JP4594763B2 - Endoscope device - Google Patents

Description

  The present invention relates to an endoscope apparatus suitable for being smoothly inserted into a bent body cavity.

2. Description of the Related Art Endoscopes that can observe various organs and perform various treatments and treatments by inserting a flexible insertion portion into a body cavity such as the large intestine are widely used.
Skill may be required before the insertion portion can be smoothly inserted into a body cavity that is bent in a complicated manner like the large intestine. For inexperienced surgeons, when inserting the insertion part to the deep part, there is a possibility of losing sight of the insertion direction and taking time to insert, so various proposals for improving the insertability of the insertion part have been made Yes.

  For example, Japanese Patent Application Laid-Open No. 10-113396 discloses a medical device propulsion device that can easily guide a minimally invasive medical device to a deep portion of a living body tube. In this propulsion device, a rotating member is rotatably disposed immediately before the distal end of the medical device, and a rib oblique to the axial direction is provided on the outer peripheral surface of the rotating member.

Then, by rotating the rotating member, the rotational force of the rotating member is converted into a propulsive force by the rib, and the medical device connected to the propulsion device is moved in the deep direction by the propulsive force.
JP-A-10-113396

However, for example, when using the medical device propulsion device disclosed in Japanese Patent Application Laid-Open No. 10-113396 to insert into a bending body cavity such as the large intestine while observing the inside of the large intestine, the medical device is disposed immediately before the distal end of the medical device. However, there is a drawback that the propulsive force is reduced.
That is, since the length of the rotating member is shorter than the length of the (endoscope) insertion portion, the rib provided on the outer peripheral surface has a small propulsive force obtained during rotation.
Moreover, when the outer diameter of an insertion part differs, there exists a fault which cannot respond appropriately.

(Object of invention)
The present invention has been made in view of the above problems, and can cope with a case where the outer diameter of the insertion portion is different, and has a good insertion property that facilitates smooth insertion into a bent subject. An object is to provide a mirror device.

The endoscope apparatus according to the present invention includes a flexible first insertion portion in which an observation optical system is provided at a distal end portion and a connector portion is provided at a rear end portion ;
An observation optical system is provided at the front end portion, and a connector portion is provided at the rear end portion. The second insertion portion has a flexibility, and has a different outer diameter from the first insertion portion,
The outer peripheral surface of the first insertion portion, a first thrust generating portion which is Oite formed longitudinally between said distal portion and the connector portion,
A second thrust generating portion formed on the outer peripheral surface of the second insertion portion in the longitudinal axis direction between the distal end portion and the connector portion, and having a different outer diameter from the first thrust generating portion;
The proximal ends of the first and second insertion portions are selectively detachably connected, and the first or second thrust generating portion of the connected first or second insertion portion is the insertion portion. A rotating device that rotates about the longitudinal axis of
And setting means for setting a rotational speed for rotating the first or the second thrust generating unit in accordance with the outer diameter of the is connected to the rotating device of the first or second thrust generating unit,
It is characterized by comprising.
With the above configuration, the thrust generating part is formed on the outer circumferential surface in the longitudinal axis direction over a predetermined length to ensure sufficient propulsive force, and even when the outer diameter of the thrust generating part is different, rotation according to the outer diameter The speed is set so that smooth insertion into the subject is possible.

  According to the present invention, even when the outer diameters of the thrust generating portions are different, smooth insertion into the subject can be performed by setting the rotation speed according to the outer diameter.

  Embodiments of the present invention will be described below with reference to the drawings.

1 to 3 relate to a first embodiment of the present invention, FIG. 1 shows an overall configuration of an endoscope apparatus according to the first embodiment of the present invention, and FIG. 2 shows an endoscope insertion portion and an endoscope rotating apparatus. FIG. 3 shows the internal configuration of the endoscope insertion portion and the rotation device.
As shown in FIG. 1, an endoscope apparatus 1 includes an elongated and flexible first endoscope insertion portion 2A, and a second endoscope having a different outer diameter from the first endoscope insertion portion 2A. The endoscope insertion section 2B and each endoscope insertion section 2I (I = A, B) are selectively detachably connected, and the connected endoscope insertion section 2I has a predetermined direction around the longitudinal axis. Rotating device 3 to be rotated, endoscope insertion portion 2I is inserted, protective tube 4 is held rotatably, video processor 5 connected to rotating device 3 and signal cable 3a, and video processor 5 And a monitor 6 that is connected by a cable 6a and displays an image captured by an imaging means in the endoscope insertion section 2I.

The video processor 5 includes a CCD drive circuit 5a for supplying a drive signal to a charge coupled device (abbreviated as CCD) 7 (see FIG. 3) as an imaging device built in the distal end portion 8I of the endoscope insertion portion 2I. A signal processing circuit 5b that performs signal processing on an electrical signal that has been photoelectrically converted by the CCD 7 and an LED driving circuit 5c that drives and emits light from a light emitting diode (abbreviated as LED) 10 (see FIG. 3) built in the tip 8I. And built-in. The video signal generated by the signal processing circuit 5b is output to the monitor 6, and an image captured by the CCD 7 is displayed as an endoscopic image.
As will be described later, the video processor 5 rotates the endoscope insertion portion 2I when the endoscope insertion portion 2I is inserted into a subject, more specifically, into a bent body cavity such as the large intestine. Control is performed so that only a still image at a predetermined rotation angle (rotation position) synchronized with the screen is displayed on the screen of the monitor 6.

The endoscope insertion portion 2I has a propulsive force by rotation on the outer peripheral surface between the hard tip portion 8I provided at the tip and the connector portion 12I provided at the rear end of the endoscope insertion portion 2I. A sufficiently long propulsion pipe (or guide pipe) 13I provided with a spiral-shaped portion 36 serving as a propulsive force generating means is formed. In this embodiment, the propulsion pipe 13I is formed to have a predetermined length or more so that a sufficient propulsive force can be generated even when the propulsion pipe 13I is rotated at a low speed.
Further, when the endoscope insertion portion 2I is inserted into the body cavity of the patient, the endoscope insertion portion 2I is inserted into the protective tube 4 in a loosely fitted state for preventing the operator from touching the floor in the operating room at the hand side position.
This prevents the endoscope insertion portion 2I from coming into direct contact with the floor or the like. Further, the connector part 12I of the endoscope insertion part 2I is detachably connected to a substantially cylindrical insertion part holding part 14 protruding from one side surface of the rotating device 3. Then, as will be described with reference to FIG. 3, the endoscope insertion portion 2 </ b> I is rotated by rotating the motor 15 inside the rotating device 3. By this rotation, a propulsive force is generated by the propulsion tube 13I, and this propulsive force is used, so that the endoscope insertion portion 2I can be smoothly inserted into the body cavity.

The endoscope insertion section 2A is provided with a treatment instrument channel 16 through which a treatment instrument can be inserted as shown in FIG. 3, and the treatment instrument channel 16 is, for example, a treatment instrument insertion port 17 provided in the connector section 12A. Communicated with. Then, a treatment tool (not shown) is inserted through the treatment tool insertion port 17 so that the affected tissue can be collected or the lesioned part can be excised. On the other hand, the endoscope insertion portion 2B has a structure in which the treatment instrument channel 16 is not provided, and the outer diameter of the endoscope insertion portion 2B is made smaller than that of the endoscope insertion portion 2A to be inserted further. It is easy to do.
As shown in FIG. 2, a camera unit (or imaging unit) storage portion 18I is provided at the distal end portion 8I of the endoscope insertion portion 2I by a substantially cylindrical recess.

In each camera unit storage portion 18I, a camera unit (imaging unit) 19I provided with an observation optical system and an illumination optical system is stored and fixed. Further, a convex portion 21 (see FIG. 3) is formed at the center of the rear end surface of each connector portion 12I, and for example, two pins 22I protrude around the convex portion 21.
And the convex part 21 in each connector part 12I fits into the recessed part 23 provided in the center of the front-end | tip surface of the insertion part holding | maintenance part 14 of the rotating apparatus 3, and the pin 22I is a pin hole provided in the circumference | surroundings of the recessed part 23 Each connector part 12I is detachably connected to the insertion part holding part 14 of the rotating device 3 by being fitted into the inner part 24.

In the present embodiment, the connector portions 12A and 12B have an outer diameter equal to the outer diameter of the endoscope insertion portion 2I, for example. Further, even in the case of the endoscope insertion portion 2I having different outer diameters, the insertion portion holding portion 14 has a pin hole 24A that fits into the pin 22A provided in the connector portion 12A so that the insertion portion holding portion 14 can be connected. And a pin hole 24B that fits into a pin 22B provided in the connector portion 12B.
In addition, a pin hole can also be made common by providing the pin 22A provided in the connector part 12A and the pin 22B provided in the connector part 12B at the same position.
In the present embodiment, the connector portions 12A and 12B are provided with the convex portions 21 of the same size, but may be different sizes.

The camera unit 19I attached to the camera unit storage portion 18I of the tip 8I is provided with an observation window 25 substantially at the center of the tip surface, and illumination windows 26 are provided at a plurality of locations around the observation window 25, here two locations. Is provided. The signal cable 27 extending from the proximal end side of the camera unit 19I is inserted into the endoscope insertion portion 2I.
The camera unit 19A is further provided with a communication hole 28 communicating with the treatment instrument channel 16, and the distal end of the communication hole 28 can be opened to project the treatment instrument.
Further, in the present embodiment, in the case of the endoscope insertion portion 2I in which the propulsion pipes 13I having different outer diameters are formed on the outer peripheral surfaces, respectively, the connector portion 12I is provided with, for example, such that it can be rotated at an appropriate rotational speed. The shaft diameter of the propulsion pipe 13I is displayed (specifically, 12φ is displayed on the connector portion 12A in FIG. 2 and 8φ is displayed on the connector portion 12B), and the rotating device 3 is suitable for each shaft diameter. A rotation speed adjusting knob 30 is provided which forms setting means for setting the rotation speed.

Further, in this embodiment, the endoscope insertion portion 2I in which the propelling tube 13I that generates propulsive force by rotation is integrally formed on the outer peripheral portion is a rotating portion that is rotated by the rotating device 3 (to this) On the other hand, in FIG. 8 described later, only the propulsion pipe portion 102I side is a rotating portion that is rotated).
Next, the structure of one endoscope insertion portion 2A and the rotation device 3 will be described in detail with reference to FIG.
Note that the endoscope insertion portion 2A in FIG. 3 is not provided with the channel 16, and the one with a smaller diameter becomes the other endoscope insertion portion 2B. Therefore, the detailed structure of the endoscope insertion portion 2B is as follows. Omitted. In FIG. 3, the cross section of the front end portion shows the internal structure by a cross section along A-O-A ′ in FIG. The structure of is shown.
As shown in FIG. 3, an observation window 25 provided in the center of the camera unit 19A fixed to the tip 8A has an objective optical system (observation optical system) 31 for connecting an optical image of an object, and its imaging position. A CCD 7 serving as an image pickup device arranged in is attached.

The two illumination windows 26 provided adjacent to the observation window 25 are provided with an LED 10 that generates illumination light, and an illumination optical system 32 that expands the light emitted from the LED 10 and emits the light from the illumination window 26. And are attached.
Further, from the base end of the camera unit 19A, a signal cable for transmitting a CCD driving and imaging signal connected to the CCD 7 and a signal cable 27 for transmitting a driving signal for driving LED emission connected to the LED 10 are extended. Yes.
The distal end of the distal end portion 8A is flexible, and the distal end of an insertion portion covering tube (hereinafter simply referred to as a covering tube) 34 that forms the insertion portion main body is fixed, and a rigid connector portion 12A is attached to the rear end. It is connected. A propelling tube 13 </ b> A is sheathed on the outer peripheral surface of the covering tube 34.

The propulsion tube 13A is made of, for example, stainless steel on the outer periphery of the covering tube 34 between the distal end portion 8A of the endoscope insertion portion 2A and the connector portion 12A, and a metal wire 35 having a predetermined diameter is spirally formed. It is a tube formed in two layers so as to have a predetermined flexibility. In this propulsion pipe 13A, the metal strand 35 may be spirally wound in multiple strips (for example, four strips).
The metal strands 35 wound in a spiral shape can increase the degree of adhesion between the metal strands 35, and various spiral angles can be set. Therefore, a spiral-shaped part (spiral propulsion part) 36 is formed on the outer surface of the propulsion pipe 13A. Furthermore, the metal strand 35 is preferably formed by winding it in a left-handed spiral shape from the distal end to the proximal end. In other words, the metal strand 35 is preferably wound around a spiral in the same direction as the thread groove of the left screw, and the insertion portion holding portion 14 of the rotating device 3 is endoscopeed when inserted into a body cavity, particularly the large intestine. When the insertion part 2A is rotated around the longitudinal axis, the leftward rotation increases the adhesion to the intestinal wall in the large intestine, and the insertion of the endoscope insertion part 2A into the large intestine is improved.

In addition, the metal wire 35 is not limited to the spiral wound and formed with the spiral unevenness, but the member forming the outer peripheral surface of the endoscope insertion portion 2 may be formed with the spiral unevenness.
In the present embodiment, the thrust generating portion that generates a thrust by rotating around the longitudinal axis of the endoscope insertion portion 2A is formed by the spiral-shaped portion 36.
In the case of the endoscope insertion portion 2A, a channel tube 37 forming the channel 16 is inserted into the covering tube 34, and the tip thereof is connected so as to communicate with the communication hole 28 of the camera unit 19A. The rear end is connected to a base forming the treatment instrument insertion port 17 of the connector portion 12A.
The connector portion 12A has a substantially cylindrical convex portion 21 formed substantially at the center of the rear end surface thereof. For example, two pins 22A are provided around the convex portion 21. The convex portion 21 is inserted into the concave portion 23 of the insertion portion holding portion 14, and the two pins 22 </ b> A are inserted into the pin holes 24 </ b> A near the outer periphery and connected to the insertion portion holding portion 14.
A plurality of contact pin receivers 38 are provided on the end surface of the convex portion 21, and a plurality of signal cables 27 are connected to the contact pin receivers 38, respectively.

At the time of connecting the connector portion 12A and the insertion portion holding portion 14, each contact pin receiver 38 of the connector portion 12A comes into contact with a plurality of contact pins 39 provided in the concave portion 23 of the insertion portion holding portion 14, respectively. The CCD 7 and the LED 10 are electrically connected to the contact pin 39 of the rotating device 3.
The outer peripheral surface of the insertion portion holding portion 14 is rotatably supported by a bearing 41 provided in the casing of the rotating device 3. The insertion portion holding portion 14 is rotatably supported by the bearing 41, and a gear 42 is provided on the outer peripheral surface of the base end that is the rear side from this position.
The gear 42 meshes with a cylindrical gear 43 provided at the distal end portion of the motor shaft of the motor 15 and is rotated by the motor 15 around the longitudinal axis in a predetermined direction, here, in the left direction from the proximal end toward the distal end. It has become.

Further, a slip ring 44 is formed in the insertion portion holding portion 14 by inserting a columnar member into a concave portion provided coaxially from the rear end surface along the center of the rotation axis. The slip ring 44 holds the rotating rotor-side contact 45 connected to the contact pin 39 in contact with the (non-rotated) stator-side contact 46 so as to be electrically connected. .
The contact 46 on the stator side is connected to a contact 47 at the rear end via a signal line in the slip ring 44, and is electrically connected to the video processor 5 via a signal cable 3 a connected to the contact 47. .
Further, for example, a photo reflector 49 is provided in the casing of the rotation device 3 as a sensor for detecting a predetermined rotation angle (rotation position) in the insertion portion holding unit 14 in the vicinity of the position where the bearing 41 is provided. The photo reflector 49 irradiates the outer peripheral surface of the insertion portion holding portion 14 with light and receives the reflected light.

In this case, a light reflecting portion 50 having a high reflectance is provided at a predetermined position on the outer peripheral surface of the insertion portion holding portion 14, and the reflectance of light at other portions is lowered. The light reflecting portion 50 corresponds to a predetermined direction (for example, upward direction) of the CCD 7.
Accordingly, when the endoscope insertion portion 2A connected to the insertion portion holding portion 14 is rotationally driven by the motor 15, when the CCD 7 reaches a predetermined angle, the timing is detected by the photo reflector 49, and the predetermined angle detection timing is detected. The signal is input to the signal processing circuit 5 b of the video processor 5.
The signal processing circuit 5b alternately overwrites (overwrites) the images picked up by the CCD 7 on the two frame memories inside the signal processing circuit 5b at a period in which the insertion section holding section 14 is rotated once.

When a timing signal that reaches a predetermined angle is input from the photo reflector 49, a frame memory control circuit (not shown) that controls reading and writing of the frame memory prohibits writing to one of the overwritten frame memories according to the input timing. Then, the image written in the frame memory immediately before the timing signal is held until the next timing.
Then, the image read from the one frame memory is displayed on the monitor 6 as a still image. In this case, the other frame memory is overwritten until the next timing, writing is similarly prohibited at the next timing, and an image is read from the frame memory as a still image.
In this way, the still image captured at a predetermined angle is displayed on the monitor 6 when the endoscope insertion portion 2I is rotated.

Further, the rotation speed of the motor 15 that rotationally drives the insertion section holding section 14 is set or controlled by the motor control circuit 51.
In this embodiment, the motor control circuit 51 changes the value of the variable resistance, for example, by changing the value of the variable resistance, for example, by operating the rotation speed adjusting knob 30 provided on the front panel of the rotating device 3. As a result, the motor control circuit 51 is instructed to input information for setting the rotation speed according to the outer diameter of the propulsion pipe 13I by the spiral-shaped portion 36.
Then, the motor control circuit 51 reads the corresponding rotational speed information from, for example, a look-up table (abbreviated as LUT) 52 based on information corresponding to the commanded outer diameter.
In this LUT 52, rotational speed information suitable for each outer diameter value of the propulsion pipe 13I is stored in advance as standard information. In this case, the standard information is information that decreases the rotation speed as the outer diameter increases.

That is, when the outer diameter is large, a larger load is applied to the motor 15 than when the outer diameter is small. Therefore, the larger the outer diameter, the smaller the rotation speed, so that it can be properly propelled in a stable state. I have to.
The LUT 52 is configured by, for example, an electrically rewritable nonvolatile memory, and can update information stored through the motor control circuit 51 to more appropriate information, for example.
Then, by inputting information on the outer diameter of the propulsion pipe 13I to the LUT 52 as an address signal or the like, it is possible to read out information on the rotational speed suitable for the value of the outer diameter.
The motor control circuit 51 controls the rotation speed of the motor 15 so as to match the rotation speed information read from the LUT 52.
Further, the front panel or the like in the rotating device 3 is provided with a display unit 53 for displaying the rotational speed, and the motor control circuit 51 outputs information on the currently set rotational speed to the display unit 53 for continuous rotation. Display speed. The user can check the rotation speed that is always set by looking at the display unit 53.

In this embodiment having such a configuration, the endoscope insertion portions 2A and 2B provided with the spiral-shaped portion 36 having different outer diameters are detachably attached to the rotating device 3 in order to propel the body cavity using rotation. The endoscope insertion portions 2A and 2B can be rotated via the motor control circuit 51 by operating the rotation speed adjustment knob 30. The feature is that the speed can be easily set to an appropriate value.
The operation of the present embodiment having such a configuration will be described.

The surgeon selects the endoscope insertion portion 2A or 2B according to the purpose of examining or treating the inside of the body cavity.
For example, when inserting into a body cavity and simply inspecting, it is preferable to select the endoscope insertion portion 2B in which the channel 16 is not provided. In this case, since the outer diameter is reduced as much as the channel 16 is not provided, it is easy to insert.
On the other hand, when the tissue of a lesioned part is collected by a treatment tool or other treatment is performed, the endoscope insertion part 2A provided with the channel 16 may be selected.
After selecting the endoscope insertion portion 2I to be used in this way, the selected endoscope insertion portion 2I is passed through the protective tube 4 through the proximal end side thereof as shown in FIG. The part 12I is connected to the insertion part holding part 14 of the rotating device 3.

Further, the rotational speed adjusting knob 30 is operated to match the value of the outer diameter of the endoscope insertion portion 2I connected to the insertion portion holding portion 14 of the rotating device 3. In this case, for example, as shown in FIG. 2, the value of the outer diameter of the endoscope insertion portion 2I (propulsion tube 13I) is displayed on the connector portion 12I of each endoscope insertion portion 2I. It can be easily set according to each endoscope insertion portion 2I to be connected.
And the power supply of the rotation apparatus 3 which is not shown in figure is turned on, and the motor control circuit 51 in the rotation apparatus 3 is set to an operation state. When the motor control circuit 51 enters the operating state, it reads information (specifically, resistance value) corresponding to the outer diameter set by the rotation speed adjustment knob 30 and reads information on the rotation speed corresponding to the information from the LUT 52. .

Then, the motor control circuit 51 controls the rotation speed of the motor 15 to be the rotation speed read from the LUT 52, and rotates the motor 15 at the rotation speed.
Then, the distal end side of the endoscope insertion portion 2I is inserted into the body cavity of the patient from the portion serving as the insertion port, for example, the anus when performing a colon examination.
The motor 15 rotates at a rotation speed suitable for the outer diameter value of the endoscope insertion portion 2I connected to the rotation device 3, and the rotation of the motor 15 also rotates the endoscope insertion portion 2I. Since the spiral-shaped portion 36 is provided on the outer peripheral surface of the endoscope insertion portion 2I with a length close to its entire length, a propulsive force is generated when the spiral-shaped portion 36 rotates.
Therefore, the surgeon can smoothly insert the endoscope insertion portion 2I into the body cavity by a small pushing operation compared to the case where no propulsive force is generated. In addition, the image captured by the CCD 7 at the time of insertion is a still image, but can be observed without obstructing the visual field, and can be inserted while observing the image.

According to the present embodiment having such an action, the endoscope insertion portion to be used can be selected and used depending on the case of insertion into a body cavity and performing an endoscopic examination or treatment with a treatment instrument. Can do. When performing an endoscopic examination without using a treatment instrument as described above, if the endoscope insertion portion 2B having a small outer diameter is connected to the rotating device 3 and used, it is smoother than when the outer diameter is large. Can be inserted.
On the other hand, when it is assumed that a treatment or the like is performed using a treatment tool, an endoscope insertion portion 2A that can be inserted through the treatment tool may be used.
Also, in this embodiment, by performing an operation to set the outer diameter, it is possible to set the rotation speed suitable for the outer diameter, so even when using an endoscope insertion portion having a different outer diameter Can be easily set to the appropriate rotation speed and used.

Further, since the propulsion pipe 13I provided with the spiral-shaped portion 36 that generates propulsive force by rotation is formed to have a predetermined length or more, sufficient propulsive force can be obtained even when rotated at a low speed, and smooth. Easy to insert.
Also, by displaying the rotation speed, the user can check the set rotation speed.
In addition, the larger the outer diameter is, the lower the rotation speed is, so that the load on the motor 15 can be suppressed and the operation of appropriately propelling can be performed. Further, the heat generation of the motor 15 can be suppressed.
In the above description, the rotation speed of the spiral-shaped portion 36 is controlled according to the outer diameter of the propulsion tube 13I, that is, the outer diameter of the spiral-shaped portion 36. Since it is equal to the outer diameter of the endoscope insertion portion 2I, the rotational speed may be controlled according to the outer diameter of the endoscope insertion portion 2I.

Next, a second embodiment of the present invention will be described with reference to FIGS. FIG. 4 shows a configuration in the vicinity of a connection portion between the endoscope insertion portion and the rotation device in the second embodiment.
In the first embodiment, the configuration is such that the user sets the rotational speed at which the propelling tube of the endoscope insertion portion is rotated by inputting an instruction for the outer diameter, but in this embodiment, the endoscope is connected to the rotating device. The type of the endoscope insertion portion is detected by the detection means, and the rotation speed corresponding to the outer diameter of the endoscope insertion portion 2I actually connected or the outer diameter of the propelling tube 13I is automatically set by the output signal of the detection means. The configuration is to be set automatically.
As shown in FIG. 4, in the present embodiment, the detecting means for electrically detecting the pins 22A or 22B provided at different positions according to the outer diameter of the endoscope insertion portion 2I is inserted in the rotating device 3, for example. It is provided in the part holding part 14. FIG. 4 shows the case where the connector portion 12A of the endoscope insertion portion 2A is connected to the insertion portion holding portion 14.

Specifically, for example, the pin 22 </ b> A in the endoscope insertion portion 2 </ b> A is connected by a signal line 61 to a contact pin receiver 38 that is connected to, for example, the power supply terminal Vc of the CCD 7. Although not shown in FIG. 4, the pin 22 </ b> B in the endoscope insertion portion 2 </ b> B is also connected to the contact pin receiver 38 connected to the power supply terminal Vc of the CCD 7 through the signal line 61.
Further, electrical contact members 62A and 62B are respectively provided in the pin holes 24A and 24B of the insertion portion holding portion 14, and the potentials of the electrical contact members 62A and 62B are compared via the contacts 45, 46, and 47 of the slip ring 44. It can be detected by the devices 63a and 63b.
That is, in accordance with the endoscope insertion section 2I having a different outer diameter, a signal that can be identified from different contacts is generated, and the signal levels at the different contacts are detected by the comparators 63a and 63b.

The comparators 63a and 63b detect which pin 22A or 22B is connected to the insertion portion holding portion 14 of the rotating device 3 depending on whether or not a potential exceeding the set reference potential V is detected. I have to. A potential obtained by dividing the power supply terminal Vc by the resistors R1 and R2 is applied as a reference potential V to the inverting input terminals of the comparators 63a and 63b, and the other input terminal is connected to the contact 47.
The output signals of the comparators 63a and 63b are input to a motor control circuit 51 that controls the rotational speed of the motor 15, for example. In the motor control circuit 51, when it is determined from the output signals of the comparators 63a and 63b whether the endoscope insertion section is 2A or 2B, the endoscope is determined based on the determined type information. A LUT 51a that stores rotation speed information is incorporated so that the rotation speed information suitable for the insertion section can be read.

Then, the motor control circuit 51 obtains information on the rotational speed suitable for the value of the outer diameter in the case of the endoscope insertion portion connected from the LUT 51a, and sets the rotational speed of the motor 15 to the rotational speed. To control.
Other configurations are the same as those of the first embodiment.
In this embodiment having such a configuration, for example, as shown in FIG. 4, when the endoscope insertion portion 2A is connected to the insertion portion holding portion 14 of the rotating device 3, the non-inverting input terminal of the comparator 63a. Is the potential of the power supply terminal Vc. Further, the non-inverting input terminal of the comparator 63b has a potential of 0. Therefore, the motor control circuit 51 detects that the endoscope insertion portion 2A is connected.
Then, information on the rotational speed suitable for the outer diameter of the endoscope insertion portion 2A (that is, the outer diameter of the propelling tube 13A) is read, and the rotational speed of the motor 15 is automatically set so as to be the rotational speed. Control.

Further, when the endoscope insertion portion 2B is connected to the insertion portion holding portion 14 of the rotating device 3, the non-inverting input terminal of the comparator 63a has a potential of 0, and the non-inverting input terminal of the comparator 63b is , And the potential of the power supply terminal Vc. Therefore, the motor control circuit 51 detects that the endoscope insertion portion 2B is connected.
Then, the motor control circuit 51 reads out information on the rotation speed suitable for the case of the outer diameter of the endoscope insertion portion 2B, and controls the rotation speed of the motor 15 so as to be the rotation speed. As described above, according to the present embodiment, the pins 22A or 22B provided at different positions according to the outer diameter of the endoscope insertion portion 2I are used for the endoscope insertion portion 2I that is actually connected to the rotating device 3. The rotation speed can be automatically set according to the outer diameter.
According to the present embodiment, the user can automatically set the rotation speed without setting the rotation speed to an appropriate value according to the outer diameter of the endoscope insertion portion 2I.

In addition, the case where the rotation speed is automatically set based on the output result of the comparators 63a and 63b and the case where the user manually sets the output as in the first embodiment can be switched with a changeover switch or the like according to the user's selection. You may enable it to set a rotational speed in any of an auto (automatic) and manual setting.
FIG. 5 shows the configuration of an outer diameter detecting means and a rotational speed setting means according to a modification.
In this modification, for example, the connector part 12I in the endoscope insertion part 2I is provided with an ID generation part 71 that generates unique identification information (abbreviated as ID) of the endoscope insertion part 2I. 71 is connected to the contact pin receiver 38 through a signal line. In FIG. 5, the endoscope insertion portion 2 </ b> A is connected to the insertion portion holding portion 14 of the rotating device.

The ID information of the ID generator 71 is input from the contact 47 to the ID information readout circuit 72 via the slip ring 44, and the readout circuit 72 determines the outer diameter of the endoscope insertion unit 2I from the ID information. Information (that is, the outer diameter of the propulsion pipe 13I) is read, and the read information is sent to the motor control circuit 51. The motor control circuit 51 controls the rotation speed of the motor 15 according to information from the readout circuit 72.
Further, the reading circuit 72 reads information corresponding to, for example, the type of the CCD 7 in the ID information and outputs it to the CCD driving circuit 5a and the signal processing circuit 5b of the video processor 5. The ID information enables driving and signal processing according to the type of the CCD 7 provided in the endoscope insertion portion 2I.

According to this modification, the effect is almost the same as that of the second embodiment. That is, even when the outer diameter of the endoscope insertion portion 2I is different, the information corresponding to the outer diameter is read and the rotation speed of the motor 15 is automatically set to an appropriate value without adjusting the rotation speed by the user. it can.
According to the present modification, even when the number of pixels of the CCD 7 used in the endoscope insertion unit 2I and the imaging size (for example, the vertical and horizontal pixel sizes) are different, Signal processing can be performed.

Next, Embodiment 3 of the present invention will be described with reference to FIGS. FIG. 6 shows an endoscope apparatus 1B according to the third embodiment.
The endoscope apparatus 1 further includes an insertion guide part 82 for inserting the endoscope insertion part 2I into the patient 81 in the endoscope apparatus 1 of FIG. 1, and the endoscope insertion is performed in the insertion guide part 82. An outer diameter detecting sensor 83 for detecting the outer diameter of the portion 2I (that is, the outer diameter of the propulsion pipe 13I) is provided. Then, a detection signal of the outer diameter detection sensor unit 83 is input to the outer diameter calculation circuit 91 to calculate the outer diameter, and information on the calculated outer diameter is input to the motor control circuit 51 of the rotating device 3. The rotational speed of the motor 15 is automatically set to a value suitable for the outer diameter of the endoscope insertion portion 2I.
Note that the rotation speed can be set manually by operating the rotation speed adjustment knob 30 by switching the changeover switch 84.

As shown schematically in FIG. 6, the outer diameter detecting sensor unit 83 is configured such that one sphere 85a in a pair of spheres 85a and 85b disposed in the insertion guide portion 82, for example, in the vertical direction is placed on the other sphere 85b side. By holding in the urged state, it is configured to hold it rotatably while in contact with the outer diameter of the endoscope insertion portion 2I inserted between both spheres 85a and 85b.
FIG. 7 shows a detailed configuration of the periphery of the outer diameter detection sensor unit 83 in the insertion guide unit 82. 7A shows the internal configuration of the outer diameter detection sensor unit 83 as viewed from the direction orthogonal to the insertion axis, and FIG. 7B shows the internal configuration as viewed from the left side of FIG. The side sphere 85a and the like are shown in cross section.
A pair of spheres 85a and 85b are disposed on both the upper and lower sides near the center of the frame 86 of the insertion guide portion 82 so as to hold the inserted endoscope insertion portion 2I in the vertical direction so as to be rotatable. Rotating shafts (extended in a direction perpendicular to the insertion axis of the endoscope insertion portion 2I) from the sphere 85j (j = a, b) are rotatably supported by bearings 87j arranged on both sides thereof. .

In this case, one bearing 87b is fixed to the inner wall of the frame 86, and the other bearing 87a is biased downward by the elastic force of the spring 88a and is held so as to be movable in the vertical direction. That is, when the endoscope insertion portion 2I is inserted between the two spheres 85a and 85b, both the spheres 85a and 85b come into contact with the outer peripheral surface of the endoscope insertion portion 2I by the elastic force of the spring 88a. .
The stator side of the movable bearing 87a is fitted between the guide members 92a fixed to the frame body 86, and the rotation is restricted (the bearing 87c described later is similarly fitted between the guide members 92c). , Rotation is regulated).
Further, a pin 89 is provided on the stator of the bearing 87 a so as to protrude in the horizontal direction, and the pin 89 is connected to a slide terminal of the slide resistor 90. Therefore, when the bearing 87a moves in the vertical direction, the resistance value of the slide resistor 90 between the slide terminal and the fixed terminal changes according to the amount of movement.

The slide terminal and the fixed terminal are connected to an outer diameter calculation circuit 91 through a signal line, and the outer diameter calculation circuit 91 calculates an outer diameter from the detected resistance value, and information on the calculated outer diameter is used as the rotation device 3. To the motor control circuit 51.
Based on the information, the motor control circuit 51 sets the rotation speed of the motor 15 to an appropriate rotation speed corresponding to the calculated outer diameter. Information on the resistance value of the slide resistor 90 may be input to the motor control circuit 51, and the rotational speed of the motor 15 may be controlled based on the information.
In addition, as shown in FIG. 7B, two spheres 85c and 85d are arranged in substantially the same manner in the left-right direction of the portion through which the endoscope insertion portion 2I is inserted, and the outer diameter of the endoscope insertion portion 2I is increased. It is held rotatably in contact.

In this case, the rotating shafts of both spheres 85c and 85d extend in a direction parallel to the insertion shaft and are rotatably held by bearings 87c and 87d, respectively.
Also, one bearing 87d is fixed to the inner wall of the frame 86, and the other bearing 87c is urged toward the one bearing 87d by the elastic force of the spring 88c so as to be movable in the left-right direction. Has been.
That is, both the spheres 85c and 85d are in contact with the outer peripheral surface of the endoscope insertion portion 2 from the left and right directions, and are held rotatably around the insertion axis.

According to the present embodiment having such a configuration, in order to insert the endoscope insertion portion 2I into the body cavity of the patient 81, when the endoscope insertion portion 2I is passed through the insertion guide portion 82 disposed immediately before the insertion portion 2I. Both the spheres 85a, 85b and 85c, 85d are in a state of being rotatably held in the insertion axis direction and the circumferential direction, respectively, in contact with the outer peripheral surface from the vertical direction and the horizontal direction.
Then, the motor control circuit 51 automatically sets the rotation speed suitable for the calculated outer diameter based on the resistance value information by the slide resistor 90 connected to the pin 89 of the bearing 87a that rotatably supports the sphere 85a. .

  Accordingly, even in the present embodiment, the outer periphery of the actually used endoscope insertion portion 2I can be used even when the actually used endoscope insertion portion 2I has a different outer diameter as in the case of the second embodiment. The rotation speed suitable for the outer diameter of the propulsion pipe 13I provided on the surface can be automatically set, and the usability (or operability) can be greatly improved.

Next, a fourth embodiment of the present invention will be described with reference to FIG. FIG. 8 illustrates a main part of the endoscope apparatus according to the fourth embodiment.
In the above-described first to third embodiments, the endoscope insertion portion 2I itself is configured to be rotationally driven together with the propelling tube provided on the outer peripheral surface thereof. However, in the present exemplary embodiment, the endoscope insertion portion 2I is rotationally driven. An endoscope main body (insertion body main body) is disposed inside the propelling tube, and only the propelling tube is driven to rotate.
The endoscope insertion portion 2I in this embodiment includes an endoscope main body portion 101I and a propelling tube portion 102I that is rotatably arranged on the outer peripheral side of the endoscope main body portion 101I.

The propulsion tube portion 102I is integrally provided with a flexible outer tube 103 rotatably disposed on the outer peripheral surface of the endoscope main body portion 101I and a metal strand 35 on the outer peripheral surface of the flexible outer tube 103. And a spiral-shaped portion 36.
The flexible outer tube 103 is arranged so that the tip thereof is fitted into an annular recess provided on the outer peripheral surface near the rear end of the tip portion 8I of the endoscope body 101I. The rear ends of the flexible outer tube 103 and the spiral-shaped portion 36 are connected to a cylindrical connector portion 104I.
A pin 22 is provided at the rear end of the connector portion 104I. By inserting the pin 22 into the pin hole 24 at the front end of the cylindrical-shaped propulsion tube portion holding body 105, the propulsion tube portion 102I is inserted into the propulsion tube portion holding body 105. It can be detachably connected (connected).
The propelling tube portion holding body 105 is rotatably held by a rotation holding body 106 via a bearing 107. In addition, a gear 42 is provided on the outer peripheral surface of the rear end of the propelling tube holding body 105 and meshes with a cylindrical gear 43 provided on the rotating shaft of the motor 15.

Then, the motor 15 is driven to rotate by a motor drive signal from a motor control circuit 51 provided on the base of the rotation holder 106, so that the propulsion pipe portion 102I side is driven to rotate. To push the endoscope main body 101I.
The endoscope main body 101I whose rear side portion from the distal end portion 8I is disposed inside the propelling tube portion 102I has a flexible inner tube 108I connected to the rear end of the distal end portion 8I, and the rear of the flexible inner tube 108I. The end is fixed to a rigid flexible tube fixing member 109I.
The distal end portion 8I is provided with an observation window 25 and an illumination window 26 as in the first embodiment. Further, a communication hole 28 that communicates with the channel 16 is provided in the distal end portion 8A, and the distal end of a channel tube 37 that forms the channel 16 is fixed to the rear end thereof.

The rear end of the channel tube 37 communicates with the treatment instrument insertion port 17 provided in the flexible tube fixing member 109A.
In this embodiment, the channel 16 is formed on the central axis of the endoscope insertion portion 2A or the endoscope main body 101A. Then, as shown in FIG. 8, the treatment instrument 110 can be inserted.
The signal cable 27 connected to the CCD 7 and the LED 10 is inserted into the flexible inner tube 108I and connected to the contact at the base end of the electrical connector receiver 111I provided on the flexible tube fixing member 109I. The electrical connector 112 is detachably connected to 111I.
The cable 113 provided with the electrical connector 112 is connected to the video processor 5.

In addition, a resistor RI for identifying the outer diameter of the propelling pipe portion 102I is connected to the contact of the electrical connector receiver 111I. The detection circuit 115 connected to the electrical connector 112 detects the outer diameter of the spiral-shaped portion 36 that is rotationally driven by detecting the resistance value between the contacts to which the resistor RI is connected, that is, the outer diameter of the propulsion pipe portion 102I. The detected information is output to the motor control circuit 51.
The motor control circuit 51 controls the rotation speed of the motor 15 to be a rotation speed suitable for the outer diameter based on information corresponding to the outer diameter input from the detection circuit 115.
The endoscope insertion portion 2B has a structure that does not have the channel 16 provided in the endoscope 2A, and therefore has a smaller diameter structure.

According to the present embodiment, as in the case of the second or third embodiment, a desired one can be selected and used from the endoscope insertion portion 2I having a different outer diameter. An endoscope apparatus that can be automatically set to a rotation speed suitable for the outer diameter of the endoscope insertion portion 2I and that is easy to use can be realized.
In addition, according to the present embodiment, only the outer peripheral propulsion tube portion 102I in the endoscope insertion portion 2I rotates, and the CCD 7 and the like that perform imaging do not rotate. Therefore, the image captured by the CCD 7 is always displayed as a moving image, The user can perform an insertion operation while observing the moving image displayed on the monitor 6.

Further, even when the channel 16 is used, the channel 16 is not rotated even when the treatment instrument 110 is inserted into the channel 16, so that the treatment within the channel 16 is performed even when the rotation of the motor 15 by the rotating device 3 is not stopped. The tool 110 can be inserted and used.
For example, the length of the propulsion pipe 13I according to the first embodiment may be a predetermined length or more so as to obtain a sufficient propulsive force. For example, the rear end thereof may be positioned forward of the connector portion 12I. Further, the tip of the propelling tube 13I may be located behind the tip 8I, for example. Further, a bending portion may be provided at the rear end of the distal end portion 8I, and the propulsion tube 13I may be provided on the outer peripheral surface of the bending portion, or the propulsion tube 13I may be provided on the rear side from the rear end of the bending portion. This configuration may be applied to other embodiments.

In addition, in the above-mentioned Example etc., although demonstrated in the case of two endoscope insertion parts 2A and 2B etc. from which an outer diameter differs, it is applicable also to the case of three or more.
Further, in order to simplify the description in each of the above-described embodiments, it has been described that the outer diameter is different between the case where the channel 16 is provided and the case where the channel 16 is not provided. Even in the case of providing, the outer diameter of the endoscope insertion portion or the spiral shape portion may be different.
Further, the rotational speed may be variably controlled so as to become a rotational speed suitable for the insertion length in accordance with the insertion length of the portion that is rotationally driven into the body cavity.

Further, when the propulsion tube 13I is formed on the outer peripheral surface of the endoscope insertion portion 2I, when the length of the propulsion tube 13I can be regarded as not substantially different from the length of the endoscope insertion portion 2I, or in the body If the insertion length of the endoscope insertion portion 2I can be approximated even when it is inserted, the rotational speed may be variably controlled according to the insertion length of the endoscope insertion portion 2I. Specifically, the first to third embodiments described above correspond to such a case.
For this reason, it can be considered that the endoscope insertion part 2I has a function of a thrust generation part approximately.
In the fourth embodiment, the propulsion tube portion 102I that is actually rotated becomes a rotation portion, and the endoscope main body portion 101I provided with the observation means on the inside of which has a function of a propulsion force generation portion is not rotated. It is a rotating part.
It should be noted that embodiments configured by partially combining the above-described embodiments and the like also belong to the present invention.

[Appendix]
1. In Claim 1, the said spiral-shaped part is integrally provided in the outer peripheral surface of the said endoscope insertion part.
2. In Claim 1, the said helical shape part is rotatably provided in the outer peripheral surface of the said endoscope insertion part, and the said rotation apparatus rotates only the said helical shape part side.
3. 3. The apparatus according to claim 2, further comprising an instruction input unit that inputs the outer diameter information to the setting unit.
4). In Claim 2, the said setting information is updateable.
5). 4. The signal generating means according to claim 3, wherein the detecting means is provided at a detachable connection between the endoscope insertion portion and the rotating device, and generates a signal corresponding to an outer diameter.
6). In Supplementary Note 5, the signal generating means differs in the signal generated from the electrical connector according to the spiral-shaped portion having a different outer diameter.

7). In Supplementary Note 5, the signal generating means generates an identification signal unique to the endoscope insertion portion. 8). In Claim 3, the said detection means is formed using the moving member which moves to a radial direction so that the outer peripheral surface of the said spiral-shaped part may be contacted.
9. In Claim 1, it has a display means to display the set rotational speed.
10. An observation optical system is provided at the distal end, and the first and second endoscope insertion portions having flexibility, and the outer peripheral surfaces of the first and second endoscope insertion portions are predetermined in the longitudinal axis direction. First and second spiral-shaped portions formed over the length and having different outer diameters;
The proximal ends of the first and second endoscope insertion portions are selectively detachably connected, and the first or second spiral of the connected first or second endoscope insertion portion is connected. A rotating device for rotating the shape portion around the longitudinal axis;
An endoscope apparatus comprising:

(Purpose of Appendix 10)
Provided an endoscope apparatus that can be used for endoscopy by rotating a spiral-shaped portion into a subject such as the large intestine even in the case of an endoscope insertion portion having a spiral-shaped portion having a different outer diameter The purpose is to do.
(Effects of Appendix 10)
It can be used by connecting an endoscope insertion portion having a spiral shape portion with a different outer diameter and rotating the spiral shape portion of the connected endoscope insertion portion into the subject.
11. In Additional Statement 10, the rotational speed of the first or second spiral-shaped portion according to the outer diameter of the first or second spiral-shaped portion of the first or second endoscope insertion portion to be connected To control.
(Effects of Appendix 11)
Even in the case of an endoscope insertion portion provided with a spiral-shaped portion having a different outer diameter, it can be used by setting a rotation speed suitable for the outer diameter.

12 An observation optical system at the tip, and a flexible endoscope insertion portion;
On the outer peripheral surface of the endoscope insertion portion, a spiral-shaped portion formed over a predetermined length in the longitudinal axis direction;
A rotating device that is detachably connected near the proximal end of the endoscope insertion portion, and that rotates the spiral-shaped portion around the longitudinal axis of the endoscope insertion portion;
Setting means for setting a rotation speed for rotating the spiral-shaped portion according to the outer diameter of the spiral-shaped portion or the endoscope insertion portion connected to the rotating device;
An endoscope apparatus comprising:

  Depending on the purpose of use, it is possible to use an endoscope insertion part provided with a spiral-shaped part that generates propulsive force by rotation on the outer peripheral surface by removably connecting to the rotating device with a different outer diameter. The endoscope insertion portion can be used and can be rotated at an appropriate rotation speed according to the outer diameter, thereby facilitating smooth insertion into the body cavity.

1 is an overall configuration diagram of an endoscope apparatus according to a first embodiment of the present invention. The figure which shows the structure of the connection part of an endoscope insertion part and a rotation apparatus. The figure which shows the internal structure of an endoscope insertion part and a rotation apparatus. The figure which shows the structure of the connection part vicinity of the endoscope insertion part and rotation apparatus in Example 2 of this invention. The figure which shows the structure of the connection part vicinity in a modification. FIG. 6 is an overall configuration diagram of an endoscope apparatus according to a third embodiment of the present invention. The figure which shows the structure of the insertion guide part which provided the sensor part for outer diameter detection. The block diagram of the principal part of Example 4 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2A, 2B ... Endoscope insertion part 3 ... Rotation apparatus 5 ... Video processor 6 ... Monitor 6A, 6B ... Tip part 7 ... CCD
10 ... LED
12A, 12B ... Connector part 13A, 13B ... Propulsion pipe (guide pipe)
DESCRIPTION OF SYMBOLS 14 ... Insertion part holding part 15 ... Motor 16 ... Channel 19 ... Camera unit 21 ... Convex part 22A, 22B ... Pin 23 ... Recessed part 24A, 24B ... Pin hole 25 ... Observation window 26 ... Illumination window 30 ... Rotation speed adjustment knob 34 ... Cover tube 36 ... Spiral shaped part 38 ... Contact pin holder 44 ... Slip ring 49 ... Photo reflector 50 ... Reflector 51 ... Motor control circuit 52 ... LUT
53 ... Display Department Agent Patent Attorney Susumu Ito

Claims (10)

A first insertion portion having flexibility, in which an observation optical system is provided at the front end portion and a connector portion is provided at the rear end portion ;
An observation optical system is provided at the front end portion, and a connector portion is provided at the rear end portion. The second insertion portion has a flexibility, and has a different outer diameter from the first insertion portion,
The outer peripheral surface of the first insertion portion, a first thrust generating portion which is Oite formed longitudinally between said distal portion and the connector portion,
A second thrust generating portion formed on the outer peripheral surface of the second insertion portion in the longitudinal axis direction between the distal end portion and the connector portion, and having a different outer diameter from the first thrust generating portion;
The proximal ends of the first and second insertion portions are selectively detachably connected, and the first or second thrust generating portion of the connected first or second insertion portion is the insertion portion. A rotating device that rotates about the longitudinal axis of
And setting means for setting a rotational speed for rotating the first or the second thrust generating unit in accordance with the outer diameter of the is connected to the rotating device of the first or second thrust generating unit,
An endoscope apparatus comprising: 2. The inner part according to claim 1 , wherein the setting means includes setting information storage means for setting the rotation speed in accordance with information on outer diameters of the first and second thrust generating portions. Endoscopic device. Furthermore, it has a detection means of information corresponding to the outer diameters of the first and second thrust generating portions of the first and second insertion portions connected to the rotating device, and the setting is performed according to the information of the detection means. The endoscope apparatus according to claim 1, wherein the means automatically sets the rotation speed.   The endoscope apparatus according to claim 3, wherein the setting unit performs control such that the rotation speed of the rotation device decreases as the outer diameter of the thrust generation unit increases according to the information. The endoscope apparatus according to claim 1, wherein the first and second thrust generating portions are formed in a spiral shape portion in which irregularities are formed in a spiral shape. A first insertion portion having flexibility, in which an observation optical system is provided at the front end portion and a connector portion is provided at the rear end portion ;
An observation optical system is provided at the front end portion, and a connector portion is provided at the rear end portion. The second insertion portion has a flexibility, and has a different outer diameter from the first insertion portion,
On the outer peripheral side of the first insertion portion, a first thrust generating portion which is Oite formed longitudinally between said distal portion and the connector portion,
A second thrust generating portion formed on the outer peripheral side of the second insertion portion in the longitudinal axis direction between the distal end portion and the connector portion, and having a different outer diameter from the first thrust generating portion;
The proximal ends of the first and second insertion portions are selectively detachably connected, and the first or second thrust generating portion of the connected first or second insertion portion is the insertion portion. A rotating device that rotates about the longitudinal axis of
Setting means for setting a rotation speed for rotating the first or second thrust generating portion according to the outer diameter of the first or second insertion portion connected to the rotating device;
An endoscope apparatus comprising: 7. The internal view according to claim 6, wherein the setting means includes a setting information storage means for setting the rotation speed in accordance with information on outer diameters of the first and second insertion portions. Mirror device. Furthermore, it has a detection means for information corresponding to the outer diameters of the first and second insertion portions connected to the rotation device, and the setting means automatically sets the rotation speed based on the information of the detection means. The endoscope apparatus according to claim 6.   The endoscope apparatus according to claim 8, wherein the setting unit performs control based on the information such that the rotation speed of the rotation device decreases as the outer diameter of the insertion portion increases. The endoscope apparatus according to claim 6, wherein the first and second thrust generation units are formed of a spiral-shaped portion in which irregularities are formed in a spiral shape.

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