JPH08322783A - Robot endoscope for large intestine - Google Patents

Robot endoscope for large intestine

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Publication number
JPH08322783A
JPH08322783A JP8060460A JP6046096A JPH08322783A JP H08322783 A JPH08322783 A JP H08322783A JP 8060460 A JP8060460 A JP 8060460A JP 6046096 A JP6046096 A JP 6046096A JP H08322783 A JPH08322783 A JP H08322783A
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JP
Japan
Prior art keywords
endoscope
motor
tip
large intestine
vertical axis
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.)
Granted
Application number
JP8060460A
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Japanese (ja)
Inventor
Gunji Haga
軍治 芳賀
Original Assignee
Gunji Haga
軍治 芳賀
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Priority to JP7072626A priority Critical patent/JPH0866351A/en
Priority to JP7-72626 priority
Application filed by Gunji Haga, 軍治 芳賀 filed Critical Gunji Haga
Priority to JP8060460A priority patent/JPH08322783A/en
Publication of JPH08322783A publication Critical patent/JPH08322783A/en
Application status is Granted legal-status Critical

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Abstract

PURPOSE: To improve the operability of an endoscope for a large intestine by providing an operation panel for switches, a motor control circuit, a vertical axis control motor, a control box of the endoscope and the like. CONSTITUTION: An operation panel 1 for switches is provided with switches for a power source, closing, bending or extending the tip of an endoscope 5 and changing over upper and lower positions. A motor control circuit 2 containing a pulse oscillator, an output circuit and a zero return circuit is provided as connected to the operation panel 1 and a vertical axis control motor 3 is controlled by an output thereof. The motion of the vertical axis control motor 3 within a control box 4 of the endoscope is transmitted to a rotation adaptor through a pulley with a motor side cam, a belt and the like to drive a vertical axis operation knob of the endoscope. When the cam of the pulley with the motor side cam contacts a zero return switch, current to the vertical axis control motor 3 is cut and the tip 5 of the endoscope stops in a straight state automatically.

Description

【発明の詳細な説明】 DETAILED DESCRIPTION OF THE INVENTION

【0001】 [0001]

【発明の属する技術分野】本発明は、大腸用のロボット内視鏡に、関するものである。 The present invention relates to the robot endoscope for the large intestine are those concerns.

【0002】 [0002]

【従来の技術】検査で、棒状の内視鏡が、大腸の曲りを、通り抜ける手順は、先ず映像で、可動の先端を、大腸の曲りに挿入し、先端で大腸の曲りを直線に延ばす。 BACKGROUND OF THE INVENTION examination, endoscopic rod-shaped, the large intestine of bending, the procedure to pass through, first the video, the leading end of the movable and inserted into the large intestine of bend, extend the bending of the large intestine in a straight line at the tip.
次にその直線の先端の回転で、大腸の摩擦を払拭しながら、前記の先端が直線に延ばした大腸を通り、次の曲りに先端を、曲げ進めて挿入する。 Then by the rotation of the tip of the line, while wiping the friction of the large intestine, through the large intestine in which the tip is extended in a straight line, the front end to the next bend, inserted promoting bending. そして、同様の小刻みの操作を、何十回も繰り返して、先端が大腸の最深部に到達する。 Then, the same wiggle of operation, repeated dozens of times, the tip reaches the deepest portion of the large intestine. しかし実際には、医師の技量にも、ばらつきがあり、体内で先端の形状が判らず、直線の積もりの先端が、手動で直線にならずに曲がり、押しても先端が滑らず、捩じりで大腸を巻き込み、パニック状態になる事も、日常珍しくない。 In practice, however, also the skill of the doctor, there is a variation, not know the shape of the tip in the body, estimates of the tip of the straight line, manually turn not in a straight line, even without slipping the tip Press, torsional in the winding of the large intestine, to become a panic state also, day-to-day is not uncommon. そして、映像で先が見えても、安心は出来ず、柔軟に移動する大腸に、曲げの先端の、押しみは非常に危険で、大腸を突っ張り、患者に苦痛を与え、大腸破壊を、引き起こす。 And, even if previously seen in the video, can not be a peace of mind, in the large intestine to flexibly move, the tip of the bend, push Mi is very dangerous, bracing the colon, the pain and distress to the patient, the large intestine destruction, cause . そして、上記パニック状態が、検査中に一度でも発生すると、患者が耐難き苦痛と、恐怖を覚え、拒絶反応を示す。 Then, the panic state, shown to occur at least once during the examination, the patient is Taegataki pain, remember fear, rejection. とにかく、先端の押込みに、何よりも先端の直線が、絶対に必要である。 Anyway, the push of the tip, what the straight line tip also is, is absolutely necessary. 然るに体内で、形状不可視の先端の、手動の操作で直線の、確認の出来ない所が、内視鏡の操作を困難にし、大腸検査を危険にする、根本的な理由である。 However in the body, the shape invisible tip, of the straight line in the manual of operation, is a place that can not be confirmed, making it difficult to operation of an endoscope, to risk the large intestine inspection, which is a fundamental reason. そし現状の続く限り、医師不足や患者の苦痛、大腸破壊の危険は、 And for as long as the status quo, the shortage of doctors and patients of pain, risk of colon destruction,
永久に解決されない。 Not be resolved permanently. 一方現在の、大腸癌の増加の中で、癌の予防には、癌の早期発見が不可欠であり、それには細胞採取の、内視鏡が絶対である。 On the other hand the current, in the increase in colon cancer, the prevention of cancer, it is essential to early detection of cancer, cell harvesting to, endoscopes are absolute. 特に、大腸の自覚症状前の、定期検診の普及は、地球規模で重要、且つ緊急な課題である。 In particular, before the subjective symptoms of the large intestine, the spread of the periodic medical examination is important, that and urgent issues on a global scale.

【0003】 [0003]

【発明の解決しようとする課題】体内で、形状不可視の先端に対処、内視鏡の制御ノブの手動から、モ−タ−駆動の方式に切り替える。 In [to be solved problem of the invention] body, addressing shape invisible tip, from the manual control knob of the endoscope, motor - motor - switching the drive method. そして、大腸の曲りに挿入の先端を、自動的に直線に延ばす。 Then, the distal end of the insertion into the large intestine of bending, automatically extend in a straight line. ヒンジを設け、自動の直線の先端に、回転を与える構造にする。 A hinge provided at the tip of the automatic linear, a structure giving rotation. 先端の回転で摩擦を払拭、自在に先端を進めて、患者に苦痛を与えないようにする。 Wiping friction at the rotation of the tip, freely advancing the tip, so as not to give pain to the patient. 一人操作式の内視鏡から、左手開放、指一本操作の、内視鏡の操作ロボット。 From the endoscope of one person-operated, of the left hand open, one finger operation, handling robot of the endoscope.

【0004】 [0004]

【課題を解決するための手段】スイッチの操作盤1と、 A control panel 1 of the switch In order to solve the problem],
モ−タ−の制御回路2と、縦軸制御モ−タ−3と、内視鏡の制御ボックス4と、内視鏡の先端5と、移動支持台6と、内視鏡と平行なヒンジ7からなる、大腸用のロボット内視鏡。 Motor - motor - the control circuit 2, the vertical axis control motor - a motor -3, a control box 4 of the endoscope, the tip 5 of the endoscope, the moving supporter 6, the endoscope parallel hinge of 7, the robot endoscope for the large intestine. また上記の、大腸用のロボット内視鏡に於て、スイッチの操作盤1の、延ばしのスイッチを押すと、内視鏡の先端5が、曲りから直線に、変化して止まる、大腸用のロボット内視鏡。 The above robot endoscope for colon At a, the control panel 1 of a switch, press the extended switch, the tip 5 of the endoscope, in a straight line from the bend, and then stops changing, for colon endoscope robot. また、内視鏡の制御ボックス4と、移動支持台6の間に、内視鏡と平行なヒンジ7を設け、内視鏡の先端5に、回転を与る事の出来る、 Further, a control box 4 of the endoscope, during the moving supporter 6, the endoscope and parallel hinges 7 provided at the distal end 5 of the endoscope, can partake rotation,
大腸用のロボット内視鏡。 Robot endoscope for large intestine.

【0005】 [0005]

【発明の実施の形態】 DETAILED DESCRIPTION OF THE INVENTION

1、一人操作式の内視鏡から、左手開放、指一本操作の、内視鏡のロボット。 1, from the endoscope of one person-operated, of the left hand opened, one finger operation, the robot of the endoscope. 2、スイッチの押す時間で,先端の曲げ延しの、角度が自在に制御される。 2, in time to press the switch, bending cast tip angle is freely controlled. 3、延ばしのスイッチで、先端は曲げから直線に、自動的に形状が変化する。 3, in extended switch, tip in a straight line from bending, automatically changes shape. 4、内視鏡支持の、ヒンジの動きで、先端の方向を変え、大腸の摩擦を払拭。 4, the endoscope support, the motion of the hinge, changing the direction of the distal end, wiping friction colon. 5、安全の為、モ−タ−は、一定のトルク超えると、失速し動かなくなる。 5, safety for, motor - data - is, and when it exceeds a certain torque, will not move to stall. 6、モ−タ−の操作に加え、先端の曲げ延ばしに、指先の力の補助も可能。 6, motor - motor - in addition to the operation, the extended bending of the tip, the finger force assisting possible. 7、電源を切ると、モ−タ−が軽く動き、検査時に先端が、楽に引き抜ける。 7, when the power is turned off, motor - data - moves lightly, the tip at the time of inspection, comfortably pulled out. 9、電源は、100ボルト、商用電源を使用する。 9, the power supply uses 100 volts, the commercial power supply.

【0006】 [0006]

【実施例】図1の、各構成の説明は、下記の通りである。 Of EXAMPLES 1, a description of each component is as follows. 1、スイッチの操作盤1に、電源、曲げ、延ばし、上下切替のスイッチがある。 1, the control panel 1 of the switch, power supply, bending, extending, there are upper and lower change-over switch. 2、モ−タ−制御回路2は、パルス発振器、出力回路、 2, motor - motor - control circuit 2 includes a pulse oscillator, the output circuit,
原点復帰の回路を含む。 Including the circuit of origin return. 3、縦軸制御モ−タ−3は、超低速、制限トルクの、多極型同期電動機である。 3, the vertical axis control motor - motor -3 very slow, the limit torque is a multi-pole synchronous motor. 4、内視鏡の制御ボックス4は、下記の、図2の説明の、通りである。 4, control box 4 of the endoscope, the following description of FIG. 2 are as. 5、内視鏡と平行なヒンジ7は、先端5が回転させ、先端の摩擦の払拭と、先端の曲げ向きの変更が目的である。 5, the endoscope and parallel hinges 7, the tip 5 so that rotation, the wiping of the friction of the tip, the bending direction of change of the tip is an object.

【0007】図2、内視鏡の制御ボックス4の内部で、 [0007] Figure 2, inside the control box 4 of the endoscope,
縦軸制御モ−タ−3の、動きは、モ−タ−側カム付プ− Ordinate control motor - the motor -3, motion, motor - motor - with a bypass cam flops -
リ−13から、ベルト12へ、そして回転アダプタ−側プ− From Li-13 to the belt 12, and rotation adapter - side-flops -
リ−11を経て、回転アダプタ−10に伝わり、内視鏡の縦軸操作ノブ8を駆動する。 Through re -11 transmitted to rotary adapter 10, drives the vertical axis operation knob 8 of the endoscope. 図1、スイッチの操作盤1 Figure 1, switch on the operation panel 1
の、曲げのスイッチで、縦軸制御モ−タ−3が作動し、 Of bending of the switch, the vertical axis control motor - motor -3 operates,
内視鏡の先端5が、曲がりに動く。 Tip 5 of the endoscope, moves bend. また、延ばし、のスイッチで、先端5は曲げから、延ばしに動く。 Also, extended, in the switch, from the tip 5 is curved, moves extended. そして内視鏡の先端5が、直線になると、それに連動する、図3 And the tip 5 of the endoscope, when a straight line, linked to it, 3
の、モ−タ−側カム付プ−リ−13のカムが、原点復帰スイッチ14に接触する。 Of, motor - data - with side cam-flops - of Li -13 cam comes into contact with the homing switch 14. そして前記14の働きで、図1の、 And the action of the 14, of FIG. 1,
モ−タ−制御回路2の、内部リレ−が働き、縦軸制御モ−タ−3の、延ばしの電流が絶たれ、内視鏡の先端5 Motor - motor - control circuit 2, the internal relay - works, longitudinal axis control motor - the motor -3, current extended is cut off, the distal end of the endoscope 5
が、直線の状態で、自動的に止まる。 There, in a straight line of the state, automatically stops.

【0008】 [0008]

【発明の効果】 【Effect of the invention】

1、一人操作式の内視鏡から、左手開放、指一本操作の、内視鏡のロボット。 1, from the endoscope of one person-operated, of the left hand open, one finger operation, the robot of the endoscope. 2、先端の、曲げ、伸ばし、回転の、操作が確実で、余裕の検査が出来る。 2, the tip, bending, stretching, the rotation, the operation is assured, it is examined margin. 3、カメラの先端で挿入の、大腸の曲りを、先端が自動的に、直線に延ばす。 3, it inserts the tip of the camera, colon bend, tip automatically, extend in a straight line. 4、自動の、直線の先端は、外部の捩じり、押しに、腸内を滑り、自在に動く。 4, the automatic, the tip of the straight line, twisting the external, the press, sliding the intestine, move freely. 5、手動なら必至の、大腸の摩擦、患者の苦痛や拒絶、 5, manual if inevitable, the friction of the large intestine, the patient's pain and rejection,
大腸破壊の危険がない。 There is no risk of colon destruction. 6、手探り不要で、上手下手がなく、患者に苦痛を与えず、迅速で絶対安全。 6, fumbling unnecessary and, there is no good poor, without giving pain to the patient, quick and absolute safety. 7、内視鏡の、一日二人の予約が数倍に、大腸の可能の医師は、数百倍に増加。 7, of an endoscope, to several times a day two of the reservation, the possibility of the doctor of the large intestine, increased to several hundred times. 8、大腸癌予防の、定期検診や、ポリ−ブ除去が、身近かの病院で可能になる。 8, of colon cancer prevention, and periodic medical examination, poly - Breakfast removal, made possible by the close of the hospital.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

【図1】図1は、大腸用のロボット内視鏡の、全体の構成を示す図である。 Figure 1 is a robotic endoscope for the large intestine is a diagram showing the overall structure.

【図2】図2は、内視鏡の制御ボックスの、内部構造を示す図である。 Figure 2 shows the control box of the endoscope is a diagram showing the internal structure.

【図3】図3は、モ−タ−側カム付プ−リ−と、原点復帰スイッチの、関係を示す。 FIG. 3 is, mode - shown with, of homing switch, the relationship - data - With side cam-flops - Li.

【符号の説明】 DESCRIPTION OF SYMBOLS

1、スイッチの操作盤 2、モ−タ−制御回路 3、縦軸制御モ−タ− 4、内視鏡の制御ボックス 5、内視鏡の先端 6、移動支持台 7、内視鏡と平行なヒンジ 8、縦軸操作ノブ 9、内視鏡のホルダ− 10、回転アダプタ− 11、回転アダプタ−側プ−リ− 12、ベルト 13、モ−タ−側カム付プ−リ− 14、原点復帰スイッチ 1, the switch of the operation panel 2, motor - motor - control circuit 3, the vertical axis control motor - motor - 4 parallel, control box 5 of the endoscope, the distal end 6 of the endoscope, moving supporter 7, an endoscope a hinge 8, the vertical axis operating knob 9, the holder of the endoscope - 10, the rotation adapter - 11, the rotation adapter - side up - Li - 12, the belt 13, motor - motor - with a bypass cam flop - Li - 14, the origin return switch

───────────────────────────────────────────────────── ────────────────────────────────────────────────── ───

【手続補正書】 [Procedure amendment]

【提出日】平成8年5月28日 [Filing date] 1996 May 28

【手続補正1】 [Amendment 1]

【補正対象書類名】明細書 [Correction target document name] specification

【補正対象項目名】0002 [Correction target item name] 0002

【補正方法】変更 [Correction method] change

【補正内容】 [Correction contents]

【0002】 [0002]

【従来の技術】検査で、棒状の内視鏡が、大腸の曲りを、通り抜ける手順は、先ず映像で、可動の先端を、大腸の曲りに挿入し、先端で大腸の曲りを直線に延ばす。 BACKGROUND OF THE INVENTION examination, endoscopic rod-shaped, the large intestine of bending, the procedure to pass through, first the video, the leading end of the movable and inserted into the large intestine of bend, extend the bending of the large intestine in a straight line at the tip.
次にその直線の先端を回転させて、大腸の摩擦を払拭させながら、先端が直線に延ばした大腸を通り、次の曲りに先端を、曲げ進めて挿入し、また直線にのばす。 Then by rotating the tip of the straight line, while wiping the friction of the large intestine, through the colon tip extended in a straight line, the front end to the next bend, and insert advanced bending and extending in a straight line. 同様の小刻みの操作を、何十回も繰り返して、先端を大腸の最深部までに到達させる。 Similar wiggle of operation, repeated dozens of times, to reach the tip to the deepest part of the large intestine. しかし実際には、映像で先が見えても、先端の形状が見えず、直線に延ばした積もりの先端が、直線にならずに曲がる事が、頻繁に起こる。 However, in practice, even if previously seen in the video, can not be seen the shape of the tip, estimates of the tip extended in a straight line, that bend without being a straight line, frequently occur.
特に、先端の曲げ延ばしで、柔軟なS字結腸が通過出来ても、先端が固定の、下降結腸の入口に引っ掛かり、先端が曲がって入らず、外から押し込むに、先端の曲がり腹で、大腸を突っ張り、患者に苦痛や、パニックが起きて、大腸を突き破る危険さえある。 In particular, in extended bending of the tip, even flexible S-shaped colon can pass the tip is fixed, caught at the entrance of the descending colon, without entering bent tip, the push from the outside in the bending ventral tip, colon tightness, or pain to the patient, happening is panic, there is even a risk of break through the large intestine. 物理的に肛門から、 From the physical to the anus,
棒状の内視鏡を押込んでも、体内の先端が直線でないと、柔軟な大腸が先端に密着。 Also a rod-shaped endoscope is it pushed, the body of the tip is not linear, flexible colon adhesion to the tip. 摩擦で滑らない道理である。 Is a reason a non-slip friction. また、固定の下降結腸の入口を、先端が入り込むにも、先端の直線が必要である。 Further, the inlet of the descending colon of the fixed tip also enters, it is required straight tip. そして、形状不可視の先端で、外からの操作に戸惑いが生じ、先端の摩擦と患者の苦痛、大腸破壊の恐怖とで、検査の荷を重くする。 Then, in the form invisible tip, confusion occurs in the operation from the outside, friction and patient distress tip, with a fear of the colon destruction and heavier load of the inspection. 特に癌患者の集まる、特殊な病院を除き、熟練の医師は育たず、それも、癌手術後の経過観察だけで、手一杯の状態である。 Especially gather of cancer patients, except for a special hospital, not grow the physician of skill, it also, only the follow-up after cancer surgery, is the state of hands full. 所で、癌から生還の条件は、癌の早期発見であり、肌色の変化が判り、細胞採取の内視鏡が、癌の早期発見の、絶対の決め手である。 In place, the condition of the survivor from cancer is the early detection of cancer, to understand the change in skin color, endoscopic of cell harvesting is, the early detection of cancer, is the absolute clincher. そして、大腸癌の早期発見とは、自覚症状の全く無い時の発見であって、血便等の症状あっての発見は、最早手遅れである。 And, the early detection of colon cancer, a discovery when absolutely no subjective symptoms, the discovery of a symptom of blood in the stool, etc., is no longer too late. 然るに、 However,
肝心の人間ドックや、定期集団検診の、大腸癌に対する内視鏡の検査は、専門医師の不足で除外されて、大腸が盲点となり、大腸癌の早期発見率は極めて低く、毎年世界中で多くの人が、大腸癌で死亡する。 And the bottom line of health screening, periodic mass screening, inspection of an endoscope for colorectal cancer, are excluded by the lack of specialist doctors, colon becomes the blind spot, the colon cancer early detection rate is very low, many of the world every year people, die of colon cancer.

【手続補正2】 [Amendment 2]

【補正対象書類名】明細書 [Corrected document name] specification

【補正対象項目名】0003 [Correction target item name] 0003

【補正方法】変更 [Correction method] change

【補正内容】 [Correction content]

【0003】 0003] [

【発明の解決しようとする課題】体内で、形状不可視の先端を、自動的に直線に直し、棒状の先端の、形状の把握で操作する、大腸に経験のない、初めての医師でも、 In [to be solved problem of the invention] body, the shape invisible tip, automatically fix a straight line, the tip of the rod-like, to operate in the grasp of shape, with no experience in the large intestine, also the first doctor,
絶対に安全で、絶対に無痛の、大腸用のロボット内視鏡。 Absolutely safe, absolutely painless, robot endoscope for the large intestine. この発明により、大腸可能の医師を無限に増やし、 With this invention, infinitely increase the large intestine can be a doctor,
人間ドックや、定期集団検診に、大腸の内視鏡検査を可能にする。 Complete medical checkup and, on a regular mass screening, to enable an endoscopic examination of the large intestine. 大腸癌の早期発見、死亡率の低下を、地球の規模で実現する。 Early detection of colon cancer, a reduction in the mortality rate, to achieve a global scale.

【手続補正3】 [Amendment 3]

【補正対象書類名】明細書 [Correction target document name] specification

【補正対象項目名】0005 [Correction target item name] 0005

【補正方法】変更 [Correction method] change

【補正内容】 [Correction contents]

【0005】 [0005]

【発明の実施の形態】 1、大腸用の、横軸を中立に固定し、内視鏡の制御ボックスに、装着する。 DETAILED DESCRIPTION OF THE INVENTION 1, for the large intestine, to secure the horizontal axis in the neutral, the control box of the endoscope is mounted. 2、手を離し、曲げ、延ばしの、スイッチを、指一本操作の、ロボット内視鏡。 2, release the bending, extending, and a switch, the one finger operation, robotic endoscope. 3、スイッチの押す時間と、ヒンジの角度で、先端が自在に制御される。 3, the time and pushing the switch, an angle of the hinge, the tip is freely controlled. 4、体内で、形状不可視の先端を、延ばしで自動的に直線に直し、棒状にする。 4, in the body, the shape invisible tip, automatically fix a straight line extending to the rod-like. 5、ヒンジを動かし、先端の方向を変え、次の曲がりへ、先端を曲げ進める。 5, moving the hinge, changing the direction of the distal end, to the next bend, advancing bent tip. 6、電源は、100ボルト、商用電源を使用する。 6, the power supply uses 100 volts, the commercial power supply.

【手続補正4】 [Amendment 4]

【補正対象書類名】明細書 [Corrected document name] specification

【補正対象項目名】0008 [Correction target item name] 0008

【補正方法】変更 [Correction method] change

【補正内容】 [Correction contents]

【0008】 [0008]

【発明の効果】 1、両手で支持の内視鏡から、両手を開放、指一本の操作で、絶対安全、絶対無痛の、大腸用のロボット内視鏡。 Effect of the Invention] 1, the endoscope support with both hands, opening both hands, the operation of one finger, absolute safety, absolute painless, robotic endoscope for the large intestine. これで、誰でも内視鏡の名人になれる。 Now, become a master of the endoscope anyone. 2、体内で、形状不可視の先端を、自動的に直線に変えて、棒状の先端の、把握で外から操作する。 2, in the body, the shape invisible tip, automatically changed to a straight line, the tip of the rod-shaped, operated from the outside by grasping. 絶対安全、 Absolute safety,
迅速無痛の、大腸用のロボット内視鏡。 Of quick painless, robot endoscope for large intestine. 3、この発明で、大腸可能の内視鏡医が、無限に増加し、大腸癌の早期発見の為の、大腸の内視鏡検査が可能になり、検査需要が爆発的に増大する。 3, in the present invention, the large intestine can be of endoscopists, increased infinitely, for the early detection of colon cancer, enables endoscope colon examination, inspection demand is increased explosively. 4、大腸が盲点の、人間ドックや、定期集団検診にも、 4, of the large intestine is blind spot, complete medical checkup and, also on a regular mass screening,
大腸の内視鏡検査を可能にする。 Allowing the endoscopy of the large intestine. 大腸癌の早期発見、死亡率の低下が、地球規模で実現される。 Early detection of colon cancer, decrease in the mortality rate, are implemented on a global scale. ───────────────────────────────────────────────────── ────────────────────────────────────────────────── ───

【手続補正書】 [Procedure amendment]

【提出日】平成8年6月17日 [Filing date] 1996 June 17,

【手続補正1】 [Amendment 1]

【補正対象書類名】明細書 [Correction target document name] specification

【補正対象項目名】0008 [Correction target item name] 0008

【補正方法】変更 [Correction method] change

【補正内容】 [Correction contents]

【0008】 [0008]

【発明の効果】 1、内視鏡の操作部より、両手が離れ、先端の曲げ延ばしが、指先一本で可能。 Effect of the Invention] 1, the operation unit of the endoscope, both hands apart, bending extending the tip, allows with one fingertip. 2、内部に潤滑水なく、内視鏡を通さない、大腸模型に対して、本発明は、直線の先端の回転で、摩擦を払拭。 2, no lubrication water inside, impervious to the endoscope for the large intestine model, this invention is a rotation of the straight tip, wiping friction.
本番前の模型で、習熟が充分可能である。 In pre-production model, proficiency is sufficient possible. 3、直腸とS字結腸が、肛門と下降結腸間に、直線に収まらない時、先端を直角に曲げて固定、外から左に捩じり、押し込んでループを作り、ループで結腸の弛みを吸収、逆回転で元に戻す。 3, rectum and S-shaped colon, between the anus and the descending colon, when it does not fit on a straight line, fixed by bending the tip at right angles, torsion from outside to the left, making a loop is pushed, the slack of the colon in the loop absorption, undo in reverse rotation. 結腸は直腸側に圧縮、引き寄せられる。 Colon compression in rectal side, are attracted. 4、外から、形状不可視の先端を、自動で直線に変えて、肛門を支点に棒状の先端を、下降結腸に挿入する。 4, from the outside, the shape invisible tip automatically to change in a linear, rod-shaped tip to pivot the anus, inserted into the descending colon.
機械支持で可動の先端が、押込む力で折れ曲がらず、大腸を破壊する事の無い、絶対安全の、大腸用のロボット内視鏡。 The tip of the movable mechanical support is not Oremagara in pushing force, without destroying the large intestine, absolute safety, the robot endoscope for the large intestine. 5、この発明で、大腸検査の可能の医師が、無限に増加し、人間ドックや、定期検診の段階で、大腸の内視鏡検査が可能になり、検査需要が増大する。 5. In the present invention, allows the physician colon inspection, increases indefinitely, clinical survey and, at the stage of routine screening, allows endoscopic colorectal inspection, testing demand increases. 6、人間ドックや、定期集団検診に、大腸の内視鏡検査が導入され、大腸癌の早期発見、死亡率の低下が、地球規模で実現される。 6, complete medical checkup and, on a regular mass screening, endoscopic of the large intestine examination has been introduced, early detection of colon cancer, decrease of mortality is realized on a global scale.

Claims (2)

    【特許請求の範囲】 [The claims]
  1. 【請求項1】スイッチの操作盤1と、モ−タ−制御回路2と、縦軸制御モ−タ−3と、内視鏡の制御ボックス4 And 1. A control panel 1 of the switch, motor - motor - a control circuit 2, the vertical axis control motor - a motor -3, control of the endoscope box 4
    と、内視鏡の先端5と、移動支持台6と、内視鏡と平行なヒンジ7からなる、大腸用のロボット内視鏡。 When a distal end 5 of the endoscope, the moving supporter 6, consisting of the endoscope and parallel hinges 7, the robot endoscope for the large intestine.
  2. 【請求項2】請求項1に記載の、大腸用のロボット内視鏡に於て、スイッチの操作盤1の、延ばしのスイッチを押すと、内視鏡の先端5が、曲りから、直線状に変化して止まる、大腸用のロボット内視鏡。 2. A according to claim 1, robot endoscope for colon At a, the control panel 1 of a switch, press the extended switch, the tip 5 of the endoscope, the bending linear it stops to change, the robot endoscope for large intestine. また、内視鏡の制御ボックス4と、移動支持台6の間に、内視鏡と平行なヒンジ7を設け、内視鏡の先端5に、回転を与る事の出来る、大腸用のロボット内視鏡。 Further, a control box 4 of the endoscope, during the moving supporter 6, the endoscope and parallel hinges 7 provided at the distal end 5 of the endoscope, can partake rotation, robots for colon Endoscope.
JP8060460A 1994-06-21 1996-03-18 Robot endoscope for large intestine Granted JPH08322783A (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP7072626A JPH0866351A (en) 1994-06-21 1995-03-30 Robot endoscope
JP7-72626 1995-03-30
JP8060460A JPH08322783A (en) 1995-03-30 1996-03-18 Robot endoscope for large intestine

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP8060460A JPH08322783A (en) 1995-03-30 1996-03-18 Robot endoscope for large intestine

Publications (1)

Publication Number Publication Date
JPH08322783A true JPH08322783A (en) 1996-12-10

Family

ID=26401530

Family Applications (1)

Application Number Title Priority Date Filing Date
JP8060460A Granted JPH08322783A (en) 1994-06-21 1996-03-18 Robot endoscope for large intestine

Country Status (1)

Country Link
JP (1) JPH08322783A (en)

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US6679836B2 (en) 2002-06-21 2004-01-20 Scimed Life Systems, Inc. Universal programmable guide catheter
US6770027B2 (en) 2001-10-05 2004-08-03 Scimed Life Systems, Inc. Robotic endoscope with wireless interface
US6835173B2 (en) 2001-10-05 2004-12-28 Scimed Life Systems, Inc. Robotic endoscope
US8834354B2 (en) 2000-04-03 2014-09-16 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US10105036B2 (en) 2000-04-03 2018-10-23 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US10327625B2 (en) 2000-04-03 2019-06-25 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US9808140B2 (en) 2000-04-03 2017-11-07 Intuitive Surgical Operations, Inc. Steerable segmented endoscope and method of insertion
US8834354B2 (en) 2000-04-03 2014-09-16 Intuitive Surgical Operations, Inc. Steerable endoscope and improved method of insertion
US10327625B2 (en) 2000-04-03 2019-06-25 Intuitive Surgical Operations, Inc. Apparatus and methods for facilitating treatment of tissue via improved delivery of energy based and non-energy based modalities
US10105036B2 (en) 2000-04-03 2018-10-23 Intuitive Surgical Operations, Inc. Connector device for a controllable instrument
US7666135B2 (en) 2001-10-05 2010-02-23 Boston Scientific Scimed, Inc. Robotic endoscope
US7097615B2 (en) 2001-10-05 2006-08-29 Boston Scientific Scimed, Inc. Robotic endoscope with wireless interface
US6835173B2 (en) 2001-10-05 2004-12-28 Scimed Life Systems, Inc. Robotic endoscope
US8328714B2 (en) 2001-10-05 2012-12-11 Boston Scientific Scimed, Inc. Robotic endoscope
US8517924B2 (en) 2001-10-05 2013-08-27 Boston Scientific Scimed, Inc. Robotic endoscope with wireless interface
US6770027B2 (en) 2001-10-05 2004-08-03 Scimed Life Systems, Inc. Robotic endoscope with wireless interface
US7261686B2 (en) 2002-06-21 2007-08-28 Boston Scientific Scimed, Inc. Universal, programmable guide catheter
US6997870B2 (en) 2002-06-21 2006-02-14 Boston Scientific Scimed, Inc. Universal, programmable guide catheter
US6679836B2 (en) 2002-06-21 2004-01-20 Scimed Life Systems, Inc. Universal programmable guide catheter

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