JP2012081129A - Endoscope propulsion system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent the kink of a supply/exhaust tube such as an air tube.SOLUTION: An intratubular self-propulsion apparatus 14 is constituted of first to fourth expansion/contraction units 28a-28d to be expanded in a diameter in the radial direction of an insertion part 16 by pressurization from inside and also to be contracted in an insertion part axial direction. The respective expansion/contraction units 28a-28d are constituted of: first to fourth over-tubes 31a-31d; first to fourth balloons 36a-36d for covering the outer circumferences of the respective over-tubes 31a-31d; and a cap 32 and first to fourth flanges 33a-33d for fixing the both ends of the respective balloons 36a-36d and the both ends of the respective over-tubes 31a-31d. First to fourth air tubes 29a-29d for supplying/discharging compressed air are arranged on the inner sides of the respective balloons 36a-36d through the internal spaces of the respective expansion/contraction units 28a-28d. Each of the respective air tubes 29a-29d is fixed by connection to each of the respective expansion/contraction units 28a-28d (the respective flanges 33a-33d) respectively at one place.

Description

  The present invention relates to an endoscope propulsion apparatus that propels an insertion portion of an endoscope in a tube such as a digestive tract.

  Conventionally, in the medical field, an insertion portion of an endoscope is inserted into a bent digestive tract such as the large intestine and the small intestine to observe, diagnose, and treat the inner wall of the digestive tract (Patent Document 1). And 2). In this case, if the digestive tract is a sigmoid colon that bends in a complicated manner and moves relatively freely, a skill level is required for the procedure to advance the insertion portion in the sigmoid colon. For this reason, there has been a demand for an endoscope that can easily advance the insertion portion to the back even in a complicatedly bent digestive tract such as the sigmoid colon.

  In recent years, an endoscope propulsion device that has been attached to the distal end portion of an insertion portion and propels the insertion portion in the digestive tract has been developed (see Patent Document 3). This endoscope propulsion apparatus includes at least three expansion / contraction units provided along the axial direction of the insertion portion.

  Various expansion and contraction units are inserted into the insertion part, cover a bellows tube that can be expanded and contracted in the axial direction, and cover the outer periphery of the bellows tube, expand in the radial direction by pressurization, and contract in the axial direction. A balloon, a pair of flanges that fix both ends of the balloon and the bellows tube to form a sealed space inside the balloon, and a supply / discharge tube for supplying and discharging compressed air for pressurization to the sealed space It consists of. Each telescopic unit grips the inner wall of the digestive tract when the diameter is expanded, and releases the grip when the diameter is decreased. The endoscope propulsion device performs a peristaltic motion imitating so-called earthworm movement, which expands and contracts each expansion unit in a predetermined order, thereby moving the insertion portion forward / backward in the digestive tract.

  At this time, for example, as shown in FIG. 2 of Patent Document 1, an air tube that supplies and discharges compressed air to and from an extension unit on the distal end side of the insertion portion (hereinafter referred to as a distal end side extension unit) If it is arranged between the outer surface of the telescopic unit (hereinafter referred to as the rear end side telescopic unit) and the inner wall of the digestive tract, when the rear end side telescopic unit expands in diameter, the air tube and the rear end side telescopic unit The gastrointestinal tract is sandwiched between the inner walls of the gastrointestinal tract and blocked, so that compressed air cannot be supplied.

  Therefore, in the endoscope propulsion device disclosed in Patent Document 3, an air tube that supplies and discharges compressed air to and from the distal end side expansion / contraction unit is provided inside the rear end side expansion / contraction unit. Through the sealed space formed between the two. (See FIG. 2, FIG. 4, FIG. 6, etc. of Patent Document 3). The air tubes in the sealed space are connected to ventilation holes formed in the pair of flanges.

JP-A-8-089476 JP-A-2-256558 JP 2009-240713 A

  When the air tube is passed through the rear end expansion unit, when the rear end expansion unit contracts in the axial direction so that the distance between the pair of flanges is reduced, the air tube also contracts in the axial direction. Since the force to act acts, the air tube is bent in the rear end side extension unit. At this time, if the bending of the air tube becomes large, the air tube may be kinked. Here, the kink of the air tube is a state in which the air tube is bent and closed.

  An object of the present invention is to provide an endoscope propulsion apparatus capable of preventing the kink of a supply / discharge tube such as an air tube.

  To achieve the above object, an endoscope propulsion apparatus according to the present invention has an internal space through which an insertion portion of an endoscope is inserted, and a plurality of expansion / contractions arranged in a line along the axial direction of the insertion portion. A telescopic tube that forms the internal space and can be expanded and contracted in the axial direction; and a substantially cylindrical shape that covers the outer periphery of the elastic tube; A cylindrical expansion / contraction body that expands in diameter and contracts in the axial direction and restores its original state when the pressure is released, and the cylindrical expansion / contraction body and the expansion / contraction at both ends of the cylindrical expansion / contraction body A plurality of expansion / contraction units comprising end fixing means for fixing a tube and forming a sealed space between an inner periphery of the cylindrical expansion / contraction body and an outer periphery of the expansion / contraction tube; The most advanced telescopic unit located at the most distal end side of the insertion portion is attached to the insertion portion. A state-of-the-art expansion / contraction unit fixing means for removably fixing, a communication path provided in each expansion / contraction unit and communicating the internal space and the sealed space of each expansion / contraction unit, and in the internal space, A plurality of supply / discharge tubes disposed between an outer periphery and an inner periphery of the telescopic tube so as to extend in the axial direction and supply / exhaust fluid for pressurizing the cylindrical telescopic body to / from the sealed space. The other end is connected to the connection port of the communication path and the other end is drawn out of the internal space and connected to the fluid supply source, and the portion other than the connection portion with the connection port in the internal space And a plurality of supply / discharge tubes not fixed to any of the expansion / contraction units.

  The end fixing means is an annular member through which the insertion portion is inserted and connected to both ends of the telescopic tube, and the cylindrical telescopic body is attached to the outer peripheral surface of the annular member. It is preferable that the expansion tube is attached to an inner peripheral surface, and the communication path is provided in one of the two annular members disposed at both ends of the expansion tube.

  The communication path includes the connection port provided in the inner peripheral surface of the annular member and a through-hole penetrating the inner periphery and the outer periphery of the annular member. It is preferable that a substantially concave groove for communicating the through hole and the sealed space is formed in a portion to which the cylindrical stretchable body is attached. Moreover, it is preferable that the said communicating path is provided in the annular member of the rear end side among the two said annular members arrange | positioned at the both ends of the said expansion-contraction tube. Moreover, it is preferable that the edge part on the mutually opposing side of the said expansion-contraction pipe | tube of the said expansion-contraction unit adjacent to each other is connected to the said common annular member.

  A substantially cylindrical cover made of the same material as the cylindrical expansion body, covering the expansion tube of the most advanced expansion unit to the expansion tube of the rearmost expansion unit located on the rearmost end side of the insertion portion; It is preferable to include a constricting member that constricts the cover at positions corresponding to both end portions of the tubular stretchable body to form the tubular stretchable body.

  The state-of-the-art telescopic unit fixing means is a substantially donut-shaped balloon provided along the circumferential direction on the inner surface forming the internal space of the state-of-the-art telescopic unit, and when the inside is pressurized A balloon that reduces the inner diameter to grip the outer periphery of the insertion portion, expands the inner diameter to be larger than the diameter of the insertion portion when the pressure is released, and releases the grip; and It is preferable to include a balloon supply / discharge tube that is connected to the balloon through the internal space of the expansion / contraction unit and supplies / discharges a fluid for pressurization to / from the balloon.

  It is preferable that a reinforcing means for increasing the rigidity of the supply / discharge tube is provided in the supply / discharge tube. The telescopic tube preferably has a bellows structure. Moreover, it is preferable that at least three or more expansion / contraction units are arranged along the axial direction.

  The endoscope propulsion apparatus according to the present invention has a supply / discharge tube for supplying and discharging a pressurizing fluid to and from each expansion / contraction unit, at one location on each expansion / contraction unit through an internal space through which the insertion portion of the endoscope is inserted. By connecting and not fixing any part other than this connection part to any extension unit, even if the extension unit contracts in the axial direction of the insertion part, the extension unit and the supply / discharge tube slide relative to each other For this reason, the force to shrink in the axial direction does not act on the supply / discharge tube. As a result, kinking of the supply / discharge tube can be prevented.

It is a perspective view which shows the structure of an electronic endoscope system. (A) is a side view of an endoscope propulsion device, and (B) is an explanatory diagram for explaining the structure inside the balloon. It is sectional drawing of the air tube in an expansion-contraction unit. It is a perspective view of a 3rd flange. It is sectional drawing which follows the VV line in FIG. It is the rear view which looked at the 3rd flange from the rear end side of an insertion part. It is the (A) perspective view and the (B) rear view which showed the connection state of the 3rd flange and an air tube. It is sectional drawing of the connection part of a 3rd flange and an air tube. (A) Rear view of first flange, (B) Rear view of second flange, (C) Rear view of third flange. It is explanatory drawing for demonstrating a propulsion control apparatus. (A)-(E) are explanatory drawings for demonstrating operation | movement of an endoscope propulsion apparatus. (A) is an enlarged view of the cross section of the 3rd expansion-contraction unit of a diameter reduction state, (B) is an enlarged view of the cross section of the 3rd expansion / contraction unit of a diameter reduction state. (A), (B) is explanatory drawing for demonstrating the state of each air tube when a 3rd expansion-contraction unit expands / contracts. It is sectional drawing of the comparative example which has passed the air tube in the air chamber between an overtube and a balloon. It is sectional drawing which shows the state which cancelled | released fixation of the cap with respect to an insertion part. It is sectional drawing which shows the state which fixed the cap with respect to the insertion part.

  In FIG. 1, an electronic endoscope system 10 includes an electronic endoscope 11, a processor device 12, a light source device 13, an endoscope propulsion device (self-propelled device) 14, a propulsion control device (supply source) 15, and the like. The The electronic endoscope 11 is connected to the insertion unit 16 inserted into the digestive tract, the operation unit 17 used for gripping the electronic endoscope 11 and operating the insertion unit 16, the universal unit connected to the processor device 12 and the light source device 13. And a cord 18.

  The insertion part 16 is a rod-shaped body having flexibility. Although not shown, the insertion portion distal end portion 16a is provided with an observation window, an illumination window, an air / water supply nozzle, and the like. In the following description, the direction and surface on the distal end side of the insertion portion 16 are referred to as the distal end side and the distal end surface, respectively, and the direction and surface on the rear end side of the insertion portion 16 are referred to as the rear end side and the rear end surface, respectively.

  The operation unit 17 includes an angle knob 22, an operation button 23, and the like. The angle knob 22 is rotated when adjusting the bending direction and the bending amount of the insertion portion 16. The operation buttons 23 are used for various operations such as air / water supply and suction. A universal cord 18 is connected to the operation unit 17.

  The universal cord 18 incorporates an air / water supply channel, an imaging signal output cable, and a light guide. A connector portion 25 a is provided at the distal end portion of the universal cord 18. This connector portion 25 a is connected to the light source device 13. Further, a connector portion 25 b branches from the connector portion 25 a, and this connector portion 25 b is connected to the processor device 12.

  An operation unit 26 is connected to the propulsion control device 15. This operation unit 26 controls the endoscope propulsion apparatus 14 by controlling the buttons for inputting instructions for advancing / retreating / stopping the endoscope propulsion apparatus 14 and the expansion / contraction units 28a to 28d described later. A speed adjustment button for adjusting the moving speed of the robot, and an emergency retraction button for easily removing the endoscope propulsion device 14 in an emergency by setting all the expansion and contraction units 28a to 28d in an extended state. Yes.

  The processor device 12 generates an endoscope image from the image signal input from the electronic endoscope 11 and performs various image processing on the endoscope image. The image-processed endoscope image is displayed on the monitor 27 connected to the processor device 12 by a cable. The light source device 13 supplies illumination light to the light guide.

  The endoscope propulsion device 14 is attached to the insertion portion distal end portion 16a, and moves the insertion portion 16 forward or backward in the digestive tract. The endoscope propulsion apparatus 14 includes first to fourth expansion / contraction units 28a, 28b, 28c, and 28d that are provided in order from the distal end side of the insertion portion 16 along the axial direction (hereinafter referred to as the insertion portion axial direction). . Each of the expansion / contraction units 28a to 28d individually expands in the radial direction of the insertion portion 16 by pressurization and contracts in the axial direction of the insertion portion, and restores the original state when the pressurization is released. Hereinafter, the former state is referred to as an enlarged diameter state, and the latter state is referred to as a reduced diameter state.

  Compressed air is supplied from the propulsion control device 15 to the extension units 28a to 28d via first to fourth air tubes (supply / discharge tubes) 29a, 29b, 29c, and 29d. The propulsion control device 15 controls the supply and discharge of compressed air to and from the air tubes 29a to 29d based on the operation signal from the operation unit 26.

  2A and 2B, the first to fourth expansion / contraction units 28a to 28d of the endoscope propulsion device 14 are externally fitted to the insertion portion 16 and arranged side by side along the insertion portion axial direction. The first to fourth overtubes (expandable tubes) 31a to 31d are provided. Each of the overtubes 31a to 31d has a bellows structure that can expand and contract in the axial direction of the insertion portion. The insertion portion 16 and the air tubes 29a to 29d (excluding the first overtube 31a) are inserted into the internal space S (see FIGS. 8 and 12) of the overtubes 31a to 31d.

  The distal end portion of the first overtube 31a is fitted into the opening of a substantially annular cap 32 that is externally fitted to the insertion portion distal end portion 16a. Further, the rear end portion of the first overtube 31a is fitted in the opening on the front end side of the substantially annular first flange 33a fitted on the insertion portion front end portion 16a. The tip of the second overtube 31b is fitted in the opening on the rear end side of the first flange 33a. Thereby, the 1st overtube 31a and the 2nd overtube 31b are connected via the 1st flange 33a.

  Similarly, the rear end portions of the second to fourth overtubes 31b to 31d are fitted into the openings on the front end side of the second to fourth flanges 33b to 33d having the same shape as the first flange 33a, respectively. The tip portions of the third and fourth overtubes 31c and 31d are fitted in openings on the rear end side of the second and third flanges 33b and 33c, respectively. Thereby, the Mth (M is 1 to 3) overtube and the (M + 1) th overtube are connected via the Mth flange. Accordingly, the overtubes 31a to 31d, the cap (annular member, the most advanced telescopic unit fixing means) 32, and the flanges (annular members) 33a to 33d are integrated.

  The cap 32 is detachably fixed to the outer periphery of the insertion portion 16. On the other hand, the flanges 33 a to 33 d are loosely fitted on the outer periphery of the insertion portion 16 and are not fixed to the insertion portion 16. For this reason, the overtubes 31a to 31d and the flanges 33a to 33d are held by the cap 32 so as to be movable in the insertion portion axial direction with respect to the insertion portion 16.

  An annular groove 35 is formed along the circumferential direction of the outer peripheral surface of the cap 32 and the rear end portions of the flanges 33a to 33d. The outer peripheral surface of each member between the rear end portion of the cap 32 and the rear end portion of the fourth flange 33d is covered with a single substantially cylindrical elastic cover 36. The elastic cover 36 includes a substantially cylindrical elastic body made of, for example, synthetic rubber or natural rubber, and a plurality of fibers provided in the elastic body along the insertion portion axial direction. This fiber has non-stretchability that is difficult to stretch in the axial direction of the insertion portion, such as glass roving fiber and carbon roving fiber.

  The elastic cover 36 is bound by a piano wire (bending member) 37 or the like at a position corresponding to the annular groove 35 of the cap 32 and each of the flanges 33a to 33d. As a result, the first to fourth balloons 36 a to 36 d (tubular stretchable bodies) are formed on the elastic cover 36. The first balloon 36a surrounds the outer periphery of the first overtube 31a, and both ends are fixed to the cap 32 and the first flange 33a, respectively. Similarly, the second balloon 36b to the fourth balloon 36d surround the outer peripheries of the second to fourth overtubes 31b to 31d, respectively, and both end portions thereof are the first and second flanges 33a and 33b, the second and third flanges, respectively. 33b, 33c and the third and fourth flanges 33c, 33d are fixed. Thereby, the 1st-4th air chamber (sealed space) 38a-38d each sealed is formed inside each balloon 36a-36d.

  When the first to fourth balloons 36a to 36d are pressurized from the inside, the first to fourth balloons 36a to 36d expand in the radial direction of the insertion section 16 and contract in the insertion section axial direction. To restore the original state.

  The first telescopic unit 28a includes a first overtube 31a, a cap 32, a first flange 33a, and a first balloon 36a. The Nth (N is 2 to 4) telescopic unit includes an Nth overtube, (N-1) th and Nth flanges, and an Nth balloon.

  The first to fourth air tubes 29a to 29d are made of, for example, polyvinyl chloride. The first air tube 29a passes through the internal space of the fourth flange 33d, the fourth overtube 31d, the third flange 33c, the third overtube 31c, the second flange 33b, and the second overtube 31b to the first flange 33a. Connected. The second air tube 29b is connected to the second flange 33b through the internal space of the fourth flange 33d, the fourth overtube 31d, the third flange 33c, and the third overtube 31c.

  The third air tube 29c is connected to the third flange 33c through the internal space of the fourth flange 33d and the fourth overtube 31d. The fourth air tube 29d is connected to the fourth flange 33d.

  In FIG. 3, each air tube 29a-29d is formed in a substantially flat and substantially arcuate cross section in each expansion / contraction unit 28a-28d so as to follow the inner peripheral surface of each expansion / contraction unit 28a-28d. The flow paths of the air tubes 29 a to 29 d are partitioned by a plurality of partition walls 40. The partition wall 40 is erected in a direction substantially parallel to the radial direction of the insertion portion 16 and extends long in the longitudinal direction (insertion portion axial direction) of each of the air tubes 29a to 29d. The rigidity of the air tubes 29a to 29d is increased by the partition walls 40.

  Next, the flange structure will be described by taking the third flange 33c as an example. As shown in FIGS. 4 to 6, the third flange 33 c has an insertion hole (internal space) 42 into which the insertion portion 16 is inserted and the third and fourth overtubes 31 c and 31 d are fitted. Yes. Further, in addition to the annular groove 35 described above, an opening hole 43 opened in the third air chamber 38c and a long edge extending from the edge of the opening hole 43 toward the tip side are provided on the outer peripheral surface of the third flange 33c. Two substantially concave grooves 44 are formed.

  On the inner peripheral surface of the third flange 33c, an air tube connection portion 46, a first air tube support portion 47, and a second air tube support portion 48 are provided at predetermined intervals along the circumferential direction (see FIG. 6). This interval is adjusted to be slightly larger than the width of the air tubes 29a to 29d.

  The air tube connection portion 46 is located at the opening portion of the opening hole 43 on the inner peripheral surface. A tube connection port 50 protruding toward the rear end side of the insertion portion 16 is formed on the rear end surface of the air tube connection portion 46. Further, a through-hole 51 that connects the opening hole 43 and the tube connection port 50 is formed inside the air tube connection portion 46 (see FIG. 5). Further, substantially concave arc-shaped guide portions 52 are formed at both ends of the air tube connection portion 46 in order to support the side end portions of the air tube (see FIG. 6).

  Similar to the air tube connection portion 46, guide portions 52 are formed at both ends in the circumferential direction of the first and second air tube support portions 47 and 48. Thereby, between the air tube connection part 46 and the 1st air tube connection part 46, between the 1st air tube support part 47 and the 2nd air tube support part 48, the 2nd air tube support part 48 and an air tube connection Support recesses 54a, 54b, and 54c each having a substantially arc-shaped cross section for supporting the air tube are formed between the portions 46 (see FIG. 6).

  Each of the support recesses 54a, 54b, 54c is formed so that its cross-sectional area is one or more times larger than the cross-sectional area of the air tube. For this reason, play occurs between the inner surface of each support recess 54a, 54b, 54c and the outer surface of the air tube. Thereby, each support recessed part 54a, 54b, 54c supports an air tube so that a slide movement is possible in an insertion part axial direction.

  As shown in FIGS. 7A and 7B, the first air tube 29a is supported by the support recess 54b so as to be slidable in the insertion portion axial direction. The second air tube 29b is supported by the support recess 54a so as to be slidable in the insertion portion axial direction. The third air tube 29c is connected to the tube connection port 50, and is fixed with an adhesive or the like in this state. Thereby, as shown in FIG. 8, the third air tube 29 c is connected to the third air chamber 38 c via the tube connection port 50, the through-hole 51, and the opening hole 43.

  Since the first, second, and fourth flanges 33a, 33b, and 33d have the same structure as the third flange 33c, description of the structure is omitted. The first to fourth flanges 33a to 33d are attached so that the positions of the air tube connection portions 46 do not overlap each other. Specifically, when the first flange 33a is used as a reference, the second flange 33b is rotated 90 ° clockwise around the central axis of the insertion portion 16 when viewed from the rear end side of the insertion portion 16, The flange 33c rotates 180 ° clockwise, and the fourth flange 33d rotates 270 ° clockwise (see FIG. 2B).

  As shown in FIG. 9A, the first air tube 29a is connected and fixed to the tube connection port 50 of the first flange 33a. As shown in FIG. 9B, the second air tube 29b is connected and fixed to the tube connection port 50 of the second flange 33b, and the first air tube 29a is slidably supported by the support recess 54a. As shown in FIG. 9C, the fourth air tube 29d is connected and fixed to the tube connection port 50 of the fourth flange 33d, and the third air tube 29c and the second air are respectively connected to the support recesses 54a, 54b, and 54c. The tube 29b and the first air tube 29a are slidably supported. Thus, the first, second, and fourth air tubes 29a, 29b, and 29d are connected to the first, second, and fourth air chambers 38a, 38b, and 38d, respectively.

  The first air tube 29a has a distal end fixed to the tube connection port 50 of the first flange 33a, and a portion located in the second to fourth expansion / contraction units 28b to 28d is a support recess of the second flange 33b. 54a, the support recess 54b of the third flange 33c, and the support recess 54c of the fourth flange 33d are slidably supported in the insertion portion axial direction.

  The second air tube 29b has a distal end fixed to the tube connection port 50 of the second flange 33b, and a portion located in the third and fourth expansion / contraction units 28c and 28d is a support recess of the third flange 33c. 54a is supported by the support recess 54b of the fourth flange 33d so as to be slidable in the insertion portion axial direction.

  The third air tube 29c has a tip fixed to the tube connection port 50 of the third flange 33c, and a portion located in the fourth expansion / contraction unit 28d is slidable by the support recess 54a of the fourth flange 33d. Supported by

  Thus, each air tube 29a-29d is connected and fixed to each expansion / contraction unit 28a-28d in one place (tube connection port 50 of each flange 33a-33d), respectively, and each expansion / contraction unit is other than this fixed part. It is not fixed to any part of 28a-28d.

  As shown in FIG. 10, the propulsion control device 15 includes a compressor 58, four pipelines 59a, 59b, 59c, 59d for guiding the compressed air generated from the compressor 58 to the air tubes 29a to 29d, and each pipeline. It comprises supply valves 60a, 60b, 60c and 60d and release valves 61a, 61b, 61c and 61d provided in the middle of 59a to 59d, and pressure gauges 62a, 62b, 62c and 62d. When the release valve is closed and the supply valve is opened while the compressor 58 is operating, the compressed air is supplied to the air chamber through the corresponding air tube. In this state, when the supply valve is closed and the release valve is opened, the air chamber returns to the atmospheric pressure.

  The compressed air supplied from the propulsion control device 15 through the first to fourth air tubes 29a to 29d respectively passes through the first to fourth air tubes 29a to 29d and passes through the first to fourth air chambers 38a to 38d. Supplied respectively. The compressed air in the first to fourth air chambers 38a to 38d is discharged from the release valves 61a to 61d through the first to fourth air tubes 29a to 29d when the release valves 61a to 61d are opened. Is done.

  The pressure gauges 62a to 62d are respectively a pressure in the first air tube 29a and the first air chamber 38a, a pressure in the second air tube 29b and the second air chamber 38b, and a pressure in the third air tube 29c and the third air chamber 38c. And the pressure in the fourth air tube 29d and the fourth air chamber 38d are measured.

  Next, the operation of the endoscope propulsion apparatus 14 configured as described above will be described with reference to FIG. In addition, in order to prevent complication of drawing, each air tube 29a-29d is abbreviate | omitting illustration.

  First, the endoscope propulsion device 14 is attached to the insertion portion distal end portion 16a, and the cap 32 is fixed to the insertion portion distal end portion 16a. At this time, each expansion / contraction unit 28a-28d is a diameter-reduced state. Next, after the processor device 12 and the light source device 13 are turned on and the preparation for examination is completed, the distal end portion 16a of the insertion portion is inserted into the digestive tract of the patient.

  After the distal end portion 16a of the insertion portion is advanced to a predetermined position in the digestive tract, for example, before the sigmoid colon, the power supply of the propulsion control device 15 is turned on. The propulsion control device 15 operates the compressor 58 and opens the first and fourth supply valves 60a and 60d to close the first and fourth release valves 61a and 61d. Further, the second and third supply valves 60b and 60c are closed, and the second and third release valves 61b and 61c are opened. As a result, compressed air is supplied from the first and fourth air tubes 29a and 29d to the first and fourth air chambers 38a and 38d, respectively.

  As shown in FIG. 11A, the supply of compressed air to the first and fourth air chambers 38a and 38d causes the first and fourth balloons 36a and 36d to expand in diameter and contract in the insertion portion axial direction. The propulsion control device 15 uses the first and fourth supply valves 60a, when the pressure in the first and fourth air chambers 38a, 38d reaches a predetermined set pressure value based on the measurement results of the pressure gauges 62a, 62d. Close 60d.

  As the first and fourth balloons 36a and 36d contract in the axial direction of the insertion portion, the gap between the cap 32 and the first flange 33a decreases, and the first overtube 31a contracts in the axial direction of the insertion portion, and the third flange 33c. And the fourth flange 33d are narrowed, and the fourth overtube 31d contracts in the insertion portion axial direction. Thereby, the first and fourth expansion / contraction units 28a and 28d are deformed from the reduced diameter state to the expanded diameter state, and the outer surfaces of the first and fourth balloons 36a and 36d are pressure-bonded to the inner wall of the digestive tract. Thus, the first and fourth telescopic units 28a and 28d grip the inner wall of the digestive tract.

  Next, when a forward instruction is input by the operation unit 26, the propulsion control device 15 opens the second supply valve 60b, closes the second release valve 61b, and opens the fourth release valve 61d. Thereby, compressed air is supplied to the second air chamber 38b, and the fourth air chamber 38d returns to atmospheric pressure. The second supply valve 60b is closed when the pressure in the second air chamber measured by the pressure gauge 62b reaches a set pressure value.

  As shown in FIG. 11 (B), the second telescopic unit 28b is deformed into a diameter-expanded state to grip the inner wall of the digestive tract, and the fourth telescopic unit 28d is deformed into a contracted-diameter state so that the inner wall of the digestive tract is deformed. The grip is released.

  As shown in FIG. 11C, the propulsion control device 15 opens and closes each supply valve and the release valve as appropriate to deform the first telescopic unit 28a into a reduced diameter state and expand the third expandable unit 28c. The inner wall of the digestive tract is gripped by deforming it into a state. At this time, the second and third extension units 28b and 28c behind the first extension unit 28a grip the inner wall of the digestive tract. Further, while the cap 32 is fixed to the insertion portion 16, the other members are free from the insertion portion 16. For this reason, the operation in which the first telescopic unit 28a tries to extend in the axial direction of the insertion portion is converted into a propulsive force that advances the insertion portion 16 relative to the inner wall of the digestive tract, and the insertion portion 16 advances.

  As shown in FIG. 11D, the propulsion control device 15 deforms the second expansion / contraction unit 28b into a reduced diameter state and deforms the fourth expansion / contraction unit 28d into a diameter expansion state. When the second expansion / contraction unit 28b extends in the insertion portion axial direction, the third and fourth expansion / contraction units 28c, 28d behind the second expansion / contraction unit 28b grip the inner wall of the digestive tract. Similarly to FIG. 11C, the operation of extending the second expansion / contraction unit 28b is converted into a propulsive force that advances the insertion portion 16, and the insertion portion 16 further advances.

  As shown in FIG. 11E, the propulsion control device 15 deforms the third expansion / contraction unit 28c into a reduced diameter state and deforms the first expansion / contraction unit 28a into a diameter expansion state. In this state, even if the third expansion / contraction unit 28c extends in the insertion portion axial direction, the first expansion / contraction unit 28a contracts in the insertion portion axial direction to grip the inner wall of the digestive tract, so that the insertion portion 16 moves forward. do not do. The state shown in FIG. 11E is the same as the initial state shown in FIG.

  The propulsion control device 15 includes the supply valve and the release valve so that the states shown in FIGS. 11 (A), 11 (B), 11 (C), and 11 (D) are repeatedly executed in order. Is opened and closed as appropriate. Thereby, each expansion-contraction unit 28a-28d advances the insertion part 16 by performing the peristaltic movement which simulated the movement of what is called an earthworm which was demonstrated in FIG. 11 (A)-FIG. 11 (D).

  As shown in FIGS. 12A and 12B, for example, when the third telescopic unit 28c is switched from the reduced diameter state to the expanded diameter state, compressed air is supplied into the third air chamber 38c (numbers in parentheses ( 1)), the third balloon 36c expands in diameter and contracts in the axial direction of the insertion portion (see number (2) in parentheses). At this time, as the third balloon 36c contracts, the third overtube 31c contracts in the insertion portion axial direction, so that the third flange 33c slides by ΔL toward the distal end side of the insertion portion 16 (numbers in parentheses ( 3)).

  As shown in FIGS. 13A and 13B, as the third flange 33c slides ΔL toward the distal end side in the insertion portion axial direction, the fourth overtube 31d and the fourth flange 33d also move in the insertion portion axial direction. Slide and move forward by ΔL. At this time, the third and fourth air tubes 29c, 29d slide and move by ΔL integrally with the third and fourth flanges 33c, 33d toward the distal end side in the insertion portion axial direction.

  On the other hand, the first air tube 29a is slidably supported by any one of the support recesses 54a to 54c of the second to fourth flanges 33b to 33d, but any of the third and fourth expansion units 28c and 28d is supported. It is not fixed to the part. Moreover, since the 1st air tube 29a consists of polyvinyl chloride as mentioned above and the surface is smooth, it is easy to slip with respect to the inner surface of the 2nd-4th overtube 31b-31d and support recessed part 54a-54c. . For this reason, the first air is removed from the third and fourth expansion units 28c, 28 by the contraction of the third expansion / contraction unit 28c in the insertion portion axial direction and the sliding movement of the fourth expansion / contraction unit 28d in the insertion portion axial direction accompanying the contraction. No force acts on the tube 29a.

  Also, the second air tube 29b is not fixed to the third and fourth expansion / contraction units 28c and 28d at a place other than the tip connected to the second flange 33b. For this reason, similarly to the 1st air tube 29a, force does not act with respect to the 2nd air tube 29b from the 3rd and 4th expansion-contraction units 28c and 28. FIG.

  On the other hand, in FIG. 14 showing a comparative example, the air tube 69 passes through the air chamber 68 formed between the overtube 66 and the balloon 67, and both ends of the air tube 69 are paired with a pair of flanges 70a. In the case of the expansion / contraction unit 72 connected to the vent hole 71 of 70b, when the expansion / contraction unit 72 is contracted in the axial direction of the insertion portion, the insertion portions are arranged at both ends of the air tube 69 in the direction in which the air tube 69 is contracted. Axial force acts. As a result, the air tube 69 is kinked. The kink is a phenomenon in which the air tube 69 does not absorb the force in the insertion portion axial direction and deforms in a direction orthogonal to the insertion portion axial direction.

  In contrast to the air tube 69 of the comparative example, the first to third air tubes 29a to 29c of the present invention are each provided in the internal space (the internal space S, the insertion hole 42) of the second to fourth expansion units 28b to 28d. ), Through the internal space of the third and fourth extendable units 28c, 28d and the internal space of the fourth extendable unit 28d, respectively, and fixed to the first to third extendable units 28a to 28c at one location. Therefore, even when any of the expansion / contraction units 28a to 28d contracts in the insertion portion axial direction, the expansion / contraction units 28b to 28d and the air tubes 29a to 29c only slide relative to each other, and the air tubes 29a The force to contract in the insertion portion axial direction does not act on ˜29c (see FIG. 13). As a result, kinks of the air tubes 29a to 29c are prevented.

  In the comparative example, since the air tube 69 bends when the expansion / contraction unit 72 is contracted in the insertion portion axial direction, the elastic restoring force of the air tube 69 acts as a resistance force. As a result, in the comparative example, the pressure of the compressed air supplied to the air chamber 68 needs to be increased, and the balloon 67 may be ruptured. On the other hand, in the present invention, when the second to fourth expansion / contraction units 28b to 28d are contracted in the axial direction of the insertion portion, the first to third air tubes 29a to 29c passing through the inner space are bent and resisted. It does not generate power. For this reason, since the expansion / contraction unit of the present invention is more easily contracted in the insertion portion axial direction than the expansion / contraction unit of the comparative example, the pressure of the compressed air supplied to each of the air chambers 38a to 38d can be lowered than that of the comparative example. . As a result, the balloons 36a to 36d are difficult to burst.

  In the expansion / contraction unit 72 of the comparative example, the force required to contract the expansion / contraction unit 72 in the axial direction of the insertion portion increases as the number of air tubes 69 passed through the air chamber 68 increases. Individual differences will occur. On the other hand, in the present invention, when the second to fourth expansion / contraction units 28b to 28d are contracted in the insertion portion axial direction as described above, the first to third air tubes 29a to 29c passing through the inner space are provided. Since resistance force is not generated, the individual difference of each contraction unit 28a-28d reduces.

  Further, in the comparative example, it is necessary to attach the balloon 67 separately for each of the expansion / contraction units 72. However, in the present invention, four balloons 36a can be obtained simply by tying one elastic cover 36 (see FIG. 2) with the piano wire 37. Since ~ 36d can be formed simultaneously, the manufacturing process can be simplified.

  In the comparative example, since both ends of the air tube 69 are connected to the pair of flanges 70a and 70b for each expansion / contraction unit 72, the endoscope propulsion device can be bent unless the air tube 69 is bent. However, there was a problem that the endoscope propulsion device was difficult to bend. On the other hand, in this invention, since each air tube 29a-29d is being fixed to each expansion-contraction unit 28a-28d at one place, when the endoscope propulsion apparatus 14 is bent, each air tube 29a-29d. Does not bend only by sliding in the axial direction of the insertion portion. As a result, the endoscope propulsion apparatus 14 of the present invention is easier to bend than the apparatus of the comparative example.

  Further, in the expansion / contraction unit 72 of the comparative example, the air tube 69 needs to be passed through the air chamber 68, whereas in the expansion / contraction units 28a to 28d of the present invention, the air tubes 29a to 29d are passed through the air chambers 38a to 38d. There is no need. For this reason, the volume of each air chamber 38a-38d of this invention can be made smaller than the volume of the air chamber 68 of a comparative example. Since the compressed air is filled in the air chambers 38a to 38d in a shorter time as the volume of the air chambers 38a to 38d is reduced, the time required for each expansion unit 28a to 28d to switch from the reduced diameter state to the expanded diameter state (response) Time).

  In FIGS. 12A and 12B and FIGS. 13A and 13B, the case where the third telescopic unit 28c contracts in the insertion portion axial direction has been described as an example. Even when the second expansion / contraction unit 28b or the fourth expansion / contraction unit 28d contracts in the insertion portion axial direction, the force to contract in the insertion portion axial direction does not act on the air tube passing through the internal space. Further, when two or more expansion / contraction units contract simultaneously in the insertion portion axial direction, for example, when the second expansion / contraction unit 28b and the third expansion / contraction unit 28c contract in the insertion portion axial direction, the slide movement of the third flange 33c etc. The amount only changes to “ΔL × 2”, and the force to contract in the axial direction of the insertion portion does not act on the air tube passing through the internal space.

  In the above embodiment, the cap 32 is detachably fixed to the outer periphery of the insertion portion distal end portion 16a. However, the cap 32 may be fixed / released by the operation unit 26. For example, as shown in FIG. 15, a substantially donut-shaped balloon 75 may be provided along the circumferential direction on the inner peripheral surface of the distal end portion of the first overtube 31a. The inner diameter of the balloon 75 is larger than the outer diameter of the insertion portion distal end portion 16a in an uncompressed state where compressed air is not supplied.

  One end of a supply / discharge tube 76 for supplying and discharging compressed air is connected to the balloon 75. The other end of the supply / discharge tube 76 is connected to the propulsion control device 15 through the internal space (internal space S, insertion hole 42) of each of the expansion / contraction units 28a to 28d.

  The propulsion control device 15 controls supply / discharge of compressed air to / from the supply / discharge tube 76 in accordance with a command from the operation unit 26. The propulsion control device 15 supplies compressed air to the supply / discharge tube 76 when a command for fixing the insertion portion distal end portion 16 a is input from the operation unit 26. As a result, as shown in FIG. 16, the balloon 75 expands inward and its inner diameter narrows, so that the balloon 75 grips the outer periphery of the insertion portion distal end portion 16a. Thereby, the cap 32 is fixed to the insertion portion distal end portion 16 a via the balloon 75.

  After the cap 32 is fixed, the propulsion control device 15 receives a command for releasing the fixing of the insertion portion distal end portion 16a from the operation unit 26, and a conduit (not shown) guides the compressed air generated from the compressor 58 to the supply / discharge tube 76. Open an open valve (not shown) provided in the middle of Thereby, the inside of the balloon 75 and the supply / discharge tube 76 returns to the atmospheric pressure, the balloon 75 is restored to the original state shown in FIG. 15, and the grip of the insertion portion distal end portion 16a is released. The cap 32 is released from the distal end portion 16a of the insertion portion.

  As described above, even when the insertion portion 16 and the endoscope propulsion device 14 are inserted into the digestive tract or the like, the fixing / unfixing of the cap 32 can be switched by operating the operation unit 26. Thereby, for example, after the insertion portion 16 is advanced to a desired position in the digestive tract by the endoscope propulsion device 14, only the insertion portion 16 is advanced further into the digestive tract by releasing the fixation of the cap 32. Can do. As a result, it is possible to perform observation in a narrow pipe line in which the endoscope propulsion device 14 does not enter or cannot be advanced.

  The balloon 75 may be provided on the inner peripheral surface of the cap 32 instead of on the inner peripheral surface of the tip portion of the first overtube 31a. Instead of the balloon 75, various fixing members that can switch the fixing / unfixing of the cap 32 with respect to the insertion portion distal end portion 16a by remote control may be provided.

  In the said embodiment, although the 1st-4th air tubes 29a-29d are each connected to the 1st-4th flanges 33a-33d, it connects to arbitrary one places of the 1st-4th expansion-contraction units 28a-28d. May be. For example, the first to fourth overtubes 31a to 31d may be provided with through holes that penetrate the inner surface and the outer surface, and the air tubes 29a to 29d may be connected to the through holes of the overtubes 31a to 31d, respectively. .

  In the said embodiment, although the 1st-4th balloons 36a-36d are formed by constricting the elastic cover 36 (refer FIG. 2) with the piano wire 37, each 1st-4th balloons 36a-36d (tubular shape) are formed. The elastic bodies may be attached separately.

  In each of the above embodiments, each of the expansion / contraction units 28a to 28d includes the individual overtubes 31a to 31d. For example, the extension unit 28a to 28d includes a shaft on the outer periphery of one overtube that extends long in the axial direction of the insertion portion 16. You may comprise each expansion-contraction unit by providing the some balloons 36a-36d (elastic cover 36), the cap 32, and the flanges 33a-33d along a direction.

  In the above embodiments, both ends of the balloons 36a to 36d and both ends of the over tubes 31a to 31d are fixed via the cap 32 and the flanges 33a to 33d, respectively. Both may be fixed using various methods such as pressure bonding and adhesion.

  In the above embodiment, a gap (see FIG. 8) is formed between the outer peripheral surfaces of the first to fourth flanges 33a to 33d and the inner surfaces of the first to fourth balloons 36a to 36d. You may do it. Even in this case, since the tube connection port 50 and the through-hole 51 communicate with each other through the groove 44, the compressed air can be supplied to and discharged from the air holes 38a to 38d through the groove 44 from the opening hole 43.

  In the above-described embodiment, the endoscope propulsion apparatus 14 is configured by the four expansion / contraction units 28a to 28d. However, in the case of performing a peristaltic movement simulating the movement of an earthworm, there may be three or more expansion / contraction units. Therefore, the endoscope propulsion device may be configured by three or five or more extendable units. Moreover, in each said embodiment, although compressed air is supplied / exhausted inside each balloon 36a-36d, various fluids, such as a liquid, may be used instead of compressed air.

  In the above embodiment, the Mth (M is 1 to 3) overtube and the (M + 1) overtube are connected via a common Mth flange, but this Mth flange is connected to the Mth overtube. And a flange connected to the (M + 1) th overtube.

  In the above embodiment, the case where the endoscope propulsion apparatus 14 is attached to the insertion portion 16 of the electronic endoscope 11 has been described. However, the endoscope propulsion apparatus of the present invention can be used for a digestive tract, an artificial duct, and the like. It can be attached to the insertion part of various endoscopes inserted into various tubes.

DESCRIPTION OF SYMBOLS 11 Electronic endoscope 14,68 Endoscope propulsion apparatus 16 Insertion part 28a-28d 1st-4th expansion-contraction unit 29a-29d 1st-4th air tube 31a-31d 1st-4th overtube 33a-33d 1st 1st-4th flange 36a-36d 1st-4th balloon 38a-38d 1st-4th air chamber 50 Tube connection port 51 Through-hole

Claims (10)

An internal space through which the insertion portion of the endoscope is inserted, and a plurality of telescopic units arranged in a line along the axial direction of the insertion portion, forming the internal space and being telescopic in the axial direction And a substantially cylindrical shape that covers the outer circumference of the expansion tube, and expands in the radial direction of the insertion portion by pressurization from the inside and contracts in the axial direction, releasing the pressurization A cylindrical expansion / contraction body that is restored to its original state when the cylindrical expansion / contraction body is restored, and the cylindrical expansion / contraction body and the expansion / contraction tube are fixed at both ends of the cylindrical expansion / contraction body, A plurality of telescopic units comprising end fixing means for forming a sealed space between the outer periphery of the telescopic tube;
The most advanced telescopic unit fixing means for releasably fixing the most advanced telescopic unit located on the most distal end side of the insertion portion among the plurality of the expansion units, to the insertion portion;
A communication path provided in each of the expansion and contraction units, and communicating the internal space and the sealed space of each of the expansion and contraction units;
In the internal space, it is disposed so as to extend in the axial direction between the outer periphery of the insertion portion and the inner periphery of the telescopic tube, and supplies fluid for pressurizing the cylindrical telescopic body to the sealed space. A plurality of supply and discharge tubes to be discharged, one end of which is connected to the connection port of the communication path and the other end is drawn out of the internal space and connected to the fluid supply source; A plurality of supply / discharge tubes whose parts other than the connection part with the connection port are not fixed to any of the expansion and contraction units,
An endoscope propulsion apparatus comprising: The end fixing means is an annular member through which the insertion portion is inserted and connected to both ends of the telescopic tube,
The cylindrical expansion body is attached to the outer peripheral surface of the annular member, and the expansion tube is attached to the inner peripheral surface of the annular member,
The endoscope propulsion apparatus according to claim 1, wherein the communication path is provided in one of the two annular members disposed at both ends of the telescopic tube. The communication path includes the connection port provided on the inner peripheral surface of the annular member, and a through port that penetrates the inner periphery and the outer periphery of the annular member,
The substantially annular groove for communicating the said through-hole and the said sealed space is formed in the outer peripheral surface of the said annular member in the part to which the said cylindrical expansion-contraction body is attached. 2. The endoscope propulsion apparatus according to 2.   The endoscope propulsion apparatus according to claim 2 or 3, wherein the communication path is provided in an annular member on a rear end side of the two annular members disposed at both ends of the telescopic tube.   The endoscope according to any one of claims 2 to 4, wherein ends of the telescopic tubes of the telescopic units adjacent to each other are connected to the common annular member. Propulsion device. A substantially cylindrical cover made of the same material as the cylindrical expansion body, covering the expansion tube of the most advanced expansion unit to the expansion tube of the rearmost expansion unit located on the rearmost end side of the insertion portion;
6. A constricting member that forms the tubular elastic body by confining the cover at positions corresponding to both end portions of the tubular elastic body. 6. Endoscopic propulsion device. The state-of-the-art telescopic unit fixing means is
A balloon having a substantially donut shape provided along the circumferential direction on the inner surface forming the internal space of the most advanced telescopic unit, and when the inside is pressurized, the inner diameter is reduced, and the insertion portion A balloon for releasing the grip by expanding the diameter so that the inner diameter is larger than the diameter of the insertion portion when the pressure is released,
7. A balloon supply / discharge tube connected to the balloon through the internal space of each of the expansion / contraction units, and supplying and discharging a pressurizing fluid to / from the balloon. The endoscope propulsion apparatus according to claim 1.   The endoscope propulsion apparatus according to any one of claims 1 to 7, wherein reinforcing means for increasing rigidity of the supply / discharge tube is provided in the supply / discharge tube.   The endoscope propulsion apparatus according to any one of claims 1 to 8, wherein the telescopic tube has a bellows structure.   The endoscope propulsion apparatus according to any one of claims 1 to 9, wherein at least three expansion / contraction units are disposed along the axial direction.

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