JP3306203B2 - Endoscope insertion aid - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope insertion assisting device for assisting insertion of an endoscope, which is a long insert, into a pipe, for example.

[0002]

2. Description of the Related Art Generally, when an insertion portion of an endoscope, which is a long insert, is inserted into an industrial pipe such as a pipe, the end of the endoscope is inserted into the pipe to maintain the center of the visual field of the endoscope. On the other hand, an auxiliary tool for centering the insertion portion is used. Conventionally, dedicated models have been prepared in advance for each of a plurality of pipes having different inner diameters for this auxiliary tool, and an optimal model is selected and used according to the inner diameter of various types of piping to be inserted. Configurations are known.

[0003] In addition, there has been proposed an observation device for a pipeline described in JP-A-59-187312 and an insertion assisting device for an endoscope such as an endoscope support device described in Japanese Utility Model Application Laid-Open No. 58-81512. Have been. In these prior arts, an arm or a leg that always expands by the urging force of a spring is connected to a main body of an insertion assisting device mounted on an insertion portion of an endoscope. Further, wheels are pivotally supported at the distal ends of these expanding arms or legs. When the insertion portion of the endoscope is inserted into the conduit and is advanced, the wheel at the tip of the arm or the leg of the main body of the insertion assist device is rotated by abutting the inner wall of the conduit.

[0004]

However, a dedicated model is prepared in advance for each of a plurality of pipes having different inner diameters, and an optimum model is selected according to the inner diameters of various pipes to be inserted. Since it is necessary to prepare many types of auxiliary tools for the auxiliary tool to be used, there is a problem that it is uneconomical and the management thereof is troublesome.

[0005] Further, when inserting the endoscope, it is necessary to select the auxiliary tool and replace it depending on the inner diameter of the pipe to be inserted. But there are also bad problems.

Further, Japanese Patent Application Laid-Open No. S59-187312,
In the prior art described in Japanese Utility Model Application Laid-Open No. 58-81512, the expanded state of the arms or legs of the main body of the insertion assist device can be changed in accordance with the inner diameter of the pipe to be inserted. The endoscope insertion assisting device can be used in a plurality of conduits having different inner diameters. However, in this case, since the arm for pivotally supporting the wheel is urged in the direction of expanding by the spring force, the wheel of the endoscope insertion device is inserted each time the part of the endoscope insertion assist device is inserted into the pipe to be inserted. Further, it is necessary to contract the arm inward against the urging force of the spring. Therefore, there is a problem that the operability of the operation of inserting the part of the endoscope insertion assisting device into the conduit to be inserted is deteriorated, and a problem that the amount of pushing force is increased.

Further, when the insertion assisting device is inserted into the duct, the arm or leg of the body of the insertion assisting device contacts the inner wall surface of the pipe to be inserted with the wheel at the tip of the arm or leg. Since the expanded state is fixed, there is a problem that the expanded state of the arm or the leg cannot be arbitrarily changed after the insertion assisting device is inserted into the conduit.

The present invention has been made in view of the above circumstances, and has as its object to eliminate the need to prepare a plurality of models having different outer diameters in advance, thereby improving the economic efficiency and the workability of inserting the endoscope. Another object of the present invention is to provide an insertion assisting device for an endoscope which can be easily adapted to a change in the inner diameter of the target conduit even after insertion into the insertion target conduit.

[0009]

According to the present invention, there is provided an insertion hole into which an insertion portion of an endoscope is removably inserted, and the insertion portion of the endoscope inserted into the insertion hole is removably engaged. An insertion assisting device main body having a locking portion for stopping, and a plurality of stays disposed at appropriate positions along the circumferential direction at positions near both ends of the insertion hole in the insertion assisting device main body. A plurality of flexible arms for centering of the endoscope insertion section each including an arm body each of which is rotatably connected, and a nut member fixed to each of the stays,
A flexible shaft connected to a bolt screwed to the nut member, a driving means for rotating and driving the flexible shaft, and a control means for controlling the operation of the driving means and adjusting the expanded state of the flexible arm. It is provided.

[0010]

In the adjusting operation for adjusting the expanded state of the plurality of flexible arms for centering the endoscope insertion section, the operation of the driving means is controlled by the control means to rotate and drive the flexible shaft of each flexible arm. By rotating the bolts screwed to the nut members fixed to each stay with the rotation of the shaft, the stays of each flexible arm are rotated individually to adjust the expanded state of the flexible arm. is there.

[0011]

1 to 4 show a first embodiment of the present invention.
This will be described with reference to FIG. FIG. 1 shows a schematic configuration of the entire industrial endoscope system 1. The industrial endoscope system 1 includes a video scope 2, a light source device 3, a camera control unit (hereinafter, referred to as a CCU) 4, and a TV monitor 5.

An operation section 7 is connected to the videoscope 2 at the base end of a flexible long insertion section 6. The base end of the first universal cord 8 is connected to the operation unit 7. Further, an LG connector 9 is fixed to a distal end of the first universal cord 8.
The LG connector 9 is provided detachably with respect to the light source device 3.

A base end of a second universal cord 10 is connected to the LG connector 9. A CCU connector 1 is provided at the tip of the second universal cord 10.
1 is fixed. This CCU connector 11 is a CCU
4 is provided detachably.

An objective lens (not shown), a CCD (not shown)
Is provided. Here, the electric signal of the CCD of the observation optical system is transmitted through the signal line to the CCU4.
And converted into a video signal. This video signal is T
It is transmitted to the V monitor 5 and is projected as an observation image.

As shown in FIG. 2, an insertion assisting device 13 for positioning the insertion portion 6 at the center of the pipe P to be inserted is mounted on the outer peripheral surface of the insertion portion 6 of the video scope 2. An insertion hole 14 into which the insertion portion 6 of the endoscope is removably inserted is formed in a shaft center portion of the main body 13a of the insertion assist device 13.

Further, a mounting screw (locking portion) 15 for removably locking the insertion portion 6 of the video scope 2 inserted into the insertion hole 14 is attached to the insertion assist device main body 13a. Then, the insertion hole 1 of the insertion assist device body 13a
When the mounting screw 15 is screwed and fixed in a state where the insertion portion 6 of the video scope 2 is inserted in the insertion portion 4, the insertion portion 6 of the video scope 2 is detachably connected to the insertion assist device main body 13a. ing.

A video scope 2 is provided in the vicinity of both ends before and after the insertion hole 14 in the main body 13a.
A plurality of, for example, three or four flexible arms 16 for centering the insertion portion 6 are arranged at equal intervals along the circumferential direction.

Arm body 1 of each flexible arm 16
7, a plurality of, for example, three stays 18a, 18b, 18c connected in series as shown in FIG. Both ends of these stays 18a, 18b, 18c are connected to be rotatable about a rotation center O, respectively. In this case, the stay 18 on the base end side of the arm body 17 is used.
The base end of a is rotatably connected to the insertion assist device main body 13a about a rotation center O. Further, the arm body 1
Roller roller 1 is attached to the tip of stay 18c on the tip side of
9 is rotatably connected about a rotation center O.

The stay 18a has a first angle nut (nut member) 20a, the stay 18b has a second angle nut (nut member) 20b, and the stay 18c has a third angle nut (nut member) 20c. Each is fixed. In this case, each angle nut 20a,
Reference numerals 20b and 20c denote respective stays 18a, 18b, and 18c in a state where the stays 18a, 18b, and 18c are arranged at positions offset from a center line M connecting the rotation centers O at both ends of the respective stays 18a, 18b, and 18c.
18c, respectively.

Further, each of the angle nuts 20a, 20
The pitch P between b and 20c is set to be larger toward the tip end of the arm body 17 such that 20a <20b <20c. In addition, each angle nut 20a, 20
Angle bolts 21a, 21b, 21c corresponding to the respective pitches P are screwed into b, 20c. These angle bolts 21a, 21b, 21c are connected by flexible shafts 22a, 22b, 22c.

In this case, one end of the flexible shaft 22a is connected to one end of the angle bolt 21a, and the other end is connected to a drive motor (drive means) 23 of each flexible arm 16 formed by a servomotor. . A rotary encoder 24 is mounted on the motor 23.

The other end of the angle bolt 21a is connected to one end of a flexible shaft 22b. The other end of the flexible shaft 22b is connected to one end of the angle bolt 21b. Further, one end of a flexible shaft 22c is connected to the other end of the angle bolt 21b. The other end of the flexible shaft 22c is connected to one end of the angle bolt 21c. The angle bolts 21a, 21b, 21c are rotationally driven via the flexible shafts 22a, 22b, 22c with the rotational driving of the motor 23.

The drive motor 23 and the rotary encoder 24 of each flexible arm 16 are provided in the insertion assist device 13 as shown in FIG.
Arm control circuit (control means) 2 for controlling the operation of the arm and adjusting the expanded state of each flexible arm 16
5 are connected via lead wires.

Further, the flexible arm control circuit 25
Are the lead wires in the insertion assist device main body 13a, the contacts provided on the joining surface between the inner peripheral surface of the insertion assist device main body 13a and the outer peripheral surface of the insertion portion 6 of the video scope 2, and the inside of the insertion portion 6 of the video scope 2. It is connected via a lead wire to a control switch 26 of the insertion assist device 13 provided on the near-side operation unit 7 of the video scope 2.

The lead wire extending from the flexible arm control circuit 25 extends along the outside of the insertion section 6 of the video scope 2 to the user's hand of the scope operator, and is connected to the control switch 26 of the external insertion assist device 13. The structure may be connected.

Next, the operation of the above configuration will be described.
First, when the industrial endoscope system 1 is used, the insertion assist device 13 is attached to the distal end of the insertion section 6 of the video scope 2. In this case, after the distal end of the insertion portion 6 of the video scope 2 is inserted into the insertion hole 14 of the insertion assist device main body 13a, the mounting screw 15 is screwed and fixed, so that the insertion portion 6 of the video scope 2 is inserted. Auxiliary device body 1
3a is detachably connected to 3a. At this time, the arm body 17 of each flexible arm 16 of the insertion assist device 13 is
The two stays 18a, 18b, 18c are held in a straight basic shape.

The insertion section 6 of the video scope 2 is inserted into the pipe P to be inserted with the insertion assisting device 13 mounted on the distal end of the insertion section 6 of the video scope 2. Furthermore, when positioning the insertion section 6 at the center position of the pipe P to be inserted, the insertion assist provided on the operation section 7 of the video scope 2 with the insertion section 6 of the video scope 2 inserted into the pipe P to be inserted. Control switch 26 of device 13
Is rotated. Then, with the rotation of the control switch 26, the drive motor 23 of each flexible arm 16 in the insertion assist device 13 is driven to rotate.

At this time, the rotation angle of each motor 23 is detected by the rotary encoder 24,
Control switch 26 by the control circuit 25 in 3
And one-to-one.

Further, with the rotation of the motor 23, the flexible shafts 22a,
Angle bolts 21a, 21 via 22b, 22c
b and 21c are rotationally driven. At this time, the pitch P of the three sets of angle nuts 20a, 20b, 20c fixed to the stays 18a, 18b, 18c of each flexible arm 16 becomes larger toward the distal end side of the arm body 17 such that 20a <20b <20c. Since the state is set, the separation distance between the angle nuts 20a, 20b, 20c is shortened by the rotation of the angle bolts 21a, 21b, 21c.

Therefore, each stay 18a, 18b, 18
The arm main bodies 17 of the flexible arms 16 are curved outward about the rotation center O of the connecting portion between c. At this time,
The arm body 17 of each flexible arm 16 is deformed until the rolling roller 19 at the tip of each arm body 17 comes into contact with the inner peripheral surface of the pipe P to be inserted. by this,
The curved shape of each flexible arm 16 of the insertion assist device 13 can be adjusted to the pipe diameter of the pipe P to be inserted, and the insertion section 6 of the video scope 2 can be positioned at the center position of the pipe P to be inserted.

Each of the curved flexible arms 16
Since the rolling roller 19 is provided at the end of the pipe, the insertion section 6 of the video scope 2 is positioned at the center position of the pipe P to be inserted, and the insertion section 6 of the video scope 2 is placed on the inner periphery of the pipe P to be inserted. It can be moved smoothly along the surface.

When the motor 23 is reversely rotated by the reverse rotation of the control switch 26 of the insertion assisting device 13, each of the angle nuts 20a, 20b, 20c
The distance between them becomes longer, and the arm body 17 of each flexible arm 16 returns to the straight basic shape again.

Therefore, in the above-mentioned configuration, each flexible arm 1 attached to the insertion assist device main body 13a is provided.
By changing the curved shape of the arm body 17 of No. 6,
By forming an insertion assisting device 13 having an optimal size that matches the inner diameter of the insertion pipe P, the insertion section 6 of the video scope 2 can be positioned at the center of the insertion pipe P.
Therefore, a common insertion assisting device 13 can be used for a plurality of insertion target pipes P having different inner diameters, so that it is not necessary to prepare a plurality of models having different outer diameters in advance as in the related art. The workability of the insertion operation of the second insertion portion 6 can be improved. Further, the pipe P to be inserted
Since the curved shape of the arm body 17 of each flexible arm 16 can be easily changed in accordance with the change in the inner diameter of the target pipeline P even after insertion into the insertion assist device 13, the usability of the insertion assist device 13 can be improved.

Further, for example, the bending of the arm body 17 of the lower flexible arm 16 on the lower side of the pipe P to be inserted is reduced, and the bending of the arm body 17 of the upper flexible arm 16 is increased. By changing the shape, the insertion section 6 of the video scope 2 can be intentionally positioned above or below the pipe P to be inserted.

FIGS. 5 to 9 show a second embodiment of the present invention. This is because the arm body 17 of each flexible arm 16 of the insertion assisting device 13 of the first embodiment is
This is a modification of the internal structure of.

That is, as shown in FIG. 5, three stays 18a, 18b, and 18c are provided on the arm body 17 of each flexible arm 16 in the insertion assisting device 13 of this embodiment.
Angle nuts 20a, one set each of which is mounted on
20b, 20c and angle bolts 21a, 21b, 21
c, independent flexible shafts 32a, 32b, 32c are respectively attached to the assembling units 31a, 31b, 31c.
And each flexible shaft 32
drive motors 33a, 33
b, 33c and rotary encoders 34a, 34
b and 34c are connected.

A flexible shaft relay 35 is mounted on each of the angle nuts 20a and 20b. As shown in FIG. 6, the flexible shaft relay portion 35 is provided with a bearing 36 disposed outside the angle nuts 20a and 20b.

Further, a brazing portion 3 brazed between the inner race 36a of the bearing 36 disposed outside the angle nut 20a and the flexible shaft 32b.
7 are provided. The flexible shaft 32b is rotatably supported by an outer bearing 36 of the angle nut 20a without moving in the axial direction.

Similarly, a brazed portion 3 brazed between the inner race 36a of the bearing 36 and the flexible shaft 32c disposed outside the angle nut 20b.
7 are provided. The flexible shaft 32c is rotatably supported by an outer bearing 36 of the angle nut 20b without moving in the axial direction.

At the distal end of the insertion section 6 of the video scope 2 to which the insertion assisting device 13 is attached, three or more foreign substance collecting arms 41 as shown in FIG. It is provided so as to be able to protrude and retract on the outside side. As shown in FIG. 9, each of the foreign matter collection arms 41 is provided with four stays 42a, 42b, 42c, and 42d.

Further, the tip of the stay 42a is
2b is rotatably connected to one end portion about a rotation center O. The other end of the stay 42b is rotatably connected to one end of the stay 42c around a rotation center O, and the other end of the stay 42c is connected to one end of a stay 42d.
Are connected so as to be rotatable around the center.

An angle nut 43 is fixed to the center of one side of the stay 42b. One end of a flexible shaft 45 is fixed to an angle bolt 44 screwed into the angle nut 43. The other end of the flexible shaft 45 is connected to a drive motor 46.

Further, a flexible shaft relay 46 is fixed to the center of one side of the stay 42a, and an intermediate portion of the flexible shaft 45 is rotatably supported by the flexible shaft relay 46 without moving in the axial direction. ing. A bending mechanism 48 between the stays 42a and 42b is formed by the angle nut 43, the angle bolt 44, the flexible shaft 45, the flexible shaft relay 47 and the drive motor 46.

A flexible shaft relay 49 is fixed to the center of the other side of the stay 42b. Further, the angle nut 50 and the stay 42 are attached to the stay 42c.
Angle nuts 51 are respectively fixed to d.

A flexible shaft 53 is fixed to an angle bolt 52 screwed into the angle nut 50. One end of the flexible shaft 53 is connected to a drive motor 54, and an intermediate portion of the flexible shaft 53 is rotatably supported by a flexible shaft relay 49 without moving in the axial direction. Further, the tip of the flexible shaft 53 is fixed to an angle bolt 55 screwed into the angle nut 51. The pitch P between the angle nuts 50 and 51 (the pitch P between the angle bolts 52 and 55) is set differently. And angle nuts 50, 5
1, a bending mechanism section 56 between the stays 42b, 42c, 42d is formed by the angle bolts 52 and 55, the flexible shaft 53, the flexible shaft relay section 49, and the drive motor 54.

Therefore, in this embodiment, 3 of the arm body 17 of each flexible arm 16 in the insertion assisting device 13 is used.
Flexible shafts 32a, 32b, which are respectively attached to the mounting units 31a, 31b, 31c of the angle nuts 20a, 20b, 20c and the angle bolts 21a, 21b, 21c attached to the stays 18a, 18b, 18c respectively. 32c, the drive motors 33a, 33b, 33c and the rotary encoders 34a, 34b, 34c are connected to the respective flexible shafts 32a, 32b, 32c. The device control switch 26 can be used to bend each separately. Therefore, for example, FIG.
As shown in (A), only the stay 18c on the distal end side of each flexible arm 16 can be curved.

As shown in FIG. 7B, only the stay 18a on the base end side of each flexible arm 16 can be curved. Therefore, by adopting such a configuration, it is possible to cope with a pipe P to be inserted having a small diameter or a pipe P to be inserted having a large diameter as compared with the first embodiment.

The position and orientation of the insertion section 6 of the video scope 2 in the pipe P to be inserted can be arbitrarily changed by changing the manner of bending each of the flexible arms 16. 6 can be easily collected by the foreign matter collection arms 41 provided at the distal end of the scope 6 as compared with the case where only the distal end of the scope 2 is bent.

The foreign substance collection arms 41 can be remotely operated freely by a switch 57 provided on the operation unit 7 of the video scope 2. The operation of the foreign substance collecting arms 41 is the same as that of each flexible arm 16 of the insertion assist device 13. It should be noted that the present invention is not limited to the above-described embodiment, and it is needless to say that various modifications can be made without departing from the spirit of the present invention.

[0050]

According to the present invention, a plurality of stays for centering an endoscope insertion section having an arm body in which both ends of a plurality of stays are respectively rotatably connected to portions near both ends of the insertion assist device body. The flexible arm is provided, and a flexible shaft rotation driving means connected to a bolt screwed to a nut member fixed to each stay is provided, and the operation of the driving means is controlled to expand the flexible arm. The control means for adjusting the diameter of the endoscope eliminates the need to prepare a plurality of models with different outer diameters in advance. However, it is possible to easily cope with a change in the inner diameter of the target pipeline.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of an entire system of an industrial endoscope to which an insertion assisting device for an endoscope according to a first embodiment of the present invention is attached.

FIG. 2 is a longitudinal sectional view showing a use state of the insertion assisting device.

FIG. 3 is a schematic configuration diagram showing a flexible arm of the insertion assist device.

FIG. 4 is a schematic configuration diagram showing a drive circuit of the insertion assist device.

FIG. 5 is a schematic configuration diagram illustrating a main configuration of a second embodiment of the present invention.

FIG. 6 is a longitudinal sectional view showing the flexible shaft relay section of the embodiment.

FIG. 7 shows a use state of the insertion assisting device.
(A) is a longitudinal sectional view showing a state inserted into a small-diameter pipe, and (B) is a longitudinal sectional view showing a state inserted into a large-diameter pipe.

FIG. 8 is a perspective view showing a use state of the foreign matter collection arm.

FIG. 9 is a schematic configuration diagram showing a flexible arm of a foreign matter collection arm.

[Explanation of symbols]

2 video scope (endoscope), 6 insertion section, 13a
Insertion assist device body, 14 insertion hole, 15 mounting screw (locking part), 16 flexible arm, 17 arm body, 18a, 18b, 18c stay, 20a, 20
b, 20c: Angle nut (nut member), 21a,
21b, 21c: Angle bolt, 22a, 22b, 2
2c, 32a, 32b, 32c: Flexible shaft; 23, 33a, 33b, 33c: Drive motor (drive means); 25: Flexible arm control circuit (control means).

──────────────────────────────────────────────────続 き Continued on front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G02B 23/24 G01N 21/88

Claims (1)

(57) [Claims] 1. An endoscope having an insertion hole into which an insertion portion of the endoscope is removably inserted, and a locking portion for removably locking the insertion portion of the endoscope inserted into the insertion hole. The main body of the insertion assisting device and the two ends of the insertion hole in the main body of the insertion assisting device are disposed at appropriate intervals along the circumferential direction, and both ends of the plurality of stays are rotatable. A plurality of flexible arms for centering of the endoscope insertion section having the connected arm body, a nut member fixed to each of the stays, and a flexible shaft connected to a bolt screwed to the nut member. A drive means for rotating and driving the flexible shaft; and a control means for controlling an operation of the drive means to adjust an expanded state of the flexible arm. Place.