JP2948861B2 - Intra-subject insertion device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an in-subject insertion device that magnetically guides an insertion portion.

[Related Art] In recent years, endoscopes have been widely used in the medical field and the industrial field.

In order to perform inspection or diagnosis with the endoscope,
It is necessary to insert the insertion portion into a body cavity or the like. In this case, since the insertion path is often bent, the insertion may take time unless the operator is an expert in the insertion operation.

To cope with this, as shown in Japanese Patent Application Laid-Open No. 55-133237 and West German Patent Application No. 1262276, a ferromagnetic material or a magnet is provided in the insertion portion of the endoscope, and this insertion portion is inserted from outside the body. It has been proposed to induce magnetically.

[Problems to be Solved by the Invention] However, if a magnetic material is used for the guided portion of the insertion portion, it is necessary to control the guidance by changing the intensity of the external magnetic field, and the guidance controllability is poor, and the device is large. There is a problem that it becomes. In addition, there is a possibility that the magnetic material generates heat, and there is a problem in safety in a medical endoscope and the like.

The present invention has been made in view of the above circumstances, and can guide an insertion portion using a magnetic field generated from a magnetic field generating means provided in the insertion portion, and improve guidance controllability and safety. It is an object of the present invention to provide a device for insertion into a subject.

[Means for Solving the Problems] An intra-subject insertion device according to the present invention includes an insertion section to be inserted into a subject, and a magnetic field generating section provided in the insertion section. In the in-vivo insertion device that guides the insertion portion by using a generated magnetic field, the magnetic field generating unit includes a plurality of air-core coils that generate a magnetic field when energized, and the plurality of air-core coils are It is characterized by being arranged at different positions in the axial direction of the insertion portion.

[Operation] In the present invention, by energizing the air-core coil, the air-core coil generates a magnetic field, and the insertion portion is guided using the magnetic field. The induction can be controlled by controlling the current supplied to the air-core coil. When the energization of the air-core coil is stopped, the air-core coil becomes non-magnetic.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

1 to 4 relate to a first embodiment of the present invention, FIG. 1 is an explanatory view showing a main part of an endoscope apparatus, FIG. 2 is a perspective view showing an entire endoscope apparatus, FIG. FIG. 3 is a cross-sectional view showing a distal end portion of an insertion portion of the endoscope, and FIG. 4 is an explanatory diagram showing a main part of an endoscope device according to a modification of the present embodiment.

As shown in FIG. 2, an endoscope device 1 of the present embodiment includes an endoscope 2 which is a fiberscope, a light source device 3 for supplying illumination light to the endoscope 2, , A camera control unit (hereinafter, referred to as a CCU) 6 for performing signal processing on the TV camera 5, and a video signal output from the CCU 6 for inputting a subject. A television monitor 7 for displaying an image, a magnetic force generator 11 disposed around a bed 10 on which a patient 9 into which the insertion section 8 of the endoscope 2 is inserted is provided; And a control device 31 to which an air core coil 30 described later is connected.

The endoscope 2 has an elongated insertion section 8 having flexibility, and a wide-width operation section 13 is provided at a rear end of the insertion section 8.
An eyepiece 4 is provided at the top (rear end) of the operation unit 13. Also, a light guide cable from the side of the operation unit 13
The light guide 14 has a connector 14a that is detachably connected to the light source device 3 at an end thereof.

As shown in FIG. 3, a rigid distal end component 19 is provided on the distal end side of the insertion portion 8, and a bendable bending portion 21 is provided behind the distal end component 19. An illumination window and an observation window are provided on the distal end surface of the distal end component 19. A light distribution lens 15 is provided inside the illumination window,
At the rear end of the light distribution lens 15, a light guide 16 is provided. The light guide 16 is inserted through the insertion portion 8 and the light guide cable 14, and the incident end is connected to the connector 14a. The illumination light emitted from a lamp (not shown) in the light source device 3 is condensed by a condenser lens (not shown) and
The light guide 16 and the light distribution lens
The light is emitted forward from the illumination window via the line 15.

An objective lens 24 is provided inside the observation window, and an image guide 25 is provided at an image forming position of the objective lens 24.
Are disposed. This image guide 25
The rear end face is inserted through the insertion section 8 and the operation section 13 and faces an eyepiece lens (not shown) in the eyepiece section 4. Then, the optical image of the subject illuminated with the illumination light is formed on the distal end surface of the image guide 25 by the objective lens 24,
The image is transmitted to the eyepiece 4 by the image guide 25, and is magnified and observed through the eyepiece of the eyepiece 4.

The TV camera 5 mounted on the eyepiece unit 4 includes an imaging lens (not shown) facing the eyepiece, and a solid-state imaging device (not shown) such as a CCD arranged at an imaging position of the imaging lens. It has. And the eyepiece 4
Is formed on a CCD by the imaging lens, and is photoelectrically converted by the CCD. The output signal of the CCD is input to the CCU 6 where the signal is processed and converted into a video signal, and the subject image is displayed on the TV monitor 7 to which the video signal is input.

The bending portion 21 adjacent to the distal end forming portion 19 includes joint pieces 22, 2
Are rotatably connected to each other and are bendable in the vertical and horizontal directions, and can be bent in an arbitrary direction by rotating a bending knob (not shown) provided on the operation unit 13. It has become. This curved portion 21 is covered with a flexible jacket.

The insertion portion 8 is made of a non-magnetic material (aluminum, copper-based alloy, plastic, or the like) that is not attracted by magnetic force.

Also, as shown in FIG. 1 and FIG.
The two air-core coils 41 and 42 are attached at different positions in the axial direction on the outer peripheral portion on the distal end side. Lead wires 43 connected to both ends of the air-core coils 41 and 42 are connected to the control device 31 via a connection cord 44 extending from the operation unit 13 through the outside of the insertion unit 8 or through the inside of the insertion unit 8. It has become so.

The bed 10 on which the patient 9 is placed horizontally is made of a wooden material or the like.
It is made of a non-magnetic material.

A magnetic force generator 11 is provided around the bed 10. The magnetic force generator 11 has a magnetic field generator 51 made of an electromagnet or a permanent magnet. This magnetic field generator 51
Is provided on a piston 52 that can move up and down, and is movable in the up and down direction (referred to as the Z direction). The lower portion of the piston 52 is fixed on a movable base 53. The movable table 53 is provided on a base 54 having rails 54a along the longitudinal direction (X direction) of the bed 10.
a, 54a so as to be movable along. The base 54 is provided with a rail 55 on a base 55 having rails 55a and 55a along a Y direction orthogonal to the X direction and the Z direction.
It is attached so that it can move along 5a and 55a. As described above, the magnetic field generating unit 51 can move in any direction of X, Y, and Z.

On the other hand, as shown in FIG. 1, the control device 31 includes two DC power supplies 32 and 33 and a changeover switch. One end of each of the air-core coils 41 and 42 is connected to the movable contact 3 of the changeover switch 34.
4a, and the other end is connected to the positive electrode of the power supply 32 and the negative electrode of the power supply 33. The negative electrode of the power supply 32 is connected to a changeover switch 34.
, And the positive electrode of the power supply 33 is connected to a fixed contact 34c of the changeover switch 34. Nothing is connected to the other fixed contact 34d of the changeover switch 34. Therefore, by selectively connecting the movable contact 34a of the changeover switch 34 to one of the fixed contacts 34b, 34c, the direction of the current flowing through the air-core coils 41, 42 can be reversed. The magnetic force acting between the coils 41 and 42 and the magnetic force generator 11 can be used as an attractive force or a repulsive force. Also, the movable contact 34a of the changeover switch 34 is changed to the fixed contact 34d.
When connected to the air core coils 41 and 42 are not energized,
No magnetic force is generated between the magnetic force generator 11 and the magnetic force generator 11.

Next, the operation of the present embodiment configured as described above will be described.

After inserting the insertion portion 8 of the endoscope 2 into a subject such as the large intestine to some extent, the movable contact 34 of the changeover switch 34 in the control device 31
a to one of the fixed contacts 34b, 34c to connect the air-core coils 41, 42
Turn on electricity. Then, a magnetic field is generated from the air-core coils 41 and 42, and a magnetic force of an attractive force or a repulsive force is generated between the air-core coils 41 and 42 and the magnetic force generator 11 disposed outside the subject. Then, while observing the endoscope displayed on the TV monitor 7, the magnetic force generator
By moving the eleventh magnetic field generation part 51, the insertion part 8 is guided in the subject using the magnetic force. By switching the changeover switch 34, the magnetic force is changed from an attractive force to a repulsive force,
Alternatively, switching from the repulsive force to the suction force can control the advance / retreat of the insertion portion 8. When the movable contact 34a of the changeover switch 34 is connected to the fixed contact 34d, the air-core coils 41, 42
Is not energized, the air core coils 41, 42 lose magnetism,
The force acting on the insertion portion 8 disappears, and the insertion portion 8 stops.

As described above, according to the present embodiment, insertion of the insertion portion 8 into a bent portion such as the large intestine becomes easy.

In addition, by using the air-core coils 41 and 42 that generate a magnetic field by energization as the magnetic field generating means provided in the insertion portion 8, the control of the induction of the insertion portion 8 is performed by controlling the current flowing through the air-core coils 41 and 42. The magnetic field generated by the magnetic force generator 11 outside the subject may be constant. Therefore, guidance controllability is improved, and the size and cost of the device can be reduced.

When the energization of the air core coils 41 and 42 is stopped,
Since the air-core coils 41 and 42 are made non-magnetic, there is no risk of heat generation, and safety is improved.

In the present embodiment, the air-core coils 41 and 42 may be built in the insertion section 8 in advance, or may be detachable as an adapter.

Further, by using the power supplies 32 and 33 as variable voltage power supplies, it is possible to adjust the magnetic force acting on the air-core coils 41 and 42.

FIG. 4 shows a modification of this embodiment. In this example, a plurality of air-core coils 61, 62, 63,
4 is provided so that the control device 31 can selectively energize these coils.

As described above, by selectively energizing the coils 61, 62, 63, and 64, more complicated and subtle movement control can be performed.

5 to 7 relate to a second embodiment of the present invention, FIG. 5 is an explanatory view showing a main part of an endoscope device, and FIG. 6 shows a configuration of a control device in a modification of the present embodiment. Circuit diagram, seventh
The figure is a waveform diagram showing a current supplied to the air-core coil in the modification.

In the present embodiment, as shown in FIG. 5, an AC power supply 36 is provided in the control device 31 so that the AC power supply 36 can be connected to the air-core coils 41 and 42 of the first embodiment.

When an AC current is applied to the air-core coils 41 and 42 by the AC power supply 36, the magnetic force generated between the magnetic force generating device 11 and the magnetic force generator 11 alternately reverses to an attractive force and a repulsive force. Vibrates in the direction. This vibration reduces the static friction between the insertion section 8 and the subject, and makes insertion of the insertion section 8 easier.

Incidentally, in the control device 31, in addition to the AC power supply 36,
DC power supplies 32, 33 and switch 34 in the first embodiment
May be provided so that alternating current and direct current can be selectively supplied to the air-core coils 41 and 42.

Other configurations, operations and effects are the same as those of the first embodiment.

6 and 7 show a modification of this embodiment.
In this modified example, as shown in FIG. 6, an air-core coil
A DC current can be superimposed on an AC current flowing through 41 and 42.

When the DC current is reduced to zero as shown in FIG.
The insertion portion 8 vibrates in the axial direction about a predetermined position, and when a direct current is superimposed as shown in FIG. 7B, the insertion portion 8 moves forward or backward while vibrating in the axial direction.

FIG. 8 is an explanatory view showing a main part of an endoscope apparatus according to a third embodiment of the present invention.

In this embodiment, four air core coils 71, 72, 73, 74 wound in a saddle shape are provided on the outer peripheral portion of the insertion portion 8. The air-core coils 71, 72 are arranged at positions symmetrical to each other, and a magnetic flux is generated in the radial direction by energizing the air-core coils 71, 72. Further, the air-core coils 73, 74 are arranged at positions different from each other in the axial direction of the insertion portion 8 with respect to the air-core coils 71, 72, and are symmetrical with each other, and are arranged in 90 ° different positions. By energizing the air-core coils 73 and 74, magnetic flux is generated in a radial direction orthogonal to the direction of the magnetic flux generated by the air-core coils 71 and 72.

The external magnetic force generator 11 generates a magnetic field that generates a magnetic force between the energized air core coils 71 to 74.

In this embodiment, when an alternating current is applied to the air-core coils 71 to 74, the insertion portion 8 vibrates in the radial direction due to the interaction with the stationary magnetic field generated by the external magnetic force generator 11. Due to this vibration, the static friction between the insertion section 8 and the subject is reduced, and the insertion of the insertion section 8 becomes easier.

Further, by selectively applying a direct current to the air-core coils 71 to 74, the insertion portion 8 can be guided in each of the upper, lower, left, and right directions.

Other configurations, operations and effects are the same as those of the first embodiment.

9 to 10 relate to a fourth embodiment of the present invention. FIG. 9 is an explanatory view showing a main part of an endoscope apparatus, and FIG. 10 is a circuit showing a circuit for controlling energization to an air-core coil. FIG. 11 is an explanatory diagram for explaining the operation of this embodiment.

As shown in FIG. 9, in this embodiment, three air-core coils 81, 82, 83 are provided at different positions in the axial direction of the outer peripheral portion of the insertion section 8 of the endoscope 2. Also these coils 8
A magnetic fluid balloon 84 is attached to the outer peripheral portion of the insertion portion 8 so as to cover 1, 82 and 83. A magnetic fluid tank 87 provided outside the endoscope 2 is connected to the magnetic fluid balloon 84 via a tube 85 inserted through the insertion section 8, and a pump 86 is interposed in the tube 85. ing. Then, the magnetic fluid stored in the magnetic fluid tank 87 can be filled in the magnetic fluid balloon 84 by the pump 86.

As shown in FIG. 10, one ends of the air-core coils 81, 82, 83 are connected to fixed contacts 89b, 89c, 89d of a changeover switch 89, respectively. The movable contact 89a of the changeover switch 89 is connected to the positive electrode of a DC power supply 88, and the negative electrode of this power supply 88 is connected to the other ends of the air-core coils 81, 82, 83. Therefore, by switching the changeover switch 89, the air core coils 81, 82,
83 can be energized selectively.

 In this embodiment, the magnetic force generator 11 is not provided.

 Other configurations are the same as in the first embodiment.

 Next, the operation of the present embodiment will be described.

The insertion section 8 is inserted into the subject, and the magnetic fluid is filled into the magnetic fluid balloon 84. And a changeover switch
The 89 movable contacts 89a are connected cyclically in the order of fixed contacts 89b, 89c, 89d, 89b,. Then, the air core coils 81, 82, 83
A magnetic field is generated in this order. A magnetic fluid balloon collects magnetic fluid around the air-core coil that generated the magnetic field.
84 expands. Accordingly, as shown in FIG. 11, the balloon 84 first expands around the coil 81, and then expands the coil 82.
Of the coil 83 then expands. By repeating this operation, the balloon 84 that comes into contact with the inner wall of the subject moves peristally, and the insertion section 8 is automatically inserted into the inside of the subject.

Thus, according to the present embodiment, the external magnetic force generator
The insertion section 8 of the endoscope 2 can be automatically inserted without using the 11.

FIG. 12 is an explanatory view showing a capsule endoscope and a control device thereof according to a fifth embodiment of the present invention.

The capsule endoscope 150 has a cylindrical capsule body 151 having a front end and a rear end formed in a spherical shape.
An observation window is provided at the center of the front end surface of the capsule body 151, and an objective lens 152 is provided inside the observation window. The CCD 153 is located at the image forming position of the objective lens 152.
Is provided. A plurality of illumination windows are provided around the observation window, and an LED 154 is provided inside each illumination window. A driving circuit 156 for driving the CCD 153 and the LED 154 is provided on a rear end side in the capsule body 151.
The CCD 153 is communicated with a control device 160 disposed outside the subject.
Transmission / reception unit 15 for transmitting and receiving output signals and various command signals
7 and a power supply unit 158 having a battery for supplying power to each component of the capsule endoscope 150. Also,
An air core coil 159 is provided on the outer peripheral side in the capsule body 151.

The control device 160 includes a transmitting / receiving unit 161 for transmitting / receiving a signal wirelessly or wired to / from the transmitting / receiving unit 157 of the capsule endoscope 150, and a capsule endoscope via the transmitting / receiving units 161, 157. Operating means 162 for sending various command signals to 150, and a CCD 153 input via the transmitting / receiving unit 161
And a signal processing circuit 163 that performs signal processing on the output signal of the above and converts the signal into a video signal. Then, the signal processing circuit 163
Is input to the TV monitor 7, and the subject image captured by the capsule endoscope 150 is displayed on the TV monitor 7.

Although not shown, a magnetic force generator 11 similar to that of the first embodiment is provided around the subject.

In the present embodiment, as in the first embodiment, the air-core coil 159
To generate a magnetic field from the air-core coil 159, and generate a magnetic field from the magnetic force generator 11 to generate a magnetic force between the magnetic-force generator 11 and the air-core coil 159 of the capsule endoscope 150. The capsule endoscope 150 is guided by moving the magnetic force generator 11.

The objective lens 152 and the CCD 15 are provided in the capsule body 151.
3. Instead of elements necessary for observation, such as the LED 154, a sensor such as a pH sensor or a temperature sensor may be provided to detect gastric pH, intestinal pH, temperature, and the like. Also, in the capsule body 151,
A collecting means or a drug applying means for collecting intestinal fluid or the like may be provided.

Other configurations, operations and effects are the same as those of the first embodiment.

The present invention can be applied not only to endoscopes but also to catheters.

Further, the present invention can also be applied to an electronic endoscope provided with a solid-state imaging device at the distal end of the insertion section.

When a permanent magnet, a ferromagnetic material or an electromagnet is provided at the tip of the insertion portion of the electronic endoscope, and the insertion portion is magnetically induced by a magnetic force generation portion provided outside the body, a high magnetic field is generated by the magnetic force generation portion. Is generated, the endoscope image obtained by the electronic endoscope may be disturbed. Therefore,
Six examples of the endoscope apparatus that can guide the insertion portion magnetically without disturbing the endoscope image will be described below.

13 to 16 relate to the first example, FIG. 13 is an explanatory diagram showing the entire endoscope apparatus, FIG. 14 is a block diagram showing the configuration of the endoscope apparatus, and FIG. FIG. 16 is a block diagram showing the configuration of the circuit, and FIG. 16 is an explanatory diagram for explaining the operation of this example.

As shown in FIG. 13, the endoscope device 201 includes an electronic endoscope 2
02, a video processor 203 that supplies illumination light to the electronic endoscope 202 and performs signal processing on the electronic endoscope 202, and inputs a video signal output from the video processor 203 to display a subject image. And a magnetic force generator 11 disposed below a bed 10 on which a patient 9 into which the insertion section 8 of the endoscope 202 is to be inserted is placed. The magnetic force generation device 11 is a magnetic force generation unit composed of an electromagnet.
231, and the magnetic force generation unit 231 is movable in a horizontal plane.

The electronic endoscope 202 includes an elongated insertion portion 8 having flexibility, an operation portion 13 continuously provided at a rear end of the insertion portion 8, and a universal extending from a side portion of the operation portion 13. Code 20
4 and have. At the end of the universal cord 204, a connector 205 that is detachably connected to a connector receiver 209 of the video processor 203 is provided.

As shown in FIG. 14, a solid-state image sensor, for example, a CCD 206, is disposed at an image forming position of the objective lens 24 provided at the distal end of the insertion section 8. The signal transmission cable 207 connected to the CCD 206 is inserted through the insertion section 8, the operation section 13, and the universal cord 204, and is connected to the connector 205. Further, the incident end of the light guide 16 is also connected to the connector 205. Further, a ferromagnetic body 208 is attached to an outer peripheral portion of the curved portion 21 of the insertion portion 8.

In the video processor 203, a light source unit 212 having a lamp 213 and a lens 214 is provided. Illumination light emitted from the lamp 213 is condensed by a lens 214 and is incident on an incident end of the light guide 16. It has become. Also, a clock generator 2 is provided in the video processor 203.
17, a drive circuit 218 to which a clock generated from the clock generator 217 is input, a process circuit 221, a magnetic force drive circuit 224, and a controller 225.

The clock signal generated by the clock generator 217 is input to a drive circuit 218, which generates a CCD drive signal. This drive circuit 218
It has a horizontal transfer pulse generator 219 and the vertical transfer pulse generator 220, generator 219 and 220, respectively, (charge) a reset pulse phi _R, a horizontal transfer pulse phi _H, a vertical transfer pulse phi
_V.

The vertical transfer pulse phi _V, charge reset pulse phi _R and the horizontal transfer pulse phi _H is, C via the signal transmission cable 207
Applied to CD206.

When a drive signal from the drive circuit 218 is applied, the CCD 206 outputs a signal S that has been photoelectrically converted.
Is input to the process circuit 221 via the signal transmission cable 206.

The process circuit 221 takes in the signal S output from the CCD 206 and outputs a video signal to the TV monitor 7. This process circuit 221 is as shown in FIG. A signal processing circuit 23 that processes the output signal of the CCD 206 and converts the signal into a video signal.
2, an A / D converter 233 for converting a video signal from the signal processing circuit 232 into a digital signal, and an A / D converter 2
33, a field memory 234 for storing an output signal of 33, and a D / A converter 235 for converting a signal read from the field memory 234 into an analog signal and outputting the analog signal to a TV monitor 7 or a VTR (not shown). Field memory 23
In 4, writing and reading are controlled by the controller 225.

Further, the magnetic force driving circuit 224 drives the magnetic force generation unit 231 of the magnetic force generation device 11. By generating a magnetic field from the magnetic force generating unit 231, a magnetic force (for example, an attractive force) is generated between the magnetic force generating unit 231 and the ferromagnetic body 208 provided in the insertion unit 8, and the magnetic force is generated by the magnetic force. 8 can be induced magnetically.

In this embodiment, the controller 225 controls the field memory 234 in the process circuit 221 and the magnetic force driving circuit 224.
The video signal is obtained every other field and displayed on the TV monitor 7 or recorded on a VTR or the like as shown in FIG. Then, a magnetic field is generated from the magnetic force generation unit 231 in a field where no video signal is obtained, and the magnetic field is magnetically guided to the insertion unit 8. In a field where no video signal is obtained, the image of the previous field stored in the field memory 234 is read again.

As described above, according to the present embodiment, the timing of obtaining the endoscope image and the timing of magnetically guiding are completely independent, so that the insertion section 8 is magnetically guided without disturbing the endoscope image by the magnetic field. can do.

Note that an air-core coil may be provided in the insertion portion 8 instead of the ferromagnetic material 208 as in the first embodiment.

Other configurations, operations and effects of this embodiment are the same as those of the first embodiment.

FIG. 17 is an explanatory diagram for explaining the operation of the second example.

In this example, the field memory 234 by the controller 225 is used.
Only the control of the magnetic drive circuit 224 is different from the first example. FIG. 17 shows a synchronization signal of a video signal, that is, a vertical synchronization signal VS and a horizontal synchronization signal HS. As shown in this figure, in this example, the video is obtained in all the fields, displayed, and recorded. Then, magnetic guidance is performed in a vertical blanking period (vertical synchronization signal period).

According to this example, the insertion section 8 can be inserted without deteriorating the image quality.
Can be induced magnetically.

Other configurations, operations and effects are the same as those of the first example.

FIG. 18 is an explanatory diagram for explaining the operation of the third example.

This example uses a controller (not shown)
The operation of 225 is switched, and in the case of magnetic guidance, a field mode for capturing a video signal every other field is set as in the first example, and a magnetic field for magnetic guidance is generated in a field where video is not captured to perform magnetic guidance. When there is no normal operation, the frame mode is set to obtain images in all fields.

According to the present example, during magnetic guidance, high image quality is not required, so the field mode is set, and during normal observation, the field mode can be used so as to obtain high image quality.

Other configurations, operations and effects are the same as those of the first example.

FIG. 19 is an explanatory diagram for explaining the operation of the fourth example.

In this example, at the time of magnetic guidance, the image memory freezes (still image) and cancels the freeze alternately at regular intervals in the field memory 234, and magnetic guidance is performed at the time of freeze. Therefore, at the time of magnetic guidance, a freeze image not disturbed by the magnetic field is displayed on the TV monitor 7.

According to this example, magnetic induction can be performed efficiently.

Other configurations, operations and effects are the same as those of the first example.

20 and 21 relate to the fifth example, FIG. 20 is a perspective view showing the entire endoscope device, FIG. 21 (a) is an explanatory diagram showing the configuration of the magnetic force generating device, and FIG. (B) is A in FIG. 21 (a).
It is a sectional view taken on line -A '.

In the first example, the insertion portion 8 is to be guided two-dimensionally, but in this example, the insertion portion 8 can be guided three-dimensionally.

In this example, as shown in FIG. 20, an annular magnetic force generating device 261 surrounding the patient 9 around the patient 9 is provided instead of the magnetic force generating device 11 in the first example. The magnetic force generator 261 is movable on the rail 262 in the longitudinal direction of the bed 10 on which the patient 9 is placed.

In this example, the base of the insertion section 242 of the endoscope is connected to the observation unit 243 having the video processor 203 built therein. The observation unit 243 is connected via a cable 244 to an operation unit 245 having a control circuit for controlling the magnetic force generator 261. Further, the magnetic force generator 261 is also connected to the operation unit 245 via a cable 240. The operation unit 245 includes an endoscope image monitor 248,
A patient data display unit 263 and an induction switch 264 connected to a control circuit for controlling the magnetic force generator 261 are provided.

As shown in FIG. 21, the magnetic force generator 261 has an annular portion 265, and the annular portion 265 is provided with a ring-shaped guide ring 267. On this guide ring 267,
A plurality of magnetic force generating units 266A to 266P are arranged along the circumferential direction, and a magnetic field can be selectively generated from an arbitrary magnetic force generating unit by operating the induction switch 264 of the operation unit 245.

FIG. 21 shows a state where the insertion section 242 is inserted into the large intestine 241.

In this example, for example, by selecting the magnetic force generating units 266A and 266I and appropriately adjusting the strength of the magnetic force by the magnetic force generating units 266A and 266I, the insertion unit 242 can be moved in the vertical direction.

Further, for example, by selecting each set of the magnetic force generating units 266P, 266A, 266B and the magnetic force generating units 266H, 266I, 266J and generating a magnetic force therefrom, a magnetic field stronger than one magnetic force generating device is obtained. As a result, a stable guidance operation can be performed.

Further, for example, as in the magnetic force generation units 266A, 266G, 266K,
By selecting one and generating magnetic force from these,
The insertion section 8 can be moved over a wide range.

In addition, the insertion portion 242 can be guided in various modes by various combinations of the magnetic force generation portions 266A to 266P.

Note that the timing of the generation of the magnetic field from the magnetic force generation units 266A to 266P in this example is the same as in the first to fourth examples.

Further, the direction of the magnetic force generated by the magnetic force generator 261 is displayed on the endoscope image monitor 428. For example, if the direction of the magnetic force is upward, a message "UP" is displayed as shown in FIG.

Other configurations, operations and effects are the same as those of the first to fourth examples.

22 and 23 relate to the sixth example, FIG. 22 is a cross-sectional view showing the distal end of the insertion portion of the endoscope, and FIG. 23 (a) shows an index when no external magnetic field is generated. FIG. 23 (b) is an explanatory diagram showing indices when an external magnetic field is generated.

The insertion section 8 of the endoscope of the present embodiment does not include the air core coils 41 and 42 with respect to the insertion section 8 of the first embodiment, but is instead attached to the distal end component 19 and the distal end component 19. Food
At least one of the 20 is made of a ferromagnetic material. The insertion portion 8 is guided by a magnetic force generated between the ferromagnetic material and an external magnetic force generator. In this example, an indicator device 270 is provided on the front surface of the objective lens 24 provided at the distal end of the insertion section 8. The indicator device 270 has a hollow ring 271 formed of a transparent glass tube or tube, as shown in FIG.
The magnetic fluid 272 and the magnetic fluid 27
2 and a transparent liquid having the same specific gravity and good dispersibility. The magnetic fluid 272 is observed by the objective lens 24.

In a uniform magnetic field, the magnetic fluid 272 is uniformly distributed as shown in FIG. 23 (a), and when a magnetic field for magnetic induction is generated from the outside, the magnetic fluid 272 becomes magnetic as shown in FIG. 23 (b). Fluid 27
2 is biased to one side. Therefore, the direction of the magnetic field can be known in the endoscope image.

Other configurations, operations and effects are the same as those of the first to fourth examples.

Note that the capsule endoscope shown in FIG. 12 in which a ferromagnetic material is provided instead of the air-core coil 159 is used,
Similarly to the fourth example, the timing for obtaining a video signal and the timing for magnetically guiding the capsule endoscope may be separated.

[Effects of the Invention] As described above, according to the present invention, as a magnetic field generating means provided in this insertion portion to guide the insertion portion,
Since an air-core coil that generates a magnetic field when energized was used,
Guidance control is enabled by controlling the current supplied to the air-core coil, thereby improving the inductive controllability. When the power supply to the air-core coil is stopped, the air-core coil becomes non-magnetic and does not generate heat, so that there is an effect that safety is improved. .

[Brief description of the drawings]

FIGS. 1 to 4 relate to a first embodiment of the present invention.
FIG. 2 is an explanatory view showing a main part of the endoscope apparatus, FIG. 2 is a perspective view showing the entire endoscope apparatus, FIG. 3 is a cross-sectional view showing a distal end portion of an insertion portion of the endoscope, FIG. FIG. 5 is an explanatory view showing a main part of an endoscope apparatus according to a modification of the present embodiment. FIGS. 5 to 7 relate to a second embodiment of the present invention, and FIG. FIG. 6 is a circuit diagram showing a configuration of a control device according to a modification of the present embodiment. FIG. 7 is a waveform diagram showing a current supplied to an air-core coil in the modification, and FIG. FIGS. 9 to 10 relate to a fourth embodiment of the present invention, and FIG. 9 is an explanatory view illustrating a main part of an endoscope apparatus according to a third embodiment of the present invention. FIG. 10, FIG. 10 is a circuit diagram showing a circuit for controlling energization of the air-core coil, FIG. 11 is an explanatory diagram for explaining the operation of this embodiment, and FIG.
FIG. 13 to FIG. 23 are explanatory views showing a capsule endoscope and a control device therefor according to the embodiment. FIG. 13 to FIG. 23 show an endoscope apparatus which can guide the insertion portion magnetically without disturbing the endoscope image. 13 to 16 relate to the first example, FIG. 13 is an explanatory diagram showing the entire endoscope device, FIG. 14 is a block diagram showing the configuration of the endoscope device, FIG. 15 is a block diagram showing the configuration of a process circuit, FIG. 16 is an explanatory diagram for explaining the operation of this example, FIG. 17 is an explanatory diagram for explaining the operation of the second example, and FIG. Is an explanatory diagram for explaining the operation of the third example, FIG. 19 is an explanatory diagram for explaining the operation of the fourth example, and FIGS. 20 and 21 relate to the fifth example; FIG. 21 is a perspective view showing the entire endoscope apparatus, FIG. 21 (a) is an explanatory view showing the configuration of the magnetic force generator, and FIG. 21 (b) is a cross-sectional view taken along line AA ′ of FIG. 21 (a). Figure, Figure 22 23 and FIG. 23 relate to the sixth example, FIG. 22 is a cross-sectional view showing the distal end of the insertion section of the endoscope, FIG. 23 (a) is an explanatory view showing an index when no external magnetic field is generated, FIG. 23 (b) is an explanatory diagram showing indexes when an external magnetic field is generated. DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus, 2 ... Endoscope 8 ... Insert part, 11 ... Magnetic force generator 41, 42 ... Air-core coil

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hideyuki Adachi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside O-limpus Optical Industry Co., Ltd. (72) Inventor Tatsuya Yamaguchi 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Inventor Takeaki Nakamura 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Inventor Masaaki Hayashi 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. Olympus Optical Co., Ltd. (56) References JP-A-55-133237 (JP, A) JP-A-62-35318 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) ) A61B 1/00-1/32

Claims (1)

(57) [Claims] 1. An insertion part to be inserted into a subject, and a magnetic field generating means provided in the insertion part, wherein the insertion part is guided by using a magnetic field generated from the magnetic field generating means. In the intra-subject insertion device, the magnetic field generating means has a plurality of air-core coils that generate a magnetic field when energized, and the plurality of air-core coils are respectively disposed at different positions in the axial direction of the insertion portion. A device for insertion into a subject, comprising: