JPH03109022A - Endoscope apparatus - Google Patents

Abstract

PURPOSE:To achieve a smaller size of a magnetic force generating means outside a body while reducing pains of a patient by arranging an endoscope provided with a permanent magnet or a ferromagnetic body at a tip section of an insert part insertable into a subject of a patient or the like and a magnetic force generating means at least movable two-dimensionally in the perimeter of the subject to eliminate a larger diameter of the endoscope. CONSTITUTION:An endoscope 2 is forced into a large intestine 41. Thereafter, movement of horizontal position of a magnetic force generating section 31 is performed observing an endoscope image of a TV monitor 7. In this case, as the horizontal position of the magnetic force generating section 31 is moved in sequence as indicated by dotted lines 31a, 31b, 31c and 31d along a tube cavity wound of the large intestine 41, the tip part 19 or a hood 20 of the endoscope is attracted by a magnetic force and hence, the tip part 19 moves so as to trace a moving course of the magnetic force generating section 31. In this manner, the tip part 19 can be inserted deep into the large intestine 41. The position of the magnetic force generating section 31 can be moved optionally on a horizontal surface by the rotation of motors 37 and 38.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope device that moves an endoscope using magnetic force.

[Prior art and problems to be solved by the invention] In recent years,
Endoscopes have become widely used in the medical and industrial fields.

In order to perform inspection or diagnosis using the endoscope, it is necessary to insert the insertion section into a body cavity or the like. In this case, since the insertion path is often curved, insertion may take time unless the operator is skilled in the insertion work.

For this reason, for example, as in Utility Model Publication No. 55-5155,
Some endoscopes are equipped with a balloon, and the endoscope is automatically or auxiliarily inserted into a lumen such as the large intestine by expanding and deflating the balloon.

In addition, as in Japanese Patent Application Laid-Open No. 63-136014, an actuator made of a shape memory alloy is provided inside the endoscope,
Some of these devices perform electrical heating control to automatically insert an endoscope along the curved shape of a lumen such as the large intestine.

Although these are effective as automatic insertion means, they require a complicated actuator mechanism in the endoscope itself, which complicates the structure and therefore requires a thicker diameter insertion section of the endoscope. It was difficult to alleviate the pain of thinking.

Also, "Stomach and Intestines" Vol. 9 No. 10 P, 1313-131g
(1974), there is an endoscope that can be automatically inserted to a small depth using the patient's own peristaltic motion. This has the advantage of having an extremely flexible insertion section with a diameter of about 5 mm and causing less pain to the patient, but it also requires the insertion section to be long and the outer diameter of the insertion section to be as thin as possible. There is a problem that the conventional angle wire type tip curving mechanism cannot be installed, or even if it is installed, the required curvature cannot be achieved.
This leads to a decline in treatment performance and has not been widely used.

Furthermore, as disclosed in Japanese Patent Application Laid-Open No. 55-133237, a magnetic attraction type automatic insertion method has been proposed, in which the endoscope is inserted floating in the center of the lumen and contact with the lumen wall is detected. There are methods that have been established.

This requires a strong magnetic field to levitate the endoscope magnetically, and it also requires the installation of a contact sensor, which makes the device larger and the structure of the endoscope itself more complex. However, it has not been put into practical use.

The present invention has been made in view of the above points, and provides an endoscope device that does not require increasing the diameter of the endoscope, can reduce pain to the patient, and can also miniaturize the external magnetic force generating means. The purpose is to

[Means and effects for solving the problems] The present invention provides an endoscope having a permanent magnet or a ferromagnetic material at the distal end of an insertion section that can be inserted into a subject such as a patient, and an endoscope disposed around the subject. and a magnetic force generating means that is movable at least two-dimensionally, and the magnetic force of the magnetic force generating means allows the distal end to be moved to a deep part of the subject without being moved. In this case, the tip can be made of a permanent magnet or a strong la bamboo body for the tip body or the hood attached to the tip body, so that it can flow without increasing the diameter and can be moved by sliding on the tube wall. By doing so, only a small magnetic force generating means is required.

[Example] Hereinafter, the present invention will be explained in detail with reference to the drawings.

FIGS. 1 to 4 relate to a first embodiment of the present invention.
The figure is a configuration diagram showing the entire device of the first embodiment, FIG. 2 is a sectional view showing the structure on the distal end side of the endoscope, FIG. 3 is a magnetic force generating device, and FIG. FIG. 4B is a plan view, and FIG. 4 is an explanatory diagram showing how the device is inserted into the large intestine.

As shown in FIG. 1, the endoscope apparatus 1 of the first embodiment includes an endoscope 2 formed of a fiberscope, a light source device 3 that supplies illumination light to the endoscope 2, and a connection between the endoscope 2 and the endoscope 2. A TV camera 5 attached to the eye 4, a camera control unit (hereinafter abbreviated as CCU) 6 that performs signal processing for the TV camera 5, and a TV monitor 7 that displays video signals output from the CCU 6. It consists of a magnetic force generating device @11 disposed below the bed 10 where the patient 9 into which the insertion section 8 of the endoscope 2 is inserted is placed, and a control section 12 to which this magnetic force generating device 11 is connected. Ru.

In the endoscope 2, a large operation section 13 is formed at the rear end of a flexible and elongated insertion section 8, and an eyepiece section 4 is formed at the top of this operation section 13. Further, a light guide cable 14 is extended from the side of the operation section 13, and a connector at the tip thereof can be connected to the light source device 3.

Inside the insertion section 8 and the light guide cable 14,
A light guide 16 is inserted. Thus, the lamp 17 in the light source device 3 emits light, and the condenser lens 18
The illumination light supplied through the insertion section 8 is transmitted and emitted forward from the end surface of the insertion section 8 on the distal end component 19 side (see FIG. 2).

A hood 20 can be attached to this tip component portion (hereinafter abbreviated as the tip portion) 19 .

This tip 19 is made of a permanent magnet or a ferromagnetic material. Samarium cobalt (SiC) is used as a permanent magnet.
o5. Sn+2Co17), neon, cum, iron,
Rare earth magnets with high magnetic force, such as boron-based (NdFe B), are desirable. Further, instead of forming the tip portion 19 from a permanent magnet or a ferromagnetic material, the hood 20 may be formed from a permanent magnet or a ferromagnetic material.

The curved portion 21 adjacent to the distal end portion 19 has a joint piece 22.
22. ... can be bent vertically or horizontally, and can be bent in any direction by rotating a bending knob (not shown) provided on the operating section 13. This curved portion 21 is covered with a flexible jacket.

The object illuminated by the illumination light emitted from the light guide 16 is imaged on the focal plane by the objective lens 24 provided at the tip 19. The tip of the image guide 25 is disposed in this focal plane, and the image guide 25
, an optical image is transmitted to the end face on the eyepiece section 4 side. An eyepiece lens 26 is disposed opposite to this end surface, and the lens 26
Enlarged observation can be done through the . The TV camera 5 attached to the eyepiece 4 forms an optical image on the C0D 28 using an imaging lens 27 facing the eyepiece 26 . The electrical signal photoelectrically converted by this C0D28 is
The signal is input to U6, subjected to signal processing, and an endoscopic image is displayed on the monitor 7.

At least the components of the insertion portion 8 other than the tip 19 and the hood 20, such as the joint piece 22, are made of non-magnetic material (aluminum, copper alloy, etc.) that cannot be attracted by magnetic force.

FIG. 1 shows the endoscope 2 being inserted into the large intestine of a patient 9.

The bed 10 on which the patient 9 is placed horizontally is made of non-magnetic material such as wood.

The magnetic force generator 11 disposed below the bed 10 includes a magnetic force generator 31 that is movable on a horizontal plane.

The configuration of this magnetic force generator 11 is shown in FIGS. 3(a) and 3(b).
Shown below.

A power source 33 for generating magnetic force and for moving the magnetic force generating section 31 is housed at the bottom of the chassis 32 whose upper side is open.

A pair of guide rails 34 and 34 are attached to the upper end sides of the chassis 32 that are parallel to each other and cover each other, and there is space between these guide rails 34 and 34 in the longitudinal direction of the guide rail 34 (indicated by an x). A second guide rail 35 is constructed in the direction (indicated by Y) orthogonal to the guide rail 3.
A magnetic force generating section 31 made of an electromagnet is mounted on the guide rail 5 so as to be movable in the longitudinal direction Y of the guide rail 35.

The magnetic force generating section 31 is attached to the guide rail 35 via a rotor 36, and the rotor 36 is rotated by a motor 37.

Further, one end of the guide rail 35 is connected to a motor 38.
It is placed on a guide rail 34 via a rotor 39 rotated by this heptad 38.

Therefore, by rotating the motor 38, the rotor 39
The guide rail 35 can be moved in the longitudinal direction X of the guide rail 34 by rotating the guide rail 35.

The motors 37 and 38 for rotating the rotors 36 and 39, respectively, are preferably ultrasonic motors that are not affected by magnetic force. The motors 37 and 38 are controlled by a control unit 12 connected via a cable 40 to control their rotation (normal rotation,
(reverse rotation, stop), etc. In this way,
The magnetic force generating section 31 is designed to be movable to any position within the horizontal plane.

The operation of the first embodiment configured as described above will be explained below with reference to FIG.

As shown in Figure 4, people! Family celebration # within 1141! Push in 12. Thereafter, while observing the endoscopic image on the TV monitor 7, the horizontal position of the magnetic force generating section 31 is moved. In this case, the horizontal position of the magnetic force generating section 31 is indicated by dotted lines 31a and 31b along the bent lumen of the large intestine 41.

When moving sequentially as shown by 31C and 31d, the tip 19 or the hood 20 is attracted by magnetic force, so the tip 19 moves so as to trace the moving path of the magnetic force generating section 31. In this manner, the distal end portion 19 can be inserted deep into the large intestine 41.

The position of the magnetic force generating section 31 is moved by motors 37 and 38.
By rotating the magnetic force generating section 31, the magnetic force generating section 31 can be moved in the longitudinal direction Y of the guide rail 35, and the guide rail 35 can be moved in the longitudinal direction X of the guide rail 34. Therefore, the magnetic force generating section 3
1 can be moved to any position on the horizontal plane. In reality, the endoscope distal end 19 is moved forward from below the patient 9 while being attracted by the magnetic force of the magnetic force generating section 31. It can be slid while sliding on the wall (wall surface).

According to this first embodiment, insertion into a curved region such as the large intestine 41 becomes easy.

In this first embodiment, depending on the physique of the patient 9, the shape of the lumen with a standard large p/% 41 for that physique is displayed on the TV monitor 7 or other monitor screen, and The position of the magnetic force generating section 31 on the horizontal plane is also displayed superimposed on this screen, and when the magnetic force generating section 31 is moved, it is possible to see which position of the lumen the magnetic force generating section 31 is located on the horizontal plane. It may be made easy to understand and easy to insert.

Furthermore, when the magnetic force generating section 31 is moved, the shape of the lumen of the large intestine 41 and the relative position of the magnetic force generating section 31 may be corrected at the same time based on the trajectory.

Incidentally, the horizontal position of the magnetic force generating section 31 can be detected by attaching an encoder to the motor 37, 3, for example.

The magnetic force generating section 31 can be configured with a small electromagnet or the like, since it is movable to a position where it draws the endoscope tip 19 by sliding it on a wall surface.

In addition, on the endoscope side, by configuring the distal end 19 itself or the hood 20 attached to the distal end 19 from a permanent magnet or a ferromagnetic material, there is no need to increase the outer diameter of the insertion section, making it easier for the patient. It can reduce the pain caused.

FIG. 5 shows a second embodiment of the invention.

In this second embodiment, the rear end of the insertion section 8 of the endoscope 42 is connected to the TV.
It is connected to an observation unit 43 having a built-in camera, and a cable 44 of this observation unit 43 is connected to an operation section 45 together with a cable 40 of the magnetic force generating device 11. This operation unit 45 has a built-in light source device and a CCLJ that performs signal processing.

Further, a patient monitoring TV camera 47 is attached to the bed 10 via a camera mounting member 46, and this TV camera 4
The signal line 7 is also connected to the operation section 45.

As shown in FIG. 6, on the panel portion of the operation unit 45, there is an endoscopic image monitor 8 that displays endoscopic images captured by the TV camera in the observation unit 43, and a patient image captured by the monitoring TV camera 47. A patient image monitor 49 is provided. Further, a joystick 50 is provided on the operating table of the operating section 45 for moving and operating the position of the magnetic force generating section 31, and the operator 51 can move the magnetic force generating section 3 while viewing the endoscopic image.
The first position can be moved.

The rest of the structure is almost the same as that of the first embodiment.

The operation of the second embodiment is similar to that of the first embodiment, but the operator 51 moves the magnetic force generating section 31 while observing the state of the patient 9 along with the internal images, and inserts the endoscope 42 into the large intestine. can move forward. Therefore, the patient 9's state of pain can be seen, and the operator 51 can insert the endoscope 42 safely, remotely, and more easily.

FIG. 7 shows a third embodiment of the invention.

This embodiment differs from the magnetic force generating device 11 in the second embodiment in that, as shown in FIG. The annular magnetic force generator 61 is movable on the rail 62 in a direction perpendicular to the annular surface, that is, in the longitudinal direction of the bed 10 on which the patient 9 is placed.

Further, the operation unit 45 of this embodiment includes an endoscope image monitor 48.
A patient data display section 6 that inputs and outputs various information such as the patient's history and reception results is displayed on the monitor adjacent to the monitor.
I am trying to use it as 3.

Further, the operation section 45 is provided with an induction switch 64 for instructing the position movement of the magnetic force generating device 61 instead of the joystick.

FIGS. 8 and 9 are diagrams showing the internal configuration principle of the magnetic force generating device 61. FIG.

As shown in FIG. 8, within the annular portion 65 of the magnetic force generating device 61, magnetic force generating portions 66A consisting of electromagnets are provided at two opposing locations.
, 66B are each rotatably attached to the guide ring 67. These magnetic force generating units 66A and 66B are configured to be able to rotate by a known means such as a motor while facing each other by 180°. For example, FIG. 9 shows a state rotated by an angle θ from the state shown in FIG.

The operation of this third embodiment will be explained below.

Introspection! [42 is inserted into the large intestine 41 through the anus by the operator. After this, the magnetic force generating section 66 of the magnetic force generating device 61
A and 66B are driven, and the distal end of the endoscope is suctioned by magnetic force in the same manner as in the first embodiment, and inserted into the deep side of the large intestine 41.

For example, in the state shown in FIG. 8(a), the large intestine 41 is located at the center of the annular portion 65, and the tip of the endoscope is located inside the large intestine. Shown in (b). In FIG. 8(b), the left side shows the deep side of the large intestine 41. In order to insert the tip of the endoscope deeper from this state, the large intestine lumen is bent upward in the section taken along line A-A' in Figure 8(a), so suction must be drawn in the direction of this bend. There is a need to. For this reason, the annular magnetic force generating device 61 is shown in FIG.
), the magnetic force generating portion 66A is moved to the left side, for example, in the direction of the rail 62 in FIG.

66B is rotated by θ° to bring it into the state shown in FIG. 9(a). Furthermore, at this time, the magnetic force of the magnetic force generating section 66A is increased. Then, the permanent magnetic force or ferromagnetic part of the endoscope tip is strongly attracted and moved toward the magnetic force generating part 66A, and moves by approximately XM along the bent lumen, as shown in FIG. 9(b). It becomes like this.

In this way, by moving the magnetic force generating device 61 in the height direction of the patient 9 (longitudinal direction of the bed) and rotating the magnetic force generating parts 66A and 66B, and controlling the strength of the magnetic force, it is possible to perform endoscopic vision into the complex colon lumen. A mirror can be easily inserted.

FIG. 10 shows a small intestine endoscope 7 in a fourth embodiment of the present invention.
1, and in this figure, the 0 cavity, the esophagus 72, the stomach 73, the duodenum 74, and the empty It! 75, the state of insertion into the ileum 76 and up to the small intestine 77 is shown.

This small intestine endoscope 71 has a structure on the distal end side of its insertion portion 78 as shown in FIG.

A hood 82 is screwed onto the distal end 81, a balloon 83 is connected to the rear thereof, and the other end is connected and fixed to the first jacket 84 by thread winding. Like a normal endoscope, an objective lens 24, an image guide fiber 25, and a light guide fiber 16 are provided, and behind the outer sheath 84, a second outer sheath 85 covers the outer sheath 84. The hood 82 is made of the above-mentioned permanent magnet or ferromagnetic material, and the other rear side members are made of non-magnetic material. Furthermore, the insertion section 7 has two stages of flexibility: a very flexible section 86 and a subsequent flexible section 87. This can be achieved by constructing a very soft part 86 with an outer sheath 84 made of a material with low hardness, that is, soft, and by constructing this with an outer sheath 85 made of a material with high hardness, that is, hard.

The operation of this fourth embodiment will be explained below.

This endoscope 1171 is called a sonde-type small intestine fiberscope, and the endoscope vA71 inserted from the nasal cavity as shown in Fig. 10 fills a balloon 83 with water and expands it, and uses this as a weight. It is inserted by the peristaltic movement of the patient 9.

As shown in FIG. 12, when the diseased part 88 in the small intestine 77 is reached, the balloon 83 of the endoscope 71 is deflated and the first. Second. The magnetic force generating section (indicated by 89) of the third embodiment is driven, and the hood 82 of the endoscope 71 is attracted by the magnetic force from outside the body. This allows the diseased area 88 to be viewed from the front, making it possible to make an accurate diagnosis and to collect tissue using biopsy forceps or the like.

Similarly, when the endoscope 71 is to be passed through the pyloric region 9o as shown in FIG.
By driving 9, passing can be easily performed.

As can be seen from FIG. 12, since the extremely soft part 86 is provided, when the hood 82 is attracted by magnetic force, it can be easily bent in a desired direction without increasing the reaction force (the soft part 87 is Because it is hard, it has a very soft part 86 as shown in Figure 12.
(It is possible to curve the lumen in a small lumen, making it possible to shorten the length of the curvature within a small lumen.

FIG. 14 shows the configuration of the distal end side of an endoscope according to a fifth embodiment of the present invention.

The endoscope 91 of this embodiment is an electronic endoscope, and has a light guide 16, an objective lens 24, and a hood 20 like the endoscope 2 shown in FIG. A solid-state image sensor (hereinafter abbreviated as SID) 92 is disposed, and this SID is driven by a drive circuit 93.

This drive circuit 93 is connected to, for example, CCtJ6 in FIG. 1 via a cable 94 inserted through the insertion portion 8.

The insertion portion 8 is composed of a rod-shaped flexible portion 86 formed of a soft outer sheath 84 at the part that contacts the FAI end portion 19, and a rear magnetic body 95 is formed at the rear end of this extremely soft portion 86. The rear magnetic body 95 connects the extremely soft part 86 on the front side to the soft part 87 on the rear side formed of the outer sheath 85 of the moon Y (which is harder than the outer sheath 84).

The hood 20 and the rear magnetic body 95 are made of the above-mentioned permanent magnet or ferromagnetic material, and have opposite polarities at their outer peripheries. For example, the outer periphery of the hood 20 is the north pole, and the outer periphery of the rear magnetic body 95 is the south pole.

The rest of the structure is almost the same as that of the first embodiment or other embodiments.

The operation of this fifth embodiment will be explained below.

As shown in FIG. 15, the inner vL91 is inserted into the large intestine 41, and as in the other embodiments, the magnetic force generating section 39 is driven to move it forward by the magnetic force.

In this case, by setting the magnetic force generating portion 89 to the N pole, the hood 2
A repulsive force acts on the rear magnetic body 95, and an attractive force acts on the rear magnetic body 95. As a result, the distal end 19 is located at the center of the lumen, making it easier to see from the front, and the distal end side floats even slightly, making it easier to move forward without the distal end 19 arching against the tube wall when moving forward.

Note that in order to prevent the influence of magnetic noise on the 5ID 92, a magnetic shielding material may be provided around the 5ID 92 inside the endoscope 91.

16 to 19 relate to the sixth embodiment of the present invention,
FIG. 16 shows the distal end side of the endoscope, FIG. 17 shows how it is inserted into the large intestine, and FIGS. 18 and 19 show the drive mechanism of the magnetic force generating section outside the body.

As shown in FIG. 16, the endoscope 101 of this embodiment is
The soft part on the rear side of one tip part is connected to the joint part 1 at regular intervals.
02a, 102b, . . . are provided to constitute an insertion portion.

In other words, the flexible portion 104 following the tip portion 19. a @ At a certain interval, the soft part 1 behind (via the joint part 102a
04b, and this flexible part 104b is connected to the flexible part 104C behind it via the joint part 102b at a certain interval, and the joint parts 102a, 102b
, . . ., a large number of flexible portions 104a, 104b, .
・It is divided into

The tip portion 19, the knot portions 102a, 102b,...
As mentioned above, it is made of a permanent magnet or a ferromagnetic material.

Also, a plurality of magnetic force generating portions 89a are provided outside the body.

89b, . . . are provided.

FIG. 17 shows the endoscope 01 inserted into the large intestine 41. Rectum 110, sigmoid colon 111, descending colon 112
, left flexure 113, transverse colon 114, right flexure 115,
The endoscope 101 is inserted into the ascending colon 116. Tip part 1
Continuing from 9, the joint 102a, the joint 102b1, the joint 102c
, a joint 102d1, a joint 102e, a joint 1.02f, a joint 102g, etc. are provided. Correspondingly, magnetic force generating portions 89a, 89b, 89c, 89d, 89e are provided outside the body.
.

89f, 89Q, ... (represented by 891) are arranged.

FIG. 18 and FIG. 19 show the drive configuration of the extracorporeal magnetic force generating section 89.

Insertion amount detection unit 1 that detects the insertion amount of the endoscope 101 outside the body
21 is provided, and an encoder 123 is provided to determine the amount of rotation of the roller 122.
Detect with. An X-axis drive section 124 and a Y-axis drive section 125 are provided to move the position of each magnetic force generation section 89, and each magnetic force generation section 89i is independently driven. Each magnetic force generating section 89
The position (X, Y) of i is input to the storage unit 126. Further, the signal from the insertion amount detection section 121 is also input to the storage section 126. The calculation signal of this storage section 126 is transmitted to the JIT control section 127.
and is fed back to the x-axis drive unit 124 and the Y-axis drive unit 125.

The operation of this embodiment will be explained below.

As shown in FIG. 18, each magnetic force generating section 89a, 89b.

The positions A, B, C, D, . . . of 89c, 89d, . . . are stored as (X, Y) coordinates corresponding to the insertion amount.

Next, the insertion continues, and <B, C, D, E are located at the positions A, B, C, and D in FIG. 18 as shown in FIG. 19. this is,
The insertion ■ detection section 121 can detect that 8 in FIG. 19 comes to A in FIG. ．． 125, A, B in FIG. 18,
Move B, C, D, and C in FIG. 19 to positions C and D.

These operations are carried out in the shift-based suburban area 127.

As a result of this operation, as shown in FIG. 17, the distal end 19 and the joints 102a, 102b, .

It should be noted that the magnetic force generating section 89a corresponding to the distal end section 19 can be manually adjusted to its driving position while observing the endoscopic image.

In this embodiment, the rear side of the distal end 19 is inserted and moved so as to follow the sprouting part from that part, so the insertion m
Even if the tube becomes deep, there is little effect of friction with the tube wall, and the tip can be inserted as if only the distal end 19 is being inserted, making the insertion work easier for the operator and reducing discomfort for the patient.

Incidentally, the insertion process of the tip end 19 is recorded on a recording means,
For the next insertion, the recorded insertion process can be used as a guide. This method is particularly effective for the same patient, and is also effective for patients with similar body shapes.

Furthermore, above)! It is also possible to partially combine different embodiments to construct different embodiments.

Furthermore, the present invention is not limited to the embodiments described above.

For example, (1) the magnetism generating means placed outside the body may be a permanent magnet.

In this case, the magnetic force can be controlled by changing the distance to the endoscope.

(2) For the electromagnetic force of the magnetism generating means, a superconducting magnet may be used in addition to a normal normal conducting magnet.

(3) An electromagnet may be provided in place of the permanent magnet or ferromagnetic material provided in the endoscope itself.

(4) In addition to the application to endoscopes for the large intestine and small intestine shown in each example, ・ Endoscopes for blood vessels, catheters for blood vessels, capsule-type endoscopes, and capsule-type intestinal fluid collection devices. , it can be applied to capsule-type drug dispensing devices, etc.

[Effects of the Invention] As described above, according to the present invention, an endoscope is provided with a permanent magnet or a ferromagnetic material at its distal end, and is movable in at least two dimensions around an object to be inserted, such as a patient. Since the endoscope is moved by the magnetic force generating means, the endoscope can be smoothly inserted by the magnetic J without increasing the diameter of the endoscope. Since the tube wall can be moved by sliding, the magnetic force generating means can also be downsized.

[Brief Description of the Drawings] Figures 1 to 4 relate to a first embodiment of the present invention.
The figure is a configuration diagram showing the entire device of the first embodiment, Figure 2 is a sectional view without showing the M4 structure on the distal end side of the endoscope, Figure 3 shows the magnetic force generator, and (a) of the same figure is a side view. Figure, same figure (b> is a plan view,
FIG. 4 is an explanatory diagram showing how it is inserted into the large intestine, FIGS. 5 and 6 relate to the second embodiment of the present invention, and FIG.
FIG. 6 is a front view showing the operating section, and FIGS. 7 to 9 relate to a third embodiment of the present invention.
FIG. 7 is a perspective view showing the entire device of the third embodiment, and FIG. 8 (
a) is a schematic front view showing the magnetic force generating part provided in the annular magnetic force generating device, FIG. 8(b) is a sectional view taken along the line AA' in FIG. Figure 8(a) is a schematic front view showing the state in which the magnetic force generating part is rotated, and Figure 9(b) is the same figure (
The cross-sectional view of a) and FIGS. 10 to 13 are the fourth cross-sectional views of the present invention.
Regarding the embodiment, Fig. 10 is an explanatory diagram showing how the endoscope is inserted into the small intestine from the nasal cavity, Fig. 11 is a sectional view showing the structure of the distal end side of the endoscope in the fourth embodiment, and Fig. 12. 13 is an explanatory diagram showing how to observe a diseased area in the small intestine, FIG. 13 is an explanatory diagram showing how to pass through the pyloric region of the stomach, and FIGS. 14 and 15 relate to the fifth embodiment of the present invention. FIG. 14 is a sectional view showing the structure of the distal end of the endoscope in the fifth embodiment, FIG. 15 is an explanatory view showing how it is inserted into the large intestine, and FIGS. 16 to 19 are the sixth embodiment of the present invention. Regarding the embodiment, Fig. 16 is a side view showing the configuration of the distal end side of the endoscope, Fig. 17 is an explanatory view showing how it is inserted into the large intestine, and Figs. 18 and 19 are the drive system of the magnetic force generating section. FIG. 1... Endoscope device 2... Endoscope 3... Optical m device 5... TV camera 6... CCU
7...TV monitor 9...1 this person
10...Bed 11...Magnetic force generator
12...Control unit 19...Tip part 20...
・Hood 24...Objective lens 25...Image guide 28...CGCI 31...Magnetic force generator 3 Figure 2 Figure 6 Figure 130

Claims (1)

[Claims] an endoscope having a permanent magnet or a ferromagnetic material at the distal end of an insertion part that can be inserted into a subject; and an endoscope disposed around the subject;
What is claimed is: 1. An endoscope apparatus comprising magnetic force generating means movable at least two-dimensionally.