JP2007054400A - Endoscope - Google Patents

Endoscope Download PDF

Info

Publication number
JP2007054400A
JP2007054400A JP2005244685A JP2005244685A JP2007054400A JP 2007054400 A JP2007054400 A JP 2007054400A JP 2005244685 A JP2005244685 A JP 2005244685A JP 2005244685 A JP2005244685 A JP 2005244685A JP 2007054400 A JP2007054400 A JP 2007054400A
Authority
JP
Japan
Prior art keywords
bending
end side
bending portion
distal end
rear end
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.)
Withdrawn
Application number
JP2005244685A
Other languages
Japanese (ja)
Inventor
Atsushi Watanabe
厚 渡辺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Medical Systems Corp
Original Assignee
Olympus Medical Systems Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Olympus Medical Systems Corp filed Critical Olympus Medical Systems Corp
Priority to JP2005244685A priority Critical patent/JP2007054400A/en
Publication of JP2007054400A publication Critical patent/JP2007054400A/en
Withdrawn legal-status Critical Current

Links

Images

Landscapes

  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope with excellent insertion performance to facilitate the insertion of an insertion portion into a curved body cavity. <P>SOLUTION: The endoscope is equipped with a first bending portion 12 and a second bending portion 13 at a distal end side part of an insertion portion inserted into the body cavity. Bending pieces 21, 22, 22, 24 are rotatably connected in a manner that curvature radii in the direction of the insertion axis of the distal end side parts for the first bending part 12 and the second bending part 13 are respectively smaller than those of the proximal end parts when the bending parts are bent most. Consequently, the endoscope facilitates the insertion into the curved body cavity. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、先端部付近に湾曲部が設けられた挿入部を有する内視鏡に関する。   The present invention relates to an endoscope having an insertion portion in which a bending portion is provided in the vicinity of a distal end portion.

従来、医療分野の内視鏡は、例えば、体腔内に細長い挿入部を挿入することによって、体腔内の臓器等を観察したり、必要に応じて処置具挿通チャンネル内に挿入した処置具を用いて各種処置をすることができる。この内視鏡挿入部には、先端から順に、先端（構成）部、湾曲部及び可撓管部が配設されている。
内視鏡の挿入部を体腔内へ挿入する際、術者は、可撓管部を把持して、体腔内へ押し込みながら、内視鏡の操作部に配設される操作ノブを所定操作することにより湾曲部を所望の方向へ湾曲させる。このような、内視鏡の挿入部は、屈曲する体腔内への挿入性を良くするため種々の工夫がなされている。 2. Description of the Related Art Conventionally, endoscopes in the medical field use, for example, a treatment tool that is used to observe an organ or the like in a body cavity by inserting an elongated insertion portion into the body cavity or inserted into a treatment tool insertion channel as necessary. Various treatments can be performed. In this endoscope insertion portion, a distal end (configuration) portion, a bending portion, and a flexible tube portion are disposed in order from the distal end.
When inserting the insertion portion of the endoscope into the body cavity, the surgeon grasps the flexible tube portion and pushes it into the body cavity while performing a predetermined operation on an operation knob disposed on the operation portion of the endoscope. As a result, the bending portion is bent in a desired direction. Such an insertion portion of the endoscope has been devised in various ways in order to improve the insertability into a bending body cavity.

例えば、特許文献１（特開昭５８−４９１３２号公報）に記載される内視鏡は、挿入部の先端部分に先端側から順に、能動的に湾曲自在の第１の湾曲部及び受動的に湾曲可能な第２の湾曲部が連設されている。この第１の湾曲部は、内部に複数の湾曲駒が連設されており、操作部の所定操作によって湾曲される。一方、第２の湾曲部は、腰が弱く、外力により容易に湾曲される。
また、特許文献２（実公平１−２２６４１号公報）に記載される内視鏡の挿入部には、先端側から順に、外部から４方向へ能動的に湾曲操作可能な第１の湾曲部と、ステーコイル及び節輪が配設され、４方向へ受動的に湾曲自在な構造からなる非常に曲がり易い第２の湾曲部とが連設されている。
特開昭５８−４９１３２号公報 実公平１−２２６４１号公報 For example, an endoscope described in Patent Document 1 (Japanese Patent Application Laid-Open No. 58-49132) includes a first bendable portion that is bendable actively and a passively in order from the distal end side to the distal end portion of the insertion portion. A bendable second bending portion is provided continuously. The first bending portion has a plurality of bending pieces arranged continuously therein, and is bent by a predetermined operation of the operation portion. On the other hand, the second bending portion has a low waist and is easily bent by an external force.
In addition, the insertion portion of the endoscope described in Patent Literature 2 (Japanese Utility Model Publication No. 1-22641) includes a first bending portion that can be actively bent in four directions from the outside in order from the distal end side. The stay coil and the node ring are disposed, and a second bending portion that is configured to be freely bent in four directions and is very easy to bend is continuously provided.
JP 58-49132 A No. 1-222641

通常、内視鏡の挿入部が体腔内の屈曲部分を通過する際、第２の湾曲部は、湾曲操作された第１の湾曲部の湾曲状態と体腔壁の屈曲に沿って湾曲される。
しかしながら、特許文献１及び特許文献２に記載される内視鏡の第２の湾曲部は、第１の湾曲部よりも腰が弱く、非常に曲がり易いため、押し込み等の際に効率良く力を伝達しにくくなる可能性がある。
そのため、体腔内への挿入をより円滑に行い易くできると便利である。 Usually, when the insertion portion of the endoscope passes through a bent portion in the body cavity, the second bending portion is bent along the bending state of the bending operation of the first bending portion and the bending of the body cavity wall.
However, the second bending portion of the endoscope described in Patent Literature 1 and Patent Literature 2 is weaker than the first bending portion and is very easy to bend. May be difficult to communicate.
Therefore, it is convenient if the insertion into the body cavity can be facilitated more smoothly.

（発明の目的）
本発明は、上記事情に鑑みてなされたものであり、内視鏡の挿入部を体腔内に挿入する際の挿入性を向上できる内視鏡を提供することを目的とする。 (Object of invention)
The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an endoscope that can improve insertability when an insertion portion of an endoscope is inserted into a body cavity.

本発明は、観察手段が設けられた先端部と、この先端部の基端部付近の第１の湾曲部と、第２の湾曲部とが順次形成された挿入部を有する内視鏡において、
前記第１の湾曲部と、第２の湾曲部とにおける最大湾曲時の曲率半径を、先端側部分が後端側部分よりもそれぞれ小さくなるように形成したことを特徴とする。
上記構成により、体腔内に挿入される挿入部の先端側部分を大きな屈曲部の深部側に挿入する場合、第１の湾曲部の先端側部分を後端側部分よりも大きく湾曲することができると共に、第２の湾曲部においてもその先端側部分を後端側部分よりも大きく湾曲することができるようにして、挿入の際に先端側部分に対して後端側部分を円滑に追従させ易くし、挿入性を向上している。 The present invention provides an endoscope having an insertion portion in which a distal end portion provided with observation means, a first curved portion near the proximal end portion of the distal end portion, and a second curved portion are sequentially formed.
The radius of curvature at the time of maximum bending in the first bending portion and the second bending portion is formed such that the front end side portion is smaller than the rear end side portion.
With the above configuration, when the distal end side portion of the insertion portion to be inserted into the body cavity is inserted into the deep portion side of the large bending portion, the distal end side portion of the first bending portion can be bent larger than the rear end side portion. At the same time, the distal end portion of the second curved portion can be bent more greatly than the rear end portion, and the rear end portion can be smoothly followed with respect to the distal end portion during insertion. And the insertability is improved.

本発明によれば、屈曲した体腔内に挿入部を挿入する際の挿入性を向上させることができる。   ADVANTAGE OF THE INVENTION According to this invention, the insertion property at the time of inserting an insertion part in the bent body cavity can be improved.

以下、図面を参照して本発明の実施例を説明する。   Embodiments of the present invention will be described below with reference to the drawings.

図１ないし図９を参照して本発明の実施例１を説明する。図１は内視鏡を備えた内視鏡装置の全体構成図である。
図１に示すように、内視鏡装置１は、図示しない撮像手段を備えた電子内視鏡（以下、内視鏡と略記）２と、照明光を供給する光源装置３と、内視鏡２の撮像手段から伝送された電気信号により映像信号を生成するプロセッサ４と、この映像信号を受けて内視鏡画像を表示する表示装置であるモニタ５とから構成される。
本実施例の内視鏡２は、体腔内に挿入される長尺の挿入部６と、この挿入部６の基端側に設けられた操作部７と、この操作部７の一側部から延出されるユニバーサルコード８とによって主に構成される。 A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is an overall configuration diagram of an endoscope apparatus including an endoscope.
As shown in FIG. 1, an endoscope apparatus 1 includes an electronic endoscope (hereinafter abbreviated as an endoscope) 2 provided with an imaging unit (not shown), a light source device 3 that supplies illumination light, and an endoscope. 2 includes a processor 4 that generates a video signal based on an electrical signal transmitted from the image pickup means 2 and a monitor 5 that is a display device that receives the video signal and displays an endoscopic image.
The endoscope 2 according to the present embodiment includes a long insertion portion 6 to be inserted into a body cavity, an operation portion 7 provided on the proximal end side of the insertion portion 6, and one side portion of the operation portion 7. Mainly constituted by the extended universal cord 8.

操作部７は、把持部７ａと、湾曲操作ノブ７ｂと、撮像手段のレリーズの指示などをするための各種スイッチ７ｃと、送気送水ボタンなどの各種ボタン７ｄを備えている。ユニバーサルコード８は、延出された端部に、照明光を供給する光源装置３に脱着自在に接続される内視鏡コネクタ８ａが設けられている。この内視鏡コネクタ８ａから電気ケーブル９が延出され、この電気ケーブル９の末端に、撮像手段に対する信号処理を行うプロセッサ４に着脱自在に接続される電気コネクタ９ａが設けてある。
内視鏡２の挿入部６は、先端側から順に、硬質の先端構成部（又は先端部）１１、能動的に湾曲する湾曲部１２、受動的に湾曲する湾曲部１３、可撓性を有する可撓管部１４とから構成されている。 The operation unit 7 includes a gripping unit 7a, a bending operation knob 7b, various switches 7c for instructing the release of the imaging means, and various buttons 7d such as an air / water supply button. The universal cord 8 is provided with an endoscope connector 8a that is detachably connected to the light source device 3 that supplies illumination light at the extended end. An electrical cable 9 extends from the endoscope connector 8a, and an electrical connector 9a is provided at the end of the electrical cable 9 so as to be detachably connected to the processor 4 that performs signal processing on the imaging means.
The insertion portion 6 of the endoscope 2 has, in order from the distal end side, a hard distal end constituent portion (or distal end portion) 11, a curved portion 12 that actively curves, a curved portion 13 that passively curves, and flexibility. And a flexible tube portion 14.

なお、以下では、簡単化のため、湾曲操作手段による操作により、上下、左右の任意の方向に湾曲自在の能動的な湾曲部１２と、挿入された状況の外力などに応じて湾曲される受動的な湾曲部１３とを第１の湾曲部１２及び第２の湾曲部１３の表現を用いて説明する。
先端構成部１１内には、撮像手段としてＣＣＤ、ＣＭＯＳなどの撮像素子、この撮像素子を駆動するための回路基板、観察光学系などから構成される図示しない撮像ユニットが内蔵されている。また、先端構成部１１には、体腔内の観察対象部位を照明するための照明光が通るライトガイドの先端部分が配設され、このライトガイド、照明光学系などから構成される照明ユニットが内蔵されている。
次に、図２から図５に基づいて、挿入部６の先端構成部、第１の湾曲部１２、第２の湾曲部１３及び可撓管部１４の構成について説明する。 In the following, for the sake of simplification, an active bending portion 12 that can be bent in any direction, up and down, left and right, and a passive that is bent in accordance with an external force in an inserted state, etc., by an operation by a bending operation means. The typical bending portion 13 will be described using expressions of the first bending portion 12 and the second bending portion 13.
An imaging unit (not shown) configured by an imaging device such as a CCD or CMOS, a circuit board for driving the imaging device, an observation optical system, and the like is built in the tip configuration unit 11. In addition, a distal end portion of a light guide through which illumination light for illuminating an observation target site in the body cavity passes is disposed in the distal end configuration unit 11, and an illumination unit including the light guide, illumination optical system, and the like is built in Has been.
Next, based on FIGS. 2 to 5, the configuration of the distal end constituting portion of the insertion portion 6, the first bending portion 12, the second bending portion 13, and the flexible tube portion 14 will be described.

図２は、挿入部の先端側を示す斜視図、図３は挿入部の先端部分を長手方向に沿って切断した縦断面図、図４は湾曲駒の一部を示す斜視図、図５（Ａ）から図５（Ｄ）は、図３のＡ−Ａ線、Ｂ−Ｂ線、Ｃ−Ｃ−線、Ｄ−Ｄ線に沿う先端構成部、第１の湾曲部、連結部、第２の湾曲部の各横断面図である。
図２に示すように、挿入部６の先端に配設される先端構成部１１は、先端面に観察用レンズなどを備える観察窓１１ａ、照明用レンズ等を備えた例えば、２つの照明窓１１ｂ及び鉗子等の処置具が挿通される鉗子チャンネルの開口部１１ｃが配設されている。
この先端構成部１１の基端側に連設される第１の湾曲部１２は、先端側から順に、第１先端側湾曲部１２ａ及び第１後端側湾曲部１２ｂの２部分から構成されている。 2 is a perspective view showing the distal end side of the insertion portion, FIG. 3 is a longitudinal sectional view of the distal end portion of the insertion portion cut along the longitudinal direction, FIG. 4 is a perspective view showing a part of the bending piece, and FIG. ) To FIG. 5 (D) show the tip configuration part, the first bending part, the connection part, the second part along the lines AA, BB, CC, and DD in FIG. It is each cross-sectional view of a curved part.
As shown in FIG. 2, the distal end constituting portion 11 disposed at the distal end of the insertion portion 6 includes an observation window 11 a provided with an observation lens on the distal end surface, and two illumination windows 11 b provided with illumination lenses, for example. And the opening part 11c of the forceps channel in which treatment tools, such as forceps, are inserted is arrange | positioned.
The first bending portion 12 connected to the proximal end side of the distal end constituting portion 11 is composed of two parts of a first distal end side bending portion 12a and a first rear end side bending portion 12b in order from the distal end side. Yes.

なお、第１先端側湾曲部１２ａは、例えば、３０〜３５ｍｍ程度の挿入軸方向の長さを有し、第１後端側湾曲部１２ｂは、例えば、４０〜４５ｍｍ程度の挿入軸方向の長さを有している。
第２の湾曲部１３は、先端側から順に、第２先端側湾曲部１３ａ及び第２後端側湾曲部１３ｂの２部分から構成されている。なお、第２先端側湾曲部１３ａは、例えば、２０〜２５ｍｍ程度の挿入軸方向の長さを有し、第２後端側湾曲部１３ｂは、例えば、３０〜４０ｍｍの挿入軸方向の長さを有している。
また、第１の湾曲部１２と第２の湾曲部１３の間、すなわち、第１後端側湾曲部１２ｂと第２先端側湾曲部１３ａの間には、連結部１５が配設されている。
図３に示すように、第１の湾曲部１２は、後述するように湾曲自在にすると共に、その曲率を所定量に規制する複数の湾曲駒（湾曲節輪とも言う）２１，２２がそれぞれ回動自在に連設して構成されている。 In addition, the 1st front end side curved part 12a has the length of the insertion axis direction of about 30-35 mm, for example, and the 1st rear end side curved part 12b is the length of the insertion axis direction of about 40-45 mm, for example. Have
The second bending portion 13 is composed of two parts, a second front end side bending portion 13a and a second rear end side bending portion 13b, in order from the front end side. In addition, the 2nd front end side curved part 13a has the length of the insertion axis direction of about 20-25 mm, for example, and the 2nd rear end side curved part 13b is the length of the insertion axis direction of 30-40 mm, for example. have.
Further, a connecting portion 15 is disposed between the first bending portion 12 and the second bending portion 13, that is, between the first rear end side bending portion 12b and the second front end side bending portion 13a. .
As shown in FIG. 3, the first bending portion 12 can be freely bent as will be described later, and a plurality of bending pieces (also referred to as curved node rings) 21 and 22 that restrict the curvature to a predetermined amount are respectively rotated. It is configured to be connected continuously.

また、第２の湾曲部１３も、後述するように湾曲の際の曲率を規制する複数の湾曲駒２３，２４がそれぞれ回動自在に連設して構成されている。
これら複数の湾曲駒２１〜２４は、細線のワイヤなどを筒状に編み込んだ湾曲ブレード３０で覆われるとともに、この湾曲ブレード３０上に水密を保つように第１の外装管体である外皮３１を被せることによって、第１の湾曲部１２、連結部１５及び第２の湾曲部１３が形成されている。
なお、湾曲ブレード３０及び外皮３１は、第１の湾曲部１２、連結部１５及び第２の湾曲部１３を夫々合わせた全長に渡って一体となるように被覆しても良く、第１の湾曲部１２、連結部１５及び第２の湾曲部１３に対して夫々別々に被覆しても良い。 The second bending portion 13 is also configured by a plurality of bending pieces 23 and 24 that regulate the curvature at the time of bending as described later.
The plurality of bending pieces 21 to 24 are covered with a bending blade 30 in which a thin wire or the like is knitted into a cylindrical shape, and an outer skin 31 that is a first outer tubular body is provided on the bending blade 30 so as to keep water tightness. By covering, a first bending portion 12, a connecting portion 15, and a second bending portion 13 are formed.
Note that the bending blade 30 and the outer skin 31 may be covered so as to be integrated over the entire length of the first bending portion 12, the connecting portion 15, and the second bending portion 13, respectively. You may coat | cover separately with respect to the part 12, the connection part 15, and the 2nd curved part 13, respectively.

従って、第１の湾曲部１２及び第２の湾曲部１３は、夫々の曲げ剛性が等しくなるように、所定の曲げ剛性を有する外皮３１が被せられている。なお、この外皮３１は、第１の湾曲部１２を被覆している部分の肉厚が、第２の湾曲部１３を被覆している部分よりも薄く形成されていても良い。従って、第１の湾曲部１２の曲げ剛性に対して、第２の湾曲部１３の曲げ剛性を低く設定しても良い。
第１先端側湾曲部１２ａ内には、複数の第１の湾曲駒２１が連設されている。一方、第１後端側湾曲部１２ｂ内には、複数の第２の湾曲駒２２が連設されている。なお、最先端の第１の湾曲駒２１は、先端構成部１１の基端側に配設されている。
また、第２先端側湾曲部１３ａ内には、曲率を規制する複数の第３の湾曲駒２３が連設されている。 Accordingly, the first bending portion 12 and the second bending portion 13 are covered with an outer skin 31 having a predetermined bending rigidity so that the respective bending rigidity becomes equal. The outer skin 31 may be formed so that the thickness of the portion covering the first bending portion 12 is thinner than the portion covering the second bending portion 13. Therefore, the bending rigidity of the second bending portion 13 may be set lower than the bending rigidity of the first bending portion 12.
A plurality of first bending pieces 21 are continuously provided in the first distal end side bending portion 12a. On the other hand, a plurality of second bending pieces 22 are continuously provided in the first rear end side bending portion 12b. The most advanced first bending piece 21 is disposed on the proximal end side of the distal end constituting portion 11.
In addition, a plurality of third bending pieces 23 that regulate the curvature are continuously provided in the second distal end side bending portion 13a.

一方、第２後端側湾曲部１３ｂ内には、複数の第４の湾曲駒２４が連設されている。なお、第１後端側湾曲部１２ｂの最後端の第２の湾曲駒２２は、連結部１５内の第５の湾曲駒２５の先端に回動自在に連結され、またこの連結部１５の最後端の湾曲駒２５は、第２先端側湾曲部１３ａの最先端の第３の湾曲駒２３と回動自在に連結されている。
図４に示すように、各湾曲駒２１，２２、２３，２４は、夫々が略円筒状の短い管によって形成されている。各湾曲駒２１，２２、２３，２４の夫々の一端側には、隣接する駒に対して回動自在に連結するための一対の枢支部４０Ａが配設されている。これら一対の枢支部４０Ａは、各湾曲駒２１，２２、２３，２４の円周を２等分する位置、すなわち、挿入軸周り方向に１８０度で互いにずれた位置に配設されている。 On the other hand, a plurality of fourth bending pieces 24 are continuously provided in the second rear end side bending portion 13b. The second bending piece 22 at the rearmost end of the first rear end side bending portion 12b is rotatably connected to the tip of the fifth bending piece 25 in the connecting portion 15, and the last of the connecting portions 15 is also connected. The bending piece 25 at the end is rotatably connected to the third bending piece 23 at the forefront of the second distal side bending portion 13a.
As shown in FIG. 4, each of the bending pieces 21, 22, 23, 24 is formed by a short tube having a substantially cylindrical shape. On one end side of each of the bending pieces 21, 22, 23, 24, a pair of pivotal portions 40 </ b> A for pivotably connecting to the adjacent pieces are disposed. The pair of pivotal support portions 40A are disposed at positions that divide the circumference of each of the bending pieces 21, 22, 23, and 24 into two equal parts, that is, positions that are shifted from each other by 180 degrees in the direction around the insertion axis.

また、各湾曲駒２１，２２、２３，２４の夫々の他端側にも、一端側と同様に一対の枢支部４０Ｂがそれらの板厚分だけ内周側にずらされて配設されている。すなわち、各湾曲駒２１，２２、２３，２４は、一端側と他端側の夫々の枢支部４０Ａ，４０Ｂが互いに重なり、枢支部４０Ａ，４０Ｂに穿設されている孔部４１にリベットなどの枢軸部材４２を通して軸支されている。
また、１つの各湾曲駒２１，２２、２３，２４において、一端側の一対の枢支部４０Ａは、他端側の一対の枢支部４０Ｂに対して挿入軸周りに９０度回転した、互い違いにずらされた位置に配設される。
すなわち、１つの各湾曲駒２１，２２、２３，２４において、一端側の一対の枢支部４０Ａは、夫々の枢軸部材４２の枢軸を結んだ線と他端側の一対の枢支部４０Ｂを結んだ線及び挿入軸とに対して直交する方向の位置に配設されている。 In addition, a pair of pivotal support portions 40B are also arranged on the other end side of each of the bending pieces 21, 22, 23, and 24 so as to be shifted to the inner peripheral side by their plate thickness, similarly to the one end side. . That is, in each bending piece 21, 22, 23, 24, the pivot portions 40A, 40B on one end side and the other end side overlap each other, and a rivet or the like is formed in the hole 41 formed in the pivot portions 40A, 40B. The pivot member 42 is pivotally supported.
Further, in each of the bending pieces 21, 22, 23, 24, the pair of pivot portions 40A on one end side are alternately shifted by 90 degrees around the insertion axis with respect to the pair of pivot portions 40B on the other end side. It is arranged at the position.
That is, in each of the bending pieces 21, 22, 23, 24, the pair of pivot portions 40A on one end side connect the line connecting the pivots of the respective pivot members 42 and the pair of pivot portions 40B on the other end side. It is disposed at a position perpendicular to the line and the insertion axis.

従って、連結された各湾曲駒２１，２２、２３，２４は、一端側が枢支部４０Ａの夫々の枢軸部材４２の軸周り２方向と他端面側が前記２方向と挿入軸とに対して直交する枢支部４０Ｂの枢軸部材４２の軸周り方向の２方向へ回動できるように接続されている。
なお、本実施例の説明において、枢支部４０Ａ，４０Ｂと枢軸部材４２によって構成された部分を関節部４０という。なお、連結部１５の湾曲駒２５も同様に関節部４０により回動自在に連結した構成である。
図３に戻って、各湾曲駒２１，２２、２３，２４は、夫々が連結された状態において、一端側又は他端側の夫々の枢軸部材４２の枢軸を結んだ線、すなわち、回動軸の中心を頂点として隣接する対向面の成す角が所定の角度となるように夫々構成されている。以下に各湾曲駒２１，２２、２３，２４の連結状態について説明する。 Accordingly, each of the connected bending pieces 21, 22, 23, 24 is pivoted so that one end side is orthogonal to the two directions around the axis of each pivot member 42 of the pivotal support portion 40A and the other end surface is orthogonal to the two directions and the insertion axis. It is connected so that it can turn in two directions around the axis of the pivot member 42 of the support 40B.
In the description of the present embodiment, the portion constituted by the pivotal support portions 40A and 40B and the pivot member 42 is referred to as the joint portion 40. In addition, the bending piece 25 of the connection part 15 is also the structure connected rotatably by the joint part 40 similarly.
Returning to FIG. 3, each of the bending pieces 21, 22, 23, 24 is a line connecting the pivots of the pivot members 42 on one end side or the other end side in a state where the bending pieces 21, 22, 23, 24 are connected to each other, The angles formed by the adjacent opposing surfaces with the center of the center being the apex are each configured to be a predetermined angle. Below, the connection state of each bending piece 21,22,23,24 is demonstrated.

第１先端側湾曲部１２ａの挿入軸が直線状態においては、回動して当接する第１の湾曲駒２１の２つの対向面の成す角は、回動軸中心を頂点として所定の角度θ１に設定されている。また、第１先端側湾曲部１２ａ内において、平行な軸方向の枢軸部材４２を有する一対の関節部４０は、第１先端側湾曲部１２ａの長手方向に対して、それらの枢軸部材４２の軸間が互いに所定の距離ｄ１だけ離されて構成されている。
第１後端側湾曲部１２ｂの挿入軸が直線状態においては、回動して当接する第２の湾曲駒２２の２つの対向面の成す角は、回動軸中心を頂点として所定の角度θ２に設定されている。また、第１後端側湾曲部１２ｂ内における平行な軸方向の枢軸部材４２を有する一対の関節部４０は、第１後端側湾曲部１２ｂの長手方向に対して、それらの枢軸部材４２の軸間が互いに所定の距離ｄ２だけ離されて構成されている。 When the insertion axis of the first distal-side bending portion 12a is in a straight line state, the angle formed by the two opposing surfaces of the first bending piece 21 that rotates and contacts is set to a predetermined angle θ1 with the rotation axis center as the apex. Is set. Further, in the first distal end side bending portion 12a, the pair of joint portions 40 having the pivot members 42 in the parallel axial direction are arranged with respect to the longitudinal direction of the first distal end side bending portion 12a. The space is separated from each other by a predetermined distance d1.
When the insertion axis of the first rear end side bending portion 12b is in a straight line state, the angle formed between the two opposing surfaces of the second bending piece 22 that rotates and contacts is a predetermined angle θ2 with the rotation axis center as a vertex. Is set to In addition, the pair of joint portions 40 having the pivot shaft members 42 in the first axial direction in the first rear end side curved portion 12b are arranged with respect to the longitudinal direction of the first rear end side curved portion 12b. The shafts are separated from each other by a predetermined distance d2.

第２先端側湾曲部１３ａの挿入軸が直線状態においては、回動して当接する第３の湾曲駒２３の２つの対向面の成す角が回動軸中心を頂点として所定の角度θ３に設定されている。また、第２先端側湾曲部１３ａ内において、平行な軸方向の枢軸部材４２を有する一対の関節部４０は、第２先端側湾曲部１３ａの長手方向に対して、それらの枢軸部材４２の軸間が互いに所定の距離ｄ３だけ離されて構成されている。
第２後端側湾曲部１３ｂの挿入軸が直線状態においては、回動して当接する第４の湾曲駒２４の２つの対向面の成す角が回動軸中心を頂点として所定の角度θ４に設定されている。また、第２後端側湾曲部１３ｂ内における平行な軸方向の枢軸を有する一対の関節部４０は、第２後端側湾曲部１３ｂの長手方向に対して、それらの枢軸部材４２の軸間が互いに所定の距離ｄ４だけ離されている。 When the insertion axis of the second distal-side bending portion 13a is in a straight line state, the angle formed by the two opposing surfaces of the third bending piece 23 that is rotated and abutted is set to a predetermined angle θ3 with the rotation axis center as the apex. Has been. Further, in the second distal end side bending portion 13a, the pair of joint portions 40 having the pivot members 42 in the parallel axial direction are arranged with respect to the longitudinal direction of the second distal end side bending portion 13a. The distance between them is a predetermined distance d3.
When the insertion axis of the second rear end side bending portion 13b is in a straight line state, the angle formed by the two opposing surfaces of the fourth bending piece 24 that rotates and contacts is set to a predetermined angle θ4 with the rotation axis center serving as a vertex. Is set. In addition, the pair of joint portions 40 having the pivot axes in the parallel axial direction in the second rear end side bending portion 13b are arranged between the axes of the pivot members 42 with respect to the longitudinal direction of the second rear end side bending portion 13b. Are separated from each other by a predetermined distance d4.

なお、第１先端側湾曲部１２ａ及び第１後端側湾曲部１２ｂの連結部分は、最基端の第１の湾曲駒２１の一対の関節部４０と最先端の第２の湾曲駒２２の一対の関節部４０とによって回動自在に連結されている。
さらに、第２先端側湾曲部１３ａ及び第２後端側湾曲部１３ｂの連結部分は、最基端の第３の湾曲駒２３の一対の関節部４０と最先端の第４の湾曲駒２４の一対の関節部４０とによって回動自在に連結されている。
また、最基端の第２の湾曲駒２２及び最先端の第３の湾曲駒２３は、連結部１５内において、一対の関節部４０によって回動自在に連結されている。
また、可撓管部１４内には、螺旋管であるフレックス管２６が挿通されている。このフレックス管２６の外周には、第１の湾曲部１２及び第２の湾曲部１３と同様に、ブレード２７が被せられている。さらに、ブレード２７の外周には、外皮３１よりも可撓性の低い、すなわち、曲げ剛性の高い第２の外装管体となる外皮２８が被せられている。 In addition, the connection part of the 1st front end side bending part 12a and the 1st rear end side bending part 12b is a pair of joint part 40 of the 1st bending piece 21 of the most proximal end, and the 2nd cutting piece 22 of the most distal end. A pair of joint portions 40 are rotatably connected.
Furthermore, the connection part of the 2nd front end side bending part 13a and the 2nd rear end side bending part 13b is a pair of joint part 40 of the 3rd bending piece 23 of the most proximal end, and the 4th bending piece 24 of the most distal end. A pair of joint portions 40 are rotatably connected.
Further, the second bending piece 22 at the most proximal end and the third bending piece 23 at the most distal end are rotatably connected by a pair of joint portions 40 in the connecting portion 15.
Further, a flex tube 26 that is a spiral tube is inserted into the flexible tube portion 14. The outer periphery of the flex tube 26 is covered with a blade 27 as in the case of the first bending portion 12 and the second bending portion 13. Further, the outer periphery of the blade 27 is covered with an outer skin 28 that is a second exterior tube body that is less flexible than the outer skin 31, that is, has a high bending rigidity.

従って、可撓管部１４は、基端側の押し込み力量が十分に挿入部６の先端部分に伝達するために、第１の湾曲部１２及び第２の湾曲部１３に比べて、可撓性が低い、つまり、曲げ剛性が高く設定されている。なお、第２の湾曲部１３と可撓管部１４の間には、外皮３１と外皮２８を糸巻きによって接着している糸巻接着部２９が設けられている。
また、挿入部６内には、第１の湾曲部１２の第１先端側湾曲部１２ａ及び第１後端側湾曲部１２ｂを湾曲操作により一方を牽引、他方を弛緩させるための２対、つまり４本の湾曲操作ワイヤ３２（アングルワイヤとも言う）が挿通されている。これら湾曲操作ワイヤ３２は、第１の湾曲部１２内の上下、左右の各内壁位置に設けたワイヤガイド３６内に挿通保持されている。
また、後述するように上下方向の湾曲を行うための湾曲操作ワイヤ３２は、連結部１５においてはその先端が連結部１５の湾曲駒２５に固定されたコイルシース３４内に挿通されている。また、左右方向の湾曲を行うための湾曲操作ワイヤ３２は、連結部１５より後方側においてはその先端が湾曲駒２３に固定されたコイルシース３４内に挿通されている。 Therefore, the flexible tube portion 14 is more flexible than the first curved portion 12 and the second curved portion 13 in order to transmit the amount of pushing force on the proximal end side sufficiently to the distal end portion of the insertion portion 6. Is low, that is, the bending rigidity is set high. A pincushion bonding portion 29 is provided between the second bending portion 13 and the flexible tube portion 14 to bond the outer skin 31 and the outer skin 28 by bobbin winding.
In addition, in the insertion portion 6, two pairs for pulling one of the first distal end side bending portion 12 a and the first rear end side bending portion 12 b of the first bending portion 12 and relaxing the other by a bending operation, that is, Four bending operation wires 32 (also referred to as angle wires) are inserted. These bending operation wires 32 are inserted and held in wire guides 36 provided in the upper and lower and left and right inner wall positions in the first bending portion 12.
Further, as will be described later, the bending operation wire 32 for bending in the vertical direction is inserted into a coil sheath 34 whose tip is fixed to the bending piece 25 of the connecting portion 15 at the connecting portion 15. The bending operation wire 32 for bending in the left-right direction is inserted into a coil sheath 34 whose tip is fixed to the bending piece 23 on the rear side of the connecting portion 15.

なお、本実施例で用いられるコイルシース３４は、ワイヤをパイプ状に密着巻きした非圧縮性の構造を有している。
これら湾曲操作ワイヤ３２は、図５（Ａ）に示すように、それぞれの先端部分が先端構成部１１の本体１１ａの基端側において、図５（Ａ）の紙面に向かって略上下左右方向に離間した４点において固定部材３５によって保持固定されている。
また、これら湾曲操作ワイヤ３２は、基端部が操作部７（図１参照）内に設けられた図示しない湾曲操作機構に連結されて牽引及び弛緩が与えられるようになっている。なお、湾曲操作機構は、操作部７に配設される湾曲操作ノブ７ｂに連結されている。 Note that the coil sheath 34 used in this embodiment has an incompressible structure in which a wire is tightly wound in a pipe shape.
As shown in FIG. 5 (A), these bending operation wires 32 have their respective distal end portions substantially vertically, horizontally and laterally toward the plane of FIG. 5 (A) on the proximal end side of the main body 11a of the distal end constituting portion 11. The four fixed points are held and fixed by the fixing member 35.
Further, the bending operation wires 32 are connected to a bending operation mechanism (not shown) provided in the operation unit 7 (see FIG. 1) so that the bending operation wire 32 is pulled and relaxed. The bending operation mechanism is connected to a bending operation knob 7 b disposed in the operation unit 7.

これらの湾曲操作ワイヤ３２は、湾曲操作ノブ７ｂの所定の操作によって牽引、弛緩される。従って、４本の湾曲操作ワイヤ３２が夫々、牽引、弛緩されることによって、第１の湾曲部１２が４方向へ湾曲操作される。
また、図５（Ｂ）に示すように、第１の湾曲部１２内の第１の湾曲駒２１（第２の湾曲駒２２でも同様）の内側において、湾曲操作ワイヤ３２が挿通保持される２つのワイヤガイド３６が基端面側近傍の内周面に溶着などの手段によって固設されている。
これら２つのワイヤガイド３６は、各湾曲駒２１の円周を２等分する挿入軸周り方向の１８０度に互いにずれた内周面の位置であって、一対の関節部４０に対して挿入軸周りに夫々９０度ずれた位置に設けられている。なお、図５（Ｂ）は、第１先端側湾曲部１２ａを輪切りにした断面図であって、第１の湾曲駒２１を基端側から見た図となる。 These bending operation wires 32 are pulled and relaxed by a predetermined operation of the bending operation knob 7b. Accordingly, the four bending operation wires 32 are pulled and relaxed, respectively, so that the first bending portion 12 is bent in four directions.
Further, as shown in FIG. 5B, the bending operation wire 32 is inserted and held inside the first bending piece 21 (the same applies to the second bending piece 22) in the first bending portion 12. Two wire guides 36 are fixed to the inner peripheral surface in the vicinity of the base end surface side by means such as welding.
These two wire guides 36 are positioned on the inner peripheral surfaces that are offset from each other by 180 degrees in the direction around the insertion axis that bisects the circumference of each bending piece 21, and the insertion guide shaft with respect to the pair of joint portions 40. They are provided at positions that are 90 degrees apart. FIG. 5B is a cross-sectional view of the first distal end side bending portion 12a in a circular shape, and is a view of the first bending piece 21 as viewed from the proximal end side.

また、本実施例における説明においては、図５（Ａ）及び図５（Ｂ）の紙面に向かって上下方向を図３の挿入部６の挿入軸に直交する垂直方向とし、そして図５（Ａ）及び図５（Ｂ）の紙面に向かって左右方向とはその上下方向に直交し、且つ、図３の挿入部６の挿入軸に対しても直交する水平方向となっている。
また、図５（Ｃ）に示すよう連結部１５において、上下方向の湾曲操作ワイヤ３２が挿通されるコイルシース３４の先端がろう付け等により湾曲駒２５の内壁面に固定されている。また、この連結部１５内での固定位置よりも少し後方側で、左右方向の湾曲操作ワイヤ３２が挿通されるコイルシース３４の先端がろう付け等により湾曲駒２３に固定されている。 In the description of this embodiment, the vertical direction toward the plane of FIG. 5 (A) and FIG. 5 (B) is the vertical direction perpendicular to the insertion axis of the insertion portion 6 in FIG. 3, and FIG. ) And the horizontal direction toward the paper surface of FIG. 5B is a horizontal direction orthogonal to the vertical direction and also orthogonal to the insertion axis of the insertion portion 6 of FIG.
Further, as shown in FIG. 5C, the tip of the coil sheath 34 through which the vertical bending operation wire 32 is inserted is fixed to the inner wall surface of the bending piece 25 by brazing or the like. The distal end of the coil sheath 34 through which the left and right bending operation wires 32 are inserted is fixed to the bending piece 23 by brazing or the like, slightly behind the fixing position in the connecting portion 15.

つまり、図５（Ｄ）に示すように、左右方向の湾曲操作ワイヤ３２が挿通されるコイルシース３４の先端がろう付け等により、第２の湾曲部１３の第３の湾曲駒２３の内壁面に固定されている。
従って、上述の構成により、第１の湾曲部１２、第２の湾曲部１３、連結部１５及び可撓管部１４は、図３の紙面に向かって垂直方向及び水平方向となる図５（Ａ）ないし図５（Ｄ）における各紙面に向かって上下方向及び左右方向の４方向に湾曲可能となっている。
次に、第１の湾曲部１２及び第２の湾曲部１３の最大湾曲時における各曲率及び各曲率半径について図６及び図７に基づいて説明する。なお、ここでの各曲率及び各曲率半径の説明においては、第１の湾曲部１２の第１後端側湾曲部１２ｂの長手方向の断面図を使って説明する。 That is, as shown in FIG. 5D, the distal end of the coil sheath 34 through which the bending operation wire 32 in the left-right direction is inserted is brazed to the inner wall surface of the third bending piece 23 of the second bending portion 13. It is fixed.
Therefore, with the above-described configuration, the first bending portion 12, the second bending portion 13, the connecting portion 15, and the flexible tube portion 14 are in the vertical direction and the horizontal direction toward the plane of FIG. ) To 4D in the vertical and horizontal directions toward each paper surface in FIG.
Next, each curvature and each curvature radius at the time of maximum bending of the first bending portion 12 and the second bending portion 13 will be described with reference to FIGS. 6 and 7. In addition, in description of each curvature and each curvature radius here, it demonstrates using sectional drawing of the longitudinal direction of the 1st back end side curved part 12b of the 1st curved part 12. FIG.

図６は、略直線状態の第１後端側湾曲部１２ｂを長手方向に沿って切断した断面図、図７は、最大湾曲させた状態の第１後端側湾曲部１２ｂを長手方向に沿って切断した断面図である。なお、図６及び図７では、ワイヤガイド３６内に通される湾曲操作ワイヤ３２を取り去った状態で湾曲駒２２が真っ直ぐな状態及び湾曲された状態を示している。
前述したように、第１後端側湾曲部１２ｂの挿入軸が直線状態において、回動して当接する第２の湾曲駒２２の２つの対向面の成す角は、回動軸中心を頂点として所定の角度θ２に設定されている。また、第１後端側湾曲部１２ｂ内における平行な軸方向の枢軸部材４２を有する一対の関節部４０は、第１後端側湾曲部１２ｂの長手方向に対して、それらの枢軸部材４２の軸間が互いに所定の距離ｄ２だけ離されて構成されている。
図７に示すように、第１後端側湾曲部１２ｂは、隣接する各第２の湾曲駒２２の湾曲する方向側の周端部が当接した状態において、最大の湾曲状態となる。 FIG. 6 is a cross-sectional view of the first rear end side curved portion 12b in a substantially straight state cut along the longitudinal direction, and FIG. 7 shows the first rear end side curved portion 12b in the maximum curved state along the longitudinal direction. FIG. 6 and 7 show the straight state and the curved state of the bending piece 22 with the bending operation wire 32 passed through the wire guide 36 removed.
As described above, when the insertion axis of the first rear end side bending portion 12b is in a straight line state, the angle formed by the two opposing surfaces of the second bending piece 22 that rotates and abuts is the vertex of the rotation axis center. The predetermined angle θ2 is set. In addition, the pair of joint portions 40 having the pivot shaft members 42 in the first axial direction in the first rear end side curved portion 12b are arranged with respect to the longitudinal direction of the first rear end side curved portion 12b. The shafts are separated from each other by a predetermined distance d2.
As shown in FIG. 7, the first rear end side bending portion 12 b is in the maximum bending state in a state where the peripheral end portions on the side in which the adjacent second bending pieces 22 are bent contact each other.

より詳細には、各第２の湾曲駒２２は、湾曲方向に対して、回動軸となる関節部４０の枢軸部材４２の軸周り方向に、第１後端側湾曲部１２ｂの湾曲により弧を描く挿入軸よりも内側の周端部が夫々近づくように移動される。
そして、各第２の湾曲駒２２は、弧を描く挿入軸よりも内側の夫々の周端部が当接し関節部４０の軸廻り方向の回動が制止される。従って、第１後端側湾曲部１２ｂは、第２の湾曲駒２２の各周端部が当接することによってストッパの代わりとなり、関節部４０の軸廻り方向の回動が制止された状態が第１後端側湾曲部１２ｂの最大湾曲状態となる。
最大に湾曲された第１後端側湾曲部１２ｂの挿入軸方向における曲率半径Ｒ２は、第１後端側湾曲部１２ｂの挿入軸が直線状態において、隣接する２つの第２の湾曲駒２２の対向面がなす角である所定の角度θ２と枢軸部材４２の軸方向が平行である夫々の軸間の距離ｄ２との関係によって設定されている。 More specifically, each second bending piece 22 is arced by the bending of the first rear end side bending portion 12b in the direction around the axis of the pivot member 42 of the joint portion 40 serving as the rotation axis with respect to the bending direction. Are moved so as to approach the inner peripheral ends of the insertion axis.
And each 2nd bending piece 22 contact | abuts each circumferential end part inside the insertion axis which draws an arc, and rotation of the joint part 40 in the direction of an axis is stopped. Therefore, the first rear end side bending portion 12b serves as a stopper when the peripheral end portions of the second bending piece 22 come into contact with each other, and the state in which the rotation of the joint portion 40 in the direction around the axis is restrained is the first state. 1 The rear end side bending portion 12b is in a maximum bending state.
The radius of curvature R2 in the insertion axis direction of the first rear end side bending portion 12b that is curved to the maximum is that of the two adjacent second bending pieces 22 when the insertion axis of the first rear end side bending portion 12b is linear. It is set according to a relationship between a predetermined angle θ2 that is an angle formed by the opposed surfaces and a distance d2 between the axes in which the axial direction of the pivot member 42 is parallel.

つまり、最大に湾曲された第１後端側湾曲部１２ｂの挿入軸方向における曲率半径Ｒ２の逆数となる曲率Ｃ２も、第１後端側湾曲部１２ｂの挿入軸が直線状態において、隣接する２つの第２の湾曲駒２２が回動して当接する２つの対向面が成す角である所定の角度θ２及び、第１後端側湾曲部１２ｂの長手方向に対して、平行な軸方向の枢軸部材４２の軸間の距離ｄ２との関係によって設定されている。
この第１後端側湾曲部１２ｂの最大湾曲時の挿入軸方向における曲率Ｃ２及び曲率半径Ｒ２は、次の式（１）により算出することができる。
Ｃ２＝１／Ｒ２≒（２ｔａｎθ２／２）／ｄ２…（１）
なお、第１後端側湾曲部１２ｂは、最大湾曲時の挿入軸方向における曲率Ｃ２が、例えば、１／３３（／ｍｍ）程度、すなわち、最大湾曲時の挿入軸方向における曲率半径Ｒ２が３３ｍｍ程度に設定されている。 In other words, the curvature C2, which is the reciprocal of the radius of curvature R2 in the insertion axis direction of the first rear end side bending portion 12b that is curved to the maximum, is also adjacent when the insertion axis of the first rear end side bending portion 12b is linear. A pivotal axis in an axial direction parallel to a predetermined angle θ2 that is an angle formed by two opposing surfaces that the two second bending pieces 22 rotate and come into contact with, and the longitudinal direction of the first rear end side bending portion 12b It is set by the relationship with the distance d2 between the axes of the member 42.
The curvature C2 and the curvature radius R2 in the insertion axis direction at the time of maximum bending of the first rear end side bending portion 12b can be calculated by the following equation (1).
C2 = 1 / R2≈ (2 tan θ2 / 2) / d2 (1)
The first rear end side bending portion 12b has a curvature C2 in the insertion axis direction at the maximum bending of, for example, about 1/33 (/ mm), that is, a curvature radius R2 in the insertion axis direction at the maximum bending is 33 mm. Is set to about.

同様にして、第１先端側湾曲部１２ａ、第２先端側湾曲部１３ａ及び第２後端側湾曲部１３ｂについても上述のように夫々の最大湾曲時の各挿入軸方向における曲率及び曲率半径が設定されている。
つまり、第１先端側湾曲部１２ａの最大湾曲時の挿入軸方向における曲率Ｃ１及び曲率半径Ｒ１は、第１先端側湾曲部１２ａの挿入軸が直線状態において、隣接する２つの第１の湾曲駒２１が回動して当接する２つの対向面が成す角である所定の角度θ１及び、第１先端側湾曲部１２ａの長手方向に対して、平行な軸方向の枢軸部材４２の軸間の距離ｄ１との関係によって設定される。
この第１先端側湾曲部１２ａの最大湾曲時の挿入軸方向における曲率Ｃ１及び曲率半径Ｒ１は、次の式（２）により算出することができる。 Similarly, the curvature and the radius of curvature in each insertion axis direction at the time of the maximum bending of each of the first front end side bending portion 12a, the second front end side bending portion 13a, and the second rear end side bending portion 13b are as described above. Is set.
That is, the curvature C1 and the curvature radius R1 in the insertion axis direction at the time of maximum bending of the first distal end side bending portion 12a are the two adjacent first bending pieces when the insertion axis of the first distal end side bending portion 12a is linear. The distance between the axes of the pivot member 42 in the axial direction parallel to a predetermined angle θ1 that is an angle formed by two opposed surfaces that 21 rotates and contacts and the longitudinal direction of the first distal end side bending portion 12a. It is set according to the relationship with d1.
The curvature C1 and the curvature radius R1 in the insertion axis direction at the time of maximum bending of the first distal side bending portion 12a can be calculated by the following equation (2).

Ｃ１＝１／Ｒ１≒（２ｔａｎθ１／２）／ｄ１…（２）
なお、第１先端側湾曲部１２ａは、最大湾曲時の挿入軸方向における曲率Ｃ１が、例えば、１／１６．５（／ｍｍ）程度、すなわち、最大湾曲時の挿入軸方向における曲率半径Ｒ１が１６．５ｍｍ程度に設定されている。
また、第２先端側湾曲部１３ａの最大湾曲時の挿入軸方向における曲率Ｃ３及び曲率半径Ｒ３は、第２先端側湾曲部１３ａの挿入軸が直線状態において、隣接する２つの第３の湾曲駒２３が回動して当接する２つの対向面が成す角である所定の角度θ３及び、第２先端側湾曲部１３ａの長手方向に対して、平行な軸方向の枢軸部材４２の軸間の距離ｄ３との関係によって設定される。
この第２先端側湾曲部１３ａの最大湾曲時の挿入軸方向における曲率Ｃ３及び曲率半径Ｒ３は、次の式（３）により算出することができる。 C1 = 1 / R1≈ (2 tan θ1 / 2) / d1 (2)
The first distal-end bending portion 12a has a curvature C1 in the insertion axis direction at the maximum bending, for example, about 1 / 16.5 (/ mm), that is, a curvature radius R1 in the insertion axis direction at the maximum bending. It is set to about 16.5 mm.
Further, the curvature C3 and the radius of curvature R3 in the insertion axis direction at the time of maximum bending of the second distal-side bending portion 13a are the two adjacent third bending pieces when the insertion axis of the second distal-side bending portion 13a is linear. The distance between the axes of the pivot member 42 in the axial direction parallel to the predetermined angle θ3, which is the angle formed by the two opposing surfaces that the 23 rotates and contacts, and the longitudinal direction of the second distal end side bending portion 13a It is set according to the relationship with d3.
The curvature C3 and the curvature radius R3 in the insertion axis direction at the time of maximum bending of the second distal end side bending portion 13a can be calculated by the following equation (3).

Ｃ３＝１／Ｒ３≒（２ｔａｎθ３／２）／ｄ３…（３）
なお、第２先端側湾曲部１３ａは、最大湾曲時の挿入軸方向における曲率Ｃ３が、例えば、１／４３（／ｍｍ）程度、すなわち、最大湾曲時の挿入軸方向における曲率半径Ｒ３が４３ｍｍ程度に設定されている。
さらに、第２後端側湾曲部１３ｂの最大湾曲時の挿入軸方向における曲率Ｃ４及び曲率半径Ｒ４は、第２後端側湾曲部１３ｂの挿入軸が直線状態において、隣接する２つの第４の湾曲駒２４が回動して当接する２つの対向面が成す角である所定の角度θ４及び、第２後端側湾曲部１３ｂの長手方向に対して、平行な軸方向の枢軸部材４２の軸間の距離ｄ４との関係によって設定される。
この第２後端側湾曲部１３ｂの最大湾曲時の挿入軸方向における曲率Ｃ４及び曲率半径Ｒ４は、次の式（４）により算出することができる。 C3 = 1 / R3≈ (2 tan θ3 / 2) / d3 (3)
The second distal-end bending portion 13a has a curvature C3 in the insertion axis direction at the maximum bending, for example, about 1/43 (/ mm), that is, a curvature radius R3 in the insertion axis direction at the maximum bending is about 43 mm. Is set to
Furthermore, the curvature C4 and the curvature radius R4 in the insertion axis direction at the time of maximum bending of the second rear end side bending portion 13b are the two adjacent fourth fourth shapes when the insertion axis of the second rear end side bending portion 13b is linear. The axis of the pivot member 42 in the axial direction parallel to the predetermined angle θ4, which is the angle formed by the two opposing surfaces with which the bending piece 24 rotates and contacts, and the longitudinal direction of the second rear end side bending portion 13b. It is set according to the relationship with the distance d4.
The curvature C4 and the curvature radius R4 in the insertion axis direction at the time of maximum bending of the second rear end side bending portion 13b can be calculated by the following equation (4).

Ｃ４＝１／Ｒ４≒（２ｔａｎθ４／２）／ｄ４…（４）
第２後端側湾曲部１３ｂは、最大湾曲時の挿入軸方向における曲率Ｃ４が、例えば、１／５４（／ｍｍ）程度、すなわち、最大湾曲時の挿入軸方向における曲率半径Ｒ４が５４ｍｍ程度に設定されている。
本実施例では、第１の湾曲部１２においては、第１先端側湾曲部１２ａと第１後端側湾曲部１２ｂとは、各最大湾曲時の各挿入軸方向における夫々の曲率の関係がＣ１＞Ｃ２となるように、前記各角度θ１、θ２及び前記各距離ｄ１、ｄ２が設定されている。
また、本実施例では、第２の湾曲部１３においては、第２先端側湾曲部１３ａと第２後端側湾曲部１３ｂとは、各最大湾曲時の各挿入軸方向における夫々の曲率の関係が、Ｃ３＞Ｃ４となるように、前記各角度θ３、θ４及び前記各距離ｄ３、ｄ４が設定されている。 C4 = 1 / R4≈ (2 tan θ4 / 2) / d4 (4)
In the second rear end side bending portion 13b, the curvature C4 in the insertion axis direction at the maximum bending is, for example, about 1/54 (/ mm), that is, the curvature radius R4 in the insertion axis direction at the maximum bending is about 54 mm. Is set.
In the present embodiment, in the first bending portion 12, the first distal-end bending portion 12a and the first rear-end bending portion 12b have a relationship of curvature in the respective insertion axis directions at the time of each maximum bending. The angles θ1, θ2 and the distances d1, d2 are set so that> C2.
In the present embodiment, in the second bending portion 13, the second distal end side bending portion 13 a and the second rear end side bending portion 13 b have respective curvature relationships in the respective insertion axis directions at the time of each maximum bending. However, the angles θ3 and θ4 and the distances d3 and d4 are set so that C3> C4.

本実施例では、このように第１の湾曲部１２においては、Ｃ１＞Ｃ２、第２の湾曲部１３においては、Ｃ３＞Ｃ４を満たすように設定されていることが特徴となっている。
本実施例ではこのように、Ｃ１＞Ｃ２、かつＣ３＞Ｃ４に設定しているが、より具体的には以下のような関係を満たすようにＣ１〜Ｃ４を設定している。
以上のように、第１先端側湾曲部１２ａ、第１後端側湾曲部１２ｂ、第２先端側湾曲部１３ａ及び第２後端側湾曲部１３ｂは、各最大湾曲時の各挿入軸方向における夫々の曲率の関係がＣ１＞Ｃ２＞Ｃ３＞Ｃ４となるように、前記各角度θ１〜θ４及び前記各距離ｄ１〜ｄ４が設定されている。
換言すれば、第１先端側湾曲部１２ａ、第１後端側湾曲部１２ｂ、第２先端側湾曲部１３ａ及び第２後端側湾曲部１３ｂは、各最大湾曲時の各挿入軸方向における夫々の曲率半径の関係がＲ１＜Ｒ２＜Ｒ３＜Ｒ４となるように、前記各角度θ１〜θ４及び前記各距離ｄ１〜ｄ４が設定されている。 In this embodiment, the first bending portion 12 is set to satisfy C1> C2 and the second bending portion 13 is set to satisfy C3> C4.
In this embodiment, C1> C2 and C3> C4 are set as described above, but more specifically, C1 to C4 are set so as to satisfy the following relationship.
As described above, the first front end side bending portion 12a, the first rear end side bending portion 12b, the second front end side bending portion 13a, and the second rear end side bending portion 13b are in the respective insertion axis directions at the time of each maximum bending. The angles θ1 to θ4 and the distances d1 to d4 are set so that the relationship between the respective curvatures is C1>C2>C3> C4.
In other words, the first front end side bending portion 12a, the first rear end side bending portion 12b, the second front end side bending portion 13a, and the second rear end side bending portion 13b are respectively in the respective insertion axis directions at the time of each maximum bending. The angles θ1 to θ4 and the distances d1 to d4 are set so that the relationship between the radii of curvature is R1 <R2 <R3 <R4.

従って、本実施例の内視鏡２における挿入部６は、第１先端側湾曲部１２ａから第２後端側湾曲部１３ｂにかけて段階的に最大湾曲時の挿入軸方向における曲率が小さくなるように設定されて構成されている。
換言すると、内視鏡２の挿入部６は、第１先端側湾曲部１２ａから第２後端側湾曲部１３ｂにかけて段階的に最大湾曲時の挿入軸方向における曲率半径が大きくなるように設定されている。
また、前述したように、挿入部６の可撓管部１４は、第１の湾曲部１２及び第２の湾曲部１３の曲げ剛性よりも高い曲げ剛性を有している。つまり、挿入部６の可撓管部１４は、第１の湾曲部１２及び第２の湾曲部１３の可撓性よりも低い可撓性を有している。 Therefore, the insertion portion 6 in the endoscope 2 of the present embodiment is such that the curvature in the insertion axis direction at the time of maximum bending gradually decreases from the first distal end side bending portion 12a to the second rear end side bending portion 13b. Set up and configured.
In other words, the insertion portion 6 of the endoscope 2 is set so that the radius of curvature in the insertion axis direction at the time of maximum bending gradually increases from the first distal end side bending portion 12a to the second rear end side bending portion 13b. ing.
Further, as described above, the flexible tube portion 14 of the insertion portion 6 has a bending rigidity higher than the bending rigidity of the first bending portion 12 and the second bending portion 13. That is, the flexible tube portion 14 of the insertion portion 6 has flexibility lower than the flexibility of the first bending portion 12 and the second bending portion 13.

そこで、本実施例における上述ように構成された内視鏡２の挿入部６を体腔内、例えば、大腸内へ挿入する際の作用について、図８及び図９を参照して説明する。
図８は、大腸６０の形状を示し、肛門６１から上方に直腸６２が形成され、この直腸６２の上部付近からＳ字状に屈曲したＳ状結腸６３が形成され、その深部側に上方に延びる下行結腸６４を経て脾湾曲部６５と続く。大きく屈曲した脾湾曲部６５を通ると横方向に延びる横行結腸６６となる。
先ず、術者は、内視鏡２の挿入部６を先端構成部１１側を患者の肛門６１に挿入し、挿入部６の可撓管部１４を把持して、捻り操作などして押し込みながら大腸６０内へ挿入する。このとき、可撓管部１４は、所定の剛性を有しているため、術者からの押し込み力が挿入部６の先端側部分、つまり、第１の湾曲部１２及び第２の湾曲部１３に十分に伝えられる。 Therefore, an operation when the insertion portion 6 of the endoscope 2 configured as described above in the present embodiment is inserted into a body cavity, for example, the large intestine will be described with reference to FIGS. 8 and 9.
FIG. 8 shows the shape of the large intestine 60. A rectum 62 is formed upward from the anus 61. An sigmoid colon 63 bent in an S shape is formed from the vicinity of the upper portion of the rectum 62, and extends upward in the deep side thereof. It continues with the splenic curve 65 via the descending colon 64. When passing through the bent splenic curved portion 65, a transverse colon 66 extending in the lateral direction is formed.
First, the surgeon inserts the insertion portion 6 of the endoscope 2 into the anus 61 of the patient on the distal end constituting portion 11 side, grasps the flexible tube portion 14 of the insertion portion 6, and pushes it by twisting operation or the like. Insert into large intestine 60. At this time, since the flexible tube portion 14 has a predetermined rigidity, the pushing force from the operator is the distal end portion of the insertion portion 6, that is, the first bending portion 12 and the second bending portion 13. Can be fully communicated to.

先端構成部１１が直腸６２の上端付近に達したら、術者は、湾曲操作ノブ７ｂを操作して第１の湾曲部１２を湾曲して直腸６２の上端付近から屈曲する部分に沿って押し込み、さらに湾曲操作ノブ７ｂを反対方向に屈曲させながら押し込むことにより、先端構成部１１をＳ状結腸６３のＳＤジャンクション６３ａの奥に導入する。
このような挿入操作を行う場合、先端構成部１１の基端に形成された第１の湾曲部１２は、その先端側の部分（つまり第１先端側湾曲部１２ａ）の最大湾曲時の曲率半径Ｒ１をその後端側部分よりも小さく（より具体的には最も小さく）できるように設定してあるので、この第１の湾曲部１２の先端側部分を大きく屈曲させることによりＳ状結腸６３の深部側のＳＤジャンクション６３ａの奥に導入し易い。 When the distal end constituting portion 11 reaches the vicinity of the upper end of the rectum 62, the operator operates the bending operation knob 7 b to bend the first bending portion 12 along a portion bent from the vicinity of the upper end of the rectum 62, Further, by pushing the bending operation knob 7b while bending it in the opposite direction, the distal end constituting portion 11 is introduced into the back of the SD junction 63a of the sigmoid colon 63.
When performing such an insertion operation, the first bending portion 12 formed at the proximal end of the distal end constituting portion 11 has a radius of curvature at the time of maximum bending of the distal end side portion (that is, the first distal end side bending portion 12a). Since R1 is set to be smaller (more specifically, the smallest) than the rear end portion thereof, the deep portion of the sigmoid colon 63 can be obtained by largely bending the distal end portion of the first bending portion 12. It is easy to introduce into the back of the SD junction 63a on the side.

また、この場合、第１の湾曲部１２の先端側部分よりも後方側は、曲率半径が順次大きくなるようにしてあるので、先端側部分の挿入移動に対して少しづつ屈曲変形させて円滑に深部側に追従移動させることができる。
そして、先端構成部１１をＳＤジャンクション６３ａの奥に導入した状態で、第１の湾曲部１２を最小の曲率半径の状態に屈曲して、その屈曲部をＳＤジャンクション６３ａの屈曲部に引っかけるようにして挿入部６を一旦、引き抜くようにして、Ｓ状結腸６３を縮めた状態にした後、挿入部６を押し込む作業を行うことにより、先端構成部１１を下行結腸６４側に挿入することができる。
さらに挿入部６を押し込むことにより、先端構成部１１は脾湾曲部６５に達するようになり、この場合にも脾湾曲部６５の屈曲方向に第１の湾曲部１２を大きく湾曲させながら挿入部６を押し込む。 Further, in this case, since the radius of curvature is sequentially increased on the rear side of the distal end portion of the first bending portion 12, it is smoothly bent and deformed little by little with respect to the insertion movement of the distal end portion. It can be moved following the deep side.
Then, with the tip constituting portion 11 introduced into the back of the SD junction 63a, the first bending portion 12 is bent to the minimum curvature radius, and the bent portion is hooked on the bending portion of the SD junction 63a. Then, the distal end constituting portion 11 can be inserted into the descending colon 64 side by performing an operation of pushing the insertion portion 6 after the sigmoid colon 63 is contracted by pulling out the insertion portion 6 once. .
By further pushing the insertion portion 6, the distal end constituting portion 11 reaches the spleen bending portion 65, and in this case as well, the insertion portion 6 is bent while greatly bending the first bending portion 12 in the bending direction of the spleen bending portion 65. Push in.

すると、図９（Ａ）に示す状態となる。この場合においても、第１の湾曲部１２の先端側部分（つまり第１先端側湾曲部１２ａ）の曲率半径は、後端側部分よりも小さくできるので、急峻な屈曲部分となる脾湾曲部６５の場合にも、先端構成部１１をその深部側に湾曲して挿入することができる。
その後、挿入部６を押し込む操作を行うことにより、図９（Ｂ）に示すように第１の湾曲部１２側を深部側に移動でき、さらに挿入部６を押し込む操作を行うことにより、図９（Ｃ）に示すように第１の湾曲部１２の後端に形成された第２の湾曲部１３側もこの急峻な屈曲部分の深部側に移動させることができる。 Then, the state shown in FIG. Even in this case, the radius of curvature of the distal end side portion (that is, the first distal end side curved portion 12a) of the first curved portion 12 can be made smaller than that of the rear end side portion. Also in this case, the distal end constituting portion 11 can be bent and inserted to the deep side.
Thereafter, by performing an operation of pushing the insertion portion 6, the first bending portion 12 side can be moved to the deep side as shown in FIG. 9B, and by further pushing the insertion portion 6, the operation shown in FIG. As shown in (C), the second curved portion 13 side formed at the rear end of the first curved portion 12 can also be moved to the deep side of this steep bent portion.

この場合においても、第１の湾曲部１２の先端側部分から第２の湾曲部１３の後端側部分までその曲率半径を次第に大きくなるように設定してあるので、屈曲部分の屈曲量を徐々に緩和するように変形させる等して脾湾曲部６５の深部側に円滑に挿入移動させることができる。
つまり、第１の湾曲部１２においては、その先端側部分がその後端側部分より曲率半径を小さくでき、先端側部分を湾曲してその屈曲部を通すことにより、それより大きい曲率半径の後端側部分も屈曲部の屈曲量を変形させる（屈曲部が急峻である場合）等して円滑に深部側に挿入させ易くなる。 Also in this case, since the radius of curvature is set so as to gradually increase from the front end side portion of the first bending portion 12 to the rear end side portion of the second bending portion 13, the bending amount of the bending portion is gradually increased. It can be smoothly inserted and moved to the deep side of the spleen curved portion 65 by deforming it so as to relax.
That is, in the first curved portion 12, the distal end side portion can have a smaller radius of curvature than the rear end side portion, and the rear end of a larger radius of curvature can be obtained by bending the distal end side portion and passing the bent portion. The side portion is also easily inserted into the deep portion smoothly by changing the bending amount of the bent portion (when the bent portion is steep).

第１の湾曲部１２を屈曲部の深部側に通した後において、第２の湾曲部１３を通す場合においても、先端側部分がその後端側部分より曲率半径を小さくでき、この先端側部分を湾曲してその屈曲部を通すことにより、それより大きい曲率半径の後端側部分も深部側に導入（挿入）させ易くなる。
例えば、図９（Ｃ）では、第２の湾曲部１３の先端側部分（つまり先端側湾曲部１３ａ）を脾湾曲部６５で湾曲させた状態を示し、この後、挿入部６を押し込むことにより、これより大きな（最大湾曲時の）曲率半径の後端側部分（つまり第２後端側湾曲部１３ｂ）を脾湾曲部６５の深部側に導入（挿入）させ易くなる。
また、第２の湾曲部１３における先端側部分と後端側部分との最大湾曲時の曲率半径の値を規制しているので、過度に湾曲（屈曲）して急峻な屈曲となることを回避でき、押し込んだ力が先端に伝わり易く、挿入の際の抵抗を小さくできる。従って、挿入部６を円滑に挿入することができる。 Even when the second bending portion 13 is passed after the first bending portion 12 has passed through the deep portion side of the bending portion, the distal end side portion can have a smaller radius of curvature than the rear end side portion. By bending and passing through the bent portion, the rear end portion of the larger radius of curvature can be easily introduced (inserted) into the deep portion.
For example, FIG. 9C shows a state in which the distal end side portion (that is, the distal end side bending portion 13a) of the second bending portion 13 is bent by the spleen bending portion 65, and then the insertion portion 6 is pushed in. Further, it becomes easy to introduce (insert) a rear end side portion (that is, the second rear end side bending portion 13b) having a larger radius of curvature (at the time of maximum bending) (that is, the second rear end side bending portion 13b) into the deep portion side of the spleen bending portion 65.
Moreover, since the value of the radius of curvature at the time of the maximum bending of the front end side portion and the rear end side portion of the second bending portion 13 is regulated, it is avoided that the second bending portion 13 is excessively bent (bent) and becomes a steep bend. The pushing force is easily transmitted to the tip, and the resistance during insertion can be reduced. Therefore, the insertion part 6 can be inserted smoothly.

従って、本実施例によれば、良好な挿入性を確保できる。
なお、以上のように構成した内視鏡２の第１先端側湾曲部１２ａ、第１後端側湾曲部１２ｂ、第２先端側湾曲部１３ａ、第２後端側湾曲部１３ｂの各部における最大湾曲時の挿入軸方向における曲率の値をＣ１＞Ｃ２＞Ｃ３＞Ｃ４となる、つまり、最小の曲率半径の値をＲ１＜Ｒ２＜Ｒ３＜Ｒ４となる関係にすることによって、挿入部６の先端部分が腸管屈曲部を通過するための挿入力量は、従来の内視鏡に比べて、おおよそ３０％〜４０％程度に低減するという結果を得ることができる。
従って、本実施例の内視鏡２は、その挿入部６を屈曲した体腔内へ挿入する際の挿入性が各段に向上するという効果を得ることができる。 Therefore, according to the present embodiment, good insertability can be ensured.
In addition, the maximum in each part of the 1st front end side curved part 12a of the endoscope 2 comprised as mentioned above, the 1st rear end side curved part 12b, the 2nd front end side curved part 13a, and the 2nd rear end side curved part 13b. The curvature value in the insertion axis direction at the time of bending is C1>C2>C3> C4, that is, the minimum curvature radius value is R1 <R2 <R3 <R4. As a result, it is possible to obtain a result that the amount of insertion force required for the portion to pass through the bent portion of the intestinal tract is reduced to approximately 30% to 40% as compared with the conventional endoscope.
Therefore, the endoscope 2 of the present embodiment can obtain an effect that the insertion property when the insertion portion 6 is inserted into the bent body cavity is improved in each stage.

次に図１０及び図１１を参照して本発明の実施例２を説明する。
図１０は、本発明の実施例２の内視鏡の挿入部６の先端側部分を長手方向（挿入軸方向）に沿って切断した縦断面図を示す。
本実施例の内視鏡の挿入部６は、実施例１と同様に先端構成部１１の後端に第１の湾曲部１２が形成され、この第１の湾曲部１２の後端には連結部１５を介して第２の湾曲部１３′が形成されている。
第２の湾曲部１３′は、第２先端側湾曲部１３ａ′と第２後端側湾曲部１３ｂ′とにより形成されている。 Next, a second embodiment of the present invention will be described with reference to FIGS.
FIG. 10 is a longitudinal sectional view of the distal end side portion of the insertion portion 6 of the endoscope according to the second embodiment of the present invention cut along the longitudinal direction (insertion axis direction).
The insertion portion 6 of the endoscope according to the present embodiment has a first bending portion 12 formed at the rear end of the distal end constituting portion 11 as in the first embodiment, and is connected to the rear end of the first bending portion 12. A second curved portion 13 ′ is formed via the portion 15.
The second bending portion 13 'is formed by a second front end side bending portion 13a' and a second rear end side bending portion 13b '.

本実施例では、第２先端側湾曲部１３ａ′を構成する第３の湾曲駒は、第１の湾曲駒２１により形成されている。つまり、曲率半径Ｒ１，Ｒ３の値が同じ値となる（つまり曲率ではＣ１＝Ｃ３の関係，曲率半径ではＲ１＝Ｒ３の関係）。また、第２後端側湾曲部１３ｂ′を構成する第４の湾曲駒は、第２の湾曲駒２２により形成されている。つまり、曲率半径Ｒ２，Ｒ４の値が同じ値となる（つまり曲率ではＣ２＝Ｃ４，曲率半径ではＲ２＝Ｒ４）。
また、本実施例においては、第１の湾曲部１２の先端側湾曲部１２ａの長さと、第２の湾曲部１３の先端側湾曲部１３ａ′の長さとは等しく、かつ第１の湾曲部１２の後端側湾曲部１２ｂの長さと、第２の湾曲部１３′の後端側湾曲部１３ｂ′の長さとは等しくなるようにしている。その他の構成は、実施例１において説明したものと同様の構成であり、同一の構成要素には同じ符号を付け、その説明を省略する。 In the present embodiment, the third bending piece constituting the second distal end side bending portion 13 a ′ is formed by the first bending piece 21. That is, the values of the curvature radii R1 and R3 are the same value (that is, the relationship of C1 = C3 for the curvature and the relationship of R1 = R3 for the curvature radius). Further, the fourth bending piece constituting the second rear end side bending portion 13 b ′ is formed by the second bending piece 22. That is, the curvature radii R2 and R4 have the same value (that is, C2 = C4 for the curvature and R2 = R4 for the curvature radius).
In the present embodiment, the length of the distal-side bending portion 12 a of the first bending portion 12 is equal to the length of the distal-side bending portion 13 a ′ of the second bending portion 13 and the first bending portion 12. The length of the rear end side bending portion 12b is made equal to the length of the rear end side bending portion 13b 'of the second bending portion 13'. Other configurations are the same as those described in the first embodiment, and the same components are denoted by the same reference numerals and the description thereof is omitted.

このような構成による内視鏡を体腔内に挿入した場合の作用を図１１を参照して以下に説明する。
実施例１の場合と同様に大腸内に挿入する場合で説明する。本実施例の内視鏡の挿入部６の先端構成部１１を肛門から大腸内に挿入する。この場合、実施例１とほぼ同様の操作で直腸及びＳ状結腸を経てＳＤジャンクションの深部側に挿入する。本実施例では、第１の湾曲部１２の後端に、この第１の湾曲部１２の先端側部分及び後端側部分と（最大湾曲時において）同一の曲率半径となる第２の湾曲部１３′が設けてある。
従って、第１の湾曲部１２を通した後、第２の湾曲部１３′を通す際に、実施例１の場合よりも第１の湾曲部１３′の屈曲状態を大きく変更しないで通し易い。つまり、第１の湾曲部１２の後端側部分を屈曲部の深部側に通した後には、その屈曲部の曲率は、第２の湾曲部１３の先端側部分（つまり第２先端側湾曲部１３ａ′）の（最大湾曲時の）曲率半径より大きいので、第２の湾曲部１３側の先端側部分を通し易い。 The operation when the endoscope having such a configuration is inserted into a body cavity will be described below with reference to FIG.
The case of inserting into the large intestine as in the case of Example 1 will be described. The distal end constituting portion 11 of the insertion portion 6 of the endoscope of this embodiment is inserted into the large intestine from the anus. In this case, the SD junction is inserted into the SD junction through the rectum and sigmoid colon in substantially the same manner as in Example 1. In the present embodiment, a second bending portion having the same radius of curvature as that of the distal end portion and the rear end portion of the first bending portion 12 (at the time of maximum bending) is provided at the rear end of the first bending portion 12. 13 'is provided.
Therefore, after passing through the first bending portion 12 and passing through the second bending portion 13 ′, it is easier to pass without changing the bending state of the first bending portion 13 ′ than in the case of the first embodiment. That is, after the rear end side portion of the first bending portion 12 is passed through the deep portion side of the bent portion, the curvature of the bent portion is the tip side portion of the second bending portion 13 (that is, the second tip side bending portion). 13a ′), which is larger than the radius of curvature (at the time of maximum bending), it is easy to pass the tip side portion on the second bending portion 13 side.

また、ＳＤジャンクションの深部の下行結腸６４内を挿通して、脾湾曲部６５の急峻な屈曲部に沿って第１の湾曲部１２を湾曲させながら、挿入部６を押し込むことにより、図１１（Ａ）に示す状態にする。
この状態においても、第１の湾曲部１２の先端側部分の（最大湾曲時の）曲率半径Ｒ１を、その後端側部分よりも小さくしているので、脾湾曲部６５の急峻な屈曲部に沿って先端構成部１１及び第１の湾曲部１２の先端側部分をその屈曲部の深部側に円滑に導入できる。
その後、実施例１で説明したのと同様に挿入部６を押し込むことにより、図１１（Ｂ）を経て図１１（Ｃ）で示すように第１の湾曲部１２を脾湾曲部６５の深部側に挿入移動できる。 Further, by inserting the insertion portion 6 while inserting the deep portion of the SD junction into the descending colon 64 and bending the first bending portion 12 along the sharp bending portion of the splenic bending portion 65, FIG. The state shown in A) is set.
Even in this state, the radius of curvature R1 (at the time of maximum bending) of the distal end side portion of the first bending portion 12 is smaller than that of the rear end side portion, and therefore, along the steep bent portion of the spleen bending portion 65. Thus, the distal end side portions of the distal end constituting portion 11 and the first bending portion 12 can be smoothly introduced to the deep side of the bent portion.
Thereafter, by pushing in the insertion portion 6 in the same manner as described in the first embodiment, the first bending portion 12 is moved deeper than the splenic bending portion 65 as shown in FIG. 11C through FIG. Can be inserted and moved.

この場合、脾湾曲部６５に臨む第２の湾曲部１３′は、その先端側部分（つまり先端側湾曲部１３ａ′）の（最大湾曲時の）曲率半径Ｒ３が、第１の湾曲部１２の先端側部分の曲率半径Ｒ１と同じ値に設定してあるので、第１の湾曲部１２を通した後ではその湾曲状態に追従させることが容易となる。そして、さらに挿入部６を押し込む操作を行うことにより、図１１（Ｄ）に示すように第２の湾曲部１３′も脾湾曲部６５の深部側の横行結腸６６側に挿入移動させることができる。
このように本実施例においても、第２の湾曲部１３′の先端側部分の曲率半径Ｒ３をその後端側部分よりも小さくしているので、屈曲した体腔内への挿入作業を円滑に行うことができる。
また、本実施例においては、第２の湾曲部１３を第１の湾曲部１２と同じ湾曲駒２１，２２を用いて形成すると共に、第２の湾曲部１３′の先端側部分の長さを第１の湾曲部１２の先端側部分の長さと等しくし、かつ第２の湾曲部１３′の後端側部分の長さを第１の湾曲部１２の後端側部分の長さと等しくしているので、製造時の部品点数を削減でき、第１の湾曲部１２及び第２の湾曲部１３′とを低コストで製造することができる。 In this case, the second bending portion 13 ′ facing the spleen bending portion 65 has a radius of curvature R 3 (at the time of maximum bending) of the distal end side portion (that is, the distal end side bending portion 13 a ′) of the first bending portion 12. Since it is set to the same value as the radius of curvature R1 of the distal end side portion, it is easy to follow the curved state after passing through the first bending portion 12. Then, by further pushing the insertion portion 6, the second bending portion 13 ′ can be inserted and moved to the transverse colon 66 side on the deep side of the splenic bending portion 65 as shown in FIG. .
As described above, also in the present embodiment, the curvature radius R3 of the distal end portion of the second curved portion 13 ′ is made smaller than that of the rear end portion thereof, so that the insertion operation into the bent body cavity can be performed smoothly. Can do.
In the present embodiment, the second bending portion 13 is formed by using the same bending pieces 21 and 22 as the first bending portion 12, and the length of the tip side portion of the second bending portion 13 ′ is set. The length of the front end side portion of the first bending portion 12 is made equal, and the length of the rear end side portion of the second bending portion 13 ′ is made equal to the length of the rear end side portion of the first bending portion 12. Therefore, the number of parts at the time of manufacture can be reduced, and the 1st bending part 12 and 2nd bending part 13 'can be manufactured at low cost.

なお、本実施例においては、第２の湾曲部１３′を第１の湾曲部１２の湾曲駒２１，２２をそのまま使う例で説明したが、第１の湾曲部１２と第２の湾曲部１３′との長手方向の長さを異なる長さに変更しても良い。
また、第２の湾曲部１３′の先端側部分を、第１の湾曲部１２の後端側部分の湾曲駒２２を採用して形成しても良く、このようにした場合にも低コスト化できる。
上述した各実施例においては、上下方向の湾曲操作ワイヤ３２を挿通したコイルシース３４と左右方向の湾曲操作ワイヤ３２を挿通したコイルシース３４とを挿入部６の長手方向にずらしてその先端を固定した。
このようにずらして固定することにより、湾曲させた場合の特性を上下、左右の方向とも同じように湾曲させることができる。この場合の作用の概略の説明図を図１２に示す。 In the present embodiment, the second bending portion 13 ′ has been described as an example in which the bending pieces 21 and 22 of the first bending portion 12 are used as they are. However, the first bending portion 12 and the second bending portion 13 are used. The length in the longitudinal direction with ′ may be changed to a different length.
Further, the distal end side portion of the second bending portion 13 ′ may be formed by adopting the bending piece 22 of the rear end side portion of the first bending portion 12, and also in this case, the cost is reduced. it can.
In each of the above-described embodiments, the distal end of the coil sheath 34 through which the bending operation wire 32 in the up and down direction and the coil sheath 34 through which the bending operation wire 32 in the left and right direction are inserted are shifted in the longitudinal direction of the insertion portion 6.
By shifting and fixing in this way, the characteristics when bent can be bent in the same way in the vertical and horizontal directions. FIG. 12 shows a schematic explanatory diagram of the operation in this case.

なお、図１２（Ａ）は、左右方向（図中ではＲＬと略記）に湾曲した状態、図１２（Ｂ）は、図１２（Ａ）において真っ直ぐな状態にした場合の第２の湾曲部１３付近の構成の概略を示す。また、図１２（Ｃ）は上下方向（図中ではＵＤと略記）において真っ直ぐにした状態、図１２（Ｄ）は図１２（Ｃ）の状態側上下方向に湾曲した状態の第２の湾曲部１３付近の形状の概略を示す。
また、比較のために、図１２（Ｅ）から図１２（Ｈ）は、先端側から先端構成部８１、第１の湾曲部８２、第２の湾曲部８３、可撓管部８４を順次形成した場合におけるコイルシースの固定位置をずらさない場合における構造及び形状の概略を示す。
なお、図１２（Ｅ）は、第２の湾曲部８３を左右方向に湾曲した状態、図１２（Ｆ）は図１２（Ｅ）の状態で、真っ直ぐな状態にした場合の第２の湾曲部８３付近の構成の概略を示す。また、図１２（Ｇ）は、上下方向において真っ直ぐにした状態、図１２（Ｈ）は図１２（Ｇ）の状態から上下方向に湾曲した状態の第２の湾曲部８３付近の形状の概略を示す。 Note that FIG. 12A shows a curved state in the left-right direction (abbreviated as RL in the drawing), and FIG. 12B shows a second curved portion 13 in a straight state in FIG. The outline of the structure of the neighborhood is shown. 12C is a state in which it is straightened in the vertical direction (abbreviated as UD in the drawing), and FIG. 12D is a second curved portion in a state in which it is curved in the vertical direction on the state side in FIG. The outline of the shape near 13 is shown.
For comparison, in FIGS. 12E to 12H, a distal end constituting portion 81, a first bending portion 82, a second bending portion 83, and a flexible tube portion 84 are sequentially formed from the distal end side. The outline of the structure and shape in the case where the fixing position of the coil sheath in the case where it did is not shifted is shown.
12E shows a state where the second bending portion 83 is bent in the left-right direction, and FIG. 12F shows a state where the second bending portion 83 is in a straight state in the state shown in FIG. 12E. An outline of the configuration in the vicinity of 83 is shown. FIG. 12G is a schematic view of the shape in the vicinity of the second bending portion 83 in a state in which it is straightened in the vertical direction, and FIG. 12H is a state in which it is bent in the vertical direction from the state in FIG. Show.

図１２（Ｅ）から図１２（Ｈ）に示すように、上下、左右方向の湾曲操作ワイヤを挿通した各コイルシースの固定位置を同じ固定部分ａにした場合には、両方を固定したこの固定部分ａのために左右方向に第２の湾曲部８３を湾曲した場合には図１２（Ｅ）に示すような湾曲形状となる。ここで、２つの曲率半径をＲａ′及びＲｂ′で示している。
また、上下方向に湾曲した場合には図１２（Ｈ）のようになり、図１２（Ｅ）の場合よりは小さな曲率半径Ｒｃ′で湾曲できる。なお、図１２（Ｇ）において、第２の湾曲部８３の長さをＬａで示している。
一方、上下方向の湾曲操作ワイヤを通したコイルシースの固定位置ｂと左右方向のコイルシースの固定位置ｃを長手方向にずらすことにより、左右方向に第２の湾曲部１３を湾曲した場合には図１２（Ａ）のように湾曲できる。なお、符号ｂとｃの固定位置は異なる湾曲駒であれば、殆ど同じ湾曲特性となる。ここで、２つの曲率半径をＲａ及びＲｂで示している。 As shown in FIG. 12 (E) to FIG. 12 (H), when the fixed positions of the coil sheaths through which the bending operation wires in the vertical and horizontal directions are inserted are set to the same fixed part a, the fixed part in which both are fixed. When the second bending portion 83 is bent in the left-right direction for a, the bending shape as shown in FIG. Here, two radii of curvature are indicated by Ra ′ and Rb ′.
Further, when it is bent in the vertical direction, it becomes as shown in FIG. 12H, and it can be bent with a smaller radius of curvature Rc ′ than in the case of FIG. In FIG. 12G, the length of the second bending portion 83 is indicated by La.
On the other hand, when the second bending portion 13 is bent in the left-right direction by shifting the fixing position b of the coil sheath through the bending operation wire in the up-down direction and the fixing position c of the coil sheath in the left-right direction in the longitudinal direction, FIG. It can be bent as in (A). Note that if the fixed positions of the symbols b and c are different bending pieces, the bending characteristics are almost the same. Here, two curvature radii are indicated by Ra and Rb.

また、上下方向の第２の湾曲部１３を湾曲した場合には図１２（Ｄ）のように湾曲できる。ここで、２つの曲率半径をＲｃ及びＲｄで示している。なお、図１２（Ｃ）において、第２の湾曲部１３の長さをＬｂで示している。
このように上下方向と左右方向とでコイルシースの固定位置をずらすことにより、第２の湾曲部１３を湾曲した場合における湾曲特性となる曲率半径をより均一化することができる。つまり、湾曲した場合における方向依存性をより小さくでき、任意の方向に湾曲させた場合の湾曲特性をより向上できる。なお、図１２に示した例では、第２の湾曲部１３の構成が図３或いは図１０に示したものと異なる変形例の場合で図示しているが、基本的な湾曲特性は、図３或いは図１０の場合でも同様となる。
なお、上述の実施例等においては、第２の湾曲部１３，１３′として受動的な湾曲部の場合で説明したが、さらに挿入部６内に湾曲操作ワイヤを挿通して、その先端を第２の湾曲部１３、１３′の最先端の湾曲駒２３等に固定し、かつこの湾曲操作ワイヤの後端を図１の操作部７に設けた図示しない第２の湾曲操作ノブに連結されたプーリ等に固定し、この第２の湾曲操作ノブを回動する操作を行うことにより、第２の湾曲部を能動的に湾曲させることができる構成にしても良い。 Further, when the second bending portion 13 in the vertical direction is bent, it can be bent as shown in FIG. Here, two radii of curvature are indicated by Rc and Rd. In FIG. 12C, the length of the second bending portion 13 is indicated by Lb.
In this way, by shifting the fixing position of the coil sheath in the up-down direction and the left-right direction, it is possible to make the curvature radius that is the bending characteristic when the second bending portion 13 is bent more uniform. That is, the direction dependency in the case of bending can be further reduced, and the bending characteristics when bent in an arbitrary direction can be further improved. In the example shown in FIG. 12, the configuration of the second bending portion 13 is illustrated in a modified example different from that shown in FIG. 3 or FIG. 10, but the basic bending characteristics are shown in FIG. Alternatively, the same applies to the case of FIG.
In the above-described embodiments and the like, the second bending portions 13 and 13 ′ have been described as passive bending portions. However, the bending operation wire is further inserted into the insertion portion 6 and the distal end thereof is the first bending portion. 2 is fixed to the most advanced bending piece 23 of the bending portions 13 and 13 ', and the rear end of the bending operation wire is connected to a second bending operation knob (not shown) provided on the operation portion 7 of FIG. A configuration in which the second bending portion can be actively bent by fixing to a pulley or the like and rotating the second bending operation knob may be employed.

このような構成にした場合、上述した実施例で挿入部６を押し込んで第２の湾曲部１３，１３′が受動的に湾曲する作用の代わりに、操作部７に設けた第２の湾曲操作ノブの操作により、第２の湾曲部１３，１３′を能動的に湾曲させることができる。
この場合、湾曲量等を自在に設定できるため、さらに屈曲した大腸等の体腔内への挿入をより円滑に挿入することができる。
また、第１、第２の湾曲部１２，１３等を湾曲駒で形成したものに限定されるものでなく、例えば導電性高分子人工筋肉のように電圧を印加することにより、電圧を印加された方に収縮する等の特性を利用して形成しても良い。
また、本発明は、以上述べた実施例のみに限定されるものではなく、発明の要旨を逸脱しない範囲で種々変形実施可能である。 In the case of such a configuration, the second bending operation provided in the operation unit 7 instead of the action in which the insertion unit 6 is pushed in and the second bending units 13 and 13 ′ are passively bent in the embodiment described above. The second bending portions 13 and 13 'can be actively bent by operating the knob.
In this case, since the amount of bending can be set freely, insertion into a body cavity such as a bent large intestine can be more smoothly inserted.
Further, the first and second bending portions 12, 13 and the like are not limited to those formed by bending pieces. For example, a voltage is applied by applying a voltage like a conductive polymer artificial muscle. Alternatively, it may be formed using characteristics such as shrinkage toward the other side.
The present invention is not limited to the embodiments described above, and various modifications can be made without departing from the spirit of the invention.

［付記］
１．請求項１において、前記第１の湾曲部と、第２の湾曲部は、回動自在に枢支された湾曲駒によりそれぞれ形成される。
２．請求項１において、前記第２の湾曲部は、前記第１の湾曲部を構成する湾曲駒と同じ湾曲駒を用いて形成される。
３．請求項１において、前記第１の湾曲部の後端側部分は、前記第２の湾曲部の先端側部分と最大湾曲時の曲率半径が略等しい。
４．請求項１において、前記第１の湾曲部の挿入部方向の長さは、前記第２の湾曲部の挿入部方向の長さより長い。
５．請求項６において、前記受動的湾曲部内においては、湾曲操作ワイヤが挿通されたコイルシースが挿通されている。 [Appendix]
1. In Claim 1, the said 1st bending part and the 2nd bending part are each formed by the bending piece pivotally supported rotatably.
2. In Claim 1, the said 2nd bending part is formed using the same bending piece as the bending piece which comprises the said 1st bending part.
3. In Claim 1, the radius of curvature at the time of maximum bending of the rear end portion of the first bending portion is substantially equal to that of the distal end portion of the second bending portion.
4). 2. The length of the first bending portion in the insertion portion direction is longer than the length of the second bending portion in the insertion portion direction.
5. In Claim 6, in the said passive bending part, the coil sheath in which the bending operation wire was penetrated is penetrated.

６．付記５において、上下湾曲用の湾曲操作ワイヤが挿通されたコイルシースと、左右湾曲用の湾曲操作ワイヤが挿通されたコイルシースとは挿入部の長手方向における先端の固定位置が異なる。
７．請求項１において、前記第２の湾曲部の後端には可撓性の可撓管部が形成され、前記第２の湾曲部は、前記可撓性の可撓管部よりも曲げに対する剛性（硬度）が低い。
８．観察手段が設けられた先端部と、この先端部の基端部付近の第１の湾曲部と、第２の湾曲部とが順次形成された挿入部を有する内視鏡において、
第２の湾曲部における最大湾曲時の曲率半径を、先端側部分が後端側部分より小さくなるように形成したことを特徴とする内視鏡。 6). In Supplementary Note 5, the coil sheath into which the bending operation wire for up and down bending is inserted and the coil sheath through which the bending operation wire for right and left bending is inserted have different fixing positions of the distal end in the longitudinal direction of the insertion portion.
7). 2. The flexible bending tube portion according to claim 1, wherein a flexible tube portion is formed at a rear end of the second bending portion, and the second bending portion is more rigid with respect to bending than the flexible tube portion. (Hardness) is low.
8). In an endoscope having an insertion portion in which a distal end portion provided with observation means, a first curved portion near the proximal end portion of the distal end portion, and a second curved portion are sequentially formed,
An endoscope characterized in that the radius of curvature at the time of maximum bending in the second bending portion is formed so that the front end side portion is smaller than the rear end side portion.

挿入部の先端側部分に第１の湾曲部と第２の湾曲部とを順次形成して、先端側部分を後端側部分よりも最大湾曲時の曲率半径をそれぞれ小さくしているので、屈曲した体腔内への挿入を円滑に行うことができる。   Since the first curved portion and the second curved portion are sequentially formed at the distal end side portion of the insertion portion, and the curvature radius at the time of maximum bending is made smaller at the distal end side portion than at the rear end side portion, Can be smoothly inserted into the body cavity.

本発明の実施例１の内視鏡を備えた内視鏡装置の全体構成図。1 is an overall configuration diagram of an endoscope apparatus including an endoscope according to a first embodiment of the present invention. 挿入部の主に先端側を示す斜視図。The perspective view which mainly shows the front end side of an insertion part. 挿入部の先端側を長手方向に沿って切断した縦断面図。The longitudinal cross-sectional view which cut | disconnected the front end side of the insertion part along the longitudinal direction. 湾曲部の湾曲駒を説明するための斜視図。The perspective view for demonstrating the bending piece of a bending part. 図３のＡ−Ａ線、Ｂ−Ｂ線、Ｃ−Ｃ線、Ｄ−Ｄ線の各横断面図。Each cross-sectional view of the AA line of FIG. 3, BB line, CC line, and DD line. 挿入軸が直線状態の第２の湾曲部を長手方向に沿って切断した縦断面図。The longitudinal cross-sectional view which cut | disconnected the 2nd curved part with a linear state of an insertion axis along the longitudinal direction. 最大湾曲させた状態の第２の湾曲部を長手方向に沿って切断した縦断面図。The longitudinal cross-sectional view which cut | disconnected the 2nd curved part of the state bent to the maximum along a longitudinal direction. 大腸の概略の形状を示す説明図。Explanatory drawing which shows the general | schematic shape of a large intestine. 本実施例の内視鏡の挿入部を大腸内に挿入した状態の動作の説明図。Explanatory drawing of operation | movement of the state which inserted the insertion part of the endoscope of a present Example in large intestine. 本発明の実施例２の内視鏡における挿入部の先端側の構造を示す縦断面図。The longitudinal cross-sectional view which shows the structure of the front end side of the insertion part in the endoscope of Example 2 of this invention. 実施例２の内視鏡の挿入部を大腸内に挿入した状態の動作の説明図。Explanatory drawing of operation | movement of the state which inserted the insertion part of the endoscope of Example 2 in large intestine. 上下方向の湾曲操作ワイヤを挿通したコイルシースの先端の固定位置と左右方向の湾曲操作ワイヤを挿通したコイルシースの先端の固定位置とをずらした場合と同じ位置で固定した場合とにおける第２の湾曲部を湾曲させた場合の形状等を示す図。The second bending portion when the fixed position of the distal end of the coil sheath through which the bending operation wire in the vertical direction is inserted and the fixed position of the distal end of the coil sheath through which the bending operation wire in the horizontal direction is shifted are fixed at the same position The figure which shows the shape at the time of curving.

符号の説明Explanation of symbols

１…内視鏡装置
２…内視鏡
６…挿入部
７…操作部
７ｂ…湾曲操作ノブ
１１…先端構成部
１２…第１の湾曲部
１２ａ…先端側湾曲部
１２ｂ…後端側湾曲部
１３…第２の湾曲部
１３ａ…先端側湾曲部
１３ｂ…後端側湾曲部
１４…可撓管部
１５…連結部
２１、２２、２３、２４…湾曲駒
２６…フレックス管
３１…外皮
３２…湾曲操作ワイヤ
３４…コイルシース
３５…固定部材
３６…ワイヤガイド
４０Ａ，４０Ｂ…枢支部
４０…関節部 DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2 ... Endoscope 6 ... Insertion part 7 ... Operation part 7b ... Bending operation knob 11 ... Front-end | tip structure part 12 ... 1st bending part 12a ... Front end side bending part 12b ... Back end side bending part 13 ... 2nd bending part 13a ... Front end side bending part 13b ... Rear end side bending part 14 ... Flexible pipe part 15 ... Connection part 21, 22, 23, 24 ... Bending piece 26 ... Flex pipe 31 ... Outer skin 32 ... Bending operation Wire 34 ... Coil sheath 35 ... Fixed member 36 ... Wire guide 40A, 40B ... Pivot 40 ... Joint

Claims (6)

観察手段が設けられた先端部と、この先端部の基端部付近の第１の湾曲部と、第２の湾曲部とが順次形成された挿入部を有する内視鏡において、
前記第１の湾曲部と、第２の湾曲部とにおける最大湾曲時の曲率半径を、先端側部分が後端側部分よりもそれぞれ小さくなるように形成したことを特徴とする内視鏡。 In an endoscope having an insertion portion in which a distal end portion provided with observation means, a first curved portion near the proximal end portion of the distal end portion, and a second curved portion are sequentially formed,
An endoscope characterized in that the radius of curvature at the time of maximum bending in the first bending portion and the second bending portion is formed such that the front end side portion is smaller than the rear end side portion. 前記第１の湾曲部の後端側部分の最大湾曲時の曲率半径を、前記第２の湾曲部の先端側部分の曲率半径より小さくしたことを特徴とする請求項１に記載の内視鏡。   2. The endoscope according to claim 1, wherein a curvature radius at the time of maximum bending of a rear end side portion of the first bending portion is made smaller than a curvature radius of a distal end side portion of the second bending portion. . 前記第１の湾曲部の後端側部分の最大湾曲時の曲率半径を、前記第２の湾曲部の先端側部分の曲率半径より大きくしたことを特徴とする請求項１に記載の内視鏡。   The endoscope according to claim 1, wherein a radius of curvature at the time of maximum bending of a rear end side portion of the first bending portion is made larger than a curvature radius of a distal end side portion of the second bending portion. . 前記第１の湾曲部及び第２の湾曲部の先端側部分の最大湾曲時の曲率半径と、前記第１の湾曲部及び第２の湾曲部の後端側部分の最大湾曲時の曲率半径とを略同一としたことを特徴とする請求項１に記載の内視鏡。   The curvature radius at the time of maximum bending of the distal end side portion of the first bending portion and the second bending portion, and the curvature radius at the time of maximum bending of the rear end side portion of the first bending portion and the second bending portion, The endoscope according to claim 1, wherein the endoscopes are substantially the same. 前記第２の湾曲部は、能動的に湾曲する能動的湾曲部であることを特徴とする請求項１に記載の内視鏡。   The endoscope according to claim 1, wherein the second bending portion is an active bending portion that bends actively. 前記第２の湾曲部は、受動的に湾曲する受動的湾曲部であることを特徴とする請求項１に記載の内視鏡。   The endoscope according to claim 1, wherein the second bending portion is a passive bending portion that bends passively.
JP2005244685A 2005-08-25 2005-08-25 Endoscope Withdrawn JP2007054400A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2005244685A JP2007054400A (en) 2005-08-25 2005-08-25 Endoscope

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2005244685A JP2007054400A (en) 2005-08-25 2005-08-25 Endoscope

Publications (1)

Publication Number Publication Date
JP2007054400A true JP2007054400A (en) 2007-03-08

Family

ID=37918388

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2005244685A Withdrawn JP2007054400A (en) 2005-08-25 2005-08-25 Endoscope

Country Status (1)

Country Link
JP (1) JP2007054400A (en)

Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008120426A1 (en) * 2007-03-29 2008-10-09 Olympus Medical Systems Corp. Articulated bending mechanism and articulated medical device with articulated bending mechanism
JP2008264253A (en) * 2007-04-20 2008-11-06 Olympus Medical Systems Corp Medical treatment tool and endoscope treatment system
WO2011111266A1 (en) * 2010-03-12 2011-09-15 オリンパスメディカルシステムズ株式会社 Endoscope
WO2012014532A1 (en) * 2010-07-28 2012-02-02 オリンパスメディカルシステムズ株式会社 Endoscope, and method for inserting and bending the endoscope
US8821388B2 (en) 2007-03-29 2014-09-02 Olympus Medical Systems Corp. Multijointed bending mechanism and multijointed medical equipment having multijointed bending mechanism
WO2015012066A1 (en) * 2013-07-25 2015-01-29 オリンパス株式会社 Manipulator and manipulator system

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2008120426A1 (en) * 2007-03-29 2008-10-09 Olympus Medical Systems Corp. Articulated bending mechanism and articulated medical device with articulated bending mechanism
JP2008237810A (en) * 2007-03-29 2008-10-09 Olympus Medical Systems Corp Multi-joint bending mechanism and medical instrument with multi-joint bending mechanism
US8821388B2 (en) 2007-03-29 2014-09-02 Olympus Medical Systems Corp. Multijointed bending mechanism and multijointed medical equipment having multijointed bending mechanism
US8282543B2 (en) 2007-04-20 2012-10-09 Olympus Medical Systems Corp. Surgical instrument and endoscope surgical system having surgical instrument
WO2008136160A1 (en) * 2007-04-20 2008-11-13 Olympus Medical Systems Corp. Operating tool and endoscopic operating system including the same
JP2008264253A (en) * 2007-04-20 2008-11-06 Olympus Medical Systems Corp Medical treatment tool and endoscope treatment system
WO2011111266A1 (en) * 2010-03-12 2011-09-15 オリンパスメディカルシステムズ株式会社 Endoscope
WO2012014532A1 (en) * 2010-07-28 2012-02-02 オリンパスメディカルシステムズ株式会社 Endoscope, and method for inserting and bending the endoscope
WO2015012066A1 (en) * 2013-07-25 2015-01-29 オリンパス株式会社 Manipulator and manipulator system
JP2015023951A (en) * 2013-07-25 2015-02-05 オリンパス株式会社 Manipulator and manipulator system
CN105392413A (en) * 2013-07-25 2016-03-09 奥林巴斯株式会社 Manipulator and manipulator system
US10085813B2 (en) 2013-07-25 2018-10-02 Olympus Corporation Manipulator and manipulator system
CN105392413B (en) * 2013-07-25 2019-09-24 奥林巴斯株式会社 Manipulator and arm-and-hand system

Similar Documents

Publication Publication Date Title
JP4477519B2 (en) Endoscope
JP4323441B2 (en) Endoscope
US8206287B2 (en) Endoscope having flexible tube
JP5908192B2 (en) Endoscope
US10258223B2 (en) Inserting instrument, rotary unit and inserting apparatus
EP2702925B1 (en) Endoscope system
EP2108301A1 (en) Endoscope, connection method of bending section and flexible section in endoscope.
JP6180679B2 (en) Endoscope
WO2006129440A1 (en) Endoscope device
JP2007054400A (en) Endoscope
JP4777005B2 (en) Endoscope
JPH07116104A (en) Endoscope with two bending positions
JP2007061377A (en) Endoscope
JP3698844B2 (en) Endoscope
JP2009066299A (en) Endoscope
JP6203455B1 (en) Endoscope system
JP3965163B2 (en) Endoscope and container for storing endoscope
WO2019069747A1 (en) Endoscope curved part and endoscope
JP2005046279A (en) Endoscope
JP5893508B2 (en) Endoscope
JP2018175225A (en) Endoscope system

Legal Events

Date Code Title Description
A711 Notification of change in applicant

Free format text: JAPANESE INTERMEDIATE CODE: A711

Effective date: 20070320

A521 Written amendment

Free format text: JAPANESE INTERMEDIATE CODE: A821

Effective date: 20070320

A300 Withdrawal of application because of no request for examination

Free format text: JAPANESE INTERMEDIATE CODE: A300

Effective date: 20081104