JP2007307241A - Rotary self-propelled type endoscope and rotary self-propelled type endoscope system - Google Patents

Rotary self-propelled type endoscope and rotary self-propelled type endoscope system Download PDF

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Publication number
JP2007307241A
JP2007307241A JP2006140565A JP2006140565A JP2007307241A JP 2007307241 A JP2007307241 A JP 2007307241A JP 2006140565 A JP2006140565 A JP 2006140565A JP 2006140565 A JP2006140565 A JP 2006140565A JP 2007307241 A JP2007307241 A JP 2007307241A
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Prior art keywords
bending
insertion portion
portion
insertion
threshold value
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JP2006140565A
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Japanese (ja)
Inventor
Mitsusuke Ito
Seiichi Ito
Yoshiyuki Tanii
Akio Uchiyama
満祐 伊藤
誠一 伊藤
昭夫 内山
好幸 谷井
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Olympus Medical Systems Corp
オリンパスメディカルシステムズ株式会社
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Priority to JP2006140565A priority Critical patent/JP2007307241A/en
Publication of JP2007307241A publication Critical patent/JP2007307241A/en
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Abstract

<P>PROBLEM TO BE SOLVED: To prevent the damage of a rotary cylindrical body, an insertion part including a tube and devices by sensing the bent state of the insertion part of a rotary self-propelled type endoscope to control the driving of the rotary cylindrical body from the detection result. <P>SOLUTION: This rotary self-propelled type endoscope system 1 has: the rotary self-propelled type endoscope 2, which has a leading end part 8, an insertion part main body 10, the insertion part 6A externally fitted to the insertion part main body 10 in a rotatable manner and the rotary cylindrical body 51 having a spiral shape part 51a formed thereto by spiral unevenness and at least one bending sensor 60 provided in the longitudinal direction from the leading end part of the insertion part 6A to detect the bending angle of the insertion part 6A, a motor 62 for applying rotary drive force to the periphery of the axis of the rotary cylindrical body 51; and a rotation control part 63 which compares the bending angle θ of the insertion part 6A detected by the bending sensor 60 with a preset threshold value and controlling the motor 62 for stopping the rotation of the rotary cylindrical body 51 in the case where the bending angle θ exceeds the threshold value. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a rotary self-propelled endoscope having a insertion portion in which a spiral shaped portion is arranged on the outer periphery of a flexible elongated tube that can be inserted into a subject, and a rotary self-propelled endoscope system.

  Conventionally, medical endoscopes have been widely used. Such medical endoscopes can be treated by observing the affected area in the body cavity by inserting a long and thin insertion section into the body cavity, or by inserting a treatment tool into the forceps channel as necessary. Treatment can be performed.

  The endoscope includes a bendable bending portion on the distal end side of the insertion portion. In the endoscope, the bending portion is bent up and down or left and right by operating the bending operation knob. When the endoscope is inserted into a complicated body cavity duct, for example, a lumen that draws a loop of 360 °, such as the large intestine, the bending portion is bent by the operation of the bending operation knob and twisted. The operation is performed, and the insertion portion is inserted toward the observation target site.

  However, the endoscope operation requires skill until it becomes possible to smoothly insert the insertion portion in a short time up to the complicated deep part of the large intestine. For an inexperienced operator, when inserting the insertion portion deep into the large intestine, there is a risk of losing sight of the insertion direction, or drastically changing the running state of the intestine.

  For this reason, various proposals have conventionally been made to improve the insertability of the insertion portion. For example, Patent Document 1 discloses a medical device propulsion device that can easily guide a medical device to a deep part of a body cavity duct and is minimally invasive.

  In the propulsion device described in Patent Document 1, the rotating member is provided with an oblique rib as a propulsive force generating portion with respect to the axial direction of the rotating member. Therefore, in this propulsion device, by rotating the rotating member, the rotational force of the rotating member is converted into propulsive force by the rib, and the medical device connected to the propulsion device is moved in the deep direction by the propulsive force. The Accordingly, the propulsion device described in the above publication is minimally invasive and can insert a medical device into a body cavity without placing a physical burden on the patient.

  There are various types of endoscopes using such technology. For example, in an endoscope that is designed to be inserted into the large intestine by the transanus, on the outer peripheral side of the insertion portion. Rotating self-propelled, which is provided with a flexible rotating cylinder that can rotate around an axis, and can be automatically inserted into a body cavity by rotating the rotating cylinder There is an endoscopic device.

Further, as a conventional example for improving the insertability of the insertion portion, for example, as described in Patent Document 2, data is acquired from a plurality of bending sensors attached to a colonoscope, and the acquired data Based on the above, there is disclosed a colonoscope that approximately calculates the meandering state of the colonoscope and displays the approximated meandering state of the colonoscope on a monitor.
Japanese Patent Laid-Open No. 10-113396 JP 2002-34903 A

  However, in the rotary self-propelled endoscope device in the prior art, when the bending of the insertion portion becomes large, the rotation transmission from the motor is hindered and the rotation transmission becomes worse than the linear state, The insertability of the insertion part may deteriorate.

  In such a case, a torsional stress is generated inside the cylindrical body to which a rotational force is applied with a predetermined torque from the motor in accordance with the hindrance to rotation. And since the cylinder body in which this torsional stress was stored receives the force expanded in an outer-inner-periphery direction, the length of a major axis direction is expanded-contracted.

  Therefore, in a state where the bending of the insertion portion is large, the rotating cylinder whose rotation is hindered may be deformed or damaged due to the shearing force generated by the torsional stress due to the rotational torque from the motor. . Furthermore, there is a possibility that a load is applied to a device such as a motor that rotates the cylindrical body, causing a failure.

  Further, in such a rotating self-propelled endoscope, built-in objects such as various cables for imaging and illumination are inserted into a tube in which a rotating cylinder rotating around the outer periphery is extrapolated. For this reason, the tube is twisted by the rotation of the cylindrical body, an excessive load is applied to the built-in object, and there is a possibility that problems such as disconnection of various cables may occur.

  Therefore, it is desirable to insert the rotating self-propelled endoscope into a body cavity such as the large intestine without increasing the bending of the insertion portion, specifically, without bending the insertion portion at an acute angle.

  In addition, the conventional colonoscope of Patent Document 2 includes a plurality of bending sensors in the insertion portion, and approximates and displays the meandering state of the colonoscope based on data from the bending sensors. However, it is merely a normal endoscope, not a rotary self-propelled endoscope. Therefore, in this patent document 2, nothing is described about the means, technique, etc. for solving the said problem in a rotation self-propelled endoscope.

  Therefore, the present invention has been made in view of the above circumstances, and detects the bending state of the insertion portion of the rotary self-propelled endoscope, and controls the driving of the rotating cylinder based on the detection result, whereby the rotating cylinder It is an object of the present invention to provide a rotating self-propelled endoscope and a rotating self-propelled endoscope system that can prevent damage to the body, the insertion portion including the tube, and the devices.

A rotating self-propelled endoscope according to the present invention includes a distal end rigid portion having an imaging means, an insertion portion main body having flexibility in which the distal end rigid portion is disposed at the distal end portion and inserted into a body cavity, and the insertion An insertion portion having a rotating cylindrical body that is rotatably fitted to the main body and has a spiral-shaped portion formed by spiral irregularities;
A rotary self-propelled endoscope provided with at least one bending sensor for detecting a bending angle of the insertion portion, provided at least one in a longitudinal direction from a distal end portion of the insertion portion, The bending angle of the insertion portion detected by the bending sensor is compared with a preset threshold value. When the bending angle of the insertion portion exceeds the threshold value, the rotation of the rotating cylinder is stopped. It is controlled to do.

The rotating self-propelled endoscope system of the present invention includes a distal end rigid portion having an imaging means, and a flexible insertion portion main body having the distal end rigid portion disposed at the distal end portion and inserted into a body cavity. An insertion portion that is rotatably fitted to the insertion portion main body and has a rotating cylindrical body having a spiral shape formed by spiral irregularities; and at least one insertion portion provided in a longitudinal direction from the distal end portion of the insertion portion. A bending self-propelled endoscope comprising a bending sensor for detecting a bending angle of the insertion portion;
A drive unit that applies a rotational driving force to the rotary cylinder around an axis, a bending angle of the insertion unit detected by the bending sensor, and a preset threshold value are compared, and the bending angle of the insertion unit is A control unit that controls the drive unit to stop the rotation of the rotating cylinder when the threshold value is exceeded.

  According to the present invention, by detecting the bending state of the insertion part of the rotary self-propelled endoscope and controlling the driving of the rotation cylinder based on the detection result, the insertion part including the rotation cylinder and the tube, And since damage to equipment can be prevented, the insertability of the insertion portion can be improved.

  Embodiments of the present invention will be described below with reference to the drawings.

Example 1
FIGS. 1 to 15 relate to Example 1 of the present invention, and FIG. 1 is an external view showing the overall configuration of a rotating self-propelled endoscope system including the rotating self-propelled endoscope of the present invention. Is a cross-sectional view showing a tip portion, a bending portion, and a part of a spiral-shaped portion of a rotating self-propelled endoscope, FIG. 3 is a cross-sectional view showing a rotating cylinder and an insertion portion main body constituting the insertion portion, and FIG. 3 is a cross-sectional view taken along line AA in FIG. 3, FIG. 5 is an external view of an insertion portion to which a plurality of bending sensors are attached, and FIG. 6 is a block diagram showing an overall electrical configuration of the rotary self-propelled endoscope system. 7 is a top view showing the storage case of FIG. 1, FIG. 8 is an explanatory view showing a state where the insertion aid is inserted from the anus of the patient into the rectum, and FIG. 9 is an S-shaped insertion portion main body inserted into the large intestine. FIG. 10 is an explanatory diagram showing a state when it reaches the colon. FIG. 10 is an explanatory diagram showing a state when the insertion portion main body inserted into the large intestine reaches the vicinity of the cecum. 1 and FIG. 12 are for explaining the operation of the first embodiment, FIG. 11 is a flowchart showing an example of normal control by the rotation control unit in the control device, and FIG. 12 is an avoidance state in the flowchart of FIG. FIG. 13 is a graph showing the characteristics of the bending angles of a plurality of bending sensors derived based on the resistance and the bending angle of the bending sensor, and FIG. 14 is a resistance value of the bending sensor used in the first embodiment. FIG. 15 is an explanatory diagram for explaining the relationship between the bending sensor and the bending angle.

  First, the overall configuration of the rotary self-propelled endoscope system 1 will be described with reference to FIG. As shown in FIG. 1, a rotating self-propelled endoscope system (hereinafter abbreviated as an endoscope system) 1 includes a rotating self-propelled endoscope (hereinafter simply abbreviated as an endoscope) 2, and a control device. 3, a monitor 4, and an aspirator 5.

The endoscope 2 includes an endoscope insertion portion with a storage case (hereinafter simply referred to as an insertion portion with a storage case) 6 and an operation portion 7.
The insertion part 6 with a storage case has an insertion part 6A and an insertion part storage case (hereinafter simply referred to as a storage case) 12, and in order from the tip, a distal end rigid part (hereinafter simply referred to as a tip) constituting the insertion part 6A. 8, a bending portion 9, a rotating cylinder 51 provided with an insertion portion main body 10 inside, an insertion auxiliary tool 11 constituting a storage case, a storage case 12, an insertion auxiliary tool 11 and a storage case. A distal guide tube 13 that is a corrugated tube interposed between the operation portion 7 and an operation portion side guide tube 14 that is a corrugated tube interposed between the operation portion 7 and the storage case 12; And a connector cover 15 to which one end of the operation portion side guide tube 14 is connected.
The insertion part 6 with a storage case is configured so that the insertion part 6A can be attached to and detached from the operation part 7 for performing a predetermined function.

The operation unit 7 has a connector cover 15 that constitutes a part of the insertion unit 6 with a storage case, and has a motor box 16 as a rotating device, a gripping unit 17, and a main operation unit 18. Yes.
The main operation section 18 includes a bending operation knob 19 that bends the bending section 9 of the insertion section 6A in four directions (up and down, left and right directions corresponding to the endoscope image captured by the endoscope 2), and a fluid sending operation, or Buttons 20 for performing a suction operation and switches 21 for operating an optical system such as various types of imaging and illumination are provided.

  The bending operation knob 19 is disposed on one surface of the main operation portion 18 of the operation portion 7 so that two substantially disk-shaped knobs are overlapped. These two knobs are rotatably arranged, and a U (UP) / D (DOWN) bending operation knob 19a for operating the above-described vertical direction of the bending portion 9 on the main operation portion 18 side, and this U On the / D bending operation knob 19a, there is an R (RIGHT) / L (LEFT) bending operation knob 19b for operating the left and right directions of the bending portion 9.

A universal cord 18a, which is an electric cable, is extended from one side surface of the main operation unit 18. Further, the main operation portion 18 is provided with a bend preventing portion 18b at a root portion where the universal cord 18a extends.
A connector portion 22 is disposed at the extending end of the universal cord 18a. The connector portion 22 is connected to the control device 3.

  The buttons 20 disposed on one side surface of the main operation unit 18 are used for supplying gas from the distal end portion 8 of the endoscope 2 into the subject or operating when supplying liquid. A water supply button 20a and a suction button 20b that is operated when sucking liquid such as filth from the subject from the distal end portion 8 of the endoscope 2 are provided.

  From the connector cover 15 attached to and detached from the motor box 16, three tubes 23 inserted into the insertion portion 6A extend. These three tubes 23 have an air supply tube 23a, a water supply tube 23b, and a suction tube 23c. The extended ends of these three tubes 23 are connected to each other at predetermined positions on the front surface of the control device 3 via detachable connectors.

  The control device 3 is provided with a water supply tank 24. Sterilized water is stored in the water supply tank 24. The sterilized water is supplied to the water supply tube 23b by the control device 3 and ejected from the distal end portion 8 of the endoscope 2 when the air / water supply button 20a of the main operation unit 18 is subjected to a predetermined operation.

  When the air / water supply button 20a of the main operation unit 18 is operated in a predetermined manner, air from a compressor (not shown) in the control device 3 is supplied to the air supply tube 23a. It ejects from the distal end portion 8 of the endoscope 2.

Further, when the suction button 20b is operated, filth and the like are sucked from the distal end portion 8 of the endoscope 2, and the filth and the like are sent from the control device 3 to the aspirator 5 through the suction tube 23c.
In the rotary self-propelled endoscope system 1 of the present embodiment, the suction device 5 is used, but a suction system provided in a hospital may be used.

  A foot switch 25 is connected to the control device 3 via an electric cable 25a. The foot switch 25 is a switch for rotating / stopping the insertion portion 6A of the endoscope 2 in a predetermined direction. An advance / retreat switch for operating and stopping the rotation direction of the insertion portion 6A is also provided in the main operation portion 18 of the operation portion 7 (not shown).

Further, a power switch, a dial for changing the rotation speed of the insertion portion 6A of the endoscope 2 and the like are disposed on the front surface of the control device 3. The motor box 16 of the operation unit 7 includes a motor (see FIG. 6) that applies a rotational force to the insertion unit 6A.
The control device 3 is electrically connected to the monitor 4. The monitor 4 displays an endoscopic image captured by the endoscope 2. A specific configuration of the control device 3 will be described later.

  Next, the distal end portion 8, the bending portion 9, the insertion portion main body 10, and the rotating cylinder 51 that constitute a part of the insertion portion 6 with a storage case of the endoscope 2 will be described with reference to FIG. 2.

First, the tip 8 will be described.
The distal end portion 8 includes a hard, substantially annular main body ring 26 made of a biocompatible synthetic resin, and an imaging unit 27.

  The imaging unit 27 includes a substantially annular holding ring 28a made of a synthetic resin accommodated in the main body ring 26, and a substantially annular cover ring 28b made of metal fitted on the proximal end side of the holding ring 28a. An outer shape is formed by a cover body 29 that is fitted so as to hermetically seal the tip opening of the holding ring 28a and is formed in a dome shape by a biocompatible transparent synthetic resin.

  In the space of the image pickup unit 27 formed by these members, an objective lens group 30, and a CCD (Charge Coupled Devices), CMOS arranged at a position where photographing light incident on the objective lens group 30 is collected. An image sensor 31 such as (Complementary Metal Oxide Semiconductor) and a flexible printed circuit board (FPC) 32 to which an image signal photoelectrically converted by the image sensor 31 is input are provided.

  A communication cable 33 is connected to the FPC 32. The communication cable 33 is inserted into the bending portion 9 and the insertion portion main body 10 and connected to a connector (not shown) disposed on the connector cover 15 (see FIG. 1).

  In addition, a plurality of LEDs 34 that are illumination members are disposed on the plate member 35 that fixes the holding ring that holds the objective lens group 30 so as to surround the objective lens group 30. The plate member 35 is formed in a substantially circular shape so that it can be fixed to the inner surface on the extension line at a portion passing through the approximate center of the cover body 29. The objective lens group 30 is arranged so that the optical axis passes through a substantially central position on the plate surface of the plate member 35.

  The imaging unit 27 configured as described above is disposed at a position that is eccentric with respect to the center of the main body ring 26, and is fixed to the main body ring 26 by a front end cap 36 that is disposed in a front end side opening of the main body ring 26. Has been.

  In the gap formed between the holding ring 28a of the imaging unit 27 and the main body ring 26, a distal end portion of the suction tube 23c and a suction tube 37 connected to the proximal end side of the suction tube 23c are arranged. . The distal end portion of the suction tube 37 is fixed to the distal end cap 36.

  A suction opening 38 is formed in the distal end cap 36. Although not shown in the figure, pipes communicating with the air / water feed tube 23a are provided using the gap formed between the holding ring 28a and the main body ring 26, and the openings of these pipes are opened. The part is also formed on the tip cap 36.

Next, the bending portion 9 will be described.
The bending portion 9 includes a hard distal bending piece 39 fitted into the proximal end opening of the main body ring 26 of the distal end portion 8 and a plurality of hard bending pieces 40 (also referred to as curved nodal rings). Are connected in a freely rotating manner. These pieces 39 and 40 are covered with a curved outer skin 41 made of an elastic member such as biocompatible fluoro rubber. A distal end portion of the curved outer skin 41 is fixed to a proximal end portion of the main body ring 26 of the distal end portion 8 by a bobbin adhering portion 42.

  The plurality of bending pieces 40 have wire guides 43 protruding from the inner peripheral surface thereof toward the center. A bending operation wire 44 (also referred to as an angle wire) is inserted through the wire guide 43.

  There are four tip portions of the bending operation wire 44 in the bending portion 9 (only two are shown in FIG. 2), and a cylindrical locking member 45 is welded to each of them by solder or the like. Each of the bending operation wires 44 has a locking member 45 locked in four locking holes 39 a formed in the distal bending piece 39.

  The four locking hole portions 39a are formed at four equally spaced positions on the surface orthogonal to the axis of the distal bending piece 39. The distal bending piece 39 has a direction around the axis so that each locking hole 39a is positioned corresponding to the top, bottom, left, and right of the endoscopic image. Therefore, the four bending operation wires 44 are held and fixed at four points that are spaced apart at substantially equal intervals in the vertical and horizontal directions.

  Further, these bending operation wires 44 are inserted into the insertion portion main body 10 and arranged up to the connector cover 15. Note that a wire clamp (not shown) is provided at each proximal end portion of the bending operation wire 44. The wire fastening of each bending operation wire 44 is connected correspondingly to a connection member (not shown) provided in the grip portion 17 in a state where the connector cover 15 is integrated with the motor box 16.

  The connecting member is connected by a bending operation mechanism (not shown) interlocked with a bending operation knob 19 disposed in the main operation portion 18 and a chain (not shown). That is, when the bending operation knob 19 is rotated, the connecting members are alternately pulled or relaxed by the bending operation mechanism, and the bending operation wires 44 are alternately pulled or relaxed in conjunction with the movement. It has become.

  Therefore, when each of the four bending operation wires 44 is pulled and relaxed, the plurality of bending pieces 40 rotate correspondingly. Thus, the bending portion 9 is bent in the four directions described above.

The proximal end portion of the bending portion 9 includes a first base 46 made of a metal for fixing a coil pipe fitted inside the bending piece 40 at the most proximal end, and an outer peripheral side of the bending piece 40 at the most proximal end. A second base 47 made of a metal for fixing the inner layer tube that is fitted to the second base 47, and a second plastic made of a synthetic resin for rotatably engaging the rotating cylinder fitted to the outer peripheral side of the second base 47. A three-piece base 48 is provided. These caps 46 to 48 are firmly fixed with an adhesive or the like.
The curved outer skin 41 is fixed to the third base 48 by a bobbin adhering portion 42.
Further, the bending operation wires 44 are respectively inserted into the coil sheaths 49 on the base end side from the first cap 46. The distal end portion of the coil sheath 49 is fixed to the first base 46 by brazing or the like. The coil sheath 49 used in this embodiment has an incompressible structure in which a wire is tightly wound in a pipe shape.

  A proximal end portion of the second base 47 is fixed to a distal end portion of a soft inner tube 49 a that is inserted into the insertion portion main body 10. The inner layer tube 49a may be a tube body in which a thin wire or the like is knitted into a cylindrical shape to give flexibility.

A protrusion 48 a is provided at the base end portion of the third base 48. The third base 48 is completely covered by the curved outer skin 41 so that a gap is formed on the outer peripheral side of the protrusion 48a.
It should be noted that the endoscope 2 of the present embodiment is not limited to the one provided with the bending portion 9, and of course, the one not provided with the bending portion 9 can be applied.

Next, the insertion portion main body 10 and the rotating cylinder 51 of the insertion portion 6A will be described.
The insertion portion 6 </ b> A has an insertion portion main body 10 and a rotating cylinder 51.
In the insertion portion main body 10, the above-described inner layer tube 49a, four coil sheaths 49 through which the bending operation wires 44 are inserted, the communication cable 33, and various tubes 23 (not shown) are arranged. The inner layer tube 49a protects the built-in components that are the respective internal components.

The rotating cylinder 51 has a base 50 made of a synthetic resin for connection at the tip portion, and the tip portion is fixed by an adhesive 52.
The base 50 is formed with a concavo-convex portion 50a that engages with the protrusion 48a of the third base 48 of the curved portion 9 described above at the tip portion to make the snap fit function effective. That is, the base 50 and the third base 48 are rotatable about their respective axes.

  The rotating cylinder 51 connected to the base 50 is a cylinder having flexibility by spirally winding a biocompatible metal plate member processed so that the cross-sectional shape is uneven. The rotating cylinder 51 has the above-described irregularities engaged with each other with almost no gap, and is provided on the outer peripheral surface so as to be continuously provided along a spiral convex portion (or a spiral concave portion or further along the spiral). The spiral-shaped part 51a used as the convex part etc. to be formed is formed.

  Specifically, the rotating cylinder 51 is a spiral tube that takes into consideration the insertion into the body cavity, and is made of, for example, stainless steel and has a predetermined diameter dimension. In addition, the rotary cylinder 51 can be set to various pitches, spiral angles, and the like by changing the size of the unevenness formed on the plate member.

  The rotating cylinder 51 is configured to be rotatable around an axis in the insertion direction. Then, when the rotating cylinder 51 rotates, the spiral-shaped portion 51a on the outer peripheral surface comes into contact with the body cavity inner wall of the subject and thrust is generated, and the rotating cylinder 51 itself tends to advance in the insertion direction.

  At this time, the base 50 fixed to the distal end portion of the rotating cylinder 51 is brought into contact with the third base 48 at the proximal end portion of the bending portion 9 to press the bending portion 9, and the insertion including the distal end portion 8 is performed. A propulsive force is applied to advance the entire part 6A toward the deep part in the body cavity.

  The rotating cylinder 51 is given a rotational driving force by a motor (see FIG. 6) disposed in the motor box 16 (see FIG. 1) of the operation unit 7.

  In this case, in this embodiment, the rotational driving force of the motor (see FIG. 6) is transmitted to the proximal end side of the rotating cylinder 51 to rotate the rotating cylinder 51. However, the present invention is not limited to this. It will never be done. For example, the rotational driving force of a motor (see FIG. 6) may be transmitted to the middle of the rotating cylinder 51 to rotate the entire rotating cylinder, or may be transmitted to the tip of the rotating cylinder 51 to rotate the rotating cylinder 51. It may be configured to rotate

  In the present embodiment, at least one or more bending sensors 60 (60a, 60b... 60n) are provided inside the insertion portion 6A.

  When a plurality of bending sensors 60 are provided, these bending sensors 60a, 60b,... 60n (n is an integer) are, for example, inner layers of the rotating cylinder 51 and the insertion portion main body 10 as shown in FIGS. It is arranged between the tube 49a and bent in the longitudinal direction of the insertion portion 6A to the rear end side of the distal end portion 8 of the insertion portion 6A (the rear end side of the bending portion 9 when the bending portion 9 is present). The sensors 60a, 60b, 60c,... 60n are sequentially arranged at predetermined intervals.

  In this case, as shown in FIGS. 2 to 4, for example, the bending sensor 60 is fixed on the outer peripheral surface of the inner layer tube 49 a so as to be arranged at a predetermined angle with respect to the insertion axis of the insertion portion main body 10. . In the first embodiment, as shown in FIG. 4, two bending sensors 60 are provided on the inner layer tube 49a so that two bending sensors 60 are provided at an angle of about 90 degrees with respect to the insertion axis. However, it is not limited to this. For example, four bending sensors 60 may be provided at an angle of approximately 90 degrees with respect to the insertion axis in order to detect bending angles in the four directions of the upper and lower sides and the left and right sides of the insertion portion 6A.

  And, as described above, the insertion portion 6A is in the longitudinal direction from the distal end portion (the rear end side of the distal end portion 8 or the rear end side of the bending portion 9 when there is the bending portion 9) to the base end portion. By providing the two bending sensors 60 at predetermined intervals, the respective bending sensors 60a to 60n are arranged as shown in FIG.

  As the bending sensor 60, for example, a bending sensor as disclosed in US Pat. No. 5,086,785 is used. The bend sensor 60 has a characteristic that the resistance value varies depending on the bend angle. For example, the bend sensor 60 is about 10 KΩ in a normal state, and the resistance value increases to about 10 to 25 KΩ depending on the degree of bending when bent. That is, by using the resistance value that is the output of the bending sensor 60, the bending angle can be estimated.

  The characteristic of the bending angle / resistance value of such a bending sensor 60 is shown in the graph of FIG. That is, as shown in FIG. 15, when the bending sensor 60 is bent at a bending angle θ, the bending sensor 60 outputs a resistance value KΩ corresponding to the bending angle θ as shown in FIG. 14, for example.

  The plurality of bending sensors 60a to 60n are electrically connected to the control device 3 through a signal line 60A (see FIG. 6).

As shown in FIG. 1, the insertion portion 6 </ b> A configured as described above has a proximal end side connected to the connector portion 15, and a distal end portion 8 having an operation portion side guide tube 14, a storage case 12, and a distal end side guide tube. 13 and the insertion aid 11 are inserted.
The guide tubes 13 and 14 are tube bodies into which the rotating cylinder 51 of the insertion portion 6A can be sufficiently inserted.

Next, the configuration of various main parts built in the endoscope 2 and the control device 3 of the rotary self-propelled endoscope system 1 of the present embodiment will be described with reference to FIG.
As described above, the endoscope 2 and the control device 3 are electrically connected by the universal cord 18a. In the endoscope 2 of the present embodiment, the imaging unit 27 is built in the distal end portion 8 as described above. Further, the motor box 16 of the endoscope 2 incorporates a motor 61 that rotates a rotating cylinder 51 that is externally inserted into the insertion portion main body 10 with a gear.

Further, as described above, the insertion portion main body 10 is provided with the plurality of bending sensors 60 (60a to 60n), and the signal line 60A connected to these bending sensors 60 (60a to 60n) is a universal cord 18a. It is electrically connected to the control device 3 via. The main operation unit 18 of the operation unit 7 includes an input unit 62 for rotating or stopping the motor 61.
These various devices built in the endoscope 2 are electrically connected to various devices built in the control device 3.
Specifically, the control device 3 includes a rotation control unit 63, a bending measurement unit 64 to which outputs from the plurality of bending sensors 60a to 60n are input, an image processing unit 65 that outputs an image signal to the monitor 4, It has a buzzer 66 as an alarm unit, a warning lamp capable of displaying various operation states such as a bending angle, and a display unit 3a such as a liquid crystal monitor.
When the bending portion 9 of the endoscope 2 is electrically bent, the bending for electrically controlling the bending of the bending portion 9 by controlling the driving portion provided in the motor box 16 or the like. The control unit 67 may be provided in the control device 3. The rotation control unit 63 constitutes a control unit.

  The imaging unit 27 at the distal end portion 8 is electrically connected to the image processing unit 65. The image processing unit 65 is electrically connected to the rotation control unit 63. The image processing unit 65 receives the image signal from the imaging unit 27 and outputs the image signal to the monitor 4. In addition, power to each LED 34 of the imaging unit 27 is supplied via the image processing unit 65.

  The bending measuring unit 64 is electrically connected to a signal line 60 </ b> A that is connected to a plurality of bending sensors 60 (60 a to 60 n) provided in the insertion unit main body 10. The bending measurement unit 64 is supplied with detection signals (output resistance values) from the plurality of bending sensors 60a to 60n via the signal line 60A.

  Based on the detection signal (output resistance value), the bending measurement unit 64 measures the bending angle and the maximum angle of the bending sensor 60 alone, the average bending angle of the plurality of bending sensors 60a to 60n, and the rotation control of the measurement result. To the unit 63.

  The motor 61 of the motor box 16 is electrically connected to a motor driver (not shown) in the rotation control unit 63. The driving of this motor driver (not shown) is controlled by the rotation control unit 62. The motor driver (not shown) and the motor 61 constitute a drive unit.

  The rotation control unit 63 compares the bending angle of the insertion unit 6A detected by the bending sensors 60a to 60n, which is a measurement result from the bending measurement unit 64, with the preset threshold values a and b, and the insertion unit 6A. When the bend angle exceeds the thresholds a and b, the motor driver (not shown) and the motor 61 are controlled so as to stop the rotation of the rotating cylinder 51.

  The rotation control unit 63 is also electrically connected to a display unit 3a such as a warning lamp and a liquid crystal monitor, and a buzzer 66, and controls the display unit 3a and the buzzer 66. The rotation control unit 63 controls the motor driver (not shown) so that the rotating cylinder 51 rotates at a constant rotation speed during normal times.

  The input unit 62 of the main operation unit 18 and the foot switch 25 described with reference to FIG. 1 are electrically connected to the rotation control unit 63 and switch ON / OFF of the motor 61 that rotates the rotating cylinder 51. The input unit 62 and the foot switch 25 can turn the motor 61 on and off regardless of which one is operated.

In the endoscope 2, when the connector cover 15 is connected to the motor box 16 (see FIG. 1), a gear 68 a provided on the rotating shaft 68 and a gear 61 a of the motor 61 provided on the motor box 16 are connected. The driving force of the motor 61 is transmitted to each gear, and the spiral portion 51a rotates about the longitudinal axis via the rotating shaft 68 and the base end side base 69.
That is, the spiral-shaped part 51a is configured to transmit the rotational driving force from the motor box 16 from the base end part. The inner layer tube 49a inserted through the spiral shaped portion 51a is inserted from the connector cover 15 through the rotary shaft 68 to reach the spiral shaped portion 51a.

  In addition, the connector cover 15 and the motor box 16 are electrically connected so that the imaging unit 27 and the plurality of bending sensors 60 a to 60 n can be electrically connected to the control device 3 in a state where they are coupled. An electrical connector (not shown) is included.

Next, a usage example of the rotary self-propelled endoscope system 1 will be described. In the following description, colonoscopy will be described as an example with reference to FIGS.
Now, for example, a large intestine examination is performed using the endoscope system 1. At this time, the operator inserts the insertion assisting tool 11 from, for example, the anus of the patient lying on the bed. Note that the insertion portion 6A is accommodated in the storage case 12 in a bent state as shown in FIG.

  The insertion assisting tool 11 according to the present embodiment includes a cylindrical insertion tube 53, an outward flange serving as a donut disk-shaped contact portion 54, an assisting device insertion portion 58 including a holding tube 55, and a distal end side guide tube 13. It has two connecting rings 56 and 57 to be connected.

  As shown in FIG. 8, the insertion assisting tool 11 is brought into a state where only the insertion tube 53 is inserted into the rectum 502 from the anus 501 by the contact portion 54 contacting the buttocks 510 near the anus 501 of the patient. . That is, the entire insertion assisting tool 11 is prevented from being inserted into the rectum 502 by the contact portion 54. At this time, the operator fixes the contact portion 54 to the patient's buttocks 510 with a tape or the like.

  In this state, the surgeon holds the grasping portion 17 of the operation portion 7 and spirals the insertion portion main body 10 by the foot operation of the foot switch 25 or the hand operation of the advance / retreat switch provided in the main operation portion 18. The shape part 51a is rotated around the longitudinal axis.

  The storage case 12 is provided with guide tube fixing members 64 and 65 (see FIG. 7) for connecting one end portions of the guide tubes 13 and 14, respectively. Among these, although not shown, a rubber plate or the like is fitted into the spiral shaped portion 51a in the guide tube fixing member 64 that connects the distal end side guide tube 13, and the rotational force applied to the spiral shaped portion 51a is utilized. You may comprise so that a propulsive force may be given to this spiral-shaped part 51a.

  The surgeon brings the motor 61 disposed in the motor box 16 of the operation unit 7 into a rotationally driven state by the above-described foot operation or hand operation. A rotational force is transmitted from the proximal end portion to the distal end side to the spiral-shaped portion 51a, and the whole rotates in a predetermined direction around an axis as shown by an arrow in FIG. Is given a driving force.

  In the spiral-shaped portion 51 a to which a propulsive force is applied, the tip-side base 50 shown in FIG. 2 presses the spiral tube connection base 48. Thereby, the entire insertion portion main body 10 (insertion portion 6A) including the distal end portion 8 and the bending portion 9 is inserted into the large intestine via the distal end side guide tube 13 and the insertion assisting tool 11 by the driving force of the spiral-shaped portion 51a. Go deeper.

  The surgeon gently grasps the holding tube 55 of the insertion assisting tool 11 without grasping and pushing the insertion portion 6A, and pushes the insertion portion 6A deeply in the large intestine only with the propulsive force given in the guide tube fixing member 64. You can move forward.

  At this time, the spiral-shaped part 51a has a relationship between the male screw and the female screw in a contact state with the fold of the intestinal wall. The spiral-shaped portion 51a moves forward smoothly by the propulsive force given in the guide tube fixing member 64 and the propulsive force generated by the contact with the fold of the intestinal wall, and as a result, the insertion portion 6A moves from the rectum 502 to an S-shape. Proceed toward the sigmoid colon 503.

  As shown in FIG. 9, in the insertion portion 6 </ b> A, the distal end portion 8 and the bending portion 9 reach the sigmoid colon 503. At this time, the surgeon operates the bending operation knob 19 (see FIG. 1) of the main operation unit 18 while viewing the endoscopic image displayed on the monitor 4, so that the bending unit 9 is moved to the sigmoid colon 503. Perform bending operations to match the bent state.

  The surgeon can smoothly pass the distal end portion 8 while advancing the sigmoid colon 503, which is difficult to insert, by the insertion portion 6A to which a propulsive force is applied by the bending operation of the bending portion 9. As the insertion portion 6A is inserted into the deep part of the large intestine, a propulsive force is always applied in the guide tube fixing member 64, and the contact length between the spiral-shaped portion 51a and the intestinal wall becomes longer.

  For this reason, the insertion part 6A is directed toward the stable deep part of the large intestine even when a part of the spiral-shaped part 51a is in contact with the heel of the sigmoid colon 503 or when the insertion part body 10 is bent in a complicated manner. The driving force is obtained. Further, since the insertion portion 6A has sufficient flexibility, the insertion portion 6A smoothly advances along the intestinal wall without changing the running state of the sigmoid colon 503 whose position easily changes. Go.

  The insertion portion 6A passes through the sigmoid colon 503, and then, between the sigmoid colon 503 and the poorly movable descending colon 504, the bent part, the descending colon 504 and the movable transverse colon 505 It smoothly advances along the wall of the splenic curve 506 that is the boundary and the liver curve 507 that is the boundary between the transverse colon 505 and the ascending colon 508 without changing the running state of the large intestine as shown in FIG. For example, it reaches the vicinity of the cecum 509, which is the target site.

  During this insertion operation, the surgeon looks at the endoscopic image displayed on the monitor 4 when the distal end portion 8 reaches each bent portion (spleen curve 506, liver curve 507) as described above. Then, the bending operation knob 19 of the main operation unit 18 is operated to perform the bending operation according to the bending state of each part.

  After determining that the distal end portion 8 has reached the vicinity of the cecum 509 from the endoscopic image of the monitor 4, the surgeon once stops the rotation of the spiral-shaped portion 51 a by the above-described foot operation or hand operation. The surgeon reversely rotates the spiral-shaped portion 51a by the foot operation of the foot switch 25 or the hand operation of the input unit 62 of the main operation unit 18 in the direction opposite to the rotation direction around the axis that was rotated at the time of insertion. Perform the operation.

  That is, the surgeon reverses the spiral-shaped portion 51a in reverse to the insertion, and performs a colon examination while moving the insertion portion 6A backward in a direction to remove the distal end portion 8 from the deep portion of the large intestine and the vicinity of the cecum 509. . The surgeon can retract the insertion portion 6A by the retraction force applied to the spiral-shaped portion 51a in the guide tube fixing member 64 without touching the insertion portion 6A. The insertion portion 6A is entirely retracted by the propulsive force of the spiral portion 51a when the distal end portion 8 and the bending portion 9 are pulled by the spiral portion 51a by the snap fit function.

  When the distal end portion 8 of the insertion portion 6A reaches the insertion assisting tool 11, the surgeon removes the insertion portion 6A from the patient's anus 501 together with the insertion assisting tool 11, and ends the colon examination. At this time, the insertion portion 6A is retracted in the guide tube fixing member 64 and stored in the storage case 12 while being bent in the original state as shown in FIG.

  As described above, the user can easily insert the insertion portion 6A into the body cavity, here the deep part of the large intestine, and perform an endoscopic examination by the rotary self-propelled endoscope system 1 of the present embodiment.

  By the way, when the insertion portion 6A is inserted into such a body cavity, if the bending of the insertion portion 6A becomes large, the rotation transmission from the motor 61 is hindered and the rotation cylinder 51 rotates more than the linear state. May be difficult. At this time, as described above, in the related art, the rotating cylinder 51 may be deformed or damaged by the action of the bending of the insertion portion 6A.

Therefore, in the present embodiment, based on the comparison results between the outputs (detection signals) from the plurality of bending sensors 60a to 60n provided in the insertion portion 6A and the preset threshold values a and b, By controlling the rotational driving force to be applied (for example, stopping the rotational driving force), the bending of the insertion portion 6A is not increased, and the rotary cylinder 51, the insertion portion 6A including the tube, and the equipment are prevented from being damaged. Like to do. An example of control by the rotation control unit 63 of the control device 4 will be described with reference to FIGS. 11 and 12.
In the present embodiment, the rotation control unit 63 is provided with a storage unit (not shown) that stores preset threshold values (threshold values a and b and return threshold values a and b described later). The threshold value can be changed as appropriate.

  In the rotating self-propelled endoscope system 1 of the present embodiment, when the power is turned on when performing colonoscopy as described above, the rotation control unit 63 of the control device 3 is stored in a memory (not shown). The program shown in FIG. 11 is read and executed. That is, the program shown in FIG. 11 is executed by the rotation control unit 63 while the rotary self-propelled endoscope system 1 is in use.

  As illustrated in FIG. 11, the rotation control unit 63 performs initial setting of various devices in the process of step S <b> 1. For example, in this initial setting, the output values from the bending sensors 60a to 60n are reset, and the threshold values a and b and the return threshold values a and b are read. Further, the speed is set so that the rotation speed of the motor 61 becomes a predetermined constant speed.

  After that, the rotary self-propelled endoscope system 1 becomes ready for use, and as described above, the operator operates the foot switch 25 by foot operation or the hand operation of the input device 71 of the main operation unit 18. The rotation control unit 63 starts driving the motor 61 via a motor driver (not shown).

  Then, the rotation control unit 63 performs control so that detection signals (output resistance values) from the plurality of bending sensors 60a to 60n are taken into the bending measuring unit 64 through the signal line 60A in the subsequent process of step S2.

  Thereafter, the rotation control unit 53 calculates the bending angle θ of the bending sensor 60 alone based on the detection signal taken in by the bending measuring unit 64 in the subsequent process of step S3. In this case, the bending angle θn of the bending sensor 60n is shown as a function f (Rn) of the resistance R as shown in FIG. 13, for example, so that the bending measuring unit 64 uses the function f (Rn) to detect the detection signal. The bending angle θ of the bending sensor 60 is calculated from the resistance R as follows.

  Then, in the subsequent step S4, the rotation control unit 63 calculates the maximum angle θmax from the bending angle θ of the bending sensor 60 alone obtained in step S3 by the bending measuring unit 64.

  Thereafter, the rotation control unit 63 compares the maximum angle θmax calculated in step S3 with a preset threshold value a by the determination process in step S5, and the maximum angle θmax is larger than the threshold value a for the maximum angle. Determine whether or not.

  In this case, when it is determined that the maximum angle θ is smaller than the threshold value a, the insertion portion 6A is not bent larger than the preset threshold value a, and therefore at least the rotation to the rotating cylinder 51 is prevented. It is determined that there is no possibility that the rotating cylinder 51 or the like is damaged, and the process proceeds to step S6.

  On the other hand, when it is determined that the maximum angle θ is equal to or larger than the threshold value a, the insertion portion 6A is bent larger (or the same) than the preset threshold value a, and the rotation to the rotating cylinder 51 is hindered. In addition, it is determined that there is a possibility that the rotating cylinder 51 and the like may be damaged, and the process proceeds to step S8 to be described later in order to execute an avoidance state subroutine for avoiding this.

  In the process of step S <b> 6, the rotation control unit 63 further calculates the average angle θAVE by the bending measurement unit 64 using the bending angle θ of the bending sensors 60 a to 60 n. In this case, if the bending angles of the angle bending sensors 60a to 60n are θ1, θ2, θ3,... Θn, the average angle θAVE can be calculated as (θ1 + θ2 + θ3 +... Θn) / n.

  Then, the rotation control unit 63 determines whether or not the average angle AVE is larger than the average angle threshold value b by the subsequent determination process in step S7.

In this case, if it is determined that it is small, it is determined that the insertion portion 6A is in a bending state that does not hinder the insertion operation at the present time, and the process returns to step S2. On the other hand, when the rotation control unit 63 determines that the average angle θAVE is larger than the threshold value b, it determines that it is necessary to avoid this state, as in the case where the maximum angle θmax is equal to or greater than the threshold value a. Then, the process proceeds to step S8.
In the process of step S7, since the average angle θAVE of each of the plurality of bending sensors 60a to 60n is calculated, there is no problem in the insertion operation of the insertion section 6A at the present time from the bending state of the entire insertion section 6A. It is possible to determine whether.

  Next, when the process proceeds to step S8, the rotation control unit 63 reads and executes the avoidance state routine program shown in FIG. 12 from a storage unit (not shown).

  That is, as shown in FIG. 12, the rotation control unit 63 recognizes that there is a possibility that the insertion portion 6A at the current time bends larger than the threshold in step S10 and an abnormality may occur in the rotating cylinder 51, In the subsequent step S11, a drive stop instruction is given to a motor driver (not shown) to stop the rotation drive of the motor 61. That is, when the rotation drive of the motor 61 is stopped, the rotation of the spiral-shaped portion 51a of the rotating cylinder 51 is stopped, and the insertion operation into the body cavity is also stopped.

  In step S11, the rotation control unit 63 may further control a motor driver (not shown) so as to reversely rotate the motor 61 after the motor 61 is stopped. As a result, the rotating cylinder 51 rotates backward as described above, thereby retreating from the current position in the body cavity.

  In the subsequent step S12, the rotation control unit 63 supplies power to drive the buzzer 66, and controls the display unit 3a to turn on a warning lamp that is a warning message. In step S 12, the rotation control unit 63 may further display a warning message on the monitor 4 via the image processing unit 65.

  Thereafter, the rotation control unit 63 again sends the detection signals (output resistance values) from the plurality of bending sensors 60a to 60n to the signal line 60A in the process of step S13, which is similar to the normal state routine shown in FIG. Then, control is performed so that the bending measurement unit 64 takes in the data again.

  Thereafter, the rotation control unit 53 calculates the bending angle θ of the bending sensor 60 alone in the subsequent processing of step S14 based on the detection signal taken in by the bending measurement unit 64 as in the processing of step S3.

  Then, in the subsequent step S15, the rotation control unit 63 uses the bending measurement unit 64 to calculate the maximum angle θmax from the bending angle θ of the bending sensor 60 obtained in step S14.

  Thereafter, the rotation control unit 63 compares the maximum angle θmax calculated in step S15 with a preset return threshold value a for the maximum angle by the determination process in step S16, and the maximum angle θmax is determined from the return threshold value a. It is judged whether it is also large. The return threshold value a for the maximum angle is a threshold value that indicates the maximum bending angle θ of the insertion portion 6A that can be inserted into the body cavity without causing any trouble in the rotating cylinder 51 of the insertion portion 6A. .

  In this case, when it is determined that the maximum angle θ is smaller than the return threshold value a, the insertion portion 6A is not bent more than a preset return threshold value, so that at least the rotating cylinder 51 is hindered. It does not occur and it is determined that it can be inserted into the body cavity, and the process proceeds to step S17.

  On the other hand, when it is determined that the maximum angle θ is equal to or greater than the return threshold a, the insertion portion 6A is bent larger than the preset return threshold a, and the rotation to the rotating cylinder 51 continues. It is determined that there is a possibility that the rotating cylinder 51 and the like may be damaged and the process returns to step S13. That is, the routine from step S13 to step S16 is repeated until the maximum angle θ is smaller than the return threshold a.

In the process of step S17, as in the process of step S6, the rotation control unit 63 further calculates the average angle θAVE by the bending measurement unit 64 using the bending angle θ of the bending sensors 60a to 60n.
Thereafter, the rotation control unit 63 determines whether or not the average angle AVE is larger than the average angle return threshold value b by the determination process in the subsequent step S18.

  In this case, when the rotation control unit 63 determines that the average angle θAVE is equal to or greater than the return threshold value b, the rotation cylinder 51 continues in the same manner as when the maximum angle θmax is greater than the return threshold value a. It is determined that there is a possibility that the rotation cylinder 51 and the rotating cylinder 51 and the like may be damaged, and the process returns to step S13. That is, the routine from step S13 to step S18 is repeated until the average angle θAVE becomes smaller than the return threshold value b.

  On the other hand, when the rotation control unit 63 determines in the determination process of step S18 that the average angle θAVE is smaller than the return threshold value b, the insertion unit 6A is currently in a bent state that does not hinder the insertion operation. If it is determined that there is, the process proceeds to step S19.

  In the process of step S19, the rotation control unit 63 stops the driving of the buzzer 66 being executed in the process of step S12, and turns off the warning lamp that is a warning message displayed on the display unit 3a. To control.

  Thereafter, the rotation control unit 63 gives a drive instruction to a motor driver (not shown) to start rotation of the motor 61 in the process of step S20. That is, when the rotation drive of the motor 61 is started, the spiral-shaped part 51a of the rotating cylinder 51 starts to rotate, and the insertion operation into the body cavity is resumed.

  In step S18, the rotation control unit 63 may further control a motor driver (not shown) so that the motor 61 is repeatedly rotated forward or reverse. Thereby, the advance and retreat operation | movement to the body cavity by the rotating cylinder 51 can be performed effectively.

  Then, the rotation control unit 63 recognizes that the bending of the insertion unit 6A has been inserted into the body cavity at an angle that does not hinder the insertion operation, for example, an angle other than an acute angle, by the processing of step S21. Return processing to the normal routine shown in.

  Therefore, according to the first embodiment, when the bending of the insertion portion 6A of the rotary self-propelled endoscope 2 becomes larger than a preset threshold value, this abnormal state is displayed by the display unit 3a. At the same time, it can be controlled to stop the driving of the rotating cylinder 51.

  Therefore, since the insertion portion 6A can be inserted into the body cavity without increasing the bending of the insertion portion 6A, and specifically without having an acute angle, the insertion property of the insertion portion 6A into the body cavity is improved. In addition, the internal cylindrical torsional stress generated in response to the rotation of the rotating cylinder 51 to which the rotational force is applied from the motor 61 is accumulated, and the shearing force generated is deformed or damaged. Can be prevented. Furthermore, the rotary self-propelled endoscope system 1 can stop a load applied to devices such as the motor 61 that rotates the rotating cylinder 51 to prevent a failure or the like in advance.

  Further, in the rotating self-propelled endoscope system 1, when the rotating cylinder 51 is reduced around the inner circumference while rotating, the rotating cylinder 51 tightens the inner layer tube 49a and twists the inner layer tube 49a. In addition, problems such as disconnection and damage of built-in objects such as the communication cable 33 and the bending operation wire 44 inserted therein can be prevented.

(Example 2)
FIGS. 16 to 18 relate to the second embodiment of the present invention, FIG. 16 is a block diagram showing the overall electrical configuration of the rotary self-propelled endoscope system according to the second embodiment, and FIG. FIG. 18 is a flow chart showing an example of control by the rotation control unit in the control device, and FIG. 18 is a graph showing the relationship between the threshold value of the current flowing through the motor and the bending index. In FIGS. 16 and 17, the same components as those of the system of the first embodiment are denoted by the same reference numerals, description thereof is omitted, and only different portions are described.

  In the present embodiment, a current measuring unit 70 for measuring the current value supplied to the motor 61 is further provided. Based on the detection signal from the current measuring unit 70 and the detection signal from the bending measuring unit 64, the rotating cylinder body is provided. The driving control of the motor 61 that rotates the motor 51 (for example, the driving control that stops the motor 61) is performed.

  As shown in FIG. 16, the rotary self-propelled endoscope system 1 according to the second embodiment is substantially the same as the first embodiment in terms of the overall configuration, and the control device 3 is provided with a current measuring unit 70. Yes.

  The current measuring unit 70 is electrically connected to the rotation control unit 63 and a signal line between the motor driver (not shown) of the current measuring unit 63 and the motor 61. The current measuring unit 70 detects and takes in a current value (I) supplied to the motor 61 from a motor driver (not shown) under the control of the rotation control unit 63. Then, the current measuring unit 70 supplies the acquired current value to the rotation control unit 63.

The rotation control unit 63 determines the bending state of the insertion unit 6A based on the calculation result from the bending measurement unit 54 and various predetermined threshold values a and b (or return threshold values a and b), as in the first embodiment. Further, the bending state of the insertion portion 6A is determined based on the detected current value from the current measuring unit 70, the predetermined current threshold value a, and the return threshold value b. Based on the determination result, the motor 61 Control the drive.
Other configurations are the same as those of the first embodiment.

Next, an operation that is a feature of the second embodiment will be described with reference to FIGS. 17 and 18.
The rotary self-propelled endoscope system 1 according to the second embodiment is the same as the first embodiment with respect to the basic operation. Then, when the power is turned on, the rotation control unit 63 of the control device 3 reads and executes the program shown in FIG. 17 stored in a memory (not shown).

  As illustrated in FIG. 17, the rotation control unit 63 performs initial settings of various devices in the process of step S <b> 31 as in the first embodiment. For example, in this initial setting, the output values from the bending sensors 60a to 60n are reset or the threshold value is read. Further, the speed is set so that the rotation speed of the motor 61 becomes a predetermined numerical value.

  After that, the rotary self-propelled endoscope system 1 becomes ready for use, and as described above, the operator operates the foot switch 25 by foot operation or the hand operation of the input device 71 of the main operation unit 18. The rotation control unit 63 starts driving the motor 61 via a motor driver (not shown).

  Then, the rotation control unit 63 performs control so that detection signals (output resistance values) from the plurality of bending sensors 60a to 60n are taken into the bending measuring unit 64 through the signal line 60A in the subsequent process of step S32.

  Thereafter, the rotation control unit 53 calculates the bending angle θ of the bending sensor 60 alone based on the detection signal captured by the bending measurement unit 64 in the subsequent step S33 in the same manner as in the first embodiment. The bending angle measurement unit 64 calculates the maximum angle θmax from the bending angle θ of the sensor 60 alone. Then, the rotation control unit 63 compares the calculated maximum angle θmax with a preset threshold a for the maximum angle.

  In this case, the rotation control unit 63 sets the bending index P to the maximum angle θmax when the relationship of the maximum angle θmax ≧ the threshold value a is satisfied. Further, when the relationship of the maximum angle θmax <the threshold value a is satisfied, the rotation control unit 63 sets the bending index P to the average angle θAVE, and the bending measurement unit 64 sets the average angle θAVE to (θ1 + θ2 + θ3 +... Θn) / n. calculate.

  Then, the rotation control unit 63 obtains a threshold Ilimit for current value comparison by a linear function expression such as (α × bending index P + β), which will be described later, by the bending measurement unit 64 in the subsequent processing of step S34, and the processing is performed. The process proceeds to S35.

  In this case, the threshold value Ilimit for current value comparison is shown as a function of the bending index P, for example, as shown by the solid line in FIG. 18, and approximates, for example, a linear function of (α × bending index P + β). And Further, a return threshold value Ir for current value comparison, which will be described later, is approximated to, for example, a linear function of (α1 × bending index P + β1) as indicated by a broken line in FIG.

  In the present embodiment, the current value comparison threshold value Ilimit and the current value comparison return threshold value Ir are such that threshold value Ilimit> return threshold value Ir in all the regions of the bending index P shown in FIG. Is satisfied.

  Further, as shown in FIG. 18, the threshold value Ilimit and the return threshold value Ir are larger in the bending index P, that is, in the state where the bending of the insertion portion 6A (the rotating cylinder 51) is larger than in the state where there is no bending. Since the rotation transmission is hindered by a low current value, both the current threshold value Ilimit and the return threshold value Ir have characteristics.

  Thereafter, the rotation control unit 63 compares the current value (actually measured current value) detected by the current measurement unit 70 with the threshold value Ilimit for current value comparison in the determination process of step S35. In this case, when the rotation control unit 63 determines that the measured current value is smaller than the threshold value Ilimit, the bending of the insertion unit 6A is not large, that is, at least the rotation to the rotating cylinder 51 is prevented. It is determined that there is no risk of damage to the rotating cylinder 51 and the like, and the process returns to step S32.

  On the other hand, if it is determined that the measured current value is larger than the threshold value Ilimit, the rotation control unit 63 has a large bend in the insertion portion 6A, prevents rotation to the rotating cylinder 51, and the rotating cylinder 51. In the next step S36, a drive stop instruction is given to a motor driver (not shown) in the same manner as in step S11 (see FIG. 12). Stop rotation drive. That is, when the rotation drive of the motor 61 is stopped, the rotation of the spiral-shaped portion 51a of the rotating cylinder 51 is stopped, and the insertion operation into the body cavity is also stopped.

  Then, in the subsequent process of step S37, the rotation control unit 63 supplies power to drive the buzzer 66 similarly to the process of step S12 (see FIG. 12), and issues a warning message to the display unit 3a. Control to turn on the warning light.

  Thereafter, the rotation control unit 63 performs control so that the detection signals (output resistance values) from the plurality of bending sensors 60a to 60n are again taken into the bending measuring unit 64 through the signal line 60A in the process of step S38. To do.

  Thereafter, the rotation control unit 53 calculates the bending angle θ of the bending sensor 60 alone based on the detection signal captured by the bending measurement unit 64 in the subsequent processing of step S39 as in the processing of step S33. The bending angle measurement unit 64 calculates the maximum angle θmax from the bending angle θ of the bending sensor 60 alone. Then, the rotation control unit 63 compares the calculated maximum angle θmax with a preset threshold a for the maximum angle.

  In this case, the rotation control unit 63 sets the bending index P to the maximum angle θmax when the relationship of the maximum angle θmax ≧ the threshold value a is satisfied. Further, when the relationship of the maximum angle θmax <the threshold value a is satisfied, the rotation control unit 63 sets the bending index P to the average angle θAVE, and the bending measurement unit 64 sets the average angle θAVE to (θ1 + θ2 + θ3 +... Θn) / n. calculate.

  Then, in the subsequent process of step S340, the rotation control unit 63 obtains the return threshold Ir for current value comparison by a linear function expression such as (α1 × bending index P + β1), and the process is performed in step S35. Migrate to This return threshold Ir is indicated by the broken line in FIG.

Thereafter, the rotation control unit 63 compares the current value (measured current value) detected by the current measurement unit 70 with the return threshold Ir for current value comparison in the determination process of step S41.
In this case, when the rotation control unit 63 determines that the measured current value is larger than the return threshold Ir, the rotation to the rotating cylinder 51 is continuously prevented, and the rotating cylinder 51 and the like are damaged. If it is determined that there is a possibility of this, the process returns to step S38. That is, the routine from step S38 to step S41 is repeated until the measured current value becomes smaller than the return threshold Ir.

  On the other hand, when the rotation control unit 63 determines in the determination process of step S41 that the measured current value is smaller than the return threshold Ir, the insertion unit 6A is in a bending state that does not hinder the insertion operation at the present time. The process proceeds to step S42.

  In the process of step S42, the rotation control unit 63 stops driving the buzzer 66 being executed in the process of step S37, and turns off the warning lamp that is a warning message displayed on the display unit 3a. To control.

  Thereafter, the rotation control unit 63 gives a drive instruction to a motor driver (not shown) in the process of step S43 in the same manner as the process of step S20 (see FIG. 12) to start the rotation drive of the motor 61. That is, when the rotation drive of the motor 61 is started, the spiral-shaped part 51a of the rotating cylinder 51 starts to rotate, and the insertion operation into the body cavity is resumed.

  Then, the rotation control unit 63 recognizes that the bending of the insertion unit 6A has been inserted into the body cavity at an angle that does not hinder the insertion operation, for example, an angle other than an acute angle, by the process of step S44, and FIG. The processing is returned to step S32, and the above processing is repeated thereafter.

  Therefore, according to the second embodiment, even when the current value supplied to the motor 61 is detected and the detection result and the detection results from the bending sensors 60a to 60n used in the first embodiment are used, It is possible to obtain the same effect as in the first embodiment.

In the first and second embodiments of the present invention, the various threshold values used in the determination process by the rotation control 63 and the return threshold value can be appropriately changed and set.
The invention described in the above embodiments is not limited to the embodiments and modifications, and various modifications can be made without departing from the scope of the invention in the implementation stage. Further, the embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements.

  For example, even if some constituent elements are deleted from all the constituent elements shown in the embodiment, the problems described in the column of problems to be solved by the invention can be solved, and the effects described in the effects of the invention can be obtained. In such a case, a configuration in which this configuration requirement is deleted can be extracted as an invention.

[Appendix]
(Additional item 1)
A distal end rigid portion having an imaging means, the distal end rigid portion is disposed at the distal end portion, and a flexible insertion portion main body to be inserted into a body cavity; An insertion portion having a rotating cylindrical body in which a spiral-shaped portion is formed by the unevenness of
At least one is provided in the longitudinal direction from the distal end of the insertion portion, and detects the bending angle of the insertion portion for controlling the rotation of the rotating cylinder based on a comparison result compared with a preset threshold value. A bend sensor,
A rotary self-propelled endoscope comprising:

BRIEF DESCRIPTION OF THE DRAWINGS The external view which shows the whole structure of the rotation self-propelled endoscope system provided with the rotation self-propelled endoscope based on Example 1 of this invention. Sectional drawing which shows a front-end | tip part of a rotation self-propelled endoscope, a curved part, and a part of rotary cylinder. Sectional drawing which shows the rotating cylinder and insertion part main body which comprise an insertion part. AA line sectional view of Drawing 3. The external view of the insertion part to which the some bending sensor was attached. The block diagram which shows the electrical whole structure of a rotation self-propelled endoscope system. The top view which shows the storage case of FIG. Explanatory drawing which shows the state by which the insertion assistance tool was inserted into the rectum from the patient's anus. Explanatory drawing which shows a state when the insertion part main body inserted in large intestine reaches | attains the sigmoid colon. Explanatory drawing which shows a state when the insertion part main body inserted in the large intestine reaches | attains the caecum vicinity. The flowchart explaining the effect | action of Example 1, and shows the example of normal control by the rotation control part in a control apparatus. 12 is a flowchart illustrating a subroutine in an avoidance state in the flowchart of FIG. 11. The graph which shows the characteristic of the bending angle of the some bending sensor derived | led-out based on the resistance and bending angle of a bending sensor. 6 is a graph showing the resistance value / bending angle characteristics of the bending sensor used in Example 1; Explanatory drawing for demonstrating the relationship between a bending sensor and a bending angle. The block diagram which shows the electrical whole structure of the rotation self-propelled endoscope system which concerns on Example 2 of this invention. The flowchart which illustrates the effect | action of Example 2 and shows the example of control by the rotation control part in a control apparatus. The graph which shows the relationship between the threshold value of the electric current which flows into a motor, and a bending parameter | index.

Explanation of symbols

1 ... Rotating self-propelled endoscope system,
2 ... Rotating self-propelled endoscope,
3 ... Control device,
6 ... Endoscope insertion part with storage case (insertion part with storage case),
6A ... insertion part,
7: Operation unit,
8 ... Hard end of tip,
9: curved part,
10 ... main body of insertion part,
11 ... Insertion aid,
12 ... Storage case,
13 ... tip side guide tube,
14 ... operation unit side guide tube,
15 ... Connector cover,
16 ... motor box,
51 ... Rotating cylinder,
51a ... Spiral shape part,
60, 60a-60n ... bending sensor,
61 ... motor,
62 ... input section,
63 ... rotation control unit,
64 ... bending measuring section,
65. Image processing unit,
66 ... Buzzer.

Claims (5)

  1. A distal end rigid portion having an imaging means, the distal end rigid portion is disposed at the distal end portion, and a flexible insertion portion main body to be inserted into a body cavity; An insertion portion having a rotating cylindrical body in which a spiral-shaped portion is formed by the unevenness of
    A rotary self-propelled endoscope provided with at least one bending sensor for detecting a bending angle of the insertion portion, provided at least one in a longitudinal direction from a distal end portion of the insertion portion;
    The rotating cylinder is
    The bending angle of the insertion portion detected by the bending sensor is compared with a preset threshold value, and when the bending angle of the insertion portion exceeds the threshold value, the rotation of the rotating cylinder is stopped. Rotating self-propelled endoscope characterized by being controlled as described above.
  2. A distal end rigid portion having an imaging means, the distal end rigid portion disposed at the distal end portion, and a flexible insertion portion main body to be inserted into a body cavity; An insertion portion having a rotating cylindrical body in which a spiral-shaped portion is formed by the unevenness of
    A rotation self-propelled endoscope provided with at least one bending sensor for detecting a bending angle of the insertion portion, provided at least one in a longitudinal direction from a distal end portion of the insertion portion;
    A drive unit that applies a rotational driving force to the rotary cylinder around an axis;
    The bending angle of the insertion portion detected by the bending sensor is compared with a preset threshold value, and when the bending angle of the insertion portion exceeds the threshold value, the rotation of the rotating cylinder is stopped. A control unit for controlling the drive unit,
    A rotary self-propelled endoscope system characterized by comprising:
  3. The controller is
    The bending angle of the insertion portion detected by the bending sensor is compared with a preset threshold value, and when the bending angle of the insertion portion exceeds the threshold value, a signal for operating the notification means is generated. The rotating self-propelled endoscope system according to claim 2, wherein the rotating self-propelled endoscope system is output to the notification means.
  4. Furthermore, a current detection unit for detecting a current value flowing through the drive unit is provided,
    The control means includes
    The current value detected by the current detection unit is compared with a threshold value obtained from a bending angle of the insertion unit, and when the current value exceeds the threshold value, the rotation of the rotating cylinder is stopped. The rotary self-propelled endoscope system according to claim 2, wherein the drive unit is controlled as described above.
  5. The controller is
    The rotary self-propelled endoscope system according to any one of claims 2 to 4, wherein the drive unit is controlled so that the rotating cylinder rotates at a constant rotation speed.
JP2006140565A 2006-05-19 2006-05-19 Rotary self-propelled type endoscope and rotary self-propelled type endoscope system Pending JP2007307241A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2006140565A JP2007307241A (en) 2006-05-19 2006-05-19 Rotary self-propelled type endoscope and rotary self-propelled type endoscope system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2006140565A JP2007307241A (en) 2006-05-19 2006-05-19 Rotary self-propelled type endoscope and rotary self-propelled type endoscope system

Publications (1)

Publication Number Publication Date
JP2007307241A true JP2007307241A (en) 2007-11-29

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Cited By (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013083824A1 (en) * 2011-12-08 2013-06-13 Haemoband Surgical Limited Intracorporeal locator probe
US20150351608A1 (en) * 2013-01-10 2015-12-10 Ohio University Method and device for evaluating a colonoscopy procedure
WO2018025437A1 (en) * 2016-08-02 2018-02-08 オリンパス株式会社 Insertion device
WO2018025436A1 (en) * 2016-08-02 2018-02-08 オリンパス株式会社 Insertion device
WO2018025435A1 (en) * 2016-08-02 2018-02-08 オリンパス株式会社 Insertion device
US10314464B2 (en) 2014-12-25 2019-06-11 Olympus Corporation Insertion apparatus

Cited By (11)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2013083824A1 (en) * 2011-12-08 2013-06-13 Haemoband Surgical Limited Intracorporeal locator probe
GB2497518A (en) * 2011-12-08 2013-06-19 Haemoband Surgical Ltd Elongate probe with at least one bend sensor
US20140350340A1 (en) * 2011-12-08 2014-11-27 Haemoband Surgical Limited Intracorporeal locator probe
US20150351608A1 (en) * 2013-01-10 2015-12-10 Ohio University Method and device for evaluating a colonoscopy procedure
US10314464B2 (en) 2014-12-25 2019-06-11 Olympus Corporation Insertion apparatus
WO2018025436A1 (en) * 2016-08-02 2018-02-08 オリンパス株式会社 Insertion device
WO2018025435A1 (en) * 2016-08-02 2018-02-08 オリンパス株式会社 Insertion device
JP6349049B1 (en) * 2016-08-02 2018-06-27 オリンパス株式会社 Insertion device
JPWO2018025437A1 (en) * 2016-08-02 2018-08-02 オリンパス株式会社 Insertion device
JPWO2018025436A1 (en) * 2016-08-02 2018-08-02 オリンパス株式会社 Insertion device
WO2018025437A1 (en) * 2016-08-02 2018-02-08 オリンパス株式会社 Insertion device

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