the specifying control unit 125. Therefore, in this embodiment, the rigidity of the insertion part 40 in the site | part 210 which passes the at least 1 bending part 201 can be varied reliably. For this reason, in this embodiment, the flexible tube portion 45 can be easily inserted into the conduit portion 200 having the plurality of bent portions 201.

[Fourth Embodiment]
Only the differences from the first, second, and third embodiments will be described below with reference to FIGS. 5A and 5B. In the present embodiment, the control device 120 will be described in more detail than the control device 120 of the first embodiment.

[Constitution]
[Control device 120]
When the number of bends is plural, the specific control unit 125 controls the stiffness varying unit 51 so that the hardness of the stiffness varying unit 51 changes in a predetermined order.
For example, as shown in FIG. 5A, this order is provided in the segment 50 that passes through the bent portion 201 that is away from the operator, from the stiffness variable portion 51 that is provided in the segment 50 that passes through the bent portion 201 close to the operator. It shows that the hardness of the stiffness variable portion 51 is changed toward the stiffness variable portion 51.
As shown in FIG. 5A, when the number of bends is 2, the segment 50a passing through the bend 201a close to the operator, the segment 50b passing through the bend 201b away from the operator, and the

segments

50a and 50b are provided. There are stiffness

variable portions

51a and 51b. In this case, the stiffness of the stiffness variable portion 51a changes, and then the stiffness of the stiffness variable portion 51b changes.
As shown in FIG. 5A, when the number of bends is 3, a segment 50c that passes through the bend 201c further away from the operator and a stiffness variable portion 51c provided in the segment 50c are further present. In this case, the stiffness of the stiffness variable portion 51a changes, then the stiffness of the stiffness variable portion 51b changes, and then the stiffness of the stiffness variable portion 51c changes.

The order is, for example, as shown in FIG. 5B, the stiffness variable provided in the segment 50 passing through the bent portion 201 close to the operator from the stiffness variable portion 51 provided in the segment 50 passing through the bent portion 201 away from the operator. You may show changing the hardness of the rigidity variable part 51 toward the part 51. FIG.
As shown in FIG. 5B, when the number of bends is 2, the stiffness of the stiffness variable portion 51b changes, and then the stiffness of the stiffness variable portion 51a changes.
As shown in FIG. 5B, when the number of bends is 3, the stiffness of the stiffness variable portion 51c changes, then the stiffness of the stiffness variable portion 51b changes, and then the stiffness of the stiffness variable portion 51a changes.

This order is recorded in advance in a recording unit provided in the control device 120. When the bend number detection unit 123 detects a plurality of bend numbers, the specific control unit 125 outputs a start instruction to the stiffness variable unit 51 according to the order in which the recording units are recorded.

This order may be arbitrarily designated by the operator based on the state of the insertion unit 40 displayed on the display device 140. For example, by operating a touch panel provided on the display device 140, the operator designates the order of positions where the stiffness is changed, specifically, the order of the stiffness variable unit 51 that changes the hardness.

[Action / Effect]
In the present embodiment, by changing the hardness of the stiffness variable portion 51 in a predetermined order and changing the hardness of the designated stiffness variable portion 51, the shape of the duct portion 200 and the insertion portion 40 are changed to the bent portion 201. The flexible tube portion 45 can be optimally inserted into the bent portion 201 in accordance with the situation of passing through.

As a modification of the present embodiment, the change in the hardness of the stiffness variable portion 51 need not be limited in order. As shown in FIG. 6, based on the state of the insertion unit 40 displayed on the display device 140, the specific control unit 125 is configured so that the hardness of the stiffness variable unit 51 provided in the designated segment 50 changes. The stiffness variable unit 51 is controlled. For this reason, for example, the operator operates the selection unit 141 such as a touch panel provided in the display device 140 to select the position where the stiffness is changed, specifically, the stiffness variable unit 51 that changes the hardness.

[Fifth Embodiment]
Hereinafter, only points different from the first, second, third, and fourth embodiments will be described with reference to FIG. In the present embodiment, the insertion device 10 will be described in more detail than the insertion device 10 of the first embodiment.

[Constitution]
[Insertion device 10]
The control device 120 outputs a start instruction to the stiffness variable unit 51 at a timing instructed by the start instruction unit 160, and at a timing at which the start instruction output from the output unit 163 is input to the control device 120. However, the present invention is not limited to this.
In addition to the above-described timing, the specific control unit 125 according to the present embodiment outputs a start instruction to the stiffness variable unit 51 at a timing when the insertion unit 40 loses the driving force for the insertion, and the stiffness variable unit 51 is based on the start instruction. To control. Therefore, the determination of whether the state of the insertion portion 40 is a stack state indicating a state in which the insertion portion 40 has lost the driving force for insertion or an insertion state indicating a state in which the insertion portion 40 is inserted is determined. The insertion device 10 further includes a mechanism 180.

For example, when the determination mechanism 180 determines that the image A captured by the imaging unit after a certain time has not changed significantly from the image B captured before the certain time has elapsed, the state of the insertion unit 40 is in a stacked state. The determination mechanism 180 determines that there is. The determination mechanism 180 outputs the determination result to the specific control unit 125, and the specific control unit 125 that has received the determination result controls the stiffness variable unit 51 so that the hardness of the stiffness variable unit 51 changes.
When the determination mechanism 180 determines that the image A has a large change with respect to the image B, the determination mechanism 180 determines that the state of the insertion unit 40 is the insertion state. The determination mechanism 180 outputs the determination result to the specific control unit 125, and the specific control unit 125 that has received the determination result controls the stiffness variable unit 51 so that the stiffness variable unit 51 waits. In this standby, for example, the rigidity of the stiffness changing portion is maintained in the initial state (the stiffness of the stiffness changing portion is returned to the initial state), and the stiffness of the stiffness changing portion is maintained as it is (the changed stiffness change). The rigidity of the part is maintained).

The determination mechanism 180 may output the determination result to the bending number detection unit 123.
When the determination mechanism 180 determines that the insertion unit 40 is in a stacked state, the bending number detection unit 123 starts detecting the number of bendings.
When the determination mechanism 180 determines that the insertion unit 40 is in the insertion state, the bending number detection unit 123 waits for detection of the bending number. In this standby, it indicates that the detected number is maintained or the detected number is reset once.

Although the determination mechanism 180 uses an image as a determination criterion, the determination criterion need not be influenced by the image. The determination mechanism 180 may use the detection result of the state detection unit 60 as a determination criterion.

[Action / Effect]
In the present embodiment, when the insertion portion 40 is in a stacked state, the hardness of the stiffness variable portion 51 changes. Therefore, in the present embodiment, the flexible tube portion 45 can be optimally inserted into the bent portion 201 according to the shape of the pipe line portion 200 and the situation in which the insertion portion 40 is passed through the bent portion 201. In the present embodiment, it is possible to prevent the intestinal wall from being pushed by pushing the insertion portion 40 by mistake even though it is in a stacked state, to prevent the bending portion 201 from extending, and to prevent pain from being given to the patient. In the present embodiment, the insertion portion 40 can be safely inserted without increasing the amount of force for pushing the insertion portion 40.

The present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Further, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment.

Claims

An insertion section that is divided into a plurality of segments arranged in a line along the axial direction, and is inserted into the duct section;
A plurality of stiffness variable portions that are provided for each segment and whose hardness is variable,
A start instruction unit that outputs a start instruction that is an instruction to start a change in rigidity of the segment at a relative position of the insertion part with respect to the pipe part when the insertion part travels in the pipe part;
In order to change the rigidity of the segment, on the basis of the start instruction, the change of the hardness of the rigidity variable portion provided in the segment at a relative position of the insertion portion with respect to the duct portion is started. A control device to control;
A flexible tube insertion device comprising:
Further comprising a display device for displaying the state of the insertion portion inserted into the conduit portion;
The start instruction unit includes:
An operation unit operated based on the state of the insertion unit displayed on the display device;
An output unit that outputs the start instruction to the control device when the operation unit is operated;
The flexible tube insertion device according to claim 1, comprising:
The controller is
A number-of-bends detection unit that detects the number of at least one bent part of the pipe line part in which the insertion part is inserted based on the state of the insertion part;
When the start instruction is input to the control device, the segment that changes the stiffness is identified based on the detection result of the bending number detection unit, and the hardness of the stiffness variable unit provided in the identified segment A specific control unit that controls the stiffness variable unit so that changes
The flexible tube insertion device according to claim 2, comprising:
When the number of the bent portions is plural, the specific control unit controls the stiffness variable portion so that the hardness of the stiffness variable portion changes in a predetermined order.
Alternatively, when the number of the bent portions is plural, based on the state of the insertion portion displayed on the display device, the hardness of the stiffness variable portion provided in the designated segment changes, The flexible tube insertion device according to claim 3, wherein the specific control unit controls the stiffness variable unit.
A determination mechanism for determining whether the state of the insertion portion is a stacked state indicating a state in which the insertion portion has lost a driving force for insertion or an insertion state indicating a state in which the insertion portion is inserted; In addition,
When the determination mechanism determines that the state of the insertion portion is the stacked state, the control device controls the stiffness variable portion so that the hardness of the stiffness variable portion changes,
2. The control device according to claim 1, wherein, when the determination mechanism determines that the state of the insertion portion is the insertion state, the control device controls the rigidity variable portion so that the rigidity variable portion waits. Flexible tube insertion device.