JP2011147503A - Actuator for body transferring in vessel, endoscope and method for controlling actuator for body transferring in vessel - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To move a body forward in intestinal tracts more efficiently by trying to more accelerate its forward move operation. <P>SOLUTION: In the control of the swelling or shrinking of a plurality of balloons 42, 44 and 46 arranged side by side with a moving body within an intestinal tract, control is done so that, with respect to the first and second driven balloons 42, 46, the swelling speed of a balloon (e.g., the first balloon 42) driven when a lock balloon 44 is fixed at an intestinal wall 40 may be relatively slower than the swelling speed of the other balloon (e.g., the second balloon 46) driven when the lock balloon 44 is not fixed at the intestinal wall 40. <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 inside of 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, a method of moving the in-tube moving body relative to the intestinal wall by repeating inflation / deflation of a plurality of balloons (hereinafter also referred to as a rotating balloon method) has been studied. According to the rotating balloon method, it is possible to obtain a large amount of propulsion and a propulsive force as compared with a method using only one balloon, and it is possible to move the intracorporeal moving body relative to the intestinal wall.

  Here, the outline of the rotating balloon system will be briefly described with reference to FIGS. In the rotating balloon method, for example, as shown in FIG. 12, a plurality of balloons 902, 904, 906 are arranged side by side at the distal end portion of the in-tube moving body 900, and the expansion / contraction control of these balloons 902, 904, 906 is performed. Is done. Hereinafter, the balloon 904 disposed in the center is referred to as a locking balloon (or rotating 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.

  When the in-tube moving body 900 is advanced relative to the intestinal wall (not shown in FIG. 12, indicated by reference numeral 910 in FIG. 13), the in-tube moving body 900 is inserted into the intestinal tract, and a locking balloon (rotating balloon) When the initial state is the state in which both of the first and second drive balloons 902 and 906 are deflated, the second drive balloon 906 is first inflated, and the locking balloon 904 in the deflated state is the first drive. The balloon 902 is covered (FIG. 13A).

  Next, the locking balloon 904 is inflated so that the locking balloon 904 is locked to the intestinal wall 910 (FIG. 13B).

  Subsequently, the second drive balloon 906 is deflated and the first drive balloon 902 is inflated, and the locking balloon 904 is moved forward (arrow A) with the anchoring portion 904a with respect to the in-tube moving body 900 as a center. From the direction indicated by (1)) to the opposite side (FIG. 13C). At this time, the locking balloon 904 rotates while being in contact with the intestinal wall 910, so that the intestinal wall 910 is pulled back 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 locking balloon 904 and the first driving balloon 902 are contracted to release the locking state with respect to the intestinal wall 910 (FIG. 13D).

  Thus, the locking 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. 13A to 13D, the intracorporeal mobile body 900 can be sequentially propelled forward in the traveling direction relative to the intestinal wall 910.

  By the way, in the conventional rotating balloon system, the first drive balloon 902 and the second drive balloon 906 are inflated at the same speed. For this reason, if the inflation speed of each drive balloon 902, 906 is increased in order to increase the speed of the propulsion operation, the locking balloon 904 cannot follow the inflation speed of the first drive balloon 902 during propulsion. It was found that an event that could not be rotated sufficiently occurred.

  This is because when the first driving balloon 902 is inflated during propulsion, the locking balloon 904 in the inflated state is temporarily deformed inward by the rapid inflating deformation of the first driving balloon 902, so that the first driving balloon 902 It is considered that the main cause is that the pressing force applied to the locking balloon 904 is absorbed, and the locking balloon 904 does not rotate sufficiently and moves to the next propulsion sequence.

  The present invention has been made in view of such circumstances, and an in-pipe moving body actuator, endoscope, and in-pipe moving body capable of efficiently propelling the in-pipe moving body while speeding up the propulsion operation. It is an object of the present invention to provide a control method for an actuator.

  In order to achieve the above object, the in-pipe moving body actuator according to claim 1 is configured to be fixed to the in-pipe moving body inserted into the pipe and to be locked to the pipe wall in the pipe during expansion. The first expansion / contraction member is fixed to the in-tube moving body in a state where the first inflating / contracting member is arranged side by side in the moving direction of the in-tube moving body of the first expansion / contraction member, and is locked to the tube wall during expansion The second and third expansion / contraction members configured to prevent the first expansion / contraction member from being pressed, and the first expansion / contraction member, the second expansion / contraction member, And control means for moving the in-tube moving body relative to the tube wall by controlling expansion and contraction of the third expansion / contraction member, wherein the control means includes the first Expansion and contraction member is locked to the tube wall Means for inflating the second expansion / contraction member while the first expansion / contraction member is not locked to the tube wall. The second expansion / contraction member is a means for controlling the expansion rate of the second expansion / contraction member to be relatively slower than the expansion rate of the third expansion / contraction member.

  According to the present invention, the expansion speed of the second expansion / contraction member that is driven when the first expansion / contraction member is locked to the tube wall is such that the first expansion / contraction member is locked to the tube wall. Control is performed so as to be relatively slower than the expansion speed of the third expansion / contraction member that is driven when not in the state. Thus, during propulsion (ie, when the second expansion / contraction member is expanded), the second expansion / contraction member is not absorbed by the first expansion / contraction member without being absorbed by the first expansion / contraction member. The pressing force is reliably transmitted to the first expansion / contraction member. As a result, the first expansion / contraction member can be sufficiently rotated, and the in-pipe moving body can be efficiently propelled while speeding up the propulsion operation.

  The in-pipe moving body actuator according to claim 2 is the in-pipe moving body actuator according to claim 1, wherein the control means is configured such that the expansion speed of the second expansion / contraction member is the third expansion / contraction. Control is performed so that the expansion speed of the member is ½ or less.

  The in-pipe moving body actuator according to claim 3 is the in-pipe moving body actuator according to claim 1 or 2, wherein the control means has the first expansion / contraction member locked to the tube wall. When in the state, the first expansion / contraction member is brought into a high-pressure expansion state with an internal pressure Pmax [Pa], and when the first expansion / contraction member is not locked to the tube wall, the first expansion / contraction member is It is characterized in that the contraction member is brought into a low pressure expansion state with an internal pressure Pmin [Pa] (where 0 <Pmin <Pmax).

  The in-pipe moving body actuator according to claim 4 is the in-pipe moving body actuator according to claim 3, wherein the control means expands the first expansion when the third expansion / contraction member is expanded. The contraction member is controlled to be in the low-pressure expansion state.

  The in-pipe moving body actuator according to claim 5 is the in-pipe moving body actuator according to claim 3 or 4, wherein the control means moves the first expansion / contraction member from the high-pressure expansion state to the low-pressure expansion state. When changing to the expanded state, the first expansion / contraction member is controlled to be changed from the high pressure expansion state to the full contraction state with an internal pressure of 0 [Pa] and then to the low pressure expansion state. To do.

An in-pipe moving body actuator according to claim 6 is the in-pipe moving body actuator according to any one of claims 3 to 5, wherein the first expansion / contraction member is in the low-pressure expansion state. The internal pressure Pmin [Pa] satisfies the following expression 0 <Pmin <3 × 10 ³ .

  The in-pipe moving body actuator according to claim 7 is the in-pipe moving body actuator according to any one of claims 1 to 6, wherein the in-pipe moving body actuator is fixed to the in-pipe moving body and is expanded when the tube wall is inside the tube. And a fourth expansion / contraction member configured to be engaged with the first expansion / contraction member. The control means controls expansion and contraction of the fourth expansion / contraction member.

  An in-pipe moving body actuator according to claim 8 is the in-pipe moving body actuator according to claim 7, wherein the control means includes at least one of the first expansion / contraction member and the fourth expansion / contraction member. It is characterized in that the expansion and contraction of the first expansion / contraction member and the fourth expansion / contraction member are controlled so that one of them is engaged with the tube wall.

  An endoscope according to a ninth aspect includes the actuator for a moving body in a tube according to any one of the first to eighth aspects.

  The method for controlling an actuator for a moving body in a pipe according to claim 10 is a first method that is fixed to a moving body that is inserted into a pipe and is locked to a pipe wall in the pipe when inflated. The expansion / contraction member and the first expansion / contraction member are 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 so as not to be locked to the tube wall during expansion. And a second and a third expansion / contraction member for applying a pressing force to the first expansion / contraction member, and the first expansion / contraction member, the second expansion / contraction member, and the A control method of an actuator for an intra-pipe moving body that moves the intra-pipe moving body relative to the pipe wall by controlling expansion and contraction of a third expansion / contraction member, wherein the first expansion / contraction The member is locked to the tube wall Control is performed so that the second expansion / contraction member is expanded when the second expansion / contraction member is in a state, while the third expansion / contraction member is expanded when the first expansion / contraction member is not locked to the tube wall. The second expansion / contraction member is controlled so that the expansion speed thereof is relatively slower than the expansion speed of the third expansion / contraction member.

  According to the present invention, the expansion speed of the second expansion / contraction member that is driven when the first expansion / contraction member is locked to the tube wall is such that the first expansion / contraction member is locked to the tube wall. Control is performed so as to be relatively slower than the expansion speed of the third expansion / contraction member that is driven when not in the state. Thus, during propulsion (ie, when the second expansion / contraction member is expanded), the second expansion / contraction member is not absorbed by the first expansion / contraction member without being absorbed by the first expansion / contraction member. The pressing force is reliably transmitted to the first expansion / contraction member. As a result, the first expansion / contraction member can be sufficiently rotated, and the in-pipe moving body can be efficiently propelled while speeding up the propulsion operation.

Configuration diagram of electronic endoscope Enlarged sectional view of the tip of the insertion section Block diagram of balloon control device The figure which showed the time chart of the forward movement operation | movement which concerns on 1st Embodiment 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. The figure which showed the time chart of the reverse operation based on 1st Embodiment Schematic sectional view showing the state of inflation and deflation of each balloon corresponding to the timing chart of the backward movement operation of FIG. The figure which showed the time chart of the forward movement operation | movement which concerns on 2nd Embodiment. Schematic sectional view showing the state of inflation and deflation of each balloon corresponding to the forward movement timing chart of FIG. The figure which showed the time chart of the forward movement operation | movement which concerns on 3rd Embodiment FIG. 10 is a schematic cross-sectional view showing the state of inflation and deflation of each balloon corresponding to the timing chart of the forward movement operation of FIG. Schematic for explaining a conventional rotating balloon system Explanatory drawing which showed a mode when propelling a moving object in a pipe by a conventional rotating balloon method

  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 movement operation.

  FIG. 3 is a block diagram of the balloon control device 18 of FIG. As shown in FIG. 3, the balloon control device 18 includes a suction pump 34, a supply pump 36, a pressure control unit 32, and a valve opening / closing control unit 30.

  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). 2 The driving balloon 46 and the locking balloon 44 are both contracted, the first driving balloon 42 is inflated, and the holding balloon 23 is inflated and locked to the intestinal wall 40. To do.

  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 is pushed out toward the first drive balloon 42 and covers the contracted first drive balloon 42.

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

  In the following description, 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, the insertion portion 10 and The portion between the intestinal walls 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, 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, gas is sucked from the second driving balloon 46 to be contracted, and the first driving balloon 42 is filled with gas and inflated (FIG. 4). Step D). 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 (the front side in the traveling direction of the distal end portion 10a; the right side in the drawing) of the first portion (the portion not in contact with the intestinal wall 40) on the surface of the locking balloon 44 is the first drive. Due to the pressing force generated by the inflation of the balloon 42, the balloon 42 is brought into contact with the intestinal wall 40 and gradually transitions to the second part (the part in contact with the intestinal wall 40). As a result, the locking balloon 44 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 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.

  In the forward movement operation according to the present embodiment, control is performed so that the inflation speed of the first drive balloon 42 is relatively slower than the inflation speed of the second drive balloon 46.

  Specifically, in step D of FIG. 4, the first drive balloon that is driven when the locking balloon 44 that is inflated to lock the intestinal wall 40 is pushed rearward in the traveling direction (left side in FIG. 5). While the inflation speed of 42 is controlled to be relatively slow, in step A of FIG. 4, the locking balloon 44 deflated and released from the locked state with respect to the intestinal wall 40 is moved forward (see FIG. Control is performed so that the inflation speed of the second drive balloon 46 driven when pushing out to the right of 5 is relatively high. The inflation speed of the first drive balloon 42 is preferably set to ½ or less of the inflation speed of the second drive balloon 46.

  In the example shown in FIG. 4, the time required for the process D (that is, the time required for the first drive balloon 42 to transition from the deflated state to the inflated state) is 2 to 4 seconds, for example. That is, it is set to about 2.5 times the time (ie, the time for the second drive balloon 46 to transition from the deflated state to the inflated state).

  By controlling the inflation speed of the first drive balloon 42 to be relatively slower than the inflation speed of the second drive balloon 46 in this way, during propulsion (ie, when the first drive balloon 42 is inflated), The expansion force of the first drive balloon 42 is not absorbed by the deformation inside the locking balloon 44, and the pressing force is reliably transmitted from the first drive balloon 42 to the locking balloon 44. As a result, the locking balloon 44 can be sufficiently rotated from the front to the rear in the traveling direction of the distal end portion 10a around the fixing portion with respect to the distal end portion 10a, and the speed of the propulsion operation can be increased. It becomes possible to efficiently propel the portion 10a.

  In the forward movement, when the second driving balloon 46 is inflated, the locking balloon 44 is deflated and the locked state with respect to the intestinal wall 40 is released, and the first driving balloon 42 is expanded. Since the problem like that does not occur, the inflation speed of the second drive balloon 46 can be made relatively faster than the inflation speed of the first drive balloon 42.

  After the first drive balloon 42 is inflated in this way, the state in which the first drive balloon 42 and the locking balloon 44 are inflated is held, and 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.

  Then, the first driving balloon 42 and the holding balloon 23 are kept inflated, and the locking balloon 44 is deflated (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 is covered with the second driving balloon 46.

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

  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 (that is, when the process A of FIG. 6 is started), similarly to the above-described start of the forward movement operation (that is, when the process A of FIG. 4 is started). In the state where the distal end portion 10a of the electronic endoscope 1 is inserted into the measurement target (for example, the large intestine), both the first driving balloon 42 and the locking balloon 44 are deflated, and the second driving balloon 46 is inflated. It is assumed that 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 drive balloon 42, as shown in FIG. 7A, the locking balloon 44 is pushed out toward the second drive balloon 46 and covers the contracted second drive balloon 46.

  Next, the locking balloon 44 is filled with gas and inflated to lock the locking balloon 44 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.

  Next, while holding the state where the locking balloon 44 is inflated, the 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, the gas is sucked and contracted from the first driving balloon 42, and the second driving balloon 46 is filled with gas and inflated (FIG. 6). Step D). 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 (the rear side in the traveling direction of the distal end portion 10a; the left side in the drawing) is the second drive. Due to the pressing force generated by the inflation of the balloon 46, the balloon 46 is brought into contact with the intestinal wall 40 and gradually transitions to the second part (the part in contact with the intestinal wall 40). As a result, the locking balloon 44 applies a pressing force to the intestinal wall 40 in the forward direction of the distal end portion 10a (black arrow in FIG. 7D).

  That is, the locking balloon 44 is fed forward in the traveling direction of the distal end portion 10a while abutting 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.

  In the reverse operation according to the present embodiment, control is performed so that the inflation speed of the second drive balloon 46 is relatively slower than the inflation speed of the first drive balloon 42.

  Specifically, in step D of FIG. 6, the second drive balloon that is driven when the locking balloon 44 that is inflated and locks the intestinal wall 40 is pushed forward in the traveling direction (right side in FIG. 7). While the inflation speed of 46 is controlled to be relatively slow, in the process A of FIG. 6, the locking balloon 44 that has been contracted and released from the locked state with respect to the intestinal wall 40 is moved rearward (see FIG. Control is performed so that the inflation speed of the first drive balloon 42 driven when pushing out to the left of 7) is relatively high. The inflation speed of the second drive balloon 46 is preferably set to ½ or less of the inflation speed of the first drive balloon 42.

  In the example shown in FIG. 6, the time required for the process D (that is, the time required for the second drive balloon 46 to transition from the deflated state to the inflated state) is 2 to 4 seconds, for example, and the time required for the process A ( That is, the time is set to approximately 2.5 times the time during which the first drive balloon 42 transitions from the deflated state to the inflated state.

  By controlling the inflation speed of the second drive balloon 46 to be relatively slower than the inflation speed of the first drive balloon 42 in this way, during propulsion (ie, when the second drive balloon 46 is inflated), The expansion force of the second drive balloon 46 is not absorbed by the deformation inside the locking balloon 44, and the pressing force is reliably transmitted from the second drive balloon 46 to the locking balloon 44. As a result, the locking balloon 44 can be sufficiently rotated from the rear in the traveling direction of the distal end portion 10a around the fixing portion with respect to the distal end portion 10a, and the distal end can be speeded up while the propulsion operation is speeded up. It becomes possible to efficiently propel the portion 10a.

  In the reverse operation, when the first driving balloon 42 is inflated, the locking balloon 44 is contracted and the locked state with respect to the intestinal wall 40 is released, and the second driving balloon 46 is expanded. Since the problem like time does not occur, the inflation speed of the first drive balloon 42 can be made relatively faster than the inflation speed of the second drive balloon 46.

  After the second drive balloon 46 is inflated in this way, the state in which the second drive balloon 46 and the locking balloon 44 are inflated is held, and 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 in which the holding balloon 23 is inflated is held, and the locking balloon 44 is deflated (step F in FIG. 6). As a result, only the holding balloon 23 is locked to the intestinal wall 40 as shown in FIG.

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

  In this embodiment, in Step F of FIGS. 4 and 6, the first or second drive balloons 42 and 46 are simultaneously contracted together with the contraction of the locking balloon 44 in the state in which the holding balloon 23 is inflated. However, these are not necessarily deflated at the same time, and the first or second drive balloons 42, 46 may be deflated after the locking balloon 44 is deflated.

  In addition, instead of using balloons such as the first and second driving balloons 42 and 46 and the locking balloon 44, an expansion / contraction member capable of expanding and contracting to a desired shape and size using a material such as cloth is used. May be.

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

  According to the first embodiment, when controlling the inflation / deflation of the first and second drive balloons 42, 46 by the balloon control device 18, the first and second drive balloons 42, 46 are inflated to enter the intestines. The inflation speed of the drive balloon that is driven when the locking balloon 44 in the locked state is pushed out to the opposite side is contracted and the locking balloon 44 released from the locked state against the intestinal wall 40 is reversed. Control is performed so as to be relatively slower than the inflation speed of the driving balloon that is driven when pushing out. Thus, during propulsion, the inflating deformation of the first or second driving balloon 42, 46 is not absorbed by the deformation inward of the locking balloon 44, and the locking balloon is released from the first or second driving balloon 42, 46. The pressing force is reliably transmitted to 44. As a result, the locking balloon 44 can be sufficiently rotated, and the distal end portion 10a can be efficiently propelled while speeding up the propulsion operation.

  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 inner wall of the intestinal tract brought back by the restoring force of the intestinal tract returns. Therefore, the insertion portion 10 can be moved relative to the intestinal wall 40 because the locking force is reliably generated with respect to the intestinal tract to be locked to the intestinal wall 40 and the propulsive force is generated. .

  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.

[Second Embodiment]
Next, a second embodiment of the present invention will be described. Hereinafter, description of parts common to the first embodiment will be omitted, and description will be made focusing on characteristic parts of the present embodiment.

  In the first embodiment, for example, in the case of a forward movement, the first driving balloon 46 is inflated so that the locking balloon 44 is covered with the second driving balloon 46 (FIG. 5F) to the first. The state is changed to a state where the driving balloon 42 is covered (FIG. 5A). At this time, the locking balloon 44 is in a completely contracted state (completely contracted state) to an internal pressure of 0 [Pa], so that the locking balloon 44 may wrap around itself when the second drive balloon 46 is inflated. It is conceivable that the second driving balloon 46 is wound around the surface of the second driving balloon 46 and the locking balloon 44 does not cover the first driving balloon 42 (FIG. 5A). When such a case occurs, the locking balloon 44 cannot be reinflated at an appropriate position, and the propulsion loss increases.

  Therefore, in the second embodiment, in order to improve the problems that are latent in the first embodiment, at least the internal pressure is equal to or higher than a predetermined pressure without bringing the locking balloon 44 into a completely contracted state with an internal pressure of 0 [Pa]. By controlling the inflation / deflation of the locking balloon 44 in a constantly inflated state, the locking balloon 44 can be re-inflated at an appropriate position without causing the locking balloon 44 to be wound.

  FIG. 8 is a view showing a time chart of the forward movement operation according to the second embodiment. FIG. 9 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.

  In the second embodiment, among the plurality of balloons 42, 44, 46, 23 provided at the distal end portion 10a, the first and second drive balloons 42, 46 and the holding balloon 23 are the same as in the first embodiment. On the other hand, the locking balloon 44 is controlled differently from the first embodiment.

  Specifically, as shown in FIG. 8, the locking balloon 44 does not enter a completely deflated state (completely deflated state) with an internal pressure of 0 [Pa], and the low pressure inflated state and the internal pressure of the internal pressure Pmin [Pa]. Control is performed so that expansion and contraction are repeated between the high-pressure expansion state of Pmax [Pa] (where 0 <Pmin <Pmax).

  More specifically, the locking balloon 44 is in a low-pressure inflated state in Step A of FIG. 8, and is changed from a low-pressure inflated state to a high-pressure inflated state in the next Step B. The high-pressure expansion state is maintained until the end. Then, in Step F, the state changes from the high pressure expansion state to the low pressure expansion state, and returns to the state at the time when Step A is started. Thereafter, Step A to Step F are repeatedly performed in sequence.

  As the internal pressure Pmin [Pa] when the locking balloon 44 is in a low-pressure inflated state, the locking balloon 44 does not contact the intestinal wall 40 or is in contact with the intestinal wall 40 even if it contacts the intestinal wall 40. The pressure is set so that the expansion diameter does not generate a locking force. On the other hand, as the internal pressure Pmax [Pa] when the locking balloon 44 is in a high-pressure inflated state, the locking balloon 44 contacts the intestinal wall 40 and generates a sufficient locking force with the intestinal wall 40. The pressure is set so that the expansion diameter becomes.

In the present embodiment, the internal pressure Pmin [Pa] when the locking balloon 44 is in the low pressure inflated state is represented by the following formula: 0 <Pmin ≦ 3 × 10 ³ (more preferably, 0 <Pmin ≦ 2 × 10 ³ ) For example, the control is performed in a state where the internal pressure Pmin of the locking balloon 44 is set to 2 × 10 ³ [Pa].

  In the present embodiment, the amount of inflation of the second drive balloon 46 can be made smaller than that of the first drive balloon 42. In Step A of FIG. 8, when the second drive balloon 46 is inflated, the locking balloon 44 is in a low pressure inflated state. Since the amount of expansion of the locking balloon 44 at this time is small and is not locked to the intestinal wall 40, the repulsive force (return force) applied from the locking balloon 44 when the second drive balloon 46 is expanded is The repulsive force applied from the locking balloon 44 when the first drive balloon 42 is driven in the process D of FIG. 8 is smaller. Therefore, even if the expansion amount of the second drive balloon 46 is smaller than that of the first drive balloon 42, the locking balloon 44 can be easily pushed out toward the first driving balloon 42, and the locking balloon 44 is moved to the first driving balloon 42. The driving balloon 42 can be covered.

  The reverse operation according to the second embodiment is the same except that the control sequences of the first drive balloon 42 and the second drive balloon 46 are interchanged in the time chart shown in FIG. The description is omitted to avoid duplication.

  According to the second embodiment, the locking balloon 44 is controlled so as to repeat expansion and contraction between a low-pressure inflated state with an internal pressure Pmin [Pa] and a high-pressure inflated state with an internal pressure Pmax [Pa]. That is, the internal pressure of the locking balloon 44 is controlled in a state in which it is always inflated so that the internal pressure of the locking balloon 44 is at least a predetermined pressure (Pmin [Pa]) or more.

  Accordingly, when one of the first and second drive balloons 42 and 46 (the drive balloon covered with the locking balloon 44 in the low-pressure inflated state) is inflated, the low-pressure inflated state is obtained. A certain locking balloon 44 rotates and moves around the fixing portion with respect to the distal end portion 10a forward or rearward in the traveling direction of the distal end portion 10a by the pressing force applied from the driving balloon without causing wrapping by itself. The balloon is entirely covered. As a result, the locking balloon 44 can be appropriately reinflated, and the distal end portion 10a can be efficiently propelled against the intestinal wall 40 without causing a propulsion loss.

  Further, similarly to the first embodiment, the control is performed so that the inflation speeds of the first and second drive balloons 42 and 46 are relatively different. The inflating deformation is not absorbed by the inward deformation of the locking balloon 44, and the pressing force is reliably transmitted from the first or second drive balloon 42, 46 to the locking balloon 44. As a result, the locking balloon 44 can be sufficiently rotated, and the distal end portion 10a can be efficiently propelled while speeding up the propulsion operation.

[Third Embodiment]
Next, a third embodiment of the present invention will be described. Hereinafter, description of parts common to the first or second embodiment will be omitted, and description will be made focusing on characteristic parts of the present embodiment.

  FIG. 10 is a view showing a time chart of the forward movement operation according to the third embodiment. FIG. 11 is a schematic cross-sectional view showing the state of inflation and deflation of each balloon corresponding to the timing chart of the forward movement operation of FIG.

  In the third embodiment, the same control as in the second embodiment is performed except that the control of the locking balloon 44 is partially different.

Specifically, in Step F of FIG. 10, the locking balloon 44 is moved from a high-pressure inflated state with an internal pressure P _max [Pa] (FIG. 11E) to a completely deflated state with an internal pressure of 0 [Pa] (FIG. 11F). ) Once, and then changed to a low-pressure expansion state (FIG. 11G) with an internal pressure P _min [Pa].

  More specifically, the balloon control device 18 shown in FIG. 3 controls the valve opening / closing control unit 30 to open the valve corresponding to the locking balloon 44 and then drives the suction pump 34 to lock the balloon. Gas is aspirated from 44 to bring the locking balloon 44 into a fully deflated state. Then, after stopping the driving of the suction pump 34, the supply pump 36 is driven to supply a predetermined volume of gas to the locking balloon 44 that has been completely contracted (a small amount of gas is supplied) for a fixed time. The balloon 44 is in a low pressure inflated state.

  The amount of gas supplied to the locking balloon 44 at this time is 1/10 of the volume when the locking balloon 44 is in a high-pressure inflated state (that is, a state where it is locked to the intestinal wall 40). The following volume is preferable.

  As described above, according to the system (a small amount air supply system) in which a predetermined volume of gas is supplied for a predetermined time after the locking balloon 44 is completely contracted, the locking balloon 44 is directly changed from the high pressure inflated state to the low pressure inflated state. Compared to the mode (second embodiment), the control of the locking balloon 44 is simplified, and the control time can be shortened.

  The reverse operation according to the third embodiment is the same except that the control sequences of the first drive balloon 42 and the second drive balloon 46 are interchanged in the time chart shown in FIG. The description is omitted to avoid duplication.

  According to the third embodiment, the same effects as those of the first and second embodiments described above can be obtained, and the fully deflated state can be obtained without directly changing the locking balloon 44 from the high pressure inflated state to the low pressure inflated state. Therefore, the control for the locking balloon 44 is simplified, and the propulsion operation can be speeded up by shortening the control time.

  In each of the above-described embodiments, 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 a cylinder in which the insertion portion 10 is inserted and fixed. The same applies to the case where a plurality of balloons are arranged in parallel at the tip of the body (overtube).

  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. 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, 23 ... Holding balloon, 42 ... 1st drive balloon, 44 ... Locking balloon, 46 ... 2nd drive balloon

Claims (10)

A first expansion / contraction member that is fixed to an in-tube moving body that is inserted into the tube and is configured to be locked to a tube wall in the tube during expansion;
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. Second and third 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, and the third expansion / contraction member, the in-pipe moving body is moved relative to the tube wall. Control means,
The control means expands the second expansion / contraction member when the first expansion / contraction member is locked to the tube wall, while the first expansion / contraction member is engaged with the tube wall. The control unit controls the third expansion / contraction member to expand when not in the stopped state, and the expansion speed of the second expansion / contraction member is relatively higher than the expansion speed of the third expansion / contraction member. An actuator for a moving object in a tube, characterized in that the actuator is controlled so as to be slow.   2. The in-pipe movement according to claim 1, wherein the control means controls the expansion speed of the second expansion / contraction member to be ½ or less of the expansion speed of the third expansion / contraction member. Body actuator.   When the first expansion / contraction member is locked to the tube wall, the control means brings the first expansion / contraction member into a high-pressure expansion state of an internal pressure Pmax [Pa] and the first expansion / contraction member. When the expansion / contraction member is not locked to the tube wall, the first expansion / contraction member is brought into a low-pressure expansion state with an internal pressure Pmin [Pa] (where 0 <Pmin <Pmax). The actuator for a moving body in a pipe according to claim 1 or 2.   The said control means controls the said 1st expansion-contraction member so that it may be in the said low-pressure expansion state, when expanding the said 3rd expansion-contraction member, The moving body for pipes of Claim 3 characterized by the above-mentioned. Actuator.   When the control means changes the first expansion / contraction member from the high-pressure expansion state to the low-pressure expansion state, the control means changes the first expansion / contraction member from the high-pressure expansion state to a complete contraction state with an internal pressure of 0 [Pa]. The actuator for a moving body in a pipe according to claim 3 or 4, wherein the actuator is controlled so as to be changed to the low pressure expansion state after being changed once. The internal pressure Pmin [Pa] of the first expansion / contraction member when in the low-pressure expansion state is expressed by the following equation: 0 <Pmin <3 × 10 ³
The actuator for a moving body in a pipe according to any one of claims 3 to 5, wherein: A fourth expansion / contraction member fixed to the in-tube moving body and configured to be locked to a tube wall in the tube during expansion;
7. The in-pipe moving body actuator according to claim 1, wherein the control unit controls expansion and contraction of the fourth expansion / contraction member.   The control means includes the first expansion / contraction member and the fourth expansion / contraction member so that at least one of the first expansion / contraction member and the fourth expansion / contraction member is engaged with the tube wall. 8. The in-pipe moving body actuator according to claim 7, wherein expansion and contraction of the contraction member are controlled.   An endoscope comprising the in-pipe moving body actuator according to any one of claims 1 to 8. A first expansion / contraction member that is fixed to an in-tube moving body that is inserted into the tube and is configured to be locked to a tube wall in the tube during expansion;
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. Second and third expansion and contraction members for applying a pressing force to the first expansion and contraction member,
By controlling the expansion and contraction of the first expansion / contraction member, the second expansion / contraction member, and the third expansion / contraction member, the in-pipe moving body is moved relative to the tube wall. A method for controlling an actuator for a moving object in a pipe, comprising:
When the first expansion / contraction member is engaged with the tube wall, the second expansion / contraction member is inflated, while when the first expansion / contraction member is not engaged with the tube wall. Performing control to expand the third expansion / contraction member,
A control method for an actuator for a moving body in a tube, wherein the second expansion / contraction member is controlled so that an expansion speed thereof is relatively slower than an expansion speed of the third expansion / contraction member.

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