JP4593226B2 - Endoscope device - Google Patents

Description

  The present invention relates to an endoscope apparatus in which a bending portion that is bent by a gas pressure is provided in an insertion portion that is inserted into a lumen of an endoscopic object.

Endoscope devices used for industrial and medical purposes are provided with a bending portion that can be bent at the distal end of an insertion portion that is inserted into a lumen, and the bending portion can be bent in an arbitrary direction by an external operation. By doing so, the direction of the distal end of the insertion portion can be freely changed.
As the structure of the bending portion, a plurality of pressurizing chambers are formed in the columnar elastic member along the circumferential direction, and the columnar elastic member is bent by selectively supplying and discharging gas pressure to the plurality of pressurizing chambers. What is deformed is known (see, for example, Patent Document 1).
Japanese Patent Laid-Open No. 2001-311879

  However, the conventional endoscope apparatus provided with this bending portion uses a columnar elastic member that is operated by gas pressure in the bending portion. While there is a merit that it can be easily inserted along with the curved portion, the bending portion is composed mainly of a flexible columnar elastic member, so that an axial tensile load acts on the insertion portion. There is a concern that sometimes the curved portion is stretched and a large load acts on the columnar elastic member.

  Accordingly, the present invention is intended to provide an endoscope apparatus that is excellent in durability by preventing an excessive tensile load from acting on a columnar elastic member constituting a curved portion.

In order to achieve the above object, the present invention provides an endoscope apparatus in which a bending portion that can be bent in an arbitrary direction is provided in an insertion portion that is inserted into a lumen of an endoscopic object. The portion includes a columnar elastic member in which a plurality of pressurizing chambers are arranged along the circumferential direction, and can be curved and deformed in an arbitrary direction by selectively supplying and discharging high pressure gas to and from the plurality of pressurizing chambers. In the above, a high-rigidity member connected to one end side and the other end side of the columnar elastic member, a string-like member connected to the high-rigidity member on one end side of the columnar elastic member, and the columnar elastic member A stopper member connected to the other end side of the string-like member, and provided so as to be capable of displacement only by a set stroke in the axial direction with respect to the high-rigidity member on the end side, and comprising a displacement regulating means for regulating the axial longitudinal displacement, the columnar When the sexual member is deformed elongation or set length, the stopper member is to be restricted displacement on the high-rigidity member at the other end.

  In the case of this invention, even if a large tensile load acts on the insertion portion, the displacement restricting means restricts the displacement of the columnar elastic member in the axial direction.

Further, when a tensile load is applied to the curved portion, the columnar elastic member extends in the axial direction, and at this time, the stopper member is displaced in the axial direction through the string-like member. If the stopper member is to be displaced more than the set amount, the displacement is regulated by the high-rigidity member on the other end side.
The string-like member may be composed of a heat-dissipating metal wire that releases heat from the heat generating portion on the distal end side of the insertion portion relative to the columnar elastic member, or wiring for signal transmission / reception or power supply.
In such a case, it is not necessary to provide a dedicated string member, so the number of parts can be reduced.

The displacement restricting means may be provided on a high-rigidity member on the other end side of the columnar elastic member, and may include a lock mechanism that can selectively operate locking and non-locking on the other end side of the string-like member. good.
In this case, when the lock mechanism is in the non-locking state with respect to the string-like member, the columnar elastic member can be freely expanded and contracted, so that the bending portion can be flexibly operated. Further, when the lock mechanism is in a locked state with respect to the string-like member, the displacement of the high-rigidity members before and after the columnar elastic member is restricted through the string-like member, and as a result, the extension displacement of the columnar elastic member is restricted. become.

  In this invention, since the displacement in the axial direction of the columnar elastic member is regulated by the displacement regulating means, even when the insertion portion is pulled when the insertion portion is pulled out, the columnar elastic member constituting the bending portion is provided. It is possible to reliably prevent an excessive tensile load from acting. Therefore, according to this invention, durability of the columnar elastic member can be enhanced.

  Next, embodiments of the present invention will be described with reference to the drawings. In the following description of each embodiment, the same portions are denoted by the same reference numerals, and redundant descriptions are omitted.

First, the first embodiment shown in FIGS. 1 to 9 will be described.
FIG. 2 shows an overall schematic configuration of the endoscope apparatus according to the present invention. As shown in the figure, the endoscope apparatus includes a long insertion portion 3 to be inserted into a lumen of an endoscopic target, and a box-shaped device main body portion 5 from which the insertion portion 3 is pulled out. I have. The insertion portion 3 is wound around a drum 4, and the drum 4 is rotatably accommodated in the apparatus main body portion 5. Further, the apparatus main body 5 in which the drum 4 is accommodated is accommodated in a carrying case 6 as shown in FIGS. 2 (A) and 2 (B).

  As shown in FIG. 1, the insertion portion 3 is connected to the flexible snake tube 1 whose base side is connected to the device main body portion 5 (see FIG. 1) and the distal end portion of the snake tube 1. A bending portion 8 that can be bent in an arbitrary direction by operating a lever (not shown) of a remote control (not shown), and an imaging / illumination unit 9 connected to the distal end portion of the bending portion 8 are provided. The imaging / illumination unit 9 includes a substantially cylindrical metal support block 10, a CCD (electrical coupling element) 11 that is imaging means attached to the axial center of the support block 10, and a front surface of the support block 10. The LED 12 is an attached illumination means, and a sealing glass (not shown) is attached to the front side of the LED 12. As shown in FIG. 3, the LED 12 includes a plurality of LED chips 12a attached in an annular shape on the front surface of the support block 10, and these LED chips 12a are connected to the electrodes 13a and 13b by wire bonding.

  The power supply wirings 14a and 14b connected to the electrodes 13a and 13b of the LED 12 and the signal wiring 15 of the CCD 11 are connected to the power supply circuit, the CCD drive circuit, and the signal processing in the apparatus main body 5 through the inside of the bending portion 8 and the flexible tube 1. It is connected to a circuit (both not shown). An image signal of an endoscopic object photographed by the CCD 11 is processed by a signal processing circuit and displayed as an image on an image display means (not shown) such as a liquid crystal panel.

  As shown in FIGS. 1 and 4, the bending portion 8 includes a columnar elastic member 17 in which four pressurizing chambers 16 are formed along the circumferential direction as a main component. A piping tube 18 is connected to the pressurizing chamber 16. Each piping tube 18 is connected to a gas supply / discharge device (not shown) capable of switching between supply and discharge of gas by an electromagnetic valve. In the case of this embodiment, the columnar elastic member 17 is formed based on a multi-lumen tube made of silicone resin or the like. Specifically, as shown in FIG. 4, the multi-lumen tube has an axial hole 19 having a circular cross section, and peripheral holes 20 a to 20 d having arcuate cross sections formed around the axial hole 19 at equal intervals. In the state where the pipe tube 18 is inserted into each of the peripheral holes 20a to 20d, both ends of the peripheral holes 20a to 20d are sealed with an adhesive. Thus, the peripheral holes 20 a to 20 d sealed at both ends constitute the pressurizing chamber 16.

  An inner tube 21 made of a flexible material and an inner coil 22 made of metal that can be deformed in the axial direction and the bending direction are internally provided in the inner peripheral portion (axial hole 19) of the columnar elastic member 17 thus configured. Has been. Further, an outer tube 23 made of a flexible material is fitted and attached to the outer peripheral portion of the columnar elastic member 17, and the vicinity of both ends of the outer tube 23 is fixed to the columnar elastic member 17 by adhesion or the like. . In addition, the columnar elastic member 17 is bound to both ends in the axial direction by the thread 24 in a state where the inner tube 21 and the inner coil 22 are arranged on the inner peripheral side. In FIG. 1 and FIG. 4, reference numeral 25 denotes a gas vent tube that discharges the gas leaked from the pressurizing chamber 16 to the outside through the gap between the columnar elastic member 17 and the inner tube 21.

  A front base 26 and a rear base 27, which are highly rigid members, are coupled to the front edge and the rear edge of the outer tube 23 attached to the columnar elastic member 17. These caps 26 and 27 are formed in a cylindrical shape with metal, and the support block 10 of the imaging / illumination unit 9 is coupled to the front end of the front cap 26, and the rear end of the rear cap 27 is the tube 1 (insertion section 3). The general part of the head is connected to the front end. Therefore, the imaging / illumination unit 9 is connected to the spiral tube 1 via the columnar elastic member 17. In this embodiment, the support block 10 of the imaging / illumination unit 9 and the front cap 26 constitute a highly rigid member on one end side of the columnar elastic member 17.

  As shown in FIGS. 1 and 7, the outer peripheral surfaces of the front cap 26 and the rear cap 27 connected to each other through the outer tube 23 are made of a metal outer deformable in the axial direction and the bending direction. A coil 28 is mounted straddling. The outer coil 28 disposed on the outer periphery of the columnar elastic member 17 and the inner coil 22 disposed on the inner periphery of the columnar elastic member 17 regulate the radial deformation of the columnar elastic member 17. A protective mesh 29 that surrounds the outside of the outer coil 28 with a predetermined gap is attached to the outer peripheral surfaces of the front cap 26 and the rear cap 27.

  A small-diameter portion 30 is provided in a stepped shape on the outer peripheral surface of the rear side of the support block 10, and a front cap 26 is fitted and fixed to the small-diameter portion 30. A plurality of arc grooves 30a are formed, and one end of a wire 31 that is a heat dissipating metal wire is welded and fixed to each arc groove 30a. The other end of each wire 31 is inserted into the inner coil 22 inside the columnar elastic member 17, and is drawn backward from the other end of the inner coil 22. A metal stopper ring 32 (stopper member) is connected to the other end of each wire 31, and this stopper ring 32 is slidably accommodated in the rear cap 27. As shown in FIGS. 1, 5 and 6, the stopper ring 32 is provided with a locking flange 33 having a large outer diameter at the rear end portion, and a plurality of arc-shaped depressions 34 in the general portion on the front side thereof. Is formed along the axial direction, and the other end of each wire 31 is welded and fixed in each recess 34. In this embodiment, the wire 31 that is a heat radiating metal wire constitutes a string-like member that connects the front opening side 26 (high-rigidity member on one end side) and the stopper ring 32 (stopper member).

  The rear base 27 is composed of a pair of cylindrical members 27a and 27b, and a second cylindrical member 27b is screwed and fixed to a rear outer periphery of the first cylindrical member 27a to which the rear end portion of the inner tube 21 is coupled. Yes. The second cylindrical member 27b includes an inward flange 35 and a rear end surface of the first cylindrical member 27a in a state in which an inward flange 35 extends on the inner peripheral surface of the second cylindrical member 27b and is screwed to the first cylindrical member 27a. A cylindrical hollow space 36 is formed between the two. A locking flange 33 of the stopper ring 32 is arranged in the hollow space 36. Therefore, the stopper ring 32 is slidable back and forth in the axial direction within a range in which the locking flange 33 can move in the hollow space 36 (range of the stroke L in FIG. 1).

  In this embodiment, the wire 31 that connects the front cap 26 and the stopper ring 32, the stopper ring 32, and the first cylindrical member 27a that regulates the axial displacement of the front side of the stopper ring 32 are columnar elastic. Displacement restricting means 37 for restricting the axial displacement of the member 17 is configured.

  In the above configuration, when the bending portion 8 of the endoscope apparatus is bent in an arbitrary direction, the apparatus main body 5 or the like is supplied so that high pressure gas is supplied to the predetermined pressurizing chamber 16 of the columnar elastic member 17. The operator operates the operation lever. Thus, when the high-pressure gas is supplied to the predetermined pressurizing chamber 16, the pressurizing chamber 16 expands in the axial direction in a state where the displacement is restricted by the outer coil 28 and the inner coil 22, as shown in FIG. As a result, the bending portion 8 bends in the direction in which the pressurizing chamber 16 into which the high-pressure gas is introduced becomes curved outward.

  By the way, when such a bending operation of the bending portion 8 is performed, the columnar elastic member 17 is partially extended in the axial direction by the high-pressure gas, and therefore, the wire connected to the support block 10 at the distal end of the insertion portion 3. 31 is pulled forward. As a result, the stopper ring 32 connected to the rear end of the wire 31 is slid forward in the rear base 27. However, in this endoscope apparatus, even during the maximum bending operation of the bending portion 8, a predetermined gap ΔL (see FIG. 8) is provided between the locking flange 33 of the stopper ring 32 and the end surface of the first cylindrical member 27a. Is set to be maintained. Therefore, the operation is not hindered by the displacement restricting means 37 during the bending operation.

On the other hand, when the distal end side of the insertion portion 3 is pulled when the insertion portion 3 is pulled out from the drum 4, tension acts on the columnar elastic member 17 connecting the front base 26 and the rear base 27, and the columnar elastic member 17 is It is stretched in the axial direction by tension. However, since the stopper ring 32 is pulled forward via the wire 31 as the columnar elastic member 17 extends, when the columnar elastic member 17 extends by a predetermined amount, there is a locking flange of the stopper ring 32 as shown in FIG. 33 abuts on the end surface of the first cylindrical member 27a (rear cap 27), and as a result, further expansion of the columnar elastic member 17 is regulated.
Therefore, in this endoscope apparatus, since an excessive tensile load does not act on the columnar elastic member 17, the durability of the columnar elastic member 17 is reliably improved.

  Further, in this embodiment, since the heat radiation wire 31 is used as the string-like member that regulates the elongation of the columnar elastic member 17, the increase in the number of parts is reduced and the manufacturing cost is reduced. There is an advantage that the diameter of the insertion portion 3 can be reduced by reducing the number of linear members extending across the bending portion 8. Incidentally, the wire 31 of this embodiment prevents heat accumulation in the peripheral portion of the LED 12 by transmitting the heat generated in the LED 12 to the rear base 27 portion across the curved portion 8.

  Moreover, since the wire 31 is passed through the inner peripheral side of the columnar elastic member 17 and the inner coil 22, the device of this embodiment has the advantage that the wire 31 does not bulge outward and the appearance quality is good. There is. Furthermore, since the columnar elastic member 17 and the inner coil 22 can easily secure a space on the inner peripheral side, there is an advantage that the wire 31 hardly interferes with surrounding members.

  In 1st Embodiment demonstrated above, although the hollow part 34 was formed in the outer peripheral surface of the front part side of the stopper ring 32, the other end part of the wire 31 was weld-fixed in the hollow part 34, but FIG. As shown in the second embodiment shown in FIG. 12, a support wall 40 projecting radially inward is formed at the rear end portion of the stopper ring 132, and the other end of the wire 31 is connected to the vicinity of the center portion of the support wall 40. You may do it. In the case of this embodiment, as in the first embodiment, the locking flange 33 of the stopper ring 132 abuts on the end surface of the first cylindrical member 27a (rear base 27) (see FIG. 12), thereby providing columnar elasticity. Although excessive elongation of the member 17 can be restricted, since the other end of the wire 31 is supported in the vicinity of the center portion of the stopper ring 132, the bending of the wire 31 at the time of inputting the tensile load is reduced. As a result, generation of unnecessary sliding resistance is reduced.

  Further, in the first embodiment, the wire 31 connecting the front cap 26 side (support block 10) and the stopper ring 32 is inserted into the inner peripheral side of the columnar elastic member 17 (inner coil 22). -You may make it arrange | position the wire 31 to the outer peripheral side of the columnar elastic member 17 like 3rd Embodiment shown in FIG. In this embodiment, an arcuate recess 41 is formed along the axial direction on the peripheral wall of the front cap 126, and the front end of the wire 31 is welded and fixed in the recess 41 on the outer peripheral side of the front cap 126. . Further, the wire 31 is passed between the outer tube 23 and the outer coil 28.

  In the case of this embodiment, since it is not necessary to pass the wire 31 inside the columnar elastic member 17 and the inner coil 22, there is an advantage that the assembly of the parts becomes easy.

  In the first embodiment, the stopper ring 32 connected to the other end of the string-like member (wire 31) is slidably fitted into the rear cap 27, and the locking flange 33 of the stopper ring 32 is provided. Excessive elongation of the columnar elastic member 17 is regulated by abutting against the end surface of the first cylindrical member 27a (rear cap 27), but as in the fourth embodiment shown in FIGS. A small-diameter stopper ring 232 that guides the power supply wirings 14 a and 14 b and the signal wiring 15 at the inner peripheral portion is disposed so as to be displaceable on the rear side of the columnar elastic member 17, and the front end surface of the stopper ring 232 is disposed at the rear portion of the inner coil 22. You may make it regulate excessive elongation of the columnar elastic member 17 by abutting.

  In this embodiment, a non-metallic fiber twist line 231 is used as a string-like member that connects the support block 10 and the stopper ring 232 of the imaging / illumination unit 9, and the front end of the twist line 231 is a support block. 10 through the through-holes 42 a and 42 b, and is tied to the block 10, and the rear end portion is tied to the ring 232 with the inner periphery of the stopper ring 232 hidden inside.

  In the case of this embodiment, the stopper member is constituted by the small-diameter stopper ring 232 that is not fitted to the rear cap 27. Therefore, it is possible to facilitate the assembly of the parts and reduce the weight of the insertion portion 3. . Further, in this embodiment, since the string-like member is constituted by the twisted wire 231 of the non-metallic fiber, bending resistance and sliding resistance are reduced as compared with the case where a metal wire is used as the string-like member, As a result, the operability of the bending portion 8 is reliably improved.

  Further, in the first embodiment described above, the heat radiating wire 31 is used as a string-like member for connecting the support block 10 and the stopper ring 32. However, as in the fifth embodiment shown in FIGS. In addition, the power supply wirings 14a and 14b for the LED 12 and the signal wiring 15 for the CCD 11 may be used as a string-like member.

  In this embodiment, the power supply wirings 14 a and 14 b and the signal wiring 15 are bundled by the fixing ring 44 and the stopper block 45 before and after the columnar elastic member 17, and in this state, are bonded and fixed to the fixing ring 44 and the stopper block 45. The fixing ring 44 is fixed to the inner coil 22 on the front end side of the columnar elastic member 17, and the stopper block 45 is slidably fitted to the inner surface of the rear cap 27 in the same manner as the stopper ring 32 of the first embodiment. ing. The stopper block 45 has a guide groove 46 for passing the pipe tube 18 back and forth on the outer periphery thereof, and a locking flange 33 protruding from the outer periphery of the rear end portion. On the other hand, the rear cap 27 has the same configuration as that of the first embodiment, and the locking flange 33 of the stopper block 45 is accommodated in the recessed space 36 on the inner peripheral surface.

  In the case of this embodiment, when the power supply wirings 14a and 14b and the signal wiring 15 function as string-like members and the columnar elastic member 17 tries to extend beyond the set length, the stopper block 45 is pulled to the wirings 14a, 14b and 15. Thus, the locking flange 33 comes into contact with the end surface of the first cylindrical member 27a, whereby the displacement of the columnar elastic member 17 is restricted. In the apparatus of this embodiment, since the power supply wirings 14a and 14b and the signal wiring 15 are used as string members, there is an advantage that an increase in the number of parts can be reduced.

Next, the sixth embodiment shown in FIGS. 22 and 23 will be described.
In the endoscope apparatus of this embodiment, a support wall 50 is formed at the rear end portion of the rear cap 327 connected to the rear end portion of the columnar elastic member 17, and a part of the displacement regulating means 337 is attached to the support wall 50. A lock mechanism 51 is installed. The lock mechanism 51 can arbitrarily lock the rear end side of a string-like member 52 such as a wire whose front end is connected to the front base (not shown), and is made of a shape memory alloy. A pair of sandwiching pieces 53 disposed so as to sandwich 52 from above and below, a heater 54 attached to the sandwiching piece, and a controller (not shown) for controlling the temperature of the heater 54 are provided. In this embodiment, the pair of sandwiching pieces 53 constitutes a movable part of the lock mechanism 51, and the heater 54 and the controller constitute a temperature control part.

  Since the structure on the front side of the rear cap 327 of this endoscope apparatus is substantially the same as that of the first embodiment, detailed description thereof will be omitted here. The string-like member 52 is not a heat-dissipating wire similar to that in the first embodiment, but a dedicated member.

  Here, the pair of sandwiching pieces 53 changes the shape when the string-like member 52 is released (unlocked) at room temperature and reaches a set temperature by heating by the heater 54, and thereby the string-like member 52. Is pressed and held (locked).

  In the case of this embodiment, the heater 54 is turned off during a normal bending operation, and the locking of the string-like member 52 by the lock mechanism 51 is released. For this reason, the displacement of the columnar elastic member 17 is not hindered when the columnar elastic member 17 is curved and deformed by the supply of gas pressure.

  Further, when the insertion portion is pulled out, the string member 52 is locked by the sandwiching piece 53 by turning on the heater 54, thereby restricting the deformation of the columnar elastic member 17. As a result, a tensile load applied to the insertion portion is received by the string-like member 52, and a problem that an excessive load acts on the columnar elastic member 52 is avoided.

  In the apparatus of this embodiment, the string-like member 52 is locked by the lock mechanism 51 only under necessary conditions. Therefore, the bending range of the columnar elastic member 17 is increased during a bending operation in which the lock mechanism 51 is not operated. There is an advantage that can be.

  In the sixth embodiment described above, the pair of sandwiching pieces 53 that are movable parts are operated by controlling the temperature of the heater 54. However, as in the seventh embodiment shown in FIG. The locking and non-locking of the string-like member 52 may be selectively switched. The lock mechanism 151 of this embodiment is provided with a gas chamber (not shown) that can be expanded and contracted by supplying and discharging gas pressure in the casing 56 of the air actuator 55, and the outer wall of the gas chamber is connected to a string-like member. 52 is a movable part that can be restrained.

  In this embodiment, substantially the same effect as that of the sixth embodiment can be obtained. However, since the locking and the non-locking are switched by the gas pressure, it is always quick without being affected by the ambient temperature. Switching operation can be realized.

  In the sixth and seventh embodiments described here, the locking mechanism 51, 151 is switched between locking and non-locking of the string-like member 52 by a switch operation or the like by an operator. It is also possible to adopt a device configuration in which the lock mechanism 51 (151) is automatically unlocked when the insertion portion 3 is completely pulled out from the drum 4 as in the eighth embodiment shown in FIG. is there.

  The endoscope apparatus of this embodiment is provided with a rotary encoder 60 that detects the rotation of the drum 4 as shown in FIG. 25. That is, the drum 4 has rotated more than a set amount from the initial state, that is, the insertion portion 3 is The controller 61 (see FIG. 26) determines that the drum 4 has been pulled out by a set length or more based on a detection signal from the rotary encoder 60. The controller 61 controls the determination unit 62 that determines whether or not the drum 4 has rotated by a set amount or more, the selection unit 63 that selects control according to the determination result of the determination unit 62, and the lock mechanism 51 (151). A restriction control means 64 and a bending control means 65 for executing control of the bending portion 8 are provided. In FIG. 25, reference numeral 66 denotes a main power switch provided in the apparatus main body 5, and reference numeral 67 denotes a remote control power switch of a remote control 69 having a bending operation lever 68. In FIG. 26, 70 is a cylinder filled with high-pressure gas, and 71 is between the cylinder 70 and each pressurizing chamber (not shown) of the columnar elastic member 17, and the gas pressure to the pressurizing chamber is shown. It is a valve unit that performs introduction and discharge of gas from the pressurized chamber. In this embodiment, the rotary encoder 60 and the determination unit 62 of the controller 61 constitute preparation detection means for detecting that the preparation for operation of the bending portion 8 has been completed.

  In this endoscope apparatus, the control by the restriction control means 64 is selected by the selection section 63 until the insertion section 3 is pulled out to the set length by the rotation of the drum 4, and as a result, the string member by the lock mechanism 51 (151) is selected. The locking of 52 is maintained. Further, when the insertion portion 3 is pulled out to the set length from this state and this is determined by the determination portion 62, the bending control means 65 is selected by the selection portion 63, and as a result, the lock mechanism 51 (151) The lock of the string-like member 52 is released, and the control of the bending portion 8 can be executed.

  Therefore, in this embodiment, when the insertion portion 3 is pulled out from the drum 4, no special operation is performed, and when the preparation for operation of the bending portion 8 is completed, the lock mechanism 51 (151) extends the columnar elastic member 17. Can be reliably regulated.

  Further, in the eighth embodiment, the amount of pull-out of the insertion portion is detected using the rotary encoder 60, and the lock mechanism 51 (151) is a string-like member only when the insertion portion 3 is pulled out beyond the set length. 52, the main power switch 66 of the apparatus body 5 is turned on as in the ninth embodiment shown in FIG. 27, and the insertion portion 3 is pulled out. Only when the remote control power switch 67 is turned on after preparation is complete, the locking of the string-like member 52 by the lock mechanism 51 (151) may be released and the control of the bending portion 8 may be executed. In other words, in the ninth embodiment, the remote control power switch 67 and the determination unit 162 constitute a preparation detecting unit, and when they detect that the preparation for operation of the bending portion 8 is completed, the lock mechanism 51 (151) is turned on. It comes to cancel automatically.

Next, a tenth embodiment shown in FIGS. 28 to 30 will be described.
In the endoscope apparatus of this embodiment, the configuration of the columnar elastic member 17 and the imaging / illumination unit (not shown) disposed in front of the columnar elastic member 17 is the same as that of the other embodiments described above (for example, the first implementation). The configuration of the displacement regulating means 537 is greatly different from that of the other embodiments. It should be noted that some parts common to other embodiments such as the imaging / illumination unit are not shown.

  A front base and an imaging / illumination unit (not shown), which are high-rigidity members, are connected to the front end of the columnar elastic member 17 as in the other embodiments, and a rear base 527 is connected to the rear end.

  On the other hand, a connection base 75 that is a highly rigid member is fixed to the tip of the serpentine tube 1 that is a general part of the insertion portion 3, and a cylindrical cam 76 (cam member) is slidable on the inner peripheral surface of the connection base 75. It is mated. The cylindrical cam 76 is provided with a cam surface 76a at a front end portion thereof, and a long hole 76b having a set length is formed in the circumferential wall along the circumferential direction. A guide pin 77 projecting from the coupling base 75 is inserted into the long hole 76b, and the axial displacement of the cylindrical cam 76 is completely restricted by the guide pin 77, and the rotational range of the cylindrical cam 76 is The guide pin 77 is regulated within a range in which the guide pin 77 can relatively move within the long hole 76b. The cam surface 76a of the cylindrical cam 76 has a shape in which a plurality of waveforms are continuous along the circumferential direction. Further, a driving roller 78 driven by a motor is projected from the side of the serpentine tube 1, and the outer peripheral surface of the driving roller 78 is in pressure contact with the inner peripheral surface of the cylindrical cam 76. The drive roller 78 is an actuator that rotates the cylindrical cam 76, and is configured to rotate the cylindrical cam 76 relative to the connection base 75 under the control of a controller (not shown).

  A wavy cam surface 527a corresponding to the cam surface 76a of the cylindrical cam 76 is formed at the rear end portion of the rear cap 527. When the rear cap 527 is fitted in the connecting cap 75, the cam surface 527a The cam surface 76a of the cylindrical cam 76 comes into contact. Accordingly, when the tops and bottoms of both cam surfaces 527a and 76a are engaged with each other so that they abut, the rear base 527 enters the connecting base 75 to the maximum, and conversely, the tops of both cam surfaces 527a and 76a are mutually connected. The rear base 527 is displaced forward by a set stroke from the position where the rear base 527 enters the connection base 75 at the maximum. In this embodiment, the rear cap 527 constitutes a counter cam member.

  Further, the rear base 527 connected to the columnar elastic member 17 is not fixed to the connection base 75, and the cam surface 527a is a cam of the cylindrical cam 76 in a state of being fitted in the connection base 75 as described above. It meshes with the surface 76a. One end of the string-like member 52 is coupled to the front base or the imaging / illumination unit on the front side of the columnar elastic member 17, and the other end of the string-like member 52 passes through the inside of the columnar elastic member 17 and behind the rear base 527. Has been pulled out. The other end of the string-like member 52 drawn out from the rear cap 527 is fixed to the inner peripheral surface of the cylindrical cam 76. Here, as described above, the displacement of the cylindrical cam 76 is regulated by the coupling base 75 via the guide pin 77 and the long hole 76b, so that the string member 52 is coupled to the coupling base 75 via the cylindrical cam 76. It can be said that there is.

  Further, the length of the front and rear connecting portions of the string-like member 52 is determined so that it can be slightly loosened when the cam surfaces of the rear cap 527 and the cylindrical cam 76 are engaged with each other. The meshing state of both the cam surfaces 527 a and 76 a is switched by the rotation operation of the cylindrical cam 76 by the driving roller 78.

  In a situation where a tensile load is applied to the insertion portion 3 such as when the insertion portion 3 is pulled out, the cylindrical cam 76 is driven by a driving roller so that the top portions of the cylindrical cam 76 and the cam surfaces 76a and 527a of the rear cap 527 abut each other. 78 to rotate in a predetermined direction. Thus, when the cylindrical cam 76 rotates in a predetermined direction, the rear cap 527 contacting the cylindrical cam 76 with the cam surfaces 76a and 527a is displaced by a predetermined amount in the axial direction, and as a result, the slack of the string-like member 52 is removed. . Therefore, when the insertion portion 3 is pulled thereafter, the load is immediately received by the string-like member 52. At this time, since the tensile load is received by the string-like member 52, the tensile load does not act on the columnar elastic member 17. Therefore, also in this embodiment, the durability of the columnar elastic member 17 can be improved.

  In this apparatus, the tensile load is not applied to the columnar elastic member 17 because the rear end portion of the columnar elastic member 17 is not connected to the connection base 75 and the tensile load from the rear end portion of the columnar elastic member 17 is not connected. This is because there is no input.

  In addition, when the insertion portion has been pulled out and the insertion portion is inserted into the lumen, the cylindrical cam 76 is rotated in the reverse direction by the driving roller 78, and the rear cap 527 and the cam surfaces 527 a and 76 a of the cylindrical cam 76 are rotated. Bite each other. As a result, the slack of the string-like member 52 is restored, and the columnar elastic member 17 can be freely bent.

  In the case of the apparatus according to this embodiment, the rear base 527 of the rear end of the columnar elastic member 17 and the cylindrical cam 76 on the side of the connection base 75 are engaged with each other by wave-shaped cam surfaces 527a and 76a in a state where they are normally used. Therefore, the columnar elastic member 17 is not displaced in the rotational direction during use.

  Finally, an eleventh embodiment shown in FIGS. 31 and 32 will be described. The endoscope apparatus of this embodiment is similar to the tenth embodiment in that the configuration of the displacement restricting means is slightly different from that of the tenth embodiment in that the slack of the string-like member 52 is adjusted by a motor that is an actuator and a cam mechanism.

  A rear base 27 is connected to the rear end portion of the columnar elastic member 17 via an outer tube 23, and a cylindrical cam 676 is slidably fitted in the base 27. A part of the front end of the cylindrical cam 676 is cut out in a predetermined shape, and there are a first holding surface 80a and a second holding surface 80b offset in the axial direction with respect to the first holding surface 80a. And an inclined surface 80c that connects the two holding surfaces 80a and 80b. A guide screw 81 protrudes from the inner peripheral surface of the rear cap 27, and the screw 81 comes into contact with the cam surface 80. Further, the rear end portion of the string-like member 52 is connected to the inner peripheral surface of the cylindrical cam 676, and the inner teeth 82 are formed on a part of the arc of the inner peripheral surface. A drive gear 83 projecting from the side of the serpentine tube 1 meshes with the internal teeth 82, and the drive gear 83 is driven by a motor (not shown).

  When the first holding surface 80a of the cylindrical cam 676 is on the same line as the guide screw 81, the cylindrical cam 676 is axially moved in the stroke range until the first holding surface 80a contacts the guide screw 81. At this time, the string-like member 52 can be slackened. When the second holding surface 80b is on the same line as the guide screw 81, the cylindrical cam 676 is retracted to the maximum in the axial direction, and at this time, the string-like member 52 is not slackened. .

  In the case of this endoscope apparatus, when the cylindrical cam 676 is rotated in a predetermined direction by the drive gear 83, the screw 81 can come into contact with the first holding surface 80a and the second holding surface 80b. When the cylindrical cam 676 is rotated in the reverse direction from that state, the other position of the two positions is switched.

  Therefore, also in this embodiment, by adjusting the slack of the string-like member 52 by the operation of the drive gear 83, it is possible to switch between the restriction of the extension of the columnar elastic member 17 and the allowance of the bending operation.

  The embodiment of the present invention is not limited to the above-described embodiment. For example, a stopper member (stopper ring 32 or the like) that is displaced according to the elongation of the columnar elastic member or the engagement of the string-like member is not involved. The lock mechanism (lock mechanism 54) for switching the stop may be arranged on the front side instead of the rear side of the columnar elastic member.

The 1st Embodiment of this invention is shown, and the longitudinal cross-sectional view corresponding to the AA cross section of FIG. The figure which combined the perspective view (A) which shows the state which decomposed | disassembled the endoscope apparatus of the embodiment, and the perspective view (B) which shows the state which assembled and accommodated the endoscope apparatus. The front view which shows the same embodiment. The disassembled perspective view which shows the same embodiment. The disassembled perspective view which shows the same embodiment. Exploded perspective view showing the same embodiment The disassembled perspective view which shows the same embodiment. Sectional drawing which shows the same embodiment and is the same as FIG. 1 in a curved state. FIG. 2 is a cross-sectional view similar to FIG. 1 in a state in which the displacement regulating means is activated, showing the embodiment. Sectional drawing similar to FIG. 1 which shows 2nd Embodiment of this invention. The perspective view which shows the same embodiment. FIG. 2 is a cross-sectional view similar to FIG. 1 showing the same embodiment in a state in which the displacement regulating means is activated. Sectional drawing similar to FIG. 1 which shows the 3rd Embodiment of this invention. The perspective view which shows the same embodiment. The disassembled perspective view which shows the same embodiment. Sectional drawing corresponding to the BB cross section of FIG. 17 which shows 4th Embodiment of this invention. The front view which shows the same embodiment. The disassembled perspective view which shows the same embodiment. The perspective view which shows 5th Embodiment of this invention. The perspective view which shows the same embodiment. The perspective view similar to FIG. 1 which shows the same embodiment. The perspective view which shows 6th Embodiment of this invention. The front view which shows the same embodiment. The disassembled perspective view which shows 7th Embodiment of this invention. A typical side view showing an 8th embodiment of this invention. The block diagram for demonstrating the function of the embodiment. The block diagram for demonstrating the function of 9th Embodiment of this invention. The 10th Embodiment of this invention is the exploded perspective view which fractured | ruptured some components. Sectional drawing corresponding to CC cross section of FIG. 28 which shows the same embodiment. Sectional drawing corresponding to the DD cross section of FIG. 28 which shows the same embodiment. Sectional drawing which shows 11th Embodiment of this invention. The disassembled perspective view which shows the same embodiment.

Explanation of symbols

3 Insertion part 8 Bending part 14a, 14b Power supply wiring (wiring)
15 Signal wiring (wiring)
16 Pressurizing chamber 17 Columnar elastic member 26 Front cap (high rigidity member)
27, 327 Rear cap (high rigidity member)
31 wire (radiating metal wire, string-like member)
32, 132, 232 Stopper ring (stopper member)
37, 337, 537 Displacement restricting means 45 Stopper block (stopper member)
51, 151 Lock mechanism 52 String member 55 Air actuator 60 Rotary encoder (preparation detection means)
62,162 determination unit (preparation detection means)
64 Restriction control means 67 Remote control power switch (preparation detection means)
75 Connection base (high rigidity member)
76 Cylindrical cam (cam member)
76a Cam surface 78 Drive roller (actuator)
231 Wire (non-metallic fiber, string-like member)
527 Rear cap (mating cam member)

Claims (4)

An endoscope apparatus in which a bending portion capable of bending operation in an arbitrary direction is provided in an insertion portion to be inserted into a lumen of an endoscopic target,
The bending portion includes a columnar elastic member in which a plurality of pressurizing chambers are arranged along a circumferential direction, and can be curved and deformed in an arbitrary direction by selectively supplying and discharging high-pressure gas to and from the plurality of pressurizing chambers. In what has been
A high-rigidity member connected to one end side and the other end side of the columnar elastic member; a string-like member connected to the high-rigidity member on one end side of the columnar elastic member; and the other end side of the columnar elastic member A stopper member connected to the other end side of the string-like member, and provided so as to be capable of displacement only by a set stroke in the axial direction with respect to the high-rigidity member, and axially front and rear of the columnar elastic member comprising a displacement regulating means for regulating the displacement,
An endoscope apparatus , wherein when the columnar elastic member is extended and deformed for a set length or more, displacement of the stopper member is restricted by the high-rigidity member on the other end side .   The displacement regulating means is provided on the high-rigidity member on the other end side of the columnar elastic member, and includes a lock mechanism that can selectively operate locking and non-locking on the other end side of the string-like member. The endoscope apparatus according to claim 1. The endoscope apparatus according to claim 1, wherein the string-like member is configured by a heat radiating metal wire that releases heat of the heat generating portion on the distal end side of the insertion portion with respect to the columnar elastic member. The endoscope apparatus according to claim 1, wherein the string-like member is configured by wiring for signal transmission / reception or power supply.

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