JP4875364B2 - Rotating self-propelled endoscope - Google Patents

Description

  The present invention relates to a rotary self-propelled endoscope in which an insertion portion and an operation portion are detachable.

  As is well known, endoscopes are widely used in various fields such as medical care and industry for the purpose of observing a site that cannot be directly visually observed, such as in a tube, and are generally elongated and inserted into a test site. An insertion portion is provided.

Various types of endoscopes are known as such endoscopes. For example, in an endoscope in which an insertion portion is inserted into the large intestine by the transanus, a rotary cylinder that is rotatable around an axis having a spiral-shaped portion is provided on the outer periphery of the insertion portion, and the rotation cylinder By rotating the body with a motor or the like, the rotation itself that can automatically insert the insertion portion into the large intestine by the screw action using the friction generated between the spiral-shaped portion and the intestinal wall. A traveling endoscope is known.
As described above, for example, Patent Document 1 discloses a technique for inserting a medical device such as an endoscope into a body cavity by using friction between a rotating member and tissue in the body cavity. Patent Literature 1 discloses a medical device propulsion device that can easily guide a minimally invasive medical device to a deep portion of a living body tube.

  In this propulsion device, the rotating member is provided with an inclined rib with respect to the axial direction of the rotating member. For this reason, by rotating the rotating member, the rotational force of the rotating member is converted into a propulsive force by the rib, and the medical device connected to the propulsion device is moved in the deep direction by the propulsive force.

  There are various types of endoscopes using such technology. For example, in an endoscope that is designed to be inserted into the large intestine by the transanus, on the outer peripheral side of the insertion portion. Rotating self-propelled, which is provided with a flexible rotating cylinder that can rotate around an axis, and can be automatically inserted into a body cavity by rotating the rotating cylinder There is an endoscopic device. In addition, the rotating cylinder is long for insertion into a body cavity, and a metal having a good rotation transmission property is used as the material thereof.

  Regardless of the above-mentioned rotary self-propelled endoscope, medical endoscopes are detachable from the insertion section and the operation section from the viewpoint of storage when not in use and sterilization workability after use. The configuration is preferable.

Thus, for example, Patent Document 2 discloses a hand operation unit detachable endoscope in which a hand operation unit and a main body can be separated.
JP-A-10-113396 Japanese Utility Model Publication No. 5-20704

  Regardless of the above-mentioned rotary self-propelled endoscope, medical endoscopes are detachable from the insertion section and the operation section from the viewpoint of storage when not in use and sterilization workability after use. The configuration is preferable.

  However, when the insertion portion and the operation portion are made detachable, the rotary self-propelled endoscope ensures the rotational driving force from the operation portion side to the rotating cylinder that is rotatably disposed on the outer periphery of the insertion portion. There was a problem that it had to be a structure that could be transmitted to.

  In other words, in the rotary self-propelled endoscope in which the insertion portion and the operation portion are detachable, the insertion property of the insertion portion into the body cavity is reduced unless a sufficient rotational driving force is transmitted to the rotating cylinder. There was a problem.

  In addition, the hand operating part detachable endoscope described in Patent Document 2 is configured such that when the hand operating part and the main body are connected, the fasteners connected to the two pulling wires on the main body side are connected to each hand operating part. You must manually engage each joint bracket. Further, in recent endoscopes, a bending portion (bending portion) that can be bent in four directions (up, down, left, and right) has become mainstream so that an advanced procedure can be performed.

  Therefore, the hand-operated part detachable endoscope manually engages and connects each of the fasteners connected to a plurality of, for example, four pulling wires to each joint metal when the hand operating part and the main body are connected. This is a configuration that involves troublesome work for the user.

  Further, in the case of the hand operation unit detachable endoscope that bends the bending portion (bending portion) in four directions, the user can pull the four pieces of pulling wires that pull the pieces inside the bending portion (bending portion) in a predetermined manner. It is necessary to engage with the joint bracket that has been determined. That is, the user must selectively engage the pulling wire that bends the bending portion in any of the up, down, left, and right directions into each joint fitting corresponding to the up, down, left, and right.

  In such a configuration in which the traction wire is manually connected to the joint bracket, there is a case where the traction wire and the joint bracket may be erroneously connected, and the connectivity between the hand control unit and the main body is troublesome and the usability is very poor. was there.

  Furthermore, in the hand-operated part detachable endoscope described in Patent Document 2, the captured endoscope image is a fiberscope type. In recent years, endoscopes in which an image pickup element and a light source for illumination are arranged at the distal end have become mainstream.

  Therefore, in an endoscope in which the insertion portion and the operation portion are detachable, an electrical contact portion for reliably transmitting and receiving power and a communication signal to the imaging element and the illumination light source when the insertion portion and the operation portion are connected. (Connector) must be provided. In addition, the electrical contact portion can be provided outside the endoscope. However, the user does not have to perform a troublesome operation if the configuration is such that the insertion portion and the operation portion are connected at the same time.

  Further, when an electrical contact portion (connector) is disposed outside the endoscope, connection of the electrical contact portion (connector) may be forgotten, erroneous connection, poor contact, or the like may occur.

The present invention has been made in view of the above-described circumstances. An insertion portion having a bending portion and an operation portion for performing a bending operation of the bending portion are detachable, and the insertion portion is rotated from the operation portion side. a cylindrical body to ensure the rotational drive force transmitting rotation driving force of the operation unit side and the insertion portion side for transmitting the connection, the operation unit side and the insertion portion of the plurality of operation wires bending operation by pulling the curved portion It is an object of the present invention to provide an easy-to-use rotary self-propelled endoscope that can easily and surely connect at the same time when the insertion portion and the operation portion are connected .

In order to achieve the above object, a rotary self-propelled endoscope according to one aspect of the present invention includes an insertion portion main body having a curved portion on the distal end side, and a rotating cylinder that is rotatably fitted to the insertion portion main body. An insertion portion including: an operation portion that is separate from the insertion portion; and an operation portion that is provided on the operation portion and that engages with the rotary cylinder and rotates the rotary cylinder relative to the insertion portion main body. A driving means, a plurality of bending operation wires that are inserted into the insertion portion and bend the bending portion in a predetermined direction according to a front and rear pulling direction, and the plurality of bending operation wires are freely pulled by the operation portion. A coupling mechanism that allows the insertion unit and the operation unit to be coupled, and the coupling mechanism is disposed on the insertion unit side and includes a plurality of clips provided at respective end portions of the plurality of bending operation wires. The above-mentioned operation is arranged on the bracket and the operation part side Interlocked with the operation of the operation lever provided on the front and rear in the forward / backward pulling direction, and when the insertion portion and the operation portion are connected, the plurality of fasteners are engaged with each other. A plurality of bending operation wire locking members provided with a plurality of recesses arranged side by side in the pulling direction of the operation wire; and a first member that transmits the pulling operation of the plurality of bending operation wires in the operation unit to the insertion unit. 1 of the connection, a second connection for transmitting a rotational driving force of the upper SL drive means to said rotating cylindrical body, that enables.

According to the rotary self-propelled endoscope of the present invention, the insertion portion provided with the bending portion and the operation portion for performing the bending operation of the bending portion are made detachable, and the rotating cylinder of the insertion portion is provided from the operation portion side. the connection of the rotary drive force transmitting portion of reliably operating portion for transmitting a rotational driving force and the insertion portion side in the body, the operation unit side and the insertion portion side of the plurality of operation wires bending operation by pulling the curved portion It is possible to easily and reliably connect the insertion portion and the operation portion at a time when connecting the insertion portion and the operation portion .

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

  1 to 112 relate to an embodiment of the present invention, FIG. 1 is an overall configuration diagram of a rotary self-propelled endoscope system, and FIG. 2 is a distal end portion, a bending portion, and a rotating cylinder of an endoscope. FIG. 3 is a perspective view showing the insertion aid, FIG. 4 is an exploded perspective view of the insertion aid to which the guide tube is connected, and FIG. 5 is a cross-section of the insertion aid to which the guide tube is connected. 6 is a cross-sectional view showing the proximal end portion of the insertion aid to which the guide tube is connected, FIG. 7 is a cross-sectional view of the insertion aid along the line VII-VII in FIG. 6, and FIG. FIG. 9 is a sectional view of the storage case body, FIG. 10 is a plan view of the storage case body viewed from one side, and FIG. 11 is an enlarged view showing one side of the storage case body to which the guide tube fixing member is attached. 12 is an enlarged plan view showing a state where a guide tube fixing member is attached to one side surface of the storage case main body of FIG. 3 is an exploded perspective view of the guide tube fixing member on which the propulsive force generating member is disposed. FIG. 14 is a partial cross-sectional view of the guide tube fixing member on which the propulsive force generating member is disposed as viewed from the vertical direction of the storage case body. 15 is a partial cross-sectional view of a guide tube fixing member on which a propulsive force generating member is disposed as viewed from the left-right direction of the storage case body, FIG. 16 is a plan view showing the propulsive force generating member, and FIG. FIG. 18 is a partial sectional view of the guide tube fixing member on the operation unit side, and FIG. 19 shows the connection state of the operation unit side guide tube and the connector cover. FIG. 20 is a sectional view showing a part of the connector cover to which the operation unit side guide tube is connected. FIG. 21 is a plan view of the connector box showing a section taken along line XXI-XXI in FIG. Is a state in which the rotating cylinder of the main body of the insertion portion is inserted into the guide tube 23 is a cross-sectional view of the rotary cylinder of the insertion portion main body in the storage case main body as viewed from one side, FIG. 24 is a plan view of the connector cover as viewed from the opening side, and FIG. 26 is a cross-sectional view of the connector cover along the line XXV-XXV, FIG. 26 is a cross-sectional view of the connector cover along the line XXVI-XXVI in FIG. 25, and FIG. 27 is a plan view of the connector main body of the connector cover viewed from the base end side. FIG. 28 is a view for explaining a locking convex portion obtained by enlarging the circle XXVIII in FIG. 27, and FIG. 29 is a view for explaining an insertion portion side gear, a rotating shaft, a bearing, and an elastic member arranged in the connector body. FIG. 30 is a diagram for explaining the electrical connector and the elastic member, FIG. 31 is a diagram for explaining the built-in object holder and the elastic member, and FIG. 32 is a back side view of the assembled connector main body. A perspective view with 33 is a plan view showing the upper surface of the wire connection plate, FIG. 34 is a plan view showing the back surface of the wire connection plate, FIG. 35 is a sectional view of the wire connection plate along the line XXXV-XXXV in FIG. 33 and FIG. 36 is a side view of the wire connection plate, FIG. 37 is a plan view of the wire connection plate viewed from the proximal end side, FIG. 38 is a plan view of the wire connection plate viewed from the distal end side, and FIG. 39 is connected to the bending operation wire. FIG. 40 is a plan view of the wire fastener as seen from the distal end side, FIG. 41 is a partial sectional view showing the side surface of the wire fastener, and FIG. 42 is a view of the wire fastener as seen from the proximal end side. 43 is a plan view, FIG. 43 is a diagram for explaining a state in which the wire fastener is disposed on the wire connection plate, and FIG. 44 is a plan view seen from the proximal direction of the wire connection plate in which the wire fastener is disposed; FIG. 45 is a view showing a state where the wire connecting plate is attached to the connector body. 46 is a diagram for explaining a state in which the wire connecting plate has moved relative to the connector body, FIG. 47 is a top view of the connector cover, FIG. 48 is a rear view of the connector cover, and FIG. 49 is a line 4XIX-4XIX shown in FIG. FIG. 50 is a cross-sectional view of the connector cover taken along line 5X-5X in FIG. 49, FIG. 51 is a top view showing the operation unit, and FIG. 52 is a plan view showing the back of the main operation unit. 53 is a top view of the motor box, FIG. 54 is a sectional view of the motor box, FIG. 55 is a perspective view of the female electrical connector, FIG. 56 is a lateral sectional view of the electrical connector, and FIG. 58 is a perspective view showing the motor cover, FIG. 59 is a cross-sectional view for explaining the engagement hole portion of the motor cover, and FIG. 60 is a diagram showing the internal configuration of the gripping portion and the main operation portion. 61 is the same as 6 in FIG. 62 is a cross-sectional view of the gripper along the line I-6XI, FIG. 62 is a cross-sectional view of the gripper along the line 6XII-6XII in FIG. 60, and FIG. 63 is a diagram illustrating the internal configuration of the gripper and the main operation unit. 64 is a perspective view showing the connecting member, FIG. 65 is a perspective view showing the stopper, FIGS. 66 and 67 are views for explaining a state where the connecting member is in contact with the stopper, and FIG. 68 shows the first guide plate. 69 is a perspective view showing the second guide plate, FIG. 70 is a perspective view showing a state before the connector cover is docked to the motor box, and FIG. 71 is a perspective view showing a state where the connector cover is docked to the motor box. 72 is a sectional view showing a state before the connector cover is docked to the motor box, FIG. 73 is a sectional view showing a state where the connector cover is docked to the motor box, and FIG. 75 is a top view showing a state before docking to the data box, FIG. 75 is a side view showing the state before the connector cover is docked to the motor box, and FIG. 76 is a partial sectional view showing a state where the wire connecting plate is guided by the guide plate. 77 is a diagram for explaining a state in which the engaging convex portion of the motor box is guided by the straight groove of the connector cover, FIG. 78 is a side view showing a state immediately before the connector cover is docked with the motor box, and FIG. 81 to FIG. 81 are views for explaining a state in which the wire connection plate is guided by the second guide plate, and FIGS. 82 to 85 are diagrams in which the wire fasteners of the wire connection plate are engaged with the fastener locking holes of the connecting member. 86 is a side view showing a state in which the connector cover is docked with the motor box, and FIGS. 87 to 90 are views showing the engagement protrusions of the motor box connected to each other. FIG. 91 is an enlarged plan view showing a state in which the engagement convex portion is engaged with the engagement hole. FIG. 91 is a view for explaining a state of being guided by the cover guide groove and the inclined surface and being engaged with the engagement hole. FIGS. 92 to 94 are views for explaining a state in which the engaging leg portion of the bearing is engaged with the engaging hole portion of the motor cover. FIGS. 95 and 96 are diagrams illustrating the engaging leg portion of the bearing of the motor cover. FIGS. 97 and 98 are diagrams for explaining a state in which the insertion portion side gear and the motor gear are engaged with each other, FIGS. 97 and 98 are diagrams for explaining the operation of the elastic member fixed to the bearing. FIGS. 99 to 101 are views for explaining the operation in meshing between the insertion portion side gear and the motor gear, and FIGS. 102 to 105 are projections of the male electrical connector in the connection between the male electrical connector and the female electrical connector. The figure for demonstrating the effect | action of the elastic member fixed by the part 106 is a top view showing a state where the connector cover is docked to the motor box, FIG. 107 is a plan view of the storage case body as seen from above, and FIG. 108 shows a state where the insertion assisting tool is inserted from the anus of the patient into the rectum. FIG. 109 is a diagram for explaining the action, FIG. 109 is a diagram for explaining the action of the insertion portion main body inserted into the large intestine, and FIG. 110 is a diagram showing the action of the insertion portion main body inserted into the large intestine. FIGS. 111 and 112 are diagrams for explaining the operation when the vicinity is reached and the connector cover is detached from the motor box.

First, the overall configuration of the rotary self-propelled endoscope system 1 will be described with reference to FIG.
As shown in FIG. 1, a rotating self-propelled endoscope system (hereinafter abbreviated as an endoscope system) 1 includes a rotating self-propelled endoscope (hereinafter abbreviated as an endoscope) 2; The controller 3, the monitor 4, and the aspirator 5 are mainly configured.

The endoscope 2 is mainly configured by an endoscope insertion portion 6 with a storage case and an operation portion 7.
The endoscope insertion portion 6 with a storage case includes, in order from the distal end, a distal end rigid portion (hereinafter simply referred to as a distal end portion) 8, a bending portion 9, an insertion portion main body 10, a rotating cylinder 51, and an insertion assist. A tool 11, an insertion portion storage case body (hereinafter abbreviated as a storage case body) 12, and a distal guide tube 13 that is a corrugated tube interposed between the insertion aid 11 and the storage case body 12. The operation unit side guide tube 14 which is a corrugated tube interposed between the operation unit 7 and the storage case main body 12 and the connector cover 15 to which one end of the operation unit side guide tube 14 is connected. It is mainly composed.

The operation unit 7 is composed of a motor box 16 that is a rotating means to which a connector cover 15 constituting a part of the endoscope insertion unit 6 with a storage case is detachable, a gripping unit 17, and a main operation unit 18. It is configured. The connector cover 15 and the motor box 16 described above constitute a connecting portion of the endoscope 2 according to the present embodiment. By connecting (docking) the connector cover 15 and the motor box 16, various types of the endoscope 2 are provided. A first function connection, a second function connection, and a third function connection, which will be described later, for enabling the function are performed.
The main operation portion 18 is a bending operation that is an operation lever that bends the bending portion 9 of the endoscope insertion portion 6 with a storage case in four directions (up and down, left and right directions corresponding to the endoscope image captured by the endoscope 2). A knob 19, buttons 20 for feeding or sucking a fluid, and switches 21 for operating various optical systems such as imaging and illumination and devices such as a printer are disposed.

  The bending operation knob 19 is disposed on one surface of the main operation portion 18 of the operation portion 7 so that two substantially disk-shaped knobs are overlapped. These two knobs are rotatably arranged, and a U (UP) / D (DOWN) bending operation knob 19a for operating the above-mentioned vertical direction of the bending portion 9 on the main operation portion 18 side, and this U The bending operation knob 19b for R (RIGHT) / L (LEFT) for operating the left-right direction of the bending portion 9 on the bending operation knob 19a for / D.

  A universal cord 18a, which is an electric cable, is extended from one side surface of the main operation unit 18. Further, the main operation portion 18 is provided with a bend preventing portion 18b at a root portion where the universal cord 18a extends.

  A connector portion 22 is disposed at the extending end of the universal cord 18a. The connector portion 22 is connected to the control device 3.

  The buttons 20 disposed on one side surface of the main operation unit 18 are used for supplying gas from the distal end portion 8 of the endoscope 2 into the subject or operating when supplying liquid. It consists of a water supply button 20a and a suction button 20b that is operated when sucking liquid such as filth from the subject from the distal end portion 8 of the endoscope 2.

  From the connector cover 15 attached to and detached from the motor box 16, three tubes 23 inserted through the endoscope insertion portion 6 with a storage case extend. The three tubes 23 include an air supply tube 23a, a water supply tube 23b, and a suction tube 23c. The extended ends of these three tubes 23 are connected to each other at predetermined positions on the front surface of the control device 3 via detachable connectors.

  The control device 3 is provided with a water supply tank 24. Distilled water or physiological saline is stored in the water supply tank 24. Distilled water or physiological saline is supplied to the water supply tube 23b by the control device 3 when the air / water supply button 20a of the main operation unit 18 is operated in a predetermined manner, and the distal end of the endoscope 2 is supplied. It ejects from the part 8. When the air / water supply button 20a of the main operation unit 18 is operated in a predetermined manner, air from a compressor (not shown) in the control device 3 is supplied to the air supply tube 23a. It ejects from the distal end portion 8 of the endoscope 2.

  Further, when the suction button 20b is operated, filth and the like are sucked from the distal end portion 8 of the endoscope 2, and the filth and the like are sent from the control device 3 to the aspirator 5 through the suction tube 23c. In the rotary self-propelled endoscope system 1 according to the present embodiment, the suction device 5 is used, but a suction system provided in a hospital may be used.

  A foot switch 25 is connected to the control device 3 via an electric cable 25a. The foot switch 25 is a switch for rotating / stopping the insertion portion main body 10 of the endoscope 2 in a predetermined direction. An advance / retreat switch for operating and stopping the rotation direction of the insertion portion main body 10 is also provided in a main operation portion 18 of the operation portion 7 (not shown), which will be described later.

Further, a power switch, a dial for changing the rotation speed of the insertion portion of the endoscope 2 and the like are disposed on the front surface of the control device 3. The motor box 16 of the operation unit 7 incorporates a motor (not shown) that applies a rotational force to the insertion unit.
The control device 3 is electrically connected to the monitor 4. The monitor 4 displays an endoscopic image captured by the endoscope 2.

  Next, the distal end portion 8, the bending portion 9, the insertion portion main body 10, and the rotating cylinder 51 that constitute the insertion portion of the endoscope 2 will be described with reference to FIG. 2.

First, the tip 8 will be described.
The distal end portion 8 is mainly composed of a hard substantially annular main body ring 26 made of a biocompatible synthetic resin and an imaging unit 27.

  The imaging unit 27 includes a substantially annular holding ring 28a made of a synthetic resin accommodated in the main body ring 26, and a substantially annular cover ring 28b made of metal fitted on the proximal end side of the holding ring 28a. An outer shape is formed by a cover body 29 that is fitted so as to hermetically seal the tip opening of the holding ring 28a and is formed in a dome shape by a biocompatible transparent synthetic resin.

  In the space of the image pickup unit 27 formed by these members, an image pickup device 31 such as an objective lens group 30 and a CCD or CMOS arranged at a position where photographing light incident on the objective lens group 30 is collected. And a flexible printed circuit board (FPC) 32 to which an image signal photoelectrically converted by the image sensor 31 is input.

  A communication cable 33 is connected to the FPC 32. The communication cable 33 is inserted into the bending portion 9 and the insertion portion main body 10 and connected to a connector (not shown) disposed on the connector cover 15 (see FIG. 1).

  In addition, a plurality of LEDs 34 that are illumination members are disposed on the plate body 35 that fixes the holding ring that holds the objective lens group 30 so as to surround the objective lens group 30. The plate body 35 is formed in a substantially circular shape so that it can be fixed to the inner surface on the extension line at a portion passing through the approximate center of the cover body 29. The objective lens group 30 is arranged so that the optical axis passes through a substantially central position on the plate surface of the plate body 35.

  The imaging unit 27 configured as described above is disposed at a position that is eccentric with respect to the center of the main body ring 26, and is fixed to the main body ring 26 by a front end cap 36 that is disposed in a front end side opening of the main body ring 26. Has been.

  In the gap formed between the holding ring 28a of the imaging unit 27 and the main body ring 26, a distal end portion of the suction tube 23c and a suction tube 37 connected to the proximal end side of the suction tube 23c are arranged. . The distal end portion of the suction tube 37 is fixed to the distal end cap 36.

  A suction opening 38 is formed in the distal end cap 36. Although not shown, pipes communicating with the air-feeding tube 23a and the water-feeding tube 23b are provided using the gap formed between the holding ring 28a and the main body ring 26 described above. An opening of the conduit is also formed in the tip cap 36.

Next, the bending portion 9 will be described.
The bending portion 9 includes a hard distal bending piece 39 fitted in the proximal end opening of the body ring 26 of the distal end portion 8 and a plurality of hard bending pieces 40 (also referred to as curved nodal rings). 40a is rotatably connected. The pieces 39 and 40 are covered with a curved outer skin 41 made of an elastic member such as biocompatible fluoro rubber. A distal end portion of the curved outer skin 41 is fixed to a proximal end portion of the main body ring 26 of the distal end portion 8 by a bobbin adhering portion 42.

  The plurality of bending pieces 40 have wire guides 43 protruding from the inner peripheral surface thereof toward the center. A bending operation wire 44 (also referred to as an angle wire) is inserted through the wire guide 43.

  There are four tip portions of the bending operation wire 44 in the bending portion 9 (only two are shown in FIG. 2), and a cylindrical locking member 45 is welded to each of them by solder or the like. Each of the bending operation wires 44 has a locking member 45 locked in four locking holes 39 a formed in the distal bending piece 39.

  The four locking hole portions 39a are formed at four equally spaced positions on the surface orthogonal to the axis of the distal bending piece 39. The distal bending piece 39 has a direction around the axis so that the respective locking hole portions 39a are positioned corresponding to the upper, lower, left and right of the endoscopic image. Therefore, the four bending operation wires 44 are held and fixed at four points that are spaced apart at substantially equal intervals in the vertical and horizontal directions.

  Further, these bending operation wires 44 are inserted into the insertion portion main body 10 and arranged up to the connector cover 15. A wire clamp (not shown), which will be described later, is provided at the base end portion of each bending operation wire 44. The wire clamp of each bending operation wire 44 is a connecting member that is a bending wire locking member (not shown here), which is provided in the gripping portion 17 in a state where the connector cover 15 is integrated with the motor box 16. Are connected correspondingly.

  Each connecting member is connected by a bending operation mechanism (not shown here), which is interlocked with a bending operation knob 19 disposed in the main operation portion 18, and a later-described chain (not shown). That is, when the bending operation knob 19 is rotated, the connecting members are alternately pulled or relaxed by the bending operation mechanism, and the bending operation wires 44 are alternately pulled or relaxed in conjunction with the movement. It has become.

  Accordingly, when the four bending operation wires 44 are pulled and loosened back and forth, the plurality of bending pieces 40 rotate correspondingly. Thus, the bending portion 9 is bent in the four directions described above.

The proximal end portion of the bending portion 9 includes a first base 46 made of a metal for fixing a coil pipe fitted inside the bending piece 40 at the most proximal end, and an outer peripheral side of the bending piece 40 at the most proximal end. A second base 47 made of a metal for fixing the inner layer tube that is fitted to the second base 47, and a second plastic made of a synthetic resin for rotatably engaging the rotating cylinder fitted to the outer peripheral side of the second base 47. A three-piece base 48 is provided. These caps 46 to 48 are firmly fixed with an adhesive or the like.
The curved outer skin 41 described above is fixed to the third base 48 by a bobbin adhering portion 42.

  The bending operation wires 44 are inserted through the coil sheath 49 on the base end side from the first base 46, respectively. The distal end portion of the coil sheath 49 is inserted and fixed in a hole formed in the first base 46. The coil sheath 49 used in the present embodiment has an incompressible structure in which a wire is tightly wound in a pipe shape.

  The proximal end portion of the second base 47 is fixed to the distal end portion of a soft inner tube 49a that is inserted into the insertion portion. The inner layer tube 49a may be a tube body in which a thin wire or the like is knitted into a cylindrical shape to give flexibility.

  A protrusion 48 a is provided at the base end portion of the third base 48. The third base 48 is completely covered by the curved outer skin 41 so that a gap is formed on the outer peripheral side of the protrusion 48a. The operation of the protrusion 48a will be described later.

Next, the insertion portion main body 10 will be described.
The insertion portion main body 10 is mainly composed of a base 50 made of a synthetic resin for connection at a distal end portion, and a rotating cylinder 51 which is a spiral tube constituting an outer skin in which the base 50 and the distal end portion are fixed by an adhesive 52. It is configured.

  In the insertion portion main body 10, the above-described inner layer tube 49a, four coil sheaths 49 through which the bending operation wires 44 are inserted, the communication cable 33, and various tubes 23 (not shown) are arranged. That is, as can be seen from the figure, the inner layer tube 49a is the outermost side and protects the internal components.

  A base 50 made of a synthetic resin for connection is fixed to the end portion of the rotating cylinder 51 and an end portion is fixed by an adhesive 52.

  The base 50 is provided with a concavo-convex portion 50 a that engages with the protrusion 48 a of the third base 48 of the bending portion 9 described above at the tip portion. That is, the base 50 and the third base 48 are rotatable about their respective axes. That is, the insertion portion main body 10 is configured to rotate about the axis of the inner layer tube 49a but not to rotate itself, as will be described later.

  The rotating cylinder 51 connected to the base 50 is a cylinder having flexibility by spirally winding a biocompatible metal plate processed so that the cross-sectional shape is uneven. The rotating cylinder 51 has the above-described irregularities engaged with each other with almost no gap, and is provided on the outer peripheral surface so as to be continuously provided along a spiral convex portion (or a spiral concave portion, or further along the spiral). The spiral-shaped part 51a used as the convex part etc. to be formed is formed.

  Specifically, the rotating cylinder 51 is a spiral tube that takes into consideration the insertion into the body cavity, and is made of, for example, stainless steel and has a predetermined diameter dimension. In addition, the rotating cylinder 51 can be set to various pitches, spiral angles, and the like by changing the size of the unevenness formed on the plate. Note that the width of the convex portion forming the spiral-shaped portion 51a is set larger than the width of the concave portion. Thereby, even if it overlaps in the state in which the rotating cylinder 51 which forms the external shape of an insertion part curved, a convex part is prevented from entering into a recessed part.

  The rotating cylinder 51 is configured to be rotatable around an axis in the insertion direction. When the rotating cylinder 51 rotates, the spiral-shaped portion 51a on the outer peripheral surface comes into contact with the body cavity inner wall of the subject to generate thrust, and the rotating cylinder 51 itself tends to advance in the insertion direction.

  At this time, the base 50 fixed to the distal end portion of the rotating cylinder 51 is brought into contact with the third base 48 at the proximal end portion of the bending portion 9 to press the bending portion 9, and the insertion including the distal end portion 8 is performed. A propulsive force is applied to advance the entire part toward the deep part in the body cavity.

  The rotating cylinder 51 is given a rotational force by a motor (not shown) that constitutes a part of rotating means disposed in the motor box 16 (see FIG. 1) of the operation unit 7. In the present embodiment, the distal end portion 8, the bending portion 9, the insertion portion main body 10, and the rotating cylindrical body 51 constitute the insertion portion of the rotary self-propelled endoscope 2.

Next, the insertion assisting tool 11 will be described with reference to FIGS.
As shown in FIG. 3, the insertion assisting tool 11 is composed mainly of an insertion tube 53, an intrusion prevention unit 54 that is an intrusion prevention means, a holding tube 55, a first fixed ring 56, and a second fixed ring 57. It is configured.

  The insertion tube 53, the intrusion prevention unit 54, and the holding tube 55 are integrated to constitute a tube body 58 in the insertion assisting tool 11.

  The holding tube 55 is a substantially cylindrical metal ring (a hard cylinder made of synthetic resin, plastic, or the like) having a shape in which outer peripheral portions at both ends protrude in the outer diameter direction. As shown in FIG. 4, the holding tube 55 has a female screw portion 55 a formed on the inner peripheral surface on the base end side.

  The first fixed ring 56 is a substantially cylindrical metal ring (a rigid cylinder made of synthetic resin, plastic, or the like) having a shape in which a base end outer peripheral portion protrudes in the outer diameter direction. At the base end portion of the first fixed ring 56, a male screw portion 56a is formed on the outer peripheral surface side, and a female screw portion 56b is formed on the inner peripheral surface side.

  The second fixed ring 57 is a substantially cylindrical metal ring (a hard cylinder made of synthetic resin, plastic, or the like) having a shape in which a midway outer peripheral portion protrudes in the outer diameter direction. A male screw portion 57 a is formed on the outer peripheral surface side at the tip portion of the second fixed ring 57.

  The distal end side guide tube 13 is inserted into the second fixed ring 57. The distal end side guide tube 13 is inserted so as to protrude at the distal end side of the second fixed ring 57, and a retaining ring 59 that separates into two from the outer peripheral direction of the projected distal end portion is fitted. In addition, the detailed description regarding the front end side guide tube 13 and the detailed description regarding the fixation to the insertion assisting tool 11 by the retaining ring 59 will be described later.

  As shown in FIG. 5, the insertion tube 53 forms a main body with a substantially annular tip insertion tube 53a made of a synthetic resin having flexibility such as silicon having a tapered surface on the outer periphery so as to be tapered. And a connecting ring 53c that connects the distal end insertion tube 53a and the insertion cylinder 53b on the inner peripheral side.

  The insertion cylinder 53b is composed of an outer tube 53d formed of a synthetic resin such as polyurethane in order from the outer surface side, a blade 53e formed into a cylindrical shape by weaving metal wires in a mesh shape, and a metallic spiral tube. It has a certain flex tube 53f and an inner tube 53g made of a synthetic resin such as polyurethane.

  The outer tube 53d, the blade 53e, the flex tube 53f, and the inner tube 53g have a four-layer structure and are fixed so that corresponding members are integrated by bonding, welding, or the like. Thereby, the insertion cylinder 53b is a flexible tube having a predetermined rigidity.

  Note that the insertion cylinder 53b may be formed as a cylinder made of a single member when the predetermined rigidity and the predetermined flexibility are sufficiently obtained. Furthermore, the insertion cylinder 53b may be provided with a coating such as Teflon (registered trademark) for improving the slipperiness on the outer peripheral surface and the inner peripheral surface thereof. The above-described intrusion prevention portion 54, which is a hollow disk made of a synthetic resin such as silicon, is disposed at the proximal end portion of the insertion cylinder 53b.

  The intrusion prevention portion 54 has a hole diameter set smaller than the outer shape of the insertion cylinder 54b. The intrusion prevention portion 54 has a predetermined holding strength and is firmly fixed to the insertion cylinder 53b by elastic deformation thereof. Thereby, by changing the position of the intrusion prevention portion 54, a desired insertion length into the body cavity from the distal end of the insertion tube 53 to the proximal end can be set.

  Further, as shown in FIG. 5, the proximal end portion of the insertion cylinder 53b has a three-layer structure of a blade 53e, a flex tube 53f, and an inner tube 53g, and is fixed to the annular base 60 by adhesion or the like. ing. The holding tube 55 is screwed to a base 60 that is a base end portion of the insertion cylinder 53 b of the insertion tube 53.

  The tube main body 58 has an opening 58a which is the tip opening of the tip insertion tube 53a described above at the tip. In addition, the opening part 58a comprises the opening part in the insertion auxiliary tool 11 for an insertion part to protrude.

  The first fixing ring 56 is fixed to the holding tube 55 serving as the base end portion of the tube main body 58 by screwing the male screw portion 56a of the first fixing ring 56 to the female screw portion 55a.

  The first fixed ring 56 is fitted with a retaining ring 59 through which the distal guide tube 13 is inserted, and the second fixed ring 57 is fixed. That is, the second fixed ring 57 is fixed to the first fixed ring 56 by screwing the female screw part 56 b of the first fixed ring 56 and the male screw part 57 a of the second fixed ring 57.

  At this time, the retaining ring 59 is fitted and fixed by the end face in the first fixed ring 56 and the end face in the second fixed ring, both end faces of which are opposed to each other. Further, the retaining ring 59 is formed with inward flanges 59a and 59b around an axis directed in the inner peripheral direction at the center portion and the base end portion of the inner peripheral surface thereof.

  These inward flanges 59a and 59b lock the corrugated irregularities of the distal guide tube 13 as shown in FIGS. Thereby, the distal end side guide tube 13 is connected to the insertion assisting tool 11. Further, the distal end side guide tube 13 is in a compressed state with the base end side surface of the step portion formed in the first fixed ring 56 at the portion indicated by the symbol F in FIG. Thus, the insertion assisting tool 11 and the watertightness are maintained and connected. That is, the insertion assisting tool 11 and the distal end side guide tube 13 form a pipe line in which the opening 58 a of the tube main body 58 becomes the distal end opening.

Next, the storage case body 12 will be described with reference to FIGS.
As shown in FIG. 8, the storage case main body 12 includes two transparent and translucent light-transmitting rectangular plates 61 and 62 such as an acrylic plate, and the two plates 61 and 62. These are mainly composed of a plurality of frame bodies 63a to 63f that are opposed to each other so as to be separated from each other by a predetermined distance, and two guide tube fixing members 64 and 65.

  The plate bodies 61 and 62 are semi-transparent or light-transmitting colored plates, so that it is difficult to see the dirt attached to the rotating cylinder 51 and the rotation of the rotating cylinder 51 can be visually recognized. Such a configuration can be adopted.

  L-shaped leg portions 66 are fixed to the corners of the opposite surfaces of the two plate bodies 61 and 62, respectively. Each of the leg portions 66 is fixed on each surface of the plate bodies 61 and 62 by bonding or the like so that each corner portion thereof matches one of the four corners of the plate bodies 61 and 62.

  Frame members 63a to 63f having the same dimension in the thickness direction are fixed to the plate members 61 and 62 by bonding or the like on each edge portion of the surface opposite to the surface to which the above-described leg portion 66 is fixed. That is, as described above, the two plate bodies 61 and 62 are fixed so that the respective plate surfaces are parallel to each other at a distance separated by the thickness of each of the frame bodies 63a to 63f.

  Each of these frame bodies 63a to 63f has a substantially quadrangular prism shape set to a predetermined length, and as shown in FIG. 9, four frames on the edge portions along the four sides of the plate bodies 61 and 62 are provided. Is provided. That is, in the storage case main body 12, an internal space is formed by the two plate bodies 61 and 62 and the frame bodies 63a to 63f.

  In addition, predetermined intervals are inserted between the one end of the frame body 63a and one end of the frame body 63b and between the one end of the frame body 63c and the one end of the frame body 63d, respectively. A gap 68 is formed at an interval. A smooth curved surface 69 is formed at corners on the inner side of the frames 63a to 63d forming the gap 68 so that the insertion portion can pass smoothly.

  Each guide tube fixing member 64, 65 is housed in a storage case by a fixing member 67 made of a bolt and a nut so as to span the frame bodies 63a, 63b or the frame bodies 63c, 63d positioned at the gap 68 described above. It is fixed to one side of the main body 12.

  Specifically, as shown in FIG. 10, each guide tube fixing member 64, 65 is made of metal (or may be a hard material made of synthetic resin, plastic, or the like). The shaped plate members 64b and 65b are fixed in shape.

  The guide tube fixing members 64 and 65 are fixed members 67 inserted into screw holes 67a (only the screw holes 67a of the frame bodies 63a and 63b are shown) formed in the frame bodies 63a to 63d. As shown in FIG. 10 and FIG.

  The guide tube fixing members 64 and 65 are fixed so that the holes of the cylinders 64a and 65a and the centers of the gaps 68 described above are aligned and communicated with the internal space of the storage case main body 12. . Further, the arrangement positions of the gap 68 and the guide tube fixing members 64 and 65 are side portions in the vicinity of the corners of the storage case main body 12, and the longitudinal axes of the cylinders 64a and 65a of the guide tube fixing members 64 and 65, respectively. Are set to be orthogonal. Further, the guide tube fixing members 64 and 65 are set so as not to be arranged near the same corner of the storage case main body 12.

  That is, as shown in FIG. 9, the optimal arrangement positions of the guide tube fixing members 64 and 65 are guided to the vicinity of the lower left corner of the side facing the downward direction of the storage case body 12 when viewed toward the paper surface. When the tube fixing member (hereinafter also referred to as the first guide tube fixing member) 64 is fixed, the guide tube fixing portion (hereinafter also referred to as the second guide tube fixing member) 65 is directed toward the paper surface. The storage case body 12 is fixed in the vicinity of the lower right corner of the side surface facing the left direction.

  Also, a rubber plate 76 (FIGS. 14, 15, and 15) for maintaining watertightness is provided between the plate members 64b and 65b of the guide tube fixing members 64 and 65 and the frames 63a to 63d. 17) is interposed.

  The first guide tube fixing member 64 is connected to the other end of the distal guide tube 13 whose one end is connected to the insertion assisting tool 11 described above.

  Specifically, as shown in FIG. 13, the cylindrical body 64 a of the first guide tube fixing member 64, which is a connecting portion that connects the storage case main body 12 and the distal end guide tube 13, has an inner periphery on the proximal end side. A female screw part 64c is formed on the surface. In this cylindrical body 64a, a first propulsive force generating member 70a, a first pressing ring 71, a second propelling force generating member 70b, and a second pressing ring 73 are arranged in order. And the external thread part 73a formed in the outer peripheral surface in the middle of the internal thread part 64c and the 3rd stationary ring 73 is screwed by the cylinder 64a.

  The third fixed ring 73 is a substantially cylindrical metal ring (a hard cylinder made of synthetic resin, plastic, or the like) having a shape in which a base end outer peripheral portion protrudes in the outer diameter direction. A female screw portion 73 b is formed on the inner peripheral surface of the third fixed ring 73 on the proximal end side.

  A retaining ring 74 through which the distal guide tube 13 is inserted is fitted into the third stationary ring 73 and a fourth stationary ring 75 is secured. That is, the fourth fixed ring 75 is fixed to the third fixed ring 73 by screwing the female screw part 73 b of the third fixed ring 73 and the male screw part 75 a of the fourth fixed ring 75.

  At this time, the retaining ring 74 is fitted and fixed in the third fixed ring 73 by the end face in the third fixed ring 73 and the end face in the fourth fixed ring 75 whose both end faces are opposed to each other. The retaining ring 74 is formed with inward flanges 74a and 74b around an axis directed in the inner peripheral direction at the center and the base end of the inner peripheral surface.

  These inward flanges 74a and 74b lock the corrugated irregularities of the distal guide tube 13 as shown in FIGS. As a result, the distal guide tube 13 is connected to the guide tube fixing member 64 via the third fixed ring 73 and the fourth fixed ring 75. Further, the distal end side guide tube 13 is in a compressed state with the surface on the distal end side of the step portion formed in the third fixed ring 73 in the portion indicated by the symbol G in FIG. Thus, the guide tube fixing member 64 and the third fixed ring 73 are connected in a state where watertightness is maintained.

  The two propulsive force generating members 70a and 70b, which are propulsive force generating means disposed in the first guide tube fixing member 64, are made of a substantially disk-shaped plate member having a predetermined thickness. .

  As shown in FIG. 16, each of the propulsive force generating members 70a and 70b is provided with a hole 77 at a substantially central portion. The hole 77 has a shape in which a corner portion of a substantially rectangular shape is formed in a curved shape. This curved formation is for preventing the propulsion force generating members 70a and 70b from tearing.

  The propulsion force generating members 70a and 70b are made of, for example, synthetic natural rubber or silicon rubber. For example, the material is an elastic body having a hardness range of A20 to A90 according to a spring type durometer hardness test type A (standard number: JIS-K-6253, International Organization for Standardization: ISO7619).

Here, using FIG. 14, FIG. 15, and FIG. 17, the two propulsive force generating members 70a and 70b, the two pressing rings 71 and 72, and the third fixed ring in the first guide tube fixing member 64 are used. Each arrangement of 73 will be described in detail.
First, the first propulsive force generating member 70a is disposed so as to contact the end surface of the plate member 64b at the connection position between the cylindrical body 64a of the first guide tube fixing member 64 and the plate member 64b. Next, the holding ring 71, the second propulsive force generating member 70 b, and the holding ring 72 are accommodated in the cylindrical body 64 a of the first guide tube fixing member 64 in this order. That is, in this state, a first propulsive force generating member 70a, a pressing ring 71, a second propelling force generating member 70b, and a pressing ring 72 are arranged in the cylindrical body 64a in this order from the base end side.

  Then, the third fixed ring 73 is inserted into the proximal end opening of the cylindrical body 64a, and the male screw portion 73a of the third fixed ring 73 and the female screw portion 64c of the cylindrical body 64a are screwed together. In this state, the first propulsive force generating member 70a is in a state of being sandwiched between the respective members, with the circumferential portion thereof being in contact with the end surface of the plate member 64b and the proximal end circumferential portion of the pressing ring 71.

  Further, the second propulsive force generating member 70b is in a state of being sandwiched between the respective members, with the circumferential portion thereof being in contact with the distal end circumferential portion of the retaining ring 71 and the proximal end circumferential portion of the retaining ring 72. . Then, the holding ring 72 is in a state in which the tip circumferential portion is pressed against the proximal end circumferential portion of the third fixed ring 73.

  The cylindrical body 64a, the two pressing rings 71 and 72, and the third fixed ring 73 have the axial lengths of the first and second thrust generating members 70a and 70b, respectively, with a predetermined pressing force. It is set so that it can be pinched. The distance between the opposing surfaces of the first propulsive force generating member 70 a and the second propulsive force generating member 70 b is the same distance as the axial length of the pressing ring 71. Therefore, the first propulsive force generating member 70a and the second propulsive force generating member 70b are set to be separated from each other by a predetermined distance depending on the axial length of the pressing ring 71.

  The distance at which the first propulsive force generating member 70a and the second propulsive force generating member 70b are separated from each other is set to a distance that is substantially equal to one pitch of the unevenness formed on the spiral-shaped portion 51a of the rotating cylinder 51. Yes. That is, the axial length of the pressing ring 71 and the plate thickness of each of the propulsion force generating members 70a and 70b are set corresponding to one pitch of the unevenness formed in the spiral-shaped portion 51a.

  Further, the end faces of the circumferential portions that press the propulsive force generating members 70a and 70b of the two holding rings 71 and 72 are surely brought into contact with the first and second propulsive force generating members 70a and 70b. In order to maintain the pinching property, a rough surface which is a displacement preventing means such as an uneven surface for preventing displacement may be formed. That is, the first and second propulsive force generating members 70a and 70b generate rough frictional forces on the contact surfaces with the rough surfaces by making the end surfaces of the two pressing rings 71 and 72 to be pressed rough. For this reason, the displacement from the external force is prevented, and the corresponding guide tube fixing member 64 is securely clamped.

  In the hole 77 of the first and second propulsive force generating members 70a and 70b installed in the guide tube fixing member 64 as described above, as shown in FIG. 10 is inserted. At this time, the first and second propulsive force generating members 70 a and 70 b are in a state where the rotating cylinder 51 is pressed by the elastic force at a part of the inner peripheral surface forming each hole 77.

  Further, as shown in FIG. 16, each of the holes 77 of the first and second propulsive force generating members 70a and 70b has a long side length L1 and a short side length L2. <L2 relationship. The rotating cylinder 51 forming the outer shape of the insertion portion main body 10 inserted through the holes 77 has a concave portion with a diameter of L3 and a convex portion with a diameter of L3 due to the unevenness of the spiral-shaped portion 51a. Assuming L4, of course, the relationship is L3 <L4.

  And in this Embodiment, the dimension of the unevenness | corrugation of each hole 77 and the helical shape part 51a of the rotating cylinder 51 is the length L2 of the short side of the hole 77 of the diameter of the recessed part of the helical shape part 51a. The length L1 is set slightly shorter than the length L3 (L2 <L3), and the length L1 of the long side of the hole 77 is longer than the length L4 of the diameter of the convex portion of the spiral portion 51a (L1> L4). ).

  That is, the first and second propulsive force generating members 70a and 70b press the concave portions of the spiral-shaped portion 51a by elastic deformation on approximately two surfaces with which the rotary cylinder 51 in the short side direction of each hole 77 contacts. When the rotating cylinder 51 rotates about the axis, it receives the frictional force of the first and second propulsive force generating members 70a and 70b, and the spiral-shaped portion 51a generates the first and second propulsive forces. It advances and retracts in the axial direction by screw action at each hole 77 of the members 70a and 70b. The dimensional relationship of the length L2 of the short side of the hole 77, the length L3 of the diameter of the concave portion of the spiral-shaped portion 51a, and the length L4 of the diameter of the convex portion of the spiral-shaped portion 51a is expressed as L3 <L2. By setting it to <L4, you may make it the rotating cylindrical body 51 to advance / retreat with a screw action.

  Further, when the insertion portion main body 10 receives a predetermined amount or more of resistance from the intested portion, for example, from the intestinal wall of the body cavity, the rotating cylinder 51 generates the first and second propulsive forces due to the resistance. The members 70a and 70b are idled so as not to advance in the direction of the deep part of the test portion.

  That is, as described above, the long side length L1 of each hole 77 of the first and second propulsive force generating members 70a and 70b is longer than the length L4 of the diameter of the convex portion of the spiral-shaped portion 51a. (L1> L4) is set, and the rotating cylinder 51 is inserted with a clearance with respect to the long side direction of the hole 77, so that a predetermined force (a frictional force in a forward direction) is set. Is added, it becomes idle at the position of the hole 77, and it becomes impossible to advance toward the deep part of the test part.

  This prevents the excessive pushing-in by the generated propulsive force so as not to apply a load due to insertion more than necessary into the body cavity, for example, the insertion portion main body 10 by the rotating cylinder 51 is the test portion.

  The second guide tube fixing member 65 is not provided with the propulsive force generating members 70a and 70b therein, and has substantially the same configuration as the first guide tube fixing member 64 and the operation portion side guide tube 14. Connected.

  Specifically, as shown in FIG. 18, the above-described fourth fixed ring 75 is directly connected to the second guide tube fixing member 65. That is, the second guide tube fixing member 65 holds the retaining ring 74 that locks the operation portion side guide tube 14 together with the fourth fixed ring 75 in the same manner as the third fixed ring 73 described above. It is connected to the operation unit side guide tube 14.

  A female screw portion 65c that is screwed with the male screw portion 75a of the fourth fixed ring 75 is formed on the inner peripheral surface of the cylindrical end 65a of the second guide tube fixing member 65.

  Again, at the end surface of the second guide tube fixing member 65 with which the retaining ring 74 abuts, the end of the operation portion side guide tube 14 is pressed in a compressed state, and the second guide tube fixing member 65 and the operation portion side are pressed. The watertightness with the guide tube 14 is maintained. Further, the other end of the operation unit side guide tube 14 whose one end is connected to the second guide tube fixing member 65 is connected to the connector cover 15.

Next, the connection between the operation unit side guide tube 14 and the connector cover 15 will be described with reference to FIGS. 19 to 21.
As shown in FIGS. 19 and 20, the operation portion side guide tube 14 includes a fifth fixed ring 78 made of a substantially cylindrical metal ring (may be a hard cylinder made of synthetic resin, plastic, etc.) The retaining ring 81 that locks the outer periphery of the base end portion is internally fitted and held by screwing with the connecting cylinder 79 made of synthetic resin, plastic, or the like. The retaining ring 81 has the same configuration as the retaining rings 59 and 74 that engage the both end portions of the distal end side guide tube 13 and the distal end portion of the operation portion side guide tube 14 described above. Omitted.

  The fifth fixed ring 78 has a shape in which a midway portion projects in the outer diameter direction, and a male screw portion 78a is formed on the outer periphery of the base end portion. In addition, the connecting cylinder 79 has a shape in which a distal end portion protrudes in the outer diameter direction, a female screw portion 79a is formed on the inner peripheral surface of the distal end portion, and a proximal end side so as to draw a circle at substantially equal intervals. And has a plurality of locking portions 80 that are detachable from the connector cover 15.

  That is, the fifth fixed ring 78 and the connecting cylinder 79 are connected by the male screw portion 78a and the female screw portion 79a being screwed together, and the retaining ring 81 is fitted and held in the connecting portion. In this state, the operation portion side guide tube 14 is in a state in which the base end portion is compressed, and the base end outer peripheral portion is pressed against the end surface with which the connecting cylinder 79 abuts. As a result, the operation unit side guide tube 14 is connected to the fifth fixed ring 78 and the connection cylinder 79 in a state where water tightness is maintained.

  The connecting cylinder 79 connected to the connector cover 15 has a locking portion 80 connected to the connector cover 15. More specifically, the connector cover 15 has a connecting portion 82 in which a notch 82b (see FIG. 21) along the axial direction is formed in a cylindrical body in which an outward flange 82a is formed at the distal end and the proximal end portion. .

  A plurality of locking portions 80 of the connection cylinder 79 are connected to the connection portion 82 so as to be fitted. The plurality of locking portions 80 have projecting portions 80 a that protrude toward the inner peripheral direction of the connecting cylinder 79 at the base end portion. Therefore, these projecting portions 80a hook the outward flange 82a at the base end portion of the connecting portion 82, so that the connecting cylinder 79 and the connector cover 15 are detachably connected.

  Further, each protrusion 80a of each locking portion 80 is simply hooked to the outward flange 82a of the connection cylinder 79, so that the connection cylinder 79 can rotate around the axis with respect to the connector cover 15. ing. Accordingly, the operation portion side guide tube 14 connected to the connection cylinder 79 is also connected to the connector cover 15 so as to be rotatable.

  Further, as shown in FIG. 20, the base end portion of the rotating cylinder 51 is fixed to the base 83 with an adhesive or the like. The base 83 is connected to the tip portion of the rotating shaft 84 by a screw. Although not shown in the figure, the rotating shaft 84 is rotatably supported in the connector cover 15 as will be described later.

  When the connector cover 15 is connected to the motor box 16 (see FIG. 1), it is provided on the rotating shaft 84 and is provided on the motor box 16 and an insertion portion side gear (not shown here). A later-described motor gear (not shown) meshes. Then, the driving force of the motor is transmitted to each gear, and the rotating cylinder 51 rotates about the axis via the rotating shaft 84 and the base 83.

Next, the guide tubes 13 and 14 will be described with reference to FIG.
As described above, the guide tubes 13 and 14 are tube bodies made of a so-called corrugated transparent or semi-transparent synthetic resin that is a bellows tube having irregularities formed on the outer peripheral surface and the inner peripheral surface. is there. The guide tubes 13 and 14 have flexibility due to the unevenness thereof, and even when bent, the inner diameter dimension does not substantially change without being buckled.

  The guide tubes 13 and 14 have a length that is the minimum inner diameter dimension at a convex portion position protruding in the inner diameter direction, and is L4. The minimum inner diameter length L6 of the guide tube is set to be larger than the length L5 (L6> L5) which is the outer diameter dimension at the convex portion position forming the spiral shaped portion 51a of the rotating cylinder 51. That is, the guide tubes 13 and 14 are tube bodies into which the rotating cylinder 51 can be sufficiently inserted.

  In addition, when rotational force about the axis is applied to the rotating cylinder 51, slip change and shear stress are generated inside the material, and torsional stress is generated. Depending on the torsional stress, the rotating cylinder 51 may change into a ring shape due to its flexibility.

  Therefore, the minimum inner length L6 of the guide tubes 13 and 14 is less than or equal to twice the length L5 (L6 ≦ 2L5) which is the outer diameter at the convex portion position forming the spiral shaped portion 51a of the rotating cylinder 51. Is set. Further, the guide tubes 13 and 14 have a predetermined hardness capable of withstanding the deformed movement (runaway) caused by the torsional stress of the rotating cylinder 51.

  The same can be said for the storage case main body 12 described above. As shown in FIG. 23, the distance L7 between the plate bodies 61 and 62 is set so that the rotating cylinder 51 does not become a ring shape due to torsional stress. It is set to 2 times or less (L7 <2L5) of the length L5 which is the outer diameter dimension at the convex portion position forming the spiral shaped portion 51a of the rotating cylinder 51. That is, the length in the height direction of each of the frame bodies 63a to 63f in which each of the two plate bodies 61 and 62 shown in FIG. 8 is on a plane parallel to the distance L7 is set to L7. Of course, the distance L7 between the plate bodies 61 and 62 is longer than the length L5 which is the outer diameter dimension at the convex portion position forming the spiral shaped portion 51a of the rotating cylinder 51 (L7> L5).

  In addition, the outer diameter of the length L5 in the insertion part main body 10 in the convex part position which forms the helical shape part 51a of the rotating cylinder 51 mentioned above becomes a maximum outer diameter dimension.

Next, the connector main body 85 of the connector cover 15 will be described in detail with reference to FIGS.
As shown in FIG. 24 and FIG. 25, the connector cover 15 is made of a hard synthetic resin and has a substantially box-shaped connector main body 85 having an opening on one side where the connecting portion 82 is located on the distal end side. . The connector body 85 has a plurality of beam portions so as to span both side surfaces for improving rigidity.

  On the bottom surface of the connector body 85, as shown in FIG. 24, two bearing mounting surfaces 86, 87, a built-in holding member mounting surface 88, and an electrical connector mounting surface 89 are formed in a concave shape. Yes. Further, the two bearing attachment surfaces 86 and 87 and the built-in object holder attachment surface 88 are positioned in a straight line along the central axis of the connection portion 82.

  On both sides of the connector main body 85, a substantially U-shaped tube insertion hole 90 that allows the above-described tubes 23 to extend from the inside to the outside, and two engagement holes 91a that are long holes close to a circle. , 91b are formed. Further, as shown in FIG. 25, two guide grooves 92a and 92b having a substantially triangular shape are formed on the inner surface of both sides of the connector main body, and an inclined portion 93a is formed so that the base end portion is widened. A rectilinear groove 93 is formed.

  Each of these two guide grooves 92a and 92b is on the rectilinear groove 93, and on the axis orthogonal to the groove axis of the rectilinear groove 93, the corresponding two engaging holes 91a and 91b are arranged in a line. It is formed. In addition, inclined surfaces 94a and 94b (see FIG. 26) are formed on the inner surfaces of both sides of the connector main body 85 between the guide grooves 92a and 92b and the engagement holes 91a and 91b.

  Further, as shown in FIG. 26, linear fold grooves 85a are formed in the front-rear direction so as to connect the two engagement holes 91a and 91b on both outer side surfaces of the connector main body 85.

  As shown in FIG. 27, a notch 95 is formed on the base end surface of the connector main body 85 of the connector cover 15 so that a wire connecting plate, which will be described later, is detachably locked. A locking projection 95a projecting in the lateral direction is formed at the lower end (shown at the upper end in FIG. 27) of the base end surface of the connector main body 85 forming the notch 95. Further, as shown in FIG. 28, a locking projection 95b protruding slightly in the lateral direction is formed in the middle portion of the base end surface of the connector main body 85 forming the notch 95.

  This connector main body 85 includes two bearing portions (hereinafter simply referred to as bearings) 97 that pivotally support the rotating shaft 84 shown in FIG. 29, and an active electrical connector (hereinafter simply referred to as an electrical connector) that is the male side shown in FIG. 99) and a built-in holding body 103 shown in FIG.

  As shown in FIG. 29, the rotation shaft 84 has an insertion portion side gear 96 serving as a second gear fitted in the middle portion thereof. The rotating shaft 84 and the insertion portion side gear 96 may be formed integrally. As described above, the base 83 to which the rotary cylinder 51 is fixed is fixed to the tip of the rotary shaft 84 with the screws 83a.

  The rotating shaft 84 is rotatably supported by two bearings 97. More specifically, one bearing 97 rotatably supports the distal end side of the rotating shaft 84 between the base 83 and the insertion portion side gear 96. On the other hand, the other bearing 97 pivotally supports the base end side from the insertion portion side gear 96 of the rotating shaft 84.

  These bearings 97 have a substantially quadrangular prism shape in which a hole for rotating and supporting the rotation shaft 84 is formed, and have engaging leg portions 97a that protrude from four corners of one surface. Further, these bearings 97 have, for example, a bearing-side elastic member 98 such as a sponge attached to the surface opposite to the one surface having the four engaging leg portions 97a, and through the bearing-side elastic member 98, It is fixed to the bearing mounting surfaces 86 and 87 of the connector main body 85, respectively.

  As shown in FIG. 30, the electrical connector 99 has a connector part 100 and two protrusions 99a that protrude from one surface of both ends, and the communication cable 33 described above extends. The electrical connector 99 is fixed to the substrate 101.

  The electrical connector 99 has an elastic member 102 such as a sponge attached to the back surface of the substrate 101 and is fixed to the connector mounting surface 89 of the connector body 85. These two protrusions 99a have a substantially quadrangular pyramid shape pointed in the protrusion direction.

  As shown in FIG. 31, the built-in object holding body 103 has a substantially quadrangular prism shape, and has protrusions 103 a that protrude from the four corners of one surface. The built-in object holding body 103 is formed with four guide grooves 105 through which the respective bending operation wires 44 that are one of the built-in objects of the endoscope insertion section 6 with a storage case are inserted. Each tube 23 which is a built-in part of the insertion portion 6 and a hole portion 104 through which the communication cable 33 is inserted are penetrated.

  The built-in object holding body 103 has, for example, a connector-side elastic member 106 such as a sponge attached to the surface opposite to the one surface having the two protrusions 103a. It is fixed to the built-in object holder attachment surface 88 of the connector main body 85. Further, an inner layer tube fixing tube 107 is connected to a surface on the tip side of the built-in object holder 103.

  As described above, the two bearings 97, the electrical connector 99, and the built-in object holder 103 of the connector body 85 of the connector cover 15 are provided via the bearing-side elastic members 98, 102, and 106 as shown in FIG. Arranged inside. The two bearings 97 and the built-in object holder 103 are arranged in a straight line.

Next, the wire connection plate 108 that is a part of the connector cover 15 and is engaged with the above-described notch 95 formed on the base end surface of the connector main body 85 will be described.
As shown in FIGS. 33 and 34, the wire connection plate 108 has a substantially cross-sectional shape mainly composed of two side plates 109, a wire fastener holding plate 110, and a connecting plate body 112. This is a letter-shaped plate.

  The two side plates 109 are fixed perpendicularly to the plate surface of the wire fastener holding plate 110 on both sides of the wire fastener holding plate 110. As shown in FIGS. 35 and 36, two engagement projections 113 and 114 having a substantially rhombus shape project from the opposing surfaces of the side plates 109, respectively. That is, the two engaging convex portions 113 and 114 constitute a stepped portion that protrudes toward the center of the wire connection plate 108.

  The first engagement convex portion 113 is on the proximal end side of the side plate 109 in a direction away from the connection plate body 112, and the second engagement convex portion 114 is the distal end side of the side plate 109 in the vicinity of the connection plate body 112. It is arranged.

  The first engagement convex portion 113 is set to have a smaller length in the vertical and horizontal directions along the plate surface of the side plate 109 than the second engagement convex portion 114. The first engagement convex portion 113 is formed with an inclined portion 113a that is inclined upward (upward when viewed toward the plane of FIG. 35 and FIG. 36) toward the distal end at the base end portion. .

  On the other hand, the second engagement convex portion 114 is formed with an inclined portion 114a whose base end portion is inclined upward from the lower end of the side plate 109 (the lower side when viewed toward the plane of FIG. 35 and FIG. 36). Has been.

  As shown in FIG. 37, a wire clamp holding plate (hereinafter simply abbreviated as a holding plate) 110 is a vertically long plate having a substantially hat-shaped unevenness in cross section. More specifically, the wire clasp holding plate 110 has a concave plate portion 110a having a concave shape with a U-shaped cross section, and laterally from both edge portions of the concave plate portion 110a. And an extending plate part 110b extending.

  Returning to FIGS. 33 and 34, the wire fastener holding plate 110 is formed with four long grooves 111 having a predetermined length along the long axis direction. Of these long grooves 111, two long grooves 111b and 111c are formed on the bottom surface of the concave plate portion 110a. Further, the remaining two long grooves 111a and 111d are respectively formed on the two rib plate portions 110b. In other words, the two long grooves 111a and 111d are arranged on the rib plate portions 110b on the outer side of the concave plate portion 110a so as to sandwich the two long grooves 111b and 111c of the concave plate portion 110a. One side is formed.

  A connecting plate body 112 having a surface perpendicular to the respective plate surfaces is connected to the side plates 109 and the distal ends of the wire fastener holding plates 110. The connecting plate body 112 has concave locking grooves 112a along each side surface on both sides. Further, as shown in FIG. 38, the connecting plate body 112 is a plurality of holes formed at the center of the plate surface, and four wire insertion portions 115 through which the four bending operation wires 44 are inserted. have.

  These wire insertion portions 115 correspond to each of the four long grooves 111 formed in the wire fastener holding plate 110 so that the hole portions for inserting and holding the bending operation wires 44 are aligned. Is positioned.

  Specifically, out of the four wire insertion portions 115, the two wire insertion portions 115 a and 115 d in the outer direction are formed on the plate portions 110 b of the wire fastener holding plate 110 on the plate surface of the connecting plate body 112. The long grooves 111a and 111d are disposed at positions corresponding to the long grooves 111a and 111d. Further, the two wire insertion portions 115 b and 115 c are disposed at positions corresponding to the long grooves 111 b and 111 c formed in the concave plate portion 110 a of the wire fastener holding plate 110 on the plate surface of the connecting plate body 112.

  That is, in the connecting plate body 112, two wire insertion portions 115a and 115d are juxtaposed on the upper side of the plate surface of the connection plate body 112, and the lower portion of the connection plate body 112 between the wire insertion portions 115a and 115d. Two wire insertion portions 115b and 115c are disposed on the side.

  In addition, the connecting plate body 112 has two guide grooves 116 that are notches formed from below at both sides from the center where the wire insertion portions 115 are provided.

  In the wire connecting plate 108 configured as described above, four bending operation wires 44 as shown in FIGS. 39 to 42 are provided in each of the four long grooves 111 formed in the wire fastener holding plate 110. Wire fasteners 117 to which the respective base ends are connected are arranged.

The wire clasp 117 includes a locking plate portion 119 having a substantially T-shaped cross section and a substantially cylindrical wire retaining tube 118 to which the bending operation wire 44 is connected.
The wire retaining tube 118 includes a substantially annular flange-shaped retaining metal side locking portion 118a that protrudes in the outer circumferential direction at a base end opposite to the side to which the bending operation wire 44 is extended, and a side It consists of two slits 118b along the long axis formed on the peripheral surface, and a hole 118c through which the bending operation wire 44 is inserted.
The locking plate portion 119 includes an upper plate portion 119a and a connecting plate body 119b having a step portion 119c extending from the center of the upper plate portion 119a along the long axis.

  The locking plate portion 119 and the wire retaining tube 118 are aligned in the major axis direction, and a connecting plate body 119 b of the locking plate portion 119 is disposed on the outer peripheral portion of the wire retaining tube 118.

  As described above, the proximal end portion of the bending operation wire 44 is inserted into the hole 118c of the wire retaining tube 118 of the wire fastener 117, and the wire fastener 117, the bending operation wire 44, and the like are welded by welding or the like. Is fixed. In the present embodiment, since there are four bending operation wires 44, the wire fastener 117 is fixed to each base end portion of each bending operation wire 44.

  As shown in FIGS. 43 and 44, the wire fasteners 117 fixed to the base end portions of the bending operation wires 44 are formed in the long grooves formed in the wire fastener holding plate 110 of the wire connection plate 108 described above. 111.

  More specifically, each wire clasp 117 has one long groove 111 so that the upper plate portion 119a and the stepped portion 119c of the connecting plate body 119b are held with both surfaces of the wire clasp holding plate 110 sandwiched therebetween. Arranged one by one. When each wire fastener 117 is disposed in each long groove 111 of the wire fastener holding plate 110, the arrangement direction thereof is the connecting plate of the wire connection plate 108 in the direction in which each bending operation wire 44 extends. The direction is determined so as to be on the body 112 side, and the respective upper plate portions 119a are in the same direction and are the upper surfaces of the wire connection plates 108 as viewed from the respective paper surfaces.

  At this time, of the four bending operation wires 44, the two wire fasteners 117 to which the two bending operation wires 44 for bending the bending portion 9 in the vertical direction are fixed are attached to the wire fastener holding plate 110. It arrange | positions at the two long grooves 111a and 111d formed in the board part 110b, respectively.

  Further, the two wire fasteners 117 to which the two bending operation wires 44 for bending the bending portion 9 in the left-right direction are fixed are two pieces formed on the concave plate portion 110 a of the wire fastener holding plate 110. Arranged in the long grooves 111b and 111c, respectively.

As described above, the four wire fasteners 117 disposed in the respective long grooves 111 of the wire fastener holding plate 110 can be advanced and retracted along the respective long grooves 111. That is, the movement of the four wire fasteners 117 along the long grooves 111 of the wire fastener holding plate 110 other than the front-rear traction / relaxation direction is restricted. Therefore, each bending operation wire 44 is substantially restricted from moving in the direction other than the front-rear traction / relaxation direction. As described above, the configured wire connection plate 108 is a side plate as shown in FIGS. 45 and 46. 109 and the connecting plate body 112 are connected to a notch 95 formed on the base end surface of the connector main body 85 of the connector cover 15 so that the wire clasp holding plate 110 extends in the base end direction.

  More specifically, locking grooves 112 a (see FIGS. 33 and 34) formed on both sides of the connecting plate body 112 of the wire connection plate 108 are engaged with the edge portion forming the notch 95 of the connector body 85. The At this time, the connecting plate body 112 is caught by the locking projection 95 a disposed in the notch 95 of the connector main body 85, and the wire connecting plate 108 is prevented from falling out of the connector main body 85 from the notch 95.

  Further, the connecting plate body 112 is disposed on the connector main body 85 so as to be movable within the range where the cutout 95 is formed, that is, within the length range of the cutout 95 in the depth direction of the connector main body 85.

  Further, the connecting plate body 112 has an edge portion of the connector main body 85 (toward the paper surface of FIG. 45) that forms the notch 95 directed in the engaging direction by the locking convex portion 95 b disposed in the notch 95. It may be held in the vicinity of the upper end surface of the connector main body 85 that forms the cutout 95 as seen.

As shown in FIGS. 47 to 50, the connector cover 15 is completed by assembling the members configured as described above.
As shown in FIGS. 48 and 49, the inner layer tube 49a is sandwiched and fixed between two annular members of the inner layer tube fixing tube 107 so that the base end portion is expanded.

  As shown in FIG. 50, each bending operation wire 44, which is a built-in material inserted into the inner layer tube 49a, is inserted into the guide groove 105 of the built-in material holding body 103 and is divided.

  As shown in FIGS. 48 and 49, these bending operation wires 44 are substantially linear from the built-in holding member 103 to each wire fastener 117 fixed to the proximal end.

  Further, as shown in FIG. 50, the various tubes 23 and the communication cable 33 which are built-in objects inserted into the inner layer tube 49a are inserted into the hole 104 of the built-in object holding body 103, respectively. Of the tubes 23, the suction tube 23c has the largest outer diameter, and the hole portion 104 has a shape in which a step of a long hole is formed in accordance with the outer diameter.

  As shown in FIG. 50, the hole 104 is an elliptical hole in which a portion through which the suction tube 23c can be inserted and a portion through which the air supply tube 23a, the water supply tube 23b, and the communication cable 33 can be inserted are connected. Has a surface. In the present embodiment, the air supply tube 23a, the suction tube 23c, the communication cable 33, and the water supply tube 23b are inserted in parallel into the hole 104 in order from the left as viewed in the plane of FIG. ing.

  In this state, the suction tube 23 c is restrained from moving from the vicinity of the left center to the right side by the step of the hole 104. Therefore, an unreasonable load is not given to each tube 23 and the communication cable 33, and each tube is not overlapped.

Next, the motor box 16, the gripping part 17, and the main operation part 18 of the operation part 7 will be described in detail with reference to FIGS.
In addition, about each structure of the operation part 7 demonstrated using FIG. 1, those description is abbreviate | omitted.

  As shown in FIGS. 51 and 52, the main operation unit 18 of the operation unit 7 includes an advance / retreat switch 120 for driving the motor disposed in the motor box 16 on the surface where the universal cord 18a extends. It is disposed so as to be rotatable in the direction indicated by the arrow in the middle. The advance / retreat switch 120 is a switch for instructing the rotation of the rotary cylinder 51 of the insertion portion main body 10 in the same manner as the foot switch 25 described above.

  First, the motor box 16 will be described with reference to FIGS.

  As shown in FIGS. 53 and 54, the motor box 16 includes a housing 121 made of a substantially box-shaped metal or a hard synthetic resin with a cover 121a formed with a notch, and a lid 121a. Motor cover 122, which is a substantially box-shaped cover body that covers the notch 121b on one side, a motor 124, which is a drive means including a motor gear 123, which is a first gear, (Referred to as an electrical connector) 125, two guide portions 126 projecting from the lid 121 a, and four engaging convex portions 127 projecting from both side surfaces of the housing 121. Further, the motor box 16 is formed with a guide convex portion 121c protruding from the side surface on the front end side.

  The two guide portions 126 are formed on the base of the lid 121a of the casing 121 so that they are separated from each other in both directions by a predetermined distance from an extension of the longitudinal center line of the motor cover 122 formed on the casing 121. Arranged at the end. These guide portions 126 are plates in which a tapered surface 126a is formed on the outer surface on the front end side, and the protruding side draws an arc as shown in FIG. Further, these guide portions 126 are arranged on the lid 121 a so that the respective longitudinal directions thereof are parallel to the longitudinal direction of the housing 121.

  As shown in FIG. 55, the electrical connector 125 is disposed on the substrate 129, and has a connector portion 128 at the approximate center of the upper surface thereof, and two engagement holes 125a on the same upper surface at both ends of the connector portion 128. is doing.

As shown in FIGS. 56 and 57, these engagement holes 125a have a shape that tapers downward. That is, the electrical connector 125 has a slope portion 125b on each side surface forming each engagement hole 125a. The engagement hole 125a communicates with a hole 129a formed in the substrate 129.
The electrical connector 125 is exposed on one surface of the lid 121a of the motor box 16.

  As shown in FIG. 54, the motor cover 122 holds the motor 124 fixedly on the back surface thereof. As shown in FIG. 58, the motor cover 122 has a substantially U-shaped cross section, and a plurality of engagement hole portions 130 and 132 and an engagement hole portion 130 are formed on one surface forming the bottom surface. Are formed with holes 131 through which the motor gear 123 of the motor 124 is formed.

  Eight engagement holes 130 are formed on one surface of the motor cover 122. As will be described later, when the motor box 16 and the connector cover 15 are connected, the engaging leg portions 97a of the bearing 97 of the connector cover 15 are engaged with the engaging hole portions 130, respectively. Further, as shown in FIG. 59, these engagement hole portions 130 have inclined surfaces 133 that are inclined from the distal end side to the center of the proximal end toward the direction in which the motor 124 is accommodated. Further, the motor cover 122 is formed with a chamfer for facilitating the feeding of each engagement leg 97a to the edge portion where each engagement hole 130 is formed.

Next, the internal structures of the gripping part 17 and the main operation part 18 will be described with reference to FIGS.
As shown in FIGS. 60 to 62, the gripping portion 17 is formed of a metal or a hard synthetic resin, and has a hollow substantially rectangular column having a connecting portion 17 a for connecting to the motor box 16 at the tip portion. Is formed.

  In this gripping part 17, there are four connecting members 134 and 135 which are bending wire locking members to which the respective ends of a UD (UP / DOWN) chain 136 and an RL (RIGHT / LEFT) chain 137 are connected. A base plate 138 that guides the two RL side connecting members 135 in a straight line, and serves as a framework of the gripping unit 17 and the main operation unit 18, and two first guide plates 139 disposed on the front end side of the base plate 138, Two second guide plates 140 serving as wire connection plate engaging portions fixed to both side portions of the ground plate 138 are disposed.

  In addition, the base plate 138 is provided with four spacers 141 for holding the connecting members 134 and 135 in the vertical direction on both sides of the upper surface thereof. In the center of these spacers 141, a partition plate 142 integrally provided with two L-shaped arm portions 142a that are bent in a perpendicular manner is arranged.

  More specifically, as shown in FIG. 61, two rail portions 138a protrude along the major axis on the upper surface of the ground plane 138. In addition, a concave straight advance groove that fits into the corresponding rail portion 138 a is formed on the bottom surface of each RL side connecting member 135. Further, the end portion of the RL side connecting member 135 in the outer direction is sandwiched by the spacer 141 so as to freely advance and retract.

  A UD side connecting member 134 is superimposed on the upper surface of the outer side of each of these RL side connecting members 135 via a partition plate 142. These UD-side connecting members 134 are sandwiched by the spacers 141 so that the end portions in the outer direction can freely advance and retract, and are linearly guided by the arm portions 142 a of the partition plate 142. Further, an upper cover 145 is provided on the upper surface of the spacer 141 so as to cover the main operation unit 18. Each member excluding the connecting members 134 and 135 is fixed to the base plate 138 by a plurality of fixing screws 146.

  As shown in FIG. 62, the two guide plates 140 are fixed to a plurality of guide plate fixing screws 147 on both side surfaces of the base plate 138. In each of the chains 136 and 137 connected to the coupling members 134 and 135, the UD chain 136 is disposed on the arm portion 142a of the partition plate 142, and the RL chain 137 is disposed on the base plate 138.

  61 and 62 are electric cables, and these electric cables 149 are used to supply power for driving the motor 124 of the motor box 16 and the endoscope insertion portion 6 with a storage case. This is a cable for supplying power and an instruction signal to the image pickup device 31 and the LED 34 in the distal end portion 8. These electric cables 149 are inserted through the back side of the main plate 138.

  As shown in FIG. 63, stoppers 148 for stopping the connecting members 134 and 135 that are movable back and forth are disposed on both sides of the connecting portion between the gripping portion 17 and the main operating portion 18.

  The main operation unit 18 is rotatably disposed so that two sprockets overlap each other. One of these sprockets is connected to the UD bending operation knob 19a (not shown), and the other is connected to the RL bending operation knob 19b.

  These sprockets are rotated in conjunction with the rotation of the bending operation knobs 19 to move the chains 136 and 137 forward and backward. Further, the bending operation mechanism 18c is constituted by these sprockets, the chains 136, 137, and the like.

Next, the four connecting members 134 and 135 will be described with reference to FIG.
As shown in FIG. 64, in the four connecting members 134 and 135, two UD side connecting members 134 are paired and two RL connecting members are paired.

  Each of the two UD side connecting members 134 has a substantially quadrangular prism shape made of metal, and a chain connecting portion 134a in which one end of the UD chain 136 is connected to a base end portion disposed on the main operation portion 18 side. A fastener locking hole 150 formed so that a plurality of recesses drilled from the center of one surface to the tip in the longitudinal direction are connected to each other, and the tip side surface opposite to the surface facing each other And a protruding convex portion 134b.

  In addition, each of the two RL side connecting members has a substantially quadrangular prism shape in which the dimension in the width direction of the UD side connecting member 134 is approximately twice, and the base end portion disposed on the main operation unit 18 side has an RL. A chain connecting portion 135a to which one end of the chain 137 is connected, a fastener locking hole 150 drilled from the central portion of one surface as the upper surface to the tip along the longitudinal direction, and the opposite side of the opposite surface And a protrusion 135b protruding from the side surface of the tip.

  The fastener locking holes 150 formed in the connecting members 134 and 135 are long holes with a plurality of ellipses connected to the surface, and are formed to a depth substantially at the center of the connecting members 134 and 135. Each of the connecting members 134 and 135 has a connecting member side locking portion that protrudes so that a portion where the ellipse intersects the hole wall as viewed from the top face the hole wall forming the fastener locking hole 150. 150a is formed.

  As described above, the connecting members 134 and 135 are moved back and forth by the pulling and loosening of the chains 136 and 137 in conjunction with the rotation of the bending operation knob 19 of the sprocket. The range of movement of the connecting members 134 and 135 in the proximal direction of the forward and backward movement is restricted by the four stoppers 148 described above.

  As shown in FIG. 65, these stoppers 148 have a substantially quadrangular prism shape made of metal, and as shown in FIG. 63, both side portions on the base plate 138 of the connecting portion of the gripping portion 17 and the main operation portion 18 are formed. The two are superimposed on each other and fixed by a fixing member such as a screw.

  Here, the stoppers 148 have locking projections 148a that protrude from the surfaces of the base end portions facing each other. As shown in FIGS. 66 and 67, for example, when the UD side connecting member 134 is pulled to the proximal end side, the stopper 148 has a front end surface of the locking convex portion 148a protruding from the UD side connecting member 134. Abutting on the base end surface of the portion 134b, the movement of the UD side connecting member 134 in the base end direction is stopped. Similarly, the movement of the RL side connecting member 135 in the proximal direction is restricted by the stopper 148.

  In addition, the connection members 134 and 135 are not moved to the distal end side when the pair of connection members 134 and 135 are restricted from moving on the proximal end side with respect to the movement toward the distal end side. That is, when one of the pair of connecting members 134 and 135 is restricted, the bending operation knob 19 cannot be rotated, and the pulling and loosening of the chains 136 and 137 are stopped. That is, since the connecting members 134 and 135 are connected to both ends of each chain 136 and 137, the other connecting members 134 and 135 are also stopped.

  Accordingly, the pair of connecting members 134 and 135 are moved by the same distance in the opposite direction by the amount by which the chains 136 and 137 are pulled and loosened via the sprocket as the bending operation knob 19 rotates. It has a configuration. The advance / retreat movement range of each of the connecting members 134 and 135 is regulated by a stopper 148 at a preset distance.

  Next, the first guide plate 139 and the second guide plate 140 will be described with reference to FIGS. 68 and 69.

  As shown in FIG. 68, the two first guide plates 139 are trapezoidal plate bodies on the upper surface, and have guide surfaces 139a that are slopes connecting the upper side and the lower side forming the trapezoid at both ends. ing. These first guide plates 139 are aligned and fixed by fixing screws to both side portions (see FIG. 60) on the front end side of the base plate 138 so that the respective guide surfaces 139a are in the outward direction.

  As shown in FIG. 69, the two second guide plates 140 are formed with two engagement notches 151, 152 which are substantially trapezoidal notches on one side. These second guide plates 140 are provided with a first engagement notch 151 on the proximal end side and a second engagement notch 152 on the distal end side.

  Each of the second guide plates 140 includes a first inclined surface portion 151a on one side portion on the base end side where the first engagement notch portion 151 is formed, and a side on the base end side where the second engagement notch portion 152 is formed. And a second slope portion 152a.

  These second guide plates 140 are fixed perpendicularly to the upper surface of the main plate 138 on both sides of the main plate 138 so that the side portions where the respective engagement notches 151 and 152 are formed are upward. The

  The gripping portion 17 configured as described above and provided with the main operation portion 18 is connected to the motor box 16 by fitting the connecting portion 17a at the distal end portion to the base end surface of the motor box 16. . Note that the operation unit 7 has the gripping unit 17 so that one surface of the main operation unit 18 where the bending operation knob 19 is disposed and one surface where the motor gear 123 of the motor box 16 is exposed face the same direction. It is docked (connected) to the motor box 16.

  The main operation unit 18 is assembled with a universal cord 18a, a bend preventing unit 18b, two bending operation knobs 19, various switches 20, 21, 120, and the like. In this way, the motor box 16, the gripping part 17, and the main operation part 18 are connected in order from the tip, and the operation part 7 shown in FIG. 51 is configured.

Next, the connection between the connector cover 15 and the motor box 16 (hereinafter sometimes referred to as docking) will be described with reference to FIGS.
The connector cover 15 is docked to the motor box 16 so as to change from the state shown in FIG. 70 to the state shown in FIG. Further, when viewed in cross section, the connector cover 15 is docked to the motor box 16 so as to change from the state shown in FIG. 72 to the state shown in FIG.

  At this time, the insertion portion side gear 96 disposed in the connector cover 15 and the motor gear 123 of the motor 124 built in the motor box 16 are meshed with each other. The male electrical connector 99 disposed in the motor box 16 and the female electrical connector 125 disposed in the motor box 16 are electrically connected. Further, the four wire clamps 117 fixed to the respective ends of the bending operation wire 44 provided on the wire connection plate 108 of the connector cover 15 are provided with the four connecting members 134 provided on the grip 17. , 135, respectively.

  The above-described docking of the connector cover 15 and the motor box 16 will be specifically described. Note that the connecting members 134 and 135 disposed in the gripping portion 17 of the operation portion 7 are slid to an initial position in the gripping portion 17 by a predetermined auxiliary tool (not shown).

  First, as shown in FIGS. 74 and 75, the connector cover 15 is slid as a first action so as to approach the motor box 16 from the distal direction toward the proximal direction. At this time, the proximal end portion of the wire connection plate 108 of the connector cover 15 is inserted into the grip portion 17.

  As shown in FIG. 76, the wire connection plate 108 is linearly guided by two guide portions 126 whose inner surfaces of the side plates 109 protrude from one surface of the base end portion of the motor box 16. At this time, the wire connection plate 108 is formed with a tapered surface 126a (see FIG. 53) on the surface of the outer front end portion of the two guide portions 126, so that even if the lateral position is slightly shifted, The inner surface of the tip portion of each side plate 109 is guided so that it can advance straight in the major axis direction of the grip portion 17.

  Further, in the wire connection plate 108, the inner surface of each side plate 109 is slightly displaced in the lateral position due to the guide surfaces 139 a (see FIG. 68) of the two first guide plates 139 in the grip portion 17. However, as in the case of the two guide portions 126 described above, the inner surface of the tip portion of each side plate 109 is guided in a straight line in the long axis direction of the grip portion 17. Each guide surface 139a restricts the movement of the wire connecting plate 108 in the lateral direction, which is the lateral direction, and is set to allow some deviation.

  In the wire connection plate 108, the inner surface of each side plate 109 is guided straight by the side surface of the first guide portion 126.

  Further, when the connector cover 15 slides on the motor box 16, as shown in FIG. 77, a guide protrusion in which an inclined portion 93 a formed at the base end of the inner side surface of the connector cover 15 protrudes from the side surface of the motor box 16. The part 121c and the four engaging convex parts 127 (only one is shown in FIG. 77) are guided, and the guiding convex part 121c and the engaging convex part 127 are guided to the rectilinear groove 93.

  In the connector cover 15, the two guide projections 121 c and the four engagement projections 127 of the motor box 16 are guided along the rectilinear grooves 93, respectively, so that parallel sliding movement with respect to the motor box 16 is restricted. . Further, as shown in FIG. 78, the connector cover 15 is moved to the position where the four engaging convex portions 127 of the motor box 16 respectively corresponding to the four guide grooves 92a formed on the inner surface are engaged. It is slid in parallel to.

  In addition, the wire connection plate 108 of the connector cover 15 is accommodated in the gripping portion 17 while being linearly guided and regulated in position. At this time, the wire connecting plate 108 is positioned in the vertical direction in the gripping portion 17 by the two second guide plates 140 disposed in the gripping portion 17.

  More specifically, as shown in FIGS. 79 to 81, the two guide protrusions 113 and 114, which protrude from the respective surfaces on which the side plates 109 of the wire connection plate 108 face each other, have two second guide plates 140. Are engaged with the two engagement notches 151 and 152 formed in the above.

  First, as shown in FIG. 79, in the wire connection plate 108 that is linearly guided, the engagement convex portion 113 on the proximal end side passes through the second engagement portion notch portion 152 on the distal end side of the second guide plate 140. Thus, the engaging projection 113 is fed in the depth direction of the gripping portion 17 in a state where the lower surface of the engaging projection 113 is along the upper surface of the central portion of the second guide plate 140.

  As shown in FIG. 80, the wire connection plate 108 is formed so that the lower surface of the second engagement convex portion 114 on the distal end side is along the upper surface on the distal end side of the second guide plate 140 toward the deep portion of the grip portion 17. It is sent. At this time, the first inclined portion 113a of the first engaging convex portion 113 contacts the first inclined surface portion 151a of the first engaging notch 151 of the second guide plate 140, and the first inclined surface portion 151a is brought into contact with the first inclined surface portion 151a. Along the direction, the guide is moved obliquely downward in the proximal direction. Similarly, the second inclined portion 114a of the second engaging convex portion 114 also abuts on the second inclined surface portion 152a of the second engaging notch portion 152, along the second inclined surface portion 152a. It is guided and moved obliquely downward in the end direction.

  That is, in the wire connection plate 108, the engagement protrusions 113 and 114 are guided along the engagement notches 151 and 152 of the second guide plate 140, respectively, and are dropped obliquely downward in the proximal direction. Are translated as follows. In other words, the engagement protrusions 113 and 114 are engaged with the corresponding engagement notches 151 and 152, respectively.

  When this wire connecting plate 108 is inserted into the gripping part 17 and positioned by being translated downward and obliquely downward in the proximal direction so as to be dropped in the gripping part 17 by the second guide plate 140, the wire A wire fastener 117 disposed on the wire retainer holding plate 110 of the connection plate 108 so as to freely advance and retreat is a fastener retaining hole 150 corresponding to each of the connecting members 134 and 135 disposed in the grip portion 17. Will be enrolled in.

  More specifically, as shown in FIGS. 82 and 83, the wire fastener holding plate 110 of the wire connection plate 108 is slid toward the connecting members 134 and 135. At this time, the wire clasp holding plate 110 is engaged with the concave plate portion 110 a between the arm portions 142 a of the partition plate 142.

  When this wire fastener holding plate 110 is translated obliquely downward in the proximal direction, each wire fastener 117 is connected to each connecting member to which each wire fastener 118 corresponds, as shown in FIGS. Simultaneously (once) enter the bracket locking holes 150 of 134 and 135. At this time, the movement toward the distal end side is restricted by the connecting member side locking portion 150 a in which the metal clamp side locking portion 118 a of the wire locking tube 118 forms a part of the hole wall of the metal locking hole 150.

  That is, the clasp side latching portion 118a constitutes an outward flange, and the connecting member side latching portion 150a constitutes an inward flange. Therefore, the clasp side latching portion 118a and the connecting member side latching portion 150a interfere with each other and the movement of the bending operation wire 44 connected to each wire clasp 117 to the distal end side is restricted.

  In addition, since the connecting member side latching | locking part 150a which is a some recessed part is arranged in parallel in the metal fitting locking hole 150, the clasp side latching | locking part 118a of the wire retaining tube 118 is these connection member side latching. Interfering with any one of the parts 150a. That is, the connection between each wire fastener 117 and each connecting member 134, 135 is the first functional connection of the present embodiment.

  Further, the clasp side locking portion 118a and the connecting member side locking portion 150a constitute a bending operation wire locking connection means. Further, the wire connection mechanism is configured by the wire connection plate 108, each fastener side locking portion 118 a, each connecting member side locking portion 150 a, and the second guide plate 140.

  Further, as described above, the two connecting members 134 are paired and connected to both ends of the UD chain 136, and the two connecting members 135 are paired and connected to the RL chain 137 in pairs. Yes. The connecting members 134 and 135 are pulled and loosened in association with the chains 136 and 137 by the rotation of the bending operation knobs 19 of the main operation unit 18, so that the distal end direction and the proximal direction in the grip portion 17. Move forward and backward. At this time, the connecting members 134 and 135 that are paired move forward and backward in opposite directions.

  Therefore, the two bending operation wires 44 connected by the UD side connecting member 134 and the wire fastener 117 are pulled and loosened in conjunction with the UD side connecting member 134 in order to bend the bending portion 9 up and down. At this time, when one bending operation wire 44 is pulled, the other bending operation wire 44 is relaxed.

  The bending portion 9 is pulled only by one bending operation wire 44, and the internal bending piece 40 rotates in the pulling direction of the bending operation wire 44. Therefore, tension is applied to the other bending operation wire 44 which is a pair. Not in a state. Therefore, in order to pull the wire fastener 117 to which one of the two UD side connecting members 134 on the pulling side is connected in the proximal direction, the fastener side locking portion 118a is connected to the connecting member side locking portion 150a. It is locked so that it does not move to the tip side.

  The same can be said for the two bending operation wires 44 that are paired by connecting the RL side connecting member 135 and the wire fastener 117. In other words, the same effect is obtained in the left and right bending of the bending portion 9.

  Thus, in the bending portion 9 of the endoscope 2, the respective chains 136 and 137 are interlocked by the rotation operation of the respective bending operation knobs 19, and the respective bending operation wires 44 connected to the respective connecting members 134 and 135 are pulled and loosened. By doing so, it is curved in four directions, up, down, left and right.

In addition, as shown in FIG. 86, docking is completed when the connector cover 15 is pushed into the motor box 16 side. The operation in which the connector cover 15 is pushed into the motor box 16 is referred to as a second action of the present embodiment.
When the connector cover 15 as the second action is pushed into the motor box 16, as shown in FIGS. 87 to 90, the four engaging convex portions 127 arranged on the side surface of the motor box 16 are each a connector. The guide grooves 92a and 92b formed on the inner surface of the cover 15 are guided to the inclined surfaces 94a and 94b, and are inserted into the corresponding engagement holes 91a and 91b.

  More specifically, as shown in FIG. 87, each engagement convex portion 127 is inclined along the inclined surface formed on the upper side of the corresponding guide grooves 92a and 92b by the movement of the connector cover 15. It is fed into the surfaces 94a and 94b. The guide grooves 92a and 92b do not hinder the movement of the engagement protrusions 127 when the connector cover 15 moves downward when the wire connection plate 108 of the connector cover 15 is inserted into the gripping part 17. An allowable groove shape is set. That is, the connector cover 15 can be easily docked to the motor box 16 even if the connector cover 15 and the wire connection plate 108 have some backlash.

  These engagement convex portions 127 are fed into the corresponding engagement holes 91a and 91b while being guided linearly by the inclined surfaces 94a and 94b. At this time, since the inclined surfaces 94a and 94b are inclined inward from the outer side of the inner wall of the connector cover 15 toward the engaging holes 91a and 91b, as shown in FIGS. 92a and 92b are engaged with the corresponding engagement holes 91a and 91b. That is, the side wall of the connector cover 15 is slightly expanded. And the user can grasp | ascertain that the docking (connecting) of the connector cover 15 and the motor box 16 was completed by the click feeling produced when each engagement convex part 127 engages with engagement hole 91a, 91b.

  Thus, the connector cover 15 is docked to the motor box 16.

  As shown in FIG. 91, each of the engagement holes 91a and 91b has an elliptical shape in which the hole surface slightly extends up and down with respect to each of the substantially cylindrical engagement convex portions 127. That is, each engagement convex part 127 is freely movable at a distance of L8 in the drawing within each engagement hole 91a, 91b. In other words, the connector cover 15 is in a state in which it can move with respect to the motor box 16 by a distance L8.

  This is because the connector cover 15 that has received the pushing force is caused by the bearings 97, the electric connectors 99, and the bearing-side elastic members 98, 102, 106 interposed between the built-in holding body 103 and the bottom of the connector cover 15, which will be described later. This is to adjust the reaction force by providing play so that the connector cover 15 and the motor box 16 are reliably docked.

  That is, due to the reaction force of each of the bearing-side elastic members 98, 102, 106 described above, a force is applied to the connector cover 15 so as to leave the motor box 16 in the direction opposite to the pushing direction. Due to the reaction force, a part of the side peripheral surface of each engagement convex portion 127 and a part of the inner peripheral surface forming each of the engagement holes 91a and 91b come into contact with each other with a predetermined force.

  As a result, the connector cover 15 and the motor box 16 are reliably docked in a state where they are substantially fixed in a state of receiving a predetermined reaction force.

  Thus, when the connector cover 15 is docked to the motor box 16, the insertion portion side gear 96, which is the second function connection in the present embodiment, and the motor gear 123 are meshed, and the third function in the present embodiment. The male electrical connector 99 and the female electrical connector 125, which are the connections, are electrically connected.

The engagement between the insertion portion side gear 96 and the motor gear 123 and the electrical connection between the male electrical connector 99 and the female electrical connector 125 will be described in detail below.
First, the engagement between the insertion portion side gear 96 and the motor gear 123, which is the second function connection, will be described with reference to FIGS.
When the connector cover 15 is docked to the motor box 16, as shown in the state of FIG. 92 (FIG. 95) to the state of FIG. 93, the both end portions of the rotating shaft 84 are pivotally supported by the two bearings 97. The insertion portion side gear 96 disposed on the connector cover 15 also moves toward the motor cover 122 of the motor box 16.

  At this time, each of the bearings 97 moves so that the ends of the four engaging legs 97a slide on the surface of the motor cover 122, and the corresponding engagement formed on the motor cover 122 as shown in FIG. Guided to the inclined surface 130 a of the joint hole 130.

  When the connector cover 15 is pushed into the motor box 16, the engagement leg 97 a of each bearing 97 is inserted into the corresponding engagement hole 130. At this time, as shown in FIGS. 94 and 96, each bearing-side elastic member 98 provided between each bearing 97 and the bottom surface of the connector cover 15 is moved in all directions (in the drawing, the bearing 97 is moved in the right direction). 4), even if the connector cover 15 is slightly displaced, the four engagement leg portions 97a of the respective bearings 97 are called into the corresponding engagement hole portions 130 and inserted therethrough.

  For example, when the connector cover 15 is not parallel to the surface of the motor cover 122 of the motor box 16 as shown in FIG. 97, the bearing 97 as shown in FIG. Even when the motor box 16 is not parallel to the surface of the motor cover 122, the two bearings 97 can move independently in any direction due to the deformation of the respective bearing-side elastic members 98. The four engaging legs 97a of the bearing 97 can be called into the corresponding engaging holes 130 and can be inserted therethrough.

  That is, each of the bearings 97 is positioned on the surface of the motor cover 122 with the four engagement leg portions 97 a inserted into the corresponding engagement hole portions 130 of the motor cover 122.

  Further, when the connector cover 15 is docked to the motor box 16, each bearing 97 is pressed against the motor cover 122 by the reaction force of each bearing-side elastic member 98. In a state where the bearing 97 is pressed toward the motor cover 122 by the bearing-side elastic member 98, the insertion portion side gear 96 and the motor gear 123 are engaged with each other via the rotating shaft 84. The rotating shaft 84 is rotatably supported by the bearing 97 with a clearance. The clearance is set to such a dimension that the meshing between the gears 96 and 123 is maintained. Further, the positional relationship between the gears 96 and 123 is in a range where no gear backlash occurs.

Thereby, the insertion portion side gear 96 and the motor gear 123 exposed from the hole 131 (see FIG. 56) of the motor cover 122 are reliably engaged. In the present embodiment, as shown in FIGS. 99 and 100, the center O ₁ that is the rotation axis of the insertion portion side gear 96 and the center O ₂ that is the rotation axis of the motor gear 123 are a predetermined distance. Are engaged in an offset state.

That is, the four engaging leg portions 97a of the respective bearings 97 are set so that the rotation shaft (center O ₁ ) of the insertion portion side gear 96 and the rotation shaft (center O ₂ ) of the motor gear 123 are offset by the predetermined distance described above. Projecting position, setting position of the center O _{1 serving} as the rotational axis of the insertion portion side gear 96 serving as the central position of the rotating shaft 84 that each bearing 97 rotates, and forming position of each engagement hole 130 of the motor cover 122. , And the set position of the center O _{2 serving} as the rotation axis of the motor gear 123 of the motor 124 is determined.

As shown in FIG. 101, the offset amount of the rotation axis (center _{O 1)} the axis of rotation of the motor gear 123 and (center _{O 2)} of the insertion portion side gear 96 is zero (0), the gears 96 , 123 may come into contact with each other, and the reliable insertion portion side gear 96 and the motor gear 123 may not mesh with each other. Therefore, in the present embodiment, the technique as described above is applied.

  The two bearings 97 provided with the insertion-side gear 96, the bearing-side elastic member 98 for rotating and holding the rotary shaft 84 provided with the insertion-side gear 96, and the two bearings 97 described above. Rotation transmission for rotationally driving the rotary cylinder 51 of the insertion portion body 10 by each engagement hole portion 130 formed in the motor cover 122 for positioning and the motor gear 123 for transmitting the rotational driving force to the insertion portion gear 96. The mechanism is configured.

  From the above, the rotational driving force of the motor 124 is transmitted to the insertion portion side gear 96 via the motor gear 123. The rotational driving force causes the rotating cylinder 51 connected to the rotating shaft 84 via the base 83 to rotate around a predetermined axis. In the present embodiment, the rotational driving force of the motor 124 is transmitted from the proximal end side to the distal end side of the rotating cylindrical body 51 to rotate the entire rotating cylindrical body 51. However, the present invention is not limited to this. . For example, the rotation driving force of the motor 124 may be transmitted at any position from the distal end to the proximal end of the rotating cylinder 51 to rotate the entire rotating cylinder 51.

Next, the electrical connection between the male electrical connector 99 and the female electrical connector 125, which is the third functional connection, will be described with reference to FIGS.
When the connector cover 15 is docked to the motor box 16, as shown in the state of FIG. 102 from the state of FIG. 102 and from the state of FIG. 104 to the state of FIG. 105, the bottom surface of the connector cover 15 is interposed via the elastic member 102. The disposed male electrical connector 99 is also moved and connected toward the female electrical connector 125 exposed on the motor cover 122 of the motor box 16.

  At this time, the two protrusions 99 a of the electrical connector 99 are inserted into the engagement holes 125 a formed in the corresponding electrical connector 125. At this time, each of the substantially quadrangular pyramidal projections 99a of the electrical connector 99 is guided while the inclined surface abuts on the inclined surface 125b of the engaging hole 125a, and is fitted into the engaging hole 125a so as to be called.

  At this time, as with each of the bearings 97 described above, since the elastic member 102 interposed between the electrical connector 99 and the connector cover 15 is freely deformable in all directions, the male electrical connector 99 is securely connected. It is connected to the electrical connector 125 on the female side.

  That is, as shown in the state of FIG. 104 from the state of FIG. 104, the connector part 100 of the electrical connector 99 and the connector part 128 of the electrical connector 125 are in electrical contact, and various electrical signals and power supply transmission paths are obtained. Is established. These electrical connectors 99 and 125 constitute a transmission path connection mechanism.

  Thereby, the instruction signals of the various switches 21 provided in the main operation unit 18 shown in FIG. 1 and the light source 34 such as an LED which is one of the electric devices built in the tip 8 shown in FIG. In addition, the driving power of the image pickup device 31 which is one of the electric devices is supplied from the main operation unit 18 of the operation unit 7 and the connector cover 15 of the endoscope insertion unit 6 with a storage case and the insertion unit main body 10 from the motor box. Supplied.

  Note that, in the built-in object holding body 103, the two protrusions 103 a are inserted into the corresponding engagement hole portions 132 (see FIG. 56) of the motor cover 122, similarly to the bearings 97 described above. Since the built-in holding member 103 also deforms the connector-side elastic member 106 between the built-in holding member 103 and the bottom surface of the connector cover 15 in all directions, the two protrusions 103a can easily be fitted into the corresponding engagement holes 132. .

  Further, due to the elastic deformation of the connector side elastic member 106, the built-in object holding body 103 is fixed in a state of being pressed against the surface of the motor cover 122 of the motor box 16.

  As described above, the endoscope 2 of the endoscope system 1 of the present embodiment is provided with a storage case by docking the connector cover 15 to the motor box 16 before use, as shown in FIG. The endoscope insertion part 6 and the operation part 7 are connected. In FIG. 106, the insertion assisting tool 11, the storage case main body 12, and the two guide tubes 13 and 14 that constitute a part of the endoscope insertion portion 6 with a storage case are not shown. The connecting cylinder 79 described with reference to FIG. 20 is connected to the connector cover 15.

  As described above, the endoscope system 1 of the present embodiment configured as described above includes the distal end portion 8, the bending portion 9, and the insertion portion main body 10, and from the insertion assisting tool 11 to the connector cover 15 that cover these. Is configured as an endoscope insertion part 6 with a storage case (see FIG. 1), and the endoscope insertion part 6 with a storage case is made disposable for every use. In the present embodiment, the endoscope insertion portion 6 with a storage case is made disposable, but can be reused if it is sufficiently sterilized after use.

Hereafter, the effect | action of the endoscope insertion part 6 with a storage case with respect to the endoscope system 1 is demonstrated. In the following description, a colon examination will be described as an example mainly using FIGS. 107 to 110.
First, when inserting the insertion portion of the endoscope 2 to the cecum of the large intestine, a medical staff prepares the endoscope system 1 of the present embodiment shown in FIG. 107 in a predetermined manner. First, the surgeon who is a doctor here inserts the insertion assisting tool 11 from, for example, the anus of the patient lying on the bed. The insertion portion is accommodated in the storage case main body 12 in a curved state as shown in FIG.

  As shown in FIG. 108, the insertion assisting tool 11 is in a state where only the insertion tube 53 is inserted into the rectum 502 from the anus 501 by the intrusion prevention unit 54 coming into contact with the buttocks 510 near the anus 501 of the patient. ing. That is, the insertion assisting tool 11 is prevented from being entirely inserted into the rectum 502 by the intrusion prevention unit 54. At this time, it is desirable for the surgeon to fix the intrusion prevention portion 54 to the patient's buttocks 510 with a tape or the like.

  When the endoscope system 1 is set in such a state, the surgeon holds the grasping portion 17 of the operation portion 7 and operates the foot switch 25 shown in FIG. 1 or the main operation portion. 18, the rotary cylinder 51 is rotated around the axis in a predetermined direction.

  The two propulsive force generating members 70a and 70b disposed in the guide tube fixing member 64 of the storage case main body 12 are always concave portions of the spiral-shaped portion 51a of the rotating cylinder 51, as shown in FIG. Is in pressure contact. That is, the rotating cylinder 51 is in a state in which a predetermined frictional resistance is given at the approximate center of each hole 77 of the propulsive force generating members 70a and 70b.

  In this contact state, the surgeon places the motor 124 disposed in the motor box 16 of the operation unit 7 in a rotationally driven state by the above-described foot operation or hand operation. Then, a rotational force is transmitted from the proximal end portion to the distal end side of the rotating cylinder 51, and the whole rotates in a predetermined direction around an axis as shown by an arrow in FIG.

  As a result, the rotating cylinder is such that the male screw moves relative to the female screw at the contact portion of the concave portion between each of the holes 77 of the propulsive force generating members 70a and 70b and the helically shaped portion 51a of the rotating rotating cylinder 51. Propulsive force to move 51 forward is generated.

  In the rotating cylinder 51 in which the propulsive force is generated while rotating, the base 50 fixed to the tip shown in FIG. 2 presses the third base 48 at the base end of the bending portion 9. As a result, the insertion portion including the distal end portion 8 and the bending portion 9 advances toward the deep portion in the large intestine via the distal end side guide tube 13 and the insertion assisting tool 11 by the driving force of the rotating cylinder 51.

  At this time, the operator grasps the holding tube 55 of the insertion assisting tool 11 lightly without grasping and pushing the insertion portion, and the insertion portion is deepened in the large intestine only by the propulsive force by the respective propulsion force generating members 70a and 70b. You can move forward.

  In addition, the insertion portion is held in a stable state in the long axis direction because the two first and second propulsive force generating members 70a and 70b are separated by a predetermined distance in the guide tube fixing member 64. In addition, the propulsive force that moves forward is efficiently generated.

  In addition, the spiral-shaped part 51a formed on the outer surface of the rotating cylinder 51 comes into contact with the intestinal wall. At this time, the contact state between the spiral-shaped portion 51a formed on the rotating cylinder 51 and the fold of the intestinal wall is the relationship between the male screw and the female screw. At this time, the rotating cylinder 51 moves forward smoothly by the propulsive force generated by the propulsive force generating members 70a and 70b in the guide tube fixing member 64 and the propulsive force generated by contact with the folds of the intestinal wall. go.

  Then, the insertion portion advances from the rectum 502 toward the sigmoid colon 503 by the driving force. Then, as shown in FIG. 109, the distal end portion 8 and the curved portion 9 reach the sigmoid colon 503. At this time, the surgeon operates the two bending operation knobs 19 (see FIG. 1) in the main operation unit 18 while viewing the endoscopic image displayed on the monitor 4 to make the bending unit 9 into an S shape. The bending operation is performed in accordance with the bent state of the colon 503.

  By the bending operation of the bending portion 9, the operator can smoothly pass the insertion portion to which propulsive force is given through the sigmoid colon 503, which is difficult to insert.

  As the insertion portion is inserted into the deep part of the large intestine, the propulsive force generated by the propulsive force generating members 70a and 70b in the guide tube fixing member 64 is always applied, and the helical portion 51a. The contact length with the intestinal wall becomes longer.

  Therefore, a stable propulsive force in the depth direction of the large intestine can be obtained even in a state where a part of the spiral-shaped portion 51a is in contact with the heel of the sigmoid colon 503 and a state where the insertion portion is bent in a complicated manner. In addition, since the insertion portion has sufficient flexibility, it smoothly advances along the intestinal wall without changing the running state of the sigmoid colon 503 whose position easily changes. .

  And the insertion part provided with the rotating cylindrical body 51 in the rotated state passes through the sigmoid colon 503, and then a bent part that is a boundary between the sigmoid colon 503 and the descending colon 504 having poor mobility. , The spleen curve 505 which is the boundary between the descending colon 504 and the movable transverse colon 506, and smoothly advances along the wall of the liver curve 507 which is the boundary between the transverse colon 506 and the ascending colon 508. As shown in FIG. 4, the vehicle reaches, for example, the vicinity of the cecum 509, which is the target site, without changing the running state of the large intestine.

  During this insertion operation, the surgeon looks at the endoscopic image displayed on the monitor 4 when the distal end portion 8 reaches each bent portion (spleen curve 505, liver curve 507) as described above. The two bending operation knobs 19 in the main operation unit 18 are operated to perform the bending operation in accordance with the bending state of each part.

  After determining that the distal end portion 8 has reached the vicinity of the cecum 509 from the endoscopic image of the monitor 4, the surgeon stops the rotation of the rotating cylinder 51 once by the above-described foot operation or hand operation. Then, the surgeon moves the rotating cylinder 51 in the direction opposite to the rotation direction around the axis that was rotated at the time of insertion by the foot operation of the foot switch 25 or the hand operation of the advance / retreat switch 120 in the main operation unit 18. Perform the rotating operation.

  That is, the colon examination is performed while the rotating cylinder 51 is reversed from the time of insertion and the insertion portion is moved backward in a direction in which the distal end portion 8 is removed from the deep portion of the large intestine and the vicinity of the cecum 509. Even at this time, the operator does not touch the insertion portion, and the rotating cylinder 51 is generated by contact with the propulsive force generating members 70a and 70b in the guide tube fixing member 64 and the intestinal wall fold. The insertion portion can be retracted by the driving force.

  Further, the tip portion 8 and the bending portion 9 are formed by the concave and convex portion 50a of the base 50 at the tip of the rotating cylinder 51 engaged with the protrusion 48a of the third base 48 provided at the base end of the bending portion 9. By being pulled by the rotating cylinder 51, the entire insertion portion is retracted by the driving force of the rotating cylinder 51.

  Then, when the distal end portion 8 of the insertion portion reaches the insertion assisting tool 11, the surgeon removes the insertion portion together with the insertion assisting tool 11 from the patient's anus 501 and ends the colon examination.

  At this time, the insertion portion is given a propulsive force by the propulsive force generating members 70a and 70b in the guide tube fixing member 64, and is bent into the original state as shown in FIG. While being stored.

  Further, in the endoscope 2 according to the present embodiment, the guide tubes 13 and 14 that connect the storage case main body 12 and the insertion aid 11 or the operation unit 7 so as to communicate with each other have soft flexibility. Therefore, even if the storage case body 12 is placed and fixed, the position where the operator holds the operation unit 7 and the position of the insertion assisting tool 11 approaching the patient's anus are not limited. A desired position can be moved within an allowable range.

  That is, since the distal end side guide tube 13 that connects the insertion assisting tool 11 and the storage case body 12 is a flexible tube body, there is no need to make the positional relationship between the patient's anus and the storage case body 12 constant. Further, the degree of freedom of movement of the operation unit 7 is not limited by the flexibility of the operation unit side guide tube 14.

  In addition, for example, in the case of a large intestine examination as described above, a torsional stress may be generated in the insertion portion that advances and retreats due to the rotation of the rotary cylinder 51. However, in the endoscope system 1 of the present embodiment, the maximum outer diameter of the spiral-shaped portion 51a of the rotating cylinder 51 in which the distance between the plate bodies 61 and 62 in the storage case body 12 forms the outer shape of the insertion portion. Therefore, the insertion portion in the storage case body 12 is prevented from having a ring shape due to torsional stress.

  In each of the guide tubes 13 and 14, the inner diameter is less than twice the outer diameter (diameter) of the convex portion that is the maximum outer diameter of the spiral-shaped portion 51 a of the rotating cylinder 51, so the insertion portion is twisted. The stress prevents the ring shape. Therefore, the insertion portion is smoothly rotated about the axis in the storage case main body 12 and the distal end side guide tube 13.

  Further, since the storage case main body 12 and the guide tubes 13 and 14 are formed of a transparent or translucent material, the surgeon visually confirms the movement of the insertion portion, particularly the rotation state of the rotating cylinder 51. Can do.

  Furthermore, since each connection part is watertightly maintained from the insertion assistance tool 11 to the front end side guide tube 13, the storage case main body 12, and the operation unit side guide tube 14, for example, liquid such as filth in the large intestine It is prevented from scattering into the treatment room. Therefore, the endoscope insertion portion 6 with a storage case has a hygienic superior structure.

  Further, since the insertion portion before insertion into the body cavity is not subjected to resistance such as tightening by the patient's anus 501 by the insertion assisting tool 11, it is possible to reduce the occurrence of bending and prevent twisting due to rotation. . Furthermore, the insertion portion does not directly contact the anus 501 when the insertion aid 11 is introduced into the large intestine. Therefore, since the highly flexible insertion portion does not receive resistance such as tightening by the anus 501, the introduction property to the large intestine is improved.

  The first and second propulsive force generating members 70a and 70b disposed in the insertion assisting tool 11 generate propulsive force on the rotating cylinder 51 of the endoscope system 1, and the rotating cylinder 51 is placed in the body cavity. Here, it is possible to improve the introduction and insertion into the large intestine. Further, the rotary cylinder 51 is provided with two first and second propulsive force generating members 70 a and 70 b in the guide tube fixing member 64, so that the position of the major axis direction in the guide tube fixing member 64 is increased. By stabilizing at substantially the center, a propulsive force that moves forward by receiving an equal pressing force from the first and second propulsive force generating members 70a and 70b is efficiently generated.

  As described above, the rotary self-propelled endoscope 2 and the endoscope insertion portion 6 with its storage case according to the present embodiment include the insertion portion main body 10 and the rotating cylinder before being inserted into the test portion. 51 can be smoothly inserted into the test portion, and has a very excellent operability.

  Note that, for example, after the end of the large intestine examination, the medical personnel can dispose of the endoscope with storage case according to the present embodiment because the endoscope insertion portion 6 with storage case is disposable. The reuse of the insertion part 6 must be prevented. In addition, the medical staff removes the connector cover 15 from the motor box 16 when the endoscope insertion part 6 with a storage case is detached from the operation part 7.

  At this time, in this embodiment, as shown in FIG. 111 and FIG. 112, the connector cover 15 is broken in the outward direction along the bent grooves 85a extending in the front and rear directions on both outer surfaces thereof. And is detached from the motor box 16. Thus, the medical staff can easily remove the endoscope insertion section 6 with storage case and the operation section 7.

  Further, since the connector cover 15 is broken along the bent groove 85a, it cannot be re-docked to the motor box 16. Thereby, used endoscope insertion part 6 with a storage case is discarded as medical waste, without being reused. As a result, the endoscope system 1 according to the present embodiment has an excellent structure in terms of hygiene in which the reuse of the contaminated endoscope insertion portion 6 with a storage case is prevented. In addition, you may provide the projection part 15a as shown in FIG. 1 which makes it easy for a user to hook a finger | toe on the side surface of the connector cover 15 in which the bending groove 85a was arrange | positioned.

  As described above, the endoscope 2 of the endoscope system 1 according to the present embodiment is realized in a configuration in which the endoscope insertion section with storage case 6 and the operation section 7 are detachable. That is, the connector cover 15 is docked to the motor box 16 in order to connect the endoscope insertion part 6 with storage case and the operation part 7.

  At this time, the endoscope 2 is configured such that the motor gear 123 of the motor 124 built in the motor box 16 and the insertion portion side gear 96 disposed in the connector cover 15 are reliably engaged. That is, the bearing cover elastic member 98 to which the bearings 97 for rotating and holding the rotating shaft 84 on which the insertion portion side gear 96 is disposed can freely move within a certain range with respect to the connector cover 15. I can do it. Each of the bearings 97 is positioned at a predetermined position on the motor cover 122 with each engagement leg 97 a penetrating into a corresponding engagement hole 130 formed on the surface of the motor cover 122.

  As a result, the insertion portion side gear 96 disposed in the connector cover 15 is reliably engaged with the motor gear 123 of the motor 124. Further, since each bearing 97 is constantly urged toward the motor cover 122 by the elastic member, the state where the teeth of the insertion portion side gear 96 and the motor gear 123 are reliably engaged is maintained.

  The endoscope 2 according to the present embodiment requires the endoscope insertion part 6 with a storage case and the operation part 7 to be detachable, and the used endoscope insertion part 6 with a storage case must be made disposable and sterilized. It has a hygienic and excellent structure. Even if the endoscope insertion part 6 with a storage case is reused, the endoscope insertion part 6 with a storage case and the operation part 7 can be sterilized separately. Sterilization and disinfection of the case-equipped endoscope insertion portion 6 and the operation portion 7 are facilitated, and the burden on the user can be reduced.

  In addition, when the endoscope insertion portion 6 with storage case and the operation portion 7 are connected, four bending operation wires 44 for bending the bending portion 9 by pulling and loosening are provided at each end portion. The wire clamp 117 is connected to the corresponding connecting members 134 and 135 in the grip 17 of the operation unit 7 simultaneously (once). Therefore, the rotary self-propelled endoscope according to the present embodiment facilitates the connection between the endoscope insertion portion 6 with a storage case and the operation portion 7, improves usability, and reliably links to the bending operation knob 19. Thus, a mechanism for performing the bending operation of the bending portion 8 is configured.

  In addition, in a state where the endoscope insertion unit 6 with a storage case and the operation unit 7 are connected, power supply to the imaging device 31 and the light source 34 disposed at the distal end 8 and various signals are transmitted and received. Therefore, the electrical connectors 99 and 125 are securely connected to each other.

  As a result, the endoscope 2 according to the present embodiment is configured such that each of the gears that transmits the rotational driving force to the rotary cylinder 51 is configured so that the endoscope insertion unit 6 with a storage case and the operation unit 7 are detachable. 96, 123, a plurality of bending operation wires 44 for bending operation of the bending portion 8, the connecting members 134, 135, and the electrical connectors 99, 125 are inserted into the endoscope insertion portion with a storage case. 6 and the operation unit 7 can be attached and detached at the same time (at a time).

  The invention described in the above embodiment is not limited to the embodiment, and various modifications can be made without departing from the spirit of the invention in the implementation stage. Further, the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements.

  For example, even if some constituent requirements are deleted from all the constituent requirements shown in the embodiment, the problem described in the column of the problem to be solved by the invention can be solved, and the effect described in the effect of the invention can be obtained. In such a case, a configuration in which this configuration requirement is deleted can be extracted as an invention.

  The above invention has the following additional features.

(Appendix 1)
An insertion portion main body having a bending portion on the distal end side, and an insertion portion comprising a rotating cylinder pair that is rotatably fitted to the insertion portion main body;
A separate operation section from the insertion section;
A driving means provided in the operation section, for engaging the rotating cylinder and rotating the rotating cylinder with respect to the insertion section main body;
A bending wire that is inserted into the insertion portion and bends the bending portion in a predetermined direction according to the front-rear pulling direction;
The insertion portion, and the connecting operation of the connecting portions provided respectively on the operation unit, the rotational driving force of the first connection and, and the drive means for transmitting the traction of the curved wire definitive on the operation unit to the insertion section A rotating self-propelled endoscope, comprising: a coupling mechanism that enables a second connection to transmit to the rotating cylinder.

(Appendix 2)
The coupling mechanism, the mutual connectors the first connection is enabled by a first action for coupling operated along the pulling direction of the longitudinal above connecting operation the second connection to the first action and the vertical direction The rotary self-propelled endoscope according to appendix 1, which is configured to be enabled by the second action.

(Appendix 3)
The rotating self-propelled internal view according to appendix 2, wherein the coupling mechanism enables a third connection to electrically connect the insertion portion and the operation portion by the second action. mirror.

(Appendix 4)
The coupling mechanism is configured to guide and latch the bending wire by the first action to a bending wire locking member that moves forward and backward in conjunction with an operation of an operation lever provided in the operation unit. The rotary self-propelled endoscope according to Supplementary Note 2 or Supplementary Note 3, wherein

(Appendix 5)
The first gear connected to the rotating cylinder provided on the insertion portion side by the second action is connected to the second gear connected to the rotating shaft of the drive motor by the second action. The rotary self-propelled endoscope according to any one of appendix 2 to appendix 4, which is configured to mesh with each other.

(Appendix 6)
A distal end portion, a bending portion, and an insertion portion having a helical tube that is formed on the surface and is rotatable around an axis;
An operation section having a bending operation knob for bending the bending section in a predetermined direction, and the insertion section being detachable;
A drive unit disposed in the operation unit and configured to apply a rotational driving force around the axis to the spiral tube;
A rotation transmission mechanism for transmitting a rotational driving force of the driving means to the spiral tube in a state where the insertion portion and the operation portion are coupled;
A plurality of bending operation wires that are inserted into the insertion portion and bent by pulling or loosening the bending portion in a predetermined direction;
A wire connection mechanism for simultaneously connecting the plurality of bending operation wires to the operation unit when the insertion unit and the operation unit are coupled;
In a state where the insertion portion and the operation portion are connected, a power supply to the electric device disposed at the distal end portion, and a transmission path connection mechanism for transmitting and receiving various signals,
A rotary self-propelled endoscope characterized by comprising:

(Appendix 7)
The insertion portion includes a connector cover on the proximal end side of the spiral tube,
The operation unit includes a box body that is detachable from the connector cover,
The rotation transmission mechanism is
A first gear disposed on the box body and rotated by the driving means;
A cover body comprising one surface of the box body, the hole for exposing the first gear, and an engagement hole;
A second gear disposed on a rotating shaft connected to the spiral tube to which the rotation of the first gear is transmitted;
A bearing provided on the connector cover via a bearing-side elastic member, pivotally holding the rotating shaft, and having an engaging leg protruding from a surface opposite to the elastic member;
Comprising
In the state where the connector cover and the box body are connected,
The bearing is positioned at a predetermined position on the cover body where the engagement leg portion penetrates the engagement hole portion of the cover body and the first gear and the second gear mesh with each other. The rotary self-propelled endoscope according to appendix 6, characterized by:

(Appendix 8)
The cover body is disposed in the motor box toward the proximal direction on the wall surface on the distal end side that forms the engagement hole so that the engagement leg of the bearing is guided and fed into the engagement hole. The rotating self-propelled endoscope as set forth in appendix 7, wherein the rotating self-propelled endoscope has an inclined surface that is inclined to the right.

(Appendix 9)
When the connector cover and the box body are connected,
The bearing is positioned at the predetermined position by the elastic deformation of the bearing-side elastic member so that the end of the engaging leg is along the inclined surface of the engaging hole. The rotary self-propelled endoscope according to appendix 8.

(Appendix 10)
The wire connection mechanism is
A plurality of fasteners connected to respective ends of the plurality of bending operation wires;
A wire connection plate disposed in the insertion portion and holding the plurality of fasteners so as to freely advance and retract;
A plurality of bending wire locking members disposed in the operation portion, moved forward and backward in conjunction with the operation of the bending operation knob, and formed with locking holes for locking the clasp;
A guide plate disposed in the operation unit and guiding the plate body in a predetermined direction;
Comprising
When the insertion portion and the operation portion are connected, the guide plate guides the plate body in a predetermined direction, so that the plurality of fasteners are the locking portions corresponding to the plurality of bending wire locking members, respectively. The rotating self-propelled endoscope according to appendix 1, wherein the endoscope is inserted into the hole at the same time.

(Appendix 11)
The wire connection plate is a U-shaped plate body having a convex portion protruding from the side surface,
The guide plate has a notch for guiding the convex portion,
When the insertion portion and the operation portion are connected, the convex portion moves along the notch, so that the wire connection plate moves toward the bending wire locking member, and the plurality of fasteners are The rotary self-propelled endoscope according to appendix 10, wherein the rotary self-propelled endoscope is inserted into the corresponding locking holes at the same time.

(Appendix 12)
The guide plate has a slope portion facing the bending wire locking member forming the notch,
In the wire connection plate, the convex portion is guided and moved in the direction toward the bending wire locking member in addition to the front-rear direction movement along the slope portion of the guide plate. The rotary self-propelled endoscope according to 11.

(Appendix 13)
The transmission line connection mechanism is
A first electrical connector disposed on the connector cover via a connector-side elastic member and having a weight-like projection protruding from the connector surface;
A second electrical connector that is exposed on the one surface of the box body and has an engagement hole into which the protrusion of the first electrical connector is engaged;
Comprising
The protrusion is engaged with the engagement hole, whereby the connection position of the first electrical connector with the second electrical connector is positioned, and an electrical transmission path is established. The rotary self-propelled endoscope according to appendix 7.

(Appendix 14)
The second electrical connector has a slope portion that guides the weight-shaped projection of the first electrical connector to the hole peripheral surface that forms the engagement hole and feeds the projection into the engagement hole. The rotary self-propelled endoscope as set forth in appendix 13, wherein

(Appendix 15)
When the connector cover and the box body are connected,
The first electrical connector is moved by elastic deformation of the connector-side elastic member, and the protruding portion is fed along the slope portion of the second connector, and is electrically connected to the second connector. The rotary self-propelled endoscope according to appendix 14, wherein a proper connection position is positioned.

(Appendix 16)
An insertion portion having a distal end portion and a bending portion;
An operation section having a bending operation knob for bending the bending section in a predetermined direction, and the insertion section being detachable;
A plurality of bending operation wires that are inserted into the insertion portion and bent by pulling or loosening the bending portion in a predetermined direction;
A wire connection mechanism for simultaneously connecting the plurality of bending operation wires to the operation unit when the insertion unit and the operation unit are coupled;
In a state where the insertion portion and the operation portion are connected, a power supply to the electric device disposed at the distal end portion, and a transmission path connection mechanism for transmitting and receiving various signals,
An endoscope characterized by comprising:

(Appendix 17)
The wire connection mechanism is
A plurality of fasteners connected to respective ends of the plurality of bending operation wires;
A wire connection plate disposed in the insertion portion and holding the plurality of fasteners so as to freely advance and retract;
A plurality of bending wire locking members disposed in the operation portion, moved forward and backward in conjunction with the operation of the bending operation knob, and formed with locking holes for locking the clasp;
A guide plate disposed in the operation unit and guiding the plate body in a predetermined direction;
Comprising
When the insertion portion and the operation portion are connected, the guide plate guides the plate body in a predetermined direction, so that the plurality of fasteners are the locking portions respectively corresponding to the plurality of bending wire locking members. The endoscope according to appendix 16, wherein the endoscope is inserted into the hole at the same time.

(Appendix 18)
The wire connection plate is a U-shaped plate body having a convex portion protruding from the side surface,
The guide plate has a notch for guiding the convex portion,
When the insertion portion and the operation portion are connected, the convex portion moves along the notch, so that the wire connection plate moves toward the bending wire locking member, and the plurality of fasteners are The endoscope according to appendix 17, wherein the endoscope is engaged with the corresponding locking holes at the same time.

(Appendix 19)
The guide plate has a slope portion facing the bending wire locking member forming the notch,
In the wire connection plate, the convex portion is guided and moved in the direction toward the bending wire locking member in addition to the front-rear direction movement along the slope portion of the guide plate. 18. The endoscope according to 18.

(Appendix 20)
The transmission line connection mechanism is
A first electrical connector disposed on the connector cover via a connector-side elastic member and having a weight-like projection protruding from the connector surface;
A second electrical connector that is exposed on the one surface of the box body and has an engagement hole into which the protrusion of the first electrical connector is engaged;
Comprising
The protrusion is engaged with the engagement hole, whereby the connection position of the first electrical connector with the second electrical connector is positioned, and an electrical transmission path is established. The endoscope according to appendix 19.

(Appendix 21)
The second electrical connector has a slope portion that guides the weight-shaped projection of the first electrical connector to the hole peripheral surface that forms the engagement hole and feeds the projection into the engagement hole. The endoscope according to appendix 20, characterized in that:

(Appendix 22)
When the connector cover and the box body are connected,
The first electrical connector is moved by elastic deformation of the connector-side elastic member, and the protruding portion is fed along the slope portion of the second connector, and is electrically connected to the second connector. The endoscope according to appendix 21, wherein an appropriate connection position is positioned.

1 is an overall configuration diagram of a rotary self-propelled endoscope system according to an embodiment of the present invention. Sectional drawing which shows a front-end | tip part of an endoscope, a curved part, and a part of rotating cylinder same as the above. The perspective view which shows an insertion auxiliary tool. The disassembled perspective view of the insertion auxiliary tool to which a guide tube is connected. Sectional drawing of the insertion auxiliary tool to which the guide tube was connected. Sectional drawing which shows the base end part of the insertion auxiliary tool to which the guide tube was connected. Sectional drawing of the insertion auxiliary tool along the VII-VII line of FIG. The exploded perspective view of a storage case main body. Sectional drawing of a storage case main body. The top view which looked at the storage case main body from one side. The enlarged view which shows the one side of the storage case main body to which a guide tube fixing member is attached. FIG. 12 is an enlarged plan view showing a state where a guide tube fixing member is attached to one side surface of the storage case main body of FIG. 11. The disassembled perspective view of the guide pipe fixing member by which a thrust generation member is arrange | positioned. The fragmentary sectional view of the guide pipe fixing member by which the thrust generation member seen from the storage case main body up-down direction is arrange | positioned. The fragmentary sectional view of the guide pipe fixing member by which the propulsion force generation member seen from the storage case main body left-right direction is arrange | positioned. The top view which shows a propulsion force generation member similarly. Sectional drawing through which a rotation cylinder penetrates and demonstrates the effect | action of the thrust generation member in a guide tube fixing member. The fragmentary sectional view of the guide pipe fixing member by the side of an operation part same as the above. Sectional drawing which shows the connection state of an operation part side guide tube and a connector cover. Sectional drawing which shows a part of connector cover to which the operation part side guide tube was connected. The top view of the connector box which shows the cross section along the XXI-XXI line of FIG. Sectional drawing which shows the state which the rotation cylinder of the insertion part main body penetrated to the guide tube. Sectional drawing which looked at the rotation cylinder of the insertion part main body in a storage case main body from the one side. The top view seen from the surface by the side of the opening of a connector cover. Sectional drawing of the connector cover along the XXV-XXV line of FIG. Sectional drawing of the connector cover along the XXVI-XXVI line of FIG. The top view which looked at the connector main body of the connector cover from the base end side. The figure for demonstrating the latching convex part which expanded the round circle XXVIII of FIG. The exploded perspective view for demonstrating the insertion part side gear arrange | positioned at a connector main body, a rotating shaft, a bearing, and an elastic member. The figure for demonstrating an electrical connector and an elastic member. The figure for demonstrating a built-in thing holding body and an elastic member. The perspective view which made the back side upwards to the assembled connector main body. The top view which shows the upper surface of a wire connection board equally. The top view which shows the back surface of a wire connection board equally. Sectional drawing of the wire connection board along the XXXV-XXXV line | wire of FIG. 33 and FIG. The side view of a wire connection board. The top view which looked at the wire connection board from the base end side similarly. The top view which looked at the wire connection board from the front end side similarly. The perspective view of the wire clasp connected to a bending operation wire. The top view which looked at the wire fastener from the front end side. The fragmentary sectional view which shows the side of a wire fastener same as the above. The top view which looked at the wire fastener from the base end side. The figure for demonstrating the state by which a wire fastener is arrange | positioned at a wire connection board. The top view seen from the base end direction of the wire connection board by which the wire fastener was arrange | positioned. The figure which shows the state by which the wire connection board was attached to the connector main body. The figure explaining the state which the wire connection board moved with respect to the connector main body. The top view of a connector cover. The rear view of a connector cover. 48 is a cross-sectional view of the connector cover taken along line 4XIX-4XIX shown in FIG. 48. FIG. Sectional drawing of the connector cover along the 5X-5X line of FIG. The top view which shows an operation part similarly. The top view which shows the back surface of a main operation part. The top view which shows a motor box same as the above. Sectional drawing of a motor box. The perspective view which shows the electrical connector of a female side. Sectional drawing of the horizontal direction of an electrical connector. Sectional drawing of the vertical direction of an electrical connector. The perspective view which shows a motor cover similarly. Sectional drawing for demonstrating the engagement hole part of a motor cover similarly. The figure which shows the internal structure of the holding part and the main operation part. Sectional drawing of the holding part along the 6XI-6XI line of FIG. Sectional drawing of the holding part along the 6XII-6XII line | wire of FIG. 60 same as the above. The figure which shows the internal structure of the holding part and the main operation part. The perspective view which shows a connection member equally. The perspective view which shows a stopper same as the above. The figure for demonstrating the state which the connection member contact | abutted with the stopper similarly. The figure for demonstrating the state which the connection member contact | abutted with the stopper similarly. The perspective view which shows a 1st guide plate similarly. The perspective view which shows a 2nd guide plate similarly. The perspective view which shows the state before a connector cover is docked with a motor box. The perspective view which shows the state in which the connector cover was docked in the motor box. Sectional drawing which shows the state before a connector cover is docked in a motor box. Sectional drawing which shows the state in which the connector cover was docked in the motor box. The top view which shows the state before a connector cover is docked in a motor box. The side view which shows the state before a connector cover is docked in a motor box. The fragmentary sectional view which shows the state in which a wire connection board is guided to a guide plate similarly. The figure for demonstrating the state in which the engagement convex part of a motor box is guided to the rectilinear advance groove | channel of a connector cover. The side view which shows the state just before docking a connector cover to a motor box. The figure for demonstrating the state in which a wire connection board is guided to the 2nd guide board similarly. The figure for demonstrating the state in which a wire connection board is guided to the 2nd guide board similarly. The figure for demonstrating the state in which a wire connection board is guided to the 2nd guide board similarly. The figure for demonstrating the state in which the wire clasp of a wire connection board is engage | inserted in the fastener latching hole of a connection member. The figure for demonstrating the state in which the wire clasp of a wire connection board is engage | inserted in the fastener latching hole of a connection member. The figure for demonstrating the state in which the wire clasp of a wire connection board is engage | inserted in the fastener latching hole of a connection member. The figure for demonstrating the state in which the wire clasp of a wire connection board is engage | inserted in the fastener latching hole of a connection member. The side view showing the state where the connector cover is docked to the motor box, The figure for demonstrating the state by which the engagement convex part of a motor box is guided to the guide groove of a connector cover, and an inclined surface, and is engaged in an engagement hole. The figure for demonstrating the state by which the engagement convex part of a motor box is guided to the guide groove of a connector cover, and an inclined surface, and is engaged in an engagement hole. The figure for demonstrating the state by which the engagement convex part of a motor box is guided to the guide groove of a connector cover, and an inclined surface, and is engaged in an engagement hole. The figure for demonstrating the state by which the engagement convex part of a motor box is guided to the guide groove of a connector cover, and an inclined surface, and is engaged in an engagement hole. The enlarged plan view which shows the state in which the engagement convex part is engaging with the engagement hole. The figure for demonstrating the state by which the engagement leg part of a bearing is engage | inserted by the engagement hole part of a motor cover. The figure for demonstrating the state by which the engagement leg part of a bearing is engage | inserted by the engagement hole part of a motor cover. The figure for demonstrating the state by which the engagement leg part of a bearing is engage | inserted by the engagement hole part of a motor cover. The figure for demonstrating the state in which the engaging leg part of a bearing is engage | inserted by the engaging hole part of a motor cover, and an insertion part side gear and a motor gear mesh. The figure for demonstrating the state in which the engaging leg part of a bearing is engage | inserted by the engaging hole part of a motor cover, and an insertion part side gear and a motor gear mesh. The figure for demonstrating an effect | action of the elastic member fixed to the bearing similarly. The figure for demonstrating the effect | action of the elastic member fixed to the bearing similarly. The figure for demonstrating the effect | action in meshing of an insertion part side gear and a motor gear. The figure for demonstrating the effect | action in meshing of an insertion part side gear and a motor gear. The figure for demonstrating the effect | action in meshing of an insertion part side gear and a motor gear. The figure for demonstrating the effect | action of the protrusion part of the male electrical connector, and the elastic member to which it fixed in the connection of a male electrical connector and a female electrical connector. The figure for demonstrating the effect | action of the protrusion part of the male electrical connector, and the elastic member to which it fixed in the connection of a male electrical connector and a female electrical connector. The figure for demonstrating the effect | action of the protrusion part of the male electrical connector, and the elastic member to which it fixed in the connection of a male electrical connector and a female electrical connector. The figure for demonstrating the effect | action of the protrusion part of the male electrical connector, and the elastic member to which it fixed in the connection of a male electrical connector and a female electrical connector. The top view which shows the state in which the connector cover was docked in the motor box. The top view which looked at the storage case main body from the upper surface similarly. The figure for action description which shows the state in which the insertion assistance tool was inserted into the rectum from the patient's anus. The figure for the effect | action description that the insertion part main body inserted in the large intestine reaches the sigmoid colon similarly. The figure for the effect | action description that the insertion part main body inserted in the large intestine reaches | attains the caecum vicinity similarly. The figure for demonstrating operation | movement when removing a connector cover from a motor box. The figure for demonstrating operation | movement when removing a connector cover from a motor box.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 ... Rotation self-propelled endoscope system 2 ... Rotation self-propelled endoscope 6 ... Endoscope insertion part 7 with a storage case ... Operation part 10 ... Insertion part main body 15 ..Connector cover 16... Motor box 17 .. gripping part 18... Main operation part 51... Rotating cylinder 51 a. ... Insertion part side gear 97 ... Bearing 97a ... Engagement leg part 98 ... Bearing side elastic member 99a ... Projection part 99 ... Electric connector 102 ... Connector side elastic member 108 ... Wire connecting plate 109... Side plate 110... Wire clamp holding plate 110 a... Concave plate portion 110 b. ... Wire retaining tube 118a ... Retaining bracket side locking portion 122 ... Mo Cover 123 ... Motor gear 124 ... Motor 125a ... Engagement hole 125b ... Slope part 125 ... Electric connector 130 ... Engagement hole 133 ... Inclined surfaces 134, 135 ... Connecting member 140 ... guide plate 150a ... connecting member side locking part 150 ... metal fitting locking hole 151a ... slope part 151, 152 ... engagement notch part

Claims (5)

An insertion portion main body having a bending portion on the distal end side, and an insertion portion including a rotating cylinder that is rotatably fitted to the insertion portion main body;
A separate operation section from the insertion section;
A driving means provided in the operation section, for engaging the rotating cylinder and rotating the rotating cylinder with respect to the insertion section main body;
A plurality of bending operation wires for passing through the insertion portion and bending the bending portion in a predetermined direction according to the front and rear traction directions;
A coupling mechanism capable of coupling the insertion unit and the operation unit so as to freely pull the plurality of bending operation wires in the operation unit;
With
The coupling mechanism is
A plurality of fasteners disposed on the end of each of the plurality of bending operation wires, disposed on the insertion portion side;
In conjunction with the operation of the operation lever provided on the operation unit arranged on the operation unit side, the plurality of fasteners move forward and backward in the front-rear pulling direction and when the insertion unit and the operation unit are connected. A plurality of bending operation wire locking members having a plurality of recesses arranged side by side in the pulling direction of the bending operation wire so that each of the bending operation wires is engaged, and the plurality of bending operations in the operation unit A first connection for transmitting a wire pulling operation to the insertion portion ;
A second connection for transmitting a rotational driving force of the upper SL drive means to said rotating cylindrical body,
Rotary self-propelled endoscope, wherein capable of and to Turkey the.   The coupling mechanism enables the first connection by a first action for coupling the connectors to each other along the front-rear pulling direction, and couples the second connection in a direction perpendicular to the first action. The rotary self-propelled endoscope according to claim 1, wherein the rotary self-propelled endoscope is configured to be enabled by a second action.   3. The self-propelled internal rotation according to claim 2, wherein the coupling mechanism enables a third connection for electrically connecting the insertion portion and the operation portion by the second action. Endoscope. The coupling mechanism, by the first action, multiplied by guided to the plurality of bending operation wire locking member that moves forward and backward by a plurality of bending operation wire in conjunction with the operation of the operating lever provided on the operation unit The rotary self-propelled endoscope according to claim 2 or 3, wherein the endoscope is configured to be stopped.   The coupling mechanism includes a first gear coupled to the rotating cylinder provided on the insertion portion side and a second gear coupled to the rotation shaft of the drive motor by the second action. The rotating self-propelled endoscope according to any one of claims 2 to 4, wherein the rotating self-propelled endoscope is configured so as to be closely meshed with each other.

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