JP2011072765A - Actuator for intratubular moving body, endoscope, and control method of the actuator for intratubular moving body - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an actuator for intratubular moving body which repeats expansion and contraction of an expansion-contraction member such as a rotary balloon in an appropriate form to securely pull in a tube wall to move the intratubular moving body. <P>SOLUTION: In a state that a locking balloon 44 in a low pressure expansion state of low pressure P<SB>min</SB>(Pa) covers a second drive balloon 46, when the second drive balloon 46 is expanded, the locking balloon 44 in a low pressure expansion state is rotated and moved centering on a fixing part with respect to a tip end part 10a to a front in the advancing direction of the tip end part 10a by its pressing force. Thereby, the locking balloon 44 in the low pressure expansion state is rotated and moved to be brought into a state of totally covering the first drive balloon 42 without causing winding by itself. As a result, the locking balloon 44 can be appropriately expanded again. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to an actuator for an intra-pipe moving body, an endoscope, and a control method for the actuator for an intra-pipe moving body, and more particularly to a technique for transmitting a propulsive force to a pipe wall and moving the pipe.

  Endoscopic insertion of the large intestine is very difficult because the large intestine has a tortuous structure in the body and there are parts that are not fixed in the body cavity. Therefore, a lot of experience is required to learn the insertion technique, and if the insertion technique is immature, the patient will be greatly distressed.

  The sigmoid colon and the transverse colon are said to be particularly difficult to insert in the large intestine region. Unlike the other colons, the sigmoid and transverse colon are not fixed in the body cavity. Therefore, it can take an arbitrary shape in the body cavity within the range of its own length, and is deformed in the body cavity by the contact force at the time of insertion of the endoscope.

  In large intestine insertion, it is important to linearize the sigmoid colon and transverse colon in order to reduce contact with the intestinal tract at the time of insertion. Many techniques have been proposed for straightening, but at the same time, several insertion aids for reducing the degree of curvature by pulling the bent intestine are proposed.

  For example, in Patent Documents 1 and 2, four variable tubes that can be expanded and contracted spirally are wound around the outer peripheral surface of the flexible tube portion, and the pressure in each variable tube is changed to four. In this technique, the outer tube is sequentially expanded and contracted to sequentially expand and contract the outer tube, and the inflatable portion is moved from the distal end side to the proximal side to move the intestinal tract.

Japanese Patent Laid-Open No. 11-9545 JP 2006-223895 A

  However, only the vertical movement of the plurality of variable tubes has little effect of moving the contact surface of the tubes. The folds of the intestinal tract are effective only when they enter the groove between the inflated tubes, but the sigmoid colon has almost no folds. Since the amount is small, the drag effect is significantly reduced.

  On the other hand, for example, when one balloon is inflated and the first portion of the outer peripheral surface of the balloon is brought into contact with the intestinal inner wall and locked, the outer periphery of the balloon continuous with the first portion When the outer peripheral surface of the balloon is moved along the inner wall of the intestinal tract to the second portion of the surface, the inner wall of the intestinal tract is moved along with the movement of the second portion from the first portion when the balloon is in contact with the inner wall of the intestinal tract. However, biological tissues such as the intestinal tract expand and contract along the inner wall of the tube as well as in the tube radial direction by applying stress due to the elasticity of the tissue, and when the stress is released, the tissue expands and contracts by the restoring force of the elasticity. Due to the nature of returning to the previous state, when the balloon is deflated and separated from the inner wall of the intestinal tract, the inner wall of the intestinal tract brought back by the restoring force described above is restored.

  As described above, it is difficult to generate a locking force by one balloon to lock it on the intestinal wall and to generate a propulsive force to move relative to the intestinal wall.

  On the other hand, according to the rotating balloon system that moves the intra-ductal moving body relative to the intestinal wall using a plurality of balloons, it is possible to obtain a large propulsion amount and propulsive force as compared with a system that uses only one balloon. It is possible to move the intraductal moving body relative to the intestinal wall.

  Here, the outline of the rotating balloon system will be briefly described with reference to FIGS. 11 and 12. In the rotating balloon method, for example, as shown in FIG. 11, a plurality of balloons 902, 904, and 906 are arranged side by side at the distal end portion of the in-tube moving body 900. Hereinafter, the balloon 904 disposed in the center is referred to as a rotating balloon or a locking balloon, and the balloons 902 and 906 disposed on both sides thereof are referred to as a first driving balloon and a second driving balloon, respectively.

  In the case where the intraluminal moving body 900 is advanced relative to the intestinal wall (not shown in FIG. 11, indicated by reference numeral 910 in FIG. 12), the intraluminal moving body 900 is inserted into the intestinal tract 900, and a rotating balloon (locking balloon) When the initial state is the state in which both of the first and second driving balloons 902 and 906 are deflated, the second driving balloon 906 is first inflated, and the rotating balloon 904 in the deflated state is the first driving balloon. The state is covered with 902 (FIG. 12A).

  Next, the rotating balloon 904 is inflated so that the rotating balloon 904 is locked to the intestinal wall 910 (FIG. 12B).

  Subsequently, the second driving balloon 906 is deflated, the first driving balloon 902 is inflated, and the rotating balloon 904 is moved in the direction of movement of the in-tube moving body 900 (the direction indicated by the arrow A) around the fixing portion 904a with respect to the in-tube moving body 900. ) To the opposite direction (FIG. 12C). At this time, the rotating balloon 904 rotates while abutting against the intestinal wall 910, so that the intestinal wall 910 is pulled toward the rear in the traveling direction of the intracorporeal moving body 900. As a result, the in-pipe moving body 900 is propelled forward in the traveling direction relative to the intestinal wall 910.

  Then, both the rotating balloon 904 and the first driving balloon 902 are deflated, and the locked state with respect to the intestinal wall 910 is released (FIG. 12D).

  In this way, the rotating balloon 904 and the first and second driving balloons 902 and 906 are all in an initial state deflated. Thereafter, by repeating the operations shown in FIGS. 12A to 12D, the intracorporeal mobile body 900 can be sequentially propelled forward in the traveling direction relative to the intestinal wall 910.

  However, in the above-described rotating balloon system, the second driving balloon 906 is inflated so that the rotating balloon 904 covers the first driving balloon 902 from the state where the second driving balloon 906 covers the second driving balloon 906 (FIG. 12D). In this case, the rotating balloon 904 is performed in a completely deflated state.

  For this reason, even if the rotating balloon 904 is wound by itself or is wound around the surface of the second driving balloon 906, even if the second driving balloon 906 is inflated, as shown in FIG. There is a possibility that the rotating balloon 904 may not be covered with the first driving balloon 902 without causing wrapping. As a result, the rotating balloon 904 may not be properly reinflated. Further, when the rotating balloon 904 is re-inflated in such a state, the rotating balloon 904 is locked to the intestinal wall 910 so that the intestinal wall 910 returns to its original position (advancing direction of the intracorporeal moving body 900). There is also a possibility that.

  As described above, in the conventional rotating balloon system, there is a problem that the rotating balloon cannot be properly reinflated due to the wrapping of the rotating balloon, and the relative movement of the moving body in the duct with respect to the intestinal wall is not performed appropriately.

  The present invention has been made in view of such circumstances, and repeats expansion / contraction of an expansion / contraction member such as a rotating balloon in an appropriate shape, and reliably moves the tube moving body by moving the tube wall. It is an object of the present invention to provide an in-pipe moving body actuator, an endoscope, and a control method for the in-pipe moving body actuator.

  In order to achieve the above object, an actuator for a moving body in a pipe according to claim 1, a first portion that fills a space between the moving body in a tube and the tube wall when it expands and contacts the tube wall, and the tube A second part that contacts the wall and generates a propulsive force, a part of which is fixed to the movable body in the pipe, and a second part that expands and contacts the pipe wall The contraction member and the first expansion / contraction member are arranged side by side in the moving direction of the in-pipe moving body and are fixed to the in-pipe movement body so that they are not locked to the tube wall during expansion. And a third and a fourth expansion / contraction member configured to apply a pressing force to the first expansion / contraction member, the first expansion / contraction member, the second expansion / contraction member, and the third expansion / contraction member. Controlling expansion and contraction of the member and the fourth expansion / contraction member A control unit that moves the in-pipe moving body relative to the tube wall, and the control unit changes an internal pressure of the first expansion / contraction member from a predetermined low pressure Pmin to a predetermined low pressure Pmin. Expansion control for controlling expansion / contraction of the first expansion / contraction member and expanding the first expansion / contraction member at the predetermined high pressure Pmax in a pressure range up to a predetermined high pressure Pmax of high internal pressure, or An engagement / expansion state in which the first expansion / contraction member or the second expansion / contraction member is engaged with the tube wall is maintained by either one of the expansion controls for expanding the second expansion / contraction member. In addition, the first portion of the first expansion / contraction member in the locked expansion state becomes the second portion by the pressing force by the third or fourth expansion / contraction member so as to become the second portion. Transfer Control so as to change the relative position between the body and the tube wall, characterized in that.

  The actuator for a moving body in a pipe according to claim 1, wherein an internal pressure of the first expansion / contraction member is within a pressure range from a predetermined low pressure Pmin to a predetermined high pressure Pmax having an internal pressure higher than the predetermined low pressure Pmin. Expansion of either one of the expansion control for controlling expansion / contraction of the member and expanding the first expansion / contraction member at the predetermined high pressure Pmax, or expansion control for expanding the second expansion / contraction member. The control unit maintains a locked / inflated state in which the first expansion / contraction member or the second expansion / contraction member is locked to the tube wall by the control, and the pressing force by the third or fourth expansion / contraction member The relative position between the in-tube moving body and the tube wall is changed so that the first portion of the first expansion / contraction member in the locked inflated state becomes the second portion. Since the control is performed, the first expansion / contraction member whose internal pressure is the predetermined low pressure Pmin can be changed to a desired state without causing wrapping by itself, and can be appropriately re-expanded. The moving body in the tube can be moved by reliably pulling the tube wall.

  As in the in-pipe moving body actuator according to claim 2, the in-pipe moving body actuator according to claim 1, wherein the first expansion / contraction member is engaged when the expansion is performed at the predetermined high pressure Pmax. It is preferable to be in a low pressure expansion state that is in an expanded state and is not locked to the tube wall during expansion at the constant low pressure Pmin.

  The in-pipe moving body actuator according to claim 2, wherein the first inflating / shrinking member is in the locked / inflated state or the low-pressure inflating state. It is preferable to cover at least a part of the third or fourth expansion / contraction member.

  The actuator for a moving body in a pipe according to any one of claims 1 to 3, as in the actuator for a moving body in a pipe according to claim 4, wherein the predetermined low pressure Pmin is at least 0 KPa <Pmin ≦ 3 KPa. It is preferable to satisfy.

  As in the actuator for a moving body in a pipe according to claim 5, in the actuator for a moving body in a pipe according to claim 4, the predetermined low pressure Pmin is preferably 2 KPa or less.

  The in-pipe moving body actuator according to any one of claims 1 to 5, wherein the control unit includes the first expansion / contraction member or the in-pipe moving body actuator according to claim 6. The tube wall is obtained by holding the locked and inflated state by the second expanding and contracting member, and pressing the first expanding and contracting member in the locked and inflated state by the third or fourth expanding and contracting member. It is preferable to perform control so that

  As in the in-pipe moving body actuator according to claim 7, the in-pipe moving body actuator according to claim 6, wherein the control unit is configured to move the first expansion / contraction member in the locked inflated state. It is preferable to control the pipe wall so that the surface is drawn out by drawing out the surface.

  An in-pipe moving body actuator according to any one of claims 1 to 7, like the in-pipe moving body actuator according to claim 8, wherein the third from the front in the moving direction of the in-pipe moving body. The expansion / contraction member, the first expansion / contraction member, the fourth expansion / contraction member, and the second expansion / contraction member are preferably arranged in this order.

  The actuator for a moving body in a pipe according to any one of claims 1 to 7, like the actuator for a moving body in a pipe according to claim 9, wherein the second from the front in the moving direction of the moving body in the pipe. The expansion / contraction member, the third expansion / contraction member, the first expansion / contraction member, and the fourth expansion / contraction member are preferably arranged in this order.

  The actuator for a moving body in a pipe according to any one of claims 1 to 9, like the actuator for a moving body in a pipe according to claim 10, wherein the first expansion / contraction member is in the low-pressure expansion state. The maximum distance in the radial direction of the in-pipe moving body from the surface of the in-pipe moving body is preferably 15 mm or less.

  An endoscope according to an eleventh aspect includes the actuator for a moving body in a pipe according to any one of the first to tenth aspects.

  The method for controlling an actuator for a moving body in a pipe according to claim 12 includes: a first portion that fills a space between the moving body in the pipe and the pipe wall when inflated and comes into contact with the pipe wall; A second portion for generating a propulsive force, a part of which is fixed to the in-tube moving body, a second expansion / contraction member that expands and contacts the tube wall, and The first expansion / contraction member is fixed to the in-tube moving body in a state of being arranged side by side in the moving direction of the in-tube moving body, and is configured not to be locked to the tube wall during expansion. A first expansion / contraction member, a second expansion / contraction member, and a third expansion / contraction member for applying a pressing force to the first expansion / contraction member. , The third expansion / contraction member, and the fourth expansion / contraction part A method for controlling an actuator for a moving body in a tube that moves the moving body in a tube relative to the tube wall by controlling expansion and contraction of the tube, wherein the internal pressure of the first expansion / contraction member is reduced to a predetermined low pressure. The expansion / contraction of the first expansion / contraction member is controlled within a pressure range from Pmin to a predetermined high pressure Pmax having an internal pressure higher than the predetermined low pressure Pmin, and the first expansion / contraction member is controlled at the predetermined high pressure Pmax. The first expansion / contraction member or the second expansion / contraction member is locked to the tube wall by either expansion control for expansion or expansion control for expanding the second expansion / contraction member. The first portion of the first expansion / contraction member in the engagement / expansion state is held by the pressing force of the third or fourth expansion / contraction member while maintaining the engagement / expansion state. And controlling so as become the second portion to change the relative position of the tube moving body and the tube wall.

  The in-pipe moving body actuator according to any one of claims 1 to 10, such as the in-pipe moving body actuator according to claim 13, wherein the controller is configured to control the first expansion / contraction member. In the pre-stage control of the expansion / contraction control sequence for controlling the expansion / contraction of the first expansion / contraction member within the pressure range from the predetermined low pressure Pmin to the predetermined high pressure Pmax, the first expansion / contraction member is completely It is preferable to contract, and after the complete contraction, the internal pressure of the first expansion / contraction member is set to the predetermined low pressure Pmin, and then the expansion / contraction control sequence is executed.

  The in-pipe moving object actuator according to claim 13, wherein the control unit is configured to perform the first contraction in the fully contracted state in the pre-stage pressure control. A fluid having a volume of 1/10 or less of the volume of the first expansion / contraction member in the expanded state of the predetermined high pressure Pmax is sent to the expansion / contraction member in a certain time, and the internal pressure of the first expansion / contraction member Is preferably set to the predetermined low pressure Pmin.

  According to the present invention, there is an effect that the expansion / contraction of the expansion / contraction member such as the rotating balloon can be repeated in an appropriate shape, and the moving body in the tube can be moved by reliably pulling the tube wall.

1 is a configuration diagram of an electronic endoscope according to a first embodiment. FIG. It is an expanded sectional view of the tip part of the insertion part concerning a 1st embodiment. It is a block block diagram of the balloon control apparatus which concerns on 1st Embodiment. It is the figure which showed the time chart of the forward movement operation | movement in the propulsion operation which concerns on 1st Embodiment. FIG. 5 is a schematic cross-sectional view showing the state of expansion and contraction of each balloon corresponding to the timing chart of the forward movement operation of FIG. 4. It is the figure which showed the time chart of the reverse movement in the propulsion operation which concerns on 1st Embodiment. It is the schematic sectional drawing which showed the mode of expansion | swelling of each balloon corresponding to the timing chart of the backward movement operation | movement of FIG. It is a figure which shows the balloon expansion characteristic which concerns on 1st Embodiment. It is the figure which showed the time chart of the forward drive operation | movement in the propulsion operation which concerns on 2nd Embodiment. It is the schematic sectional drawing which showed the mode of expansion | swelling and contraction of each balloon corresponding to the timing chart of the forward movement operation | movement of FIG. It is the schematic for demonstrating the conventional rotating balloon system. It is explanatory drawing which showed the mode when a moving body in a pipe | tube is propelled by the conventional rotating balloon system.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.
First embodiment:
FIG. 1 is a diagram showing an external appearance of an electronic endoscope according to the first embodiment of the present invention. FIG. 2 is a diagram showing the configuration of the distal end portion of the electronic endoscope shown in FIG.

  As shown in FIG. 1, an electronic endoscope 1 according to the present embodiment is connected to an insertion portion 10 that is an intra-tube moving body that is inserted into a tube of a subject and moves within the tube, and a proximal end portion of the insertion portion 10. The operation unit 12 is configured.

  The distal end portion 10a connected to the distal end of the insertion portion 10 incorporates an objective lens for capturing image light of an observation site in the subject and an imaging device for capturing the image light (both not shown). ing. The image in the subject acquired by the imaging element is displayed as an endoscopic image on a monitor (not shown) of a processor device connected to the universal cord 14.

  Further, on the distal end portion 10a, an illumination window for irradiating illumination light from a light source device (not shown) to the site to be observed, a forceps outlet communicating with the forceps port 16, and an air / water feed button 12a are operated. Accordingly, there are provided a nozzle for spraying cleaning water and air for removing dirt on the observation window protecting the objective lens.

  A bending portion 10b connecting a plurality of bending pieces is provided behind the tip portion 10a. The bending portion 10b is bent in the vertical and horizontal directions when the angle knob 12b provided in the operation portion 12 is operated and the wire inserted in the insertion portion 10 is pushed and pulled. Thereby, the front-end | tip part 10a is orient | assigned to the desired direction in a subject.

  A flexible portion 10c having flexibility is provided behind the curved portion 10b. In order to maintain the distance from the patient so that the distal end portion 10a can reach the site to be observed and the operator does not interfere with the operation portion 12 when operating the flexible portion 10c, It has a length of 1 to several meters.

  In the distal end portion 10a, three balloons, a first driving balloon 42, a locking balloon 44, and a second driving balloon 46, are arranged in order from the front side in the traveling direction (the right side in FIG. 2). A holding balloon 23 is arranged behind these at a predetermined interval.

  The first and second drive balloons 42 and 46 are configured not to be locked to the inner wall surface of the tube wall even when inflated.

  Further, in the propulsion operation described later, at least one of the locking balloon 44 and the holding balloon 23 is inflated and is brought into contact with the tube wall and locked.

  The first and second driving balloons 42 and 46, the locking balloon 44, and the holding balloon 23 are mainly made of latex rubber that can be expanded and contracted, and are connected to a balloon control device 18 that controls the pressure in each balloon. Yes.

  As shown in FIG. 2, inside the distal end portion 10 a, an air supply pipe 48 that communicates with the first driving balloon 42, an air supply pipe 50 that communicates with the locking balloon 44, and a second air supply pipe. An air supply pipe 52 that communicates with the drive balloon 46 and sends gas is provided, and an air supply pipe 27 that communicates with the holding balloon 23 and sends gas. The air pipes 48, 50, 52, and 27 are connected to the balloon control device 18 through the inside of the bending portion 10 b, the flexible portion 10 c, and the universal cord 14.

  Note that the first and second drive balloons 42 and 46 and the locking balloon 44 are disposed adjacent to each other at the distal end portion 10 a and are formed in the entire circumferential direction of the insertion portion 10. The first and second drive balloons 42 and 46, the locking balloon 44, and the holding balloon 23 are preferably configured in a uniform shape (axisymmetric shape) in the circumferential direction of the insertion portion 10, It is not limited, The shape (non-axisymmetric shape) which is not uniform in the circumferential direction of the insertion part 10 may be sufficient.

  In addition, the first and second drive balloons 42 and 46, the locking balloon 44, and the holding balloon 23 are arranged at the distal end portion 10a of the insertion portion 10. However, the configuration is not limited to this, and the bending portion 10b and the flexible balloon 10 You may arrange | position to the part 10c.

  Further, it is preferable that at least the locking balloon 44 and the first driving balloon 42 and the locking balloon 44 and the second driving balloon 46 have different shapes.

  Further, as shown in FIG. 2, the locking balloon 44 does not necessarily need to cover the first driving balloon 42 and the second driving balloon 46 when contracted, and at least the locking balloon 44 is inflated as described later. When the intestinal wall 40 (see FIG. 5 or FIG. 7) is locked, the locking balloon 44 only needs to cover the first driving balloon 42 and the second driving balloon 46.

  When the electronic endoscope 1 configured as described above observes the inner wall surface of a conduit that is bent in a complicated manner, such as the large intestine or the small intestine, the first and second drive balloons 42 and 46, The insertion part 10 is inserted into the subject with the stop balloon 44 and the holding balloon 23 contracted, and the endoscopic image obtained by the imaging device is observed on the monitor while the light source device is turned on to illuminate the subject. To do.

  When the surgeon inserts the distal end portion 10a into a lumen such as the large intestine from the anus, for example, and the distal end portion 10a reaches a predetermined position in the duct, the surgeon operates the balloon control device 18 to operate the first and the first. The two driving balloons 42 and 46, the locking balloon 44, and the holding balloon 23 are controlled to be inflated and deflated, and a pressing force is applied to the inner wall surface of the lumen passage. As a result, the inner wall surface of the lumen passage is drawn closer, and the insertion portion 10 is propelled forward or backward relative to the inner wall surface of the lumen passage.

  A detailed description of the propulsion operation flow will be described later. In the following description, an operation in which the distal end portion 10a propels forward in the traveling direction is a forward movement operation, and an operation in which the distal end portion 10a propels backward in the traveling direction is a backward operation.

  The balloon control device 18 has a structure in which the internal pressure can be adjusted independently for the first and second drive balloons 42 and 46, the locking balloon 44, and the holding balloon 23. The suction pump 34 and the supply pump 36 are connected to the first and second drive balloons 42 and 46, the locking balloon 44, and the holding balloon 23 via the part 32.

  The balloon control device 18 executes processing according to a propulsion operation flow described later, controls the opening / closing of valves (not shown) connected to the respective balloons by the valve opening / closing control unit 30, and the suction pump by the pressure control unit 32. 34 and the supply pump 36 are controlled.

  Next, the propulsion operation of the distal end portion 10a of the electronic endoscope 1 will be described.

  FIG. 4 is a diagram illustrating a timing chart of the forward movement operation in the propulsion operation. FIG. 5 is a schematic sectional view showing the state of inflation and deflation of each balloon corresponding to the timing chart of the forward movement operation of FIG.

  At the start of the timing chart of FIG. 4 (that is, when the process A of FIG. 4 is started), the distal end portion 10a of the electronic endoscope 1 is inserted into the measurement target (for example, the large intestine). The first driving balloon 42 is in an inflated and inflated state, the second driving balloon 46 is in a deflated and contracted state, the locking balloon 44 is in a low-pressure inflating state with an internal pressure of a predetermined low pressure Pmin (Pa), and the holding balloon 23 is inflated. It is assumed that the inflated state is engaged with the intestinal wall 40.

  In this embodiment, the balloon control device 18 controls the expansion / contraction of the locking balloon 44 with an internal pressure equal to or higher than the low pressure Pmin (Pa). With this control, in the low pressure Pmin (Pa) low pressure expanded state, the locking balloon 44 is inflated with a diameter that does not generate a locking force with the intestinal wall 40 (see FIG. 5A), and the low pressure Pmin (Pa). In a locked inflated state with a locking pressure Pmax higher than), the locking balloon 44 is inflated with a diameter that generates a sufficient locking force between the locking balloon 44 and the intestinal wall 40 (see FIG. 5B).

Note that at least the low pressure Pmin (Pa) at which the locking balloon 44 is in a low pressure inflated state is 0K (Pa) <Pmin ≦ 3K (Pa).
In this embodiment, the balloon control device 18 controls Pmin to 2K (Pa).

  First, from the above state, the gas is sucked and contracted from the first driving balloon 42, and the second driving balloon 46 is filled with gas and inflated (step A in FIG. 4). Due to the expansion of the second drive balloon 46, as shown in FIG. 5A, the locking balloon 44 in the low-pressure inflated state is pushed out toward the first drive balloon 42 and covers the contracted first drive balloon 42. become.

  Next, the locking balloon 44 in a low pressure inflated state is filled with gas and inflated, and the locking balloon 44 is locked to the intestinal wall 40 (step B in FIG. 4). As a result, as shown in FIG. 5 (B), the locking balloon 44 is locked with the intestinal wall 40 together with the holding balloon 23 to be in a locked inflated state.

  In the following, when the locking balloon 44 is inflated and is in contact with the intestinal wall 40, the portion of the surface of the locking balloon 44 that is not in contact with the intestinal wall 40 (ie, insertion) The portion between the portion 10 and the intestinal wall 40) is referred to as a first portion, and the portion in contact with the intestinal wall 40 is referred to as a second portion.

  Next, while holding the state where the locking balloon 44 is inflated (locked inflated state), the gas is sucked from the holding balloon 23 and contracted (step C in FIG. 4). As a result, only the locking balloon 44 is locked to the intestinal wall 40 as shown in FIG.

  Subsequently, in a state where the locking balloon 44 is locked to the intestinal wall 40 (locked inflated state), gas is sucked from the second driving balloon 46 and contracted, and the first driving balloon 42 is filled with gas. To expand (step D in FIG. 4). As a result, as shown in FIG. 5 (D), the locking balloon 44 is gradually extended so that the surface of the locking balloon 44 is sequentially advanced toward the rear in the traveling direction of the distal end portion 10a by the expansion of the first drive balloon 42. Pressed.

  In other words, the front side of the first portion (the portion not in contact with the intestinal wall 40) on the surface of the locking balloon 44 in the locked inflated state (the front side in the traveling direction of the distal end portion 10a; the right side in the drawing). Is gradually brought into contact with the intestinal wall 40 and the second part (the part in contact with the intestinal wall 40) by the pressing force generated by the expansion of the first drive balloon 42. Thereby, the locking balloon 44 in the locked and inflated state applies a pressing force to the intestinal wall 40 toward the rear in the traveling direction of the distal end portion 10a (black arrow in FIG. 5D).

  That is, the locking balloon 44 in the locked and inflated state is fed out toward the rear in the traveling direction of the distal end portion 10a while contacting the intestinal wall 40 like a so-called Caterpillar (registered trademark) (like an endless track).

  Therefore, the intestinal wall 40 is pulled toward the rear in the traveling direction of the distal end portion 10a. Accordingly, as shown by the white arrow in FIG. 5D, the distal end portion 10a of the electronic endoscope 1 is propelled forward (forward) relative to the intestinal wall 40 in the traveling direction.

  Next, while maintaining the state where the first driving balloon 42 and the locking balloon 44 are inflated, the holding balloon 23 is inflated (step E in FIG. 4). As a result, as shown in FIG. 5E, the holding balloon 23 is locked to the intestinal wall 40 together with the locking balloon 44.

  The first drive balloon 42 and the holding balloon 23 are maintained in an inflated state, gas is sucked from the locking balloon 44, and the internal pressure is a predetermined low pressure Pmin (Pa) from the locking expansion state of the locking pressure Pmax. Shrink to a low pressure expansion state (step F in FIG. 4). As a result, as shown in FIG. 5 (F), only the holding balloon 23 is locked to the intestinal wall 40. Further, the locking balloon 44 in the low pressure inflated state is in a state of covering the second driving balloon 46.

  Thereafter, when the forward movement operation is continued, Step A to Step F in FIG. 4 are repeated.

  In the forward movement according to the present embodiment, when the balloon control device 18 controls the inflation / deflation of the latching balloon 44, the internal pressure of the latching balloon 44 is from the locked inflated state to the predetermined locking pressure Pmax (Pa). Since the control is performed in the low pressure expansion state of the low pressure Pmin (Pa) (see FIG. 4), the locking balloon 44 in the low pressure expansion state of the low pressure Pmin (Pa) is covered with the second drive balloon 46. Occasionally (FIG. 5F), when the second drive balloon 46 is inflated, the locking balloon 44, which is in a low-pressure inflated state by the pressing force, has a fixed portion with respect to the tip portion 10a in the forward direction of the tip portion 10a. Rotates around the center.

  As a result, the locking balloon 44 in the low-pressure inflated state rotates and moves without being wound by itself, and is in a state of covering the first driving balloon 42 as a whole as shown in FIG. As a result, as shown in FIG. 5B, the locking balloon 44 can be appropriately reinflated.

  FIG. 6 is a diagram showing a timing chart of the reverse operation in the propulsion operation. FIG. 7 is a schematic cross-sectional view showing the state of inflation and deflation of each balloon corresponding to the timing chart of the backward movement operation of FIG.

  At the start of the timing chart of FIG. 6 (ie, when the process A of FIG. 6 is started), similarly to the above-described start of the forward movement operation (ie, when the process A of FIG. 4 is started), In a state where the distal end portion 10a of the electronic endoscope 1 is inserted into a measurement target (for example, the large intestine), the first drive balloon 42 is in a contracted state, the second drive balloon 46 is in an inflated inflated state, and the locking balloon 44 It is assumed that the internal pressure is a low pressure inflated state with a predetermined low pressure Pmin (Pa), and the holding balloon 23 is inflated and locked to the intestinal wall 40.

  First, from the above state, the gas is sucked and contracted from the second driving balloon 46, and the first driving balloon 42 is filled with gas and inflated (step A in FIG. 6). Due to the expansion of the first driving balloon 42, as shown in FIG. 7A, the locking balloon 44 in the low-pressure inflated state is pushed out toward the second driving balloon 46 and covers the contracted second driving balloon 46. become.

  Next, the locking balloon 44 in the low pressure inflated state is filled with gas and inflated, and the locking balloon 44 is locked to the intestinal wall 40 (step B in FIG. 6). As a result, as shown in FIG. 7B, the holding balloon 23 and the locking balloon 44 are locked to the intestinal wall 40, and the locked balloon is inflated.

  Next, while holding the state where the locking balloon 44 is inflated (locked inflated state), gas is sucked from the holding balloon 23 and contracted (step C in FIG. 6). As a result, as shown in FIG. 7C, only the locking balloon 44 is locked to the intestinal wall 40.

  Subsequently, in a state where the locking balloon 44 is locked to the intestinal wall 40 (locked inflated state), the gas is sucked and contracted from the first driving balloon 42 and the second driving balloon 46 is filled with gas. To expand (step D in FIG. 6). As a result, as shown in FIG. 7 (D), the locking balloon 44 is gradually extended so that the surface of the locking balloon 44 is sequentially advanced toward the front in the traveling direction of the distal end portion 10a by the expansion of the second drive balloon 46. Pressed.

  In other words, the rear side of the first portion (the portion not in contact with the intestinal wall 40) on the surface of the locking balloon 44 in the locked inflated state (the rear side in the traveling direction of the distal end portion 10a; the left side in the drawing) Is gradually brought into contact with the intestinal wall 40 and the second portion (the portion in contact with the intestinal wall 40) by the pressing force generated by the expansion of the drive balloon 20. As a result, the locking balloon 44 in the locked and inflated state applies a pressing force to the intestinal wall 40 toward the rear in the traveling direction of the distal end portion 10a (black arrow in FIG. 7D).

  That is, the locking balloon 44 in the locked and inflated state is fed forward in the direction of travel of the distal end portion 10a while contacting the intestinal wall 40 like a so-called Caterpillar (registered trademark) (like an endless track).

  Therefore, the intestinal wall 40 is pulled forward in the forward direction of the distal end portion 10a. Accordingly, as indicated by the white arrow in FIG. 7D, the distal end portion 10a of the electronic endoscope 1 is propelled (reversely moved) backward in the traveling direction relative to the intestinal wall 40.

  Next, while maintaining the state where the second driving balloon 46 and the locking balloon 44 are inflated, the holding balloon 23 is inflated (step E in FIG. 6). As a result, as shown in FIG. 7E, the holding balloon 23 is locked to the intestinal wall 40 together with the locking balloon 44.

  Then, the state where the holding balloon 23 is inflated is held, the gas is sucked from the locking balloon 44, and is contracted from the locked inflated state with the locking pressure Pmax to the low pressure inflated state with the internal pressure being a predetermined low pressure Pmin (Pa). (Step F in FIG. 6). As a result, only the holding balloon 23 is locked to the intestinal wall 40 as shown in FIG. Further, the locking balloon 44 in the low pressure inflated state is in a state of covering the first driving balloon 42.

  Thereafter, when the reverse operation is continued, Step A to Step F in FIG. 6 are repeated.

  In the backward movement operation according to the present embodiment, the internal pressure of the locking balloon 44 is set to a predetermined locking pressure Pmax (Pa) in the inflation / deflation control of the locking balloon 44 by the balloon control device 18 as in the forward movement operation described above. ) From the locked inflated state to the low pressure inflated state at a predetermined low pressure Pmin (Pa) (see FIG. 6), the locked balloon 44 in the contracted state covers the first drive balloon 42. When the first driving balloon 42 is inflated at this time (FIG. 7F), the locking balloon 44 that is in a low-pressure inflated state by the pressing force is fixed to the distal end portion 10a in the rearward direction of the distal end portion 10a. Rotate around the center.

  As a result, the locking balloon 44 in the low-pressure inflated state rotates and moves without being wound by itself, and is in a state of covering the second driving balloon 46 as a whole as shown in FIG. As a result, as shown in FIG. 7B, the locking balloon 44 can be appropriately reinflated.

  In this embodiment, instead of using the balloons like the first and second drive balloons 42 and 46 and the locking balloon 44, the material can be expanded and contracted to a desired shape and size using a material such as cloth. An expansion / contraction member may be used.

  In the present embodiment, a plurality of balloon units including the first and second driving balloons 42 and 46 and the locking balloon 44 may be provided.

  Further, the balloon control device 18 controls the internal pressure of the locking balloon 44 to 2K (Pa) to be in a low-pressure inflated state. However, the present invention is not limited to this. For example, a balloon inflating characteristic as shown in FIG. Does not require strict pressure control. An expansion / contraction member such as a rubber balloon only stretches in a low pressure state, and the outer diameter does not change so much. The material expands and the outer diameter increases at a certain pressure or higher. Using this characteristic, if the balloon is designed to maintain a diameter that does not substantially change in the low pressure state (in this case, 0 kPa to 3 kPa) and does not contact the intestinal tract, strict pressure control is not required. What is necessary is just to control to the pressure between 0 kPa-3 kPa.

  As described above, according to the present embodiment, in the inflation / deflation control of the locking balloon 44 by the balloon control device 18, the locked inflation state in which the internal pressure of the locking balloon 44 is the predetermined locking pressure Pmax (Pa). Since the control is performed in a low-pressure inflated state at a predetermined low pressure Pmin (Pa), when the locking balloon 44 in the low-pressure inflated state is rotated by the expansion of the first or second drive balloons 42, 46, the low-pressure inflated state The locking balloon 44 can be changed to a desired state without causing wrapping by itself, and then can be appropriately re-inflated. As a result, it is possible to reliably move the intestinal wall 40 and move the distal end portion 10a forward or backward in the traveling direction.

  Further, in this embodiment, since the propulsion operation is performed in a state where at least one of the locking balloon 44 and the holding balloon 23 is locked to the intestinal wall 40, the intestinal wall 40 brought forward by the restoring force of the intestinal tract is used as a base. Without returning, the locking force is surely generated to the intestinal tract to be locked to the bowel wall 40 and the propulsion force is generated, so that the insertion portion 10 is moved relative to the bowel wall 40 more reliably. Can be made.

  In the present embodiment, the configuration example in which the first driving balloon 42, the locking balloon 44, the second driving balloon 46, and the holding balloon 23 are arranged in this order from the front in the traveling direction of the distal end portion 10a is shown. These arrangement orders are not limited to this example, and may be the holding balloon 23, the first driving balloon 42, the locking balloon 44, and the second driving balloon 46 from the front in the traveling direction.

  Further, the tip portion 10a can be moved back and forth in the traveling direction by appropriately combining the forward movement operation and the reverse movement operation as described above.

In the above-described embodiment, an example in which a balloon is directly attached to the insertion portion 10 of the electronic endoscope 1 has been described. However, the present invention is not limited to this, and the cylindrical body into which the insertion portion 10 is inserted and fixed. A balloon may be attached to the tip of the (over tube).
Second embodiment:
Since the second embodiment is almost the same as the first embodiment, only different points will be described. FIG. 9 is a time chart of the forward movement operation in the propulsion operation according to the second embodiment, and FIG. 10 is a schematic cross section showing the state of inflation and deflation of each balloon corresponding to the timing chart of the forward movement operation of FIG. It is a figure, The characteristic effect | action of this embodiment is demonstrated to the example of the forward movement operation | movement in propulsion operation | movement. Also in the present embodiment, as shown in FIG. 9, the forward movement operation in the propulsion operation is performed by the processes A to E of FIG. 4 and the processes A to E of FIG. 9 described in the first embodiment. 2nd Embodiment differs in the effect | action in the process F of FIG. 4 demonstrated in 1st Embodiment.

  In the present embodiment, as shown in FIG. 9, the balloon control device 18 performs the first step in the process E of FIG. 9 after the process D of FIG. 9 (same as the process D of FIG. 4 described in the first embodiment). While maintaining the state where the driving balloon 42 and the locking (rotating) balloon 44 are inflated, the holding balloon 23 is inflated (step E in FIG. 9). As a result, as shown in FIG. 5E of the first embodiment, the holding balloon 23 is locked to the intestinal wall 40 together with the locking balloon 44.

  Then, in step F of FIG. 9, the balloon control device 18 completely deflates the locking balloon 44 (see arrow E1 in FIG. 9), and the locking balloon 44 is in a completely deflated state as shown in FIG. 10 (F1). To control.

  Specifically, for example, the balloon control device 18 leaks the gas in the locking balloon 44 to the outside. Due to this leak, the balloon control device 18 can easily and quickly bring the locking balloon 44 into a completely deflated state without controlling the internal pressure of the locking balloon 44.

  Thereafter, the balloon control device 18 supplies a small amount of gas to the locking balloon 44, holds the state where the first driving balloon 42 and the holding balloon 23 are inflated, sucks the gas from the locking balloon 44, and completely contracts. The state is expanded from the state to a low pressure expansion state where the internal pressure is a predetermined low pressure Pmin (Pa).

  As a result, similarly to FIG. 5F described in the first embodiment, only the holding balloon 23 is engaged with the intestinal wall 40 as shown in FIG. 10F. Further, the locking balloon 44 in the low pressure inflated state is in a state of covering the second driving balloon 46.

  Then, the balloon control device 18 drives the second driving balloon 46 located on the opposite side of the propulsion-driven first driving balloon 42 and rotates the locking balloon 44 with the second driving balloon 46 to return to the initial state. . Here, the initial state of the locking balloon 44 is the first driving balloon shown in FIG. 5A of the first embodiment by rotating the locking balloon 44 in the low-pressure inflated state without causing its own winding. 42 is a state in which the locking balloon 44 is entirely covered with 42.

  The balloon control device 18 supplies a small amount of gas to the locking balloon 44, for example, supplies a volume of 1/10 or less of the volume of the locked inflated state at a predetermined locking pressure Pmax (Pa) in a certain time. It is realized by doing. That is, the balloon control device 18 can easily set the internal pressure of the locking balloon 44 to the low pressure Pmin (Pa) simply by supplying a predetermined volume of gas for a certain time without controlling the internal pressure of the locking balloon 44. be able to.

  With a small amount of air supplied to the locking balloon 44, the amount of expansion of the locking balloon 44 is small, and since the intestinal tract is not locked, the return force is small compared to the propulsion time. The amount of expansion of the second drive balloon 46 to be caused may be smaller than that during propulsion.

  Thereafter, when the forward movement operation is continued, Step A to Step F in FIG. 9 are repeated.

  Note that the balloon control device 18 also performs the same control in the reverse operation in the propulsion operation, and although not shown, in the process F of FIG. 6 described in the first embodiment, the locking is performed in the same manner as the process F of FIG. The balloon 44 is transitioned from the fully deflated state to the low pressure inflated state.

  As described above, in the present embodiment, in addition to the effects of the first embodiment, the locking balloon 44 is completely deflated and the gas of a predetermined volume is consumed for a predetermined time without controlling the internal pressure of the locking balloon 44. In step F of FIG. 9, simply by supplying air, the internal pressure of the locking balloon 44 is easily and rapidly changed from the locked inflated state (step E of FIG. 9) to the low pressure Pmin (Pa). ) In a low-pressure expansion state (step A in FIG. 9).

  As described above, the actuator for a moving body in a tube, the endoscope, and the control method for the actuator for a moving body in a tube according to the present invention have been described in detail. However, the present invention is not limited to the above examples and departs from the gist of the present invention. Of course, various improvements and modifications may be made without departing from the scope.

  DESCRIPTION OF SYMBOLS 1 ... Electronic endoscope, 10 ... Insertion part, 10a ... Tip part, 18 ... Balloon control apparatus, 44 ... Locking balloon, 23 ... Holding balloon, 42 ... 1st drive balloon, 46 ... 2nd drive balloon

Claims (14)

A first portion that fills a space between the moving body in the tube and the tube wall when it expands and contacts the tube wall, and a second portion that generates a propulsive force by contacting the tube wall, and a part thereof A first expansion / contraction member fixed to the in-pipe moving body;
A second expansion / contraction member that expands and contacts the tube wall;
The first expansion / contraction member is fixed to the in-tube moving body in a state where the first inflating / shrinking member is arranged side by side in the moving direction of the in-tube moving body, and is configured not to be locked to the tube wall during expansion. Third and fourth expansion / contraction members for applying a pressing force to the first expansion / contraction member;
By controlling the expansion and contraction of the first expansion / contraction member, the second expansion / contraction member, the third expansion / contraction member, and the fourth expansion / contraction member, the in-pipe moving body is controlled by the tube wall. And a control unit that moves relative to the
The controller is
Controlling the expansion / contraction of the first expansion / contraction member in a pressure range from a predetermined low pressure Pmin to a predetermined high pressure Pmax that is higher than the predetermined low pressure Pmin.
The first expansion / contraction member is expanded by either expansion control of expanding the first expansion / contraction member at the predetermined high pressure Pmax or expansion control of expanding the second expansion / contraction member. Alternatively, the first and second expansion / contraction members are held in the engagement / expansion state in which the second expansion / contraction member is engaged with the tube wall, and the first and second expansion / contraction members are pushed by the pressing force of the third or fourth expansion / contraction member. Controlling the relative position between the movable body in the tube and the tube wall so that the first portion of the expansion / contraction member is the second portion.
An actuator for a moving body in a tube.   The first expansion / contraction member is in the locked expansion state when expanded at the predetermined high pressure Pmax, and is in a low pressure expansion state that is not locked to the tube wall during expansion at the constant low pressure Pmin. The actuator for a moving body in a pipe according to claim 1.   The inside of a pipe according to claim 2, wherein the first expansion / contraction member covers at least a part of the third or fourth expansion / contraction member in the locked expansion state or the low-pressure expansion state. Actuator for moving body. The predetermined low pressure Pmin is at least:
0KPa <Pmin ≦ 3KPa
The actuator for a moving body in a pipe according to any one of claims 1 to 3, wherein:   The actuator for a moving body in a pipe according to claim 4, wherein the predetermined low pressure Pmin is 2 KPa or less.   The control unit holds the locking / expanding state by the first expansion / contraction member or the second expansion / contraction member, and the third or fourth expansion / contraction member holds the first state in the locking / expanding state. The actuator for a moving body in a pipe according to any one of claims 1 to 5, wherein the pipe wall is controlled by pressing one expansion / contraction member.   The in-pipe moving body according to claim 6, wherein the control unit performs control so that the pipe wall is pulled by pulling out a surface of the first expansion / contraction member in the locked inflated state. Actuator.   The third expansion / contraction member, the first expansion / contraction member, the fourth expansion / contraction member, and the second expansion / contraction member are arranged in this order from the front in the moving direction of the in-pipe moving body. The actuator for a moving body in a pipe according to any one of claims 1 to 7.   The second expansion / contraction member, the third expansion / contraction member, the first expansion / contraction member, and the fourth expansion / contraction member are arranged in this order from the front in the moving direction of the in-pipe moving body. The actuator for a moving body in a pipe according to any one of claims 1 to 7. 10. The first expansion / contraction member is configured such that a maximum distance in a radial direction of the in-pipe moving body from the surface of the in-pipe moving body is 15 mm or less in the low pressure inflated state. The actuator for a moving body in a pipe according to any one of the above.   An endoscope comprising the actuator for a moving body in a tube according to any one of claims 1 to 10. A first portion that fills a space between the moving body in the tube and the tube wall when it expands and contacts the tube wall, and a second portion that generates a propulsive force by contacting the tube wall, and a part thereof A first expansion / contraction member fixed to the in-pipe moving body, a second expansion / contraction member that expands and contacts the tube wall, and a front / rear direction of movement of the in-pipe moving body of the first expansion / contraction member The third and the second are fixed to the in-pipe moving body in a state of being arranged side by side and configured not to be locked to the pipe wall at the time of expansion and apply a pressing force to the first expansion / contraction member. The first expansion / contraction member, the second expansion / contraction member, the fourth expansion / contraction member, and the fourth expansion / contraction member. By controlling the expansion and contraction of the member, the in-pipe moving body is A control method for relatively moving monkey actuator for moving body in tube against the wall,
Controlling the expansion / contraction of the first expansion / contraction member in a pressure range from a predetermined low pressure Pmin to a predetermined high pressure Pmax that is higher than the predetermined low pressure Pmin.
The first expansion / contraction member is expanded by either expansion control of expanding the first expansion / contraction member at the predetermined high pressure Pmax or expansion control of expanding the second expansion / contraction member. Alternatively, the first and second expansion / contraction members are held in the engagement / expansion state in which the second expansion / contraction member is engaged with the tube wall, and the first and second expansion / contraction members are pushed by the pressing force of the third or fourth expansion / contraction member. An actuator for an in-pipe moving body, wherein the relative position between the in-pipe moving body and the tube wall is changed so that the first portion of the expansion / contraction member is the second portion. Control method.   The controller controls an expansion / contraction control sequence for controlling expansion / contraction of the first expansion / contraction member within a pressure range from the predetermined low pressure Pmin to the predetermined high pressure Pmax. In the pre-stage control, the first expansion / contraction member is completely contracted, and after the complete contraction, the internal pressure of the first expansion / contraction member is set to the predetermined low pressure Pmin, and then the expansion / contraction control sequence is executed. The actuator for a moving body in a pipe according to any one of claims 1 to 10, wherein:   In the pre-stage pressure control, the control unit is less than one tenth of the volume of the first expansion / contraction member in the expanded state of the predetermined high pressure Pmax with respect to the first expansion / contraction member in the fully contracted state. 14. The actuator for a moving body in a pipe according to claim 13, wherein an internal pressure of the first expansion / contraction member is set to the predetermined low pressure Pmin by feeding a volume of fluid in a certain time.

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