JPH0515485A - Fluid pressure driven type actuator and endoscope making use of the same actuator - Google Patents
Fluid pressure driven type actuator and endoscope making use of the same actuatorInfo
- Publication number
- JPH0515485A JPH0515485A JP3025542A JP2554291A JPH0515485A JP H0515485 A JPH0515485 A JP H0515485A JP 3025542 A JP3025542 A JP 3025542A JP 2554291 A JP2554291 A JP 2554291A JP H0515485 A JPH0515485 A JP H0515485A
- Authority
- JP
- Japan
- Prior art keywords
- fluid pressure
- elastic body
- actuator
- endoscope
- pressure actuator
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Withdrawn
Links
Landscapes
- Endoscopes (AREA)
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Manipulator (AREA)
- Actuator (AREA)
Abstract
Description
【０００１】[0001]
【産業上の利用分野】本発明は、流体圧駆動型アクチュ
エータおよびこれを利用して挿入部の湾曲部を湾曲する
内視鏡に関する。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a fluid pressure drive type actuator and an endoscope for bending a bending portion of an insertion portion using the actuator.
【０００２】[0002]
【従来の技術】従来、特開昭６３−１９３１２１号公報
において、円管状の弾性チューブの外周に網状管を被覆
し、そのチューブの内部に空気圧を加えることで、軸方
向の変位を得る空気圧駆動型の弾性人工筋が知られてい
る。2. Description of the Related Art Conventionally, in Japanese Unexamined Patent Publication No. 63-193121, a pneumatic drive for obtaining a displacement in the axial direction by covering the outer circumference of a circular elastic tube with a mesh tube and applying air pressure to the inside of the tube. Types of elastic artificial muscles are known.
【０００３】[0003]
【発明が解決しようとする課題】しかしながら、前述し
た従来の弾性人工筋は、その弾性チューブと網状管とが
円筒状に形成されているため、これを内視鏡内に組み込
む際、スペースの制約を受けるという問題があった。However, in the above-mentioned conventional elastic artificial muscle, since the elastic tube and the reticulated tube are formed in a cylindrical shape, there is a space limitation when incorporating the elastic artificial muscle into the endoscope. There was a problem of receiving.
【０００４】また、一般に、狭く、他の内蔵物等によっ
ても、制限される内視鏡の挿入部内に、その弾性人工筋
を配設するにあたり、特に、制限されるという事情があ
った。[0006] Further, there is a circumstance that the elastic artificial muscle is generally limited in the insertion portion of the endoscope, which is generally narrow and is limited by other built-in objects.
【０００５】本発明は、前述した課題に着目してなされ
たものであり、その目的とするところは、機器内に容易
に組み込むことのできる流体圧駆動型アクチュエータお
よびこのアクチュエータを利用した内視鏡を提供するこ
とにある。The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to provide a fluid pressure drive type actuator which can be easily incorporated in a device and an endoscope using this actuator. To provide.
【０００６】[0006]
【課題を解決する手段および作用】本発明の流体圧駆動
型アクチュエータは、加圧室を内部に形成した偏平状の
弾性体と、この弾性体に付設されその弾性体の膨脹方向
を規制する繊維と、前記加圧室に接続された流体供給用
加圧チューブとからなる。しかして、機器内に容易に組
み込むことのできる流体圧駆動型アクチュエータとする
ことができる。The fluid pressure drive type actuator of the present invention comprises a flat elastic body having a pressurizing chamber formed therein, and a fiber attached to the elastic body to regulate the expansion direction of the elastic body. And a pressure tube for fluid supply connected to the pressure chamber. Thus, the fluid pressure drive type actuator can be easily incorporated in the device.
【０００７】また、他の発明は、前記流体圧駆動型アク
チュエータを組み込み、挿入部の湾曲部を湾曲する内視
鏡である。Further, another invention is an endoscope in which the fluid pressure drive type actuator is incorporated to bend the bending portion of the insertion portion.
【０００８】[0008]
【実施例】図１ないし図２は、本発明の第１の実施例に
係る流体圧アクチュエータＡを示すものである。1 and 2 show a fluid pressure actuator A according to a first embodiment of the present invention.
【０００９】この流体圧アクチュエータＡは、弾性材料
からなる平板状で同じ大きさの長方形の第１のシート１
と第２のシート２とを重ね合わせて、その周縁部分のみ
を接着した袋状の弾性体３を有し、この弾性体３の外周
に複数の非伸長性繊維４をその弾性体３の長手方向に沿
って平行に等間隔で巻付けて接着固定して構成されてい
る。なお、前記弾性体３は、例えば、シリコンゴム、ポ
リウレタンゴム、ラテックス等の弾性材料から形成され
ている。The fluid pressure actuator A is a flat sheet-like rectangular first sheet 1 made of an elastic material.
And the second sheet 2 are superposed on each other, and a bag-shaped elastic body 3 having only a peripheral edge thereof bonded is provided. It is configured by winding in parallel at equal intervals along the direction and adhering and fixing. The elastic body 3 is made of an elastic material such as silicon rubber, polyurethane rubber, latex, or the like.
【００１０】また、弾性体３の長手方向の一端の周縁に
おいて、両シート１，２の間には、加圧チューブ５の先
端部が気密的に挟み込まれ、加圧チューブ５の先端開口
は、弾性体３の非接着面内、つまり、内空部からなる加
圧室６に連通してある。Further, at the peripheral edge of one end of the elastic body 3 in the longitudinal direction, the tip portion of the pressure tube 5 is hermetically sandwiched between the sheets 1 and 2, and the tip opening of the pressure tube 5 is The elastic body 3 is in communication with the non-bonding surface, that is, the pressurizing chamber 6 composed of an inner space.
【００１１】そして、弾性体３の加圧室６にその加圧チ
ューブ５を通じて、空気、水等の流体を取り入れると、
図１の（Ｂ）および図２の（Ｃ）（Ｄ）で示すごとく膨
脹する。When a fluid such as air or water is taken into the pressure chamber 6 of the elastic body 3 through the pressure tube 5,
It expands as shown in FIGS. 1B and 2C and 2D.
【００１２】このとき、弾性体３の外周面には、複数の
非伸長性繊維４が貼り付けてあるため、流体圧アクチュ
エータＡはその長手方向には膨脹できず、両シート１，
２の面に垂直な方向と両側方向へのみ膨脹する。この動
作により、流体圧アクチュエータＡは、長手方向にその
長さが収縮する変位を得るとともに、引張り力を発生さ
せることができる。At this time, since the plurality of non-stretchable fibers 4 are attached to the outer peripheral surface of the elastic body 3, the fluid pressure actuator A cannot expand in the longitudinal direction thereof, so that the sheets 1, 2.
It expands only in the direction perpendicular to the second plane and in both directions. By this operation, the fluid pressure actuator A can obtain a displacement in which its length contracts in the longitudinal direction and generate a tensile force.
【００１３】図３は第１の実施例での流体圧アクチュエ
ータＡの変形例であり、弾性体３の外周に取り付ける複
数の非伸長性繊維４を網状に編んで構成したものであ
る。この場合、繊維４の網み角を適宜変えることで、そ
の最大収縮変位量を変えることができる。また、流体圧
アクチュエータＡの長手方向に対して繊維４からなる縦
糸と横糸が長手軸方向へ直交せず、共に斜めに同じ角度
で傾斜している。FIG. 3 shows a modified example of the fluid pressure actuator A in the first embodiment, which is constructed by weaving a plurality of non-stretchable fibers 4 attached to the outer periphery of the elastic body 3 in a net shape. In this case, the maximum contraction displacement amount can be changed by appropriately changing the mesh angle of the fiber 4. Further, the warp yarns and the weft yarns made of the fibers 4 are not orthogonal to the longitudinal axis direction with respect to the longitudinal direction of the fluid pressure actuator A, and both are obliquely inclined at the same angle.
【００１４】なお、流体圧アクチュエータＡの長手方向
に直交する繊維４を設けるようにしてもよい。この場合
には、弾性体３の側面方向への膨脹を抑制することがで
きる。Fibers 4 orthogonal to the longitudinal direction of the fluid pressure actuator A may be provided. In this case, expansion of the elastic body 3 in the lateral direction can be suppressed.
【００１５】図４ないし図６は、本発明の第２の実施例
に係る流体圧アクチュエータＡを示すものである。この
実施例では、１枚のシート７を用いて弾性体３を構成す
る。すなわち、図５および図６で示すように比較的肉厚
の長方形の１枚のシート７に長手方向に沿う両縁部分を
残してその長手方向に沿ったスリット８を入れた形状を
なす。FIGS. 4 to 6 show a fluid pressure actuator A according to a second embodiment of the present invention. In this embodiment, the elastic body 3 is formed by using one sheet 7. That is, as shown in FIGS. 5 and 6, one sheet 7 having a relatively thick wall has a shape in which slits 8 are formed along the longitudinal direction while leaving both edge portions along the longitudinal direction.
【００１６】また、この弾性体３の長手方向の両端縁に
は、それぞれ箱状の前側口金９、後側口金１０が被嵌
し、前述したように弾性体３の外周面に取り付けた規制
用の非伸長性繊維４と共にかしめ付けて固定をしてい
る。また、後側口金１０には、図６で示すように加圧パ
イプ１１が貫通して設けられ、この加圧パイプ１１の一
端は前記スリット８内に挟み込まれて前記弾性体３のス
リット８からその周縁を封止してなる加圧室６に開口し
ている。加圧パイプ１１の他端には加圧チューブ５が接
続してある。その他の構成およびその動作は前述した第
１の実施例のものと同様である。Further, a box-shaped front mouthpiece 9 and a rear mouthpiece 10 are fitted on both ends of the elastic body 3 in the longitudinal direction, respectively, and are attached to the outer peripheral surface of the elastic body 3 as described above. The non-stretchable fibers 4 are fixed by caulking. Further, as shown in FIG. 6, a pressure pipe 11 is provided so as to penetrate the rear mouthpiece 10, and one end of the pressure pipe 11 is sandwiched in the slit 8 so that the slit 8 of the elastic body 3 can be removed. An opening is made in the pressurizing chamber 6 whose peripheral edge is sealed. The pressure tube 5 is connected to the other end of the pressure pipe 11. The other structure and its operation are similar to those of the first embodiment described above.
【００１７】図７ないし図８は、本発明の第３の実施例
に係る流体圧アクチュエータＡを示すものである。この
実施例のものは、前述した第１の実施例のものと次の点
で異なり、その他は前述した第１の実施例のものと同様
に構成される。7 to 8 show a fluid pressure actuator A according to a third embodiment of the present invention. The structure of this embodiment is different from that of the first embodiment described above in the following points, and the other structures are similar to those of the first embodiment.
【００１８】すなわち、弾性体３の第１のシート１にの
み、非伸長性繊維４が取り付けられている。また、第２
のシート２は、第１のシート１に比して硬度の高い材
質、または非伸展性の材料、例えばポリエチレンを用い
て形成している。That is, the non-stretchable fibers 4 are attached only to the first sheet 1 of the elastic body 3. Also, the second
The sheet 2 is made of a material having a hardness higher than that of the first sheet 1 or an inextensible material, for example, polyethylene.
【００１９】しかして、加圧チューブ５により、流体を
供給・加圧すると、硬度が高く、または非伸展性の材料
からなる第２のシート２は、さほど膨脹することなく、
一方、第１のシート１の方が、その外面垂直方向へ膨脹
する。つまり、図７の（Ｂ）や図８の（Ｃ）で示すよう
に、第１のシート１が、その外面垂直方向へ膨脹すると
ともに、第２のシート２が同じ向きに湾曲する。この実
施例によれば、流体圧アクチュエータＡを湾曲させるこ
とができるのである。However, when the fluid is supplied and pressurized by the pressure tube 5, the second sheet 2 made of a material having high hardness or inextensible does not expand so much,
On the other hand, the first sheet 1 expands in the direction perpendicular to the outer surface thereof. That is, as shown in FIGS. 7B and 8C, the first sheet 1 expands in the direction perpendicular to the outer surface thereof, and the second sheet 2 curves in the same direction. According to this embodiment, the fluid pressure actuator A can be curved.
【００２０】図９は、第３の実施例での流体圧アクチュ
エータＡの変形例であり、弾性体３の第１のシート１の
外周に取り付ける複数の非伸長性繊維４を網状に編んで
構成したものであり、流体圧アクチュエータＡの長手方
向に対して繊維４からなる縦糸と横糸が直交せず、共に
斜めに同じ角度で傾斜している。この場合、繊維４の網
み角を適宜変えることで、その最大膨脹湾曲量を変える
ことができる。FIG. 9 shows a modification of the fluid pressure actuator A in the third embodiment, which is constructed by knitting a plurality of non-stretchable fibers 4 attached to the outer periphery of the first sheet 1 of the elastic body 3 in a net shape. The warp yarns and the weft yarns of the fibers 4 are not orthogonal to the longitudinal direction of the fluid pressure actuator A, and both are obliquely inclined at the same angle. In this case, the maximum expansion curve amount can be changed by appropriately changing the mesh angle of the fiber 4.
【００２１】図１０から図１３は、本発明の第４の実施
例に係る流体圧アクチュエータＡを示すものである。こ
の実施例では、第１の実施例の構成にある弾性体３をそ
の長手方向に沿う軸を中心として円筒状に丸めたもので
ある。なお、この円筒部の内径に任意に設定することが
できる。10 to 13 show a fluid pressure actuator A according to a fourth embodiment of the present invention. In this embodiment, the elastic body 3 having the structure of the first embodiment is rolled into a cylindrical shape around an axis along the longitudinal direction. The inner diameter of this cylindrical portion can be arbitrarily set.
【００２２】しかして、この構成において、加圧チュー
ブ５より弾性体３の加圧室６へ流体を供給すると、図１
１および図１３で示すごとく円筒状の弾性体３の内外両
面が対応する内外同面方向にそれぞれ膨脹し、軸方向へ
の収縮変位と引張り力を発生させることができる。Therefore, in this structure, when the fluid is supplied from the pressure tube 5 to the pressure chamber 6 of the elastic body 3, FIG.
As shown in FIG. 1 and FIG. 13, both the inner and outer surfaces of the cylindrical elastic body 3 expand in the corresponding inner and outer in-plane directions, so that contraction displacement in the axial direction and tensile force can be generated.
【００２３】なお、図１４で示すように、この実施例の
構成において、弾性体３の外周に取り付ける複数の非伸
長性繊維４を網状に編んで構成してもよい。この場合、
流体圧アクチュエータＡの長手方向に対して繊維４から
なる縦糸と横糸が前記長手軸方向へ直交せず、共に斜め
に同じ角度で傾斜している。また、繊維４の網み角を適
宜変えることで、その最大収縮変位量を変えることがで
きる。Incidentally, as shown in FIG. 14, in the structure of this embodiment, a plurality of non-stretchable fibers 4 attached to the outer periphery of the elastic body 3 may be knitted in a net shape. in this case,
The warp yarns and the weft yarns made of the fibers 4 are not orthogonal to the longitudinal axis direction with respect to the longitudinal direction of the fluid pressure actuator A, and both are obliquely inclined at the same angle. Further, the maximum contraction displacement amount can be changed by appropriately changing the mesh angle of the fiber 4.
【００２４】図１５ないし図１６は、本発明の流体圧ア
クチュエータＡを組み込んだ内視鏡Ｂに係る第５の実施
例を示すものである。この実施例は、前述した第１の実
施例での流体圧アクチュエータＡを内視鏡Ｂの湾曲機構
に使用する例である。15 to 16 show a fifth embodiment of an endoscope B incorporating the fluid pressure actuator A of the present invention. This embodiment is an example in which the fluid pressure actuator A in the first embodiment is used for the bending mechanism of the endoscope B.
【００２５】すなわち、図１５で示すごとく、内視鏡Ｂ
の挿入部１６は、可撓管部１７、湾曲部１８、および先
端部１９とからなり、この挿入部１６の内部には、湾曲
部１８の先端側部分に一端を固定した２本のアングルワ
イヤ２０が上下に配設されている。That is, as shown in FIG.
The insertion portion 16 of the is composed of a flexible tube portion 17, a bending portion 18, and a tip end portion 19. Inside the insertion portion 16, two angle wires whose one end is fixed to the tip side portion of the bending portion 18 are inserted. 20 are arranged above and below.
【００２６】アングルワイヤ２０の各他端には、それぞ
れ第１の流体圧アクチュエータＡ１と、第２の流体圧ア
クチュエータＡ２が連結されている。第１の流体圧アク
チュエータＡ１と、第２の流体圧アクチュエータＡ
２は、可撓管部１７内において前後にずれて重なり合わ
ないように配置されている。この流体圧アクチュエータ
Ａ１，Ａ２は、前述した第１の実施例でのように構成さ
れ、その先端部分にアングルワイヤ２０の後端を連結し
ている。流体圧アクチュエータＡ１，Ａ２の後端は、可
撓管部１７の部材に固定されている。それぞれの加圧チ
ューブ５は、挿入部１６内を通じて図示しない加圧流体
源に導かれている。そして、同じく図示しない供給操作
装置によって流体圧アクチュエータＡ１，Ａ２に対する
加圧流体の給排操作を行うようになっている。A first fluid pressure actuator A 1 and a second fluid pressure actuator A 2 are connected to the other ends of the angle wires 20, respectively. First fluid pressure actuator A 1 and second fluid pressure actuator A
2 are arranged in the flexible tube portion 17 so as not to overlap with each other by being displaced in the front-rear direction. The fluid pressure actuators A 1 and A 2 are configured as in the above-described first embodiment, and the rear end of the angle wire 20 is connected to the front end portion thereof. The rear ends of the fluid pressure actuators A 1 and A 2 are fixed to the member of the flexible tube portion 17. Each pressurizing tube 5 is guided to a pressurizing fluid source (not shown) through the insertion portion 16. Further, the supply / discharge operation of the pressurized fluid to / from the fluid pressure actuators A 1 , A 2 is performed by a supply operation device (not shown).
【００２７】また、図１６で示すように、可撓管部１７
内には、ライトガイドファイバ２１、ＣＣＤ用ケーブル
２２を配置し、この残りの他の空間に前記流体圧アクチ
ュエータＡ１，Ａ２Ａを上下に配置している。Further, as shown in FIG. 16, the flexible tube portion 17
Inside, a light guide fiber 21 and a CCD cable 22 are arranged, and the fluid pressure actuators A 1 , A 2 A are arranged vertically in the remaining other space.
【００２８】いずれの流体圧アクチュエータＡ１，Ａ２
に対しても加圧流体を供給しない場合、図１５の（Ａ）
および図１６の（Ａ）で示すように、弾性体３は膨らま
ない状態にあるから、湾曲部１８はいずれの向きにも湾
曲しない中立な状態にある。Any of the fluid pressure actuators A 1 , A 2
If the pressurized fluid is not supplied to (A) of FIG.
Further, as shown in FIG. 16A, the elastic body 3 is not inflated, so that the bending portion 18 is in a neutral state in which it does not bend in any direction.
【００２９】そこで、例えば、下側に位置する第２の流
体圧アクチュエータＡ２に流体を供給すると、図１５の
（Ｂ）および図１６の（Ｂ）で示すように、膨脹して下
側のアングルワイヤ２０を牽引する。これにより、湾曲
部１８は図１５の（Ｂ）で示すように下側への湾曲を行
う。Therefore, for example, when the fluid is supplied to the second fluid pressure actuator A 2 located on the lower side, as shown in FIGS. 15B and 16B, the fluid is expanded to the lower side. Pull the angle wire 20. As a result, the bending portion 18 bends downward as shown in FIG.
【００３０】この実施例の構成によれば、図１６からも
わかるように可撓管部１７の内部の空きスペースを有効
に活用することができる。ライトガイドファイバ２１と
ＣＣＤ用ケーブル２２とを避けた上下の細長い空間部分
にフィットさせることができる。According to the structure of this embodiment, as can be seen from FIG. 16, the empty space inside the flexible tube portion 17 can be effectively utilized. The light guide fiber 21 and the CCD cable 22 can be fitted in the upper and lower elongated spaces.
【００３１】図１７は、本発明の第６の実施例を示すも
のである。この実施例では、前述した第５の実施例の内
視鏡Ｂにおける湾曲部１８を、４方向に湾曲するため、
４つの流体圧アクチュエータＡをその各湾曲位置に対応
して設けたものである。その動作は第５の実施例と同じ
である。FIG. 17 shows a sixth embodiment of the present invention. In this embodiment, since the bending portion 18 of the endoscope B of the fifth embodiment described above is bent in four directions,
Four fluid pressure actuators A are provided corresponding to the respective curved positions. The operation is the same as in the fifth embodiment.
【００３２】図１８は、本発明の第７の実施例を示すも
のである。この実施例では、第５の実施例と同様の湾曲
用流体圧アクチュエータＡ１，Ａ２を設けるとともに、
ライトガイドファイバ２１、ＣＣＤ用ケーブル２２を囲
むように、前述した第４の実施例の流体圧アクチュエー
タをＡ３，Ａ４を配置したものである。また、それらの
隙間にはチャンネルチューブ２５，２６を配置してあ
る。FIG. 18 shows a seventh embodiment of the present invention. In this embodiment, the bending fluid pressure actuators A 1 and A 2 similar to those in the fifth embodiment are provided, and
The fluid pressure actuator of the fourth embodiment described above is arranged with A 3 and A 4 so as to surround the light guide fiber 21 and the CCD cable 22. Further, channel tubes 25 and 26 are arranged in the gaps between them.
【００３３】そして、この動作は、第５，第６の実施例
に同様に湾曲用流体圧アクチュエータＡ１，Ａ２，
Ａ３，Ａ４を選択的に加圧膨脹させることによりその向
きに湾曲部１８を湾曲させることができる。This operation is similar to the fifth and sixth embodiments, and the bending fluid pressure actuators A 1 , A 2 ,
By selectively inflating A 3 and A 4 under pressure, the bending portion 18 can be bent in that direction.
【００３４】図１９および図２０は、本発明の第８の実
施例を示すものである。この実施例では、前述した第５
の実施例での挿入部１６の湾曲部１８内に、前述した第
３の実施例での構成の流体圧アクチュエータＡ１，Ａ２
を上下に配置したものである。そして、流体圧アクチュ
エータＡの先端と基端をその湾曲部１８の対応する前端
と基端に取着した。さらに、繊維４の配置側を湾曲部１
８の外周側に向けて位置させておく。その他は前記実施
例のものと同じである。19 and 20 show an eighth embodiment of the present invention. In this embodiment, the above-mentioned fifth
In the bending portion 18 of the insertion portion 16 of the third embodiment, the fluid pressure actuators A 1 and A 2 having the configuration of the third embodiment described above are provided.
Are arranged one above the other. Then, the front end and the base end of the fluid pressure actuator A are attached to the corresponding front end and base end of the curved portion 18. Further, the side where the fibers 4 are arranged is the curved portion 1
It is located toward the outer peripheral side of 8. Others are the same as those in the above-mentioned embodiment.
【００３５】そこで、例えば、上側の流体圧アクチュエ
ータＡ１に流体を供給して加圧すると、その流体圧アク
チュエータＡ１は、膨脹して内側へ湾曲し、その向きに
湾曲部１８を湾曲する。Therefore, for example, when a fluid is supplied to the upper fluid pressure actuator A 1 to pressurize it, the fluid pressure actuator A 1 expands and bends inward, and bends the bending portion 18 in that direction.
【００３６】なお、本発明の流体圧アクチュエータは、
上述した第５ないしら第８の実施例で示した以外にも、
種々の応用例が考えられる。例えば、内視鏡の対物光学
系を駆動し、ズーム、焦点合わせを実現する他、処置具
起上台の駆動、対物光学系中に配置したアイリス（絞
り）機構の駆動、視野の直視・側視切換え機構等に応用
できる。また、流体圧アクチュエータで内視鏡の湾曲部
を湾曲する場合、その対称的に配置する１組の流体圧ア
クチュエータをあらかじめ中間膨脹状態に膨らませてお
いてこれを中立位置となるようにしてもよい。The fluid pressure actuator of the present invention is
Besides the above-mentioned fifth to eighth embodiments,
Various application examples are possible. For example, driving the objective optical system of the endoscope to achieve zooming and focusing, driving of the treatment instrument raising base, driving of the iris (aperture) mechanism arranged in the objective optical system, direct view / side view of the visual field It can be applied to switching mechanism. When the bending portion of the endoscope is bent by the fluid pressure actuator, a pair of symmetrically arranged fluid pressure actuators may be inflated in advance to an intermediate expanded state so that the fluid pressure actuator is set to the neutral position. .
【００３７】[0037]
【発明の効果】以上説明したように本発明は、偏平な流
体圧アクチュエータを構成するから、これを機器内のス
ペースに対応して容易に組込むことができる。したがっ
て、この流体圧アクチュエータを組み込む機器の小形化
が図れる。また、特に、内視鏡の挿入部に組み込んだ場
合には、他の内蔵物との干渉を極力防止できるととも
に、その挿入部の細径化が容易に達成できる。As described above, the present invention constitutes a flat fluid pressure actuator, so that it can be easily incorporated corresponding to the space in the equipment. Therefore, it is possible to reduce the size of a device incorporating this fluid pressure actuator. Further, particularly when incorporated in the insertion portion of the endoscope, interference with other built-in objects can be prevented as much as possible, and the diameter of the insertion portion can be easily reduced.
【００３８】また、駆動対象の近くにコンパクトに組み
込むことができるから、遠隔的な駆動手段が簡単な構造
で実現できる。例えば内視鏡の長尺な挿入部の湾曲も可
能となる。Further, since it can be compactly installed near the object to be driven, remote driving means can be realized with a simple structure. For example, it becomes possible to bend a long insertion portion of the endoscope.
【図１】本発明の第１の実施例に係る流体圧アクチュエ
ータを示し、（Ａ）は通常状態時の斜視図、（Ｂ）は膨
脹時の斜視図。FIG. 1 shows a fluid pressure actuator according to a first embodiment of the present invention, (A) is a perspective view in a normal state, and (B) is a perspective view in an inflated state.
【図２】同じく本発明の第１の実施例に係る流体圧アク
チュエータを示し、（Ａ）は通常状態時の縦断面図、
（Ｂ）は通常状態時の平面図、（Ｃ）は膨脹状態時の縦
断面図、（Ｄ）は膨脹状態時の平面図。FIG. 2 also shows a fluid pressure actuator according to a first embodiment of the present invention, in which (A) is a vertical sectional view in a normal state,
(B) is a plan view in a normal state, (C) is a vertical sectional view in an expanded state, and (D) is a plan view in an expanded state.
【図３】本発明の第１の実施例の変形例に係る流体圧ア
クチュエータの通常状態時の斜視図。FIG. 3 is a perspective view of a fluid pressure actuator according to a modification of the first embodiment of the present invention in a normal state.
【図４】本発明の第２の実施例に係る流体圧アクチュエ
ータの通常状態時の斜視図。FIG. 4 is a perspective view of a fluid pressure actuator according to a second embodiment of the present invention in a normal state.
【図５】同じく本発明の第２の実施例に係る流体圧アク
チュエータの分解した状態の斜視図。FIG. 5 is a perspective view of the fluid pressure actuator according to the second embodiment of the present invention in an exploded state.
【図６】同じく本発明の第２の実施例に係る流体圧アク
チュエータの縦断面図。FIG. 6 is a vertical sectional view of a fluid pressure actuator according to a second embodiment of the present invention.
【図７】本発明の第３の実施例に係る流体圧アクチュエ
ータを示し、（Ａ）は通常状態時の斜視図、（Ｂ）は膨
脹時の斜視図。7A and 7B show a fluid pressure actuator according to a third embodiment of the present invention, FIG. 7A is a perspective view in a normal state, and FIG. 7B is a perspective view in an expanded state.
【図８】同じく本発明の第３の実施例に係る流体圧アク
チュエータを示し、（Ａ）は通常状態時の縦断面図、
（Ｂ）は通常状態時の平面図、（Ｃ）は膨脹状態時の縦
断面図。FIG. 8 also shows a fluid pressure actuator according to a third embodiment of the present invention, in which (A) is a vertical sectional view in a normal state,
(B) is a plan view in a normal state, and (C) is a vertical sectional view in an expanded state.
【図９】本発明の第３の実施例の変形例に係る流体圧ア
クチュエータの通常状態時の斜視図。FIG. 9 is a perspective view of a fluid pressure actuator according to a modification of the third embodiment of the present invention in a normal state.
【図１０】本発明の第４の実施例に係る流体圧アクチュ
エータの通常状態時の斜視図。FIG. 10 is a perspective view of a fluid pressure actuator according to a fourth embodiment of the present invention in a normal state.
【図１１】同じく本発明の第４の実施例に係る流体圧ア
クチュエータの膨脹状態時の斜視図。FIG. 11 is a perspective view of the fluid pressure actuator according to the fourth embodiment of the present invention in an expanded state.
【図１２】同じく本発明の第４の実施例に係る流体圧ア
クチュエータの通常状態時の縦断面図。FIG. 12 is a vertical sectional view of a fluid pressure actuator according to a fourth embodiment of the present invention in a normal state.
【図１３】同じく本発明の第４の実施例に係る流体圧ア
クチュエータの膨脹状態時の縦断面図。FIG. 13 is a longitudinal sectional view of the fluid pressure actuator according to the fourth embodiment of the present invention in an expanded state.
【図１４】本発明の第４の実施例に係る流体圧アクチュ
エータの変形例の通常状態時の縦断面図。FIG. 14 is a vertical sectional view of a modification of the fluid pressure actuator according to the fourth embodiment of the present invention in a normal state.
【図１５】本発明の第５の実施例にかかる流体圧アクチ
ュエータを使用した内視鏡を示し、（Ａ）は通常時の説
明図、（Ｂ）は湾曲時の説明図。15A and 15B show an endoscope using a fluid pressure actuator according to a fifth embodiment of the present invention, FIG. 15A being an explanatory diagram in a normal state and FIG. 15B being an explanatory diagram in a bending state.
【図１６】（Ａ）は図１５のＡ−Ａ線に沿う断面図、
（Ｂ）は図１５のＢ−Ｂ線に沿う断面図。16 (A) is a cross-sectional view taken along the line AA of FIG.
FIG. 16B is a sectional view taken along the line BB of FIG. 15.
【図１７】本発明の第６の実施例を示す内視鏡の挿入部
における湾曲部の縦断面図。FIG. 17 is a vertical sectional view of a bending portion in an insertion portion of an endoscope showing a sixth embodiment of the present invention.
【図１８】本発明の第７の実施例を示す内視鏡の挿入部
における湾曲部の縦断面図。FIG. 18 is a vertical cross-sectional view of a bending portion in an insertion portion of an endoscope showing a seventh embodiment of the present invention.
【図１９】本発明の第８の実施例を示す内視鏡の挿入部
の通常時の説明図。FIG. 19 is an explanatory view of the insertion portion of the endoscope in the normal state according to the eighth embodiment of the present invention.
【図２０】本発明の第８の実施例を示す内視鏡の挿入部
の湾曲時の説明図。FIG. 20 is an explanatory diagram showing a bending state of the insertion portion of the endoscope according to the eighth embodiment of the present invention.
Ａ…流体圧アクチュエータ、１，２…シート、３…弾性
体、４…繊維、５…加圧チューブ、６…加圧室、Ｂ…内
視鏡、１６…挿入部、１８…湾曲部。A ... Fluid pressure actuator, 1, 2 ... Sheet, 3 ... Elastic body, 4 ... Fiber, 5 ... Pressurizing tube, 6 ... Pressurizing chamber, B ... Endoscope, 16 ... Inserting part, 18 ... Bending part.
Claims (2)
と、この弾性体に付設されその弾性体の膨脹方向を規制
する繊維と、前記加圧室に接続された流体供給用チュー
ブとを備えたことを特徴とする流体圧駆動型アクチュエ
ータ。1. A flat elastic body having a pressurizing chamber formed therein, a fiber attached to the elastic body to regulate an expansion direction of the elastic body, and a fluid supply tube connected to the pressurizing chamber. And a fluid pressure drive type actuator.
て、湾曲部に連結した流体圧駆動型アクチュエータを有
し、この流体圧駆動型アクチュエータは、加圧室を内部
に形成した偏平状の弾性体と、この弾性体に付設されそ
の弾性体の膨脹方向を規制する繊維と、前記加圧室に接
続された流体供給用チューブとからなり、この流体圧駆
動型アクチュエータの膨脹収縮による長さの変位を前記
湾曲部に伝達することにより前記挿入部の湾曲部を湾曲
するようにしたことを特徴とする内視鏡。2. An endoscope having a curved portion in an insertion portion, which has a fluid pressure driven actuator connected to the curved portion, and the fluid pressure driven actuator has a flat shape in which a pressurizing chamber is formed. Of the elastic body, fibers attached to the elastic body to regulate the expansion direction of the elastic body, and a fluid supply tube connected to the pressurizing chamber. An endoscope characterized in that the bending portion of the insertion portion is bent by transmitting a displacement of the height to the bending portion.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3025542A JPH0515485A (en) | 1991-01-25 | 1991-01-25 | Fluid pressure driven type actuator and endoscope making use of the same actuator |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3025542A JPH0515485A (en) | 1991-01-25 | 1991-01-25 | Fluid pressure driven type actuator and endoscope making use of the same actuator |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0515485A true JPH0515485A (en) | 1993-01-26 |
Family
ID=12168877
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3025542A Withdrawn JPH0515485A (en) | 1991-01-25 | 1991-01-25 | Fluid pressure driven type actuator and endoscope making use of the same actuator |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0515485A (en) |
Cited By (18)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5577992A (en) * | 1993-10-05 | 1996-11-26 | Asahi Kogaku Kogyo Kabushiki Kaisha | Bendable portion of endoscope |
| JPH0979213A (en) * | 1995-09-13 | 1997-03-25 | Toshiba Corp | Actuator |
| US7063733B2 (en) | 2001-06-22 | 2006-06-20 | Bridgestone Corporation | Filter member |
| WO2007058327A1 (en) * | 2005-11-18 | 2007-05-24 | National University Corporation Okayama University | Fluid actuator, and startup-operation assistance device and operation assistance device that have the fluid actuator |
| WO2007094031A1 (en) * | 2006-02-13 | 2007-08-23 | Squse Inc. | Actuator, drive device, hand device, and conveyance device |
| JP2008220917A (en) * | 2007-02-14 | 2008-09-25 | Olympus Corp | Endoscope |
| JP2009018044A (en) * | 2007-07-12 | 2009-01-29 | Olympus Corp | Endoscope apparatus |
| JP2010272854A (en) * | 2009-04-27 | 2010-12-02 | Asml Netherlands Bv | Actuator |
| JP2010286068A (en) * | 2009-06-12 | 2010-12-24 | Olympus Corp | Actuator |
| JP5246717B2 (en) * | 2007-05-11 | 2013-07-24 | 学校法人 中央大学 | Fluid injection type actuator |
| JP2015514932A (en) * | 2012-01-19 | 2015-05-21 | プレジデント アンド フェローズ オブ ハーバード カレッジ | Flexible robot actuator |
| US20150252821A1 (en) * | 2014-03-06 | 2015-09-10 | Ricoh Company, Ltd. | Hydraulic actuator, production method thereof, driving method thereof, driving device, and joint structure |
| EP3231990A1 (en) * | 2016-04-13 | 2017-10-18 | Rolls-Royce plc | Apparatus for machining components of gas turbine engines |
| JP2018155298A (en) * | 2017-03-16 | 2018-10-04 | 学校法人 中央大学 | Actuator |
| JP2019082238A (en) * | 2017-10-31 | 2019-05-30 | 学校法人 中央大学 | Actuator |
| JP2019095051A (en) * | 2017-11-17 | 2019-06-20 | Ｎｋｅ株式会社 | Artificial muscle and operation auxiliary tool |
| DE102018103178A1 (en) * | 2018-02-13 | 2019-08-14 | Baden-Württemberg Stiftung Ggmbh | Component with integrated actuator |
| JP2020070842A (en) * | 2018-10-30 | 2020-05-07 | 学校法人立命館 | Bend driving device |
-
1991
- 1991-01-25 JP JP3025542A patent/JPH0515485A/en not_active Withdrawn
Cited By (25)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5860914A (en) * | 1993-10-05 | 1999-01-19 | Asahi Kogaku Kogyo Kabushiki Kaisha | Bendable portion of endoscope |
| DE4435644B4 (en) * | 1993-10-05 | 2004-05-13 | Pentax Corp. | Fluid operated endoscope bending section |
| US5577992A (en) * | 1993-10-05 | 1996-11-26 | Asahi Kogaku Kogyo Kabushiki Kaisha | Bendable portion of endoscope |
| JPH0979213A (en) * | 1995-09-13 | 1997-03-25 | Toshiba Corp | Actuator |
| US7063733B2 (en) | 2001-06-22 | 2006-06-20 | Bridgestone Corporation | Filter member |
| JP5017660B2 (en) * | 2005-11-18 | 2012-09-05 | 国立大学法人 岡山大学 | Standing motion support device |
| WO2007058327A1 (en) * | 2005-11-18 | 2007-05-24 | National University Corporation Okayama University | Fluid actuator, and startup-operation assistance device and operation assistance device that have the fluid actuator |
| WO2007094031A1 (en) * | 2006-02-13 | 2007-08-23 | Squse Inc. | Actuator, drive device, hand device, and conveyance device |
| JPWO2007094031A1 (en) * | 2006-02-13 | 2009-07-02 | スキューズ株式会社 | Actuator, drive device, hand device, and transfer device |
| JP2008220917A (en) * | 2007-02-14 | 2008-09-25 | Olympus Corp | Endoscope |
| JP5246717B2 (en) * | 2007-05-11 | 2013-07-24 | 学校法人 中央大学 | Fluid injection type actuator |
| JP2009018044A (en) * | 2007-07-12 | 2009-01-29 | Olympus Corp | Endoscope apparatus |
| JP2010272854A (en) * | 2009-04-27 | 2010-12-02 | Asml Netherlands Bv | Actuator |
| US8597014B2 (en) | 2009-04-27 | 2013-12-03 | Asml Netherlands B.V. | Actuator |
| JP2010286068A (en) * | 2009-06-12 | 2010-12-24 | Olympus Corp | Actuator |
| US10233910B2 (en) | 2012-01-19 | 2019-03-19 | President And Fellows Of Harvard College | Flexible thin robotic actuators |
| JP2015514932A (en) * | 2012-01-19 | 2015-05-21 | プレジデント アンド フェローズ オブ ハーバード カレッジ | Flexible robot actuator |
| US20150252821A1 (en) * | 2014-03-06 | 2015-09-10 | Ricoh Company, Ltd. | Hydraulic actuator, production method thereof, driving method thereof, driving device, and joint structure |
| JP2015180829A (en) * | 2014-03-06 | 2015-10-15 | 株式会社リコー | Fluid-driven actuator, manufacturing method of the same, drive method of the same, drive device, and joint structure |
| EP3231990A1 (en) * | 2016-04-13 | 2017-10-18 | Rolls-Royce plc | Apparatus for machining components of gas turbine engines |
| JP2018155298A (en) * | 2017-03-16 | 2018-10-04 | 学校法人 中央大学 | Actuator |
| JP2019082238A (en) * | 2017-10-31 | 2019-05-30 | 学校法人 中央大学 | Actuator |
| JP2019095051A (en) * | 2017-11-17 | 2019-06-20 | Ｎｋｅ株式会社 | Artificial muscle and operation auxiliary tool |
| DE102018103178A1 (en) * | 2018-02-13 | 2019-08-14 | Baden-Württemberg Stiftung Ggmbh | Component with integrated actuator |
| JP2020070842A (en) * | 2018-10-30 | 2020-05-07 | 学校法人立命館 | Bend driving device |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A300 | Withdrawal of application because of no request for examination |
Free format text: JAPANESE INTERMEDIATE CODE: A300 Effective date: 19980514 |