JP2014036723A - Self-propelled connected-capsule endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a self-propelled connected-capsule endoscope: capable of preventing body fluid or the like from entering the interior of a capsule, driven in various directions such as up and down, and right and left directions; and having a function of escaping from a dropping and residence in a diverticulum or a narrow region, a function of applying a medicine to a lesioned part, and a function of imaging the lesioned part from various angles.SOLUTION: A self-propelled connected-capsule endoscope includes: a first capsule provided with a helical structure on an outer periphery and a drive motor in the interior; a second capsule provided with a helical structure with a winding direction reverse to that of the helical structure of the first capsule; and a flexible connecting part connecting the first capsule and the second capsule to each other.

Description

  The present invention relates to a self-propelled capsule endoscope that inspects the inside of the intestinal tract, and more particularly to a self-propelled capsule-coupled endoscope in which capsules are coupled.

  Endoscopes are widely used in the field of medicine and the like for observing a site that cannot be directly observed, such as in a lumen. Such an endoscope is generally configured with an elongated insertion portion, and is inserted into a subject by a user's procedure.

  In general, tube endoscopes that are widely used are limited in the observation range to the esophagus, stomach, duodenum, large intestine, etc., and it is difficult to diagnose and treat diseases in the small intestine located inside. The current situation is. For this reason, imaging methods and specific endoscopic methods are mainly used as small intestine inspection methods currently being implemented.

  Among the imaging methods, in the small intestine fluoroscopy based on contrast examination with barium, there is a problem in that it is difficult to draw a target image because the image of the affected area is folded because the intestine is long. In addition, there is a drawback that it takes time to test and diagnose the disease. CT and MRI tomographic imaging can sufficiently confirm the presence of large lesions, such as the presence of a mass or the degree of intestinal obstruction, but detect mucosal lesions (ulcers, erosions, vascular lesions with bleeding, etc.) on the small intestine surface. I can't.

  On the other hand, regarding the endoscopic method, the double balloon method (see Non-Patent Document 1) and the capsule method (see Non-Patent Document 2) have been widely used at present. In the double balloon method, when the entire small intestine is examined, the oral cavity and the transanus are examined. In general, it is characteristic that endoscopic procedures such as biopsy, endoscopic polypectomy, or balloon dilatation for intestinal stenosis can be performed on the detected lesion as necessary.

  The other capsule method is attracting attention as a non-invasive examination method that is less burdensome and less painful for the subject due to the small size of the capsule endoscope. Recently, the development of a system that swallows a tablet-like capsule equipped with a small camera and transmits the entire image of the inside of the small intestine by wireless communication outside the body has been promoted. Full-scale introduction of endoscopes has begun.

  However, currently used capsule endoscopes cannot self-propel, and in the digestive tract, the main body of the capsule moves due to the movement of the intestinal wall and the peristalsis of the intestine, just like food. It is difficult to control the position and posture of the capsule for observing a lesion at an arbitrary position. As a result, there is a possibility that the lesion image is unclear due to out-of-focus, and a photographing error such as missing a photograph is caused. In addition, after passing through a lesion in the digestive tract, it is impossible to return and observe again, which may cause a problem of diagnosis.

  Furthermore, when the motility function of the digestive tract itself is reduced, the speed of movement in the intestine is reduced, so it may far exceed 8 to 10 hours. The entire small intestine cannot be examined or imaged. There have also been reports of cases where the capsule stays in the diverticulum of the inner wall of the digestive tract, the bent portion of the digestive tract due to a lesion, or the stenosis, and the reliability of the test is not sufficient.

  The self-propelled capsule endoscope was announced in Japan in July 2009, but it can swim underwater previously swallowed in the stomach with a conductive soft actuator fin attached to the conventional capsule (full length). 48 mm), and there are many problems to be solved for use in inspection and diagnosis in the intestinal tract (see Non-Patent Document 3).

  In order to solve these problems, the present inventors provide a propulsion function in the front-rear direction to the capsule endoscope by providing a linear propulsion mechanism including a coil part and a drive part inside the cylindrical capsule. In addition, the inventors have found that it is possible to provide a direction changing function in various directions, and have filed a patent application for a self-propelled capsule endoscope (see Patent Document 1).

  In addition to the linear propulsion mechanism described above, the present inventors also divide the capsule body into two parts in the front-rear direction and apply a spiral structure in opposite directions to the outer periphery of the capsule body, thereby dropping or staying in a diverticulum or stenosis site. And found a paper on self-propelled capsule endoscopes (see Non-Patent Document 4).

  As shown in FIG. 1, the capsule endoscope 100 described in Non-Patent Document 4 uses the driving force of a drive motor 120 provided inside the capsule body 110 as the outer periphery of the cylindrical capsule body 110. A configuration is adopted in which the movement direction of the capsule endoscope 100 is controlled by transmitting to the drive unit 140 having the spiral structure 130 provided in a divided manner and controlling the rotation direction of the drive unit 140 having the spiral structure 130. doing. And since the drive part 140 rotates the circumference | surroundings of the cylindrical capsule main body 110, it is necessary to provide a clearance gap between the drive part 140 and the cylindrical capsule main body 110 so that both can rotate, In addition, since the cylindrical capsule body 110 and the drive unit 140 are made of a rigid body, it is necessary to provide a packing 150 in order to prevent body fluid or the like from entering the capsule endoscope in the body cavity. .

  However, since the packing 150 is provided in the rotating part of the drive part 140 and the cylindrical capsule main body 110, if the adhesion of the packing is enhanced, the frictional force when the drive part 140 rotates is large. As a result, it is necessary to increase the size of the drive motor because it is necessary to increase the output of the drive motor. In addition, due to friction, it becomes difficult to drive the driving unit 140 smoothly, and there is a problem that the driving direction of the capsule endoscope cannot be appropriately controlled. On the other hand, when the adhesion of the packing 150 is lowered, a problem arises that body fluid enters the capsule endoscope through the gap of the packing 150 and the device is likely to break down.

  Further, as shown in FIG. 1, since the capsule body 110 has a cylindrical shape, it needs to be sealed with a packing 150 having substantially the same length as the outer periphery of the capsule body 110. However, even if the adhesiveness of the packing 150 is increased, it is difficult to completely prevent the generation of a gap and the intrusion of body fluid because the frictional force is not constant when the driving unit 140 is rotated. There is a problem that the larger the pivotal movement part, the higher the risk of entering body fluid into the capsule endoscope.

  Further, since the capsule endoscope shown in FIG. 1 is provided with the drive unit 140 at the front and rear outer peripheral portions of the cylindrical capsule body 110, the length of the cylindrical capsule body 110 is inevitably long. As a result, there is a problem that it is difficult to travel through the lower digestive tract having many bent portions.

  On the other hand, a capsule endoscope provided with a camera with a different observation direction is connected with a thin string to make the observation range wider (see Patent Document 2), and an observation window is provided on the side facing the intestinal wall A capsule endoscope (see Patent Document 3) for observing a lesion such as the large intestine by connecting the capsule endoscope to a wire guide is known, but any capsule endoscope has an observation field of view. It does not have a self-running function and does not have a function of applying a drug to a lesioned part.

Japanese Patent Application No. 2011-260020 Japanese Patent Laid-Open No. 2003-38425 JP-A-2005-230445

Tajiri, H.M. What do we see in the endorsement world in 10 years' time? . Digestive Endoscopy. 2007, Vol. 19 (suppl.1), p. 174-179. de Francis, R.D. Rondonotti, E .; Villa, F .; Capsule endoscopy-state of the art. Dig Dis. 2007, Vol. 25, no. 3, p. 249-251. Eijiro Morita, Naotake Otsuka, Yasunori Endo et al., “A trial of making a self-propelled capsule endoscope controlled by a magnetic field”, Gastroenterology, 2009, Vol. 48, No2, p. 177-183 Mizuno Mitsukuni, Yamamoto Tomomi, Mori Hidetoshi, “Development of Capsule Endoscope with Residual Avoidance Function-Steering Characteristics of Residual Avoidance Function”, Medical Engineering, 2011, Vol. 81, No4, p. 259-266

  As a result of earnest research, the present inventors have found that the first capsule provided with a helical structure on the outer periphery and the second capsule provided with a helical structure in the opposite direction to the helical structure of the first capsule, It has been found that by connecting with a flexible connecting portion, a rotating portion that is exposed to body fluid in the body cavity and may intrude into the body fluid can be reduced, and intrusion of the body fluid into the capsule endoscope can be prevented. .

  In addition, when the drive motor is provided only in the first capsule and the driving force of the drive motor can be transmitted to the second capsule via the flexible connecting portion, it is necessary to provide the drive portion inside the second capsule. Since it disappeared, it was newly found that in addition to observation of a lesioned part, examination, treatment, etc. can be performed by providing an imaging device, a chemical solution coating device, a specimen collecting device, and a treatment device. The present invention has been made based on the new knowledge.

  That is, the objective of this invention is providing the self-propelled capsule connection endoscope which connected the capsule. Another object of the present invention is to provide a self-propelled capsule-coupled endoscope that can perform examination, treatment, etc. in addition to observation of a lesion.

  The present invention relates to a self-propelled capsule connection endoscope described below.

(1) A first capsule having a spiral structure on the outer periphery and a drive motor inside, a second capsule having a spiral structure opposite to the spiral structure of the first capsule, and connecting the first capsule and the second capsule. A self-propelled capsule coupling endoscope including a flexible coupling portion.
(2) One end of the flexible connecting portion is inserted into the first capsule through the insertion portion of the first capsule so as to be rotatable with respect to the first capsule, and the drive motor is connected through the gear box. The self-propelled capsule coupling endoscope according to (1), wherein the other end of the flexible coupling portion is fixed to the second capsule.
(3) The self-propelled capsule coupling endoscope according to (1) or (2), wherein the drive motor is fixed in the first capsule.
(4) The imaging device and the illumination device are attached to the first capsule and / or the second capsule so as to be rotatable with respect to the capsule using a bearing. The self-propelled capsule coupling endoscope according to any one of (3).
(5) The self-propelled capsule coupling endoscope according to any one of (2) to (4), wherein a packing is provided in the insertion portion.
(6) The self-propelled capsule according to any one of (1) to (5) above, wherein a chemical liquid application device, a specimen collection device, or a treatment device is provided in the second capsule. Connected endoscope.
(7) A second drive motor is fixed in the second capsule, and the other end of the flexible coupling portion is rotatable with respect to the second capsule through an insertion portion provided in the second capsule. The self-propelled capsule-coupled endoscope according to any one of (1) to (5), wherein the self-propelled capsule-coupled endoscope is inserted so as to be coupled to a rotation shaft of the second drive motor.
(8) The self-propelled capsule coupling endoscope according to (7), wherein a clutch is provided between the drive motor in the first capsule and the drive motor in the second capsule. .

  The self-propelled capsule coupling endoscope of the present invention includes a first capsule provided with a spiral structure on the outer periphery and a drive motor inside, and a second capsule provided with a spiral structure in a direction opposite to the spiral structure of the first capsule. (1) The rotating portion that contacts the body fluid in the body cavity can be made smaller by connecting with the flexible connection portion, and the body fluid can be prevented from entering the capsule endoscope. (2) Since the first and second capsules can be bent along the bent portion in the lower gastrointestinal tract by connecting the first and second capsules with a flexible connecting portion, transanal insertion is performed in addition to oral insertion. However, it is possible to observe the lesion while moving backward in the small intestine in the lower gastrointestinal tract. (3) By providing a drive mechanism with a spiral structure in the opposite direction on the outer periphery, forward, backward, In addition, the small intestinal diverticulum and stenosis (4) Since the driving force of the driving motor provided in the first capsule can be transmitted to the second capsule via the flexible connecting portion, the second capsule can be escaped. Since there is no need to provide a driving unit inside the two capsules, in addition to observation of the lesioned part, such as an imaging device, a chemical solution coating device, a specimen collecting device, and a treatment device, examination, treatment, etc. can be performed. 5) Since it has a self-propelled function, the position and angle of the first and second capsules can be adjusted, and the capsule can be directed to a desired position and angle. The effect of being able to perform treatment etc. correctly is produced.

FIG. 1 is a diagram showing a schematic configuration of a conventional self-propelled capsule endoscope. FIG. 2 is a diagram showing a schematic configuration of the self-propelled capsule coupling endoscope of the present invention. FIG. 3 is a longitudinal sectional view of an example of the self-propelled capsule coupling endoscope of the present invention. FIG. 4 is a diagram showing a schematic configuration in the case where a chemical solution coating apparatus is provided as the second capsule of the self-propelled capsule coupling endoscope of the present invention. FIG. 5 is a diagram showing an outline of the driving principle of the self-propelled capsule coupling endoscope of the present invention. FIG. 6 is a diagram illustrating an example of driving of the self-propelled capsule coupling endoscope of the present invention. FIG. 7 is a diagram showing an example of driving of the self-propelled capsule coupling endoscope of the present invention. FIG. 8 is a diagram showing a schematic configuration when the drive motor 25 is provided in the first and second capsules. FIG. 9 is a diagram illustrating an example of driving when the driving motor 25 is provided in the first and second capsules.

  The self-propelled capsule coupling endoscope of the present invention will be described below with reference to the drawings. FIG. 2 shows an example of a schematic configuration of the self-propelled capsule-coupled endoscope 10. The outer periphery of the first capsule 11 and the second capsule 12 is spiraled in the opposite direction to the other spiral structure. A structure 13 is provided, and the first and second capsules are connected by a flexible connection 14.

  The material of the first capsule 11 and the second capsule 12 is not particularly limited and can be appropriately selected according to the purpose from those commonly used for capsule endoscopes. For example, inorganic materials, and Any organic material can be used. Examples of the inorganic material include glass, silicon, aluminum, stainless steel, gold, silver, zinc, copper, ITO, tin oxide, alumina, and titanium oxide. Examples of the organic material include polyethylene resin, polypropylene resin, polystyrene resin, cellulose diacetate, cellulose triacetate, cellulose propionate, cellulose butyrate, cellulose acetate butyrate, cellulose nitrate, polyethylene terephthalate resin, polycarbonate resin, and polyvinyl acetal. Examples thereof include resins, polyurethane resins, epoxy resins, polyester resins, acrylic resins, polyimide resins, and the like. The organic material may have a functional group such as a hydroxyl group or a carboxyl group introduced to the surface by corona treatment, plasma treatment or the like in order to improve the binding property with the polymerization initiator.

  The spiral structure 13 is not particularly limited as long as it is a material that does not deteriorate due to body fluids or the like in the body cavity and does not damage the intestinal wall or the like due to friction, and examples thereof include silicon, rubber cable with wire, etc. Silicone is particularly preferable from the viewpoint of biocompatibility. The number of spirals of the spiral structure 13 is not particularly limited, but from the viewpoint of running stability, although it depends on the length of the capsule and the width of the spiral structure 13, it is preferably two or more, more preferably three or more.

  Further, the inclination angle 16 of the spiral structure 13 with respect to the uniaxial direction line 15 of the capsule is preferably 10 to 25 degrees, and more preferably 15 to 20 degrees from the viewpoint of driving force.

  The flexible connecting portion 14 is not particularly limited as long as it has flexibility and can transmit the driving force of the driving motor. Resin such as silicon, polyethylene, polyamide, polyester, TiNi alloy, stainless steel, etc. The metal wire etc. are mentioned. Further, the outer periphery of the metal wire may be coated with the resin.

  FIG. 3 is a longitudinal sectional view of an example of the self-propelled capsule coupling endoscope of the present invention. 3, the same numerals as those in FIG. 2 indicate the same configurations as those in FIG. The first capsule 11 includes at least an imaging device 21, an illumination device 22, a bearing 23, a control unit 24, a drive motor 25, a gear box 26, and a changeover switch 27. As the imaging device 21, a CCD camera and a lighting device known in the field such as an LED can be used.

  Although the traveling principle of the self-propelled capsule coupling endoscope of the present invention will be described later, the drive motor 25 needs to be fixed so as not to rotate with respect to the first capsule 11, for example, in the first capsule 11. The inner surface of the first capsule 11 and the outer surface of the drive motor 25 may be fixed with resin or the like. Since the gear box 26 plays a role of transmitting the rotation of the drive motor 25 to the second capsule 12, it needs to be fixed so as not to rotate with respect to the first capsule 11 like the drive motor 25. The drive motor support portion 28 may be provided with a storage portion for the gear box 26, and the gear box 26 may be stored in the storage portion. The storage portion for storing the gear box 26 may be provided separately from the drive motor support portion 28, You may fix the storage part which accommodates the box 26, and the inner surface of the 1st capsule 11 with resin.

  The first capsule 11 rotates due to a reaction when the drive motor 25 is rotated. Therefore, when the imaging device 21 and the illumination device 22 are fixed to the first capsule 11, the imaging device 21 also rotates with the rotation of the first capsule 11, and as a result, the captured image obtained from the imaging device 21 also rotates. Become an image. Therefore, it is preferable that the imaging device 21 and the illumination device 22 that is a light source are supported in the first capsule 11 so as to be rotatable with respect to the first capsule 11 using the bearing 23. The control unit 24 may not be rotated with respect to the first capsule 11.

  The gear box 26 transmits the rotation of the drive motor 25 to the second capsule 12, and the changeover switch 27 can rotate the second capsule 12 in the same direction as the drive motor 25 or in the opposite direction. It can be done. The gear box 26 is not particularly limited as long as the direction of rotation of the drive motor 25 can be transmitted in the forward / reverse direction. For example, in addition to the bevel gear as shown in FIG.

  The gear box 26 shown in FIG. 3 is an example in which the gear ratio is 1: 1, but for example, the gear ratio may be variable in combination with a planetary gear box.

  The flexible connecting portion 14 is inserted into an insertion portion 29 provided in the first capsule 11 so that the flexible connecting portion 14 and the first capsule 11 can rotate. The diameter of the flexible connecting portion 14 is sufficiently smaller than the diameter of the first capsule 11, and when the flexible connecting portion 14 is formed or covered with a soft resin such as silicon, the flexible connecting portion 14 itself Since it plays the role of packing, body fluid or the like is less likely to enter the capsule as compared with the self-propelled capsule endoscope described in Non-Patent Document 4, even if no separate packing is provided in the insertion portion 29. Become. Of course, packing may be provided according to the material, diameter, etc. of the flexible connecting portion 14. The packing may be made of a biocompatible material from known packings such as silicon rubber.

  In order to rotate the second capsule 12 via the flexible connecting portion 14 by the rotational force of the drive motor 25, it is necessary to fix the flexible connecting portion 14 to the second capsule 12. The connecting portion 30 between the flexible connecting portion 14 and the second capsule 12 may be fixed with a biocompatible adhesive or resin.

  The second capsule 12 in FIG. 3 is an example of the present invention and shows an example in which an imaging device is incorporated in the second capsule. The imaging device 21 and the illumination device 22 are shown together with the battery 31, the control unit 32, and the transmission / reception unit 33. However, like the first capsule 11, the bearing 23 is used to support the second capsule 12 so as to be rotatable. In the example shown in FIG. 3, the battery 31 is provided in the second capsule, and the imaging device 21 of the first capsule 11 is connected via an electric wire (not shown) provided in the flexible connecting portion 14. Electricity is supplied to the illumination device 22 and the drive motor 25, but batteries may be provided in each capsule. Alternatively, the battery may not be provided in the capsule, and the power source may be secured from outside the body. For example, the first and second capsules 11 and / or the second capsule may include a power receiving coil unit for adopting wireless power transmission. 12 may be arranged.

  FIG. 4 is a diagram showing a schematic configuration when a chemical liquid application device is provided in the second capsule. When a receiving device (not shown) receives a chemical liquid application command, the spring locking mechanism 41 is released, and the spring becomes a piston. By pressing 42, the chemical solution 43 is released from the second capsule. In addition, although not shown in the drawing, a diagnostic / treatment device including a surgical specimen collection device for biopsy, a surgical instrument such as a snare forceps may be provided as the second capsule.

  Next, the driving principle of the self-propelled capsule coupling endoscope of the present invention will be described. Since the drive motor 25 is fixed to the first capsule 11 as described above, when the rotation shaft of the drive motor 25 is rotated, the first capsule 11 rotates in the opposite direction to the rotation of the rotation shaft by a reaction. On the other hand, the rotation of the rotation shaft of the drive motor 25 is transmitted to the flexible connecting portion 14 via the gear box 26, and the end of the flexible connecting portion 14 is fixed to the second capsule 12. Therefore, the second capsule 12 can be rotated. Since the gear box 26 is provided with a changeover switch 27 that can change the rotation direction, the rotation direction of the second capsule 12 is changed to the rotation direction of the first capsule 11 by switching the changeover switch 27. It can be rotated in the same direction or in the opposite direction.

  FIG. 5 shows an outline of the driving principle of the self-propelled capsule-coupled endoscope of the present invention. FIG. 5 (1) shows the rotation direction of each capsule, and (2) shows the state when each capsule is rotated. Indicates the force vector. When the number of turns, the angle, and the like of the helical structure 13 applied to the outer circumferences of the first capsule 11 and the second capsule 12 are the same and the force generated in the helical structure 13 is equal, as shown in (2), this force is expressed as X and Y If broken down into directional components, the Y-directional components cancel each other as a couple, and only the acting force of the X-directional component acts on the capsule as a resultant force. As a result, the self-propelled capsule-coupled endoscope moves forward in the + X direction. To do. On the other hand, when the rotation directions of the first capsule 11 and the second capsule 12 in FIG. 5A are reversed, they move forward in the −X direction.

  Further, as shown in FIGS. 6A and 6B, when the first capsule 11 and the second capsule 12 are rotated in the same direction, the X-direction component cancels out as a couple, and only the acting force of the Y-direction component is present. Acts on the capsule as a resultant force, and as a result, the self-propelled capsule-coupled endoscope can rotate in the ± Y directions.

  FIG. 7 is a diagram showing an outline of the movement of the self-propelled capsule coupling endoscope when a planetary gear box is provided instead of the bevel gear. For example, when the gear ratio is adjusted so that the rotation speed of the second capsule 12 is larger than the rotation speed of the first capsule 11, the self-propelled capsule coupling endoscope moves forward or backward depending on the rotation direction of the first capsule 11. Although the rotation base point changes due to the force on the head, the rotational component of the second capsule 12 increases, so the Y-direction component increases, and the self-propelled capsule-coupled endoscope is moved in the “rotation” direction shown in FIG. Can be rotated.

  The above example is an example in which the first and second capsules are rotated by one drive motor 25. In consideration of stronger driving force and escape from a diverticulum or stenosis, the self-propelled capsule connection is used. When it is necessary to make the endoscope perform various movements, a drive motor 25 may be provided in the second capsule 12. FIG. 8 shows an example in which the drive motor 25 is provided in the first and second capsules. When the second drive motor 25 is provided in the second capsule 12, the drive motor 25 is provided in the first capsule 11. Similarly, the second drive motor 25 is fixed in the second capsule, and the insertion portion 29 is also provided in the second capsule 12 so that the flexible connecting portion 14 can rotate with respect to the second capsule 12. The flexible capsule 14 is inserted into the second capsule so that the end of the flexible linkage 14 is coupled to the rotation shaft of the second drive motor 25. With the configuration as described above, the two drive motors 25 are connected via the flexible connecting portion 14, and the driving force of the capsule endoscope can be increased. Of course, packing may be provided in the insertion portion 29 provided in the second capsule 12 as necessary.

  Further, when only one capsule of the self-propelled capsule coupling endoscope provided with the drive motor 25 in each of the first and second capsules is to be rotated, it is illustrated at an arbitrary position between the two drive motors 25. By providing a clutch that does not, the rotation of the drive motor 25 of the first capsule 11 or the drive motor 25 of the second capsule 12 may be prevented from being transmitted to the other capsule.

  FIG. 9 is a diagram illustrating an example of the movement of the self-propelled capsule-coupled endoscope when the drive motor 25 of the first capsule 11 is stopped and only the drive motor 25 of the second capsule 12 is driven, for example. As shown in FIG. 7, when the first and second capsules are driven only by the drive motor 25 of the first capsule 11, the first capsule 11 could not be completely stopped even if the gear ratio was changed. However, when the drive motor 25 is provided in each capsule, the capsule can be driven individually.

  Furthermore, since two drive motors 25 are used, for example, the driving force when the self-propelled capsule-coupled endoscope is advanced, retracted, or rotated is doubled, resulting in stronger propulsive force or rotation. Force is obtained, and escape from a diverticulum or a stenosis becomes easy.

  As described above, since the self-propelled capsule coupling endoscope of the present invention has a structure in which the capsules are coupled by the flexible coupling unit 14, the rotating unit that may infiltrate body fluid in the body cavity is provided. The size can be reduced, and unexpected situations such as malfunctions in the body cavity can be avoided. Further, since the rotation direction of the capsule can be switched, the position of the capsule can be finely adjusted around the lesioned part, and escape from the diverticulum or stenosis can be facilitated.

  According to the self-propelled capsule coupling endoscope of the present invention, it has a self-propelled function and can adjust the position of the capsule, and further, a drug application device, a treatment device, and the like are mounted on the capsule. Therefore, it is useful for imaging in the digestive tract such as the small intestine, examination, treatment and the like.

Claims (8)

  A first capsule having a spiral structure on the outer periphery and a drive motor inside, a second capsule having a spiral structure opposite to the spiral structure of the first capsule, and a flexibility for connecting the first capsule and the second capsule A self-propelled capsule coupling endoscope including a sex coupling unit.   One end of the flexible connecting portion is inserted into the first capsule through the insertion portion of the first capsule so as to be rotatable with respect to the first capsule, and is connected to the drive motor through a gear box. 2. The self-propelled capsule coupling endoscope according to claim 1, wherein the other end of the flexible coupling portion is fixed to the second capsule.   The self-propelled capsule coupling endoscope according to claim 1 or 2, wherein the drive motor is fixed in the first capsule.   The imaging device and the illumination device are attached to the first capsule and / or the second capsule so as to be rotatable with respect to the capsule using a bearing. The self-propelled capsule connection endoscope according to one item.   The self-propelled capsule coupling endoscope according to any one of claims 2 to 4, wherein a packing is provided in the insertion portion.   The self-propelled capsule-coupled endoscope according to any one of claims 1 to 5, wherein a chemical solution application device, a specimen collection device, or a treatment device is provided in the second capsule.   A second drive motor is fixed in the second capsule, and the other end of the flexible connecting portion is rotatable with respect to the second capsule through an insertion portion provided in the second capsule. The self-propelled capsule coupling endoscope according to any one of claims 1 to 5, wherein the endoscope is inserted and coupled to a rotation shaft of the second drive motor.   The self-propelled capsule coupling endoscope according to claim 7, wherein a clutch is provided between the drive motor in the first capsule and the drive motor in the second capsule.

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