JP4827540B2 - In-subject insertion device - Google Patents

Description

  The present invention relates to an intra-subject insertion device that is inserted into a body cavity and propelled while rotating.

A conventional example of an intra-subject insertion device that is inserted into a body cavity and propelled while rotating is described in, for example, Japanese Patent Publication No. 60-56488. Japanese Patent Publication No. 60-56488 describes an intracorporeal guidance device in which a membrane member that can be expanded and contracted as a spiral structure is formed on the outer surface of a rotating member provided at the distal end of an endoscope. In this intra-body-cavity guidance device, the membrane member is wound in a direction that runs obliquely with respect to the rotation center of the rotating member, and the membrane member rotates with the inner wall of the lumen by rotating the rotating member. The propulsive force is obtained by the above to propel the endoscope tip.
Japanese Patent Publication No. 60-56488

  However, in the intra-body-cavity guidance device, when the expansion pressure of the membrane member increases, the interval between adjacent spirals becomes narrow, and it becomes difficult for the inner wall of the lumen such as the intestinal wall to enter between the spirals. For this reason, in the intracorporeal guidance device, the contact state between the membrane member and the inner wall of the lumen is deteriorated, and the propulsive force due to the screw action is significantly reduced. On the other hand, when the expansion pressure of the membrane member is lowered, it is difficult for the intracorporeal guidance device to maintain a spiral shape, and it becomes difficult to obtain a propulsive force due to the screw action.

  The present invention has been made in view of the above-described points, and an object thereof is to provide an in-subject insertion device that appropriately maintains the helical shape of the helical structure portion to obtain a stable driving force.

In order to solve the above problems, an in-subject insertion device according to an aspect of the present invention includes an insertion portion main body to be inserted into a subject, a rotation mechanism for rotating the insertion portion main body, and the insertion portion main body by the rotation mechanism. The rotational structure of the insertion portion main body is converted into a propulsive force, and the spiral structure portion is provided separately from the outer surface of the insertion portion main body in the radial direction, and is provided separately from the outer surface of the insertion portion main body in the radial direction And a helical outer diameter changing means for changing a helical outer diameter of the helical structure portion, wherein the helical outer diameter changing means has either one end or the other end of the helical structure portion as the insertion portion. The outer circumferential direction or the longitudinal axis direction of the main body is movably fixed, and the fixed position is moved in the outer circumferential direction or the longitudinal axis direction of the insertion portion main body to change the helical outer diameter of the helical structure portion. To do.
An in-subject insertion apparatus according to an aspect of the present invention includes an insertion portion main body to be inserted into a subject, a rotation mechanism that rotates the insertion portion main body, and rotational movement of the insertion portion main body by the rotation mechanism as propulsive force. A helical structure portion that is separated and provided in a radial direction with respect to the outer surface of the insertion portion main body to be converted;
A helical outer diameter changing means for changing a helical outer diameter of the helical structure portion provided in a radial direction separated from an outer surface of the insertion portion main body, and the helical outer diameter changing means includes the insertion The spiral outer diameter of the spiral structure portion is changed by changing the length of the spiral structure portion spaced apart from the outer surface of the main part in the spiral direction.
An in-subject insertion apparatus according to an aspect of the present invention includes an insertion portion main body to be inserted into a subject, a rotation mechanism that rotates the insertion portion main body, and rotational movement of the insertion portion main body by the rotation mechanism as propulsive force. The helical structure portion that is provided to be separated in the radial direction with respect to the outer surface of the insertion portion main body, and the spiral of the helical structure portion that is provided to be separated in the radial direction with respect to the outer surface of the insertion portion main body. A helical outer diameter changing means for changing an outer diameter, and the helical outer diameter changing means is provided between the insertion portion main body and the helical structure portion, and between the insertion portion main body and the helical structure portion. The spiral outer diameter of the spiral structure portion is changed by changing the distance.

  The intra-subject insertion device of the present invention has an effect that a stable propulsive force can be obtained by appropriately maintaining the spiral shape of the spiral structure portion.

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

  1 to 8 relate to a first embodiment of the present invention, FIG. 1 is an overall configuration diagram showing a schematic configuration of a capsule medical device guidance system including the first embodiment of the present invention, and FIG. 2 is a more detailed diagram of FIG. 3 is a schematic diagram showing the configuration of the magnetic field generator, FIG. 4 is a side view showing the appearance of the capsule medical device, FIG. 5 is a schematic diagram showing the configuration of the capsule medical device, and FIG. FIG. 7 is an explanatory view showing a state in which the helical outer diameter of the helical structure portion is changed as the capsule rear end rotates, FIG. 7 is a schematic view showing a first modification of the capsule medical device in FIG. 5, and FIG. It is the schematic which shows the 2nd modification of the capsule type medical device of FIG.

  As shown in FIGS. 1, 2 and 3, a capsule medical device guidance system (hereinafter abbreviated as “capsule guidance system”) 1 as an intra-subject insertion device is a capsule medical device (hereinafter simply referred to as “insertion body”). 3, a capsule control device (hereinafter simply abbreviated as a control device) 4, a magnetic field generation device 5, and an AC power supply device 6.

  The capsule 3 is inserted into a body cavity of a patient 2 (shown in FIG. 1) and formed into a capsule shape for examining the inside of the body cavity. The control device 4 is arranged outside the patient 2 and is configured by a personal computer or the like that controls the operation of the capsule 3 and receives information transmitted from the capsule 3 by transmitting and receiving radio waves to and from the capsule 3. . The magnetic field generator 5 controls the direction of the rotating magnetic field applied to the capsule 3 to guide the capsule 3 in a desired direction (schematically shown in FIG. 1). The AC power supply device 6 supplies the AC power source for generating a rotating magnetic field (more broadly, an electromagnetic field) to the magnetic field generator 5.

  As shown in FIG. 2, the magnetic field generator 5 is formed of, for example, three electromagnets 5a, 5b, and 5c. The magnetic field generator 5 is configured to generate a rotating magnetic field in three axial directions by controlling the AC power supplied from the AC power supply device 6 by the control device 4. In FIG. 3, the magnetic field generator 5 is schematically shown as a three-axis Helmholtz coil (having a hollow cubic shape) formed in the three-axis direction.

  The capsule 3 includes a magnet 8 that is a magnetic field response unit in which a force acts in response to a rotating magnetic field formed by the magnetic field generator 5. The magnet 8 is disposed, for example, on the longitudinal central axis of the capsule 3 so that the direction orthogonal to the central axis coincides with the magnetization direction of the magnet 8, and is fixed by an adhesive (not shown) or the like. Thereby, the capsule 3 is configured such that the rotating magnetic field generated by the magnetic field generator 5 acts on the magnet 8 and the capsule 3 is rotated by the rotational force received by the magnet 8. That is, the magnet 8 constitutes a rotation mechanism.

  The magnet 8 is a permanent magnet such as a neodymium magnet, a samarium cobalt magnet, a ferrite magnet, an iron / chromium / cobalt magnet, a platinum magnet, or an AlNiCo magnet. Rare earth magnets such as neodymium magnets and samarium cobalt magnets have a strong magnetic force and are advantageous in that the magnets built into the capsule can be made smaller. On the other hand, ferrite magnets have the advantage of being inexpensive. Furthermore, platinum magnets have excellent corrosion resistance.

  Further, the magnet 8 is not limited to a permanent magnet, and may be formed of a coil. In this case, the magnet 8 may generate a magnetic force in the coil by a current from a power source such as a built-in battery, or may be a method in which the coil is magnetized with electric power temporarily stored in a built-in capacitor or the like. Further, the magnet 8 may be a method of generating power with an internal coil instead of a built-in power source and storing this power in a capacitor to magnetize another coil. In this case, the magnet 8 is not limited in capacity of the built-in battery, and can be operated for a long time. The power generation coil and the magnet coil may be combined.

  The said magnetic field generator 5 is arrange | positioned around the patient 2 (refer FIG. 2). The AC power supply device 6 is controlled by the control device 4 to have the AC power supply controlled, and causes the magnetic field generator 5 to form a rotating magnetic field in the direction of propelling the capsule 3 with respect to the magnet 8. Thereby, the capsule 3 inserted into the body lumen of the patient 2 can be smoothly and efficiently pushed (guided). The direction of the rotating magnetic field generated by the magnetic field generator 5 can be controlled by operating the operation input device 9 connected to the control device 4.

  As shown in FIG. 1, the control device 4 includes a personal computer main body 11, a keyboard 12, a monitor 13, an extracorporeal antenna 14, and an operation input device 9. The personal computer main body 11 has a function of controlling the capsule 3 and the magnetic field generator 5 (AC power supply thereof). The keyboard 12 is connected to the personal computer main body 11 and inputs commands, data, and the like. The monitor 13 is connected to the personal computer main body 11 and displays an image or the like. The extracorporeal antenna 14 is connected to the personal computer main body 11 and transmits a control signal for controlling the capsule 3 and receives a signal from the capsule 3. The operation input device 9 is connected to the personal computer main body 11 and inputs and operates the direction of the rotating magnetic field.

  The control device 4 incorporates a CPU 15 as shown in FIG. The CPU 15 inputs control signals for controlling the capsule 3 and the magnetic field generator 5 from a keyboard 12 and an operation input device 9 or a control program stored in a hard disk 16 (see FIG. 2) in the personal computer main body 11 or the like. Generate based on.

  A control signal for controlling the magnetic field generator 5 is transmitted from the personal computer main body 11 to the AC power supply device 6 through a connection cable. Based on the control signal, the magnetic field generator 5 generates a rotating magnetic field. Due to the rotating magnetic field, the capsule 3 is magnetically acted on the internal magnet 8 by the rotating magnetic field generated by the magnetic field generator 5 and is rotated, thereby obtaining power for propulsion by the helical structure portion described later. I am trying to do it.

  A control signal for controlling the capsule 3 is modulated by a carrier wave having a predetermined frequency via an oscillation circuit in the personal computer main body 11 and is oscillated as a radio wave from the external antenna 14. The capsule 3 receives radio waves by an antenna 27 described later, and a control signal is demodulated and output to each component circuit or the like. The control device 4 receives an information (data) signal such as a video signal transmitted from the wireless antenna 27 of the capsule 3 by the external antenna 14 and displays it on the monitor 13.

  As shown in FIG. 2, in the capsule 3, in addition to the magnet 8, an objective optical system 21 for connecting an optical image, an image pickup device 22 arranged at the image forming position, and an arrangement around the objective optical system 21. The illumination element 23 is provided. In the capsule 3, a signal processing circuit 24, a memory 25, a wireless circuit 26, an antenna 27, a capsule control circuit 28, and a battery 29 are accommodated.

  The signal processing circuit 24 performs signal processing on the signal imaged by the image sensor 22. The memory 25 temporarily stores the digital video signal generated by the signal processing circuit 24. The wireless circuit 26 modulates the video signal read from the memory 25 with a high-frequency signal and converts it into a signal to be wirelessly transmitted, or demodulates a control signal transmitted from the control device 4. The antenna 27 transmits and receives radio waves to and from the extracorporeal antenna 14. The capsule control circuit 28 controls the capsule 3 such as the signal processing circuit 24. The battery 29 supplies power for operation to the electrical system inside the capsule 3 such as the signal processing circuit 24. In the capsule 3, a motor 30 constituting a spiral outer diameter changing means is provided as will be described later.

  The personal computer main body 11 constituting the control device 4 includes a wireless circuit 31, a data processing circuit 32, a CPU 15, and a hard disk 16. The radio circuit 31 is connected to the extracorporeal antenna 14 and performs radio communication with the radio circuit 26 (on the capsule 3 side). The data processing circuit 32 is connected to the wireless circuit 31 and performs data processing such as image display for the image data sent from the capsule 3. The CPU 15 is a control means for controlling the data processing circuit 32, the AC power supply device 6 and the like. The hard disk 16 stores programs and data.

  The CPU 15 is connected to an operation input device 9 for performing an operation for setting the direction of the rotating magnetic field and a keyboard 12 for inputting commands and data. A monitor 13 is connected to the data processing circuit 32. On the monitor 13, an image captured by the image sensor 22 and processed by the data processing circuit 32 through the wireless circuits 26 and 31 is displayed. Further, since the data processing circuit 32 captures an image while the capsule 3 is rotated, the data processing circuit 32 performs processing for correcting the orientation of the image when displayed on the monitor 13 in a certain direction, and displays an image that is easy for the operator to view. Image processing is performed as possible.

  As shown in FIG. 4, the capsule 3 includes a substantially hemispherical tip cover 41, a substantially cylindrical capsule body 42, and a substantially hemispherical capsule rear end portion 43. The tip cover 41 is formed of a transparent member and is airtightly connected to the capsule body 42. The capsule body 42 is configured to be airtight with the tip cover 41. The capsule rear end portion 43 is configured to be rotatable by a predetermined angle with respect to the capsule body 42, and is configured to be airtight.

  The outer surface 42a of the capsule body 42 is provided with a spiral structure 44 for generating propulsion that converts rotational motion into propulsive force by rotating in contact with the inner wall of the lumen. The spiral structure portion 44 is spirally wound separately from the outer surface 42a of the capsule body 42 in the radial direction.

  The spiral structure portion 44 has a distal end side extending through the cylindrical outer peripheral surface of the capsule body 42 to the distal end cover 41, and the distal end 44 a is a midway portion of the distal end cover 41, specifically, a viewing angle by the objective lens 21. It is fixed at a position that does not fit inside. Further, the rear end 44 b of the spiral structure portion 44 extends and is fixed to the vicinity of the boundary of the capsule rear end portion 43. The spiral structure portion 44 is formed in a double (two-row) manner by further providing a spiral structure portion 44 at an intermediate position of one spiral structure portion 44.

  As shown in FIG. 5, the capsule main body 42 and the capsule rear end portion 43 are rotatably connected with a bearing 45 interposed therebetween. The capsule main body 42 is provided with a motor 30 for rotating the capsule rear end portion 43 by a predetermined angle. The motor 30 is, for example, a pulse motor. The drive shaft 30 a of the motor 30 is inserted into the bearing 45 and connected to the capsule rear end portion 43. Therefore, the capsule 3 rotates the motor 30 by a predetermined angle, whereby the capsule rear end 43 is rotated by a predetermined angle with respect to the capsule body 42.

  As a result, the capsule 3 has a fixed position of the distal end 44a of the spiral structure portion 44 by rotating the capsule rear end portion 43 by a predetermined angle as shown in FIG. In contrast, the fixed position of the rear end 44b of the helical structure 44 rotates by a predetermined angle. Thereby, the capsule 3 can move in the outer peripheral direction, and the spiral outer diameter of the spiral structure portion 44 can be changed. The motor 30 is connected to a motor control circuit (not shown). The motor control circuit controls and drives the motor 30 based on a control signal transmitted from the control device 4.

Next, the operation of the capsule guiding system 1 will be described below.
As shown in FIG. 1, the operator causes the patient 2 to swallow the capsule 3 when it is necessary to observe the inside of a body cavity such as the duodenum 51 side or the small intestine side of the patient 2. In addition, the capsule 3 is set so that the spiral outer diameter of the spiral structure portion 44 becomes the minimum diameter so that it can be easily swallowed.

  Also, immediately before the operator swallows the patient 2, the operator turns on a switch (not shown) of the capsule 3 so that the power of the battery 29 is transmitted to the illumination element 23 and the like. At the same time, the surgeon activates (turns on) the magnetic field generator 5 and magnetically controls the capsule 3 so that the capsule 3 can easily reach the target site in the body cavity by the rotating magnetic field generated by the magnetic field generator 5. .

As described above, in the capsule 3, when the magnet 8 acts on the rotating magnetic field generated by the magnetic field generator 5, the capsule body 42 rotates due to the action received by the magnet 8.
The capsule 3 is driven by the rotation of the capsule body 42 to advance the capsule body 42 such that the male screw moves relative to the female screw at the contact portion between the helical structure 44 and the inner wall of the lumen in the body cavity. Will occur and move forward. Further, the capsule 3 changes its traveling direction (direction) while the capsule body 42 rotates so that the rotation plane of the magnet 8 and the rotation plane of the rotation magnetic field coincide with the rotation of the rotation magnetic field. At this time, the capsule 3 can be smoothly propelled toward the target site in the body cavity without causing the capsule body 42 to move unnecessarily such as eccentric movement.

  The capsule 3 passes from the oral cavity 52 through the esophagus 53 and reaches the inside of the stomach 54. When the surgeon needs to observe the inside of the stomach 54, the operator inputs a key corresponding to an observation start command from the keyboard 12 of the control device 4, for example. Then, the control signal by this key input is radiated | emitted with an electromagnetic wave through the external antenna 14 of the control apparatus 4, and is transmitted to the capsule 3 side.

  The capsule 3 detects an operation start signal based on a signal received by the antenna 27, and the illumination element 23, the imaging element 22, the signal processing circuit 24, and the like are in a driving state. In the capsule 3, the illumination light from the illumination element 23 illuminates the target site of the body cavity duct. Illuminated reflected light from the target portion is captured as an optical image via the objective lens 21, imaged on the image sensor 22, and photoelectrically converted. The imaging signal from the imaging element 22 is A / D converted by the signal processing circuit 24 and subjected to digital signal processing, and then compressed. The compressed digital signal is stored in the memory 25, modulated by the radio circuit 26, and radiated by radio waves from the antenna 27.

  This radio wave is received by the external antenna 14 of the control device 4 and demodulated by the radio circuit 31 in the personal computer main body 11. The demodulated signal is further A / D converted and converted into a digital video signal by the data processing circuit 32, stored in the memory of the data processing circuit 32 and the hard disk 16, read out at a predetermined speed, and monitored by the monitor 13. Is output. The monitor 13 displays the optical image acquired by the capsule 3 in color.

  The surgeon can observe the inside of the stomach 54 and the like of the patient 2 by observing the monitor image. The surgeon can easily control the method of applying an external magnetic force so that the entire region in the stomach 54 can be observed by using an operation means such as a joystick of the operation input device 9. After the observation in the stomach 54 is completed, the surgeon controls the direction of the rotating magnetic field generated by the magnetic field generator 5 with respect to the capsule 3 to magnetically guide it from the stomach 54 to the duodenum 51 side. Can be moved.

  Even in the duodenum 51, the surgeon can smoothly advance the capsule 3 by controlling the direction of the rotating magnetic field so as to advance in the direction of the lumen. Further, even when the surgeon advances the inside of the bent duct like the small intestine, since the spiral projection 44 is formed up to the vicinity of the spherical end of the capsule main body 42, the pipe in which the capsule 3 is bent. It can proceed smoothly even in the road.

  At this time, the surgeon operates the operation input device 9 and the keyboard 12 according to the diameter of the intraluminal duct on the monitor image and instructs the spiral structure portion 44 of the capsule 3 to have a desired spiral outer diameter. And a desired driving force can be obtained. More specifically, the surgeon has a larger diameter in the body cavity than in the spiral outer diameter of the spiral structure 44, and the contact state between the inner wall of the lumen and the spiral structure 44 is not good. If a sufficient driving force cannot be obtained, an instruction is given to increase the outer diameter of the spiral of the spiral structure 44.

  The surgeon performs key input corresponding to the command from, for example, the keyboard 12 of the control device 4. The control signal by the key input is radiated by radio waves through the external antenna 14 of the control device 4 and transmitted to the capsule 3 side. The capsule 3 detects a motor control signal from the signal received by the antenna 27, and the motor control circuit controls and drives the motor 30 based on the motor control signal. In the capsule 3, the motor 30 rotates by a predetermined angle so that the helical outer diameter of the helical structure portion 44 is increased, and the capsule rear end portion 43 rotates by a predetermined angle with respect to the capsule body 42.

  As the capsule rear end portion 43 rotates, the helical structure portion 44 approaches the fixed position of the distal end 44a closer to the fixed position of the distal end 44a, and the spiral outer diameter increases. As a result, when the diameter of the intraluminal channel is large, the capsule 3 has a good contact state between the inner wall of the lumen and the spiral structure portion 44, and a sufficient propulsive force can be obtained.

  Thereafter, when the spiral outer diameter of the spiral structure portion 44 is equal to or larger than the duct diameter of the body cavity conduit, the operator instructs to reduce the spiral outer diameter of the spiral structure portion 44. As described above, the control signal by the operator's key input is radiated by radio waves via the external antenna 14 of the control device 4 and transmitted to the capsule 3 side, and the capsule 3 detects the motor control detected from the signal received by the antenna 27. A motor control circuit controls and drives the motor 30 based on the signal.

  In the capsule 3, the motor 30 rotates reversely by a predetermined angle so as to reduce the outer diameter of the helical structure 44, and the capsule rear end 43 rotates reversely by a predetermined angle with respect to the capsule body 42. Along with the reverse rotation of the capsule rear end portion 43, the helical structure portion 44 moves away from the fixed position of the rear end 44b with respect to the fixed position of the front end 44a, thereby reducing the outer diameter of the spiral.

  As a result, the capsule 3 can reduce the helical outer diameter of the helical structure portion 44 when the pipe diameter of the intraluminal passage is small, so that the contact state between the inner wall of the lumen and the helical structure portion 44 is improved. Sufficient driving force can be obtained. Therefore, the capsule 3 can change the helical outer diameter of the helical structure 44 in accordance with the pipe diameter of the body cavity pipe.

  As described above, according to the present embodiment, the spiral outer diameter of the spiral structure portion 44 can be changed according to the pipe diameter of the body cavity conduit, so that the spiral shape of the spiral structure portion 44 is appropriately maintained and stabilized. The driving force In addition, since the capsule 3 of this embodiment changes the outer diameter of the spiral by changing the relative position between the front end 44a and the rear end 44b of the spiral structure portion 44, the structure is simple and the size can be reduced. Moreover, since the capsule 3 of the present embodiment changes the spiral outer diameter of the spiral structure portion 44 by the circumferential rotation operation by the capsule rear end portion 43, the change in the spiral outer diameter causes the rotation operation to obtain a driving force. It does not get in the way, and the insertion property in the deep direction of the body cavity duct is improved.

  The capsule 3 is configured to change the fixing position of the rear end 44b with respect to the fixing position of the front end 44a of the spiral structure portion 44. However, the present invention is not limited to this, and the helical structure The fixing position of the front end 44a of the portion 44 may be changed, or both the front end 44a and the rear end 44b may be configured to change the fixing position.

  The capsule may be rotated at the capsule rear end 43 using the magnet 8 instead of the motor 30. As shown in FIG. 7, in the capsule 3B, a magnet 8 as a rotation mechanism is disposed and fixed to a capsule rear end portion 43 that is configured to be rotatable by a capsule main body 42 and a bearing 45.

  This capsule 3B rotates the capsule main body 42 by rotating the magnet 8 and rotates the capsule main body 42 and the capsule rear end 43 integrally to connect to the body cavity. We are trying to get a driving force.

  More specifically, in the capsule 3B, the capsule rear end 43 rotates in a direction in which the magnet 8 acts on the rotating magnetic field generated by the magnetic field generator 5 to always increase the helical outer diameter of the helical structure 44. It is like that. When the helical structure 44 and the inner wall of the lumen come into contact with each other, the capsule 3B stops after the capsule rear end 43 rotates by a predetermined angle according to the load of the helical structure 44 in contact with the inner wall of the lumen. Thereafter, the capsule rear end portion 43 and the capsule main body 42 start to rotate integrally, and a propulsive force to the body cavity duct is generated.

  Thereby, the capsule 3B has an optimal spiral outer diameter of the spiral structure portion 44 according to the contact state with the inner wall of the lumen, and a stable propulsive force can be obtained by appropriately maintaining the spiral shape of the spiral structure portion 44. . According to this modification, the helical structure 44 can be made to have an optimum outer diameter of the spiral by the magnet 8 as the rotation mechanism, and a propulsive force can be obtained, so that the structure is simplified and the size can be reduced. In addition, since the capsule 3B according to this modification is constantly applied with force in the direction in which the inner wall of the lumen and the spiral structure 44 come into contact with each other during rotation, a stable driving force can be obtained and insertion into the deep direction of the body lumen canal Improves.

  Moreover, you may make it a capsule rotate the capsule rear-end part 43 for a predetermined angle using a spiral spring. As shown in FIG. 8, in the capsule 3C, the capsule body 42 and the capsule rear end portion 43 are rotatably connected by a spiral spring 46 using a rotation mechanism.

  The spiral spring 46 has one end fixed to the capsule main body 42 and the other end fixed to the capsule rear end portion 43, and has a biasing force in a direction in which the spiral outer diameter of the spiral structure portion 44 is constantly increased. Thereby, the capsule 3C has a helical structure according to the contact state with the inner wall of the lumen by rotating the spiral structure portion 44 in contact with the inner wall of the lumen against a biasing force of the spiral spring 46 and rotating a predetermined angle. The portion 44 has an optimum spiral outer diameter, and a stable propulsive force can be obtained by appropriately maintaining the spiral shape of the spiral structure portion 44.

  According to this modification, it is possible to automatically change the diameter of the spiral outer diameter of the spiral structure portion 44 in accordance with the pipe diameter of the body cavity pipe. In addition, the capsule 3C according to the present modification does not require energy for controlling the outer diameter of the spiral of the spiral structure 44, and the structure is simple, so that the capsule 3C can be reduced in size. In addition, since the capsule 3C of this modification always generates a force in the direction of expanding the outer diameter of the spiral, the contact state between the inner wall of the lumen and the spiral structure portion 44 is maintained, and a stable propulsive force is obtained. Insertability in the deep direction of the pipe line is improved.

  In the present embodiment, the present invention is applied to a capsule that functions as a capsule endoscope that images the inside of a body cavity. However, the present invention is not limited to this, and a collection means for collecting living tissue. The present invention may be applied to tissue-collecting capsules having a drug, drug-releasing capsules that release a drug, and calcining-type capsules that cauterize living tissue.

9 and 10 relate to a second embodiment of the present invention, FIG. 9 is an explanatory view showing a capsule medical device according to the second embodiment of the present invention, and FIG. 10 is a schematic diagram showing a configuration of the capsule medical device of FIG. It is.
The first embodiment is configured to change the outer diameter of the spiral by moving one of the fixed positions of the front end 44a and the rear end 44b of the spiral structure portion 44 in the outer peripheral direction of the capsule 3 as the spiral outer diameter changing means. However, in the second embodiment, the spiral outer diameter is changed by expanding and contracting the spiral structure portion 44 spaced from the outer surface 42a of the capsule body 42 as the spiral outer diameter changing means. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIGS. 9 and 10, the capsule 3 </ b> D according to the second embodiment forms a spiral structure 44 using a shape memory alloy (hereinafter abbreviated as SMA) coil 47. Note that, unlike the capsule of the first embodiment, the capsule 3D of the second embodiment is configured integrally with the capsule main body 42 without the capsule rear end 43 rotating.

  The spiral structure portion 44 has the SMA coil 47 inserted through an elastic outer tube 48 having elasticity. The outer tube 48 is fixed at a position where the front end 48 a is not in the middle of the front end cover 41, specifically, within the viewing angle by the objective lens 21, and the rear end 48 b is close to the boundary of the capsule rear end portion 43. It is extended and fixed.

  Both ends of the SMA coil 47 extend into the capsule body 42, and the battery 29 and the switch 29b constitute a closed circuit. The switch 29b is turned on and off by, for example, a control signal transmitted from the control device 4, and the power from the battery 29 is supplied to or stopped from the SMA coil 47.

  As a result, the spiral structure portion 44 is turned on when the switch 29b is turned on to energize the SMA coil 47 from the battery 29, and the SMA coil 47 contracts and the exterior tube 49 contracts, resulting in a spiral structure portion. The overall length of 44 is reduced, and the outer diameter of the spiral is reduced. On the other hand, when the energization of the spiral structure portion 44 is stopped, the entire length of the spiral structure portion 44 is restored (elongated) by the elastic force of the outer tube 48, and the outer diameter of the spiral is increased. That is, the SMA coil 47, the outer tube 49, the switch 29b, and the battery 29 constitute a spiral outer diameter changing means.

  Accordingly, the capsule 3D can change the outer diameter of the spiral by expanding and contracting the spiral structure portion 44 spaced from the outer surface 42a of the capsule body 42 in the spiral direction. According to the present embodiment, in addition to obtaining the same effect as in the first embodiment, the spiral outer diameter can be changed by expanding and contracting the spiral structure portion 44 in the spiral direction, so that the spiral shape is distorted. It is possible to reliably change the outer diameter of the spiral without generating it.

  11 to 16 relate to a third embodiment of the present invention, FIG. 11 is an explanatory view showing a capsule-type medical device according to the third embodiment of the present invention, and FIG. 12 shows the spiral of the spiral structure portion in accordance with the inflation / deflation of the balloon. FIG. 13 is a diagram illustrating a capsule medical device when a balloon is inflated, FIG. 14 is a schematic diagram illustrating a first modification of the capsule medical device in FIG. FIG. 15 is a schematic diagram showing a second modification of the capsule medical device of FIG. 11, and FIG. 16 is a schematic diagram showing a third modification of the capsule medical device of FIG.

  The first embodiment is configured to change the outer diameter of the spiral by moving one of the fixed positions of the front end 44a and the rear end 44b of the spiral structure portion 44 in the outer peripheral direction of the capsule 3 as the spiral outer diameter changing means. However, in the third embodiment, a balloon is provided between the capsule body 42 and the spiral structure portion, and the balloon outer diameter of the spiral structure portion is changed by expanding and contracting the balloon. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIGS. 11 to 13, the capsule 3E according to the third embodiment is provided with a balloon (elastic film) 61 that covers the capsule main body 42. On the outer peripheral surface of the balloon 61, for example, expansion and contraction of an elastic tube, rubber, or the like. A spiral structure 44E formed by a tube 62 made of a possible elastic body or resin is provided.

  Inside the capsule body 42, a cylinder portion 63 is provided as balloon expansion / contraction means for supplying and suctioning fluid such as gas or liquid to the balloon 61. The balloon 61 communicates with a connection conduit 65 through a through hole 64 formed in the capsule body 42, and the connection conduit 65 communicates with a through hole 67 formed in the cylinder wall of the cylinder portion 63. ing.

  The cylinder part 63 is provided with a piston 68b at one end of an SMA wire 68a as a piston rod, and the other end is fixed to the cylinder inner wall. Further, the cylinder portion 63 is provided with a coil spring 68c on the arrangement side of the SMA wire 68a that constantly urges the piston 68b in the direction in which the balloon 61 is inflated.

  The SMA wire 68a forms a closed circuit with a battery and a switch (not shown) similarly to the SMA coil 47 of the second embodiment. For example, the switch is turned on and off by a control signal transmitted from the control device 4, and the power from the battery Is supplied or stopped. When the switch is turned on and energized from the battery, the SMA wire 68a contracts against the urging force of the coil spring 68c, thereby sliding the piston 68b against the inner wall of the cylinder in the direction of contracting the balloon 61. It is like that.

  Accordingly, the cylinder portion 63 inflates the balloon 61 by supplying the fluid by sliding the piston 68b by the coil spring 68c being urged in the direction in which the spiral outer diameter of the spiral structure portion 44E always increases. Let On the other hand, in the cylinder portion 63, when the SMA wire 68a is energized, the SMA wire 68a contracts against the urging force of the coil spring 68c, and the spiral outer diameter of the spiral structure portion 44E decreases. Then, the piston 68b is slid on the inner wall of the cylinder, the fluid is sucked, and the balloon 61 is contracted. That is, the cylinder part 63 constitutes a spiral outer diameter changing means.

  Thereby, the capsule 3E can change the helical outer diameter of the spiral structure part 44E by providing the balloon 61 between the capsule main body 42 and the spiral structure part 44E, and expanding and contracting the balloon 61. The capsule 3E may be downsized by preliminarily solidifying the balloon 61 with a biocompatible water-soluble substance such as sugar coating in order to facilitate swallowing.

  According to the present embodiment, in addition to obtaining the same effects as in the first embodiment, the balloon 61 is provided between the capsule body 42 and the spiral structure portion 44E, and the balloon 61 is inflated and deflated to thereby form a spiral structure. The spiral outer diameter of the portion 44E can be changed, and the diameter of the spiral outer diameter can be reliably changed without generating distortion in the spiral shape.

  The capsule may constitute a cylinder portion using an actuator instead of the SMA wire 68a. As shown in FIG. 14, the cylinder portion 63F provided in the capsule 3F includes an actuator 69 for moving the piston rod 69a forward and backward.

  The piston rod 69a is engaged with the actuator 69 through a through hole 69b in the inner wall of the cylinder. The actuator 69 is an axial movement actuator that has a pinion (not shown) that meshes with the piston rod 69a and rotates the pinion by a motor (not shown) to move the piston rod 69a back and forth in the axial direction. The actuator 69 is connected to a control circuit (not shown). The control circuit controls and drives the actuator 69 based on a control signal transmitted from the control device 4.

  Therefore, the cylinder portion 63F supplies the fluid by sliding the piston 68b in the direction in which the spiral outer diameter of the spiral structure portion 44E is increased by advancing the piston rod 69a in the axial direction by the actuator 69. Then, the balloon 61 is inflated. On the other hand, the cylinder portion 63F causes the piston 68b to slide on the cylinder inner wall in a direction in which the helical outer diameter of the helical structure portion 44E is reduced by retreating the piston rod 69a in the axial direction by the actuator 69. The fluid is sucked and the balloon 61 is deflated. Thereby, the capsule 3F can change the spiral outer diameter of the spiral structure part 44E similarly to the said Example 3. FIG.

  Further, the capsule may constitute a cylinder portion only by the coil spring 68c and the piston 68b. As shown in FIG. 15, the cylinder portion 63G provided in the capsule 3G includes only a coil spring 68c and a piston 68b.

  The coil spring 68c constantly urges the piston 68b in the direction in which the balloon 61 is inflated. As a result, the capsule 3G has a helical structure portion 44E according to the contact state with the inner wall of the lumen due to the external force applied by the spiral structure portion 44E coming into contact with the inner wall of the lumen against the biasing force of the coil spring 68c. 44E becomes the optimal spiral outer diameter, and a stable propulsive force can be obtained by appropriately maintaining the spiral shape of the spiral structure portion 44E.

  According to this modification, it is possible to automatically change the diameter of the spiral outer diameter of the spiral structure portion 44E according to the diameter of the body cavity duct. In addition, the capsule 3G according to the present modification does not require energy for controlling the outer diameter of the spiral of the spiral structure portion 44E, and the structure is simple, so the size can be reduced. Further, since the capsule 3G of the present modification always generates a force in the direction of expanding the outer diameter of the spiral, the contact state between the inner wall of the lumen and the spiral structure portion 44E is maintained, and a stable propulsive force can be obtained. Insertability in the deep direction of the pipe line is improved.

  The capsule may be configured to inflate the balloon 61 using a foaming agent. As shown in FIG. 16, the capsule 3 </ b> H has a foaming agent storage portion 71, a pump 72, and a water tank 73 as balloon expansion / contraction means in the capsule body 42.

  The foaming agent storage portion 71 is configured to urge a plurality of foaming agent tablets 74 stored in the storage chamber 71 a against the wall surface of the storage chamber 71 a by a coil spring 75. In the storage chamber 71 a, a through hole 72 a that communicates with the connection pipe 65 and a through hole 71 c that communicates with a connection pipe 76 with the pump 72 are formed. The through hole 71 c is formed at a position where the water in the water tank 73 fed from the pump 72 is applied to the foaming agent tablet 74 located at the foremost position by the bias of the coil spring 75.

  The pump 72 sucks the water stored in the water tank 73 through a connection pipe line 77 with the water tank 73 and supplies the water to the foaming agent tablet 74 of the foaming agent storage portion 71 through the through hole 71c. It is designed to send water. The pump 72 is connected to a pump control circuit (not shown), and the pump control circuit controls and drives the pump 72 based on a control signal transmitted from the control device 4.

  As a result, the foaming agent storage unit 71 is fed with water from the water tank 73 from the pump 72, and reacts the state-of-the-art foaming agent tablet 74 with the fed water to vaporize the balloon 61. Inflate. The main component of the foaming agent tablet 74 is, for example, sodium hydrogen carbonate or tartaric acid, and carbon dioxide is generated by the reaction.

  The balloon 61 is provided with a pressure release valve (not shown), and automatically releases the gas when the pressure exceeds a predetermined value. Note that the pressure release valve may be a pressure control valve, and thereby the amount of inflation of the balloon 61 may be actively controlled. Further, when the balloon 61 is inflated, the foaming agent tablet 74 which is urged by the coil spring 75 and is the next most advanced is reacted.

  Thereby, the capsule 3H can change the spiral outer diameter of the spiral structure part 44E similarly to the said Example 3. FIG. According to this modification, since the pressure for inflating the balloon 61 can be generated chemically, less energy is required to inflate the balloon 61, and energy saving and battery size reduction are possible. In the capsule 3H, the water tank 73 may not be provided in the capsule body 42, and the body fluid in the subject may be sucked into the capsule body 42 and the foaming agent tablet 74 may be reacted.

  FIGS. 17 to 20 relate to a fourth embodiment of the present invention, FIG. 17 is an explanatory view showing a capsule medical device of the fourth embodiment of the present invention, and FIG. 18 is a schematic diagram showing a configuration of the capsule medical device of FIG. FIG. 19 is an explanatory view showing a modification of the capsule medical device of FIG. 17, and FIG. 20 is a schematic diagram showing the configuration of the capsule medical device of FIG.

  In the first to third embodiments, the capsule is rotated by the action of the magnet provided in the capsule by the rotating magnetic field generated by the magnetic field generator provided around the patient. In the fourth embodiment, the capsule is rotated. A motor is provided in the capsule so that the capsule rotates spontaneously. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

As shown in FIGS. 17 and 18, the capsule 100 according to the fourth embodiment includes a capsule body 101 and a rotation base portion 102 that rotates the capsule body 101.
The capsule body 101 includes a signal processing circuit 24, a memory 25, a wireless circuit 26, an antenna 27, a capsule, in addition to the objective optical system 21, the image sensor 22, and the illumination element 23, which are not shown in the figure, although not shown. Built-in items such as a control circuit 28 and a battery 29 are accommodated. Further, the capsule body 101 is provided with a balloon 61 that covers the capsule body 101 as in the third embodiment, and a helical structure 44E formed by an elastic tube 62 is provided on the outer peripheral surface of the balloon 61. Yes. The capsule body 101 includes balloon inflating and deflating means for inflating and deflating the balloon 61 as in the third embodiment or its modification. In addition, the capsule 100 may be reduced in size by the balloon 61 being hardened in advance with a biocompatible water-soluble substance such as sugar coating in order to facilitate swallowing.

  The rotation base portion 102 is provided with a motor 103 that is a rotation mechanism for rotating the capsule body 101. The motor 103 is, for example, a rotary motor. A motor shaft 103 a of the motor 103 is fitted and fixed to a rear end portion of the capsule body 101, and rotates the capsule body 101 relative to the rotation base portion 102.

  As a result, the capsule body 101 rotates relative to the rotation base portion 102 by the rotational force of the motor 103, and the helical structure portion 44E converts this rotation into a thrust (propulsive force), thereby rotating in the direction of the helical axis. Propulsive force is generated in the direction of the spiral axis 104. The motor 103 is supplied with power from a second battery 105 provided in the rotation base 102.

  In addition, a plurality of groove portions 106 are formed on the outer surface of the rotation base portion 102 in parallel with the longitudinal axis. Thereby, the capsule 100 prevents the rotation base portion 102 from rotating with respect to the inner wall of the lumen without preventing propulsion. The rotation base unit 102 may be provided with angle detection means (not shown) for correcting the angle of the image on the motor 103. In this case, the capsule 100 transmits the angle information from the angle detection means to the outside of the body in association with an information (data) signal such as a video signal.

  The capsule 100 configured as described above is inserted into a body cavity duct when the patient swallows it. The capsule 100 is supplied with power from the second battery 105 and the motor 103 is driven to rotate the capsule body 101. The capsule body 101 receives a rotational force from a motor shaft 103 a of the motor 103, and rotates relative to the rotation base portion 102 by the rotational force of the motor 103. At this time, as described above, the rotation base portion 102 is prevented from rotating with respect to the inner wall of the lumen without impeding propulsion by the groove portion 106 formed on the outer surface.

  The capsule 100 generates a propulsive force for moving the capsule body 101 forward by the rotation of the capsule body 101 such that the male screw moves relative to the female screw at the contact portion between the spiral structure portion 44E and the inner wall of the lumen. Thereby, the capsule 100 can move forward with the capsule body 101 generating a driving force in the direction of the spiral axis (direction of the spiral axis 104).

  According to the present embodiment, in addition to obtaining the same effects as those of the first embodiment, the capsule 100 includes the motor 103 as a rotation mechanism, so that it can self-run, and the magnetic field generator 5, the AC power supply device 6, etc. An extracorporeal device such as magnetic induction is unnecessary, and the entire system can be miniaturized.

  In the capsule 100 of the present embodiment, a balloon 61 is provided between the capsule body 101 and the spiral structure portion 44E as in the third embodiment, and the spiral of the spiral structure portion 44E is obtained by inflating and deflating the balloon 61. Although the present invention is configured to change the outer diameter, the present invention is not limited to this, and a mechanism similar to that of the first embodiment or the second embodiment is provided to change the helical outer diameter of the spiral structure portion 44. You may comprise.

  The capsule may be configured by providing two capsule bodies 101 around the rotation base portion 102. As shown in FIGS. 19 and 20, the capsule 100 </ b> B is configured by providing two capsule main bodies 101 around the rotation base portion 102.

  More specifically, the capsule 100B is rotated relative to the rotation base portion 102 by the rotation base portion 102 and the first motor 106a and the second motor 106b attached to the rotation base portion 102. The front capsule body 101a and the rear capsule body 101b are provided. The front capsule body 101a and the rear capsule body 101b are formed such that the spiral structure portions 44E formed on the balloon 61 are opposite to each other. Note that the forward direction is defined as the direction in which the image sensor 22 faces.

The rotation base portion 102 drives a first motor 106a for rotating the front capsule body 101a, a second motor 106b for rotating the rear capsule body 101b, and the first motor 106a and the second motor 106b. A second battery 105 is provided to supply power for the operation.
Thereby, even if one capsule main body 101 (front capsule body 101a or rear capsule body 101b) cannot be pushed without contacting the inner wall of the lumen, the capsule 100B can move the other capsule body 101 (rear capsule body 101). 101b or the front capsule body 101a) can continue to be assisted and propelled to contact the inner lumen wall.

  In the capsule 100B, the spiral structure portions 44E provided on the front capsule body 101a and the rear capsule body 101b are wound in opposite directions, but the present invention is not limited to this, and the same You may wind in the direction. In this case, the front capsule body 101a and the rear capsule body 101b rotate in the same propulsion direction.

21 and FIG. 22 relate to Embodiment 5 of the present invention, FIG. 21 is an explanatory view showing an endoscope insertion portion of Embodiment 5 of the present invention, and FIG. 22 shows a configuration of the endoscope insertion portion of FIG. FIG.
In the above-described Examples 1 to 4, the present invention is applied to a capsule that can move independently through a body cavity duct as an intra-subject insertion device. However, in Example 5, a capsule-like portion is used as an intra-subject insertion device. The present invention is applied to an endoscope insertion portion having a distal end. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIGS. 21 and 22, an endoscope insertion portion 110 as an intra-subject insertion device of Example 5 is formed in a capsule shape at the distal end of an elongated and flexible insertion tube 111 to be inserted into a body cavity duct. The unit 112 is provided.

  As in the third embodiment, the capsule-shaped portion 112 is provided with a balloon 61 on the outer surface 112a of the capsule-shaped portion 112, and a helical structure portion 44E formed by an elastic tube 62 on the outer peripheral surface of the balloon 61. Provided. In order to make it easy to swallow, the capsule portion 112 may be reduced in size by the balloon 61 being hardened beforehand with a biocompatible water-soluble substance such as sugar coating. The capsule-like portion 112 is integrally configured by a front end side container 113 and a rear end side container 114 being bonded and fixed with an adhesive. Although not shown, the distal container 113 contains built-in objects such as the objective optical system 21, the image sensor 22, and the illumination element 23 similar to those in the first embodiment.

  A distal end side of the insertion tube 111 is attached to the rear end side container 114, and the insertion tube 111 is rotatable by a bearing 115. The rear end side container 114 and the insertion tube 111 are hermetically configured with an O-ring 116. Thereby, the front end side container 113 and the rear end side container 114 are integrally rotatable with respect to the insertion tube 111 in the capsule body 112.

  A motor 117 that rotates the distal end side container 113 and the rear end side container 114 integrally is attached to the distal end side of the insertion tube 111. The distal end side container 113 is provided with a motor storage chamber 118 for storing the motor 117. The motor shaft 117 a of the motor 117 is fitted and fixed to the storage wall of the motor storage chamber 118. Thereby, the motor 117 can rotate the capsule-shaped portion 112 with respect to the insertion tube 111.

  A through-hole 119 is formed in the distal end side container 113 from the motor storage chamber 118 toward the outer peripheral surface, and air can be supplied to the balloon 61 through the motor storage chamber 118. The insertion tube 111 is formed with a conduit 120 for supplying air to the balloon 61. In addition, a signal line for transmitting a video signal obtained from the image sensor 22 and a signal line such as a power supply line of the motor 117 are disposed in the conduit.

  The rear end side of the insertion tube 111 is connected to a control device (not shown). This control device is provided with a compressor for supplying air to the balloon 61 in addition to a motor control circuit for controlling and driving the motor 117 and a data processing circuit for processing video signals.

  The endoscope insertion part 110 configured as described above is inserted into a body cavity duct. The endoscope insertion unit 110 is supplied with power from the control device, and the motor 117 is driven to rotate the capsule-shaped unit 112. The endoscope insertion portion 110 advances the capsule-like portion 112 such that the male screw moves relative to the female screw at the contact portion between the helical structure portion 44E and the inner wall of the lumen by the rotation of the capsule-like portion 112. Propulsion is generated and moves forward.

  At this time, the surgeon has a larger diameter in the body cavity than the spiral outer diameter of the spiral structure portion 44E, and the contact state between the inner wall of the lumen and the spiral structure portion 44E is not good. If not obtained, the control device is operated to increase the outer diameter of the spiral of the spiral structure 44E. The control device drives the compressor to supply air to the endoscope insertion unit 110.

  The endoscope insertion portion 110 is supplied with air from the conduit 120 of the insertion tube 111, and this air is guided from the motor storage chamber 118 of the capsule-like portion 112 to the balloon 61 through the through hole 119. The balloon 61 is inflated to increase the spiral outer diameter of the spiral structure portion 44E. Thereby, since the endoscope insertion part 110 can enlarge the spiral outer diameter of the spiral structure part 44E, the contact state between the lumen inner wall and the spiral structure part 44E is improved, and sufficient propulsive force is obtained. be able to.

  After that, when the spiral outer diameter of the spiral structure portion 44E is equal to or larger than the duct diameter of the body cavity conduit, the operator operates the control device to reduce the spiral outer diameter of the spiral structure portion 44E. The control device drives the compressor to suck air from the endoscope insertion unit 110. In this case, the endoscope insertion unit 110 sucks air from the balloon 61 through a path opposite to the air supply described above. The balloon 61 is contracted to reduce the spiral outer diameter of the spiral structure portion 44E.

  Thereby, since the endoscope insertion part 110 can make the helical outer diameter of the spiral structure part 44E small, the contact state between the inner wall of the lumen and the spiral structure part 44E is made good and sufficient propulsive force is obtained. be able to. Therefore, the endoscope insertion part 110 can change the spiral outer diameter of the spiral structure part 44E according to the pipe diameter of the body cavity duct.

  As described above, according to the present embodiment, the spiral outer diameter of the spiral structure portion 44E can be changed according to the pipe diameter of the body cavity conduit, so that the spiral shape of the spiral structure portion 44E is appropriately maintained and stabilized. The driving force Moreover, since the endoscope insertion part 110 of this embodiment supplies air from the insertion tube 111, it is not necessary to provide a pump or the like in the capsule-like part 112, and the capsule-like part 112 can be miniaturized. Furthermore, the endoscope insertion portion of the present embodiment has good operability because air supply / discharge can be directly instructed to the balloon 61 by the control device on the hand side. The endoscope insertion part 110 may be configured such that the capsule-like part 112 can be detachably attached to the insertion tube 111.

  In addition, the endoscope insertion portion 110 of the present embodiment is provided with a balloon 61 between the capsule-shaped portion 112 and the spiral structure portion 44E as in the third embodiment, and the balloon 61 is inflated and contracted to spiral. Although the configuration is such that the spiral outer diameter of the structure portion 44E is changed, the present invention is not limited to this, and the same mechanism as in the first or second embodiment is provided to provide the spiral outer diameter of the spiral structure portion 44. You may comprise so that it may change.

  Furthermore, the endoscope insertion part 110 is configured by providing a balloon 61 on the capsule-like part 112 at the distal end and forming the spiral structure part 44E on the balloon 61, but the present invention is not limited to this. Instead, the balloon 61 may be provided at a plurality of locations of the insertion tube 111 and the spiral structure 44E may be formed on the balloon 61.

  In the present embodiment, the present invention is applied to the endoscope insertion portion 110. However, the present invention is not limited to this, and a probe having a capsule-shaped portion at the tip and an endoscope insertion portion are provided. The present invention may be applied to an insertion aid or the like that leads to a deep part of a body cavity duct.

  FIGS. 23 to 25 relate to Embodiment 6 of the present invention, FIG. 23 is a schematic diagram showing the configuration of the capsule medical device of Embodiment 6 of the present invention, and FIG. 24 is a first modification of the capsule medical device of FIG. FIG. 25 is a schematic view showing a second modification of the capsule medical device of FIG.

  The first embodiment is configured to change the outer diameter of the spiral by moving one of the fixed positions of the front end 44a and the rear end 44b of the spiral structure portion 44 in the outer peripheral direction of the capsule 3 as the spiral outer diameter changing means. However, in the sixth embodiment, the spiral outer diameter is changed by changing the length of the spiral structure portion 44 spaced from the outer surface 42a of the capsule body 42 in the spiral direction as the spiral outer diameter changing means. Configure. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 23, in the capsule 3I of Example 6, the rear end 44b of the spiral structure portion 44 is fixed to the capsule rear end portion 43. The spiral structure portion 44 is connected to an actuator 121 disposed inside the capsule body 42 by inserting a distal end 44 a through a through passage 42 c formed in the capsule body 42. An O-ring 122 for ensuring watertightness is provided in the through passage 42c of the capsule body 42.

  The actuator 121 is a rotary actuator that performs a rotational motion in order to wind up and send out the helical structure portion 44. The actuator 121 is connected to a control circuit (not shown). The control circuit controls and drives the actuator 121 based on a control signal transmitted from the control device 4.

  The actuator 121 rotates forward and backward so as to wind up and feed out the tip 44a of the spiral structure portion 44, and the length of the spiral structure portion 44 spaced from the outer surface 42a of the capsule body 42 is increased. By changing it, the outer diameter of the spiral is changed. More specifically, the actuator 121 lengthens the spiral structure portion 44 that is separated from the outer surface 42a of the capsule body 42 by rotating in the direction in which the tip 44a of the spiral structure portion 44 is fed out. Increase the spiral outer diameter with. On the other hand, the actuator 121 rotates in the winding direction of the tip 44a of the spiral structure portion 44, thereby shortening the spiral structure portion 44 spaced from the outer surface 42a of the capsule body 42, thereby reducing the outer diameter of the spiral. Make it smaller.

  Therefore, the capsule 3I can change the helical outer diameter by winding the helical structure portion 44 separated from the outer surface 42a of the capsule body 42 in the spiral direction and sending it out, thereby changing the outer diameter of the spiral. According to the present embodiment, in addition to obtaining the same effects as those of the first embodiment, the helical outer diameter is changed by changing the total helical length of the helical structure portion 44 that is separated from the outer surface 42a of the capsule body 42. Therefore, it is possible to reliably change the outer diameter of the spiral without generating distortion in the spiral shape. Further, according to the present embodiment, since the length of the spiral structure portion 44 is controlled by the actuator 121, more reliable control is possible. The capsule 3I may be configured such that the front end 44a of the spiral structure portion 44 is fixed and the rear end 44b is wound up and delivered.

  The capsule 3I may be configured using a rotation spring (not shown) instead of the actuator 121. The rotary spring winds and feeds the tip 44a of the spiral structure 44 in accordance with an external force applied to the spiral structure 44.

  More specifically, the rotary spring has a biasing force in a direction in which the spiral outer diameter of the spiral structure portion 44 always increases, and the spiral structure portion 44 is against the inner wall of the lumen against this biasing force. By contacting, the leading end 44a of the spiral structure portion 44 is wound and sent out.

  Therefore, in the capsule 3I, the spiral structure portion 44 has an optimum spiral outer diameter according to the contact state between the spiral structure portion 44 spaced from the outer surface 42a of the capsule body 42 and the inner wall of the lumen. A stable propulsive force can be obtained by appropriately maintaining the spiral shape of the structure portion 44.

  According to this modification, it is possible to automatically change the diameter of the spiral outer diameter of the spiral structure portion 44 in accordance with the pipe diameter of the body cavity pipe. Further, according to the present modification, no energy is required for controlling the outer diameter of the spiral of the spiral structure portion 44, and the structure is simple, so that the size can be reduced. Further, according to this modification, a force is always generated in the direction of expanding the outer diameter of the spiral, so that the contact state between the inner wall of the lumen and the spiral structure portion 44 is maintained, and a stable propulsive force can be obtained. Insertability in the direction of the deep part of the road is improved.

Furthermore, the capsule may be configured to wind up the helical structure 44 using an SMA coil.
As shown in FIG. 24, the capsule 3J is configured by providing a rotary spring 123 and an SMA coil 124. The SMA coil 124 has one end 44 a of the spiral structure portion 44 extending from the rotary spring 123 connected to one end. The other end of the SMA coil 124 is connected and fixed to a fixed plate 125.

  The SMA coil 124 forms a closed circuit with a battery and a switch (not shown), and the switch is turned on and off by a control signal transmitted from the control device 4, for example, so that power from the battery is supplied or stopped. Yes. The SMA coil 124 is normally extended. The SMA coil 124 is contracted when the switch is turned on and energized from the battery, and the tip 44a of the spiral structure 44 is wound up. Accordingly, the capsule 3J can minimize the outer diameter of the spiral structure portion 44 by energizing the SMA coil 124 and winding the tip 44a of the spiral structure portion 44.

  Accordingly, in the capsule 3J, the helical structure portion 44 has an optimum spiral outer diameter according to the contact state between the spiral structure portion 44 and the inner wall of the lumen by the urging force of the rotary spring 123, and the spiral of the spiral structure portion 44 is increased. A stable driving force can be obtained by maintaining the shape properly. The capsule 3J can move in a relatively narrow lumen by energizing the SMA coil 124 to minimize the helical outer diameter of the helical structure 44.

  According to the present embodiment, since energization is performed only when the spiral outer diameter of the spiral structure portion 44 is reduced, energy saving is possible when moving within a relatively wide lumen. In particular, the present embodiment is effective when the amount of gas or liquid in the lumen of the intestine or the like is large, or when moving in the lumen expanded by air supply, water supply, or the like.

In addition, the capsule may be configured to be fed out by the SMA coil 124 and wound up by the rotary spring 123.
As shown in FIG. 25, in the capsule 3K, the spiral structure portion 44 extends from the rotary spring 123 in the direction opposite to the capsule 3J. For this reason, when energized, the SMA coil 124 contracts when the capsule 3K is energized, pulling the tip 44a of the spiral structure portion 44 to reversely rotate the rotary spring 123, and the spiral structure portion 44 is fed out. Yes.

  Accordingly, the capsule 3J can increase the outer diameter of the spiral structure portion 44 by energizing the SMA coil 124 and pulling the tip 44a of the spiral structure portion 44.

  Therefore, the capsule 3K is excellent in that the spiral structure portion 44 comes into contact with the inner wall of the lumen in a relatively wide lumen by energizing the SMA coil 124 and increasing the spiral outer diameter of the spiral structure portion 44. A good contact state. Further, when the SMA coil 124 is in a non-energized state, the capsule 3K has an optimum helical structure 44 depending on the contact state between the helical structure 44 and the inner wall of the lumen by the urging force of the rotary spring 123. It becomes a spiral outer diameter, and a stable propulsive force can be obtained by appropriately maintaining the spiral shape of the spiral structure portion 44.

  According to the present embodiment, since energization is performed only when the spiral outer diameter of the spiral structure portion 44 is increased, it is possible to save energy when moving in a relatively narrow lumen.

26 and FIG. 27 relate to Embodiment 7 of the present invention, FIG. 26 is a schematic view showing the configuration of the capsule medical device of Embodiment 7 of the present invention, and FIG. 27 shows the operation of the helical structure and elastic body of FIG. FIG.
In the seventh embodiment, in addition to the internal configuration of the first embodiment, the distance between the outer surface 42a of the capsule body 42 and the helical structure 44 can be uniformly maintained over the entire length of the helix. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 26, in addition to the internal configuration of the first embodiment, the capsule 3L of the seventh embodiment uniformly maintains the distance between the outer surface 42a of the capsule body 42 and the helical structure 44 over the entire length of the spiral. It is configured as possible.

  More specifically, in the capsule 3L, the front end 44a and the rear end 44b of the helical structure portion 44 are fixedly disposed on the outer surface 42a of the capsule body 42 as in the first embodiment, and the capsule body 42 The capsule rear end 43 is configured to be rotatable by a predetermined angle.

  Accordingly, in the capsule 3L, the rear end portion 43 of the capsule is rotated by a predetermined angle in the same manner as in the first embodiment, so that the rear end of the spiral structure portion 44 is fixed to the fixed position of the front end 44a of the spiral structure portion 44. The fixing position of the end 44b moves in the outer peripheral direction of the capsule body 42, and the spiral outer diameter of the spiral structure portion 44 can be changed.

  Further, the capsule 3L includes a columnar elastic body 126 (hereinafter referred to as a columnar elastic body) 126 that can uniformly hold the distance between the outer surface 42a of the capsule body 42 and the helical structure 44 over the entire length of the spiral. It is provided at a plurality of locations of the spiral structure portion 44. The capsule 3L has a plurality of circumferential grooves 127 on the outer surface 42a of the capsule main body 42 in which the columnar elastic body 126 can slide. One end of the columnar elastic body 126 is fixed to the spiral structure portion 44, and the other end can slide in the circumferential groove 127. The columnar elastic body 126 is made of, for example, resin or silicone.

  In the capsule 3L having such a configuration, the capsule rear end 43 rotates according to the diameter of the body cavity duct, and the spiral outer diameter of the spiral structure 44 is changed. At the same time, as shown in FIG. 27, the columnar elastic body 126 can absorb the change in the spiral shape by sliding along the circumferential groove 127 while bending along with the change in the outer diameter of the spiral. Therefore, the capsule 3L can uniformly maintain the distance between the outer surface 42a of the capsule body 42 and the helical structure 44 over the entire length of the helix.

  According to the present embodiment, since the helical shape of the helical structure portion 44 that is separated from the outer surface 42a of the capsule body 42 can be uniformly maintained over the entire length of the helix, a stable propulsive force can be obtained and the body cavity tube Insertability in the direction of the deep part of the road is improved.

FIGS. 28 to 31 relate to Embodiment 8 of the present invention, FIG. 28 is a schematic view showing the configuration of the capsule medical device of Embodiment 8 of the present invention, and FIG. 29 is a first modification of the capsule medical device of FIG. FIG. 30 is a schematic diagram showing a second modification of the capsule medical device of FIG. 28, and FIG. 31 is a schematic diagram showing a third modification of the capsule medical device of FIG.
In the eighth embodiment, the helical outer diameter is changed by moving one of the fixed positions of the front end 44a and the rear end 44b of the helical structure portion 44 in the longitudinal axis direction as the helical outer diameter changing means. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 28, in the capsule 3M of the eighth embodiment, a small-diameter portion 128 is formed between the center rear end of the capsule main body 42 and the capsule rear end 43. The small diameter portion 128 is provided with a moving member 129 so as to be movable back and forth in the longitudinal axis direction of the capsule body 42. The moving member 129 is fixed with a rear end 44b of the helical structure 44 having a tip 44a fixed to the capsule body 42. The moving member 129 is urged toward the end of the small-diameter portion 128 by a coil spring 130 disposed in the small-diameter portion 128.

  That is, the moving member 129 reduces the spiral outer diameter of the spiral structure portion 44 against the biasing force of the coil spring 130 biased in the direction in which the spiral outer diameter of the spiral structure portion 44 increases. To move to.

  As a result, the capsule 3M has a reaction force of a propulsive force generated at a contact portion between the spiral structure portion 44 and the lumen inner wall and a radial direction generated at the contact portion between the spiral structure portion 44 and the lumen inner wall. When an external force is applied to the spiral structure portion 44 by a compressive force, the moving member 129 moves in the longitudinal direction against the urging force of the coil spring 130, and the spiral outer diameter of the spiral structure portion 44 is reduced. Therefore, according to the present embodiment, the helical outer diameter of the helical structure portion 44 is easily changed by the external force even in a portion where the lumen diameter is small, such as the intestine. Insertability is improved.

Furthermore, the capsule may be configured by providing the columnar elastic body 126 as in the seventh embodiment.
As shown in FIG. 29, the capsule 3N is provided with a plurality of the columnar elastic bodies 126 in the spiral structure portion 44, and an axial groove 131 in which the columnar elastic bodies 126 can slide in the longitudinal axis direction is provided outside the capsule 3N. A plurality of portions are formed on the surface 42a.

  Accordingly, the capsule 3N can absorb the change in the spiral shape by sliding the axial groove 131 while the columnar elastic body 126 is bent along with the change in the outer diameter of the spiral of the spiral structure portion 44. it can. Therefore, the capsule 3N can uniformly maintain the distance between the outer surface 42a of the capsule body 42 and the spiral structure 44 over the entire length of the spiral.

  Therefore, according to this modification, in addition to obtaining the same effect as in the eighth embodiment, the spiral shape of the spiral structure portion 44 can be uniformly maintained over the entire length of the helix as in the seventh embodiment. Thus, the propulsive force is obtained, and the insertion property in the deep direction of the intraluminal duct is improved.

Further, the capsule may be configured such that the capsule rear end portion 43 can be advanced and retracted in the longitudinal axis direction.
As shown in FIG. 30, the capsule 3P is configured so that the capsule rear end 43 can be moved forward and backward, and the capsule 3P moves forward and backward in the fixed position of the rear end 44b of the spiral structure 44 fixed to the capsule rear end 43. It is configured. More specifically, in the capsule 3P, the small-diameter portion 128 is built in the capsule main body 42 so as to be movable back and forth in the longitudinal axis direction.

  A rod 132a tip is connected to the narrow diameter portion 128. The rod 132a meshes with the actuator 132. The actuator 132 is an axial movement actuator that has a pinion (not shown) that meshes with the rod 132a and rotates the pinion by a motor (not shown) to advance and retract the rod 132a in the axial direction. The actuator 132 is connected to a control circuit (not shown). The control circuit controls and drives the actuator 132 based on a control signal transmitted from the control device 4.

  The actuator 132 advances and retracts the small diameter portion 128 in the longitudinal axis direction by moving the rod 132a forward and backward, and as a result, advances and retracts the capsule rear end portion 43 in the longitudinal axis direction.

  As a result, the capsule 3P obtains the same effect as in the eighth embodiment, and when the spiral outer diameter of the spiral structure portion 44 is large, the total length of the capsule is shortened, so that the direction can be easily changed and the reliable spiral outer The diameter can be controlled, and the insertion property in the direction of the deep part of the body cavity can be improved.

The capsule may be configured such that the fixed position of the rear end 44b of the spiral structure portion 44 can be moved in the longitudinal axis direction without changing the overall length of the capsule body 42.
As shown in FIG. 31, the capsule 3Q is configured by providing a moving portion 133 that advances and retracts the fixed position of the rear end 44b of the spiral structure portion 44 in the longitudinal axis direction. The moving part 133 moves the fixing part 133a in which the rear end 44b of the spiral structure part 44 is fixedly moved forward and backward in the longitudinal axis direction. The fixing portion 133a is exposed on the outer surface 42a of the capsule body 42. The moving part 133 is provided with a mechanism for moving the fixed part 133 a forward and backward in the longitudinal axis direction inside the capsule body 42.

  More specifically, the moving portion 133 has a storage chamber 133b for storing the back side of the fixed portion 133a, and a leaf spring 133c for biasing the fixed portion 133a to the end portion side of the storage chamber 133b. Is arranged. The leaf spring 133c is biased in the direction in which the spiral outer diameter of the spiral structure portion 44 increases. That is, the moving part 133 moves the fixed part 133a in a direction to reduce the outer diameter of the spiral structure part 44 against the urging force of the leaf spring 133c.

  Further, the capsule 3Q is provided with a plurality of the columnar elastic bodies 126 in the helical structure portion 44 in the same manner as the capsule 3N, and the axial grooves 131Q in which the columnar elastic bodies 126 can slide in the longitudinal axis direction are provided. A plurality of locations are formed on the capsule outer surface 42a. The axial groove 131Q is formed over the entire length of the outer surface 42a of the capsule body 42 as compared to the axial groove 131, and a plurality of the columnar elastic bodies 126 positioned in the longitudinal axis direction can be slid. It has become.

  Accordingly, the capsule 3Q can absorb the change in the spiral shape by sliding the axial groove 131 while the columnar elastic body 126 is bent along with the change in the spiral outer diameter of the spiral structure portion 44. it can. Therefore, the capsule 3Q can uniformly maintain the distance between the outer surface 42a of the capsule body 42 and the spiral structure 44 over the entire length of the spiral.

  Therefore, according to this modification, in addition to obtaining the same effect as in the eighth embodiment, the spiral shape of the spiral structure portion 44 can be uniformly maintained over the entire length of the helix as in the seventh embodiment. Thus, the propulsive force is obtained, and the insertion property in the deep direction of the intraluminal duct is improved.

  FIGS. 32 to 37 relate to the ninth embodiment of the present invention, FIG. 32 is a schematic view showing the configuration of the capsule medical device of the ninth embodiment of the present invention, and FIG. FIG. 34 is an explanatory view showing the operation of the columnar elastic body formed so that the cross-sectional secondary moment is minimized in the longitudinal axis direction of the capsule body, and FIG. 35 is the capsule type of FIG. 36 is a schematic diagram showing a first modification of the medical device, FIG. 36 is a schematic diagram showing a second modification of the capsule medical device of FIG. 32, and FIG. 37 is a schematic showing a third modification of the capsule medical device of FIG. FIG. 38 and FIG. 38 are front views of the capsule medical device showing a change in the outer diameter of the spiral of the spiral structure portion of FIG.

  In the ninth embodiment, the spiral structure 44 and the outer surface 42a of the capsule body 42 are connected by the columnar elastic body 126 as a spiral outer diameter changing means. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 32, the capsule 3R of the ninth embodiment is configured such that the spiral structure portion 44 is cut, and a plurality of adjacent spirals are arranged on the outer surface 42a of the capsule body 42 with a predetermined distance therebetween. ing. The plurality of helical structures 44 are connected to the outer surface 42a of the capsule body 42 by the columnar elastic body 126, respectively.

  More specifically, the plurality of helical structure portions 44 are provided with the columnar elastic bodies 126 at both ends. These columnar elastic bodies 126 are fixed to the outer surface 42a of the capsule body 42 by adhesion or the like, and the helical structure 44 is supported and fixed to the outer surface 42a of the capsule body 42. In addition, the columnar elastic body 126 is formed so that the secondary moment in the cross section is minimized in the spiral direction so that it can be easily bent in the spiral direction of the spiral structure portion 44.

  The capsule 3R having such a configuration is the reaction force of the propulsive force generated at the contact portion between the spiral structure portion 44 and the lumen inner wall and the radial direction generated at the contact portion between the spiral structure portion 44 and the lumen inner wall. When an external force is applied to the spiral structure portion 44 by the compression force, the columnar elastic body 126 bends so as to spread in the spiral direction as shown in FIG. 33, thereby reducing the spiral outer diameter of the spiral structure portion 44. The spiral structure portion 44 is disposed on the outer surface 42a of the capsule body 42 with a predetermined distance between adjacent spirals. However, the helical outer diameter is reduced to absorb the shortening of the total length of the spiral. It has become.

  As a result, the capsule 3R obtains the same effects as those of the third and sixth embodiments, and the columnar elastic body 126 bends in the spiral direction, so that the spiral structure portion 44 changes only in the radial direction. Thereby, the insertion property in the deep part direction of the body cavity duct is improved.

  Note that the capsule 3R may be configured such that the columnar elastic body 126 is formed so as to fall in the longitudinal axis direction of the capsule body 42 and the spiral outer diameter of the spiral structure portion 44 is changed. As shown in FIG. 34, the columnar elastic body 126 is formed so that the moment of inertia of the cross section becomes the minimum with respect to the longitudinal axis direction of the capsule body 42.

  As a result, the capsule 3 </ b> R compresses the reaction force of the driving force generated at the contact portion between the spiral structure portion 44 and the lumen inner wall and the radial compression generated at the contact portion between the spiral structure portion 44 and the lumen inner wall. When an external force is applied to the spiral structure portion 44 by force, the columnar elastic body 126 falls in the longitudinal axis direction of the capsule main body 42, thereby reducing the spiral outer diameter of the spiral structure portion 44. Therefore, since the helical structure 44 is inclined in the longitudinal axis direction of the capsule body 42, the capsule 3R is likely to change in the outer diameter of the spiral inserted into a thin lumen such as the intestine, and the deep part of the intraluminal channel. Insertability in the direction is improved.

Moreover, you may comprise a capsule by connecting the helical structure part 44 adjacent to an outer peripheral direction.
As shown in FIG. 35, the capsule 3 </ b> S is configured by connecting the helical structure portions 44 adjacent in the outer peripheral direction by an elastic member 134. Thereby, since the joint of the helical structure portion 44 is gently formed in the capsule 3S, the resistance at the time of rotation of the capsule main body 42 is reduced, and the rotation and propulsion can be efficiently performed. Insertability in the deep direction is improved.

The capsule may be configured by alternately arranging the plurality of spiral structure portions 44 in the longitudinal axis direction of the capsule body 42.
As shown in FIG. 36, the capsule 3T is configured by being alternately arranged in the longitudinal axis direction of the capsule main body 42 so that the plurality of spiral structure portions 44 overlap each other.

  As a result, the capsule 3T has a plurality of spiral structure portions 44 that are staggered in the longitudinal axis direction of the capsule body 42. Therefore, when the outer diameter of the spiral is reduced, the spiral structure portions 44 that are adjacent to each other in the longitudinal axis direction. It is possible to absorb the shortening of the total length of the spiral so that the two overlap. In addition, since the capsule 3T can be provided with the spiral structure portion 44 substantially continuously, a propulsive force can be obtained efficiently and the insertion property in the deep direction of the body cavity can be improved.

The capsule may be configured by alternately connecting the plurality of helical structure portions 44 in the outer circumferential direction to a plurality of elastic members provided in a substantially arch shape in the longitudinal axis direction of the capsule body 42.
As shown in FIG. 37, in the capsule 3U, a plurality of elastic members 135 are provided in a substantially arch shape in the longitudinal axis direction of the capsule main body 42, and the plurality of helical structure portions 44 are staggered in the outer circumferential direction on these arched elastic members 135. Are connected to each other.

  More specifically, the capsule 3U is provided with a plurality of sets of two arched elastic members 135 with both ends fixed to the capsule front end side and the rear end side in the longitudinal axis direction of the capsule main body 42. The capsules 3U are alternately connected in the longitudinal direction of the capsule main body 42 so that the plurality of helical structure portions 44 overlap the pair of arched elastic members 135.

  The capsule 3U having such a configuration is a reaction force of a propulsive force generated at a contact portion between the spiral structure portion 44 and the lumen inner wall, and a radial direction generated at the contact portion between the spiral structure portion 44 and the lumen inner wall. When an external force is applied to the helical structure portion 44 by the compression force, the adjacent arch-shaped elastic member 135 is bent and spreads in the outer circumferential direction as shown in FIG. 38, so that the helical outer diameter of the helical structure portion 44 is reduced. .

  Thereby, in addition to obtaining the same effect as in the ninth embodiment, the capsule 3U has the arch-shaped elastic member 135 formed longer than the columnar elastic body 126, so that a soft structure can be manufactured. . Accordingly, the capsule 3U can change the helical outer diameter of the helical structure portion 44 sensitively even with a small force from the intestinal wall, so that the insertion property in the deep direction of the body cavity can be improved.

39 to 41 relate to the tenth embodiment of the present invention, FIG. 39 is a schematic view showing the configuration of the capsule medical device of the tenth embodiment of the present invention, and FIG. 40 shows the change in the helical outer diameter of the spiral structure portion of FIG. FIG. 41 is a schematic view showing a second modification of the capsule medical device in FIG.
In the tenth embodiment, the spiral structure portion 44 is formed by a plurality of elastic members as the spiral outer diameter changing means. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 39, the capsule 3V of the tenth embodiment is configured by forming a spiral structure portion 44 by a plurality of elastic members 136. More specifically, the plurality of elastic members 136 are arranged so as to alternately overlap in the outer peripheral direction with both ends fixed to the outer surface 42a of the capsule body 42 by adhesion or the like.

  The capsule 3V having such a configuration includes the reaction force of the propulsive force generated at the contact portion between the plurality of elastic members 136 forming the spiral structure portion 44 and the inner wall of the lumen, and the plurality of elastic members 136 and the tube. When an external force is applied to the plurality of elastic members 136 due to a radial compressive force generated at the contact portion with the inner wall of the cavity, the adjacent elastic members 136 bend and spread in the outer circumferential direction as shown in FIG. The diameter becomes smaller. At this time, the capsule 3V can absorb the shortening of the total length of the spiral by overlapping the elastic members 136 adjacent in the longitudinal axis direction.

  Thereby, in addition to obtaining the same effect as in the ninth embodiment, the capsule 3V can be provided with the spiral structure portion 44 substantially continuously, so that a propulsive force can be obtained efficiently. Further, since the capsule 3V is formed with the plurality of elastic members 136 longer than the columnar elastic body 126, a soft structure can be manufactured, and the outer diameter of the spiral is changed sensitively even with a small force from the intestinal wall. be able to. Therefore, the capsule 3V improves the insertion property in the deep part direction of the body cavity duct.

The capsule may be configured by providing the plurality of elastic members 136 independently of each other.
As shown in FIG. 41, the capsule 3W is configured such that the plurality of elastic members 136 are spaced apart from each other and independently disposed on the outer surface 42a of the capsule body 42.

  Thereby, in addition to obtaining the same effect as in the tenth embodiment, the capsule 3W can uniformly hold the helical shape of the helical structure portion 44 over the entire length of the helix as in the seventh embodiment. A force is obtained, and the insertion property in the deep part direction of the intraluminal duct is improved.

42 and 43 relate to Example 11 of the present invention, FIG. 42 is a schematic diagram showing the configuration of the capsule medical device of Example 11 of the present invention, and FIG. 43 shows the sectional moment of inertia in the outer peripheral direction of the capsule body. It is a front view of the capsule type medical device which shows operation | movement of the columnar elastic body formed in the shape which becomes small.
In Example 11, a plurality of columnar elastic bodies are continuously arranged in a spiral shape to form a spiral structure portion 44. Since other configurations are substantially the same as those of the first embodiment, the same components are denoted by the same reference numerals and description thereof is omitted.

  As shown in FIG. 42, the capsule 3X of the eleventh embodiment is configured by forming a plurality of columnar elastic bodies 137 on the outer surface 42a of the capsule body 42 in a continuous spiral manner to form a helical structure 44. Yes. The columnar elastic body 137 has a head 137a formed in a spherical shape, and is configured to be able to smoothly contact the inner wall of the lumen. The head 137a does not have to be spherical as long as it can smoothly contact the inner wall of the lumen, and may be formed in a hemispherical shape, a cone, or the like.

  Further, since the columnar elastic bodies 137 are arranged on the outer surface 42a of the capsule body 42 independently of each other, a soft and uniform spiral structure 44 can be formed. Thereby, the capsule 3X maintains the uniformity of the propulsive force, and improves the insertion property in the deep direction of the body cavity duct.

  Note that the columnar elastic body 137 is formed so that the moment of inertia of the cross section becomes the minimum with respect to the longitudinal axis direction of the capsule body 42. As a result, the capsule 3X has a reaction force of a propulsive force generated at a contact portion between the columnar elastic body 137 and the lumen inner wall, and a radial direction generated at a contact portion between the columnar elastic body 137 and the lumen inner wall. When an external force is applied to the columnar elastic body 137 by a compressive force, the helical outer diameter of the helical structure portion 44 is reduced by bending in the longitudinal axis direction of the capsule body 42.

  Therefore, according to the present embodiment, the helical outer diameter of the helical structure portion 44 is easily changed by the external force even in a portion where the lumen diameter is small (closed portion) such as the intestine. Insertability in the direction of the deep part is improved.

  The columnar elastic body 137 may be formed in a shape in which the cross-sectional secondary moment is reduced in the spiral direction. Thereby, in the capsule 3X, since the columnar elastic body 137 bends in the spiral direction, the spiral structure portion 44 does not change in the vertical direction when the spiral outer diameter changes. Therefore, the capsule 3X can efficiently change the outer diameter of the helical structure portion 44, and the propulsion performance is improved.

  In addition, the columnar elastic body 137 may be formed in a shape in which the second moment of section becomes smaller in the outer peripheral direction of the capsule body 42. Accordingly, in the capsule 3X, as shown in FIG. 43, the columnar elastic body 137 bends in the outer peripheral direction of the capsule main body 42, so that the helical structure 44 changes in the rotational operation direction of the capsule main body 42. Therefore, since the capsule 3X does not cause a resistance to rotation of the capsule body 42 due to the change in the outer diameter of the capsule, the capsule 3X can perform efficient rotation and improve insertability.

  44 to 48 relate to the twelfth embodiment of the present invention, FIG. 44 is a schematic view showing the configuration of the capsule medical device of the twelfth embodiment of the present invention, and FIG. 45 is a first modification of the capsule medical device of FIG. 46 is a schematic diagram showing a second modification of the capsule medical device of FIG. 44, FIG. 47 is a schematic diagram showing a third modification of the capsule medical device of FIG. 44, and FIG. It is a front view of the capsule type medical device which shows the helical outer diameter change of 47 helical structure parts.

  Although the said Examples 9-11 are comprised using a columnar elastic body or an elastic member as a spiral outer diameter change means, Example 12 is added to the structure of the said Examples 9-11 as a spiral outer diameter change means, The columnar elastic body or the elastic member is configured to be mechanically inclined. Since other configurations are substantially the same as those of the above-described Examples 9 to 11, the same components are denoted by the same reference numerals and description thereof is omitted.

  In Example 12, the columnar elastic body 137 of Example 11 will be described as a representative example.

  As shown in FIG. 44, the capsule 3Y according to the twelfth embodiment has a capsule inner structure 138 and a capsule sheath 139 that houses the capsule inner structure 138. The capsule internal structure 138 accommodates the magnet 8, the objective optical system 21, the image sensor 22, the illumination element 23, and the like described in the first embodiment. The capsule internal structure 138 is provided with a helical structure 44 by fixing and arranging a plurality of the columnar elastic bodies 137 on the outer peripheral surface.

  The capsule sheath 139 includes the front end cover 41, a storage portion 139 a that stores the capsule internal structure 138, and the capsule rear end portion 43. The capsule sheath 139 stores the capsule internal structure 138 in the storage portion 139a. The capsule sheath 139 has the plurality of columnar elastic bodies 137 protruding from the sheath outer surface 139c through the through holes 139b. In this case, the outer surface of the sheath becomes the outer surface 42a of the capsule body 42.

  In the capsule sheath 139, an actuator 140 for moving the capsule internal structure 138 forward and backward in the longitudinal axis direction is accommodated in the capsule rear end portion 43.

  The actuator 140 meshes with the rod 140a. The actuator 140 moves the rod 140a forward and backward. The capsule internal structure 138 is connected to the tip of the rod 140a that is advanced and retracted.

  The actuator 140 advances and retracts the capsule internal structure 138 relative to the capsule sheath 139 in the longitudinal direction by moving the rod 140a forward and backward. Then, the capsule sheath 139 presses the columnar elastic body 137 by the wall surface of the through-hole 139b and tilts the columnar elastic body 137 in the capsule longitudinal axis direction.

  Thereby, the capsule 3Y can reduce the outer diameter of the spiral structure portion 44 formed by the columnar elastic body 137, and can obtain the same effect as the eleventh embodiment. Further, since the capsule 3Y can change the outer diameter of the spiral structure 44 with a small movement corresponding to the through hole 139b, the stroke of the rod 140a by the actuator 140 can be reduced and the size can be reduced.

  The capsule 3Y has been described using the columnar elastic body 137 described in the eleventh embodiment. However, the capsule 3Y may be configured using the columnar elastic body or the elastic member in the ninth to tenth embodiments. Get the effect.

The capsule may be configured using a coil spring and an SMA wire instead of the actuator 140.
As shown in FIG. 45, the capsule 3Z is configured by accommodating and arranging a coil spring 141 and an SMA wire 142 in the capsule rear end portion 43 instead of the actuator 140.

  One end of the SMA wire 142 is connected to the capsule internal structure 138, and the other end is fixed to the inner wall of the capsule rear end portion 43. The coil spring 141 constantly urges the capsule inner structure 138 toward the capsule tip side.

  When the switch (not shown) is turned on and energized, the SMA wire 142 contracts against the urging force of the coil spring 141 and retracts the capsule internal structure 138 to the capsule rear end side. Yes. Accordingly, the SMA wire 142 can tilt the columnar elastic body 137 by energization to reduce the outer diameter of the spiral structure portion 44 formed by the columnar elastic body 137.

  Therefore, the capsule 3Z can reduce the spiral outer diameter of the spiral structure portion 44 formed by the columnar elastic body 137, and the same effect as that of the twelfth embodiment can be obtained.

  Further, as shown in FIG. 46, the capsule 3Z has a state in which the columnar elastic body 137 is vertically raised from a state in which the columnar elastic body 137 is inclined toward the capsule tip side by changing the position of the through hole 139b, that is, a spiral structure portion. It is also possible to change from a state where the outer diameter of the spiral 44 is reduced to a state where it is increased.

The capsule may be configured using a motor instead of the actuator 140.
As shown in FIG. 47, the capsule 3α is configured by housing and arranging a motor 143 in the capsule rear end portion 43 instead of the actuator 140.

  The motor 143 has a drive shaft 143a connected to the capsule internal structure 138, and rotates the capsule internal structure 138 by a predetermined angle. The motor 143 is a pulse motor.

  Accordingly, the capsule 3α rotates the motor 143 by a predetermined angle, whereby the capsule internal structure 138 is rotated by a predetermined angle relative to the capsule sheath 139. Therefore, as shown in FIG. 48, the capsule 3α is formed by the columnar elastic body 137 by pressing the columnar elastic body 137 by the wall surface of the through-hole 139b to incline the columnar elastic body 137 toward the outer periphery of the capsule. The spiral outer diameter of the spiral structure portion 44 can be reduced. As a result, the capsule 3α can obtain the same effects as those of the twelfth embodiment.

  Note that embodiments configured by partially combining the above-described embodiments and the like also belong to the present invention.

  Since the intra-subject insertion device of the present invention appropriately maintains the helical shape of the helical structure portion to obtain a stable driving force, it is suitable for medical activities such as examination, treatment or treatment in the subject. Can be used.

BRIEF DESCRIPTION OF THE DRAWINGS It is a whole block diagram which shows the schematic structure of the capsule medical device guidance system provided with Example 1 of this invention. It is a block diagram which shows the more detailed structure of FIG. It is the schematic which shows the structure of a magnetic field generator. It is a side view which shows the external appearance of a capsule type medical device. It is the schematic which shows the structure of a capsule type medical device. It is explanatory drawing which shows a mode that the helical outer diameter of a helical structure part is changed with rotation of a capsule rear end part. It is the schematic which shows the 1st modification of the capsule type medical device of FIG. It is the schematic which shows the 2nd modification of the capsule type medical device of FIG. It is explanatory drawing which shows the capsule type medical device of Example 2 of this invention. It is the schematic which shows the structure of the capsule type medical device of FIG. It is explanatory drawing which shows the capsule type medical device of Example 3 of this invention. It is explanatory drawing which shows a mode that the helical outer diameter of a helical structure part is changed with expansion | swelling and shrinkage | contraction of a balloon. It is explanatory drawing which shows a capsule type medical device when a balloon is expanded. It is the schematic which shows the 1st modification of the capsule type medical device of FIG. It is the schematic which shows the 2nd modification of the capsule type medical device of FIG. It is the schematic which shows the 3rd modification of the capsule type medical device of FIG. It is explanatory drawing which shows the capsule type medical device of Example 4 of this invention. It is the schematic which shows the structure of the capsule type medical device of FIG. It is explanatory drawing which shows the modification of the capsule type medical device of FIG. It is the schematic which shows the structure of the capsule type medical device of FIG. It is explanatory drawing which shows the endoscope insertion part of Example 5 of this invention. It is the schematic which shows the structure of the endoscope insertion part of FIG. It is the schematic which shows the structure of the capsule type medical device of Example 6 of this invention. FIG. 24 is a schematic diagram illustrating a first modification of the capsule medical device in FIG. 23. It is the schematic which shows the 2nd modification of the capsule type medical device of FIG. It is the schematic which shows the structure of the capsule type medical device of Example 7 of this invention. It is the schematic which shows operation | movement of the helical structure part and elastic body of FIG. It is the schematic which shows the structure of the capsule type medical device of Example 8 of this invention. It is the schematic which shows the 1st modification of the capsule type medical device of FIG. It is the schematic which shows the 2nd modification of the capsule type medical device of FIG. It is the schematic which shows the 3rd modification of the capsule type medical device of FIG. It is the schematic which shows the structure of the capsule type medical device of Example 9 of this invention. It is a front view of the capsule type medical device which shows the helical outer diameter change of the helical structure part of FIG. It is explanatory drawing which shows operation | movement of the columnar elastic body formed so that a cross-sectional secondary moment might become the minimum in the longitudinal axis direction of a capsule main body. It is the schematic which shows the 1st modification of the capsule type medical device of FIG. It is the schematic which shows the 2nd modification of the capsule type medical device of FIG. It is the schematic which shows the 3rd modification of the capsule type medical device of FIG. FIG. 38 is a front view of a capsule medical device showing a change in the outer diameter of the spiral of the spiral structure portion of FIG. 37. It is the schematic which shows the structure of the capsule type medical device of Example 10 of this invention. FIG. 40 is a front view of a capsule medical device showing changes in the outer diameter of the spiral of the helical structure of FIG. 39. FIG. 40 is a schematic diagram illustrating a second modification of the capsule medical device in FIG. 39. It is the schematic which shows the structure of the capsule type medical device of Example 11 of this invention. It is a front view of the capsule type medical device which shows operation | movement of the columnar elastic body formed in the shape where a cross-sectional secondary moment becomes small in the outer peripheral direction of a capsule main body. It is the schematic which shows the structure of the capsule type medical device of Example 12 of this invention. It is the schematic which shows the 1st modification of the capsule type medical device of FIG. It is the schematic which shows the 2nd modification of the capsule type medical device of FIG. It is the schematic which shows the 3rd modification of the capsule type medical device of FIG. It is a front view of the capsule type medical device which shows the helical outer diameter change of the helical structure part of FIG.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Capsule type medical device guidance system 3 Capsule type medical device 4 Capsule control device 5 Magnetic field generator 6 AC power supply device 8 Magnet 22 Imaging element 23 Illumination element 30 Motor 41 Front end cover 42 Capsule body 43 Capsule rear end part 44 Spiral structure part 45 bearing

Claims (3)

An insertion section body to be inserted into the subject;
A rotation mechanism for rotating the insertion portion main body;
A helical structure portion that is separated from the outer surface of the insertion portion main body in a radial direction to convert the rotational movement of the insertion portion main body by the rotation mechanism into a propulsive force; and
A spiral outer diameter changing means for changing a spiral outer diameter of the spiral structure portion provided separately in a radial direction with respect to an outer surface of the insertion portion main body;
Equipped with,
The spiral outer diameter changing means fixes one end or the other end of the spiral structure portion so as to be movable in an outer peripheral direction or a longitudinal axis direction of the insertion portion main body, and this fixing position is fixed to the insertion portion main body. An in- subject insertion apparatus characterized in that the helical outer diameter of the helical structure portion is changed by moving in the outer circumferential direction or the longitudinal axis direction . An insertion section body to be inserted into the subject;
A rotation mechanism for rotating the insertion portion main body;
A helical structure portion that is separated from the outer surface of the insertion portion main body in a radial direction to convert the rotational movement of the insertion portion main body by the rotation mechanism into a propulsive force; and
A spiral outer diameter changing means for changing a spiral outer diameter of the spiral structure portion provided separately in a radial direction with respect to an outer surface of the insertion portion main body;
Comprising
The spiral outer diameter changing means changes the spiral outer diameter of the spiral structure portion by changing the length of the spiral structure portion spaced from the outer surface of the insertion portion main body in the spiral direction. In- subject insertion device. An insertion section body to be inserted into the subject;
A rotation mechanism for rotating the insertion portion main body;
A helical structure portion that is separated from the outer surface of the insertion portion main body in a radial direction to convert the rotational movement of the insertion portion main body by the rotation mechanism into a propulsive force; and
A spiral outer diameter changing means for changing a spiral outer diameter of the spiral structure portion provided separately in a radial direction with respect to an outer surface of the insertion portion main body;
Comprising
The spiral outer diameter changing means is provided between the insertion portion main body and the spiral structure portion, and changes the distance between the insertion portion main body and the spiral structure portion to thereby change the spiral outer diameter of the spiral structure portion. An intra-subject insertion device characterized by being changed .

Images