JP2004041700A - Endoscope apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope apparatus that can be inserted deeply into the lumen. <P>SOLUTION: In the endoscope apparatus having an intraluminally self-propelling mechanism in the insertion portion of an endoscope, the insertion portion is formed of a plurality of flexible pipes 102, 103 and 104, and balloons 112 and 113 as self-propelling mechanisms are provided in each of the flexible pipes 102, 103 and 104. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a medical or industrial endoscope for self-propelled observation in a pipeline.
[0002]
[Prior art]
In conventional self-propelled endoscopes, balloons are provided before and after the bellows forming the curved portion of the insertion section as locking means to the inner wall of the conduit, and self-propelled by alternately controlling the expansion and contraction of the bellows and the balloon Some have gained strength (see, for example, Patent Document 1). In this type, the bellows may be bent at the bent portion of the pipeline, so that the expansion / contraction function is stopped and the vehicle may not run on its own.
[0003]
Further, there is an in-pipe insertion device (for example, see Patent Document 2) in which a plurality of curved portions provided with a plurality of pressure-sensitive sensors are provided on the outer surface in the axial direction of the insertion portion. The bending control is performed on the basis of this to improve the insertability into the bent portion of the pipeline.
[0004]
In addition, the in-pipe self-propelled device section, an endoscope for observing the inside of the pipe, and a traction member that is drawn out rearward from a rear end of the in-pipe self-propelled device section and that is detachably attached to a distal end of the endoscope, There is disclosed a traction self-propelled device for an endoscope including traction means for traction the endoscope at a distance between the self-propelled device portion and the endoscope so as to secure an observation field of view (for example, see Patent Reference 3).
[0005]
[Patent Document 1]
JP-A-51-15678 (Description of Claims and FIG. 2)
[0006]
[Patent Document 2]
JP-A-6-154154 (Description of claims and FIG. 1)
[0007]
[Patent Document 2]
Japanese Patent Application Laid-Open No. Hei 1-204640 (Description of Claims and FIG. 1)
[0008]
[Problems to be solved by the invention]
However, Patent Literature 1 has a problem that the configuration is complicated and the control method is difficult, and the endoscope becomes thicker by the thickness of the bellows, which makes it difficult to apply it to a small-diameter lumen such as a child. There is a problem that the bellows, which is an expansion / contraction means, is bent at a bent portion such as the large intestine, so that it cannot function to extend and contract and cannot move forward.
[0009]
Patent Literature 2 improves the insertability, but has a problem that the structure is complicated and the diameter is increased because each of the plurality of bending portions requires a mechanism capable of bending in an arbitrary direction.
[0010]
The insertion section of the normal endoscope is inserted with a CCD cable guided from the CCD unit at the distal end to the operation section at hand, a fiber (LG) for guiding illumination light to an observation site in front of the endoscope, and a treatment tool. Therefore, the insertion portion has high rigidity against a force in the bending direction, and is hardly bent at a large curvature. For this purpose, as shown in Patent Document 3, the self-propelled device is provided on the outer periphery of the distal end side of the insertion portion of the endoscope, or the self-propelled device is provided in front of the endoscope in the insertion direction and self-propelled. In such a case, the distal end of the endoscope insertion portion abuts on the wall of the living body lumen at the bending portion of the insertion channel, so that it is difficult to insert the endoscope into the deep portion of the living body lumen.
[0011]
In addition, the weight of the insertion portion may exceed the propulsive force of the self-propelled device at a portion other than the bent portion, and in that case, further insertion becomes difficult.
[0012]
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an endoscope apparatus that can be inserted to a deep part of a lumen.
[0013]
[Means for Solving the Problems]
In order to achieve the above object, the present invention provides an endoscope apparatus having an in-tube self-propelling mechanism in an insertion portion of an endoscope, wherein the insertion portion is formed by a plurality of flexible tubes, The self-propelled mechanism is provided in each of the plurality of flexible tubes.
[0014]
According to a second aspect, the plurality of flexible tubes according to the first aspect have a first flexible tube having an observation function for observing the inside of the tube and a second flexible tube having an illumination function for guiding illumination light to an observation site. It is characterized by comprising a flexible tube and a third flexible tube having a channel through which a treatment tool or the like is inserted.
[0015]
A third aspect is characterized in that the self-propelled mechanism according to the first or second aspect has a plurality of balloons.
[0016]
A plurality of balloons as a self-propelled mechanism alternately contract and inflate alternately, expand and contract in the axial direction of the flexible tube while gripping the lumen wall, and advance to the deep part of the lumen.
[0017]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, embodiments of the present invention will be described with reference to the drawings.
[0018]
1 to 5 show a first embodiment. FIG. 1 shows a system configuration of the endoscope apparatus. The endoscope is for the small intestine, and the endoscope main body 1 includes a flexible and elongated insertion section 2 and an operation section 3. The distal end of the insertion section 2 has an objective optical system 4 and an illumination optical system 5. An image is captured by a CCD provided immediately after the objective optical system 4, and a TV monitor 7 is transmitted through a signal line via an external video processor 6. It is projected on. An optical fiber extending from the illumination optical system 5 is connected to an external light source device 8.
[0019]
The operation unit 3 is connected to self-propelled control devices 14 that drive balloon units 10 and 11 and bending units 12 and 13 as locking means that constitute a self-propelled unit 9 described later. The self-propelled part 9 shown in FIG. The self-propelled portion 9 includes first and second curved portions 12 and 13 and balloon portions 10 and 11 provided before and after the first and second curved portions. The balloon portions 10 and 11 perform expansion and contraction by supplying and discharging compressed air. Each of the balloon portions 10 and 11 is connected to a tube 15 for supplying and discharging air, and the tube 15 is disposed in the insertion portion 2. Then, it is connected to a self-propelled control device 14 as an external driving means. The curved portions 12 and 13 are formed by a multi-lumen tube 20. The multi-lumen tube 20 has three air chambers 16 each connected to an air supply / discharge tube 17 and, when compressed air is supplied to an arbitrary air chamber 16, the air chamber 16 expands. 3 performs a bending operation as shown in FIG. The tube 17 is connected to a control device 14 as external control means.
[0020]
Next, the self-propelled control device 14 will be described with reference to FIG. In the self-propelled control device 14, an electromagnetic valve 18 to which the tubes 15 and 17 are connected, respectively, and an air line from a compressor 19 for supplying compressed air are connected to each of the electromagnetic valves 18. The solenoid valve 18 is electrically connected to the following two systems. One is a programmable controller 21 (hereinafter abbreviated as a P controller), and the other is a manual controller 22 (hereinafter abbreviated as an M controller). The P controller 21 drives each of the electromagnetic valves 18 at a predetermined timing, and is programmed with timings for a forward operation, a reverse operation, and the like to be described later.
[0021]
The M controller 22 drives an arbitrary electromagnetic valve 18 according to the operation of the joystick 24. Reference numerals 21 and 22 are connected to various switches. The changeover switch 25 switches between the P controller 21 and the M controller 22.
[0022]
The P controller 21 is further connected with a forward switch 26, a reverse switch 27, and a stop switch 28.
[0023]
Next, a basic self-propelled operation will be described with reference to FIG. FIG. 5A shows the initial state of the self-propelled part 9. When the operator presses the forward switch 27, the solenoid valve 18 is driven so that the following operation is performed.
[0024]
(1) The balloon section 10 on the front side is inflated and tightly fixed to the tube wall. … Figure 5 (b)
(2) The bending portions 12, 13 bend in opposite directions. At this time, due to the bending, the insertion section 2 after the bending sections 12 and 13 is pulled forward. … Figure 5 (c)
(3) Next, the balloon portion 11 on the rear side is inflated and tightly fixed to the tube wall. Thereafter, the front balloon portion 10 is contracted to release the fixation, and the curved portions 12 and 13 are returned to a straight line.
[0025]
Then, the distal end of the endoscope moves forward by an amount corresponding to the slackness that has been curved. … Figure 5 (d)
By repeating the operations (1) to (3), the endoscope advances in the small intestine.
[0026]
When moving backward, the operation order is reversed. In addition, the operator can move the endoscope insertion section 2 from the near side in accordance with the forward movement, so that the endoscope insertion section 2 can be more smoothly self-propelled.
[0027]
The scene in which the self-propelled operation is performed is after the endoscope has been inserted to the vicinity of the small intestine, and the operator sends the insertion unit 2 at the hand side to the position, similarly to the general endoscope insertion, and performs appropriate operation. This is done in combination with a simple bending operation. Therefore, in the embodiment, if the joystick 24 is operated after the changeover switch 25 is pressed, the operator can insert the first bending portion 12 with the manual controller 22 while bending the first bending portion 12 in an arbitrary direction.
[0028]
In the first embodiment, the stroke of the forward movement of the endoscope is obtained by the combined operation of the two bending portions. The endoscope itself can be made thinner because there is no need for a telescopic member using a bellows as in the prior art. Therefore, the endoscope can be easily inserted into a patient having a small lumen diameter such as a child. Further, in the present embodiment, the driving of the front and rear balloon portions and the bending portion is performed by compressed air, so that if a common compressor is connected to the control device on the hand side, all the driving portions can be driven, The configuration is simplified.
[0029]
In the first embodiment, the forward and backward strokes are obtained by the two curved portions sandwiched between the balloon portions 10 and 11. However, the number of the curved portions is not limited to two and may be three or four. Good. With multiple bends, more propulsion strokes can be obtained at once.
[0030]
6 to 9 show a second embodiment, and as shown in FIG. 6, the endoscope 30 has six curved portions 31 from the distal end side of the insertion portion. Each of the bending portions 31 has a built-in bending shape memory alloy actuator 33 (hereinafter, the shape memory alloy is abbreviated as SMA). Further, the endoscope 30 is connected to an external control device 32, and the control device 32 can operate the bending SMA actuator 33.
[0031]
FIG. 7 shows the configuration of the bending portion 31. The curved portion 31 includes a coil 37 sandwiched between front and rear flanges 34, and an SMA coil 36, which is disposed on the peripheral surface of the coil 37 and has both ends locked to the flange 34, facing each other. A hollow 35 is provided in the flange 34, and a light guide fiber, a CCD signal line, a channel tube, and the like, which are components of the endoscope 30, are built in the hollow 35.
[0032]
The SMA coil 36 has a structure in which both ends are fixed to a flange 34 on the proximal side and turned back at the flange 34 on the distal side. The end of the SMA coil 36 is connected to a lead wire 38, and the lead wire 48 is connected to a power supply 39 and a switch 40 inside the control device 32 described above. As described above, by energizing and heating one of the SMA coils 36 disposed opposite to each other, the SMA coil 36 generates a force that returns to the contracted shape, which is the initial shape, and as a result, as shown in FIG. Thus, the bending operation can be performed in the vertical direction. FIG. 8 shows a block diagram of the SMA coil 36. An SMA energizing circuit 41 is connected to each of the SMA coils 36, and the drive timing of the plurality of SMA energizing circuits 41 is controlled by a timing control circuit 42. As a result, the following forward / reverse operation can be performed.
[0033]
Next, the movement operation of the endoscope 30 will be described with reference to FIG. FIG. 9A shows the initial state. In this state, none of the SMA actuators 33 is driven and maintains a linear state.
[0034]
In the state of FIG. 9B, the two bending portions 31 are driven so as to be bent in alternate directions from the distal end side. When the two curved portions 31 are alternately curved, the curved portions 31 lock the inner surface of the tube. Next, in FIG. 9C, the four rear curved portions 31 are simultaneously driven so that the adjacent curved portions 31 bend in alternate directions. Then, the endoscope 30 can be pulled forward by an amount corresponding to the bending of the four bending portions 31. In FIG. 9D, the two rear bending portions 31 are kept bent, and the front four bending portions 31 are released from the bending and returned to the straight state.
[0035]
Since the rear two curved portions 31 are locked to the inner surface of the tube, the front end of the endoscope 30 moves forward by that much when the curved portions 31 are in the straight state. Further, when the bending of the two rear bending portions 31 is released, the vehicle further advances as shown in FIG. The endoscope 30 can perform a forward movement by repeatedly performing the operations shown in FIG. By reversing this operation order, the retreating motion can be performed.
[0036]
In the second embodiment, an endoscope having six curved portions can perform a forward movement without a balloon member. Therefore, the diameter of the endoscope can be further reduced only in the balloon portion as compared with the first embodiment. As a result, less painful endoscopy can be performed.
[0037]
In the second embodiment, there are six bending portions, two front and rear bending portions perform a locking action on the tube wall, and two middle bending portions obtain forward and backward strokes. Is not limited to two.
[0038]
10 and 11 show a third embodiment, in which an endoscope insertion section 41 is provided with a plurality of pressure sensors 43 in the axial direction. A signal from the pressure sensor 43 is input to an external motor control device 52 via a sensor energization / output line 46. A wire 44 is inserted into the channel 53 of the endoscope, and the wire 44 is wound around an external wire winding shaft 48.
[0039]
The wire winding shaft 48 is connected to a motor 49 via a motor rotation shaft 50.
The motor 49 is connected to a motor control device 52 via a motor energizing cable 51 by a motor energizing cable connector 57. The sensor energization / output line 46 is connected to the motor control device 52 via a sensor energization / output connector 56. A plurality of pressure sensors 43 are provided on the insertion portion 41, and a portion provided in a pair of upper and lower portions is a single node 47, and the node is divided into a plurality of portions in the axial direction. FIG. 11A is an enlarged view of the node 47.
[0040]
The wire 44 has a certain degree of rigidity, and the insertion portion where the wire 44 is inserted does not easily bend and deform. FIG. 11B shows the mounting of the pressure sensor 43 on the insertion section 41.
A cutout portion 54 is provided on the surface of the insertion portion 41, and a sensor conducting wire insertion hole 55 is provided in the cutout thickness direction. The pressure sensor 43 may be, for example, any sensor that outputs an output by pressing a pressure-sensitive conductive rubber, a pressure-sensitive film (PDEF), or a piezoelectric vibrator.
[0041]
The pressure sensor 43 is mounted so as to be fitted into the notch 54, and the sensor energization / output line 46 of the pressure sensor 43 is inserted into the sensor energization line insertion hole 55 for mounting.
[0042]
FIG. 11D shows the internal configuration of the motor control device 52. A signal from each pressure sensor 43 is input from a sensor energization / output connector 56 and input to an A / D conversion circuit 59 via a relay line 58.
[0043]
Here, an analog signal of the pressure sensor 43 is converted into a digital signal, and is input to the controller 61 via the relay line 60. The controller 61 outputs a signal for driving the motor according to the output information of the pressure sensor 43. The drive signal is input from the motor energizing cable connector 57 via the relay line 62 to the motor 49 via the motor energizing cable 51.
[0044]
In the state shown in FIG. 11A, the wire 44 is inserted to the end of the endoscope, and at this time, the insertion portion 41 is in a substantially linear state. When this endoscope is inserted into a luminal organ such as the large intestine, for example, as shown in FIG.
[0045]
When the pressure sensor at the leading end of the insertion portion comes into contact with the tube wall 42 at a pressure equal to or higher than a threshold, a signal is generated. In response to the signal, the motor 49 is rotated by the motor control device 52, and the wire 44 It winds up by the length corresponding to three joints 57. Then, the knot 47 at the foremost end becomes flexible as much as the wire 44 is pulled out, and curves along the tube wall 42. In this way, when the pressure sensor 43 at the next node contacts the tube wall 42 at the bent portion of the lumen 42, the wire 44 at the node is wound up, the insertion portion becomes flexible, and passes through the bent portion. be able to.
[0046]
In the third embodiment, since the insertion portion in contact with the lumen 42 becomes flexible sequentially from the distal end, the insertion portion can easily pass through a bent portion such as the large intestine. In addition, since the wire 44 is still inserted through the portion corresponding to the duct up to the bent portion, the force by which the operator pushes the endoscope from the hand side is efficiently transmitted.
[0047]
12 to 14 show a fourth embodiment. The endoscope insertion section 41 has a plurality of nodes as in the third embodiment, and each node is provided with a pair or a plurality of pressure sensors 43. I have.
[0048]
FIG. 13A is an enlarged view of a node. The pressure sensor 43 is mounted in the same manner as in the third embodiment. In addition, a wire heating unit 69 shown in FIG. The wire heating unit 69 is configured such that wire support plates 68 are provided at equal intervals, and a coil-shaped SMA wire 67 is stretched between the support plates 68.
[0049]
The SMA wire 67 is connected to the power supply line 63, and the power supply line 63 is connected to an external power supply device 64. On the other hand, the pressure sensor 43 is connected to the controller 66 via the sensor energization / output line 46 as in the third embodiment. The controller 66 and the energizing device 64 are connected by a control cable 65.
[0050]
When the coiled SMA wire 67 is heated, the coiled SMA wire 67 returns to the initial shape as shown in FIG. When not heated, the coil has a close-wound coil shape as shown in FIG.
[0051]
FIG. 15 is a diagram showing the connection between the SMA wire 67 and the conducting wire 73 in detail. The SMA wire 67 is electrically connected to the conductive contact portion 71 provided on the wire support plate 68. The conductive contact portion 71 is provided on the surface of the wire heating unit 69 and the wire support plate 68 and is connected to the conductive pattern 70 embedded and formed inside the wire heating unit 69. The conductive pattern 70 is connected to the conducting wire 73 at the rearmost side of the wire heating unit 69.
[0052]
Therefore, when the pressure sensor 43 of a certain node 47 contacts the pipe wall 42, a signal from the pressure sensor 43 is input to the controller 66, and a sensor signal from the controller 60 is input to the energizing device 64. In the conducting device 64, the sensor receiving the pressure outputs a heating current to the SMA wire 67 of the corresponding node. As a result, the SMA wire 67 generates heat. When the SMA wire 67 generates heat, it deforms in the direction in which it expands, and the spring force is reduced. As a result, the node at which the pressure sensor detects contact with the tube wall becomes soft.
[0053]
16 and 17 show a fifth embodiment, in which an endoscope has a balloon 72 inserted into an endoscope channel 53. Further, a plurality of pressure sensors 43 are provided on the endoscope surface, as in the third and fourth embodiments. The balloon section 72 is connected to an air supply means 73 outside the endoscope via a tube 75, and the air supply means is drive-controlled by a control device 74 via a control cable 78. The pressure sensor 43 inputs an output signal to the control device 74 via the sensor energization / output line 46. FIG. 17 shows the configuration in further detail. The balloon portion 72 has constricted portions 77 at equal intervals, and a tube 75 is joined to a portion of the balloon portion 72 sandwiched between the constricted portions 77.
[0054]
Therefore, when any balloon portion 72 sandwiched between any constrictions 77 is pressurized via the tube 75, the portion expands and fills the endoscope channel 53. Then, since the balloon portion 72 expands and the endoscope channel 53 is compressed, the endoscope insertion portion corresponding to the portion where the balloon portion 72 expands becomes hard. Normally, when the endoscope is inserted, all balloon portions 72 are inflated uniformly, and a certain degree of hardness is maintained. At the time of insertion, similarly to the third and fourth embodiments, when the pressure sensor 43 on the lumen wall detects contact with the lumen wall, the balloon portion 72 of the node corresponding to the pressure sensor 43 is detected. , And the balloon portion 72 at that portion is deflated. Then, the insertion portion corresponding to the node where the pressure sensor 43 is disposed becomes soft and passes through the bent portion.
[0055]
FIG. 18 shows a sixth embodiment, and this embodiment is provided with only one node of the fifth embodiment. The colonoscope 81 has a curved portion 83 at the tip and a variable hardness portion 84 as a node following the curved portion 83. The rear side of the variable hardness portion 84 is constituted by a flexible tube 85. The balloon portion 72 is built in the hardness variable portion 84 as in the fifth embodiment. The pressure sensor 43 is arranged on the surface of the curved portion 83.
[0056]
Therefore, when the bending portion 83 causes the stick phenomenon at the bent portion of the large intestine 82, the air of the balloon portion 72 of the subsequent hardness varying portion 84 is discharged to soften the hardness varying portion. Then, as shown in FIG. 18B, the endoscope can be pushed and inserted along the shape of the large intestine bend.
[0057]
FIG. 19 shows a seventh embodiment, which is a so-called cover type endoscope. The reuse scope has a semilunar cross-sectional shape, has an observation optical system 92 at the end, a curved portion 93, a variable hardness portion 94, and a flexible tube 95 that follows.
[0058]
The variable hardness section 94 has a variable hardness actuator 96, which may be the SMA or the balloon described in the fifth and sixth embodiments. On the other hand, the cover 98 has a scope insertion hole 99 through which the reuse scope 91 can be inserted, and further has a forceps insertion hole 99a. The pressure sensor 43 is disposed on the surface of the cover 98, and an output signal from the pressure sensor 43 is connected to the control unit 99c via the sensor energization / output line 46 and the connector 99b. On the other hand, the variable hardness actuator 96 is connected to the control unit 99c via the drive line 97. The operation is the same as in the sixth embodiment.
[0059]
Further, in the third and subsequent embodiments, the embodiment of the endoscope in which the insertability and the improvement of the endoscope are improved by combining the pressure sensor 43 and the variable hardness mechanism has been described. The configuration of the bending portion of the traveling endoscope may be employed as it is in the hardness variable mechanism. In the first embodiment, three air chambers 16 are provided at equal intervals in the multi-lumen tube 20, and the configuration in which the three air chambers 16 are curved in the respective directions is shown. The hardness of the curved portion 12 changes hard. Further, an arbitrary hardness can be obtained by controlling the air pressure to be pressurized.
[0060]
In the curved portion 31 formed by the SMA coil 36 shown in the second embodiment, the hardness of the curved portion 31 can be increased by energizing the opposite SMA coil 36 synchronously by the same amount.
[0061]
In the first and second embodiments, the self-propelled mechanism by air pressure or SMA has been described. However, when the self-propelled mechanism is not required in the small intestine or the like and the insertion is performed by pushing and inserting, the insertion portion has a certain degree of hardness. As described above, if the bending portion 12, 13 or the bending portion 31 of the second embodiment is pushed in while the hardness is high, the insertability is further improved.
[0062]
According to the embodiment, the following configuration is obtained.
[0063]
(Supplementary Note 1) An insertion portion having a plurality of curved portions connected in series and inserted into a lumen, and locked to the inner wall of the lumen provided at a distal end portion and a proximal end portion of the plurality of curved portions. Locking means for driving, a driving means for driving the bending portion and the locking means, a control means for controlling the driving means so as to sequentially drive the bending portion and the locking means at regular intervals, An endoscope apparatus comprising input means for inputting a command signal to the control means.
[0064]
(Supplementary Note 2) Hardness varying means whose flexibility changes in accordance with an input signal is provided inside the endoscope insertion section, and pressure sense detection means for detecting a contact pressure with the outside is provided on the surface of the insertion section. An endoscope apparatus wherein the drive of the hardness varying means is controlled in accordance with a detection value obtained by the pressure sense detecting means.
[0065]
(Supplementary note 3) The endoscope apparatus according to supplementary note 1, wherein the locking means is a balloon that is inflated by pressurization.
[0066]
(Supplementary Note 4) The endoscope apparatus according to Supplementary Note 1, wherein each of the locking means includes a plurality of curved portions.
[0067]
(Supplementary note 5) The endoscope apparatus according to supplementary note 1, wherein the bending portion is a bending mechanism that generates a bending force by pressurization.
[0068]
(Supplementary note 6) The endoscope apparatus according to supplementary note 1, wherein the bending portion is a bending mechanism that generates a bending force by a shape memory alloy.
[0069]
(Supplementary note 7) The supplementary note 2, wherein the hardness varying means is configured by arranging an inflatable member that expands arbitrarily in the insertion portion, and presses an inner surface of the insertion portion when inflated to harden the insertion portion. Endoscope device.
[0070]
(Supplementary Note 8) The endoscope apparatus according to Supplementary Note 2, wherein the inflatable member is a bag member that is inflated by pressurization.
[0071]
(Supplementary note 9) The endoscope apparatus according to supplementary note 2, wherein the hardness varying unit is configured by sealing a chemical material whose hardness changes due to an environmental change in the insertion portion.
[0072]
(Supplementary note 10) The endoscope apparatus according to supplementary note 2, wherein the hardness varying unit is configured by disposing a shape memory alloy in the insertion portion.
[0073]
(Supplementary Note 11) The endoscope apparatus according to Supplementary Note 2, wherein the hardness varying unit is configured by a semi-rigid lot that slides with respect to the insertion portion.
[0074]
(Supplementary Note 12) The endoscope apparatus according to Supplementary Note 2, wherein a plurality of the hardness changing means are provided in the insertion portion.
[0075]
With the configuration of Appendix 1, the endoscope can be extended and retracted by operating a plurality of bending portions, and can be moved forward and backward by interlocking with the locking means.
[0076]
By adopting the configuration of Appendix 2, the contact state with the lumen is detected by the pressure sensor, and the flexibility of the insertion portion can be changed according to the detected state, so that the insertability is improved.
[0077]
20 to 23 show the eighth embodiment, and FIG. 20 is a configuration diagram of the entire endoscope apparatus. The endoscope 101 has three insertion sections: an insertion section 102 with an observation function for observation, an insertion section 103 with an illumination function for guiding illumination light to an observation site, and a channel insertion section 104 for inserting a treatment tool and the like. . An objective lens 105 is provided on the distal end face of the insertion section 102 with the observation function, an illumination window 106 is provided on the distal end face of the insertion section 103 with the illumination function, and a channel opening 107 is provided on the distal end face of the channel insertion section 104. I have.
[0078]
A CCD and a cable are provided inside the insertion section 102 with the observation function, and a light guide cable is provided inside the insertion section 103 with the illumination function. The configuration guided from them to the video processor 108, the monitor 109, the illumination light source device 110, and the like is the same as that of a normal endoscope.
[0079]
A self-propelled device 111 is provided on the outer periphery near the distal end surface of each of the insertion portions 102, 103, 104. As shown in FIG. 21, the self-propelled device 111 includes a front balloon 112, a rear balloon 113, and a telescopic part 114 interposed between the two balloons 112 and 113 so as to be able to move forward and backward. The front balloon 112 is fixed to the outer periphery of the insertion sections 102, 103, and 104, and the rear balloon 113 is slidably provided with the insertion section 102.
[0080]
The balloons 112 and 113 expand radially when a pressurized fluid is supplied thereto, and contract when the pressurized fluid is discharged. The expansion and contraction portion 114 is formed in a bellows shape, and expands by supplying a pressurized fluid to a hollow portion in a wall portion thereof, and contracts when the pressurized fluid is discharged. The balloons 112 and 113 and the expansion / contraction part 114 are made of, for example, latex or silicone resin.
[0081]
A fluid conduit (not shown) for driving the balloons 112 and 113 and the telescopic unit 114 with a fluid passes through the insides of the insertion units 102, 103 and 104, the operation unit 115 of the endoscope, and the flexible cable 116. This fluid line is connected to a pressurizing pump 117. The operation unit 115 of the endoscope is provided with a self-propelled operation switch 118 for controlling self-propulsion and an insertion port 119 for a treatment tool insertion channel.
[0082]
Next, the operation of the self-propelled device 111 will be described with reference to FIG.
[0083]
As shown in FIG. 7A, at first, the front balloon 112 and the expansion / contraction part 114 are deflated, and the rear balloon 113 is inflated, thereby gripping the lumen wall 120.
[0084]
Then, as shown in FIG. Then, the front end moves forward.
[0085]
Next, as shown in FIG. 3C, the front balloon 112 is inflated, and the lumen wall 120 is gripped by this.
[0086]
Finally, as shown in FIG. 3D, the rear balloon 113 is contracted, and the elastic portion 114 is also contracted. Then, the rear balloon 113 slides forward with respect to the insertion portions 102, 103, and 104. By repeating such a procedure, the insertion portions 102, 103, and 104 advance to the deep part of the lumen.
[0087]
Next, a procedure of inserting the endoscope 101 into a living body and observing and treating the inside of a living body lumen will be described with reference to FIG.
[0088]
First, as shown in FIG. 1A, the insertion unit 102 with the observation function, the insertion unit 103 with the illumination function, and the channel insertion unit 104 are respectively self-propelled to the deepest part of the observation range in the lumen. Note that the order in which the insertion sections 102, 103, and 104 are self-propelled does not matter.
[0089]
Next, as shown in FIG. 2B, after the insertion portions 102, 103, and 104 reach the target site, both balloons 112 and 113 of all the self-propelled devices 111 are contracted, and the expansion and contraction portions 114 are extended. Thereby, the outer diameter of the self-propelled device 111 is set to the thinnest state.
[0090]
Next, as shown in FIG. 3C, the insertion sections 102, 103, and 104 are selectively pulled out of the living body lumen so that the distal end surfaces of the insertion sections 102, 103, and 104 are aligned, and observation and treatment are performed. It is easy to do.
[0091]
Thereafter, as shown in FIG. 3D, observation and treatment are performed while simultaneously pulling the three insertion portions 102, 103, and 104 out of the living body lumen while going from the deep part of the lumen to the lumen entrance.
[0092]
Note that the tip surfaces of the insertion portions 102, 103, and 104 do not necessarily have to be aligned, and for example, the tip surface of the insertion portion 113 with a lighting function is greater than the tip surfaces of the other insertion portions 102, 104 depending on the use state. It may be in front.
[0093]
Further, when the purpose of using the endoscope 101 is only to observe the inside of the lumen, only the insertion section 102 with the observation function and the insertion section 103 with the illumination function may be inserted.
[0094]
Therefore, since the flexibility of each insertion portion is small, the insertion portion is easy to bend along the shape of the meandering lumen, and can be self-propelled to the deep part of the lumen, and more securely self-propelled to the deep part in the lumen than before. As a result, the observable range is expanded and the inspection time can be expected to be shortened.
[0095]
24 to 30 show a first disclosure example. As shown in FIG. 24, a first balloon 202 and a second balloon 203 which expand radially by pressurization on the outer peripheral portion of the cover-type tube 201 normally extend between the two balloons 202 and 203. A bellows 204 that contracts when suctioned is provided, and the second balloon 203 is connected to move in the same manner as the bellows 204 contracts. A plurality of self-propelled portions including the first balloon 202, the second balloon 203, and the bellows 204 are provided in the longitudinal direction of the cover tube 201.
[0096]
Further, a plurality of through holes are provided in the inside of the cover type tube 201 (ends are closed with holes), and the through holes 205a, 205b, and 205c have side holes 207a as shown in FIG. , 207b, and 207c, respectively, the first balloon 202 is provided in the side hole 207a, the bellows 204 is provided in the side hole 207b, and air is provided in the side hole 207c as shown in FIG. A tube 208 is connected, and one end is connected to the second balloon 203.
[0097]
Further, the second balloon 203 can slide on the surface of the cover-type tube 201, and as shown in FIG. 27, the second balloon 203 is placed outside the cylindrical member 209 having a larger inner diameter than the cover-type tube 201. A balloon 203 is provided, and a membrane member 210 is provided in a gap between the cylindrical member 209 and the cover tube 201 so that air sucked and discharged from the side hole 207b does not leak from the inside of the bellows 204. ing.
[0098]
The first balloon 202 is fixed to the cover-type tube 201 by adhesive welding or the like, the second balloon 203 is similarly fixed by a cylindrical member 209, and the bellows 204 has its tip fixed to the cover-type tube 201. The end is fixed to the front part of the cylindrical member 209. An air chamber is provided independently of the first balloon 202, the second balloon 203, and the bellows 204. FIGS. 25A, 25B, and 25C show cross sections of the side holes 207a, 207b, and 207c, respectively. As shown in FIG. 28, in the piping provided by the through holes 207, the through hole 205a is connected to all the first balloons 202 via the side holes 207a, and the through hole 205b is connected to all the first balloons 202 via the side holes 207b. The through-hole 205c is connected to all the second balloons 203 via the side hole 207c.
[0099]
FIG. 29 shows the through hole 205a and the side hole 207a connected to the first balloon 202. As shown in the figure, the diameter of the side hole 207a becomes larger toward the tip end.
[0100]
This is because the resistance makes it difficult for the fluid to come out toward the tip, and in consideration of this, the diameter is increased toward the tip so that the plurality of self-propelled parts all move in the same manner. Further, a fluid control unit (not shown) is connected to the near side of the through holes 205a, 205b, and 205c, so that fluid (for example, air) can be independently supplied to and discharged from each of the through holes 205a, 205b, and 205c. .
[0101]
The light guide fiber or the image guide fiber is inserted into the through hole 206 of the cover type tube 201 of the self-propelled device having the above-described configuration and observed.
[0102]
As shown in FIG. 30, by operating the fluid control unit 208 on the hand side of the self-propelled endoscope 200 in the conduit, first, the first balloon 202 is inflated by being pressurized. The first balloon 202 is gripped by the tube wall. ... FIG. 30 (b)
Next, the fluid inside the bellows 204 is sucked to contract the bellows, and the second balloon 203 is pressurized and gripped by the tube wall. ... FIG. 30 (c)
Further, the first balloon 202 is contracted by reducing the pressure, and is expanded by pressing the balloon 204. ... FIG. 30 (d)
By repeating this operation, it is made to move forward.
[0103]
At this time, all of the first balloon, all of the second balloon, and all of the bellows are connected by one pipe, and the operation of combining the supply and discharge of the fluid to the three pipes is performed. Only.
[0104]
Therefore, the propulsion is improved by providing a plurality of self-propelled devices in the longitudinal direction. Moreover, the diameter is not increased because the number of pipes is not increased.
[0105]
FIG. 31 shows a second disclosure example. As shown in FIG. 31, a first balloon 212, a second balloon 213, and a bellows 214 are provided for a flexible tube 211 as in the first disclosed example. The first balloon 212 is fixed to the tube 211 by bonding, welding, or the like, and the bellows 214 has a front portion fixed to the tube 211 in the same manner.
[0106]
The rear of the bellows 214 is fixed to a cylindrical member 215 having a larger diameter than the tube 211, and a second balloon 213 is fixed to an outer peripheral portion of the cylindrical member 215. Further, a thin film member 216 is attached between the cylindrical member 215 and the tube 211 so that air does not leak. Note that FIG. 207 shows only one self-propelled portion, but a plurality of self-propelled portions are provided as in the first disclosed example, and all the first balloons 212 have piping. 217a, all the second balloons 213 are provided with a pipe 217b, and all the bellows 214 are provided with a pipe 217c.
[0107]
The self-propelled part having such a structure is provided detachably on a scope or the like. The self-propelled part is detachable from the scope and can be attached or detached according to the situation of use. The movement of the self-propelled part is the same as in the first disclosed example.
[0108]
Therefore, in addition to the effect of the first disclosed example, the self-propelled portion becomes detachable, so that the self-propelled portion can be used for an existing scope, and a large film does not need to be improved.
[0109]
As a modification of the first disclosure, a bellows 204 that expands when pressed while the bellows 204 is normally contracted may be used. Others are the same as the first disclosed example. The operation is basically the same as that of the first disclosed example, except that the order of pressurizing the first balloon 202, the second balloon 203, and the bellows 204 is different.
[0110]
First, the operations of pressurizing and expanding the second balloon 203, pressurizing and expanding the bellows 204, pressurizing and expanding the first balloon 202, decompressing and contracting the second balloon 203, and depressurizing and contracting the bellows 204 are repeated. Therefore, the same effect as that of the first disclosed example can be obtained.
[0111]
According to the embodiment, the following configuration is obtained.
[0112]
(Supplementary Note 13) In the endoscope apparatus having an in-tube self-propelling mechanism in an insertion portion of the endoscope, the insertion portion is configured by a plurality of flexible tubes, and the self-propelling mechanism is provided in each of the plurality of flexible tubes. An endoscope apparatus, wherein the endoscope apparatus is provided.
[0113]
(Supplementary Note 14) A self-propelled portion including a bellows portion that expands and contracts by supplying and discharging a fluid and a balloon portion that expands and contracts in a radial direction by supplying and discharging a fluid to both ends of the bellows portion is internally viewed. In a self-propelled endoscope provided in an insertion portion of a mirror, a plurality of the self-propelled portions are provided, and front balloon portions, rear balloon portions, and bellows portions of the self-propelled portion are the same. A self-propelled endoscope, characterized in that the endoscope has a fluid conduit.
[0114]
(Supplementary Note 15) The endoscope apparatus according to Supplementary Note 14, wherein the fluid conduits that communicate with the front balloon portion, the rear balloon portion, and the bellows portion have a larger diameter toward the distal end.
[0115]
(Supplementary note 16) The endoscope apparatus according to Supplementary note 14, wherein the self-propelled part has an endoscope insertion part detachable.
[0116]
(Supplementary note 17) The endoscope apparatus according to supplementary note 16, wherein the plurality of self-propelled units are independently detachable from an endoscope insertion unit one by one.
[0117]
(Supplementary Note 18) In Supplementary Note 14, the self-propelled portion is formed of a tube member having a plurality of through holes in an axial direction, and the through hole is a fluid conduit for supplying and discharging fluid to the balloon portion and the bellows. An endoscope apparatus characterized by the above-mentioned.
[0118]
(Supplementary note 19) The endoscope apparatus according to supplementary note 18, wherein the tube member is made of silicon, urethane, Teflon, or the like.
[0119]
【The invention's effect】
As described above, according to the present invention, the insertion portion is formed by a plurality of flexible tubes, and the plurality of flexible tubes are provided with a self-propelling mechanism, whereby the insertion portion is allowed to self-propelled to a deep portion in the lumen. Therefore, there is an effect that the observable range is widened and the inspection time can be shortened.
[Brief description of the drawings]
FIG. 1 is a perspective view of an entire endoscope apparatus according to a first embodiment of the present invention.
FIGS. 2A and 2B show a self-propelled part of the embodiment, wherein FIG. 2A is a longitudinal sectional side view, and FIG.
FIG. 3 is a sectional view of the multi-lumen tube of the embodiment.
FIG. 4 is a configuration diagram of the self-propelled control device of the embodiment.
FIG. 5 is an operation explanatory diagram of the embodiment.
FIG. 6 is a side view of an endoscope insertion section according to a second embodiment of the present invention.
FIG. 7 is an exemplary perspective view of a bending portion according to the embodiment;
FIG. 8 is a block diagram of the SMA coil of the embodiment.
FIG. 9 is an operation explanatory diagram of the embodiment.
FIG. 10 is a perspective view of a use state of an endoscope according to a third embodiment of the present invention.
11A is a perspective view of a bending portion of the embodiment, FIG. 11B is a perspective view of a pressure sensor, FIG. 11C is a cross-sectional view of an insertion portion, and FIG. 11D is a configuration diagram of a motor control device.
FIG. 12 is a perspective view showing a use state of an endoscope according to a fourth embodiment of the present invention.
FIG. 13A is a perspective view of a bending portion of the embodiment, and FIGS. 13B and 13C are perspective views of an SMA wire.
FIG. 14 is a perspective view of the wire heating unit of the embodiment.
FIGS. 15A and 15B show a connection state between the SMA wire and the conducting wire of the embodiment, wherein FIG. 15A is a plan view and FIG. 15B is a side view.
FIGS. 16A and 16B show a fifth embodiment of the present invention, and FIGS. 16A and 16B are perspective views of a bending portion of an endoscope.
FIG. 17 is a configuration diagram of an endoscope channel according to a sixth embodiment of the present invention.
FIG. 18 is an operation explanatory diagram of the embodiment.
FIG. 19 shows a seventh embodiment of the present invention and is a perspective view of a lew scope.
FIG. 20 is a configuration diagram of an entire endoscope apparatus according to an eighth embodiment of the present invention.
FIG. 21 is a perspective view of the self-propelled device of the embodiment.
FIG. 22 is an operation explanatory diagram of the embodiment.
FIG. 23 is an explanatory diagram of the operation of the embodiment.
FIG. 24 is a perspective view of a distal end portion of the endoscope according to the first disclosure example;
FIG. 25 is a cross-sectional view of the cover-type tube of the embodiment of the disclosure.
FIG. 26 is a perspective view of a cover-type tube of the disclosure example.
FIG. 27 is a vertical side view of the balloon of the disclosure example.
FIG. 28 is a longitudinal sectional side view of a distal end portion of the endoscope according to the embodiment of the disclosure.
FIG. 29 is an enlarged longitudinal side view of a part of the distal end of the endoscope according to the embodiment of the disclosure;
FIG. 30 is an operation explanatory diagram of the disclosure example.
FIG. 31 is a longitudinal sectional side view of a distal end portion of the endoscope according to the second disclosure example;
[Explanation of symbols]
102, 103, 103 ... flexible tube, 112, 113 ... balloon

Claims (3)

In an endoscope apparatus having an in-tube self-propelled mechanism in an insertion portion of the endoscope,
An endoscope apparatus wherein the insertion portion is formed by a plurality of flexible tubes, and the self-propelling mechanism is provided in each of the plurality of flexible tubes. The plurality of flexible tubes are inserted with a first flexible tube having an observing function for observing the inside of the tubes, a second flexible tube having an illuminating function for guiding illumination light to an observation site, and a treatment tool. 2. The endoscope apparatus according to claim 1, further comprising a third flexible tube having a channel that cuts. 3. The endoscope apparatus according to claim 1, wherein the self-propelled mechanism has a plurality of balloons.

Images