JP2012081130A - Endoscope propulsion system, cover for endoscope, and friction material for the endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To secure high frictional resistance with respect to the inner wall of a digestive tract when a balloon is expanded, and also to reduce the frictional resistance with respect to the inner wall when the balloon is contracted.SOLUTION: An endoscope propulsion system 14 is constituted of first to fourth extensible units 28a-28d which are expanded in diameter by pressurization, are contracted in an insertion part axial direction, and restore original states when the pressurization is released. Sponge materials 40 are arranged at positions on the outer circumferential surfaces of the first to fourth balloons 36a-36d constituting the respective extensible units 28a-28d respectively and also at positions to be vertexes when the respective balloons 36a-36d are expanded. When the respective balloons 36a-36d are expanded, the sponge materials 40 are compressed between the inner wall of the digestive tract and the outer circumferential surfaces of the balloons so as to enable porous surfaces to be brought into direct contact with the inner wall. When the respective balloons 36a-36d are contracted, the sponge materials 40 absorb a liquid in the digestive tract so as to form liquid layers on the front surfaces.

Description

  The present invention relates to an endoscope propulsion apparatus for propelling an endoscope in a digestive tract, an artificial duct or the like, an endoscope cover used in the apparatus, and an endoscope friction material.

  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). reference). 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 within the digestive tract has been developed (see Patent Document 2). This endoscope propulsion apparatus includes at least three expansion / contraction units provided along the axial direction of the insertion portion. Each expansion / contraction unit has a special balloon that expands in the radial direction and contracts in the axial direction by pressurization, and each expansion / contraction unit supplies and discharges compressed air for pressurization. Is connected. 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.

  By the way, since there is a large amount of liquid such as mucus in the digestive tract, the lubricity of the inner wall of the digestive tract is high. On the other hand, since the surface of a balloon made of synthetic rubber or natural rubber is smooth, if the balloon gets wet with liquid in the digestive tract, the lubricity of the surface becomes high. As described above, the inner wall of the digestive tract and the surface of the balloon are slidable with each other, so that the balloon may slip relative to the inner wall of the digestive tract when the diameter of each expansion / contraction unit expands.

  Patent Document 3 describes an insertion assisting tool for an endoscope in which a porous coating process is performed on the entire surface of a balloon. Patent Document 4 describes an insertion assisting tool for an endoscope in which a grip protrusion is provided on the surface of a balloon. In Patent Document 5, the surface of the balloon is composed of a high friction surface having a high frictional resistance and a lubrication surface having a low frictional resistance. When the diameter of the balloon is reduced, the high friction surface is covered with the lubrication surface, and the balloon is There is described an insertion assisting tool for an endoscope including a balloon having a folding structure in which a high friction surface appears as a balloon outer surface when the diameter is expanded. Thereby, when the balloon is expanded in diameter, the inner wall of the digestive tract can be securely gripped by the porous coating layer, the grip protrusion, and the high friction surface.

JP 2003-250749 A JP 2009-240713 A JP 2007-144153 A JP-A-5-293077 JP 2006-271863 A

  The expansion / contraction unit (balloon) needs to ensure a high frictional resistance against the inner wall of the digestive tract when the diameter is expanded, but when the diameter is reduced, the surface of the expansion / contraction unit (balloon) is not disturbed. It is desirable to reduce the frictional resistance. This is because when the diameter of the expansion / contraction unit is reduced, the diameter of the digestive tract is reduced accordingly, and the surface of the balloon and the inner wall of the digestive tract come into contact (see FIG. 12).

  In the insertion aids described in Patent Document 3 and Patent Document 4, the coefficient of friction with respect to the inner wall of the digestive tract of the porous coating layer and the grip protrusion is not changed between when the balloon is expanded and when the diameter is reduced. There is no big difference in the frictional resistance. For this reason, there is a possibility that the forward or backward movement of the insertion portion may be hindered by the balloon in a reduced diameter state.

  Further, in the insertion assisting tool described in Patent Document 5, when the balloon is reduced in diameter, the high friction surface is covered with the lubrication surface, so that the frictional resistance of the balloon is reduced, but the balloon structure is complicated and the manufacturing cost is increased. Problem occurs.

  The present invention has been made to solve the above problems, and when the diameter of an expansion member such as a balloon is increased, a high frictional resistance is secured against the inner wall of the digestive tract, and when the diameter is reduced, the friction against the inner wall is achieved. An object of the present invention is to provide an endoscope propulsion device that can reduce the resistance at a low cost, an endoscope cover used in the device, and a friction material for the endoscope.

  An endoscope propulsion device according to the present invention is a propulsion mechanism for the insertion portion that is fixed to a distal end of an insertion portion of an endoscope that is inserted into a duct, and the diameter of the insertion portion is increased in the radial direction. A plurality of expansion members are provided along the axial direction that can be switched to a diameter-expanded state that contracts in the axial direction of the insertion portion and a diameter-reduced state that contracts in the radial direction and expands in the axial direction, A propulsion mechanism for propelling the insertion portion in the pipe line by expanding and contracting the diameter of each expansion member in a predetermined order, and a porous member having expandable / contractable and liquid-absorbing properties disposed on the outer peripheral surface side of the expansion member When the expansion member is in the diameter-expanded state, it is pressed between the inner wall of the conduit and compressed in the radial direction of the expansion member, so that the surface of the porous member is directly connected to the conduit When the expansion member is in a reduced diameter state, it is pressed against the inner wall of the Radial compression of the expansion member is released, the porous member is characterized in that it comprises a friction material to reduce the coefficient of friction between the inner wall of the conduit absorbs liquid around.

  It is preferable that the friction material absorbs the liquid in the pipe line when the expansion member is in the reduced diameter state and forms the liquid layer on the surface facing the inner wall. Further, the friction material is compressed in the radial direction between the outer surface of the expansion member and the inner wall when the expansion member is switched from the reduced diameter state to the expanded diameter state. It is preferable to discharge the liquid absorbed in the pipe into the pipe.

  It is preferable that the friction material is provided at a portion located at the apex of the expansion member in the expanded diameter state. A substantially cylindrical cover that covers the outer periphery of the propulsion mechanism is provided, and the friction material is provided on the outer surface of the cover and at a position corresponding to the apex of the expansion member in the expanded diameter state. preferable.

  The propulsion mechanism is positioned at both ends of the telescopic tube in the expansion member, the telescopic tube that is inserted through the insertion portion and is extendable in the axial direction, the substantially cylindrical expansion member that covers the outer periphery of the expansion tube, and the expansion member. Fixing portions to the telescopic tube, fixing means for forming a sealed space between an inner periphery of the expansion member and an outer periphery of the telescopic tube, and expanding the expansion member relative to the sealed space It is preferable that a plurality of expansion / contraction units composed of a supply / discharge tube for supplying and discharging fluid are connected in the axial direction.

  When the pressure in the sealed space when the expansion member is in the expanded state is P1, when the expansion member is switched from the reduced diameter state to the expanded state, the pressure in the sealed space is greater than P1. It is preferable to provide supply / discharge control means for controlling supply / discharge of the fluid into the sealed space so as to once rise to P2 and then drop to P1.

  The expansion member is preferably a balloon. The friction material is preferably made of a sponge material.

  An endoscope cover according to the present invention is an endoscope cover that covers a propulsion mechanism of the insertion portion fixed to a distal end of an insertion portion of an endoscope that is inserted into a duct, and the propulsion mechanism Is an expansion member that can be switched to a diameter-expanded state that expands in the radial direction of the insertion portion and contracts in the axial direction of the insertion portion, and a diameter-reduced state that contracts in the radial direction and expands in the axial direction. Are provided along the axial direction, and each of the expansion members is expanded and contracted in a predetermined order to propel the insertion portion in the pipeline, and from the front end to the rear end of the propulsion mechanism A substantially cylindrical cover main body having a length that covers the entire length, and an expandable / contractable and liquid-absorbing property provided on the outer surface of the cover main body and at a position corresponding to the apex of the expansion member in the expanded state. A porous member having the expanded member in the expanded state. The surface of the porous member is directly pressed against the inner wall of the pipe line by being pressed between the inner wall of the pipe line and compressed in the radial direction of the expansion member. The expansion member is released from the radial compression, and the porous member absorbs the surrounding liquid and reduces the friction coefficient with the inner wall of the pipe. Features.

  The endoscope friction material according to the present invention is an endoscope friction material used for a propulsion mechanism of the insertion portion fixed to the distal end of the insertion portion of the endoscope inserted into the duct. And the propulsion mechanism expands in the radial direction of the insertion part and contracts in the axial direction of the insertion part, and contracts in the radial direction while contracting in the radial direction and expanding in the axial direction. A propulsion mechanism comprising a plurality of switchable expansion members along the axial direction, and propelling the insertion portion in the pipe line by expanding and contracting each expansion member in a predetermined order; A porous member that is expandable / contractable and has a liquid-absorbing property disposed on the outer peripheral surface side of the expansion member, and is pressed between the expansion member and the inner wall of the pipe line when the expansion member is in the expanded state. The surface of the porous member is directly compressed by the radial compression. When the expansion member is pressed by the inner wall and the expansion member is in a reduced diameter state, the expansion member is released from the radial compression, and the porous member absorbs the surrounding liquid and reduces the coefficient of friction with the inner wall of the pipe line. It is characterized by doing.

  In the present invention, a porous friction material that can expand and contract in the radial direction of the insertion portion and has a water absorption property is provided on the outer surface of the expansion member that constitutes the propulsion mechanism of the endoscope insertion portion. When it does, while ensuring high frictional resistance with respect to the inner wall of a pipe line, it is low-cost implement | achieving low frictional resistance with respect to an inner wall when it reduces in diameter. As a result, when the diameter of the expansion member is increased, the inner wall of the pipe can be securely gripped, and when the diameter is reduced, the frictional force with the inner wall is reduced, so that the propulsive force is efficiently transmitted to the insertion portion. be able to.

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 a perspective view of a 3rd flange. It is sectional drawing which follows IV-IV 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 the attachment position of sponge material. It is explanatory drawing for demonstrating a propulsion control apparatus. (A)-(E) are explanatory drawings for demonstrating operation | movement of an endoscope propulsion apparatus. It is explanatory drawing for demonstrating the state to which the balloon diameter was expanded in the digestive tract, and the state to which diameter reduction was carried out. FIG. 13 is an enlarged view of a sponge material on the expanded balloon shown in FIG. 12. FIG. 13 is an enlarged view of a sponge material on the balloon having a reduced diameter shown in FIG. 12. (A), (B) is the graph which showed the change of the pressure inside a balloon when it is diameter-expanded from the state which diameter-reduced the balloon. (A)-(E) are explanatory drawings for demonstrating the endoscope propulsion apparatus of 2nd Embodiment. (A), (B) is explanatory drawing for demonstrating that the sponge material is provided in the position corresponding to the vertex of the balloon which expanded diameter. It is explanatory drawing for demonstrating the expansion-contraction unit of other embodiment which expands / contracts without using a balloon. (A), (B) is explanatory drawing for demonstrating the kind of porous material.

[First Embodiment]
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 15, and the like. 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 expansion units 28a to 28d via the first to fourth air 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. Each of the air tubes 29a to 29d has a substantially arc shape in cross section within each of the expansion / contraction units 28a to 28d (see FIG. 6A).

  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 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 Nth (N is 1 to 3) overtube and the (N + 1) th overtube are connected via the Nth flange. Accordingly, the overtubes 31a to 31d, the cap 32, and the flanges 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 one cylindrical stretchable body 36. The cylindrical expansion / contraction body 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 cylindrical expansion / contraction body 36 is bundled with a piano wire 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. Thereby, the 1st-4th balloon (expansion member) 36a-36d is formed in the cylindrical expansion-contraction body 36. FIG. 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, they expand in the radial direction of the insertion portion 16 and contract in the axial direction of the insertion portion. When this pressure is released, the elastic body Restore to the original state by the restoring force of. A sponge material (friction material) 40 is provided on the outer peripheral surface of each of the balloons 36a to 36d.

  The first telescopic unit 28a includes a first overtube 31a, a cap 32, a first flange 33a, and a first balloon 36a. The M-th (M is 2 to 4) telescopic unit includes an M-th overtube, (M-1) -th and M-th flanges, and an M-th balloon. The propulsion mechanism of the present invention is configured by connecting the expansion and contraction units 28a to 28d.

  The first air tube 29a is connected to the first flange 33a through the inside 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. is doing. The second air tube 29b is connected to the second flange 33b through the inside 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 inside of the fourth flange 33d and the fourth overtube 31d. The fourth air tube 29d is connected to the fourth flange 33d.

  Next, the flange structure will be described by taking the third flange 33c as an example. As shown in FIGS. 3 to 5, the third flange 33 c has an insertion hole 42 through which the insertion portion 16 is inserted and into which the third and fourth overtubes 31 c and 31 d are fitted. 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 slits 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. 5). 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, an air passage 51 that connects the opening hole 43 and the tube connection port 50 is formed inside the air tube connection portion 46 (see FIG. 4). Further, a substantially concave arc-shaped guide portion 52 is formed at both ends of the air tube connection portion 46 in order to support the side end portion of the air tube.

  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, 54c each having a substantially arc-shaped cross section for supporting the air tube are formed between the portions 46 (see FIG. 5).

  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. 6A and 6B, 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 29 c is connected to the tube connection port 50. Accordingly, as shown in FIG. 7, the third air tube 29 c is connected to the third air chamber 38 c via the tube connection port 50, the air passage 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. 8A, the first air tube 29a is connected to the tube connection port 50 of the first flange 33a. As shown in FIG. 8B, the second air tube 29b is connected 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. 8C, the fourth air tube 29d is connected to the tube connection port 50 of the fourth flange 33d, and the third air tube 29c and the second air tube are respectively connected to the support recesses 54a, 54b, and 54c. 29b, the first air tube 29a is supported slidably. 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.

  As shown in FIG. 9, a plurality of sponge members 40 are arranged at equal intervals along the balloon circumferential direction at positions that are the apexes of the balloons 36 a to 36 d when the diameters of the balloons 36 a to 36 d are expanded (indicated by a dashed line in the figure). Is provided. Each sponge material 40 is a porous material that can expand and contract in the radial direction of each of the balloons 36a to 36d and further has water absorption. The sponge material 40 assists in improving the gripping force generated by the balloons 36a to 36d when the balloons 36a to 36d are in an expanded state.

  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 1st and 4th expansion-contraction units 28a and 28d deform | transform from a diameter-reduced state to a diameter-expanded state. At this time, the sponge material 40 on the first and fourth balloons 36a and 36d is pressed against the inner wall of the gastrointestinal tract, respectively, so that the gripping force generated by the first and fourth balloons 36a and 36d is supplementarily improved. 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 FIG. 12, for example, when the first expansion / contraction unit 28a is in the expanded diameter state and the second expansion / contraction unit 28b is in the reduced diameter state, the portion of the digestive tract 65 where the first balloon 36a is located is the first balloon 36a. The diameter of the second balloon 36b is reduced so that the portion where the second balloon 36b is located is in contact with the sponge material 40 on the second balloon 36b. At this time, the sponge material 40 on the first balloon 36a is compressed in the radial direction between the first balloon 36a and the digestive tract 65, and conversely, the sponge material 40 on the second balloon 36b is not compressed. It becomes a state.

  As shown in FIG. 13, the sponge material 40 in a compressed state on the first balloon 36 a discharges the liquid such as mucus in the digestive tract 65 that has been absorbed before compression, and the uneven porous surface thereof. Crimps to the inner wall of the digestive tract 65. For this reason, the friction coefficient with respect to the inner wall of the digestive tract 65 of the 1st expansion-contraction unit 28a becomes high.

  On the other hand, as shown in FIG. 14, the uncompressed sponge material 40 on the second balloon 36 b sufficiently absorbs the liquid in the digestive tract 65. For this reason, since the liquid layer 66 of the liquid is formed between the sponge material 40 and the inner wall of the digestive tract 65, the friction coefficient of the second expansion / contraction unit 28b with respect to the inner wall of the digestive tract 65 becomes low. When the first balloon 36a is contracted in the radial direction, the compressed sponge material 40 absorbs the liquid in the digestive tract 65 and becomes uncompressed, and a liquid layer 66 is formed on the surface thereof. An effect is obtained.

  By providing the sponge material 40 on the outer periphery of each of the balloons 36a to 36d, when each of the balloons 36a to 36d is expanded, a high frictional resistance is secured against the inner wall of the digestive tract 65, and when the diameter is reduced, the inner wall It is possible to reduce the frictional resistance against. Thereby, when each balloon 36a-36d is expanded in diameter, the inner wall of the digestive tract 65 can be securely gripped. Conversely, when the diameter is reduced, the frictional force with the inner wall is reduced, so that the peristaltic motion is efficiently promoted. The force (see FIGS. 11C and 11D) can be transmitted to the insertion portion 16.

  Further, since it is only necessary to provide the sponge material 40 on the outer periphery of each of the balloons 36a to 36d, the cost is lower than the case where a balloon having a folding structure as described in Patent Document 5 (Japanese Patent Laid-Open No. 2006-271863) is provided. Can be implemented.

  In the above embodiment, when compressed air is supplied to the air chambers 38a to 38d to expand the diameters of the balloons 36a to 36d, as shown in FIG. When the pressure reaches the predetermined set pressure P1, the supply of compressed air is stopped.

  On the other hand, as shown in FIG. 15 (B), the propulsion control device (supply / discharge control means) 15 starts supplying compressed air into the air chambers 38a to 38d and then into the air chambers 38a to 38d. Until the pressure reaches P2 higher than the set pressure P1, the supply of compressed air is stopped after the pressure reaches P2, and the release valves 61a to 61d are temporarily opened. You may make it reduce the pressure in each air chamber 38a-38d to the setting pressure P1.

  By overshooting the pressure in the air chambers 38a to 38d in this manner, the compression force for compressing the sponge material 40 between the balloons 36a to 36d and the inner wall of the digestive tract 65 can be instantaneously increased. it can. Thereby, the liquid absorbed by the sponge material 40 can be discharged more reliably. Further, when the pressure in each of the air chambers 38a to 38d decreases from P2 to P1, the sponge material 40 expands in the radial direction and absorbs a small amount of liquid between the sponge material 40 and the inner wall. As a result, the coefficient of friction of the sponge material 40 against the inner wall of the digestive tract 65 can be further increased.

[Second Embodiment]
Next, the endoscope propulsion apparatus 68 according to the second embodiment of the present invention will be described with reference to FIG. Since the endoscope propulsion apparatus 14 according to the first embodiment is inserted directly into the digestive tract 65, it is necessary to perform a cleaning / disinfecting process after the endoscopic examination. On the other hand, the endoscope propulsion apparatus 68 shown in FIG. 16A is covered with a disposable dirt prevention cover 69. The endoscope propulsion apparatus 68 has basically the same configuration as the endoscope propulsion apparatus 14 of the first embodiment except that the sponge material 40 is provided on the antifouling cover 69. The same functions and configurations as those of the first embodiment are denoted by the same reference numerals, and the description thereof is omitted.

  The dirt prevention cover 69 includes a substantially cylindrical cover main body 69a formed longer in the insertion portion axial direction than the endoscope propulsion device 68, and a sponge material 40 provided on the outer peripheral surface of the cover main body 69a. The cover body 69a is made of, for example, natural rubber or synthetic rubber. Both ends of the cover main body 69a are bounded by a piano wire 70, for example. Thereby, an airtight space is formed inside the cover main body 69a, and the liquid in the digestive tract 65 is prevented from adhering to the outer periphery of the endoscope propulsion device 68.

  A plurality of sponge members 40 are provided at equal intervals above the position (indicated by a one-dot chain line in the figure) that becomes the apex when each of the balloons 36a to 36d is expanded in diameter, and along the circumferential direction of the cover body 69a. It has been. Here, each of the balloons 36a to 36d expands and contracts in the axial direction of the insertion portion or expands in the axial direction of the insertion portion in four types of patterns as shown in FIGS. For this reason, in this embodiment, the position of the vertex when the diameter of the second and third balloons 36b and 36c is expanded is shifted in the insertion portion axial direction.

  Therefore, the insertion portion axial length of the sponge material 40 on the second and third balloons 36b and 36c is formed to a length that can cover the movement range of the apex when the diameters of the second and third balloons 36b and 36c are expanded. is doing. Thereby, as shown in FIGS. 17A and 17B, for example, even when the position of the vertex when the diameter of the second balloon 36b is deviated, the sponge material 40 is positioned on each vertex. Therefore, as in the first embodiment, when the diameter of the second balloon 36b is expanded, the sponge material 40 on the apex thereof is in a compressed state (see FIG. 13), so that the inner wall of the digestive tract 65 is High frictional resistance can be ensured. On the other hand, when the diameter of the second balloon 36b is reduced, the sponge material 40 on the apex of the second balloon 36b is in an uncompressed state (see FIG. 14), so that the frictional resistance against the inner wall of the digestive tract 65 can be lowered.

  In addition, the operation pattern of each balloon 36a-36d when each expansion-contraction unit 28a-28d carries out a peristaltic movement is the pattern described in the said FIG. 11 (A)-(E) and the said FIG. 16 (B)-(E). The operation pattern is not limited, and other operation patterns may be employed (the same applies to the first embodiment). In addition, even when the number of extendable units constituting the endoscope propulsion device 68 is changed, the operation pattern of each balloon can be changed as appropriate. In this way, when changing the operation pattern of each balloon, the insertion portion axial length of the sponge material 40 on each balloon is formed to a length that can cover the movement range of the apex when each balloon is expanded. do it.

  In the second embodiment, the disposable dirt prevention cover 69 has been described as an example of the cover that covers the endoscope propulsion device 68. However, if the cover covers the endoscope propulsion device 68, its type and shape are used. -The material is not particularly limited.

  In each of the above-described embodiments, description has been made by taking as an example an expansion unit that includes a balloon that expands by pressurization from the inside and contracts in the axial direction of the insertion portion. However, the expansion unit includes an expansion member other than the balloon. The present invention can also be applied to.

  For example, as shown in FIG. 18A, the expansion / contraction unit 73 includes a substantially annular cap 74 fixed to the insertion portion distal end portion 16a, a rear end side of the insertion portion 16 with respect to the cap 74, and the insertion portion 16. A substantially annular slide ring 75 that is slidably attached along the outer periphery of the insertion portion 16 and is provided at regular intervals along the circumferential direction of the insertion portion 16 between the cap 74 and the slide ring 75, and one end is attached to the cap 74. The other end is composed of a plurality of rod-like elastic bodies (expansion members) 76 attached to the slide ring 75.

  Each rod-like elastic body 76 is formed of an elastic material such as metal, and is attached to the cap 74 and the slide ring 75 in a curved state so as to be convex in the radial direction of the insertion portion 16. Then, when the slide member 75 is pressed and slid toward the cap 74 by the operation member 77 connected to the slide ring 75, as shown in FIG. 18B, each rod-like elastic body 76 is further convex. To bend. Further, when the pressing by the operating member 77 is released in this state, the slide ring 75 is slid to the rear end side of the insertion portion by the elastic restoring force of each rod-like elastic body 76 and the bending amount of each rod-like elastic body 76 is small. Thus, the original state shown in (A) is restored.

  Thus, the expansion / contraction unit 73 can also be switched between a diameter-expanded state and a diameter-reduced state in the same manner as each of the expandable units 28a to 28d. For this reason, the effect similar to the said 1st Embodiment is acquired by providing the sponge material 40 in the vertex of each rod-shaped elastic body 76, respectively. By providing a plurality of such extendable units 73 along the axial direction of the insertion portion 16, the insertion portion 16 can be propelled within the digestive tract 65. In addition, the expansion-contraction unit 73 demonstrated in the said FIG. 18 is an example, You may change the structure and the kind of expansion member suitably.

  In each of the above embodiments, the sponge material 40 is provided on the balloons 36a to 36d, the dirt prevention cover 69, and the rod-like elastic body 76. However, the sponge material 40 is particularly limited as long as it is a porous material that can expand and contract in the radial direction and absorbs water. Not done. In such a porous material (friction material), a porous material 79 in which holes 79a as shown in FIG. 19A are connected, and a hole 80a as shown in FIG. There are two types of porous material 80 that are not connected, either of which may be used. Since the porous material 79 has higher water absorption than the porous material 80, the former is preferably used when it is desired to reduce the friction coefficient against the inner wall of the digestive tract 65 as much as possible.

  In the said 1st and 2nd embodiment, although the cylindrical expansion-contraction body 36 (refer FIG. 2) is ligated by the piano wire 37, the 1st-4th balloons 36a-36d are formed, but each 1st-1st The four balloons 36a to 36d may be attached separately.

  In the first and second embodiments, the endoscope propulsion devices 14 and 68 are configured by the four expansion / contraction units 28a to 28d. However, the endoscope propulsion device is configured by three or five or more expansion / contraction units. May be. 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.

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 40 Sponge material 66 Liquid layer 69 Dirt prevention cover

Claims (11)

A propulsion mechanism for the insertion portion that is fixed to the distal end of an insertion portion of an endoscope that is inserted into a duct, and that expands in the radial direction of the insertion portion and contracts in the axial direction of the insertion portion. A plurality of expansion members are provided along the axial direction that can be switched to a diameter state and a diameter-reduced state that contracts in the radial direction and expands in the axial direction, and the expansion members are expanded and contracted in a predetermined order. A propulsion mechanism for propelling the insertion portion in the pipeline by allowing
It consists of a porous member that is expandable / contractable and has a liquid-absorbing property disposed on the outer peripheral surface side of the expansion member, and is pressed between the expansion wall and the inner wall of the pipe line when the expansion member is in the expanded state. When the expansion member is compressed in the radial direction, the surface of the porous member is directly pressed against the inner wall of the pipe line, and the expansion member is released from the radial compression when the expansion member is in a reduced diameter state. A friction material in which the porous member absorbs a surrounding liquid and reduces a coefficient of friction with the inner wall of the conduit;
An endoscope propulsion apparatus comprising:   2. The friction material absorbs the liquid in the pipe line when the expansion member is in the reduced diameter state, and forms the liquid layer on the surface facing the inner wall. The endoscope propulsion device described.   The friction material is compressed in the radial direction between the outer surface of the expansion member and the inner wall when the expansion member is switched from the reduced diameter state to the expanded diameter state, and water is absorbed in the friction material. The endoscope propulsion apparatus according to claim 2, wherein the liquid that has been discharged is discharged into the conduit.   The endoscope propulsion apparatus according to any one of claims 1 to 3, wherein the friction material is provided at a portion located at a vertex of the expansion member in the expanded diameter state. A substantially cylindrical cover covering the outer periphery of the propulsion mechanism;
The endoscope according to any one of claims 1 to 3, wherein the friction material is provided on the outer surface of the cover and at a position corresponding to the apex of the expansion member in the expanded diameter state. Propulsion device.   The propulsion mechanism is positioned at both ends of the telescopic tube in the expansion member, the telescopic tube that is inserted through the insertion portion and is extendable in the axial direction, the substantially cylindrical expansion member that covers the outer periphery of the expansion tube, and the expansion member. Fixing portions to the telescopic tube, fixing means for forming a sealed space between an inner periphery of the expansion member and an outer periphery of the telescopic tube, and expanding the expansion member relative to the sealed space The endoscope propulsion apparatus according to any one of claims 1 to 5, wherein a plurality of expansion / contraction units including a supply / discharge tube for supplying and discharging fluid are connected in the axial direction. When the pressure in the sealed space when the expansion member is in the expanded state is P1,
When switching the expansion member from the reduced diameter state to the expanded diameter state, the pressure of the fluid into the sealed space is such that the pressure in the sealed space once rises to P2 larger than P1 and then drops to P1. 7. The endoscope propulsion apparatus according to claim 6, further comprising supply / discharge control means for controlling supply / discharge.   The endoscope propulsion apparatus according to claim 6 or 7, wherein the expansion member is a balloon.   The endoscope propulsion apparatus according to any one of claims 1 to 8, wherein the friction material is made of a sponge material. An endoscope cover that covers the propulsion mechanism of the insertion portion fixed to the distal end of the insertion portion of the endoscope that is inserted into the duct;
The propulsion mechanism can be switched between a diameter-expanded state that expands in the radial direction of the insertion portion and contracts in the axial direction of the insertion portion, and a diameter-reduced state that contracts in the radial direction and expands in the axial direction. A plurality of expansion members along the axial direction, and a propulsion mechanism for propelling the insertion portion in the pipe line by expanding and contracting each expansion member in a predetermined order.
A substantially cylindrical cover body having a length covering the whole from the front end to the rear end of the propulsion mechanism;
It consists of a porous member that is expandable / contractible and has a liquid absorbing property provided on the outer surface of the cover body and corresponding to the apex of the expanded member in the expanded diameter state, and the expanded member is in the expanded diameter state. Sometimes, the surface of the porous member is directly pressed against the inner wall of the pipe line by being pressed between the inner wall of the pipe line and compressed in the radial direction of the expansion member, and the expansion member is in a reduced diameter state. The expansion member is released from being compressed in the radial direction, and the porous member absorbs the surrounding liquid and reduces the coefficient of friction with the inner wall of the conduit. Endoscope cover. A friction material for an endoscope used in the propulsion mechanism of the insertion portion fixed to the distal end of the insertion portion of the endoscope that is inserted into a duct;
The propulsion mechanism can be switched between a diameter-expanded state that expands in the radial direction of the insertion portion and contracts in the axial direction of the insertion portion, and a diameter-reduced state that contracts in the radial direction and expands in the axial direction. A plurality of expansion members along the axial direction, and a propulsion mechanism for propelling the insertion portion in the pipe line by expanding and contracting each expansion member in a predetermined order.
It consists of a porous member that is expandable / contractable and has a liquid-absorbing property disposed on the outer peripheral surface side of the expansion member, and is pressed between the expansion wall and the inner wall of the pipe line when the expansion member is in the expanded state. When the expansion member is compressed in the radial direction, the surface of the porous member is directly pressed against the inner wall of the pipe line, and the expansion member is released from the radial compression when the expansion member is in a reduced diameter state. A friction material for an endoscope, wherein the porous member absorbs a surrounding liquid and reduces a coefficient of friction with an inner wall of the duct.

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