JP2020001921A - Shaft-like member advancing device and method thereof - Google Patents

Abstract

To provide a shaft-like member advancing device that not only moves a shaft-like member in an advancing direction or in a retracting direction but also changes the position of the shaft-like member and to provide the method thereof.SOLUTION: An advancing device 100 of a shaft-like member 1 includes: a first wheel 10 with a first rotating shaft 11; a second wheel 20 with a second rotating shaft 21; first rotation drive parts 61 to 63 that drive the first rotating shaft in the normal direction or in the reverse direction; and second rotation drive parts 71 to 73 that drive the second wheel shaft in the normal direction or in the reverse direction. The first wheel 10 and the second wheel 20 are provided on the respective sides of the shaft-like member 1 sandwiching the shaft-like member 1 being fed and moved. The first wheel 10 and the second wheel 20 respectively have a plurality of driven rollers 30 (30A, 30B) that have rolling contact surfaces on the rotation track including the positions where they contact the shaft-like member 1. The driven rollers 30 (30A, 30B) provide, by their driven rotation, external force, which advances the shaft-like member 1 to the other direction than the axial direction, to the shaft-like member 1.SELECTED DRAWING: Figure 1

Description

  The present invention is an endoscope, a catheter, an industrial endoscope, an optical fiber, a cable, a shaft-like member such as a wire rod, for example, a feed-moving device for a shaft-like member suitable for feeding and moving into a body or a tube, and the like. Method and so on.

  For example, taking an endoscope as an example, a doctor inserts an insertion portion of the endoscope into, for example, a large intestine of a human body. Patent Literature 1 discloses a drum that winds a long shaft-shaped insertion portion to be inserted into a body. However, this drum is for winding a long insertion portion, and is not for feeding or retracting the insertion portion by a driving force.

  In general, as a wire feed mechanism, a mechanism (Patent Document 2) for sending out a wire by a pair of rollers sandwiching the wire and a mechanism (Patent Document 3) for feeding out a wire wound on a bobbin are known.

JP 2000-089131 A JP 2015-130772 A JP 2017-226939 A

  For example, taking an endoscope as an example, the large intestine into which the endoscope is inserted is bent. Particularly, in order to allow the endoscope to pass through an insertion path bent in an S-shape, a technique called a shaft holding shortening method is used.

  However, the shaft holding and shortening method must be performed by a doctor's hand, and the shaft holding and shortening method cannot be automated with a feed mechanism that simply moves the wire forward as disclosed in Patent Documents 2 and 3.

  According to at least one aspect of the present invention, there is provided an apparatus and a method for feeding and moving a shaft member that can change the attitude of the shaft member as well as simply move the shaft member in the forward or backward direction. The purpose is to do.

(1) One embodiment of the present invention provides:
A first wheel having a first rotation axis;
A second wheel having a second rotation axis;
A first rotation drive unit that drives the first rotation axis in a forward direction or a reverse direction;
A second rotation drive unit that drives the second rotation axis in a forward direction or a reverse direction;
Has,
The first wheel and the second wheel are arranged on both sides of the shaft member, with the shaft member to be fed and moved interposed therebetween,
At least one of the first wheel and the second wheel has a plurality of driven rollers having a rolling contact surface on a rotation locus including a position in contact with the shaft-shaped member,
The plurality of driven rollers are related to a feeder for a shaft-like member that applies an external force to the shaft-like member to feed and move in a direction other than the axial direction of the shaft-like member by the driven rotation.

  According to one aspect of the present invention, the first rotation shaft is driven / non-driven by the first rotation drive unit, so that rotation or stop of the first wheel in the forward direction or the reverse direction is selected. When the second rotation shaft is driven / non-driven by the second rotation drive unit, the rotation or stop of the second wheel in the forward or reverse direction is selected. One of the plurality of driven rollers provided on at least one of the first wheel and the second wheel sequentially rolls and contacts the shaft-shaped member. By the driven rotation of the driven roller, an external force in a direction other than the axial direction of the shaft member can be applied to the shaft member. This makes it possible to change the attitude of the shaft member as well as simply move the shaft member forward or backward.

  (2) In one aspect (1) of the present invention, the external force may include a force for rotating the shaft member about an axis of the shaft member. Thereby, the attitude of the shaft member is changed.

  (3) In one aspect (1) or (2) of the present invention, each of the plurality of driven rollers is not parallel to a corresponding one of the first rotation axis and the second rotation axis. Can be. Accordingly, the driven roller can apply an external force to the shaft member in a direction other than the axial direction of the shaft member.

  (4) In one aspect (3) of the present invention, the first rotation axis and the second rotation pass through the center of the cross section of the shaft member in a side view when viewed from the axial direction of the shaft member. The plurality of driven rollers of the first wheel and the plurality of driven rollers of the second wheel may be line-symmetric with respect to a center line parallel to the axis. In this case, the directions of the external force applied to the shaft-shaped member by the first wheel and the second wheel become the same direction by rotating the first rotation axis and the second rotation axis in opposite directions, and the first rotation axis and the second Reverse rotation of the rotation shafts in the same direction results in opposite directions. More specifically, when the external force applied to the shaft-like member by the first wheel and the second wheel is a force directed in the axial direction of the shaft-like member and is applied to the shaft-like member in the same direction, the shaft-like member Moves forward or backward. If the external force applied to the shaft-like member by the first wheel and the second wheel is a force directed in a tangential direction to an opposing position on the outer periphery of the shaft-like member and has the same magnitude applied in the same direction, The shaft member does not rotate around the axis. Conversely, the external force applied to the shaft member by the first wheel and the second wheel is a force directed in the axial direction of the shaft member, and is applied to the shaft member in directions opposite to each other. With the same size, the shaft-like member does not move forward or backward. When the external force applied to the shaft-like member by the first wheel and the second wheel is a force directed in a tangential direction to an opposing position on the outer periphery of the shaft-like member, and when applied in directions opposite to each other, the shaft-like member becomes Spin around my heart.

  (5) In one aspect (3) or (4) of the present invention, the inclination angle at which the driven shaft is inclined with respect to the corresponding one of the first rotation axis and the second rotation axis is 45 °. Can be. Here, based on the external force in the direction intersecting with the axial direction of the shaft member among the external forces applied to the shaft member, the axial component force and the tangential component force of the shaft member are determined by the inclination angle. Is calculated as sin θ or cos θ where θ is θ. When θ = 45 °, the calculation of the component force is simplified regardless of the rotation direction of the first wheel and the second wheel, and the rotation control of the first wheel and the second wheel is also simplified. However, the inclination angle θ is not limited to 45 °, and the rotation speed of the first wheel and the second wheel may be changed based on the magnitude of the calculated component force.

  (6) In any one of aspects (1) to (5) of the present invention, the shaft-shaped member may be a medical device including an endoscope or a catheter. Even if the colon into which the endoscope is inserted or the blood vessel into which the catheter is inserted are twisted and bent, the medical instrument can be smoothly moved by changing the posture of the medical instrument.

  (7) In any one of the embodiments (1) to (5) of the present invention, the shaft-shaped member may be a non-medical device including an industrial endoscope. For example, even when a non-medical device such as an industrial endoscope is inserted, even if the conduit is twisted and twisted, the non-medical device can be smoothly moved by changing the posture of the non-medical device. .

(8) Another embodiment of the present invention provides:
A method for feeding and moving the shaft-like member using the feeder for a shaft-like member according to one aspect (7) of the present invention,
A step of moving the shaft member forward or backward,
Rotating the shaft member around the axis of the shaft member;
The present invention relates to a method for feeding and moving a shaft-shaped member having:

  According to another aspect of the present invention, the external force applied to the shaft-like member not only feeds and moves the shaft-like member in the forward or backward direction, but also rotates the shaft-like member around the axis to change the posture of the axis-like member. Can be changed.

  (9) In the aspect (8) of the present invention, the method may include a step of rotating the shaft member around the axis while moving the shaft member forward or backward. Thus, the axial member can be fed and moved while changing the attitude of the axial member.

It is a front view of an important section of a feed moving device which is one embodiment of the present invention. It is a top view of the feed moving apparatus shown in FIG. It is a front view which shows the forward feed operation | movement of a shaft-shaped member. It is a top view which shows the forward feed operation | movement of a shaft-shaped member. FIGS. 5A and 5B are diagrams for explaining the reason for the forward feed operation of the shaft member. It is a front view which shows the backward movement operation | movement of a shaft-shaped member. It is a top view which shows the backward movement operation | movement of a shaft-shaped member. FIGS. 8A and 8B are diagrams for explaining the reason for the backward feed operation of the shaft member. It is a front view which shows the right rotation operation of a shaft-shaped member. It is a top view which shows the right rotation operation of a shaft-shaped member. FIGS. 11A and 11B are diagrams for explaining the reason for the clockwise rotation operation of the shaft member. It is a front view which shows left rotation operation | movement of a shaft-shaped member. It is a top view which shows the left rotation operation of a shaft-shaped member. FIGS. 14A and 14B are diagrams for explaining the reason of the leftward rotation operation of the shaft member. It is a front view which shows forward feed + left rotation operation of a shaft-shaped member. It is a top view which shows forward feed + left rotation operation of a shaft-shaped member. It is a front view which shows backward movement of a shaft-shaped member + right rotation operation. It is a top view which shows the backward movement + right rotation operation | movement of a shaft-shaped member. It is a front view which shows forward feed + right rotation operation | movement of a shaft-shaped member. It is a top view which shows the forward feed + right rotation operation | movement of a shaft-shaped member. It is a front view which shows the backward movement + left rotation operation | movement of a shaft-shaped member. It is a top view which shows the backward feed + left rotation operation | movement of a shaft-shaped member. It is a front view of the feed movement device of the shaft-shaped member which is one Embodiment of this invention. FIG. 24 is a plan view of the shaft-shaped member feeding device shown in FIG. 23. FIG. 24 is a side view of the shaft-shaped member feeding device shown in FIG. 23. It is a front view of an endoscope apparatus. It is a top view of an endoscope apparatus. FIGS. 28A to 28D are views showing a shaft holding and shortening method using an endoscope apparatus.

  Hereinafter, preferred embodiments of the present invention will be described in detail. The present embodiment described below does not unduly limit the contents of the present invention described in the claims, and all of the configurations described in the present embodiment are essential as means for solving the present invention. Not necessarily.

1. 1 and 2 show main parts of the feed moving device 100. FIG. The feed moving device 100 includes a first wheel 10 having a first rotation axis 11 and a second wheel 20 having a second rotation axis 21. The first wheel 10 and the second wheel 20 are arranged on both sides of the shaft-like member 1 with the shaft-like member 1 to be fed and moved therebetween.

  Each of the first wheel 10 and the second wheel 20 has a plurality of driven rollers 30 having a rolling contact surface on a rotation trajectory including a position in contact with the shaft-like member 1. Each driven shaft 31 of the plurality of driven rollers 30 is non-parallel to a corresponding one of the first rotation shaft 11 and the second rotation shaft 21. Here, the plurality of driven rollers provided on the first wheel 10 is referred to as 30A, and the driven shaft thereof is referred to as 31A. Similarly, a plurality of driven rollers provided on the second wheel 20 are referred to as 30B, and a driven shaft thereof is referred to as 31B. The driven shaft 31A is not parallel to the first rotation shaft 11, and the driven shaft 31B is not parallel to the second rotation shaft 21. In the present embodiment, the first rotation axis 11 and the second rotation axis 21 are parallel. However, the first rotation axis 11 and the second rotation axis 21 may be non-parallel.

  Each of the first wheel 10 and the second wheel 20 has two parallel roller support members 40 attached to the first rotation shaft 11 or the second rotation shaft 21. The roller support member 40 includes a plurality of free ends 40A whose radially extending ends are bent. Each one driven shaft 31 is supported by a pair of free ends 40A, 40A provided on the two roller support members 40.

  Here, as shown in FIG. 1, the inclination angle θ at which the driven shaft 31 is inclined with respect to the first rotation shaft 11 is, for example, θ = 45 ° in the present embodiment. The inclination angle θ at which the driven shaft 31 is inclined with respect to the second rotation shaft 21 is also, for example, 45 °. Such first wheel 10 and second wheel 20 are referred to as Mecanum wheels. The Mecanum wheel is known to be used as a four-wheel vehicle for an omnidirectional vehicle, but the application as in the present embodiment is novel.

  In the present embodiment, as viewed from the axial direction of the shaft-shaped member 1, the side view shown in FIG. 1 passes through the center of the cross section of the shaft-shaped member 1 and is parallel to the first rotation shaft 11 and the second rotation shaft 21. The first wheel 10 and the second wheel 20 are axial members such that the plurality of driven rollers 30 of the first wheel 10 and the plurality of driven rollers 30 of the second wheel 20 are line-symmetric with respect to the center line. 1 are arranged on both sides.

2. Although not shown in FIG. 1 and FIG. 2, the moving feed device 100 includes a first rotation drive unit that drives the first rotation shaft 11 and a second rotation shaft 21 that move in the forward direction. Or a second rotation drive unit that drives in the opposite direction. The first rotation drive unit and the second rotation drive unit include a motor, preferably a servomotor, and may include a speed reducer, a gear for changing the rotation direction, and the like as necessary. In the following operations, the first rotation shaft 11 is rotated or stopped in the forward or reverse direction by the first rotation drive unit, and the second rotation shaft 21 is rotated in the forward or reverse direction by the second rotation drive unit. Or it is stopped.

2.1. 3 and 4 show the forward movement of the shaft member 1. As shown in FIGS. 3 and 4, the first wheel 10 is rotated left (counterclockwise rotation), and the second wheel 20 is rotated right (clockwise rotation). In this case, the rotation speeds of the first wheel 10 and the second wheel 20 are equal. At this time, as shown in FIG. 4, the axial member 1 is moved forward (+ X) by the external force F. In FIG. 4, it can be easily understood that the shaft-like member 1 is fed forward by the rotation of the first wheel 10 and the second wheel 20 by assuming that the driven rollers 30A and 30B do not rotate. However, in practice, the rotation of the first and second wheels 10, 20 causes the driven rollers 30A, 30B in contact with the shaft member 1 to be driven and rotated in the direction of the arrow in FIG. Therefore, an external force other than the external force F is applied to the shaft-like member 1 by the driven rotation of the driven rollers 30A and 30B.

  The external force other than the external force F applied to the shaft-like member 1 by the driven rotation of the driven rollers 30A and 30B will be described with reference to FIGS. FIG. 5A is a diagram of the first wheel 10 viewed from the shaft member 1 side, and FIG. 5B is a diagram of the second wheel 20 viewed from the shaft member 1 side. 5A and 5B, the axial direction of the shaft-shaped member 1 is defined as an X-axis, and a height axis orthogonal to the X-axis is defined as a Z-axis. The forward direction is + X, and the vertical upward direction is + Z, for example.

  FIGS. 5A and 5B show the force applied to the shaft-like member 1 from the driven roller 30 (30A, 30B). In FIG. 5A, the force in the rotational tangential direction applied to the shaft-like member 1 from the driven roller 30A of the first wheel 10 is -Fl. This force (-Fl) is decomposed into a minus direction force (-Fl · cos 45 °) in the X-axis direction and a minus direction force (-Fl · sin 45 °) in the Z-axis direction. Similarly, in FIG. 5B, the force in the rotational tangential direction applied to the shaft-like member 1 from the driven roller 30B of the second wheel 20 is -Fr. This force (−Fr) is decomposed into a minus direction force (−Fr · cos 45 °) in the X-axis direction and a minus direction force (−Fr · sin 45 °) in the Z-axis direction.

  -Fl.cos 45 ° in FIG. 5A and −Fr.cos 45 ° in FIG. 5B are forces of the same magnitude in the negative X-axis direction in the X-axis direction. However, the resultant force of -Fl.cos45 [deg.] And -Fr.cos45 [deg.] Is smaller than the external force F in FIG. 4 that moves the shaft member 1 in the forward direction (+ X) by the rotation of the first and second wheels 10 and 20. Small enough. Therefore, the shaft-like member 1 is moved in the forward direction (+ X) in FIGS. 4 and 5A and 5B.

  On the other hand, the negative force (−Fl · sin45 °) in the Z-axis direction of FIG. 5A and the negative force (−Fr · sin45 °) in the Z-axis direction of FIG. It occurs on the diametrically opposite surfaces of the shaft-like member 1 rotatably supported around the center. Therefore, when these forces act on the diametrically opposite surfaces of the shaft-like member 1, they become forces that mutually rotate in opposite directions when viewed around the axis of the shaft-like member 1. Therefore, the shaft-like member 1 does not rotate around its axis.

2.2. 6 and 7 show the forward movement of the shaft member 1. As shown in FIGS. 6 and 7, the first wheel 10 is rotated right and the second wheel 20 is rotated left. Also in this case, the rotation speeds of the first wheel 10 and the second wheel 20 are equal. At this time, as shown in FIG. 7, the shaft-like member 1 is fed and moved in the retreating direction (-X) by the external force F.

  An external force other than the external force F in FIG. 7 applied to the shaft-like member 1 by the driven rotation of the driven rollers 30A and 30B will be described with reference to FIGS. In FIG. 8A, the rotational tangential force F1 applied to the shaft-like member 1 from the driven roller 30A of the first wheel 10 is represented by a positive force (Fl · cos 45 °) in the X-axis direction and a Z-axis force. In the plus direction (Fl · sin45 °). Similarly, in FIG. 8B, the force Fr in the rotational tangential direction applied to the shaft-shaped member 1 from the driven roller 30B of the second wheel 20 is a plus force (Fr · cos 45 °) in the X-axis direction. , And a positive force (Fr · sin 45 °) in the Z-axis direction.

  Fl · cos 45 ° in FIG. 8A and Fr · cos 45 ° in FIG. 8B are forces of the same magnitude in the positive direction in the X-axis direction. However, the resultant force of + Fl · cos 45 ° and + Fr · cos 45 ° is more than the external force F in FIG. 7 that moves the shaft member 1 in the retreating direction (−X) by the rotation of the first and second wheels 10 and 20. Small. Therefore, the shaft-like member 1 is moved in the retreating direction (-X) in FIGS. 7 and 8A and 8B.

On the other hand, the positive force (Fl · sin 45 °) in the Z-axis direction in FIG. 8A and the positive force (Fr · sin 45 °) in the Z-axis direction in FIG. It occurs on the diametrically opposite surfaces of the rotatably supported shaft member 1. Therefore, when these forces act on the diametrically opposite surfaces of the shaft-like member 1, they become forces that mutually rotate in opposite directions when viewed around the axis of the shaft-like member 1. Therefore, the shaft-like member 1 does not rotate around its axis.

2.3. 9 and 10 show the clockwise rotation of the shaft 1. As shown in FIGS. 9 and 10, both the first wheel 10 and the second wheel 20 are rotated clockwise. Also in this case, the rotation speeds of the first wheel 10 and the second wheel 20 are equal. At this time, as shown in FIG. 10, the force Fa for moving the shaft member 1 forward and the force Fb for moving the shaft member 1 are balanced, and the shaft member 1 is not fed in the axial direction.

  Based on FIGS. 11 (A) and 11 (B), external forces other than the external forces Fa and Fb in FIG. 10 applied to the shaft-like member 1 by the driven rotation of the driven rollers 30A and 30B will be described. In FIG. 11 (A), the force (+ Fl) in the rotational tangential direction applied to the shaft member 1 from the driven roller 30A of the first wheel 10 is a plus force (Fl · cos 45 °) in the X-axis direction. It is decomposed into a positive force (Fl · sin 45 °) in the Z-axis direction. Similarly, in FIG. 11B, the force (−Fr) in the rotational tangential direction applied to the shaft-shaped member 1 from the driven roller 30B of the second wheel 20 is a force (−Fr · −) in the negative direction in the X-axis direction. cos45 °) and a negative force (−Fr · sin45 °) in the Z-axis direction.

  The positive force (Fl · cos45 °) in the X-axis direction of FIG. 11A and the negative force (−Fr · cos45 °) in the X-axis direction of FIG. Forces of the same magnitude in opposite directions are offset. Therefore, the shaft-like member 1 is not moved in the axial direction (X-axis direction).

  On the other hand, the positive force (Fl · sin45 °) in the Z-axis direction in FIG. 11A and the negative force (−Fr · sin45 °) in the Z-axis direction in FIG. It occurs on the diametrically opposite surfaces of the shaft-like member 1 which is supported rotatably around it. Therefore, when these forces act on the surfaces on the opposite sides in the diametric direction of the shaft-like member 1, the force causes rotation in the same direction when viewed around the axis of the shaft-like member 1. Therefore, the resultant force of the force (Fl · sin 45 °) in FIG. 11A and the force (−Fr · sin 45 °) in FIG. 11B causes the shaft 1 to move right around the axis of the shaft 1. Rotate.

2.4. 12 and 13 show left rotation of the shaft member 1. As shown in FIGS. 12 and 13, both the first wheel 10 and the second wheel 20 are rotated counterclockwise. Also in this case, the rotation speeds of the first wheel 10 and the second wheel 20 are equal. At this time, as shown in FIG. 13, the force Fa for moving the shaft member 1 forward and the force Fb for moving the shaft member 1 are balanced, and the shaft member 1 is not fed in the axial direction.

  An external force other than the external forces Fa and Fb in FIG. 13 applied to the shaft-like member 1 by the driven rotation of the driven rollers 30A and 30B will be described with reference to FIGS. In FIG. 14 (A), the force (−Fl) in the rotation tangential direction applied to the shaft member 1 from the driven roller 30 </ b> A of the first wheel 10 is a minus direction force (−Fl · cos 45 °) in the X-axis direction. And a negative force (−Fl · sin45 °) in the Z-axis direction. Similarly, in FIG. 14B, the force (Fr) in the rotational tangential direction applied from the driven roller 30B of the second wheel 20 to the shaft-like member 1 is a positive force (Fr · cos 45 °) in the X-axis direction. ) And a positive force (Fr · sin 45 °) in the Z-axis direction.

  The force (−Fl · cos45 °) in the negative direction in the X-axis direction in FIG. 14A and the force (Fr · cos45 °) in the positive direction in the X-axis direction in FIG. Forces of the same magnitude, opposite to each other, cancel out. Therefore, the shaft-like member 1 is not moved in the axial direction (X-axis direction).

  On the other hand, the negative force (−Fl · sin45 °) in the Z-axis direction in FIG. 14A and the positive force (Fr · sin45 °) in the Z-axis direction in FIG. It occurs on the diametrically opposite surfaces of the shaft-like member 1 which is supported rotatably around it. Therefore, when these forces act on the surfaces on the opposite sides in the diametric direction of the shaft-like member 1, the force causes rotation in the same direction when viewed around the axis of the shaft-like member 1. Therefore, the resultant force of the force (Fl · sin 45 °) in FIG. 14A and the force (−Fr · sin 45 °) in FIG. 14B moves the shaft 1 around the axis of the shaft 1 to the left. Rotate.

2.5. FIG. 15 and FIG. 16 show forward feed while rotating the shaft member 1 counterclockwise. As shown in FIGS. 15 and 16, the first wheel 10 is rotated left while the second wheel 20 is stopped.

  It is easily understood that when the first wheel 10 is rotated counterclockwise, the shaft-like member 1 is fed and moved in the forward direction (+ X) by the external force F in FIG. An external force other than the external force F shown in FIG. 16 that is applied to the shaft-like member 1 by the driven rotation of the driven roller 30A will be described with reference to FIG. As shown in FIG. 15, the driven roller 30B of the second wheel 20, which is not rotationally driven, is driven to rotate in the direction of the arrow in FIG. 15 by the movement of the shaft member 1, but the driven roller 30B applies an external force to the shaft member 1 from the driven roller 30B. Is not given. In FIG. 14 (A), the force (−Fl) in the rotation tangential direction applied to the shaft member 1 from the driven roller 30 </ b> A of the first wheel 10 is a minus direction force (−Fl · cos 45 °) in the X-axis direction. And the force is decomposed into a minus direction force (−Fl · sin45 °) in the Z-axis direction.

  When a negative force (−Fl · cos 45 °) in the X-axis direction in FIG. 14A is applied to the shaft-like member 1, the shaft-like member 1 is moved backward in the axial direction (X-axis direction). However, the force in the retreating direction (−Fl · cos 45 °) is sufficiently smaller than the external force F in FIG. 16 that moves the shaft-like member 1 in the forward direction (+ X) by the rotation of the first wheel 10. Therefore, the shaft-like member 1 is fed and moved in the forward direction (+ X) in FIGS. 16 and 14A. In FIG. 14A, a negative force (−Fl · sin 45 °) in the Z-axis direction is generated on the left surface of the shaft-like member 1 rotatably supported around the axis. Therefore, this force acts on the left surface of the shaft-like member 1 to rotate the shaft-like member 1 counterclockwise around the axis of the shaft-like member 1.

2.6. FIG. 17 and FIG. 18 show backward feed while rotating the shaft member 1 clockwise. As shown in FIGS. 17 and 18, the first wheel 10 is rotated clockwise while the second wheel 20 is stopped.

  It is easily understood that when the first wheel 10 is rotated clockwise, the shaft-like member 1 is fed and moved in the retreating direction (-X) by the external force F in FIG. An external force other than the external force F in FIG. 18 applied to the shaft-like member 1 by the driven rotation of the driven roller 30A will be described with reference to FIG. As shown in FIG. 17, the driven roller 30B of the second wheel 20 that is not rotationally driven is driven to rotate in the direction of the arrow in FIG. 17 by the movement of the shaft member 1, but the driven roller 30B applies an external force to the shaft member 1 from the driven roller 30B. Is not given. In FIG. 11A, the force (Fl) in the rotational tangential direction applied to the shaft-shaped member 1 from the driven roller 30A of the first wheel 10 is a plus direction force (Fl · cos 45 °) in the X-axis direction. It is decomposed into a positive force (Fl · sin 45 °) in the Z-axis direction.

  When a positive force (Fl · cos 45 °) in the X-axis direction in FIG. 11A is applied to the shaft-like member 1, the shaft-like member 1 is advanced in the axial direction (X-axis direction). However, the force in the forward direction (Fl · cos 45 °) is sufficiently smaller than the external force F in FIG. 18 that moves the shaft-like member 1 in the backward direction (−X) by the rotation of the first wheel 10. Therefore, the shaft-shaped member 1 is fed and moved in the retreating direction (-X) in FIGS. 18 and 11A. A positive force (Fl · sin 45 °) in the Z-axis direction in FIG. 11A is generated on the left surface of the shaft-like member 1 rotatably supported around the axis. Therefore, this force acts on the left surface of the shaft-like member 1 to rotate the shaft-like member 1 clockwise around the axis of the shaft-like member 1.

2.7. Forward feed of shaft member + right rotation FIGS. 19 and 20 show forward feed while rotating the shaft member 1 clockwise. As shown in FIGS. 19 and 20, the second wheel 20 is rotated right while the first wheel 10 is stopped.

  It is easily understood that when the second wheel 20 is rotated clockwise, the shaft-like member 1 is fed and moved in the forward direction (+ X) by the external force F in FIG. An external force other than the external force F shown in FIG. 20 that is applied to the shaft-like member 1 by the driven rotation of the driven roller 30B will be described with reference to FIG. As shown in FIG. 19, the driven roller 30A of the first wheel 10 that is not rotationally driven is driven to rotate in the direction of the arrow in FIG. 19 by the movement of the shaft member 1, but the driven roller 30A applies an external force to the shaft member 1 from the driven roller 30A. Is not given. In FIG. 11 (B), the force (−Fr) in the rotational tangential direction applied to the shaft-shaped member 1 from the driven roller 30 </ b> B of the second wheel 20 is a negative force (−Fr · cos 45 °) in the X-axis direction. And the force is decomposed into a negative force (−Fr · sin45 °) in the Z-axis direction.

  By applying a negative force (−Fr · cos 45 °) to the shaft member 1 in the X-axis direction, the shaft member 1 is moved backward in the axial direction (X-axis direction). However, the force in the retreating direction (−Fr · cos 45 °) is sufficiently smaller than the external force F in FIG. 20 that moves the shaft-like member 1 in the forward direction (+ X) by the rotation of the second wheel 20. Therefore, the shaft-like member 1 is fed and moved in the forward direction (+ X) in FIGS. 20 and 11B. A negative force (−Fr · sin45 °) in the Z-axis direction in FIG. 11B is applied in the rotation tangential direction of the shaft-shaped member 1. Therefore, a negative force (−Fr · sin45 °) in the Z-axis direction in FIG. 11B acts on the right surface of the shaft-like member 1, so that the shaft-like member 1 around the axis of the shaft-like member 1. To the right.

2.8. FIG. 21 and FIG. 22 show backward feed while rotating the shaft member 1 counterclockwise. As shown in FIGS. 21 and 22, the first wheel 10 is stopped while the second wheel 20 is rotated left.

  It is easily understood that when the second wheel 20 is rotated counterclockwise, the shaft-like member 1 is fed and moved in the retreating direction (-X) by the external force F in FIG. An external force other than the external force F in FIG. 22 applied to the shaft-like member 1 by the driven rotation of the driven roller 30B will be described with reference to FIG. As shown in FIG. 21, the driven roller 30A of the first wheel 10 that is not rotationally driven is driven to rotate in the direction of the arrow in FIG. 21 by the movement of the shaft-shaped member 1, but the driven roller 30A applies an external force to the shaft-shaped member 1 from the driven roller 30A. Is not given. In FIG. 14 (B), the force (Fr) in the rotational tangential direction applied to the shaft-like member 1 from the driven roller 30B of the second wheel 20 is a plus force (Fr · cos 45 °) in the X-axis direction. It is decomposed into a positive force (Fr · sin 45 °) in the Z-axis direction.

  When a positive force (Fr · cos 45 °) in the X-axis direction in FIG. 14B is applied to the shaft-like member 1, the shaft-like member 1 is advanced in the axial direction (X-axis direction). However, this forward force (Fl · cos 45 °) is sufficiently smaller than the external force F shown in FIG. 22 that moves the shaft-like member 1 in the backward direction (−X) by the rotation of the second wheel 20. Therefore, the shaft-like member 1 is fed and moved in the retreating direction (−X) in FIGS. 22 and 14B. A positive force (Fr · sin 45 °) in the Z-axis direction in FIG. 14B is applied in the rotational tangential direction of the shaft-like member 1. Therefore, a positive force (Fr · sin 45 °) in the Z-axis direction in FIG. 11B acts on the right surface of the shaft-like portion 1, thereby causing the shaft-like member 1 to rotate around the axis of the shaft-like member 1. Turn left.

  In FIGS. 15 to 22, one of the first and second wheels 10 and 20 is rotated and the other is stopped. However, the first and second wheels 10 and 20 may be rotated together with a rotation speed difference. Good.

3. Next, an example of the configuration of the feed moving device 100 described above will be described with reference to FIGS. As shown in FIG. 24, the feed moving device 100 includes a first movable portion 60 and a second movable portion 70 that can slide in the Y-axis direction along guides 51 and 52 fixed to the base board 50. As shown in FIG. 23, a first motor 61 that drives the first rotation shaft 11 of the first wheel 10 is mounted on the first movable unit 60. A second motor 71 that drives the second rotation shaft 21 of the second wheel 20 is mounted on the second movable unit 70. As shown in FIGS. 23 and 25, the spur gear 62 fixed to the output shaft of the first motor 61 meshes with a crown gear (crown gear) 63 fixed to the first rotation shaft 11 so that the rotational force is reduced. It is orthogonally transformed. Similarly, when the spur gear 72 fixed to the output shaft of the second motor 71 meshes with a crown gear 73 fixed to the second rotation shaft 21, the rotational force is orthogonally converted. In the present embodiment, the first motor 61 and the two gears 62 and 63 constitute a first rotation drive unit, and the second motor 71 and the two gears 72 and 73 constitute a second rotation drive unit. However, the first motor 61 may be directly connected to the first rotation shaft, and the second motor 71 may be directly connected to the second rotation shaft 21, and the orthogonal transformation gear may be omitted.

  As shown in FIG. 23, the first movable portion 60 and the second movable portion 70 are connected by an urging member, for example, a tension coil spring 53. Thereby, as shown in FIG. 23, the shaft-shaped member 1 is elastically held between the driven roller 30A of the first wheel 10 and the driven roller 30B of the second wheel 20. However, if the rolling contact surfaces of the driven rollers 30A and 30B have elasticity and can be fixed at an arbitrary position in the Y-axis direction of the first and second movable parts 60 and 70, the urging member 53 may be omitted. .

  As shown in FIGS. 24 and 25, a first guide 80 and a second guide 90 of the shaft-like member 1 may be provided on the base board 50. The first guide 80 and the second guide 90 are arranged on both sides in the X-axis direction with the position of the shaft-like member 1 held between the first wheel 10 and the second wheel 20 interposed therebetween. In the first guide 80, an urging member, for example, a tension coil spring 85 is disposed between a lower fixing portion 82 that holds the ball bearing 81 and an upper movable portion 84 that holds the ball bearing 83. Thus, the shaft-like member 1 is held between the two ball bearings 81 and 83 so as to be able to move and rotate. Similarly, in the second guide 90, an urging member, for example, a tension coil spring 95 is disposed between a lower fixed portion 92 that holds the ball bearing 91 and an upper movable portion 94 that holds the ball bearing 93.

4. Endoscope apparatus Next, an endoscope apparatus 200 using the above-described feed moving apparatus 100 will be described with reference to FIGS. The endoscope apparatus 200 includes a feeding device 100 to which the endoscope 2 is supplied as the shaft-shaped member 1, a controller 110 of the feeding device 100, a controller 120 of the endoscope 2, and a personal device connected to the controllers 110 and 120. It includes a computer (PC) 130 and a monitor 140 connected to the PC 130. The endoscope 2 is inserted into the large intestine of the patient 3 on the bed 150. At this time, the insertion auxiliary device 160 may be used. The doctor 4 operates the endoscope 2 via an input device such as a keyboard and a mouse connected to the PC 130. Regarding advance, retreat, right rotation, left rotation, or a combination thereof, of the endoscope 2, information input and operated by the doctor 4 is transmitted to the first and second motors 61 and 71 via the PC 130 and the controller 110. It is implemented by that.

  FIGS. 28A to 28D schematically show a shaft holding shortening method performed by using the feeder 100. In FIG. 28A, the endoscope 2 is inserted into the large intestine by the feeding device 100 and advanced. As shown in FIG. 28A, after the distal end portion of the endoscope 2 is bent by the endoscope controller 120, the endoscope 2 is rotated left and right by the feeding device 100, for example. Thereby, as shown in FIG. 28 (B), the large intestine site where the endoscope 2 is inserted becomes substantially straight. Next, as shown in FIG. 28B, the endoscope 2 is retracted by the feeding device 100. Thereby, as shown in FIG. 28 (C), the large intestine site where the endoscope 2 is inserted is shortened. From the state shown in FIG. 28C, the endoscope 2 is rotated left and right, for example, while the endoscope 2 is further retracted by the feeding device 100. As a result, as shown in FIG. 28 (D), the S-shaped portion of the large intestine becomes relatively gentle, so that the forward movement of the endoscope 2 can be smoothly performed thereafter.

  Although the present embodiment has been described in detail as described above, those skilled in the art can easily understand that many modifications that do not substantially depart from the novel matter and effects of the present invention are possible. Therefore, such modifications are all included in the scope of the present invention.

  For example, the shaft member to be fed and moved according to the present invention may be a medical instrument such as a catheter in addition to an endoscope, or an industrial endoscope, a cable for laying, and a pipe for cleaning a conduit. It may be a non-medical device such as a tube.

  Further, the first and second wheels 10 and 20 are not limited to the Mecanum wheels, and may be ones in which the inclination angle θ between the rotation axis and the driven axis is other than 45 °, or an improved omni wheel. Good. In short, it is only necessary that the driven roller 30 can apply an external force including a component force other than the axial direction of the shaft member 1 to the shaft member 1.

  A plurality of feeding devices 100 having the first and second wheels 10 and 20 may be arranged along the shaft-shaped member 1 to increase the feeding moving force. In this case, the first motor 61 and the second motor 71 of the feeding device 100 can be synchronized between the plurality of feeding devices 100. Alternatively, the first motor 61 may be shared by the respective feeding devices 100 and the second motor 71 may be shared.

  Reference Signs List 1 shaft member, 2 endoscope, 3 patient, 4 doctor, 10 first wheel, 11 first rotation axis, 20 second wheel, 21 second rotation axis, 30, 30A, 30B driven roller, 31, 31A, 31B driven shaft, 40 roller support member, 40A free end, 61-63 first rotary drive, 71-73 second rotary drive, 100 feed moving device, 110 controller

Claims (9)

A first wheel having a first rotation axis;
A second wheel having a second rotation axis;
A first rotation drive unit that drives the first rotation axis in a forward direction or a reverse direction;
A second rotation drive unit that drives the second rotation axis in a forward direction or a reverse direction;
Has,
The first wheel and the second wheel are arranged on both sides of the shaft member, with the shaft member to be fed and moved interposed therebetween,
Each of the first wheel and the second wheel has a plurality of driven rollers having a rolling contact surface on a rotation trajectory including a position in contact with the shaft member,
The feed movement device for a shaft-like member, wherein the plurality of driven rollers apply an external force to the shaft-like member to be moved in a direction other than the axial direction of the shaft-like member by the driven rotation. In claim 1,
The said external force is a force which rotates the said shaft-shaped member about the axis line of the said shaft-shaped member, The feed moving apparatus of the shaft-shaped member characterized by the above-mentioned. In claim 1 or 2,
The apparatus according to claim 1, wherein a driven shaft of each of the plurality of driven rollers is non-parallel to a corresponding one of the first rotation axis and the second rotation axis. In claim 3,
In a side view as viewed from the axial direction of the shaft-like member, the first axis passes through the center of the cross-section of the shaft-like member and is parallel to a center line parallel to the first rotation axis and the second rotation axis. The plurality of driven rollers of a wheel and the plurality of driven rollers of the second wheel are line-symmetrical, and the feeder / moving device for a shaft-shaped member is characterized in that: In claim 3 or 4,
An apparatus for feeding and moving a shaft-like member, wherein an inclination angle at which the driven shaft is inclined with respect to a corresponding one of the first rotation axis and the second rotation axis is 45 °. In any one of claims 1 to 5,
The shaft-shaped member is a medical device including an endoscope or a catheter, and is a feed-moving device for the shaft-shaped member. In any one of claims 1 to 5,
The said shaft-shaped member is a non-medical instrument including an industrial endoscope, The feed moving apparatus of the shaft-shaped member characterized by the above-mentioned. A method for feeding and moving the shaft-shaped member using the shaft-shaped member feeding and moving device according to claim 7,
A step of moving the shaft member forward or backward,
Rotating the shaft member around the axis of the shaft member;
A method for feeding and moving a shaft-shaped member, comprising: In claim 8,
A step of rotating the shaft member around the axis while moving the shaft member forward or backward.

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