JP3017770B2 - 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, in the device disclosed in Japanese Patent Application Laid-Open No. 55-133237, an external magnetic field generator can be moved in one direction, but an external magnetic field is generated in the other direction. There is a problem that the controllability is poor because the guidance is controlled by changing the intensity.

In addition, as shown in West German Patent Application Publication No. 1262276, when simply using a magnetic attraction force, a unidirectional magnetic force between the extracorporeal magnetic force generating means and the magnet or ferromagnetic material provided in the insertion portion is used. For example, a magnetic force generating means such as a strong magnet is operated from above a patient's belly using an attractive force to guide the insertion portion. However, in the tractive force in the body surface direction, since the insertion part is pulled so as to bite into the body cavity wall, it is difficult to insert the insertion part deep into the body cavity, and the distance between the extracorporeal magnetic force generating means and the insertion part depends on the distance. There is a problem that the suction force is largely different and the controllability of guidance is poor.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an in-subject insertion device that can magnetically guide an insertion portion and has improved guidance controllability.

Means for Solving the Problems A device for insertion into a subject according to the present invention includes an insertion portion to be inserted into a subject, and a guided portion provided on at least a part of the insertion portion and magnetically guided. And a magnetic force generating means provided outside the subject and generating a magnetic force acting on the guided part, wherein the magnetic force generating means balances forces acting on the guided part in at least one direction. Magnetic force can be generated, and by the magnetic force generating means,
It has moving means for moving the magnetic force generating means in a direction in which the balance is not controlled.

[Operation] In the present invention, the magnetic force generated by the plurality of magnetic force generating units
The forces acting on the guided part can be balanced in at least one direction. Then, in this balanced state, the insertion portion is guided by moving at least two-dimensionally the plurality of magnetic force generation units integrally.

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

1 to 12 relate to a first embodiment of the present invention. FIG. 1 is a side view of an endoscope device, FIG. 2 is a perspective view of the endoscope device, and FIG. FIG. 4 is an explanatory view showing a large intestine, FIG. 5 is an explanatory view showing a modification of the present embodiment, and FIG. 6 is a block diagram showing a configuration of a positioning means of the insertion section. 7 and 8 are explanatory diagrams showing magnetic field detecting means provided at the distal end of the insertion portion, respectively. FIG. 9 is an explanatory diagram showing the structure of the position detecting device of the insertion portion. FIG. 10 is a repulsive force. Explanatory view showing a case where an insertion portion is guided by
The figure is an explanatory view showing another example of the distal end portion of the insertion section when guiding the insertion section by the repulsive force, and FIG. 12 is an explanatory view showing the case of guiding the insertion section using the repulsive force and the suction force. .

As shown in FIGS. 1 and 2, an endoscope apparatus 1 according to the present embodiment includes an endoscope 2 which is a fiberscope, a light source apparatus 3 for supplying illumination light to the endoscope 2, A TV camera 5 attached to the eyepiece 4 of the endoscope 2, a camera control unit (hereinafter, referred to as CCU) 6 for performing signal processing on the TV camera 5, and a video signal output from the CCU 6 A TV monitor 7 for inputting and displaying a subject 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 to be inserted, and the magnetic force generator And a power supply 30 for supplying power to the power supply 11.

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, the side of the operation unit 13 and the light guide table
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, the distal end portion 8a of the insertion portion 8 has a rigid distal end portion 19, and behind the distal end portion 19,
A bendable portion 21 is provided. The tip component
An illumination window and an observation window are provided at the distal end surface of the device 19.
A light distribution lens 15 is provided inside the illumination window, and a light guide 16 is provided at a rear end of the light distribution lens 15. 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
Connected to 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 is incident on an incident end of the light guide 16.
Through the illumination window.

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 inside of the insertion section 8 and the operation section 13 is inserted, and a rear end portion thereof faces an eyepiece (not shown) in the eyepiece 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 portion 8a includes joint pieces 22, 22,.
Are rotatably connected to each other, and can be bent vertically or horizontally. By turning a bending knob (not shown) provided on the operation unit 13, the bending can be performed in an arbitrary direction. I have. This curved portion 21 is covered with a flexible jacket.

Also, as shown in FIG. 1 and FIG.
At least one of the distal end portion 19 and the hood 20 attached to the distal end portion 19 is permanently magnetized so that the upper side is an N pole and the lower side is an S pole so as to be a guided portion. It is composed of magnets. Other portions of the insertion portion 8 are made of a non-magnetic material (aluminum, copper-based alloy, plastic, or the like) that is not attracted by magnetic force.

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 includes a lower head 32 disposed below the bed 10 and the lower head 32 with the patient 9 interposed therebetween.
An upper head 31 is provided so as to face the head 32, and an arm 33 connecting the heads 31 and 32 is provided. The lower head 32 is provided on a piston 52 that can move up and down, and can move 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. As shown in FIG. 2, the movable table 53 is movable along the rails 54a, 54a on a base 54 having rails 54a, 54a along the longitudinal direction (X direction) of the bed 10. Attached to. The base 54 is mounted movably along the rails 55a, 55a on a base 55 having rails 55a, 55a extending in a Y direction orthogonal to the X direction and the Z direction. The base 55 is integrated with the bed 10. Thus, the arm 33 and both heads
31, 32 can be moved in any direction of X, Y, Z.

The two heads 31, 32 are respectively connected to the power supply 30.
And an electromagnet that generates a magnetic field when energized. A grip 34 is provided on the upper head 31, and the two heads 31, 32 can be moved integrally by gripping the grip 34. A plurality of switches 35 are provided on the grip 34, and by operating the switches 35, the direction of the current flowing through the coils of the electromagnets in the heads 31, 32 is reversed, or the current is changed. Alternatively, the power supply can be stopped.

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

When inserting the insertion portion 8 of the endoscope 2 into the body cavity of the patient 9 to some extent and then guiding the insertion portion 8 magnetically, for example,
As shown in FIG. 1, the upper head 31 energizes the coils of the electromagnets of the heads 31 and 32 such that the lower head 32 generates an S pole on the patient 9 side and the lower head 32 generates an N pole on the patient 9 side. This allows
Attraction magnetic force is generated between the upper side of the distal end portion 8a and the upper head 31, and between the lower side of the distal end portion 8a and the lower head 31, respectively. Conversely, the upper head 31 produces an N pole on the patient 9 side,
The lower head 32 is provided with each head so as to generate an S pole on the patient 9 side.
When the coils of the electromagnets 31 and 32 are energized, repulsive magnetic forces are generated between the upper side of the tip 8a and the upper head 31, and between the lower side of the tip 8a and the lower head 31, respectively. Then, the user grips the grip 34 so that the tip 8a is located at a position where the force acting on the tip 8a, that is, the gravity and the magnetic force in each of the up and down directions is balanced in at least one direction (in this case, in the up and down direction). Adjust the position of 31,32. Then, when the distal end portions 8a are balanced, the grip 34
By moving the heads 31 and 32 while holding the
The balance of a is maintained, and the insertion portion 8 can be guided in a direction in which the balance is not controlled by following the movement of the grip 34.

Further, as shown in FIG. 5, the magnetic poles at the tip 8a are reversed every 90 degrees in the circumferential direction, for example, and the heads 31, 3
An electromagnet may be provided in each of the two so that both N and S poles appear on the side facing the patient 9. And gravity and head
The insertion portion 8 may be guided such that the tip 8a is located at a position where the magnetic forces in the four directions between the 31, 32 and the tip 8a are balanced.

Also, if necessary, operate switch 35 to operate head 3
1, 32, change the polarity of each head 31, 32, turn on / off the energization of the electromagnet coil of each head 31, 32,
The current to the coil of the electromagnet is changed to change each head 31, 32
The induction of the insertion portion 8 is controlled by independently adjusting the magnetic force of the insertion portion 8.

Thus, according to the present embodiment, the distal end portion 8a of the insertion portion 8
Can be accurately and reliably guided to any position of X, Y, and Z while holding the force acting on the distal end portion 8a in a balanced position in at least one direction. Therefore, the insertion portion 8 can be guided as desired into the body cavity that is bent in a complicated manner. FIG. 4 shows an example of the large intestine as a bent body cavity of the human body. The bent portions A to D in this figure are not hardened, and if the insertion portion 8 is simply pushed in and inserted, the intestine extends and cannot cross the bent portion, and the patient becomes very difficult.

Further, according to the present embodiment, since the distal end portion 8a is not pulled so as to bite into the body cavity wall, the distal end portion 8a is easily guided deep into the body cavity and is safe.

Further, by generating a repulsive force between the heads 31 and 32 and the distal end portion 8a to guide the insertion portion 8, the head
The living tissue is safe from being pinched between the 31, 32 and the distal end portion 8a by a strong suction force.

The means for generating a magnetic field from the heads 31 and 32 and the tip 8
Means for generating a magnetic field from a may be a permanent magnet or an electromagnet.

Although not shown, the position in the body cavity is detected using X-rays or ultrasonic waves.

By the way, when the insertion portion 8 is guided while generating a suction force between the heads 31 and 32 and the distal end portion 8a and the forces acting on the distal end portion 8a are balanced, the distal end portions 8a are balanced. It is easy to get out of the position. Therefore, it is desirable to detect that the tip 8a has deviated from the balanced position and return the tip 8a to the balanced position. For example, as shown in FIG. 6, a sensor for detecting a change in the magnetic field is provided in the distal end portion 8a, the output of this sensor is detected by the output detection section 42, and based on the output of this sensor, the controller 43 The power sources 44 and 45 for energizing the coils of the electromagnets of the heads 31 and 32 are controlled to adjust the magnetic force of the heads 31 and 32 so that the tip 8a is held in a balanced position. As the sensor, an air-core coil 47 as shown in FIG. 7 or a Hall element 48 as shown in FIG. 8 can be used. In FIGS. 7 and 8, reference numeral 46 denotes a magnet that constitutes the distal end component 29 and the like.

Further, as shown in FIG. 9, an ultrasonic probe 49 for confirming the position of the distal end portion 8a may be attached to the arm 33. The ultrasonic probe 49 transmits and receives ultrasonic waves and measures the position of the tip 8a. And this ultrasonic probe 49
The positions of the heads 31 and 32 are adjusted and the magnetic force of each of the heads 31 and 32 is adjusted so that the position of the tip 8a measured by the above becomes a position where the forces acting on the tip 8a are balanced.

Alternatively, an ultrasonic transducer may be provided at the distal end 8a, and an ultrasonic wave emitted from the ultrasonic transducer may be received by an extracorporeal ultrasonic receiver to measure the position of the distal end 8a.

Further, instead of the ultrasonic probe 49, a Hall element for detecting a magnetic field by a magnet provided at the distal end portion 8a for measuring the position of the distal end portion 8a may be provided.

On the other hand, when the repulsive force is generated between the heads 31, 32 and the distal end portion 8a to guide the insertion portion 8 in a state where the forces acting on the distal end portion 8a are balanced, the following is performed. The insertability is improved. That is, as shown in FIG. 10, a magnetic pole, for example, a magnet 51 for generating an N pole is provided in the front end portion 8a in the direction of obliquely upward and obliquely downward on the rear end side, and the upper head 31 and the lower head 32 have An N pole is generated on the patient side in a diagonally forward direction. Then, the heads 31, 32 are arranged slightly behind the tip 8a. When the heads 31 and 32 are moved forward from this state, they can be moved forward by the repulsive force while holding the distal end portion 8a in a balanced position in the vertical direction.

In addition, as shown in FIG. 11, instead of the magnet 51, a magnet 52a that generates a magnetic pole (for example, an N pole) in an obliquely upward direction on the rear end side and a magnetic pole (for example, in an obliquely downward direction) on the rear end side And a magnet 52b that generates an N-pole.

As shown in FIG. 12, the upper head 31 is connected to the lower head 32.
It is disposed slightly forward in the insertion direction, and generates a repulsive force between the lower magnet 53b and the lower head 32 of the tip 8a, and between the upper magnet 53a and the upper head 31 of the tip 8a. Generates an attractive force, and the two magnetic forces and the tip
The insertion portion 8 may be guided by pulling the distal end portion 8a by the suction force of the upper head 31 while holding the distal end portion 8a at a position where gravity acts on the 8a.

Alternatively, a ferromagnetic material may be provided in place of the magnet 53a above the tip 8a, and the tip 8a may be pulled by an attractive force acting between the magnet 53a and the upper head 31.

FIG. 13 is an explanatory view showing a capsule endoscope and a control device thereof according to a second 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,
A permanent magnet 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.

In the present embodiment, similarly to the first embodiment, the magnetic force generator 11
A magnetic field is generated between the magnetic force generator 11 and the permanent magnet 159 of the capsule endoscope 150, and the magnetic force is generated at a position where the force acting on the capsule endoscope 150 in the vertical direction is balanced. While holding the capsule endoscope 150, the magnetic force generator 11 is moved to move the capsule endoscope 150
Is induced.

The permanent magnet 159 has the same magnetic pole on the outer peripheral side, and the upper and lower heads 31 and 32 have the same magnetic pole generated on the patient side.
Is prevented from rotating.

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. 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.

It should be noted that the present invention is not limited to the above embodiments, and for example,
A plurality of magnetic force generating parts may be provided at positions facing the horizontal direction with the guided part of the insertion part interposed therebetween.

Further, the present invention can be applied not only to an endoscope but also to a catheter.

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.

By the way, after inserting the insertion section 8 of the endoscope 2 into the body cavity, when trying to guide the insertion section 8 magnetically, the position of the distal end of the insertion section 8 may not be known at first.
Therefore, two examples in which the position of the distal end of the insertion portion 8 can be confirmed before magnetically guiding the insertion portion 8 are described in the fourteenth example.
This is shown in FIGS.

14 and 15 relate to the first example, FIG. 14 is an explanatory view showing the entire endoscope apparatus, and FIG. 15 is a cross-sectional view showing the distal end of the insertion section.

In the present example, a magnetic force generator 211 is provided below the bed 10. The magnetic force generator 211 has a stage 230 that can move in a horizontal plane. On the stage 230, a magnetic force generator 231 composed of an electromagnet and a receiving ultrasonic transducer 202 are provided. The receiving ultrasonic transducer 202 is connected to an ultrasonic signal processing circuit 203 via a cable 240.

On the other hand, as shown in FIG. 15, a transmitting ultrasonic transducer 201 is provided in the distal end portion 8a of the insertion section 8 of the endoscope 2. In addition, at least one of the tip body 19 and the hood 20 is made of a permanent magnet or a ferromagnetic material.

 Other configurations are the same as those of the first embodiment.

In this example, ultrasonic waves are transmitted from the transmitting ultrasonic transducer 201 provided in the distal end portion 8a, and the ultrasonic waves are received by the receiving ultrasonic transducer 202 provided in the magnetic force generator 211.
By moving the receiving ultrasonic transducer 202 in a horizontal plane,
The ultrasonic signal processing circuit 203 detects the position where the level of the received signal is the highest, thereby detecting the position of the tip 8a. Then, after positioning the magnetic force generating portion 231 at the position of the distal end portion 8a, the magnetic force generating portion 231 generates a magnetic field to magnetically guide the insertion portion 8.

Note that the magnetic force generator 211 of the first embodiment may be used instead of the magnetic force generator 211.

16 and 17 relate to the second example, FIG. 16 is an explanatory view showing the entire endoscope apparatus, and FIG. 17 is a cross-sectional view showing the distal end of the insertion section.

In the present example, a magnetic force generator 211 is provided below the bed 10. The magnetic force generator 211 has a stage 230 that can move in a horizontal plane, and a magnetic force generator 231 made of an electromagnet is provided on the stage 230.

On the other hand, as shown in FIG. 17, a permanent magnet 220 is provided on the central axis in the distal end portion 8a of the insertion section 7 of the endoscope 2, and at least two empty magnets are provided at different positions in the outer circumferential direction. Core coils 221 are provided. The signal lines connected to the air-core coils 221 are connected to the position detecting device 222 via the inside of the insertion section 8 and the cable 241.

 Other configurations are the same as those of the first embodiment.

In this example, when a magnetic field is generated from the magnetic force generating unit 231 of the magnetic force generating device 211, the magnetic force generating unit 231 is moved in a horizontal plane, and when the position of the magnetic force generating unit 231 and the position of the permanent magnet 220 in the distal end portion 8a are close to each other. Since the magnetic flux traverses the air core coil 221, an induced voltage is generated in the air core coil 221, and the induced voltage is detected by the position detecting device 222, whereby the tip 8a
Can be detected. That is, the air-core coil
By reading the level of the induced voltage generated at 221 by the position detection device 222, the relative positional relationship with the magnetic force generation unit 231 can be known. In this case, the magnetic force generator 231 is moved below the patient 9 to search for the peak of the induced voltage. If the magnetic force generation unit 231 is stopped at this peak position, it is understood that the tip 8a is located at the position of the patient corresponding to this. Then, after positioning the magnetic force generating portion 231 at the position of the distal end portion 8a, the magnetic force generating portion 231 generates a magnetic field to magnetically guide the insertion portion 8.

Note that the magnetic force generator 211 of the first embodiment may be used instead of the magnetic force generator 211.

By the way, when a permanent magnet or a ferromagnetic material is provided at the tip of the insertion portion of a body cavity insertion tool such as an endoscope, and the insertion portion is magnetically induced by a magnetic field generated from outside the body, conventionally, the magnetic pole is fixed. Was used. For this reason, the distal end of the insertion portion is pressed against the inner wall of the body cavity by the magnetic force, and a frictional force is generated when guiding the insertion portion, thereby hindering the advancement of the insertion portion.

Therefore, three examples in which the insertability of the insertion portion can be improved are shown in FIGS. 18 to 29.

18 to 25 relate to the first example, FIG. 18 is an explanatory view showing a configuration of a main part of the endoscope device, and FIG. 19 shows a permanent magnet provided at a distal end portion of the insertion section. FIG. 20 is a perspective view, FIG. 20 is an explanatory view showing the movement of the distal end when an alternating magnetic field is generated, FIG. 21 is an explanatory view showing the movement of the distal end when a static magnetic field is generated, and FIG. 22 is a moving mechanism of the electromagnetic coil. FIG. 23 is a front view showing a moving mechanism of the electromagnetic coil, FIG. 24 is an explanatory view showing the structure of the moving mechanism of the electromagnetic coil, and FIG. 25 is a view taken in the direction of arrow E in FIG. .

In this example, as shown in FIG. 18, a cylindrical permanent magnet 301 is provided at the distal end of the insertion section 8 of the endoscope. As shown in FIG. 19, the permanent magnet 301 has an N-pole on the outer peripheral surface and an S-pole on the inner peripheral surface. Conversely, the outer peripheral surface may be an S pole and the inner peripheral surface may be an N pole.

 Other configurations of the endoscope are the same as those of the first embodiment.

On the other hand, an electromagnetic coil 302 is provided outside the body.
As shown in FIG. 18, the electromagnetic coil 302 is connected to an AC power supply unit 304 and a DC power supply unit 305 via an AC / DC switching unit 303. The outputs of the power supply units 304 and 305 are controlled by an output control unit 306.

In this example, the AC / DC switching unit 303 controls the electromagnetic coil.
302, the AC current from the AC power supply 304 and the DC power supply 30
DC current from 5 can be selectively supplied.

The electromagnetic coil 302 is brought close to a permanent magnet provided at the distal end of the insertion section 8, and an alternating current (1 to 1) is applied to the electromagnetic coil 302.
(About 0 Hz), an alternating magnetic field is generated from the electromagnetic coil 302. As shown in FIG. 20, the electromagnetic coil 302
When the magnetic pole on the side of the insertion portion 8 is N-pole, this electromagnetic coil 302
A repulsive force is generated between the coil and the permanent magnet 301, and the tip moves in a direction away from the electromagnetic coil 302. Meanwhile, the electromagnetic coil 3
When the magnetic pole on the insertion portion 8 side of 02 is an S pole, this electromagnetic coil 30
Attraction force is generated between 2 and the permanent magnet 301, and the tip moves in a direction approaching the electromagnetic coil 302. Therefore, the electromagnetic coil 3
When an alternating current is supplied to 02, the tip vibrates.

When the electromagnetic coil 302 is brought close to a permanent magnet provided at the distal end of the insertion section 8 and a direct current is supplied to the electromagnetic coil 302, as shown in FIG.
A magnetic force of an attractive force or a repulsive force is generated between 2 and the permanent magnet 301. Then, the insertion portion 8 can be guided by the magnetic force.

As shown in FIG. 18, when the insertion portion 8 is inserted into a bent subject, for example, the large intestine 41, in the linear portion of the large intestine 41, an alternating current is supplied to the electromagnetic coil 302 to vibrate the distal end portion of the insertion portion 8. Let it. Thereby, the contact resistance between the insertion portion 8 and the inner wall of the large intestine 41 is reduced. Then, in this state, the operator inserts the insertion section 8 into the back by a pushing operation. On the other hand, when the distal end of the insertion portion 8 reaches the bent portion of the large intestine 41, the electromagnetic coil 30
2 at a predetermined position in the traveling direction, and this electromagnetic coil 302
To supply a direct current to bend the tip portion in the advancing direction by the attraction force. Thus, the distal end of the insertion section 8 can pass through the bent portion of the large intestine 41.

Next, referring to FIG. 22 to FIG.
The moving mechanism 302 will be described.

As shown in FIGS. 22 and 23, a console 311 is provided beside the bed 10 on which the patient 9 is placed, and a drive arm 312 is mounted on the console 311. An electromagnetic coil 302 is attached to an end. The drive arm 312 includes a support 313 erected on the console 311, a first arm 314 rotatably connected to an upper end of the support 313, and a first arm 314. And a second arm 315 rotatably connected to the second arm 315.

As shown in FIG. 24, the support portion 313
11 has a shaft 316 rotatably mounted on
A pulley 317 is attached to 16. As shown in FIG. 25, a wire 318 is wound around the pulley 317, and both ends of the wire 318 are fixed on 311 via rubber artificial muscles 319, 319 and coil springs 320, 320, respectively.

The shaft 323 of the first arm 314 is rotatably connected to the upper end of the shaft 316 via a hinge 322. This axis 32
A flange 324 is provided at an end of the third hinge 322 side. A pulley 325 is attached to an end of the shaft 323 opposite to the hinge 322. The shaft 326 of the second arm 315 is connected to the rotation shaft of the pulley 325.
A wire 326 is wound around the pulley 325, and the wire 32
6, both ends are rubber artificial muscles 327,327 and coil spring, respectively.
It is fixed to the flange 324 via 328,328.

A flange 331 is provided at an end of the shaft 326 of the second arm 315 on the pulley 325 side. Also, the shaft 3
An electromagnetic coil 302 is rotatably connected to an end of the 26 opposite to the pulley 325 via a hinge 332. One end of each of the artificial rubber muscles 333, 333 is attached to the electromagnetic coil 302 at a position opposed to the hinge 332, and the other ends of the artificial rubber muscles 333, 333 are connected to the flange 331 via coil springs 334, 334, respectively. Fixed. In addition, the support portion 313, the first arm portion 314, the second arm portion 31
The outer periphery of 5 is covered with a bellows-like cover 336.

An air pressure control unit and a compressor are connected to the rubber artificial muscles 319, 327, 333 via a pressurized air tube (not shown), so that pressurized air can be sent to the rubber artificial muscles 319, 327, 333. 319,32 each artificial rubber muscle
7,333 contracts when it is filled with pressurized air. Therefore, the shaft 316 of the support portion 313 rotates by controlling the pressurized air sent to the rubber artificial muscles 319, 319, and the shaft 326 of the second arm 315 is controlled by controlling the pressurized air sent to the rubber artificial muscles 327, 327. Swivels, rubber artificial muscle 333,
The electromagnetic coil 302 by controlling the pressurized air sent to 333
Is rotated. In this way, the arm 312 can be driven to position the electromagnetic coil 302 at an arbitrary position.

26 and 27 relate to a second example in which the insertability of the insertion portion can be improved, FIG. 26 is an explanatory view showing a state where the insertion portion is vibrated, and FIG. 27 is a tip of the insertion portion. It is explanatory drawing which shows the operation | movement which changes the direction of a side.

In this example, the permanent magnets 341, 342, 343 are provided at predetermined intervals along the axial direction in the insertion section 8 of the endoscope. Each permanent magnet has an N pole on the outer periphery and an S pole on the inner periphery. Outside the body, electromagnetic coils 345, 346, 347 corresponding to the respective permanent magnets 341, 342, 343 are provided. Each coil 345-34
7 is connected to an AC power supply 349 via a synchronization circuit 348.

In this example, a synchronized AC current is supplied from the AC power supply 349 to each of the coils 345 to 347 via the synchronization circuit 348. Each coil 345-347 is such that adjacent ones produce opposite magnetic poles. Therefore, each coil 34
By supplying an alternating current to 5-347, the insertion portion 8 oscillates (jiggles) in a wavy manner as shown in FIG. Thereby, the contact resistance between the insertion portion 8 and the inner wall of the large intestine 41 and the like is reduced.

When it is desired to change the direction of the distal end side of the insertion portion 8 in a bent portion of the large intestine, etc., as shown in FIG. 27, a DC power supply is connected to the electromagnetic coils 345 and 346, respectively, and the coil 345 and the permanent magnet 341 are connected. By generating an attractive force between the coils and a repulsive force between the coil 346 and the permanent magnet 342, the insertion portion 8 can be bent more efficiently and at a steep angle.

28 and 29 relate to the third example, FIG. 28 is an explanatory view showing a state where the capsule endoscope passes through the large intestine, and FIG. 29 (a) is provided in the capsule endoscope. 29 (b) is a front view of the permanent magnet shown in FIG. 29 (a).

The endoscope in this embodiment is a capsule endoscope 150 similar to the second embodiment, and a ring-shaped permanent magnet 351 is provided on the outer peripheral portion of the capsule endoscope 150. In the permanent magnet 351, as shown in FIG. 29, the magnetic poles on the outer peripheral side are reversed every 90 ° in the circumferential direction. In FIG. 28, reference numeral 352 is an observation window, and 354 is an illumination window. Capsule endoscope
Other configurations of 150 are the same as in the second embodiment.

Outside the body, an electromagnetic coil 355 for magnetically guiding the capsule endoscope 150 is provided.

In the present example, when the capsule endoscope 150 is guided in the linear portion of the large intestine 41, an AC power supply is connected to the electromagnetic coil 355, and an alternating magnetic field is generated from the electromagnetic coil 355. Then, the capsule endoscope 150 rotates or reciprocates around the axis. Thus, the capsule endoscope 150 can be guided while the contact resistance between the inner walls of the large intestine 41 is reduced. When it is desired to change the direction of the capsule endoscope 150 at a bent portion of the large intestine 41 or the like, a DC power supply is connected to the electromagnetic coil 355 to generate a static magnetic field from the electromagnetic coil 355. Then, a suction force is generated between the electromagnetic coil 355 and the capsule endoscope 150, and the direction of the capsule endoscope 150 can be changed using the suction force.

[Effects of the Invention] As described above, according to the present invention, the insertion portion can be guided in a state where the force acting on the guided portion of the insertion portion is balanced in at least one direction. There is an effect that the guidance controllability at the time of conducting guidance is improved.

[Brief description of the drawings]

1 to 12 relate to a first embodiment of the present invention.
FIG. 2 is a side view of the endoscope apparatus, FIG. 2 is a perspective view of the endoscope apparatus, FIG. 3 is a cross-sectional view showing a distal end of an insertion portion of the endoscope, FIG. FIG. 5 is an explanatory view showing a modification of the present embodiment, FIG. 6 is a block diagram showing the structure of a positioning means for the insertion section, and FIGS. 7 and 8 are magnetic fields provided at the distal end of the insertion section, respectively. FIG. 9 is an explanatory view showing a detecting means, FIG. 9 is an explanatory view showing a configuration of a position detecting means of the insertion section, FIG. 10 is an explanatory view showing a case where the insertion section is guided by a repulsive force,
Figure is an explanatory view showing another example of the distal end portion of the insertion section when guiding the insertion section by a repulsive force, FIG. 12 is an explanatory view showing a case where the insertion section is guided using a repulsive force and a suction force, FIG. 13 is an explanatory view showing a capsule endoscope and a control device thereof according to a second embodiment of the present invention. FIGS. 14 to 17 show two examples in which the position of the distal end of the insertion section can be confirmed. Involved
14 and 15 relate to the first example, FIG. 14 is an explanatory view showing the entire endoscope apparatus, FIG. 15 is a cross-sectional view showing the distal end of the insertion portion, and FIGS. FIG. 16 relates to the second example, FIG. 16 is an explanatory view showing the entire endoscope apparatus, FIG. 17 is a cross-sectional view showing the distal end of the insertion section, and FIGS. 18 to 25 relate to the first example, FIG. 18 is an explanatory view showing a configuration of a main part of an endoscope apparatus, and FIG. FIG. 20 is a perspective view showing a permanent magnet provided at the distal end of the insertion portion, FIG. 20 is an explanatory view showing the movement of the distal end when an alternating magnetic field is generated, and FIG. 21 is an explanatory view showing the movement of the distal end when a static magnetic field is generated. FIG. 22, FIG. 22 is a side view showing a moving mechanism of the electromagnetic coil, FIG. 23 is a front view showing a moving mechanism of the electromagnetic coil, FIG. 24 is an explanatory view showing the structure of the moving mechanism of the electromagnetic coil, FIG. Figure 25 is the arrow E in Figure 24 Figure, Figure 26 and 27
FIG. 26 relates to the second example, FIG. 26 is an explanatory diagram showing a state where the insertion portion is vibrated, FIG. 27 is an explanatory diagram showing an operation of changing the direction of the distal end side of the insertion portion, FIG. 28 and FIG. FIG. 29 relates to the third example, FIG. 28 is an explanatory view showing a state in which the capsule endoscope passes through the large intestine, and FIG. 29 (a) is a perspective view showing a permanent magnet provided in the capsule endoscope. FIG. 29 (b) is a front view of the permanent magnet of FIG. 29 (a). DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus, 2 ... Endoscope 8 ... Insert part, 11 ... Magnetic force generator 31 ... Upper head, 32 ... Lower head

──────────────────────────────────────────────────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 Takeaki Nakamura 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. Ohlympus Optical Industry Co., Ltd. (72) Inventor Shoichi Gotanda 2-43-2 Hatagaya, Shibuya-ku, Tokyo In-Olympus Optical Industry Co., Ltd. (72) Inventor Masaaki Hayashi 2-43, Hatagaya, Shibuya-ku, Tokyo No. 2 Inside Olympus Optical Co., Ltd. (56) References JP-A-55-133237 (JP, A) (58) Field investigated (Int. Cl. ⁷ , DB name) A61B 1/00-1/32

Claims (3)

(57) [Claims] An insertion part to be inserted into a subject, a guided part provided in at least a part of the insertion part and guided magnetically, and an external part provided outside the subject and provided in the guided part. A magnetic force generating means for generating an acting magnetic force, wherein the magnetic force generating means is capable of generating a magnetic force such that forces acting on the guided portion are balanced in at least one direction, and And a moving means for moving the magnetic force generating means in a direction in which the balance is not controlled by the magnetic force generating means. 2. The insertion apparatus according to claim 1, wherein the insertion section is a capsule endoscope. 3. The magnetic force generating means according to claim 1,
2. The intra-subject insertion apparatus according to claim 1, further comprising a unit that generates an AC magnetic field and vibrates a tip of the insertion unit.