JP2000060795A - Oscillating structure - Google Patents
Oscillating structureInfo
- Publication number
- JP2000060795A JP2000060795A JP10237233A JP23723398A JP2000060795A JP 2000060795 A JP2000060795 A JP 2000060795A JP 10237233 A JP10237233 A JP 10237233A JP 23723398 A JP23723398 A JP 23723398A JP 2000060795 A JP2000060795 A JP 2000060795A
- Authority
- JP
- Japan
- Prior art keywords
- coil spring
- compression coil
- tension coil
- holder
- shape
- 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.)
- Granted
Links
Landscapes
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
Abstract
Description
【０００１】[0001]
【発明の属する技術分野】本発明は、内視鏡の首振構造
に関する。TECHNICAL FIELD The present invention relates to a swing structure for an endoscope.
【０００２】[0002]
【従来の技術】血管や内臓等に挿入して、身体の検査や
手術を行うための内視鏡に於て、特に先端部には、首振
部が形成されており、上記血管や内臓等にスムースに挿
入する構造となっている。従来の首振構造としては、例
えば、図10と図11に示すように、先端保持具ａと中間保
持具ｂとを可撓チューブｋにて連結し、その可撓チュー
ブｋに輪切体ｃ…を外嵌し、さらに、中間保持具ｂとそ
の基端側に固定状に配設された基端保持具ｄとの間に可
動片ｅ，ｅを配設し、その可動片ｅ，ｅと中間保持具ｂ
との間に、加熱により短縮する形状記憶合金製の先端側
引張ばねｆ，ｆを一対設けると共に、可動片ｅ，ｅと基
端保持具ｄとの間に、加熱により短縮する形状記憶合金
製の基端側引張ばねｇ，ｇを、一対設け、牽引ワイヤ
ｈ，ｈの基端を可動片ｅ，ｅに固定し、牽引ワイヤｈ，
ｈの先端を先端保持具ａに固定したものが公知であっ
た。2. Description of the Related Art An endoscope for inserting into a blood vessel, internal organs or the like to perform a physical examination or an operation, particularly, a swinging portion is formed at the distal end of the endoscope. It has a structure that can be smoothly inserted into. As a conventional swing structure, for example, as shown in FIGS. 10 and 11, a tip holder a and an intermediate holder b are connected by a flexible tube k, and the flexible tube k is connected to a ring slice c. Is externally fitted, and movable pieces e, e are arranged between the intermediate holder b and a base end holder d fixedly arranged on the base end side thereof. And intermediate holder b
A pair of shape-memory alloy front-side tension springs f and f that are shortened by heating are provided between and, and a shape-memory alloy that is shortened by heating is provided between the movable pieces e and e and the base end holder d. A pair of proximal end side extension springs g, g are provided to fix the proximal ends of the pulling wires h, h to the movable pieces e, e.
It is known that the tip of h is fixed to the tip holder a.
【０００３】[0003]
【発明が解決しようとする課題】しかし、上述のような
首振構造では、図11に示すように、一方の先端側引張ば
ねｆと他方の基端側引張ばねｇとを、形状回復作動させ
て首振りすると、一方の先端側引張ばねｆ側の牽引ワイ
ヤｈは弛むのみであり、他方の牽引ワイヤｈ側の基端側
引張ばねｇによる引張力ｉのみで首振動作することにな
るため、首振動作のための作動力（牽引力）が小さいと
いう問題があった。また、首振構造全体として長さが増
加して、首振部が不安定となるという問題があった。However, in the swing structure as described above, as shown in FIG. 11, one tip end side tension spring f and the other base end side tension spring g are caused to perform a shape recovery operation. When the head is swung, the pulling wire h on the one end side tension spring f side only loosens, and the swinging operation is performed only by the pulling force i by the base end side tension spring g on the other pulling wire h side. However, there is a problem that the actuation force (traction force) for the swing motion is small. Further, there is a problem in that the length of the swing structure as a whole increases and the swing part becomes unstable.
【０００４】そこで、本発明は、上述の問題を解決し
て、首振動作のために十分に大きな作動力が得られ、か
つ、首振構造全体を短くすることができ、さらに、首振
部を安定して弯曲及び真直の各状態を保つことができる
首振構造を提供することを目的とする。Therefore, according to the present invention, the above-mentioned problems can be solved, a sufficiently large actuating force can be obtained for the oscillating motion, and the oscillating structure as a whole can be shortened. It is an object of the present invention to provide a swing structure capable of stably maintaining the curved and straight states.
【０００５】[0005]
【課題を解決するための手段】上述の目的を達成するた
めに、本発明に係る首振構造は、先端保持具と中間保持
具との間に複数の輪切体を所定間隔をもって配設し、上
記先端保持具と輪切体と中間保持具との相互間隔部に、
形状回復動作により伸長する形状記憶合金製の第１・第
２圧縮コイルばね部を上記輪切体の軸心に関して180 °
反対位置に介装し、上記中間保持具の基端側に基端保持
具を、所定間隔をもって相対的に固定状に配設し、上記
第１・第２圧縮コイルばね部に沿って、第１・第２牽引
ワイヤを配設すると共に、該第１・第２牽引ワイヤの基
端側延長線に沿って、形状回復動作により短縮する形状
記憶合金製の第１・第２引張コイルばねを配設し、上記
第１・第２牽引ワイヤの先端を上記先端保持具に固定す
ると共に該第１・第２牽引ワイヤの基端を上記第１・第
２引張コイルばねの先端に連繋し、かつ、該第１・第２
引張コイルばねの基端を上記基端保持具に固定して、上
記第１圧縮コイルばね部と第２引張コイルばねとの形状
回復動作と、上記第２圧縮コイルばね部と第１引張コイ
ルばねとの形状回復動作により、首振りするように構成
したものである。また、第１・第２引張コイルばねのみ
を形状回復動作可能に構成されている。In order to achieve the above-mentioned object, a swing structure according to the present invention has a plurality of slurred bodies arranged at predetermined intervals between a tip holder and an intermediate holder. , In the mutual spacing between the tip holder, the cross section and the intermediate holder,
The first and second compression coil spring parts made of a shape memory alloy, which expand due to the shape recovery operation, are 180 ° with respect to the axial center of the ring slice.
The base end holders are interposed at opposite positions, and the base end holders are arranged on the base end side of the intermediate holder in a relatively fixed manner at a predetermined interval, and along the first and second compression coil spring portions, First and second tension coil springs made of a shape memory alloy, which are arranged with the first and second pulling wires and are shortened by a shape recovery operation along the extension lines on the base end side of the first and second pulling wires. The first and second pulling wires are fixed to the tip holder, and the base ends of the first and second pulling wires are connected to the tips of the first and second tension coil springs. And the first and second
The base end of the tension coil spring is fixed to the base end retainer to restore the shape of the first compression coil spring portion and the second tension coil spring, and the second compression coil spring portion and the first tension coil spring. It is configured to swing by the shape recovery operation of and. Further, only the first and second tension coil springs are configured to be capable of shape recovery operation.
【０００６】[0006]
【発明の実施の形態】以下、実施の形態を示す図面に基
づき本発明を詳説する。BEST MODE FOR CARRYING OUT THE INVENTION The present invention will be described below in detail with reference to the drawings showing the embodiments.
【０００７】図１は、本発明に係る首振構造の概略を示
し、この首振構造Ａは、血管や内臓等に挿入して身体の
検査や手術を行うための内視鏡に使用されるものであ
り、先端保持具７と、中間保持具８と、基端保持具10
と、先端保持具７を中間保持具８に対して首振可能に連
結する可撓管１と、その中間保持具８の基端側に所定間
隔をもって基端保持具10を相対的に固定状に連結する金
属パイプ９と、を備え、中間保持具８から先端側が首振
部Ｓとされ、中間保持具８から基端側が支持部２とされ
る。FIG. 1 schematically shows a swing structure according to the present invention. This swing structure A is used in an endoscope for inserting into a blood vessel, an internal organ or the like to perform a physical examination or surgery. The distal end holder 7, the intermediate holder 8 and the base end holder 10 are provided.
A flexible tube 1 for connecting the distal end holder 7 to the intermediate holder 8 so as to be swingable, and a proximal end holder 10 relatively fixed to the proximal end side of the intermediate holder 8 at a predetermined interval. And a metal pipe 9 that is connected to the front end side of the intermediate holder 8 serving as the swinging portion S, and the base end side of the intermediate holder 8 serving as the support portion 2.
【０００８】可撓管１は、金属製コイル線19を、内周側
から第１蒸着樹脂層20にて被覆し、外周側から第２蒸着
樹脂層21にて被覆し、かつ、細管状に形成したものであ
る。第１・第２蒸着樹脂層20, 21としては、例えば、ポ
リパラキシリレン（“パリレン”）が使用され、コイル
線19として軟質ステンレス線が使用される。また、先端
保持具７と中間保持具８と基端保持具10は、夫々、円環
状に形成され、その内側の孔部に、図示省略のイメージ
ガイドが挿通される。In the flexible tube 1, the metal coil wire 19 is covered with the first vapor-deposited resin layer 20 from the inner peripheral side, with the second vapor-deposited resin layer 21 from the outer peripheral side, and in the form of a thin tube. It was formed. As the first and second vapor-deposited resin layers 20 and 21, for example, polyparaxylylene (“parylene”) is used, and as the coil wire 19, soft stainless wire is used. Further, the distal end holder 7, the intermediate holder 8 and the base end holder 10 are each formed in an annular shape, and an image guide (not shown) is inserted into the hole inside thereof.
【０００９】しかして、先端保持具７と中間保持具８と
の間に複数の輪切体３…を所定間隔をもって配設し、先
端保持具７と輪切体３…と中間保持具８との相互間隔部
に、形状回復動作により伸長する形状記憶合金製の第１
圧縮コイルばね部４…と第２圧縮コイルばね部５…とを
輪切体３…の軸心Ｌに関して180 °反対位置に介装す
る。Therefore, a plurality of round slices 3 are arranged between the tip holder 7 and the intermediate holder 8 at a predetermined interval, and the tip holder 7, the slice 3 and the intermediate holder 8 are arranged. The shape-memory alloy first part that expands due to the shape-recovering operation is formed in the mutual interval part of the
The compression coil spring portions 4 ... And the second compression coil spring portions 5 ... Are interposed at 180 ° positions opposite to each other with respect to the axis L of the sliced body 3.
【００１０】具体的には、輪切体３…を、可撓管１内に
軸心方向へスライド可能に設け、かつ、先端保持具７と
輪切体３…と中間保持具８とに、導電性金属チューブ６
…を軸心Ｌ方向両側へ突出状に設ける。第１・第２圧縮
コイルばね部４…，５…は、夫々、独立したコイルばね
として形成される。そして、第１圧縮コイルばね部４の
端部と、第２圧縮コイルばね部５の端部とを、対応する
金属チューブ６の端部に固定する。Specifically, the ring slices 3 are provided in the flexible tube 1 so as to be slidable in the axial direction, and the tip holder 7, the ring slices 3 and the intermediate holder 8 are provided. Conductive metal tube 6
Are provided on both sides in the axial center L direction in a protruding manner. The first and second compression coil spring parts 4, ..., 5 ... Are each formed as an independent coil spring. Then, the end portion of the first compression coil spring portion 4 and the end portion of the second compression coil spring portion 5 are fixed to the corresponding end portion of the metal tube 6.
【００１１】また、第１・第２圧縮コイルばね部４…，
５…に沿って、第１・第２牽引ワイヤ11, 12を配設す
る。具体的には、第１圧縮コイルばね部４…と金属チュ
ーブ６…に、第１牽引ワイヤ11を挿通し、かつ、第２圧
縮コイルばね部５…と金属チューブ６…に、第２牽引ワ
イヤ12を挿通する。そして、第１・第２牽引ワイヤ11,1
2の先端を先端保持具７に固定する。Further, the first and second compression coil spring portions 4 ...
5, the first and second pulling wires 11 and 12 are arranged. Specifically, the first pulling wire 11 is inserted through the first compression coil spring portion 4 and the metal tube 6, and the second pulling wire is inserted between the second compression coil spring portion 5 and the metal tube 6. Insert 12 Then, the first and second pulling wires 11,1
The tip of 2 is fixed to the tip holder 7.
【００１２】さらに、第１・第２牽引ワイヤ11, 12の基
端側延長線に沿って、形状回復動作により短縮する形状
記憶合金製の第１・第２引張コイルばね13, 14を配設す
る。つまり、第１・第２引張コイルばね13, 14を、中間
保持具８と基端保持具10との間であって金属パイプ９の
内側に、相互に平行に設け、第１引張コイルばね13と第
１圧縮コイルばね部４…とを一直線上に配置し、かつ、
第２引張コイルばね14と第２圧縮コイルばね部５…とを
一直線上に配置する。Further, first and second tension coil springs 13 and 14 made of shape memory alloy, which are shortened by the shape recovery operation, are arranged along the extension lines of the first and second pulling wires 11 and 12 on the base end side. To do. That is, the first and second tension coil springs 13 and 14 are provided between the intermediate holding tool 8 and the base end holding tool 10 and inside the metal pipe 9 in parallel with each other. And the first compression coil spring portion 4 are arranged in a straight line, and
The second tension coil spring 14 and the second compression coil spring portion 5 are arranged in a straight line.
【００１３】また、第１・第２牽引ワイヤ11, 12の基端
を第１・第２引張コイルばね13, 14の先端に連繋し、か
つ、第１・第２引張コイルばね13, 14の基端を基端保持
具10に固定する。具体的には、導電性金属チューブ15,
15を介して、第１・第２牽引ワイヤ11, 12の基端を第１
・第２引張コイルばね13, 14の先端に接続する。また、
基端保持具10に、導電性金属チューブ16，16を、軸心Ｌ
方向両端に突出状に設け、その導電性金属チューブ16，
16の先端側に第１・第２引張コイルばね13, 14の基端を
止着する。Further, the base ends of the first and second pulling wires 11, 12 are connected to the tips of the first and second tension coil springs 13, 14, and the first and second tension coil springs 13, 14 are connected. The base end is fixed to the base end holder 10. Specifically, the conductive metal tube 15,
The base ends of the first and second pulling wires 11 and 12 are connected to the first
-Connect to the tips of the second tension coil springs 13 and 14. Also,
Attach the conductive metal tubes 16 and 16 to the base end holder 10 with the axis L
Provided in a protruding shape at both ends in the direction, the conductive metal tube 16,
The proximal ends of the first and second extension coil springs 13 and 14 are fixed to the distal end side of 16.
【００１４】このように、首振部Ｓに、第１・第２引張
コイルばね13, 14を配置し、内部の第１・第２牽引ワイ
ヤ11, 12を介して、（基端側のパイプ９内の）引張コイ
ルばね13, 14と、拮抗させる。そして、第１圧縮コイル
ばね部４…と第２引張コイルばね14との形状回復動作
と、第２圧縮コイルばね部５…と第１引張コイルばね13
との形状回復動作により、首振りするように構成する。As described above, the first and second tension coil springs 13 and 14 are arranged in the oscillating portion S, and the first and second pulling wires 11 and 12 are provided inside (the pipe on the base end side). It opposes the tension coil springs 13 and 14 (in 9). Then, the shape recovery operation of the first compression coil spring portion 4 and the second tension coil spring 14, the second compression coil spring portion 5 and the first tension coil spring 13 are performed.
It is configured to swing by the shape recovery operation of and.
【００１５】即ち、図２に示すように、第１圧縮コイル
ばね部４…と第２引張コイルばね14とを接続線30等を介
して電気的に直列接続すると共に、第２圧縮コイルばね
部５…と第１引張コイルばね13とを接続線31等を介して
電気的に直列接続し、かつ、第１圧縮コイルばね部４…
と第２引張コイルばね14とに電流が流れる状態と、第２
圧縮コイルばね部５…と第１引張コイルばね13とに電流
が流れる状態と、全体のオフ状態とに切換え可能なスイ
ッチ回路17を、設ける。That is, as shown in FIG. 2, the first compression coil spring portions 4 ... And the second tension coil springs 14 are electrically connected in series via a connecting wire 30 and the like, and the second compression coil spring portions are also connected. 5 and the first tension coil spring 13 are electrically connected in series via a connecting wire 31 and the like, and the first compression coil spring portion 4 ...
And a state in which a current flows through the second tension coil spring 14,
A switch circuit 17 capable of switching between a state in which a current flows through the compression coil spring portions 5 ... and the first tension coil spring 13 and an overall off state is provided.
【００１６】なお、図３に示すように、第１圧縮コイル
ばね部４…と第２引張コイルばね14との形状回復動作
と、第２圧縮コイルばね部５…と第１引張コイルばね13
との形状回復動作と、第１・第２引張コイルばね13, 14
のみの形状回復動作が可能となるように構成するのも好
ましい。即ち、第１圧縮コイルばね部４…と第２引張コ
イルばね14とのオン状態と、第２圧縮コイルばね部５…
と第１引張コイルばね13とのオン状態と、第１・第２引
張コイルばね13, 14のオン状態と、全体のオフ状態と、
に択一的に切換え可能なスイッチ回路18を、設ける。As shown in FIG. 3, the shape recovery operation of the first compression coil spring portion 4 and the second tension coil spring 14, the second compression coil spring portion 5 and the first tension coil spring 13 are performed.
Shape recovery operation with and the first and second extension coil springs 13 and 14
It is also preferable to configure so that only the shape recovery operation is possible. That is, the first compression coil spring portion 4 ... And the second tension coil spring 14 are turned on, and the second compression coil spring portion 5 ...
And the first tension coil spring 13 is in an ON state, the first and second tension coil springs 13 and 14 are in an ON state, and the entire OFF state is
A switch circuit 18 which can be selectively switched is provided.
【００１７】次に、この首振構造Ａの製法を説明する
と、図４（ａ）に示すように、中間保持具８を成すテフ
ロンマルチルーメンチューブの周壁に、金属チューブ６
としてのステンレスチューブを挿入する。そのとき接着
剤は用いない。次に、図４（ｂ）の如く、ステンレスチ
ューブの両端にステンレスコイル22をＹＡＧレーザー溶
接する。次に、図４（ｃ）の如く、第１・第２圧縮コイ
ルばね部４，５を成すコイルを取付ける。さらに、その
コイルに、金属チューブ６，６を取付ける。Next, the manufacturing method of the swing structure A will be described. As shown in FIG. 4 (a), the metal tube 6 is provided on the peripheral wall of the Teflon multi-lumen tube forming the intermediate holder 8.
Insert the stainless tube as. At that time, no adhesive is used. Next, as shown in FIG. 4B, the stainless coils 22 are YAG laser welded to both ends of the stainless tube. Next, as shown in FIG. 4C, the coils forming the first and second compression coil spring portions 4 and 5 are attached. Further, the metal tubes 6 and 6 are attached to the coil.
【００１８】その後、図４（ｄ）の如く、輪切体３（マ
ルチルーメンチューブ）を取付ける。さらに、図４
（ｅ）〜図５（ｂ）の如く、金属チューブ６，６にステ
ンレスコイル22を溶接し、第１・第２圧縮コイルばね部
４，５を取付け、さらに、金属チューブ６，６を取付
け、ステンレスコイル22を溶接するといった工程を繰り
返す。After that, as shown in FIG. 4 (d), the circular slice 3 (multi-lumen tube) is attached. Furthermore, FIG.
As shown in (e) to FIG. 5 (b), the stainless steel coil 22 is welded to the metal tubes 6 and 6, the first and second compression coil spring portions 4 and 5 are attached, and further the metal tubes 6 and 6 are attached. The process of welding the stainless steel coil 22 is repeated.
【００１９】次に、図５（ｃ）の如く、先端保持具７を
成すマルチルーメンチューブを取付け、さらに、牽引ワ
イヤ11, 12を成すテフロン被覆ステンレス線の先端にス
テンレスパイプを溶接したものを取付ける。次に、図５
（ｄ）の如く、先端側のステンレスパイプ23, 23を溶接
して、牽引ワイヤ11, 12を固定する。次に、図５（ｅ）
〜（ｆ）の如く、牽引ワイヤ11, 12の基端に引張コイル
固定用のステンレスパイプ24, 24をレーザー溶接し、さ
らに、ステンレスコイル25, 25をレーザー溶接する。Next, as shown in FIG. 5 (c), a multi-lumen tube forming the tip holder 7 is attached, and further, a Teflon-coated stainless steel wire forming the pulling wires 11 and 12 is welded with a stainless steel pipe and attached. . Next, FIG.
As shown in (d), the stainless steel pipes 23, 23 on the tip side are welded to fix the pulling wires 11, 12. Next, FIG. 5 (e)
As shown in (f), stainless steel pipes 24 and 24 for fixing the tension coils are laser-welded to the base ends of the pulling wires 11 and 12, and further stainless coils 25 and 25 are laser-welded.
【００２０】その後、図６（ａ）の如く、第１・第２引
張コイルばね13, 14を取付け、さらに、図６（ｂ）〜
（ｄ）の如く、ステンレスパイプ26、マルチルーメンチ
ューブ（基端保持具10）等を取付ける。さらに、図５
（ｅ）の如く、首振部先端部に通電用のリード線27の先
端部を接続する。Thereafter, as shown in FIG. 6A, the first and second tension coil springs 13 and 14 are attached, and further, FIG.
As shown in (d), the stainless pipe 26, multi-lumen tube (base end holder 10), etc. are attached. Furthermore, FIG.
As shown in (e), the tip of the lead wire 27 for energization is connected to the tip of the swinging portion.
【００２１】次に、図７（ａ）〜（ｂ）の如く、中間保
持具８と基端保持具10に、夫々、ステンレスパイプ28,
28を外嵌して溶接し、さらに、引張コイルを引き伸ばし
た状態で金属パイプ９（ステンレスパイプ）をレーザー
溶接する。その後、図７（ｃ）〜（ｄ）の如く、先端保
持具７にステンレスパイプ29を外嵌してレーザー溶接
し、首振部に可撓管１（パリレン蛇腹コイル）を外嵌し
て両端を接着する。最後に、図７（ｅ）の如く、首振部
先端を切断して長さ調整すれば、首振構造Ａが完成す
る。Next, as shown in FIGS. 7 (a) and 7 (b), the stainless steel pipes 28, are attached to the intermediate holder 8 and the base holder 10, respectively.
28 is externally fitted and welded, and further, the metal pipe 9 (stainless steel pipe) is laser-welded in a state where the tension coil is stretched. Then, as shown in FIGS. 7C to 7D, the stainless steel pipe 29 is externally fitted to the tip holder 7 and laser-welded, and the flexible tube 1 (parylene bellows coil) is externally fitted to the swinging portion to both ends. Glue. Finally, as shown in FIG. 7 (e), the tip of the oscillating portion is cut to adjust the length, whereby the oscillating structure A is completed.
【００２２】しかして、この首振構造Ａの作用を図８を
参照しつつ説明すると、非通電状態では、図８（ａ）に
示すように、第１・第２圧縮コイルばね部４…，５…に
より先端保持具７を先端側へ押す通常の押圧力Ｆ1 , Ｆ
1 と、第１・第２引張コイルばね13, 14により先端保持
具７を基端側へ引く通常の引張力Ｆ2 , Ｆ2 とのバラン
スがとれて、全体が真直に維持される。The operation of the swing structure A will be described below with reference to FIG. 8. In the non-energized state, as shown in FIG. 8A, the first and second compression coil spring portions 4 ,. Ordinary pressing force F 1 , F for pushing the tip holder 7 toward the tip side by 5 ...
1 , and the first and second tension coil springs 13 and 14 balance the normal tension forces F 2 and F 2 that pull the tip holder 7 toward the proximal side, and maintain the overall straightness.
【００２３】また、図８（ｂ）の如く、第１圧縮コイル
ばね部４…と第２引張コイルばね14とに通電して形状回
復動作させると、第１圧縮コイルばね部４…による押圧
力Ｆ 3 と、第２引張コイルばね14による引張力Ｆ4 と、
が発生して、両方の力Ｆ3 ，Ｆ4 が合成されて、矢印Ｄ
方向へ大きな力をもって首を振る。As shown in FIG. 8B, the first compression coil
The spring portion 4 and the second tension coil spring 14 are energized to rotate the shape.
When it is returned, it is pressed by the first compression coil spring section 4 ...
Force F 3And the tensile force F generated by the second tension coil spring 14.FourWhen,
Occurs and both forces F3, FFourIs synthesized, arrow D
Shake your head with great force in the direction.
【００２４】これとは逆に、図８（ｃ）の如く、第２圧
縮コイルばね部５…と第１引張コイルばね13とに通電し
て形状回復動作させると、第２圧縮コイルばね部５…に
よる押圧力Ｆ3 と、第１引張コイルばね13とによる引張
力Ｆ4 と、が発生して、両方の力Ｆ3 ，Ｆ4 が合成され
て、矢印Ｅ方向へ大きな力をもって首を振る。On the contrary, as shown in FIG. 8C, when the second compression coil spring portion 5 ... And the first tension coil spring 13 are energized to perform the shape recovery operation, the second compression coil spring portion 5 is formed. The pressing force F 3 due to ... and the tensile force F 4 due to the first tension coil spring 13 are generated, both forces F 3 and F 4 are combined, and the head is shaken with a large force in the arrow E direction. .
【００２５】また、図９に示すように、第１引張コイル
ばね13と第２引張コイルばね14とに同時に通電して形状
回復動作させると、第１・第２引張コイルばね13，14に
よる引張力Ｆ4 , Ｆ4 が発生し、第１・第２圧縮コイル
ばね部４…，５…が均等に短縮する。つまり、首振部Ｓ
が真直を保ちつつ縮む。これにより、首振部Ｓの曲げ剛
性が大きくなり、真直状態を強固に維持できる。Further, as shown in FIG. 9, when the first tension coil spring 13 and the second tension coil spring 14 are simultaneously energized to perform the shape recovery operation, the tension by the first and second tension coil springs 13 and 14 is increased. Forces F 4 and F 4 are generated, and the first and second compression coil spring portions 4 ..., 5 ... Are shortened uniformly. That is, the swinging part S
Shrinks while maintaining straightness. As a result, the bending rigidity of the oscillating portion S is increased, and the straight state can be firmly maintained.
【００２６】上記のような首振作動や首振部Ｓの短縮作
動をさせた後、通電を止めると、図１に示した可撓管１
の復元力により、図８（ａ）の真直状態にもどる。When the energization is stopped after the above-described swinging motion and the swinging motion of the swinging part S are performed, the flexible tube 1 shown in FIG.
The restoring force returns to the straight state of FIG.
【００２７】このように、この首振構造Ａによれば、首
振時には、小径であっても大きな作動力が得られる。し
かも、首振部Ｓの曲げ剛性をアップさせることができ
る。また、先端保持具７と中間保持具８との間に、従来
必要であった小径の可撓チューブを設けずに済む。As described above, according to the swing structure A, a large actuating force can be obtained at the time of swing, even if the diameter is small. Moreover, the bending rigidity of the swinging portion S can be increased. Further, between the tip holder 7 and the intermediate holder 8, it is not necessary to provide a small-diameter flexible tube which has been conventionally required.
【００２８】なお、図１では、第１・第２圧縮コイルば
ね部４…，５…と、第１・第２引張コイルばね13, 14
と、第１・第２牽引ワイヤ11, 12とを、夫々、１組ずつ
示したが、実際には、それらを２組設ける。即ち、２組
の内の一方の第１・第２圧縮コイルばね部４…，５…、
第１・第２引張コイルばね13, 14、及び、第１・第２牽
引ワイヤ11, 12と、他方の第１・第２圧縮コイルばね部
４…，５…、第１・第２引張コイルばね13, 14、及び、
第１・第２牽引ワイヤ11, 12とを、軸心Ｌ方向から見
て、90°ずらして配置する。これにより、軸心Ｌ方向か
ら見て、上下左右の４方向へ首振できる。In FIG. 1, the first and second compression coil spring portions 4, ..., 5 and the first and second tension coil springs 13, 14 are shown.
, And the first and second pulling wires 11 and 12 are shown one set each, but in reality, two sets are provided. That is, one of the two sets of the first and second compression coil spring portions 4 ...
First and second tension coil springs 13 and 14, first and second pulling wires 11 and 12, and the other first and second compression coil spring portions 4 ..., 5 ..., First and second tension coils Springs 13, 14 and
The first and second pulling wires 11 and 12 are arranged so as to be offset by 90 ° when viewed from the direction of the axis L. Thereby, when viewed from the direction of the axis L, the head can be swung in the four directions of up, down, left and right.
【００２９】また、第１・第２圧縮コイルばね部４…，
５…と、第１・第２引張コイルばね13, 14と、第１・第
２牽引ワイヤ11, 12とを、夫々、１組ずつ設けて、上下
方向や左右方向等の２方向にのみ首振できるように構成
してもよい。また、第１・第２圧縮コイルばね部４…，
５…を、夫々、１本の圧縮コイルばねにて構成してもよ
い。その場合、コイルばねの途中部に各輪切体３…を固
定する。Further, the first and second compression coil spring portions 4 ...
5, the first and second tension coil springs 13 and 14 and the first and second pulling wires 11 and 12, respectively, are provided one by one, and the neck is provided only in two directions such as vertical and horizontal directions. It may be configured so that it can be shaken. In addition, the first and second compression coil spring portions 4 ...
Each of 5 may be configured by one compression coil spring. In that case, each of the sliced bodies 3 is fixed to the middle of the coil spring.
【００３０】[0030]
【実施例】図４〜図７の製法にて本発明品としての首振
構造を実際に作製して、3000画素、照明機能付きの２機
能ファイバスコープを２本挿入した状態で左右２方向首
振動作の評価を行ったところ、通電加熱のための電流値
を300 ｍＡとした場合に、右方向、左方向何れの場合も
40°の首振角度が得られた。EXAMPLE A swing structure as the product of the present invention was actually manufactured by the manufacturing method shown in FIGS. 4 to 7, and 3000 pixels and two bidirectional fiberscopes with illumination function were inserted into the left and right bidirectional necks. When the shaking motion was evaluated, when the current value for energizing and heating was 300 mA, both in the rightward and leftward directions.
A swing angle of 40 ° was obtained.
【００３１】[0031]
【発明の効果】本発明は上述の如く構成されるので、次
に記載する効果を奏する。Since the present invention is configured as described above, it has the following effects.
【００３２】請求項１記載の首振構造によれば、第１圧
縮コイルばね部４…の形状回復動作による押圧力に第２
引張コイルばね14の形状回復動作による引張力を加えた
力、又は、第２圧縮コイルばね部５…の形状回復動作に
よる押圧力に第１引張コイルばね13の形状回復動作によ
る引張力を加えた力により、首振作動させることができ
るので、従来の（図10と図11の）２倍もの大きな作動力
が得られる。また、中間保持具８と基端保持具10との相
互間隔を小さくすることができ、従来の首振構造に比し
て全体をコンパクト化（短縮化）できる。According to the swing structure of the first aspect, the second compression force is reduced by the pressing force due to the shape recovery operation of the first compression coil spring portions 4.
A force obtained by applying a tensile force due to the shape recovering operation of the tension coil spring 14 or a pressing force due to the shape recovering operation of the second compression coil spring portion 5 is applied with a tensile force due to the shape recovering operation of the first tension coil spring 13. Since the force can be used to perform a swing motion, a large actuating force that is twice as large as that of the conventional case (FIGS. 10 and 11) can be obtained. Further, the mutual distance between the intermediate holder 8 and the base holder 10 can be reduced, and the whole can be made compact (shortened) as compared with the conventional swing structure.
【００３３】請求項２記載の首振構造によれば、第１・
第２引張コイルばね13, 14のみを形状回復動作させるこ
とにより、首振部Ｓの曲げ剛性を大きくして真直状態を
保って、従来の内視鏡では挿入させ難かった部位への挿
入が容易となる。According to the swing structure of claim 2,
By performing the shape recovery operation of only the second tension coil springs 13 and 14, the bending rigidity of the oscillating portion S is increased and the straight state is maintained, so that it can be easily inserted into a part that is difficult to insert with a conventional endoscope. Becomes
【図１】本発明の実施の一形態を示す拡大断面図であ
る。FIG. 1 is an enlarged cross-sectional view showing an embodiment of the present invention.
【図２】スイッチ回路の簡略説明図である。FIG. 2 is a simplified explanatory diagram of a switch circuit.
【図３】他のスイッチ回路の簡略説明図である。FIG. 3 is a simplified explanatory diagram of another switch circuit.
【図４】製造方法説明図である。FIG. 4 is an explanatory diagram of a manufacturing method.
【図５】製造方法説明図である。FIG. 5 is an explanatory diagram of a manufacturing method.
【図６】製造方法説明図である。FIG. 6 is an explanatory diagram of a manufacturing method.
【図７】製造方法説明図である。FIG. 7 is an explanatory diagram of a manufacturing method.
【図８】作用説明図である。FIG. 8 is an operation explanatory view.
【図９】作用説明図である。FIG. 9 is an operation explanatory view.
【図10】従来例説明図である。FIG. 10 is an explanatory diagram of a conventional example.
【図11】従来例説明図である。FIG. 11 is an explanatory diagram of a conventional example.
３ 輪切体 ４ 第１圧縮コイルばね部 ５ 第２圧縮コイルばね部 ７ 先端保持具 ８ 中間保持具 10 基端保持具 11 第１牽引ワイヤ 12 第２牽引ワイヤ 13 第１引張コイルばね 14 第２引張コイルばね Ｌ 軸心 3 round slices 4 First compression coil spring part 5 Second compression coil spring part 7 Tip holder 8 Intermediate holder 10 Base end holder 11 First traction wire 12 Second traction wire 13 1st tension coil spring 14 Second tension coil spring L axis center
Claims (2)
輪切体を所定間隔をもって配設し、上記先端保持具と輪
切体と中間保持具との相互間隔部に、形状回復動作によ
り伸長する形状記憶合金製の第１・第２圧縮コイルばね
部を上記輪切体の軸心に関して180 °反対位置に介装
し、上記中間保持具の基端側に基端保持具を、所定間隔
をもって相対的に固定状に配設し、上記第１・第２圧縮
コイルばね部に沿って、第１・第２牽引ワイヤを配設す
ると共に、該第１・第２牽引ワイヤの基端側延長線に沿
って、形状回復動作により短縮する形状記憶合金製の第
１・第２引張コイルばねを配設し、上記第１・第２牽引
ワイヤの先端を上記先端保持具に固定すると共に該第１
・第２牽引ワイヤの基端を上記第１・第２引張コイルば
ねの先端に連繋し、かつ、該第１・第２引張コイルばね
の基端を上記基端保持具に固定して、上記第１圧縮コイ
ルばね部と第２引張コイルばねとの形状回復動作と、上
記第２圧縮コイルばね部と第１引張コイルばねとの形状
回復動作により、首振りするように構成したことを特徴
とする首振構造。1. A plurality of slices are arranged at a predetermined interval between the tip holder and the intermediate holder, and shape recovery is performed in the mutual gap portion between the tip holder, the slice and the intermediate holder. The first and second compression coil spring parts made of a shape memory alloy, which expand due to the operation, are interposed at 180 ° opposite positions with respect to the axial center of the sliced body, and a base end holder is provided on the base end side of the intermediate holder. , Are arranged relatively fixedly with a predetermined interval, and the first and second pulling wires are arranged along the first and second compression coil spring portions, and the first and second pulling wires are First and second tension coil springs made of a shape memory alloy that are shortened by the shape recovery operation are arranged along the extension line on the proximal end side, and the tips of the first and second pulling wires are fixed to the tip holder. And the first
The base end of the second pulling wire is connected to the tips of the first and second tension coil springs, and the base ends of the first and second tension coil springs are fixed to the base end retainer, It is characterized in that the first compression coil spring portion and the second tension coil spring are configured to swing by the shape recovery operation and the second compression coil spring portion and the first tension coil spring shape recovery operation. Swing structure.
復動作可能に構成されている請求項１記載の首振構造。2. The swing structure according to claim 1, wherein only the first and second tension coil springs are configured to be capable of shape recovery operation.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23723398A JP3333744B2 (en) | 1998-08-24 | 1998-08-24 | Swing structure |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP23723398A JP3333744B2 (en) | 1998-08-24 | 1998-08-24 | Swing structure |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JP2000060795A true JP2000060795A (en) | 2000-02-29 |
| JP3333744B2 JP3333744B2 (en) | 2002-10-15 |
Family
ID=17012366
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP23723398A Expired - Fee Related JP3333744B2 (en) | 1998-08-24 | 1998-08-24 | Swing structure |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP3333744B2 (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020035695A (en) * | 2000-11-07 | 2002-05-15 | 이승기 | Bending actuator for catheter and manufacturing method |
| JP2010038123A (en) * | 2008-08-07 | 2010-02-18 | Toki Corporation Kk | Actuator |
| CN116509308A (en) * | 2023-06-19 | 2023-08-01 | 安徽凝新信息科技有限公司 | Steerable endoscope device |
-
1998
- 1998-08-24 JP JP23723398A patent/JP3333744B2/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20020035695A (en) * | 2000-11-07 | 2002-05-15 | 이승기 | Bending actuator for catheter and manufacturing method |
| JP2010038123A (en) * | 2008-08-07 | 2010-02-18 | Toki Corporation Kk | Actuator |
| CN116509308A (en) * | 2023-06-19 | 2023-08-01 | 安徽凝新信息科技有限公司 | Steerable endoscope device |
| CN116509308B (en) * | 2023-06-19 | 2023-11-03 | 安徽凝新信息科技有限公司 | Steerable endoscope device |
Also Published As
| Publication number | Publication date |
|---|---|
| JP3333744B2 (en) | 2002-10-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JP3684085B2 (en) | Endoscopic wire loop treatment tool | |
| JP2005052668A (en) | Surgical collection basket | |
| JP2000083963A (en) | Snare for endoscope | |
| JP3818693B2 (en) | Endoscope bending tube | |
| JP2000060795A (en) | Oscillating structure | |
| JP2004330354A (en) | Three-dimensional micromanipulator | |
| JP2000262464A (en) | Multi-directional bending mechanism, and head oscillating structural body | |
| JPH08206061A (en) | Curving device | |
| JP3260933B2 (en) | Endoscope | |
| JP2001124122A (en) | Coil actuator and oscillating structure | |
| JP2018191986A (en) | Guide wire guiding means and treatment instrument for basket-type endoscopic device with the same | |
| JP4960320B2 (en) | Actuator | |
| JP2000041987A (en) | Basket-type holder for endoscope | |
| JPH0397426A (en) | Curving operation device for tubular fitting tool | |
| JP2002253559A (en) | Wire loop type treatment device for endoscope | |
| JPH11295615A (en) | Endoscope | |
| JP3176575B2 (en) | Bending mechanism | |
| JP4394401B2 (en) | Endoscope snare | |
| JPH0819618A (en) | Flexible tube | |
| JP2659540B2 (en) | Endoscope channel insertion type ultrasonic probe | |
| JP2005130965A (en) | Snare for endoscope | |
| JPH07323091A (en) | Catheter | |
| JP2007236753A (en) | Bending part for endoscope, and endoscope | |
| JP2608578B2 (en) | Endoscope | |
| JP2005080953A (en) | High frequency snare for endoscope |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| S111 | Request for change of ownership or part of ownership |
Free format text: JAPANESE INTERMEDIATE CODE: R313114 |
|
| R350 | Written notification of registration of transfer |
Free format text: JAPANESE INTERMEDIATE CODE: R350 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080726 Year of fee payment: 6 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090726 Year of fee payment: 7 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100726 Year of fee payment: 8 |
|
| LAPS | Cancellation because of no payment of annual fees |