JP2009055956A - Rotary self-traveling endoscope system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a rotary self-traveling endoscope system wherein an insertion part can be stably and surely inserted or removed. <P>SOLUTION: The rotary self-traveling endoscope system includes: a rotary cylindrical body 28 provided so as to be turned around an insertion shaft on the outer peripheral side of a thin and long insertion part main body 10 and provided with a spiral structure on the outer peripheral surface; a storage case 12 for storing at least a part of the insertion part main body 10; a first motor box 16 for rotationally driving the rotary cylindrical body 28 at a driving position more on the proximal end side than the storage case 12; and a second motor box 31 for rotationally driving the rotary cylindrical body 28 in the same rotating direction as the first motor box 16 at a driving position more on the distal end side than the storage case 12. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention relates to a rotary self-propelled endoscope system adapted to self-propell by rotating a rotating cylinder having a spiral structure on an outer peripheral surface.

  Endoscopes are widely used in the field of medicine and the like for observing a site that cannot be directly observed, such as in a lumen. Such an endoscope is generally configured with an elongated insertion portion, and is inserted into a subject by a user's procedure.

  On the other hand, in recent years, an endoscope (self-propelled endoscope) that is inserted by its own propulsive force has been studied. There are various types of such endoscopes. 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, a spiral-shaped portion is provided. A rotating self-propelled endoscope that is provided with a rotatable cylinder that can be rotated around an axis and that can be automatically inserted into a body cavity by rotating the rotating cylinder. There is.

For example, Japanese Patent Application Laid-Open No. 2003-4652, Japanese Patent Application Laid-Open No. 2003-4434, Japanese Patent Application Laid-Open No. 2003-5093, and the like include a twist roller and a motor on the front end side of a storage drum that winds and stores a flexible tube. An in-pipe inspection apparatus in which is provided is described.
Japanese Patent Laid-Open No. 2003-4652 JP 2003-4434 A JP 2003-5093 A

  Endoscopes that are supposed to be inserted into the intestine as described above are inserted in advance so that the insertion part will not be tangled or twisted before insertion because the length of the insertion part is long. It is desirable to keep it in an easy shape. Furthermore, when it is removed from the body after insertion, it is desirable to conceal this because dirt and the like are attached. From this point of view, it is conceivable to provide a storage portion for storing the elongated insertion portion before and after insertion.

  However, since the rotary self-propelled endoscope is configured such that the rotating cylindrical body of the insertion portion rotates around the insertion axis during insertion / extraction, if the storage portion as described above is provided, the insertion portion and the storage portion are accommodated. There is a possibility that friction is generated between the insertion part, the load on the drive source for driving the rotating cylinder increases due to the generated frictional resistance, and the rotation transmission to the insertion part is hindered and the insertability is lowered. There is. Such a load may not be borne by only the motor on the front end side of the storage drum as described in the above publications.

  The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a rotary self-propelled endoscope system capable of stably inserting and removing an insertion portion more reliably.

  In order to achieve the above object, a rotary self-propelled endoscope system according to a first invention is provided on an outer peripheral side of an elongated insertion portion so as to be rotatable around an insertion axis, and has a spiral structure on an outer peripheral surface. And a plurality of drive units that rotationally drive the rotary cylinder in the same rotational direction at different drive positions along an insertion axis of the insertion unit. And the plurality of drive units include a first drive unit that rotationally drives the rotating cylinder at a drive position closer to the base end than the storage unit, and a drive position on the front end side relative to the storage unit. And a second drive unit that rotationally drives the rotary cylinder.

  The rotary self-propelled endoscope system according to a second aspect of the present invention is the rotary self-propelled endoscope system according to the first aspect of the present invention, wherein the plurality of drive units are on the front end side with respect to the second drive unit. A third drive unit that rotationally drives the rotary cylinder at the drive position.

  Furthermore, a rotary self-propelled endoscope system according to a third invention is the rotary self-propelled endoscope system according to the first invention, wherein a rotation detection unit that detects a driving state of the plurality of drive units, And a drive control unit that controls the plurality of drive units to be driven in synchronization based on a detection result by the rotation detection unit.

  According to the rotating self-propelled endoscope system of the present invention, the insertion portion can be stably and more reliably inserted or removed.

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

[Embodiment 1]
1 to 8 show Embodiment 1 of the present invention. FIG. 1 is an external view showing the overall configuration of a rotary self-propelled endoscope system, FIG. 2 is a plan view showing a storage case, and FIG. FIG. 4 is a diagram showing the configuration of the first drive unit inside the connector cover and the first motor box, FIG. 4 is a diagram showing the configuration of the second drive unit inside the second motor box, and FIG. 5 is a rotation self-propelled internal view FIG. 6 is a diagram showing the configuration of a circuit and the like related to rotation drive control of a rotating cylinder in a mirror system, and FIG. 6 controls the first drive unit and the second drive unit in synchronization in the rotary self-propelled endoscope system. FIG. 7 is a flowchart showing a process for driving the insertion portion at a constant speed while FIG. 7 shows that instability may occur in the transmission of rotational force from the second drive portion to the rotating cylinder in the rotary self-propelled endoscope system. Flowchart showing the process in the case, FIG. 8 is a rotation self-propelled endoscope It is a flowchart illustrating a rotation control overall process of the rotating cylinder in the system.

  First, the configuration of the rotary self-propelled endoscope system 1 will be described with reference to FIG.

  This rotary self-propelled endoscope system (hereinafter simply referred to as an endoscope system as appropriate) 1 is a rotary self-propelled endoscope (hereinafter simply referred to as an endoscope as appropriate) 2. , A control device 3, a monitor 4, and an aspirator 5.

  The endoscope 2 includes an endoscope insertion portion (hereinafter simply referred to as an insertion portion) 6 and an operation portion 7. The insertion portion 6 includes a distal end rigid portion (hereinafter simply abbreviated as a distal end portion) 8, a bending portion 9, an insertion portion main body 10, an insertion assisting tool 11, and the insertion assisting tool 11 in order from the distal end. A distal guide tube 13 that is a corrugated tube interposed between the second motor box 31, a second motor box 31 that is a second drive unit, and a second motor box 31 that extends from the second motor box 31. A signal line 33, an insertion portion storage case (hereinafter simply abbreviated as a storage case) 12, which is a storage portion connected to the second motor box 31, and a guide tube attached to the base end side of the storage case 12 The fixing portion 32, and the operation portion side guide tube 14 which is a corrugated tube interposed between the operation portion 7 and the storage case 12 by fixing one end side to the guide tube fixing portion 32, Operation unit side guide tube 14 One end is provided with a connector cover 15 connected.

  The storage case 12 is configured to store the insertion portion main body 10 in a state of drawing a loop as shown in FIG. 2 before or after insertion.

  The operation unit 7 includes a first motor box 16 that is a first drive unit, a gripping unit 17, and a main operation unit 18. The signal line 33 is connected to the control device 3 via the first motor box 16 and a universal cord 18a described later. Further, the first motor box 16 constitutes a part of the insertion portion 6.

  The main operation unit 18 includes a bending operation knob 19 for performing an operation for bending the bending unit 9 of the insertion unit 6 in four directions, which will be described later, buttons 20 for performing a fluid supply / suction operation, an imaging system and illumination. And switches 21 for operating an optical system such as a system.

  The bending operation knob 19 includes an up / down bending operation knob 19a for operating the bending portion 9 in the up / down direction of the endoscopic image and a left / right bending operation for operating the bending portion 9 in the left / right direction of the endoscopic image. And a knob 19b.

  The buttons 20 include an air / water supply button 20a for operating when supplying gas from the distal end portion 8 of the endoscope 2 into the subject or when supplying liquid, and from the distal end portion 8. And an aspiration button 20b for operating when aspirating body fluid or the like in the subject.

  Furthermore, the main operating portion 18 extends from one side surface thereof a universal cord 18a that is an electric cable via a folding stop portion 18b. The universal cord 18 a is provided with a connector portion 22 at an extended end, and is detachably connected to the control device 3 via the connector portion 22.

  On the other hand, three tubes 23 inserted into the insertion portion 6 are extended from the connector cover 15. These three tubes 23 are an air supply tube 23a, a water supply tube 23b, and a suction tube 23c. The extending ends of these three tubes 23 are each connected to the control device 3 via a detachable connector.

  A water supply tank 24 is detachably attached to the side surface of the control device 3. The water supply tank 24 is used when the air supply / water supply button 20a is operated to supply water, and distilled water, sterilized water, or physiological saline is stored therein.

  Furthermore, the suction device 5 is connected to the control device 3 via the suction tube 5a via 5a. The suction device 5 is for performing suction when the suction button 20b is operated.

  And the foot switch 25 is connected to the control apparatus 3 via the electric cable 25a. The foot switch 25 is for rotating / stopping a rotating cylinder 28 (to be described later) of the insertion portion main body 10. The rotation force of the insertion portion main body 10 in the advancing / retreating direction by the rotation of the rotating cylinder 28. Is supposed to occur. An advance / retreat switch for performing the rotation / stop operation of the rotary cylinder 28 of the insertion portion main body 10 is also provided in the main operation portion 18 of the operation portion 7 although not shown.

  Further, a power switch, a dial for changing the rotation speed of the rotary cylinder 28 of the insertion portion main body 10, and the like are disposed on the front surface of the control device 3.

  In addition, a monitor 4 for displaying an endoscopic image captured by the endoscope 2 is electrically connected to the control device 3.

  Next, the configuration of the first drive unit disposed in the connector cover 15 and the first motor box 16 for rotationally driving the rotary cylinder 28 of the insertion unit body 10 will be described with reference to FIG. To do.

  The rotating cylinder 28 of the insertion portion main body 10 is provided on the outer peripheral side of the insertion portion main body 10 so as to be rotatable around the insertion axis, and has a spiral structure (such as a spiral convex portion or a spiral concave portion) on the outer peripheral surface. It is an elongated cylindrical member. The base end of the rotary cylinder 28 is fixed to the rotary pipe 60. The rotary pipe 60 is held by a pair of bearings 61 fixed to the connector cover 15 so as to be rotatable at both end sides. Further, the rotary pipe 60 includes a passive gear 62 so as to be positioned between the bearings 61.

  In addition, the inner tube 26 disposed in the rotating cylinder 28 of the insertion portion main body 10 is fixed to the connector cover 15 by a fixing ring 63 provided on the connector cover 15. From the base end of the fixed ring 63, the tube 23 and other various electric cables disposed in the inner tube 26 extend.

  On the other hand, the first motor box 16 includes a first motor 65 that is a rotational drive source. The first motor 65 transmits the rotational force to the active gear 66 through the gear box 67. On the other hand, the rotation state of the first motor 65 is detected by a first encoder 68 serving as a rotation detection unit, and the detection signal is output to a drive control unit 36 (see FIG. 5) described later of the control device 3. Is done.

  In such a configuration, when the detachable connector cover 15 and the first motor box 16 are connected, the active gear 66 on the first motor box 16 side meshes with the passive gear 62 on the connector cover 15 side. It is supposed to be. As a result, the rotational driving force of the first motor 65 is transmitted to the rotary pipe 60 via the gears 66 and 62, and the rotary cylinder 28 of the insertion portion main body 10 rotates about its axis.

  Next, the configuration of the second drive unit in the second motor box 31 will be described with reference to FIG.

  The second motor box 31 includes a second motor 41 that is a rotational drive source. The second motor 41 transmits the rotational force to the drive roller 43 via the gear box 42. On the other hand, the rotation state of the second motor 41 is detected by a second encoder 44 as a rotation detection unit, and the detection signal is output to a drive control unit 36 (see FIG. 5) described later of the control device 3. Is done.

  Two driven rollers 45 and 46 are disposed around the rotary cylinder 28 of the insertion portion main body 10 at positions different from the drive roller 43. Each of the driven rollers 45 and 46 is wound with a water absorbing sheet 47 at positions on both end sides where it can come into contact with the rotating cylinder 28. Thereby, when the insertion portion main body 10 is inserted and then removed and stored again, dirt and the like attached to the outer surface can be adsorbed.

  The drive roller 43 and the driven rollers 45 and 46 are disposed with their respective rotation axes inclined with respect to the insertion axis direction of the insertion portion main body 10. More specifically, the driving roller 43 and the driven rollers 45 and 46 are arranged such that the circumferential directions of the peripheral surfaces thereof are substantially along the direction of the spiral shape formed on the surface of the rotating cylinder 28. In addition, driven rollers 45 and 46 are inclined. This is because the rotational force is smoothly transmitted to the rotating cylinder 28 without hindering the advancement / retraction of the insertion portion main body 10 due to the rotation of the rotating cylinder 28.

  Next, with reference to FIG. 5, a configuration related to the rotational drive control of the rotary cylinder 28 in the rotary self-propelled endoscope system will be described.

  The control device 3 includes a motor driver 35 and a drive control unit 36. The motor driver 35 is connected to the first motor 65 of the first motor box 16 that is the first drive unit via the first A / V (current / voltage) conversion unit 37 and the second A / V conversion unit. 38 is connected to the second motor 41 of the second motor box 31 which is the second drive unit. The first A / V conversion unit 37 and the second A / V conversion unit 38 are also connected to the drive control unit 36.

  The first encoder 68 for detecting the rotational state of the first motor 65 of the first motor box 16 and the second encoder 44 for detecting the rotational state of the second motor 41 of the second motor box 31 are described. The drive controller 36 is connected.

  Further, one of the two driven rollers 45, 46 provided in the second motor box 31 is attached with a reflection plate 48 that constitutes a rotation detection unit, and faces the reflection plate 48. The rotation state of the driven roller 45 is detected by a photo sensor 49 serving as a rotation detection unit. Here, since the driving roller 43 is rotated by the rotational force of the second motor 41 and may rotate idly with respect to the rotating cylinder 28, the rotation state of the rotating cylinder 28 is accurately reflected. Not necessarily. On the other hand, since the driven roller 45 rotates following the rotation of the rotating cylinder 28, if the rotation state of the driven roller 45 is grasped, the rotation state of the rotating cylinder 28 is accurately grasped. It is possible. For this reason, a photo sensor 49 is provided separately from the second encoder 44. The output of the photosensor 49 is connected to the drive control unit 36.

  The drive control unit 36 outputs the outputs of the first encoder 68, the second encoder 44, and the photosensor 49, the voltage V1 (the voltage indicating the torque of the first motor 65) from the first A / V conversion unit 37, the first Based on the voltage V2 (voltage indicating the torque of the second motor 41) from the 2A / V conversion unit 38, the rotational state and torque of each of the motors 65 and 41 and the rotary cylinder 28 are grasped, and the motor driver 35 is The number of rotations of the motors 65 and 41 is controlled via this. By performing such processing, the control device 3 controls the first drive unit and the second drive unit in synchronization.

  Next, referring to FIG. 6, a process for driving the insertion unit 6 at a constant speed while controlling the first drive unit and the second drive unit synchronously in the rotary self-propelled endoscope system will be described. To do.

  The control device 3 starts driving the second motor 41 of the second control unit when the surgeon is instructed to rotate the rotary cylinder 28 via the foot switch 25 or the like (step S601). The first motor 65 of the controller is started to be driven (step S602).

  Then, the rotational speed Nf of the rotating cylinder 28 is calculated based on the output of the photosensor 49 indicating the rotational speed of the driven roller 45, and this rotational speed Nf is a normal rotational speed set in advance with respect to the normal rotational speed. It is determined whether or not Ns has been reached (step S603).

  Here, when it is determined that the rotation speed Nf of the rotating cylinder 28 is not equal to the normal rotation speed Ns, the rotation of the rotating cylinder 28 is too fast or too slow (or stopped) than usual. It means that. Therefore, at this time, the second motor 41 is controlled via the motor driver 35 so that the rotational speed Nf and the normal rotational speed Ns are equal (step S604).

  Furthermore, the rotational speed Ne1 of the rotating cylinder 28 is calculated based on the output from the first encoder 68 indicating the rotational speed of the first motor 65 of the first drive unit. Then, it is determined whether or not the rotational speed Nf of the rotary cylinder 28 described above is equal to the rotational speed Ne1 of the rotary cylinder 28 (step S605). Note that the rotating cylinder 28 of the insertion portion main body 10 has a long length in the insertion axis direction, so that, for example, rotational stress is accumulated, or conversely, the accumulated rotational stress is released. In such a case, the rotational speed Ne1 on the base end side and the rotational speed Nf on the distal end side do not always match.

  If it is determined that the rotational speed Nf is not equal to the rotational speed Ne1, the first motor 65 is controlled via the motor driver 35 so that the rotational speed Nf and the rotational speed Ne1 are equal (step S606). Thereafter, the determination in step S605 is performed again.

  Thus, if it is determined in step S605 that the rotation speed Nf is equal to the rotation speed Ne1, the determination in step S603 described above is performed again.

  Thus, if it is determined in step S603 that the rotation speed Nf is equal to the normal rotation speed Ns, next, the rotation speed Nf of the rotating cylinder 28 and the rotation of the first motor 65 are the same as in step S605 described above. It is determined whether or not the number Ne1 is equal, that is, whether or not the number Ne1 is synchronized (step S607).

  Here, when it is determined that the rotation speed Nf and the rotation speed Ne1 are not equal, the rotation speed Nf and the rotation speed Ne1 are set to be equal to each other via the motor driver 35 as in step S606 described above. One motor 65 is controlled (step S608), and then the determination in step S607 is performed again.

  Thus, if it is determined in step S607 that the rotation speed Nf and the rotation speed Ne1 are equal, it is determined whether or not an instruction to stop the rotation of the rotary cylinder 28 has been given by the operator (step S609).

  Here, when it is determined that the stop of rotation is not instructed, that is, when the operation is continued, the process returns to step S603 and the above-described processing is performed to continue the synchronized rotation as it is. Do.

  On the other hand, if it is determined in step S609 that the operator has given an instruction to stop the rotation of the rotating cylinder 28, the rotation of the first motor 65 and the second motor 41 is stopped, Stop rotation.

  Next, with reference to FIG. 7, a process when there is a possibility that instability may occur in the transmission of the rotational force from the second drive unit to the rotating cylinder 28 in the rotary self-propelled endoscope system will be described. To do.

  As shown in FIG. 3, the first drive unit includes an active side gear 66 that transmits the driving force from the first motor 65 and a passive side gear 62 that is substantially fixed to the rotating cylinder 28. Because of the meshing structure, the first motor 65 is basically impossible to rotate freely with respect to the rotating cylinder 28 (except for a special case where the gears are disengaged). On the other hand, as shown in FIG. 4, in the second driving unit, the driving roller 43 that transmits the driving force from the second motor 41 comes into contact with the outer surface of the rotating cylinder 28, and the friction force Since the rotary cylinder 28 is structured to rotate, slippage occurs when the outer surface of the rotary cylinder 28 is wetted by a liquid or the like, or when a large load is applied to the rotary cylinder 28. There is a possibility that it will cause an idle rotation. The processing shown in FIG. 7 is for dealing with such a case.

  That is, when this process is started, the same processes as steps S601 to S604 described above are performed (steps S701 to S704).

  And after performing the process of step S704, based on the output from the 2nd encoder 44 which shows the rotation speed of the 2nd motor 41 of a 2nd drive part, the rotation cylinder 28 is made without the drive roller 43 slipping. A rotation speed Ne2 is calculated when it is assumed that the motor is rotating. Then, the rotational speed of the rotating cylinder 28 by the first motor 65 is controlled to be equal to the rotational speed Ne2 by the second motor 41 (step S705). This is synchronous control in which the first motor 65 is matched with the second motor 41.

  Subsequently, it is determined whether or not the rotation speed Ne2 described above is less than the maximum allowable rotation speed Nmax of the rotating cylinder 28 (step S706). A specific example of the allowable maximum rotational speed Nmax is, for example, 1.5 times the normal rotational speed Ns described above, that is, Nmax = 1.5 × Ns. The setting of the coefficient of the maximum rotational speed is a coefficient determined by the allowable torque of the motor, the reduction gear, etc., the rotational speed, or the slidability with the roller.

  Here, when it is determined that the rotational speed Ne2 is equal to or higher than the allowable maximum rotational speed Nmax, the first motor 65 and the second motor 41 are synchronized with the first motor 65 and the second motor 41 being synchronized. The rotational speed of 41 is reduced to a predetermined rotational speed less than Nmax (for example, the rotational speed set as an initial value) (step S707).

  The process of step S707 is performed, or when it is determined in step S706 that the rotational speed Ne2 is less than the allowable maximum rotational speed Nmax, the above-described determination of step S703 is performed again.

  Thus, when it is determined in step S703 that the rotation speed Nf is equal to the normal rotation speed Ns, next, as in step S706 described above, the rotation speed Ne2 based on the second motor 41 is set to the allowable maximum. It is determined whether or not the rotation speed is less than Nmax (step S708).

  Here, when it is determined that the rotation speed Ne2 is equal to or greater than the allowable maximum rotation speed Nmax, the first motor 65 and the second motor 41 are synchronized with each other as in step S707 described above. The rotational speeds of the first motor 65 and the second motor 41 are reduced (step S709), and then the process returns to step S703.

  Thus, when it is determined in step S708 that the rotational speed Ne2 is less than the allowable maximum rotational speed Nmax, an instruction to stop the rotation of the rotating cylinder 28 is issued from the operator, as in step S609 described above. It is determined whether or not it has been made (step S710).

  Here, when it is determined that the stop of rotation is not instructed, that is, when the operation is continued, the process returns to step S703 and the above-described processing is performed to continue the driving of the rotating cylinder 28 as it is. Do it.

  On the other hand, if it is determined in step S710 that the operator has given an instruction to stop the rotation of the rotating cylinder 28, the rotation of the first motor 65 and the second motor 41 is stopped, and the rotating cylinder 28 is stopped. Stop rotating.

  Next, with reference to FIG. 8, the process of the whole rotation control of the rotation cylinder 28 in the rotation self-propelled endoscope system 1 will be described.

  When this process is started, the same processes as steps S601 to S606 described above are performed (steps S801 to S806).

  If it is determined in step S805 that the rotation speed Nf is equal to the rotation speed Ne1, the same process as in step S706 described above is performed (step S807).

  If it is determined in step S807 that the rotational speed Ne2 is equal to or greater than the allowable maximum rotational speed Nmax, the same processing as in step S707 described above is performed (step S808).

  When the process of step S808 is performed, it is determined whether or not the rotation speed Nf and the rotation speed Ne1 are equal to each other as in step S805 described above (step S809).

  If it is determined that the rotation speed Nf and the rotation speed Ne1 are not equal, the rotation speed Nf and the rotation speed Ne1 are set to be equal to each other via the motor driver 35 in the same manner as in step S806 described above. One motor 65 is controlled (step S810), and then the determination in step S809 is performed again.

  Thus, when it is determined in step S809 that the rotation speed Nf and the rotation speed Ne1 are equal, the timer is set to 5 seconds, and the rotation state is maintained until 5 seconds have elapsed (step S811). .

  Thus, when 5 seconds set by the timer have elapsed, the process returns to step S803 and the above-described determination is performed again.

  If it is determined in step S803 that the rotation speed Nf is equal to the normal rotation speed Ns, processing similar to that in steps S607 and S608 described above is performed (steps S812 and S813).

  Thus, if it is determined in step S812 that the rotation speed Nf is equal to the rotation speed Ne1, the same processing as in the above-described steps S708 and S709 is performed (steps S814 and S815).

  After performing the process of step S815, the same process as the above-described steps S809 to S811 is performed (steps S816 to S818).

  Then, after performing the process of step S818, as in the case of step S811, the process returns to step S803 and the determination as described above is performed again.

  On the other hand, if it is determined in step S814 that the rotation speed Ne2 is less than the allowable maximum rotation speed Nmax, the operator stops the rotation of the rotary cylinder 28 in the same manner as in steps S609 and S710 described above. It is determined whether or not an instruction has been given (step S819).

  Here, when it is determined that the stop of rotation is not instructed, that is, when the operation is continued, whether or not the voltage V1 acquired from the first A / V conversion unit 37 is less than a predetermined upper limit voltage V1max. By determining whether or not the torque of the first motor 65 is less than a predetermined upper limit torque corresponding to the upper limit voltage V1max (step S820).

  If it is determined in step S820 that the voltage V1 is less than the predetermined upper limit voltage V1max, whether or not the voltage V2 acquired from the second A / V conversion unit 38 is less than the predetermined upper limit voltage V2max is determined. By determining whether or not the torque of the second motor 41 is less than a predetermined upper limit torque corresponding to the upper limit voltage V2max (step S821).

  If it is determined in step S821 that the voltage V2 is less than the predetermined upper limit voltage V2max, the process returns to step S803 and the above-described processing is performed to continue driving the rotary cylinder 28.

  On the other hand, if it is determined in step S819 that an instruction to stop the rotation of the rotary cylinder 28 is given by the operator, if it is determined in step S820 that the voltage V1 is equal to or higher than the predetermined upper limit voltage V1max, or step S821. When it is determined that the voltage V2 is equal to or higher than the predetermined upper limit voltage V2max, the rotation of the first motor 65 and the second motor 41 is stopped and the rotation of the rotary cylinder 28 is stopped.

  The processes shown in FIGS. 6 to 8 described above are applicable not only when the insertion section 6 is inserted into the subject but also when the insertion section 6 is removed from the subject. Not too long.

  According to the first embodiment, since the drive unit is provided before and after the storage case 12, even if a frictional force acts between the inner surface of the storage case 12 and the rotary cylinder 28 of the insertion unit main body 10, The rotary cylinder 28 can be rotated, and the insertion portion main body 10 can be smoothly advanced and retracted.

  And when storing the insertion part main body 10 in the storage case 12, the insertion part main body 10 will be stored in the state which drew the loop as shown in FIG. 2, but the curvature radius of this loop is When the size of the storage case 12 is reduced, the size is reduced accordingly. The insertion portion main body 10 that draws the loop is considered to require a larger torque to rotate the rotating cylinder 28 as the radius of curvature becomes smaller. However, according to the configuration of the present embodiment, the insertion portion main body 10 is stored as described above. Since drive units are provided in front and rear of the case 12 and torque is applied from both the distal end side and the proximal end side of the rotating cylinder 28, it is possible to rotate even with a smaller radius of curvature. Thereby, the storage case 12 can be downsized.

[Embodiment 2]
9 to FIG. 23 show Embodiment 2 of the present invention, FIG. 9 is an external view showing the overall configuration of the rotary self-propelled endoscope system, and FIG. 10 is a side view showing the configuration of the storage case. 11 is a plan view showing the configuration of the storage case, FIG. 12 is a diagram showing the configuration of the first cover in the connector cover and the first motor box, and FIG. 13 is a side view showing the structure of the proximal end side of the inner tube. FIG. 14 is a sectional view showing the structure of the proximal end side of the inner tube, FIG. 15 is a diagram showing the configuration of the second motor box, and FIG. 16 is a diagram showing the configuration of the third motor box and the insertion aid. FIG. 17 is a perspective view showing the configuration of the insertion assisting tool, FIG. 18 is a diagram showing another configuration example of the insertion assisting tool, and FIG. 19 is a diagram of the rotating cylinder in the rotary self-propelled endoscope system. FIG. 20 is a diagram showing a configuration of a circuit and the like related to rotation drive control, and FIG. 20 is a rotation self-propelled endoscope FIG. 21 is a flowchart showing processing when there is a possibility that instability may occur in transmission of rotational force from the second drive unit or the third drive unit to the rotating cylinder in the stem, and FIG. 21 shows a rotary self-propelled endoscope. FIG. 22 is a diagram showing a configuration example of a detection sensor for detecting the number of rotations and the amount of insertion of the rotating cylinder, and FIG. 23 is an amount of insertion of the insertion portion. It is a figure which shows the other structural example of the detection sensor for detecting this.

  In the second embodiment, parts that are the same as those in the first embodiment are given the same reference numerals and description thereof is omitted, and only differences are mainly described.

  First, the overall configuration of the rotary self-propelled endoscope system of the present embodiment will be described with reference to FIG.

  As shown in FIG. 9, the rotary self-propelled endoscope system 1 of the present embodiment includes a rotary self-propelled endoscope 2, three control system devices, a monitor 4, and an aspirator 5. ing.

  The endoscope 2 according to the present embodiment includes an insertion portion 6, a first motor box 16A that is a first drive portion, a storage case 12A that is a storage portion, and a second motor box 31A that is a second drive portion. In addition, a third motor box 51 as a third drive unit is provided.

  The third motor box 51 is provided on the proximal end side of the insertion assisting tool 11 in order to rotate the rotating cylinder 28 further on the distal end side than the second motor box 31A.

  Here, the rotary self-propelled endoscope system 1 of the present embodiment does not include the operation unit 7 as in the above-described first embodiment in the endoscope 2, and the bending unit is operated by the remote control unit 71 described later. 9 is configured to be bent. Note that the bending portion 9 of the present embodiment is configured to be bendable by a fluid.

  In the present embodiment, the first motor box 16A, the storage case 12A, and the second motor box 31A are provided on the distal end side of the arm 58 having three joint portions extending from the trolley 56. 59. The mounting table 59 is configured to maintain the level even when it is moved up and down or when the arm 58 is expanded and contracted.

  With such a configuration, the insertion portion 6, the first motor box 16A, the storage case 12A, and the second motor box 31A can be moved to a position with good workability when performing treatment.

  The above-described trolley 56 is configured with a caster so as to be movable, and the above-described three control system devices are mounted on the trolley 56. Here, the three control system devices control the first control device 3A for controlling the electrical configuration related to this system, the air supply that is an endoscope function, and the bending of the bending portion 9. A second control device 54, and a third control device 55 for controlling water supply and suction, which are endoscope functions. The second control device 54 and the third control device 55 are electrically connected to the first control device 3A, and are controlled by the first control device 3A.

  The above-described remote control unit (hereinafter abbreviated as a remote controller) 71 is connected to the first control device 3A. The remote controller 71 is an operation instruction unit for collectively operating various endoscope functions, and includes an operation switch 72 for operating various endoscope functions and a bending portion 9 of the endoscope 2. For example, a joystick type operation lever 73 for bending operation is provided.

  And this 1st control apparatus 3A controls the drive of the motor for the imaging system of the endoscope 2, an illumination system, and rotation self-running. In other words, the first control device 3A controls the imaging of the image by the endoscope 2, the control of the power supply to the LED illumination as the illumination unit, and the first motor based on the operation of the operation switch 72 of the remote controller 71. The box 16A, the second motor box 31A, and the third motor box 51 are controlled to supply power to the motors provided therein.

  Furthermore, a monitor 4 is electrically connected to the first control device 3A. The monitor 4 is a display device for displaying an endoscopic image acquired by the endoscope 2.

  Next, a carbon dioxide (CO2) cylinder 57 is connected to the second control device 54, and a compressor for supplying air and a supply / exhaust valve are incorporated, although not shown.

  When a predetermined operation is performed by the operation lever 73 of the remote controller 71, the CO2 cylinder 57, valves and exhaust valves (not shown) are operated by the control of the second control device 54, and the bending operation of the bending portion 9 is performed. Can be done.

  Further, the suction device 5 is connected to the third control device 55 via the suction tube 5a, and the water supply tank 24 is connected.

  Then, when a predetermined operation is performed by the operation switch 72 of the remote controller 71, a suction pump, valves, etc. (not shown) are operated by the control of the third control device 55, and water supply and suction are performed. Yes.

  From the back side of the control devices 3A, 54, and 55, various fluid supply tubes, electric cables, and the like are extended corresponding to the respective functions, and through the inside or the outer surface of the arm 58 described above. And connected to each part of the endoscope 2.

  Next, with reference to FIG. 10 and FIG. 11, the structure of the storage case of this embodiment is demonstrated.

  Unlike the storage case 12 of Embodiment 1 described above, the storage case 12A of this embodiment is formed in the shape of a truncated cone, and is stored by winding the insertion portion main body 10 along its inner peripheral surface. Is configured to do.

  The storage case 12 </ b> A is connected to the first motor box 16 </ b> A via the guide tube 53 and connected to the second motor box 31 </ b> A via the guide tube 52.

  Subsequently, with reference to FIGS. 12 to 14, the configuration of the first drive unit in the connector cover 15 and the first motor box 16 </ b> A of the present embodiment will be described.

  The first drive unit of the present embodiment is configured in substantially the same manner as the first drive unit shown in FIG. 3 of the first embodiment described above, but is disposed in the rotary cylinder 28 of the insertion unit main body 10. The difference is that the inner tube 26 is configured to be movable in the insertion axis direction.

  That is, the cylindrical frame 64 is fixed to the proximal end side of the inner tube 26, and the pins 76 are screwed into a plurality of positions on the outer peripheral surface of the cylindrical frame 64. Here, in the present embodiment, as shown in FIG. 14, two pins 76 are screwed at an angular position of, for example, about 120 ° in the circumferential direction of the inner tube 26, and the head of the pin 76 is the inner tube. Projecting from the outer peripheral surface of the tube 26 to the outside.

  On the outer peripheral side of the cylindrical frame 64, a guide member 75 having a circular arc cross section and having a predetermined length in the insertion axis direction is fixed to the connector cover 15. The guide member 75 is formed with a plurality of guide grooves 75a along the insertion axis direction, two in the example shown in FIG.

  The head of the pin 76 is engaged with the guide groove 75a of the guide member 75 to guide the movement of the cylindrical frame 64 in the insertion axis direction.

  The rotating cylinder 28 disposed on the outer peripheral side of the inner tube 26 is a member that may be expanded and contracted by being stressed from the outside due to friction generated by contact with the outside. Therefore, with the configuration described above, even if the rotating cylinder 28 expands and contracts, it is possible to prevent the inner cylinder tube 26 from escaping and applying unnecessary stress.

  Next, the configuration of the second motor box 31A will be described with reference to FIG.

  The second motor box 31A is configured in substantially the same manner as the second motor box 31 of the first embodiment described above, but the second motor 41 is configured to be removable with respect to the drive roller 43. Is different.

  That is, the second motor box 31A includes the first housing 31A1 and the second housing 31A2. The second housing 31A2 is provided with a second motor 41, a gear box 42, and a second encoder 44, and a gear 77 is provided on a drive shaft that extends from the gear box 42 to the outside of the second housing 31A2. Is attached.

  On the other hand, the first casing 31A1 is provided with a driving roller 43 and driven rollers 45 and 46, and a gear 78 is provided on a rotating shaft extending from the driving roller 43 to the outside of the first casing 31A1. It is attached. Further, an O-ring 79 is provided in the first housing 31A1 on the outer peripheral side of the rotation shaft of the gear 78, and the inside of the first housing 31A1 and the gear 78 are configured to be watertight.

  When the first casing 31A1 is attached to the second casing 31A2, the gear 77 on the second casing 31A2 side and the gear 78 on the first casing 31A1 side are engaged with each other.

  With such a configuration, the second casing 31A2 including the second motor 41 can be removed and reused. Further, at this time, even if dirt or the like is attached to the insertion portion main body 10, the inside of the first casing 31A1 is kept watertight with respect to the second casing 31A2 via the O-ring 79. The second housing 31A2 can be maintained in a clean state.

  Next, with reference to FIG. 16, the structure of the 3rd motor box 51 and the insertion assistance tool 11 is demonstrated.

  The third motor box 51 that is the third drive unit has a configuration that is substantially similar to the second motor box 31 of the first embodiment described above, and includes a third motor 81 that is a rotational drive source. The third motor 81 transmits the rotational force to the driving roller 83 via the gear box 82. On the other hand, the rotation state of the third motor 81 is detected by the third encoder 84 as a rotation detection unit, and the detection signal is output to the drive control unit 36 (see FIG. 19) of the control device 3A. .

  Further, two driven rollers 85 and 86 are disposed around the rotary cylinder 28 of the insertion portion main body 10 at positions different from the driving roller 83. The drive roller 83 and the driven rollers 85 and 86 are disposed with their respective rotation axes inclined with respect to the insertion axis direction of the insertion portion main body 10 as in the first embodiment.

  As shown in FIG. 17, the insertion assisting tool 11 is formed with a flange 11b that serves as an insertion stop to the subject on the proximal end side of the cylindrical assisting instrument main body 11a. And the small diameter part 11c is formed in the front end side of the auxiliary tool main body 11a, and the hole 11d is formed in the multiple places of the circumferential direction of this small diameter part 11c. These holes 11d communicate with an insertion hole 11e provided in the auxiliary tool body 11a. In addition, the insertion hole 11e provided in the auxiliary tool main body 11a is a hole for inserting the insertion portion main body 10 therein.

  And the water absorption sheet | seat 87 is wound as shown in FIG. 16 around the small diameter part 11c of the insertion auxiliary tool 11 comprised in this way, and the waterproof tape 88 is further affixed from the outer peripheral side. .

  Then, when the insertion portion main body 10 is inserted into the insertion hole 11e, the outer peripheral surface of the insertion portion main body 10 comes into contact with the water absorbent sheet 87 and absorbs dirt, body fluid, and the like attached to the outer peripheral surface of the insertion portion main body 10. It has become. At this time, since the rotating cylinder 28 is inserted and removed while rotating, the outer surface of the rotating cylinder 28 can be removed even if the water absorbing sheet 87 is not in contact with the outer surface of the rotating cylinder 28 over the entire circumferential direction. It is possible to absorb dirt and the like attached to the whole.

  With such a configuration, when the insertion portion main body 10 is removed from the subject, dirt or the like attached to the surface thereof can be reduced. And since the position where the water absorbing sheet 87 is disposed is on the front end side with respect to the driving roller 83 of the third motor box 51, and naturally on the front end side with respect to the driving roller 43 of the second motor box 31A, It is on the tip side with respect to all the drive units for driving the rotary cylinder 28. Therefore, if the contamination on the outer surface of the rotating cylinder 28 is reduced, the drive roller 83 can be prevented from spinning, and a more reliable rotation driving force can be transmitted to the rotating cylinder 28.

  In addition, although the structural example which has arrange | positioned the water absorbing sheet 87 in the front end side of the insertion auxiliary tool 11 was shown here, you may arrange | position not only to this but in the base end side of the insertion auxiliary tool 11. Specifically, for example, it may be configured to be disposed on the inner peripheral side of the flange 11b.

  Next, a modification of the insertion assisting tool 11 will be described with reference to FIG.

  This insertion assisting tool 11 further includes an alcohol supply path 11f in addition to the above-described configurations of FIGS. The alcohol supply path 11f communicates with the hole 11d described above on the distal end side, and communicates with a base 11g provided on the outer peripheral side of the flange 11b on the proximal end side.

  A pipe line 92 is connected to the base 11 g, and the base end side of the pipe line 92 is connected to a discharger 91. On the other hand, an alcohol pot 94 in which alcohol is stored is connected to the discharger 91 via a conduit 93.

  With such a configuration, the alcohol stored in the alcohol pot 94 is supplied via the discharger 91 and wets the water absorbing sheet 87 via the pipe line 92 and the alcohol supply path 11f.

  Thereby, since the water absorbing sheet 87 comes into contact with the outer surface of the insertion portion main body 10 in a state wet with alcohol, the outer surface of the insertion portion main body 10 can be wiped more efficiently.

  Subsequently, with reference to FIG. 19, the configuration of a circuit and the like related to the rotational drive control of the rotary cylinder 28 in the rotary self-propelled endoscope system 1 will be described.

  3 A of control apparatuses are provided with the motor driver 35 and the drive control part 36 similarly to the control apparatus 3 of Embodiment 1. FIG. The motor driver 35 is connected to the first motor 65 of the first motor box 16A, which is the first drive unit, via the first A / V conversion unit 37, and is connected to the first motor 65 via the second A / V conversion unit 38. 3rd motor 81 of the 3rd motor box 51 which is connected to the 2nd motor 41 of the 2nd motor box 31A which is 2 drive parts, and is further via the 3rd A / V conversion part 39. It is connected to the. The first A / V conversion unit 37, the second A / V conversion unit 38, and the third A / V conversion unit 39 are also connected to the drive control unit 36.

  Further, a first encoder 68 for detecting the rotation state of the first motor 65 of the first motor box 16A, a second encoder 44 for detecting the rotation state of the second motor 41 of the second motor box 31A, The third encoder 84 for detecting the rotation state of the third motor 81 of the third motor box 51 is connected to the drive control unit 36.

  In addition, a reflection plate 95 that constitutes a rotation detection unit is attached to one of the two driven rollers 85 and 86 provided in the third motor box 51, and the reflection plate 95 is attached to the reflection plate 95. The rotation state of the driven roller 85 is detected by a photo sensor 96 which is a rotation detection unit disposed opposite to the photo sensor. The output of the photo sensor 96 is also connected to the drive control unit 36.

  The drive control unit 36 outputs each output of the first encoder 68, the second encoder 44, the third encoder 84, the photo sensor 49, and the photo sensor 96, and the voltage V1 (first motor 65) from the first A / V conversion unit 37. Voltage indicating the torque of the second motor 41), the voltage V2 from the second A / V converter 38 (voltage indicating the torque of the second motor 41), and the voltage V3 from the third A / V converter 39 (torque of the third motor 81). And the rotational state and torque of the motors 65, 41, 81 and the rotary cylinder 28, and the rotational speed of the motors 65, 41, 81 is controlled via the motor driver 35. It is like that. By performing such processing, the control device 3A controls the first drive unit, the second drive unit, and the third drive unit in synchronization.

  Thus, in addition to the 1st drive part and the 2nd drive part, by providing a 3rd drive part, it becomes possible to rotate rotation cylinder 28 more certainly.

  Next, referring to FIG. 20, in the rotary self-propelled endoscope system, instability may occur in the transmission of the rotational force from the second drive unit or the third drive unit to the rotary cylinder 28. A process in a case will be described. In FIG. 20, a portion surrounded by a dotted line is a processing portion corresponding to an unusual rotation.

  In the first embodiment described above, the driving roller 83 of the third driving unit slips or the like for the same reason as described above that the driving roller 43 of the second driving unit may slip or idle. There is a possibility that it will wake up. The process shown in FIG. 20 is for dealing with such a case.

  That is, when this process is started, the third motor 81 of the third control unit is started to be driven (step S2101), and the second motor 41 of the second control unit and the second motor 41 of the second control unit are similar to the above-described steps S601 and S602. Driving of the first motor 65 of the first control unit is started (steps S2102 and S2103).

  Then, the rotational speed Nf3 of the rotating cylinder 28 is calculated based on the output of the photosensor 96 indicating the rotational speed of the driven roller 85, and this rotational speed Nf3 is a normal rotational speed that is set in advance with respect to the normal rotational speed. It is determined whether or not Ns has been reached (step S2104).

  Here, when it is determined that the rotation speed Nf3 of the rotating cylinder 28 is not equal to the normal rotation speed Ns, the rotation of the rotating cylinder 28 is too fast or too slow (or stopped) than usual. It means that. Therefore, at this time, the third motor 81 is controlled via the motor driver 35 so that the rotational speed Nf3 and the normal rotational speed Ns become equal (step S2105).

  Further, the rotation speed Nf2 of the rotating cylinder 28 is calculated based on the output of the photosensor 49 indicating the rotation speed of the driven roller 45, and whether or not the rotation speed Nf2 is equal to the rotation speed Nf3, that is, the position of the driven roller 85. In step S2106, it is determined whether the rotation of the rotating cylinder 28 at the position and the rotation of the rotating cylinder 28 at the position of the driven roller 45 are synchronized with each other.

  If it is determined that the rotational speed Nf2 is not equal to the rotational speed Nf3, the second motor 41 is controlled via the motor driver 35 so that the rotational speed Nf2 and the rotational speed Nf3 are equal (step S2107). Thereafter, the determination in step S2106 is performed again.

  Thus, when it is determined in step S2106 that the rotation speed Nf2 is equal to the rotation speed Nf3, next, whether the rotation speed Nf2 and the rotation speed Ne1 by the first motor 65 are equal, that is, is synchronized? It is determined whether or not (step S2108).

  If it is determined that the rotational speed Ne1 is not equal to the rotational speed Nf2, the first motor 65 is controlled via the motor driver 35 so that the rotational speed Ne1 and the rotational speed Nf2 are equal (step S2109). Thereafter, the determination in step S2108 is performed again.

  Thus, if it is determined in step S2108 that the rotational speed Ne1 is equal to the rotational speed Nf2, then based on the output from the third encoder 84 indicating the rotational speed of the third motor 81 of the third drive unit. Thus, the rotation speed Ne3 is calculated when it is assumed that the driving roller 83 is rotating without slipping. Then, it is determined whether this rotational speed Ne3 is less than the maximum allowable rotational speed Nmax of the rotating cylinder 28 (step S2110). A specific example of the allowable maximum rotational speed Nmax is 1.5 times the normal rotational speed Ns, that is, Nmax = 1.5 × Ns, as in the first embodiment. The setting of the coefficient of the maximum rotational speed is a coefficient determined by the allowable torque of the motor, the reduction gear, etc., the rotational speed, or the slidability with the roller.

  Here, when it is determined that the rotational speed Ne3 is equal to or higher than the allowable maximum rotational speed Nmax, the third motor 81, the first motor 65, and the second motor 41 are synchronized with these third motors. 81, the rotational speeds of the first motor 65 and the second motor 41 are reduced to a predetermined rotational speed less than Nmax (for example, the rotational speed set as an initial value) (step S2111).

  Next, processing similar to that in steps S2106 to S2109 described above is performed (steps S2112 to S2115).

  Thus, if it is determined in step S2112 and step S2114 that the rotation speed Nf3, the rotation speed Nf2, and the rotation speed Ne1 are equal, the timer is set to 5 seconds, and the rotation state is maintained until 5 seconds have elapsed. Is maintained (step S2116).

  In FIG. 20, a portion surrounded by a dotted line is a portion that is a process for dealing with abnormal rotation.

  Thus, when 5 seconds set by the timer have elapsed, or when it is determined in step S2110 that the rotational speed Ne3 is less than the allowable maximum rotational speed Nmax, the process returns to step S2104 to make the above-described determination. Do it again.

  On the other hand, if it is determined in step S2104 that the rotation speed Nf3 is equal to the normal rotation speed Ns, the process proceeds to a process that is substantially the same as that in steps S2106 to S2116, although illustration is omitted.

  Next, with reference to FIG. 21, a description will be given of the entire rotation control process of the rotary cylinder 28 in the rotary self-propelled endoscope system 1.

  When this process is started, the same processes as steps S2101 to S2116 described above are performed (steps S2201 to S2216).

  If it is determined in step S2204 that the rotation speed Nf3 is equal to the normal rotation speed Ns, the same processes as in steps S2206 to S2216 are performed (steps S2217 to S2227).

  Then, after performing the process of step S2227, as in the case of step S2216, the process returns to step S2204 and the determination as described above is performed again.

  On the other hand, if it is determined in step S2221 that the rotational speed Ne3 is less than the allowable maximum rotational speed Nmax, the operator rotates the rotary cylinder 28 from the surgeon in the same manner as in steps S609, S710, and S819 described above. It is determined whether or not an instruction to stop is given (step S2228).

  Here, when it is determined that the stop of rotation is not instructed, that is, when the operation is continued, whether or not the voltage V1 acquired from the first A / V conversion unit 37 is less than a predetermined upper limit voltage V1max. By determining whether or not the torque of the first motor 65 is less than a predetermined upper limit torque corresponding to the upper limit voltage V1max (step S2229).

  If it is determined in step S2229 that the voltage V1 is less than the predetermined upper limit voltage V1max, whether or not the voltage V2 acquired from the second A / V conversion unit 38 is less than the predetermined upper limit voltage V2max. It is determined whether or not the torque of the second motor 41 is less than a predetermined upper limit torque corresponding to the upper limit voltage V2max (step S2230).

  If it is determined in step S2230 that the voltage V2 is less than the predetermined upper limit voltage V2max, whether or not the voltage V3 acquired from the third A / V conversion unit 39 is less than the predetermined upper limit voltage V3max. By determining whether or not the torque of the third motor 81 is less than a predetermined upper limit torque corresponding to the upper limit voltage V3max (step S2231).

  If it is determined in step S2231 that the voltage V3 is less than the predetermined upper limit voltage V3max, the process returns to step S2204 and the above-described processing is performed to continue driving the rotary cylinder 28.

  On the other hand, if it is determined in step S2228 that the operator has given an instruction to stop the rotation of the rotating cylinder 28, in step S2229, if it is determined that the voltage V1 is equal to or higher than the predetermined upper limit voltage V1max, in step S2230. When it is determined that the voltage V2 is equal to or higher than the predetermined upper limit voltage V2max, or when it is determined in step S2231 that the voltage V3 is equal to or higher than the predetermined upper limit voltage V3max, the first motor 65, the second motor 41, Then, the rotation of the third motor 81 is stopped, and the rotation of the rotary cylinder 28 is stopped.

  Note that the processes shown in FIGS. 20 and 21 described above are applicable not only when the insertion unit 6 is inserted into the subject but also when the insertion unit 6 is removed from the subject. Not too long.

  Next, a configuration example of a detection sensor for detecting the rotation speed and the insertion amount of the rotating cylinder 28 will be described with reference to FIG.

  On the outer surface of the rotating cylinder 28, a plurality of insertion amount detection indicators 101, for example, a line that makes one round in the circumferential direction, are provided at regular intervals along the insertion axis, and are elongated straight lines in the insertion axis direction. The rotation speed detection index 102 is provided. In the example shown in FIG. 22, these indicators 101 and 102 are configured by lines of different colors from other parts. However, the present invention is not limited to this. For example, the indicators 101 and 102 may be dots or mirrors that reflect light. The configuration may be a shape.

  It should be noted that the number of rotation speed detection indices 102 constituting the rotation detection unit is not limited to one, and may be provided at a plurality of positions in the circumferential direction when it is desired to detect the rotation speed more precisely. .

  On the other hand, the third motor box 51 detects the insertion amount detection sensor 103 for detecting the insertion amount of the rotating cylinder 28 by detecting the insertion amount detection index 101 and the rotation speed detection index 102. Thus, a rotation speed detection sensor 104 as a rotation detection unit for detecting the rotation speed of the rotary cylinder 28 is disposed.

  That is, the photosensors 49 and 96 described above detect the rotational speed of the rotating cylinder 28 indirectly via the driven rollers 45 and 85, whereas the rotational speed detection sensor 104 includes the rotating cylinder. The number of rotations of the body 28 is directly detected. Similarly, the insertion amount detection sensor 103 also directly detects the insertion amount of the rotating cylinder 28.

  Instead of the above-described photosensors 49 and 96 or in addition to these photosensors 49 and 96, the configuration as shown in FIG. 22 is used to detect the number of rotations and the amount of insertion of the rotating cylinder 28. It doesn't matter. As a result, more direct and highly accurate detection is possible.

  Subsequently, another configuration example of the detection sensor for detecting the insertion amount of the insertion portion will be described with reference to FIG.

  An insertion amount detection unit 110 is provided between the distal end side of the rotary cylinder 28 of the insertion unit body 10 and the bending unit 9. The insertion amount detection unit 110 is provided on the distal end side of the rotating cylinder 28 and is a portion that itself does not rotate. The insertion amount detection unit 110 is provided with a light source unit 111 and an image sensor 112.

  In such a configuration, the light source unit 111 emits light to illuminate the lumen of the subject, the reflected light from the lumen is imaged by the image sensor 112, and the acquired image is analyzed (lumen) The amount of insertion of the insertion portion main body 10 is detected by analyzing how much the insertion portion main body 10 advances relative to the inner wall. When the lumen is the intestine, wrinkles are present at appropriate intervals, so that the insertion amount can be detected by such image analysis.

  Also by using such a configuration, the insertion amount can be detected.

  According to the second embodiment, the same effect as that of the first embodiment described above can be obtained, and the third drive unit is provided on the distal end side of the second drive unit, so that it can enter the subject. Even if the insertion length of the insertion portion main body 10 is increased and the frictional force between the rotating cylinder 28 and the inner wall of the body cavity of the subject is increased, the rotating cylinder 28 can be rotated more reliably. Therefore, the insertion portion main body 10 can be more reliably advanced and retracted.

  Since the torque applied to the rotating cylinder 28 increases, the storage case 12 can be further reduced in size.

  Note that the present invention is not limited to the above-described embodiments as they are, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment. For example, you may delete a some component from all the components shown by embodiment. Furthermore, the constituent elements over different embodiments may be appropriately combined. Thus, it goes without saying that various modifications and applications are possible without departing from the spirit of the invention.

  INDUSTRIAL APPLICABILITY The present invention can be suitably used for a rotating self-propelled endoscope system that is configured to self-propell by rotating a rotating cylinder having a spiral structure on the outer peripheral surface.

1 is an external view showing an overall configuration of a rotary self-propelled endoscope system according to Embodiment 1 of the present invention. The top view which shows the storage case in the said Embodiment 1. FIG. The figure which shows the structure of the 1st drive part in the connector cover of the said Embodiment 1, and a 1st motor box. The figure which shows the structure of the 2nd drive part in the 2nd motor box of the said Embodiment 1. FIG. The figure which shows the structure of the circuit etc. which concern on the rotation drive control of the rotation cylinder in the rotation self-propelled endoscope system of the said Embodiment 1. FIG. The flowchart which shows the process which drives an insertion part at constant speed, controlling the 1st drive part and the 2nd drive part synchronously in the rotation self-propelled endoscope system of the said Embodiment 1. FIG. The flowchart which shows a process when instability may arise in transmission of the rotational force from a 2nd drive part to a rotating cylinder in the rotation self-propelled endoscope system of the said Embodiment 1. FIG. The flowchart which shows the process of the whole rotation control of the rotation cylinder in the rotation self-propelled endoscope system of the said Embodiment 1. FIG. FIG. 9 shows the second embodiment of the present invention, and FIG. 9 is an external view showing the overall configuration of the rotary self-propelled endoscope system. The side view which shows the structure of the storage case in the said Embodiment 2. FIG. The top view which shows the structure of the storage case in the said Embodiment 2. FIG. The figure which shows the structure of the 1st drive part in the connector cover of the said Embodiment 2, and a 1st motor box. The figure which shows the structure of the base end side of the inner cylinder pipe in the said Embodiment 2 from the side surface side. Sectional drawing which shows the structure of the base end side of the inner cylinder pipe in the said Embodiment 2. FIG. The figure which shows the structure of the 2nd motor box in the said Embodiment 2. FIG. The figure containing the partial cross section which shows the structure of the 3rd motor box and the insertion auxiliary tool in the said Embodiment 2. FIG. The perspective view which shows the structure of the insertion assistance tool in the said Embodiment 2. FIG. The figure which shows the other structural example of the insertion assistance tool in the said Embodiment 2. FIG. The figure which shows the structure of the circuit etc. which concern on the rotation drive control of the rotation cylinder in the rotation self-propelled endoscope system of the said Embodiment 2. FIG. The process in the case where instability may arise in transmission of the rotational force from a 2nd drive part or a 3rd drive part to a rotating cylinder in the rotation self-propelled endoscope system of the said Embodiment 2 is shown. flowchart. The flowchart which shows the process of the rotation control whole of the rotation cylinder in the rotation self-propelled endoscope system of the said Embodiment 2. FIG. The figure which shows the structural example of the detection sensor for detecting the rotation speed and insertion amount of a rotation cylinder in the said Embodiment 2. FIG. The figure which shows the other structural example of the detection sensor for detecting the insertion amount of an insertion part in the said Embodiment 2. FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Rotation self-propelled endoscope system 2 ... Rotation self-propelled endoscope 3, 3A ... Control apparatus 6 ... Insertion part 7 ... Operation part 8 ... Tip part 9 ... Bending part 10 ... Insertion part main body 11 ... Insertion assistance Tool 12, 12A ... Storage case (storage part)
DESCRIPTION OF SYMBOLS 13 ... Front end side guide tube 14 ... Operation part side guide tube 15 ... Connector cover 16, 16A ... 1st motor box 23 ... Tube 25 ... Foot switch 26 ... Inner cylinder tube 28 ... Rotating cylinder 31, 31A ... 2nd motor box 31A1 ... 1st housing | casing 31A2 ... 2nd housing | casing 33 ... Signal line 35 ... Motor driver 36 ... Drive control part 37 ... 1st A / V conversion part 38 ... 2nd A / V conversion part 39 ... 3rd A / V conversion part 41 ... second motor 43 ... drive roller 44 ... encoder (rotation detector)
45, 46 ... driven roller 47 ... water absorbing sheet 48 ... reflector (rotation detector)
49 ... Photo sensor (rotation detector)
DESCRIPTION OF SYMBOLS 51 ... 3rd motor box 58 ... Arm 59 ... Mounting stand 62 ... Passive side gear 64 ... Cylindrical frame 65 ... 1st motor 66 ... Active side gear 68 ... 1st encoder (rotation detection part)
71 ... Remote control unit (remote control)
75 ... Guide member 76 ... Pin 77, 78 ... Gear 79 ... O-ring 81 ... Third motor 83 ... Drive roller 84 ... Third encoder (rotation detector)
85, 86 ... driven roller 87 ... water absorbing sheet 88 ... waterproof tape 91 ... dispenser 94 ... alcohol pot 95 ... reflector (rotation detector)
96 ... Photo sensor (rotation detector)
101 ... Insertion amount detection index 102 ... Rotation speed detection index (rotation detector)
103 ... Insertion amount detection sensor 104 ... Number of rotation detection sensor (rotation detection unit)
DESCRIPTION OF SYMBOLS 110 ... Insertion amount detection part 111 ... Light source part 112 ... Image sensor

Claims (3)

A rotating cylinder provided on the outer peripheral side of the elongated insertion portion so as to be rotatable around the insertion shaft, and having a spiral structure on the outer peripheral surface;
A storage section for storing at least a part of the insertion section;
A plurality of drive units that rotationally drive the rotary cylinder in the same rotation direction at different drive positions along the insertion axis of the insertion unit;
Comprising
The plurality of drive units include a first drive unit that rotationally drives the rotary cylinder at a drive position closer to the base end than the storage unit, and the rotary cylinder at a drive position distal to the storage unit. A rotary self-propelled endoscope system, comprising: a second drive section that rotates.   2. The rotation according to claim 1, wherein the plurality of driving units further include a third driving unit that rotationally drives the rotating cylinder at a driving position on a distal end side with respect to the second driving unit. Self-propelled endoscope system. A rotation detection unit for detecting a driving state of the plurality of driving units;
Based on the detection result by the rotation detection unit, a drive control unit that controls to drive the plurality of drive units in synchronization;
The rotary self-propelled endoscope system according to claim 1, further comprising:

Images