JP2012100926A - Body cavity insertion instrument - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a body cavity insertion instrument for normally fixedly adjusting the tension of wires for bending a bending part without performing complicated work.SOLUTION: An endoscope 1 includes: an insertion part 2 having the bending part 6 for performing a bending operation, and to be inserted into a body cavity; an operation part 3 arranged closer to the proximal end compared with the insertion part 2; and the wires 28A, 28B whose distal ends are connected to the bending part 6 so as to bend the bending part 6 by being pulled or loosened. The endoscope 1 also includes: a pulley 27 to which the proximal ends of the wires 28A, 28B are connected and which pulls or loosens the wires 28A, 28B by rotating with a rotational axis as a center; a mobile unit 15 arranged in the operation part 3 so as to be movable by self weight; and an electromagnetic clutch 13 to change an actuation state between the first actuation state for regulating the movement of the mobile unit 15 and the second actuation state for not regulating the movement of the mobile unit 15.

Description

  The present invention relates to a body cavity insertion device used by being inserted into a body cavity such as an endoscope and a treatment tool.

  An intra-body-cavity insertion instrument such as an endoscope includes an insertion portion that includes a bending portion that performs a bending operation, and an operation portion that is provided on the proximal direction side of the insertion portion. The operation unit is provided with a bending operation input unit for inputting a bending operation of the bending unit. A pulley is provided inside the operation unit. A base end of a pair of wires is connected to the pulley. The tip of each wire is connected to the bending portion. When the bending portion is bent, the pulley is rotated by inputting a bending operation at the bending operation input portion. As the pulley rotates, one wire is pulled and the other wire is relaxed. As each wire is pulled or relaxed, the bending portion is bent.

  In such an intra-body-cavity insertion instrument, the bending portion is repeatedly bent, so that the wire is slackened, and the bending characteristic of the bending portion with respect to the bending operation changes. For this reason, it is important to adjust the tension of the wire. Patent Document 1 discloses a tension adjusting device that adjusts the tension of a wire. In this tension adjusting device, the wire extending from the insertion portion is hung on the roller, and the proximal end of the wire is connected to the pulley. And the tension | tensile_strength of a wire is adjusted by adjusting the position of a roller about the extending direction of a wire.

Japanese Patent Laid-Open No. 8-19511

  In the tension adjusting device of Patent Document 1, the position adjustment of the roller is performed manually. For this reason, the operation | work which adjusts the tension | tensile_strength of a wire becomes complicated. Further, since the position of the roller is manually adjusted, it is difficult to always adjust the wire tension to be constant. When the tension of the wire changes, the bending characteristics of the bending portion with respect to the bending operation also change. For this reason, the operativity of bending operation will fall.

  The present invention has been made paying attention to the above-mentioned problems, and the object of the present invention is to be able to adjust the tension of the wire that bends the bending portion to be always constant without performing complicated work. It is to provide an insertion instrument.

  In order to achieve the above object, according to an aspect of the present invention, an bending portion that performs a bending operation, an insertion portion that is inserted into a body cavity, an operation portion that is provided on a proximal side from the insertion portion, and a distal end are provided. A wire that is connected to the bending portion and that bends or relaxes to bend the bending portion and a base end of the wire that is connected and rotates around a rotation axis to pull or relax the wire. A moving unit that is provided in the operation unit so as to be movable by its own weight; a first operating state that is provided in the operation unit and restricts movement of the moving unit; and a second that does not restrict movement of the moving unit. A body cavity insertion device comprising: a restricting portion whose operating state changes between the operating state of

  In this intra-body-cavity insertion instrument, the operation unit includes a bending operation input unit that inputs a bending operation of the bending unit, and the moving unit is electrically connected to the bending operation input unit, and the bending operation input unit A drive member that is rotated by the bending operation at a position, and a rotation transmission unit that transmits the rotation of the drive member to the pulley. In this case, the pulley moves along a movement axis that is parallel to the extending direction at the proximal end side of the wire and perpendicular to the rotation axis of the pulley, and the drive member is It is preferable that the rotating shaft of the driving member coincides with the moving shaft of the pulley.

  The moving unit includes a bending operation input unit that inputs a bending operation of the bending unit, and a transmission member that transmits the bending operation at the bending operation input unit to the pulley and rotates the pulley. Also good.

  Further, the pulley moves along a moving axis that is parallel to an extending direction at a portion on the proximal end side of the wire and is orthogonal to the rotation axis of the pulley, and the moving unit includes the pulley It is preferable that the center of gravity is located on the moving axis.

  According to the present invention, it is possible to provide an intra-body-cavity insertion instrument that can always adjust the tension of a wire that bends a bending portion to be constant without performing complicated work.

1 is a perspective view showing an endoscope according to a first embodiment of the present invention. The block diagram which shows the endoscope which concerns on 1st Embodiment. Sectional drawing which shows the structure inside the operation part of the endoscope which concerns on 1st Embodiment. IV-IV sectional view taken on the line of FIG. The flowchart which shows the method to adjust the tension | tensile_strength of the 1st wire and 2nd wire of the endoscope which concerns on 1st Embodiment. Sectional drawing which shows the structure inside the operation part of the endoscope which concerns on the 2nd Embodiment of this invention. VII-VII line sectional drawing of FIG. Sectional drawing which shows the structure inside the operation part of the endoscope which concerns on the 3rd Embodiment of this invention. IX-IX sectional view taken on the line of FIG. Sectional drawing which shows the structure inside the operation part of the endoscope which concerns on the modification of 3rd Embodiment.

(First embodiment)
A first embodiment of the present invention will be described with reference to FIGS. FIG.1 and FIG.2 is a figure which shows the endoscope 1 which is a body cavity insertion instrument. As shown in FIG. 1, the endoscope 1 includes an insertion portion 2 that is inserted into a body cavity, and an operation portion 3 that is provided on the proximal direction side of the insertion portion 2. One end of a universal cord 4 is connected to the operation unit 3. The other end of the universal cord 4 is connected to an external device (not shown) such as an image processing device or a light source device via a scope connector (not shown).

  The insertion portion 2 is an elongated flexible tube portion 5, a bending portion 6 that is provided on the distal direction side with respect to the flexible tube portion 5 and performs a bending operation, and a distal end rigid portion 7 that is provided on the distal direction side with respect to the bending portion 6. Is provided. The distal end rigid portion 7 is provided with an image sensor (not shown) for imaging a subject.

  The operation unit 3 includes an operation unit casing 10 that is an exterior, and a joystick 8 that is a bending operation input unit that inputs a bending operation of the bending unit 6. Further, the operation unit 3 is provided with a clutch operation button 9 which is a restriction operation input unit for inputting an operation of the electromagnetic clutch 13 (see FIG. 2).

  As shown in FIG. 2, the joystick 8 and the clutch operation button 9 are electrically connected to a control unit 11 provided inside the operation unit 3. Inside the operation unit 3, there are provided a moving unit 15 that can be moved by its own weight and an electromagnetic clutch 13 that is a restricting unit that restricts the movement of the moving unit 15. The moving unit 15 includes a motor 16 that is a driving member. The control unit 11 is electrically connected to the electromagnetic clutch 13 and the motor 16 of the moving unit 15. Due to such a configuration, the joystick 8 as the bending operation input unit and the motor 16 as the driving member are electrically connected. In addition, the clutch operation button 9 that is the restriction operation input unit and the electromagnetic clutch 13 that is the restriction unit are electrically connected.

  3 and 4 are diagrams showing an internal configuration of the operation unit 3. As shown in FIG. 3, a support member 21 and a support member 22 are provided inside the operation unit 3 in a state of being fixed to the operation unit casing 10. Further, a frame 23 and a frame 24 are provided inside the operation unit casing 10 in a state of being fixed to the support member 21 and the support member 22.

  The moving unit 15 is attached to the frame 24 so as to be movable in the direction of the arrow A1 or the arrow A2 in FIG. The moving unit 15 includes a motor 16 and a gear box 17. The moving unit 15 includes a first gear 25 connected to the motor 16, a second gear 26 that meshes with the first gear 25, and a pulley 27 connected to the second gear 26. The first gear 25, the second gear 26 and the pulley 27 are provided inside the gear box 17. The first gear 25 is provided coaxially with the motor 16. The second gear 26 and the pulley 27 are provided coaxially with each other, and are provided to be rotatable around an axis perpendicular to the axis of the motor 16. Due to such a configuration, the motor 16 is driven and rotated, whereby the first gear 25 and the second gear 26 rotate. The pulley 27 rotates about an axis perpendicular to the axis of the motor 16. That is, the first gear 25 and the second gear 26 serve as a rotation transmission unit that transmits the rotation of the motor 16 to the pulley 27.

  To the pulley 27, the proximal ends of the first wire 28A and the second wire 28B are connected. A pulley 29 is fixed to the support member 21. The first wire 28 </ b> A and the second wire 28 </ b> B are hung on the pulley 29 and extend from the inside of the operation unit 3 to the inside of the insertion unit 2. Inside the flexible tube portion 5, the first wire 28A is inserted through the first coil pipe 31A. Similarly, the second wire 28B is inserted through the second coil pipe 31B inside the flexible tube portion 5. The frame 23 is fixed with a coil stopper 32A to which the proximal end of the first coil pipe 31A is connected and a coil stopper 32B to which the proximal end of the second coil pipe 31B is connected. As shown in FIG. 2, the tips of the first wire 28 </ b> A and the second wire 28 </ b> B are connected to the bending portion 6. Due to such a configuration, when the pulley 27 rotates in one direction of rotation, the first wire 28A is pulled and the second wire 28B is relaxed. Thereby, the bending part 6 curves in the direction of arrow B1 of FIG. On the other hand, when the pulley 27 rotates in the other direction of rotation, the first wire 28A is relaxed and the second wire 28B is pulled. Thereby, the bending part 6 curves in the direction of arrow B2 of FIG.

  As shown in FIG. 3, the electromagnetic clutch 13 that is a restricting portion is attached to the operation portion casing 10. The electromagnetic clutch 13 responds to the clutch operation (regulation operation) by the clutch operation button 9 in a first operation state (state indicated by a solid line in FIG. 3) for restricting the movement of the movement unit 15 and the movement of the movement unit 15. The operation state changes between the second operation state (state indicated by the dotted line in FIG. 3) that does not regulate the state (arrow C1 and arrow C2 in FIG. 3). In the first operating state, the electromagnetic clutch 13 presses the gear box 17 of the moving unit 15 toward the frame 24. Thereby, the movement unit 15 is clamped between the electromagnetic clutch 13 and the frame 24, and the movement of the movement unit 15 is regulated. On the other hand, in the second operating state, the electromagnetic clutch 13 does not contact the moving unit 15 and does not restrict the movement of the moving unit 15. Therefore, the moving unit 15 moves in the direction of the arrow A1 in FIG.

  Next, the operation of the endoscope 1 of the present embodiment will be described. In the endoscope 1, the motor 16 that is a driving member is driven and rotated by a bending operation with the joystick 8 that is a bending operation input unit. As the motor 16 rotates, the pulley 27 rotates via the first gear 25 and the second gear 26. As the pulley 27 rotates in one direction of rotation, the first wire 28A is pulled and the second wire 28B is relaxed. Thereby, the bending part 6 curves in the direction of arrow B1 of FIG. On the other hand, when the pulley 27 rotates in the other direction of rotation, the first wire 28A is relaxed and the second wire 28B is pulled. Thereby, the bending part 6 curves in the direction of arrow B2 of FIG.

  FIG. 5 is a flowchart showing a method of adjusting the tension of the first wire 28A and the second wire 28B. When the bending portion 6 is bent, the electromagnetic clutch 13 is operated in the first operating state, and the movement of the moving unit 15 is restricted. When adjusting the tension of the first wire 28A and the second wire 28B, the clutch operation button 9 that is a restriction operation input unit is pressed (step S101). And the control part 11 detects the clutch operation with the clutch operation button 9 as an electrical signal (step S102). Then, an electric signal is transmitted from the control unit 11 to the electromagnetic clutch 13 which is a restriction unit (step 103). The electromagnetic clutch 13 receives the electrical signal from the control unit 11 and changes its operating state from the first operating state to the second operating state (step S104). Thereby, the electromagnetic clutch 13 does not regulate the movement of the moving unit 15, and the moving unit 15 moves in the direction of the arrow A1 in FIG. 3 due to its own weight (step S105). By the movement of the moving unit 15, the tension of the first wire 28A and the second wire 28B whose base ends are connected to the pulley 27 of the moving unit 15 is adjusted (step S106). At this time, since the mass of the moving unit 15 is constant, the first wire 28A and the second wire 28B are always adjusted to a constant tension.

  When the first wire 28A and the second wire 28B are adjusted to a constant tension, the pressing of the clutch operation button 9 is stopped (step S107). And the control part 11 detects the clutch operation with the clutch operation button 9 as an electric signal (step S108). Then, an electric signal is transmitted from the control unit 11 to the electromagnetic clutch 13 which is a restriction unit (step 109). The electromagnetic clutch 13 receives the electrical signal from the control unit 11 and changes its operating state from the second operating state to the first operating state (step S110). As a result, the electromagnetic clutch 13 presses the gear box 17 of the moving unit 15 toward the frame 24. And the movement unit 15 is clamped between the electromagnetic clutch 13 and the flame | frame 24, and the movement of the movement unit 15 is controlled (step S111).

  Therefore, the endoscope 1 having the above configuration has the following effects. That is, in the endoscope 1 according to the present embodiment, the electromagnetic clutch 13 does not restrict the movement of the moving unit 15 when the electromagnetic clutch 13 that is the restricting portion is in the second operating state. For this reason, the moving unit 15 moves due to its own weight, and the tension of the first wire 28A and the second wire 28B whose base ends are connected to the pulley 27 of the moving unit 15 is adjusted. At this time, since the mass of the moving unit 15 is constant, the first wire 28A and the second wire 28B are always adjusted to a constant tension. As described above, the tension of the first wire 28A and the second wire 28B that bend the bending portion 6 can be always adjusted to be constant without performing complicated work.

  In the endoscope 1, the moving unit 15 pulls or pulls the first wire 28 </ b> A and the second wire 28 </ b> B by rotating with the motor 16 that rotates by a bending operation with the joystick 8 that is a bending operation input unit. Accommodates the pulley 27 that relaxes, the first gear 25 and the second gear 26 that are rotation transmission units that transmit the rotation of the motor 16 to the pulley 27, and the first gear 25, the second gear 26, and the pulley 27. And a gear box 17 to be used. That is, the moving unit 15 is composed of members necessary for bending the bending portion 6. For this reason, in order to adjust the tension | tensile_strength of the 1st wire 28A and the 2nd wire 28B, it is not necessary to provide a weight separately, for example. Therefore, the internal configuration of the operation unit 3 can be simplified and the endoscope 1 can be downsized.

(Modification of the first embodiment)
In the first embodiment, the electromagnetic clutch 13 is changed to the second operating state by pressing the clutch operation button 9 that is the restriction operation input unit, and the electromagnetic clutch 13 is in the first operation state without pressing the clutch operation button 9. However, the present invention is not limited to this. For example, two clutch operation buttons may be provided as the restriction operation input unit. In this case, the electromagnetic clutch 13 changes to the first operating state by pressing one of the two clutch operation buttons. Further, by pressing the other of the two clutch operation buttons, the electromagnetic clutch 13 changes to the second operating state.

(Second Embodiment)
Next, a second embodiment of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected about the part which has the same function as 1st Embodiment, and the same function, and the description is abbreviate | omitted.

  6 and 7 are diagrams illustrating an internal configuration of the operation unit 3 according to the present embodiment. As shown in FIGS. 6 and 7, the operation unit 3 is provided with a moving unit 40 that can be moved by its own weight and a fixed knob 41 that is a restricting unit that restricts the movement of the moving unit 40. The moving unit 40 is attached to the frame 24 so as to be movable in the direction of the arrow A1 or the direction of the arrow A2 in FIG. The moving unit 40 includes a pulley 27 as in the first embodiment. To the pulley 27, the proximal ends of the first wire 28A and the second wire 28B are connected. The moving unit 40 includes a moving frame 42 that is movably attached to the frame 24. In addition, the moving unit 40 includes an angle knob 43 that is a bending operation input unit, and a transmission member 45 that transmits the bending operation at the angle knob 43 to the pulley 27 and rotates the pulley 27. The transmission member 45 is attached to the moving frame 42 so as to be rotatable about the axis of the pulley 27. Due to such a configuration, the pulley 27 is rotated via the transmission member 45 by a bending operation with the angle knob 43.

  As shown in FIG. 6, the fixed knob 41 that is a restricting portion is attached to the operation portion casing 10. The fixed knob 41 is operated by the operator in a first operation state (state indicated by a solid line in FIG. 6) that restricts movement of the movement unit 40 and in a second operation state that does not restrict movement of the movement unit 40 (FIG. 6). (The state indicated by the dotted line) in FIG. In the first operating state, the fixed knob 41 contacts the moving frame 42 of the moving unit 40 and locks the moving frame 42. Thereby, the movement of the movement unit 40 is controlled. On the other hand, in the second operating state, the fixed knob 41 does not contact the moving unit 40 and does not restrict the movement of the moving unit 40. For this reason, the moving unit 40 moves in the direction of arrow A1 in FIG.

  Next, the operation of the endoscope 1 of the present embodiment will be described. In the endoscope 1, when the bending portion 6 is bent, the fixed knob 41 is operated to the first operating state, and the movement of the moving unit 40 is restricted. When adjusting the tension of the first wire 28A and the second wire 28B, the fixing knob 41 is changed from the first operating state to the second operating state by the operator's operation. Accordingly, the fixed knob 41 does not regulate the movement of the moving unit 40, and the moving unit 40 moves in the direction of the arrow A1 in FIG. By the movement of the moving unit 40, the tension of the first wire 28A and the second wire 28B whose base ends are connected to the pulley 27 of the moving unit 40 is adjusted. At this time, since the mass of the moving unit 40 is constant, the first wire 28A and the second wire 28B are always adjusted to a constant tension.

  When the first wire 28A and the second wire 28B are adjusted to a constant tension, the fixing knob 41 is changed from the second operating state to the first operating state by the operator's operation. As a result, the fixed knob 41 contacts the moving frame 42 of the moving unit 40 and locks the moving frame 42. And the movement of the movement unit 40 is controlled.

  Therefore, the endoscope 1 having the above configuration has the following effects. That is, in the endoscope 1 of the present embodiment, the fixed knob 41 does not restrict the movement of the moving unit 40 when the fixed knob 41 that is the restricting portion is in the second operating state. For this reason, the moving unit 40 moves due to its own weight, and the tension of the first wire 28A and the second wire 28B whose base ends are connected to the pulley 27 of the moving unit 40 is adjusted. At this time, since the mass of the moving unit 40 is constant, the first wire 28A and the second wire 28B are always adjusted to a constant tension. As described above, the tension of the first wire 28A and the second wire 28B that bend the bending portion 6 can be always adjusted to be constant without performing complicated work.

  In the endoscope 1, the moving unit 40 includes an angle knob 43 that is a bending operation input unit, a pulley 27 that pulls or relaxes the first wire 28A and the second wire 28B by rotation, and an angle knob. 43 includes a transmission member 45 that transmits the bending operation at 43 to the pulley, and a moving frame 42 to which the transmission member is attached. That is, the moving unit 40 is composed of members necessary for bending the bending portion 6. For this reason, in order to adjust the tension | tensile_strength of the 1st wire 28A and the 2nd wire 28B, it is not necessary to provide a weight separately, for example. Therefore, the internal configuration of the operation unit 3 can be simplified and the endoscope 1 can be downsized.

(Third embodiment)
Next, a third embodiment of the present invention will be described with reference to FIGS. In addition, the same code | symbol is attached | subjected about the part which has the same function as 1st Embodiment, and the same function, and the description is abbreviate | omitted.

  8 and 9 are diagrams illustrating an internal configuration of the operation unit 3 according to the present embodiment. As shown in FIG. 8, a moving unit 50 that can move due to its own weight and an electromagnetic clutch 13 that is a restricting portion that restricts the movement of the moving unit 50 are provided inside the operation unit 3. The moving unit 50 is attached to the frame 24 so as to be movable in the direction of arrow A1 or arrow A2. That is, in the present embodiment, unlike the moving unit 15 of the first embodiment, the motor 16 is attached to the frame 24 instead of the support member 21. In addition, the structure which transmits rotation of the motor 16 to the pulley 27 via the 1st gear 25 and the 2nd gear 26 is the same as that of the movement unit 15 of 1st Embodiment.

  As shown in FIGS. 8 and 9, the first wire 28A and the second wire 28B between the pulley 27 and the pulley 29 are parallel to the extending direction of the first wire 28B and perpendicular to the rotation axis S1 of the pulley 27. A moving axis S2 of the pulley 27 is defined. That is, the pulley 27 is parallel to the extending direction of the first wire 28 </ b> A and the second wire 28 </ b> B at the proximal direction side and along the movement axis S <b> 2 orthogonal to the rotation axis S <b> 1 of the pulley 27. Moving. Here, the center of gravity G of the moving unit 50 is located on the moving axis S <b> 2 of the pulley 27.

  Therefore, in addition to the same effects as those of the first embodiment, the endoscope 1 configured as described above has the following effects. For example, when the center of gravity G of the moving unit 50 is located away from the moving axis S2 of the pulley 27, a rotational moment is generated when the moving unit 50 moves. For this reason, the movement of the pulley 27 to which the proximal ends of the first wire 28A and the second wire 28B are connected is hindered by the rotational moment. However, in the endoscope 1 of the present embodiment, the center of gravity G of the moving unit 50 is located on the moving axis S <b> 2 of the pulley 27. For this reason, no rotational moment is generated when the moving unit 50 moves, and the movement of the pulley 27 is not hindered. Therefore, the operability of the operation of adjusting the tension of the first wire 28A and the second wire 28B can be improved.

(Modification of the third embodiment)
FIG. 10 is a diagram illustrating an internal configuration of the operation unit 3 of the endoscope 1 according to a modified example of the third embodiment. As shown in FIG. 10, in this modification, the movement axis S <b> 2 of the pulley 27 coincides with the rotation axis S <b> 3 of the motor 16. Among the moving units 50, the motor 16 is the member having the largest mass. For this reason, by making the movement axis S2 of the pulley 27 coincide with the rotation axis S3 of the motor 16, the same effect as that of the third embodiment can be obtained. That is, no rotational moment is generated when the moving unit 50 moves, and the movement of the pulley 27 is not hindered.

(Other variations)
In the first embodiment and the third embodiment, the moving units 15 and 50 include the motor 16, the first gear 25, the second gear 26, the pulley 27, and the gear box 17, In the second embodiment, the moving unit 40 includes the angle knob 43, the pulley 27, the transmission member 45, and the moving frame 42, but is not limited thereto. That is, in the moving unit (15, 40, 50), the proximal ends of the first wire 28A and the second wire 28B are connected, and the first wire 28A and the second wire 28B are pulled or relaxed by a rotating operation. A pulley 27 may be provided.

  In the above-described embodiment, the bending portion 6 is configured to bend in two directions, but is not limited thereto. For example, even when the bending portion 6 is bent in four directions, a configuration for adjusting the tension of the wires (28A, 28B) described above can be applied.

  Furthermore, in the above-described embodiment, the endoscope 1 has been described as an example of the body cavity insertion instrument, but the present invention is not limited to this. For example, a configuration for adjusting the tension of the wires (28A, 28B) described above can be applied to a treatment instrument, a manipulator, or the like in which a bending portion is provided in the insertion portion.

  The embodiments of the present invention have been described above. However, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the scope of the present invention.

  DESCRIPTION OF SYMBOLS 1 ... Endoscope, 2 ... Insertion part, 3 ... Operation part, 6 ... Bending part, 13 ... Electromagnetic clutch, 15 ... Moving unit, 27 ... Pulley, 28A ... 1st wire, 28B ... 2nd wire.

Claims (5)

An insertion portion that includes a bending portion that performs a bending operation, and is inserted into a body cavity;
An operation portion provided on the proximal direction side from the insertion portion;
A wire whose end is connected to the bending portion and bent or relaxed to bend the bending portion;
A moving unit that is connected to the proximal end of the wire and includes a pulley that pulls or loosens the wire by rotating around a rotation axis;
A regulating unit provided in the operation unit, the operating state changing between a first operating state that restricts movement of the moving unit and a second operating state that does not restrict movement of the moving unit;
A body cavity insertion device. The operation unit includes a bending operation input unit that inputs a bending operation of the bending unit,
The moving unit includes a driving member that is electrically connected to the bending operation input unit and rotates by the bending operation at the bending operation input unit, and a rotation transmission unit that transmits the rotation of the driving member to the pulley. The intra-body-cavity insertion device according to claim 1. The pulley moves along a moving axis that is parallel to the extending direction at the proximal end portion of the wire and perpendicular to the rotation axis of the pulley,
The intra-body-cavity insertion device according to claim 2, wherein the drive member has a rotation axis of the drive member that coincides with the movement axis of the pulley.   The said moving unit is provided with the bending operation input part which inputs the bending operation of the said bending part, and the transmission member which transmits the said bending operation in the said bending operation input part to the said pulley, and rotates the said pulley. Intrabody cavity insertion device. The pulley moves along a moving axis that is parallel to the extending direction at the proximal end portion of the wire and perpendicular to the rotation axis of the pulley,
The intra-body-cavity insertion instrument according to claim 1, wherein the moving unit has a center of gravity located on the moving axis of the pulley.

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