WO2015079809A9 - 内視鏡の湾曲部 - Google Patents
内視鏡の湾曲部 Download PDFInfo
- Publication number
- WO2015079809A9 WO2015079809A9 PCT/JP2014/076986 JP2014076986W WO2015079809A9 WO 2015079809 A9 WO2015079809 A9 WO 2015079809A9 JP 2014076986 W JP2014076986 W JP 2014076986W WO 2015079809 A9 WO2015079809 A9 WO 2015079809A9
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- WO
- WIPO (PCT)
- Prior art keywords
- node ring
- node
- bending
- main body
- pair
- Prior art date
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0055—Constructional details of insertion parts, e.g. vertebral elements
- A61B1/0056—Constructional details of insertion parts, e.g. vertebral elements the insertion parts being asymmetric, e.g. for unilateral bending mechanisms
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
Definitions
- the present invention relates to a bending portion of an endoscope in which a plurality of node rings are arranged along a central axis of an insertion portion.
- a bending portion provided in an insertion portion of an endoscope has a nodal ring group (curving portion) in which a plurality of node rings (bending pieces) are arranged in a line along the central axis of the insertion portion as a skeleton structure. Tube).
- the node ring adjacent to front and back is connected so that rotation is possible via the pivot pin, for example.
- a pulling wire routed from the operation portion of the endoscope or the like is connected to the node ring located on the distal end side (for example, the most advanced) of the bending tube, and the bending tube is connected by the pulling force of the pulling wire. It is possible to perform a bending operation in a predetermined direction.
- various built-in objects such as various signal cables and light guide bundles are usually inserted into the inside of the bending tube configured as described above.
- These built-in objects have a predetermined rigidity against the bending operation, and when the pulling force of the pulling wire is transmitted through the bending tube in the bending portion, the built-in objects have a proximal end side and a distal end side. A large moment is generated. Accordingly, basically, the base end side of the bending portion through which the built-in object is inserted is preferentially bent.
- various bending forms are required for the bending portion of the endoscope depending on the shape of the applied lumen, for example, insertion of the endoscope into a lumen having a small curvature radius.
- Patent Document 1 a node ring having a pair of connecting portions formed at positions deviating from the radial direction at both ends in the axial direction is provided on the distal end side of the bending portion.
- a technique is disclosed in which the radius of curvature on the distal end side of the bending portion is reduced by arranging and connecting the connecting portions of adjacent node rings so as to be rotatable by pins (rivets).
- Patent Document 1 in order to connect the connecting portions of the adjacent node rings in a rotatable manner, the connecting portions that form pairs are arranged in the radial direction It is necessary to dispose them in parallel at positions deviating from the above, and there is a possibility that the structure becomes complicated, for example, the shape of the node ring becomes a non-cylindrical shape.
- the present invention has been made in view of the above circumstances, and an object of the present invention is to provide a bending portion of an endoscope that can realize an optimal bending form according to the application with a simple configuration.
- the bending portion of the endoscope includes a node ring group in which a plurality of node rings are arranged in a line along the central axis of the insertion portion, and the node ring positioned on a distal end side of the node ring group.
- an axis connecting a swing fulcrum formed at each abutting portion between the pair of protrusions and the other end surface of the other adjacent node ring main body is a central axis of the insertion portion.
- it is offset by an offset amount different from the axis line connecting the rocking fulcrums of any of the other node rings.
- the perspective view which shows the front end side of a light guide A perspective view showing an imaging unit Top view of curved tube Side view of curved tube Side view of the second node ring Perspective view of the second node ring Side view of the third node ring Perspective view of the third node ring Top view showing the bending state of the node ring group in the left-right direction with a small bending angle Top view showing the bending state of the node ring group in the left-right direction when the bending angle is maximum Side view showing the bending state of the node ring group in the vertical direction with a small bending angle Side view showing the bending state of the node ring group in the vertical direction when the bending angle is maximum Side view of the fifth node ring in connection with the first modification Side view of the bending tube according to the second modification Side view of the sixth node ring in connection with the third modification Perspective view of the sixth node ring Same as above, side view of curved tube Side view of the seventh node ring related to the fourth modification A perspective view of the seventh
- FIG. 1 is a perspective view of an endoscope
- FIG. 2 is a horizontal axis sectional view of the distal end side of the insertion portion
- FIG. 3 is a vertical axis sectional view of the distal end side of the insertion portion.
- 4 is a sectional view taken along the line AA in FIG. 3
- FIG. 5 is a sectional view taken along the line BB in FIG. 3
- FIG. 6 is a sectional view taken along the line CC in FIG.
- FIG. 9 is a perspective view showing the imaging unit
- FIG. 10 is a top view of the bending tube
- FIG. 10 is a top view of the bending tube
- FIG. 11 is a side view of the bending tube
- FIG. 12A is a side view of the second node ring
- 12B is a perspective view of the second node ring
- FIG. 13A is a side view of the third node ring
- FIG. 13B is a perspective view of the third node ring
- FIG. 14 is a view of the node ring group with a small bending angle.
- FIG. 15 is a top view showing the bending state of the node ring group in the left-right direction when the bending angle is maximum
- FIG. 16 is the vertical direction of the node ring group in a state where the bending angle is small.
- FIG. 17 is a side view showing a curved state of the vertical direction of the node ring groups at bending angle maximum.
- the endoscope 1 includes an elongated insertion portion 2, an operation portion 3, and a universal cord 4.
- the operation unit 3 is connected to the proximal end side of the insertion unit 2.
- the operation unit 3 is connected to the proximal end of the insertion unit 2.
- the universal cord 4 extends from a side portion on the proximal end side of the operation portion 3.
- the insertion portion 2 is configured by connecting a distal end hard portion 5, a bending portion 6, and a flexible tube portion 7 in order from the distal end side.
- the distal end hard portion 5 incorporates an imaging unit 21 including an imaging element (CCD, CMOS, etc.) and a distal end portion of a light guide fiber bundle 22 (see FIGS. 2 and 3).
- the observation part 5 a is configured on the distal end surface of the distal end hard part 5.
- the bending portion 6 includes a node ring group 30 (bending tube) in which a plurality of node rings (a predetermined number of first to fourth node rings 31 to 34, respectively) to be described later are arranged in a line. (See FIGS. 2 and 3).
- the adjacent node rings of the node ring group 30 are connected in a manner that can swing in a predetermined direction, and the bending portion 6 can be bent in the vertical and horizontal directions, for example.
- the up / down and left / right directions of the endoscope 1 are based on, for example, the state in which the operator (operator) holds a predetermined part of the operation unit 3 (or the imaging unit 21 performs imaging).
- the direction is defined for convenience (based on the vertical and horizontal directions of the image to be used), and the vertical and horizontal directions in the usage state do not necessarily match the actual vertical and horizontal directions.
- the operation unit 3 includes a fixing ring unit 10, a sub grip unit 11, an operation unit main body 12, a main grip unit 13, and a connection member 14, which are connected in order from the insertion unit side.
- the fixing ring portion 10 is a member that connects the distal end side of the operation portion 3 and the proximal end side of the insertion portion 2.
- the sub grip portion 11 is disposed on the proximal end side of the fixing ring portion 10.
- An operation member 15 such as a remote switch for controlling the image pickup device of the observation unit 5a is provided on the outer surface of the sub-grip unit 11 on the upper surface.
- the operation section main body 12 is disposed on the proximal end side of the sub grip section 11. Inside the operation section main body 12 are a bending operation mechanism section that is a mechanism section for bending the bending section 6 in the vertical and horizontal directions, and a mechanism section for holding (locking) the bending state of the bending section 6. A bending portion braking operation portion (none of which is shown). Further, a bending operation lever 16 (up and down bending operation lever 17 and left and right bending operation lever 18) connected to the bending operation mechanism section is provided outside the operation section main body 12, and a bending lock connected to the bending braking mechanism section. A lever 19 is provided.
- the main grip portion 13 is disposed on the proximal end side of the operation portion main body 12.
- a connecting member 14 having a tapered shape and flexibility is connected to the proximal end side of the main grip portion 13.
- the connecting member 14 is disposed so as to cover the universal cord 4 extending from the operation unit 3. Thereby, the connection member 14 prevents the end portion of the universal cord 4 from buckling in the vicinity of the connection portion with the main grip portion 13.
- a plurality of light guide fiber bundles 22, signal cables for transmitting various signals, shield cables, various tubes, and the like are provided in the insertion part 2, the operation part 3, and the universal cord 4 of the endoscope 1, a plurality of light guide fiber bundles 22, signal cables for transmitting various signals, shield cables, various tubes, and the like are provided in the insertion part 2, the operation part 3, and the universal cord 4 of the endoscope 1, a plurality of light guide fiber bundles 22, signal cables for transmitting various signals, shield cables, various tubes, and the like are provided. A built-in endoscope is inserted.
- a light guide connector 4a capable of connecting the light guide fiber bundle 22 to a light source device which is an external device (not shown) is provided.
- the light guide connector 4a is provided with a light guide tube 4d and a vent hole 4e.
- a camera cable 4b branches off from the side surface of the light guide connector 4a.
- a connector 4c is provided at the extended end of the camera cable 4b, and this connector 4c is electrically connected to a control device which is an external device (not shown) or a camera control unit including a signal processing circuit.
- the node ring group 30 constituting the bending portion 6 of the present embodiment includes a first node ring 31 disposed at the distal end and a fourth node ring disposed at the proximal end. , And a plurality of second and third node rings 32, 33 connected between the first and fourth node rings 31, 34.
- a mesh tube 40 is externally provided on the outer periphery of the node ring group 30, and a continuous state between the adjacent node rings 31 to 34 is maintained by the mesh tube 40.
- a flexible curved rubber 41 is sheathed on the outer periphery of the net tube 40.
- the second and third node rings 32 and 33 are configured in different forms, and the second and third node rings 32 and 33 are connected in a predetermined arrangement state, so that A first curved region A1 is formed on the distal end side of the portion 6, and a second curved region A2 having a curved shape different from that of the first curved region A1 is formed on the proximal end side of the curved portion 6.
- the first node ring 31 includes, for example, a cylindrical node ring main body 31a and a protruding portion 31b protruding in a pair from the base end side of the node ring main body 31a. It is comprised by the metal member formed integrally.
- a wire stopper 31c is provided on the inner periphery of the proximal end of the node ring main body 31a, for example, for each 45 ° rotation position (see FIGS. 2 and 3). That is, on the inner periphery of the node ring main body 31a, two sets of wire stoppers 31c that are axially symmetric with respect to the central axis of the node ring main body 31a are provided for each 90 ° rotation position.
- the stop part 31c is arrange
- the two wire stoppers 31c facing each other in the vertical direction of the insertion part 2 are mutually connected by the bending operation mechanism unit in conjunction with the operation of the vertical bending operation lever 17.
- the tip portions of the up and down pull wires 43u and 43d to be pulled or relaxed are fixed.
- the two wire stoppers 31c facing each other in the left-right direction of the insertion portion 2 have left and right traction wires 43l and 43r that are pulled or loosened by the bending operation mechanism in conjunction with the operation of the left and right bending operation lever 18.
- the tip of is fixed.
- the pair of protrusions 31 b constituting the first node ring 31 has an arcuate or parabolic protruding curved surface at the protruding end and protrudes toward the proximal end side. It is constituted by a tongue-like member.
- These protrusions 31b are provided, for example, so as to be symmetrical with respect to the central axis Oi of the insertion portion 2 (that is, the central axis of the node ring main body 31a).
- each protrusion 31b is provided on the circumference of the node ring main body 31a, for example, at a rotational position that coincides with the wire stopper 31c of the left and right pulling wires 43l and 43r (that is, each protrusion 31b is They are arranged side by side in the left-right direction of the insertion portion 2).
- the node ring main body 31 a constituting the first node ring 31 is extended to the distal end hard portion 5 side and connected to the distal end portion main body 23, whereby the distal end side of the imaging unit 21 and the light guide fiber bundle 22. It also functions as an outer tube that integrally accommodates.
- the distal end portion body 23 of the present embodiment is configured by a substantially cylindrical transparent resin member having a thick distal end wall portion 23a on the distal end side, for example.
- the node ring main body 31 a is connected to the inner peripheral surface of the distal end portion main body 23 by fitting from the proximal end side.
- the distal end wall portion 23a of the distal end portion main body 23 is provided with a unit holding hole 23b made of a through hole and a pair of light guide holding holes 23c made of holes having a predetermined depth (FIG. 2, FIG. 2). 4).
- the distal end side of the imaging unit 21 is inserted and held in the unit holding hole 23b, and the strand 22a exposed from the distal end side of the light guide fiber bundle 22 is inserted and held in each light guide holding hole 23c. ing.
- the outer peripheral portion of the distal end portion main body 23 is covered with a curved rubber 41 extending from the curved portion 6 side, and the distal end portion of the curved rubber 41 is bonded and fixed by the first bobbin portion 24.
- the unit holding hole 23b and the light guide holding hole 23c are provided at positions close to each other. Accordingly, the imaging unit 21 and the light guide fiber bundle 22 of the present embodiment are integrally bonded and fixed in the node ring main body 31a.
- the imaging unit 21 is covered with a metal reinforcing frame 21a in order to protect the built-in objects from interference such as the light guide fiber bundle 22 accommodated in the proximity of the node ring main body 31a (see FIG. 5, 9).
- the light guide fiber bundle 22 is configured by covering a plurality of strands 22a with an outer tube 22b such as a heat-shrinkable tube (see FIGS. 5 to 8).
- the light guide fiber bundle 22 is imaged.
- the outer tube 22b and the wire 22a in the region covered with the outer tube 22b are bonded and shaped on the distal end side of the light guide fiber bundle 22.
- the wire 22a in the region exposed from the outer tube 22b is bonded and molded in the light guide holding hole 23c.
- the tip body 23 has a function as a lens unit for irradiating the illumination light transmitted by the light guide fiber bundle 22 to the outside by being made of a transparent resin material or the like. Further, in order to improve the chemical resistance and the like by covering the tip portion main body 23 made of a transparent resin material with the curved rubber 41 as much as possible, the first bobbin portion 24 is set near the tip of the tip portion main body 23. Yes.
- the fourth node ring 34 includes a metal node ring main body 34a having a cylindrical shape.
- a wire insertion portion 34c is provided for each 45 ° rotation position. That is, on the inner periphery of the node ring main body 34a, two sets of wire insertion portions 34c that are axisymmetric with respect to the central axis of the node ring main body 34a are provided for each 90 ° rotation position.
- the insertion part 34c is disposed along the vertical direction and the horizontal direction of the insertion part 2.
- wire insertion portions 34c forming each of these sets, vertical pulling wires 43u and 43d are inserted into two wire insertion portions 34c facing each other in the vertical direction of the insertion portion 2.
- left and right traction wires 43l and 43r are inserted through two wire insertion portions 34c facing each other in the left-right direction of the insertion portion 2.
- the spiral tube 25 constituting the flexible tube portion 7 is continuously provided on the proximal end side of the node ring main body 34a constituting the fourth node ring 34.
- a cylindrical connection pipe 26 is fitted on the proximal end side of the node ring main body 34 a and the distal end side of the helical tube 25, whereby the node ring main body 34 a is coupled to the helical tube 25.
- a net tube 27 is externally provided on the outer periphery of the spiral tube 25, and an outer skin 28 made of, for example, a soft resin is externally provided on the outer periphery of the net tube 27.
- a curved rubber 41 extending from the curved portion 6 side is continuously provided at the distal end of the outer skin 28, and a base end portion of the curved rubber 41 is a second bobbin portion 29. Is fixed by bonding.
- the second node ring 32 is formed by integrally forming a ring-shaped node ring body 32a and a protrusion 32b protruding in a pair from the base end side of the node ring body 32a. It is comprised by the made metal member.
- a wire insertion portion 32c is provided for each 45 ° rotation position. That is, two sets of wire insertion portions 32c that are axisymmetric with respect to the central axis of the node ring main body 32a are provided on the inner periphery of the node ring main body 32a at every 90 ° rotation position.
- the pair of protrusions 32b constituting the second node ring 32 are tongue pieces that have an arcuate or parabolic protruding curved surface at the protruding end and protrude toward the proximal end. It is comprised by the shaped member.
- These protrusions 32b are provided, for example, so as to be symmetrical with respect to the central axis Oi of the insertion portion 2 (that is, the central axis of the node ring main body 32a).
- each protrusion 32b is located at a rotational position on the circumference of the node ring main body 32a that coincides with any one of the two sets of wire insertion portions 32c arranged in the axially symmetric position. (See FIGS. 12A and 12B).
- the third node ring 33 includes an annular node ring body 33a and a protrusion 33b that protrudes in a pair from the base end side of the node ring body 33a. It is comprised by the formed metal member.
- a wire insertion portion 33c is provided for each 45 ° rotation position. That is, on the inner periphery of the node ring main body 33a, two sets of wire insertion portions 33c that are axisymmetric with respect to the central axis of the node ring main body 33a are provided for each 90 ° rotation position.
- the pair of protrusions 33 b that constitute the third node ring 33 have an arcuate or parabolic projecting curved surface on the proximal end side. It is constituted by a protruding tongue-like member. These protrusions 33b are provided, for example, facing a position offset by a predetermined amount from a position that is axially symmetric with respect to the central axis Oi of the insertion portion 2 (that is, the central axis of the node ring main body 33a). .
- each protrusion 33b is connected to an axis connecting the protruding ends of the protrusions 33b and an axis connecting any one set of each of the wire insertion portions 33c of the two pairs of wire insertion portions 33c arranged at the axially symmetric positions. Are provided at positions parallel to each other (see FIG. 13B).
- the second node ring 32 is arranged in the first curved region A ⁇ b> 1 on the node ring group 30.
- the second node ring 32 in which the protrusion 32b is arranged in the left-right direction of the insertion portion 2 and the projection 32b in the vertical direction of the insertion portion 2 are arranged.
- Two node rings 32 are alternately arranged.
- the corresponding wire insertion portions 32c of the second node rings 32 are respectively inserted with the corresponding vertical traction wires 43u and 43d or left and right traction wires 43l and 43r.
- the second node ring 32 in which the protrusions 32b are arranged in the left-right direction of the insertion portion 2 functions as a node ring for bending in the vertical direction.
- These second node rings 32 are connected to the protrusions 32b of the second node ring 32 and the adjacent nodes of the second node ring 32 by the pulling operation or the relaxation operation of the vertical pulling wires 43u and 43d.
- the ring body 32a can be swung in the vertical direction using a contact portion with the tip surface of the ring body 32a as a rocking fulcrum.
- the second node ring 32 in which the protrusions 32b are arranged in the vertical direction of the insertion portion 2 functions as a node ring for bending in the left-right direction.
- These second node rings 32 are connected to the protrusions 32b of the second node ring 32 and the adjacent second node rings by the pulling operation or the relaxation operation of the left and right pulling wires 43l and 43r. It is possible to swing in the left-right direction using the contact portion with the tip surface of the main body 32a as a swing fulcrum.
- the second node ring 32 and the third node ring 33 are alternately arranged in the second curved region A2. That is, in the second curved region A2, for example, the third node ring 33 in which the protrusion 33b is disposed in the left-right direction of the insertion portion 2 and offset upward, and the vertical direction of the insertion portion 2
- the second node rings 32 on which the protrusions 32b are arranged are alternately arranged.
- corresponding wire insertion portions 32c and 33c of the second and third node rings 32 and 33 are respectively inserted with the corresponding vertical traction wires 43u and 43d or left and right traction wires 43l and 43r.
- the third node ring 33 in which the protrusions 33b are arranged in the left-right direction of the insertion portion 2 functions as a node ring for bending in the vertical direction.
- These third node rings 33 are connected to the protrusions 33b of the third node ring 33 and the adjacent nodes of the second node ring 32 by the pulling operation or relaxation operation of the vertical pulling wires 43u and 43d.
- the ring body 32a can be swung in the vertical direction using a contact portion with the tip surface of the ring body 32a as a rocking fulcrum.
- the second node ring 32 in which the protrusions 32b are arranged in the vertical direction of the insertion portion 2 functions as a node ring for bending in the left-right direction.
- the wheel 32 is pulled by the pulling operation or the relaxation operation of the left and right pulling wires 43l and 43r, and the projections 32b of the second node ring 32 and the tip of the node ring main body 33a of the other adjacent third node ring 33. It is possible to swing in the left-right direction with the contact portion with the surface as a fulcrum.
- the pair of protrusions 33b constituting the third node ring 33 is offset from the central axis Oi of the insertion portion 2, in each node ring for vertical bending arranged in the second bending region
- the axis O3 connecting the contact portions serving as the swing fulcrum exists at a position offset from the center axis Oi of the insertion portion 2 by a predetermined offset amount (see FIG. 11).
- the pair of protrusions 32b constituting the second node ring 32 are provided at positions that are axially symmetric with respect to the central axis Oi of the insertion portion 2, and thus are arranged in the second curved region A2.
- the axis O2 connecting the contact portions serving as the swing fulcrum exists at a position where the offset amount with respect to the central axis Oi of the insertion portion 2 is substantially zero.
- the bending portion 6 of the insertion portion 2 configured as described above, for example, when the left and right pulling wires 43l and 43r are pulled or loosened in conjunction with an operation on the left and right bending operation lever 18, the bending portion 6 is Curved in the left-right direction.
- the distal end side of the bending portion 6 is preferentially bent. That is, the second bending ring 32 is arranged in the first bending area A1 as a bending ring for bending up and down, and the second bending area A2 as a bending ring for bending in the vertical direction.
- Third node rings 33 are arranged. In the third node ring 33, since the axis O3 serving as the swing fulcrum is offset upward, the distance from the swing fulcrum to the action point when bent upward is the axis O2 serving as the swing fulcrum. The offset amount is shorter than the second node ring 32 which is substantially zero.
- the pair of protrusions 32b are inserted into the vertical and horizontal bending node rings arranged in the first bending region A1 set on the distal end side of the bending portion 6.
- the ring is constituted by the second node ring 32, and the vertically bent node rings arranged in the second bending region are arranged so that the pair of projections 33b are located above the axial axis position with respect to the central axis Oi of the insertion portion 2.
- the vertical bending node ring arranged in the second bending region A2 set on the base end side of the bending portion 6 is configured by the third node ring 33, and the pivot point of the vertical bending node ring is pivoted. Is offset upward with respect to the central axis Oi of the insertion portion 2, the distal end side can be preferentially bent when the bending portion 6 is bent upward. As a result, at the time of upward bending, the effective curvature radius r of the bending portion 6 can be reduced even in the initial stage of the bending, and insertion into a lumen or the like having a small curvature radius can be improved.
- each of the node rings 31 to 34 is configured to be swingably connected to the adjacent node ring by contact of the protrusions 31b to 33b. Even when the part is offset, the rocking of the node ring is not particularly hindered, and an optimum curved form corresponding to the application can be realized with a simple configuration.
- a fifth node ring 35 is employed instead of the third node ring 33.
- the fifth node ring 35 is integrally formed with a ring-shaped node ring body 35 a and a protrusion 35 b that protrudes in a pair from the base end side of the node ring body 35 a. It is comprised with the metal member.
- a wire insertion portion 35c is provided for each 45 ° rotation position. That is, on the inner periphery of the node ring main body 35a, two sets of wire insertion portions 35c that are axially symmetric with respect to the central axis of the node ring main body 35a are provided for each 90 ° rotation position.
- the pair of projections 35b constituting the fifth nodal ring 35 has a tongue-like shape projecting toward the base end side having a projecting curved surface having an arc shape or a parabolic shape at the projecting end portion. It is comprised by the member.
- These protrusions 35b are provided, for example, facing a position offset by a predetermined amount from a position that is axially symmetric with respect to the central axis Oi of the insertion portion 2 (that is, the central axis of the node ring main body 35a).
- each protrusion 35b is an axis connecting the axis connecting the protrusions of each protrusion 35b and any one set of each of the wire insertion portions 35c of the two sets of wire insertion portions 35c arranged at the axially symmetric position. Are provided at positions that are parallel to each other.
- the height of the base end surface of the node ring main body 35a (the width from the front end surface to the base end surface of the node ring main body 35a) is set unequal on both sides of the protrusion 35b.
- the offset side is set to be relatively higher than the non-offset side of the pair of protrusions 35b.
- a third protrusion 33 b is arranged at a position offset in the left-right direction of the insertion portion 2 and downward.
- the node rings 33 and the second node rings 32 in which the protrusions 32b are arranged in the vertical direction of the insertion portion 2 are alternately arranged.
- a second node ring 32 in which a protrusion 32b is arranged in the left-right direction of the insertion portion 2 and a protrusion 32b in the vertical direction of the insertion portion 2 are arranged.
- Two node rings 32 are alternately arranged.
- the third node ring 33 in which the protrusion 33b is arranged at a position offset in the horizontal direction of the insertion portion 2 and the vertical direction of the insertion portion 2 The second node rings 32 on which the protrusions 32b are arranged are alternately arranged.
- corresponding wire insertion portions 32c and 33c of the second and third node rings 32 and 33 are respectively inserted with corresponding vertical pulling wires 43u and 43d or horizontal pulling wires 43l and 43r.
- the sixth node ring 36 includes an annular node ring body 36a and a protrusion 36b that protrudes in a pair from the base end side of the node ring body 36a. It is comprised by the formed metal member.
- a wire insertion portion 36c is provided for each 45 ° rotation position. That is, on the inner periphery of the node ring main body 36a, two sets of wire insertion portions 36c that are axisymmetric with respect to the central axis of the node ring main body 36a are provided for each 90 ° rotation position.
- the pair of protrusions 36b constituting the sixth node ring 36 includes a flat protruding end surface 36b1 and a pair of protruding curved surfaces 36b2 continuous on both sides of the protruding end surface 36b1.
- each protrusion 36b has a wire insertion portion of any one of the two sets of wire insertion portions 36c arranged in an axially symmetrical position on the circumference of the node ring main body 36a at the center of the protrusion end surface 36b1. The rotation position coincides with the portion 36c (see FIGS. 20A and 20B).
- the sixth node ring 36 configured in this way can be applied as a node ring for bending in the vertical direction, for example, as shown in FIG. That is, the node ring group 30 shown in FIG. 21 includes, for example, a second node ring 32 in which a protrusion 32b is disposed in the left-right direction of the insertion portion 2, and a protrusion 36b in the vertical direction of the insertion portion 2.
- Sixth node rings 36 are alternately arranged. In this case, in the example shown in FIG. 21, the width of the projecting end face 36b1 is set to be wider as the sixth node ring 36 is located on the base end side.
- each protrusion 36b of the sixth node ring 36 has a node ring body of the adjacent second node ring 32 when the bending portion 6 curves upward.
- a projecting curved surface 36b2 positioned above the projecting end surface 36b1 is brought into contact with 32a, and the sixth node ring 36 swings with this contacting portion as a swinging fulcrum.
- the projecting curved surface 36b2 positioned below the projecting end surface 36b1 is brought into contact with the node ring main body 32a of the adjacent second node ring 32.
- the sixth node ring 36 swings with the portion as a swing fulcrum.
- the sixth node ring 36 can set the offset amount of the swing fulcrum with respect to the central axis Oi of the insertion portion 2 in both the swing direction and the other swing direction. .
- the node ring group 30 is configured by using seventh and eighth node rings 37 and 38 in which the wire insertion portion and the protrusion are arranged at different rotational positions on the circumference of the node ring main body. Is described.
- the seventh node ring 37 includes an annular node ring body 37a and a protrusion 37b that protrudes in a pair from the base end side of the node ring body 37a. It is comprised by the formed metal member.
- a wire insertion portion 37c is provided for each 45 ° rotation position. That is, two sets of wire insertion portions 37c that are axisymmetric with respect to the central axis of the node ring main body 37a are provided on the inner periphery of the node ring main body 37a at every 90 ° rotation position.
- the pair of projecting portions 37b constituting the seventh node ring 37 is configured by a tongue-like member projecting toward the base end side with a projecting curved surface having an arc shape or a parabolic shape at the projecting end portion.
- These protrusions 37b are provided, for example, so as to be symmetrical with respect to the central axis Oi of the insertion portion 2 (that is, the central axis of the node ring main body 37a).
- each protrusion part 37b is provided in the rotation position which does not correspond with any wire insertion part 37c on the periphery of the node ring main body 37a. More specifically, each protrusion 37b is disposed at an intermediate position between two adjacent wire insertion portions 37c on the circumference of the node ring main body 37a.
- the eighth node ring 38 includes a ring-shaped node ring body 38a, and a protrusion 38b protruding in a pair from the base end side of the node ring body 38a. Is constituted by a metal member integrally formed.
- a wire insertion portion 38c is provided for each 45 ° rotation position. That is, on the inner periphery of the node ring main body 38a, two sets of wire insertion portions 38c that are axially symmetric with respect to the central axis of the node ring main body 38a are provided for each 90 ° rotation position.
- the pair of projecting portions 38b constituting the eighth node ring 38 are configured to have a flat projecting end surface 38b1, a pair of projecting curved surfaces 38b2 continuous on both sides of the projecting end surface 38b1, and the projecting end portions. . Furthermore, each protrusion 38b is provided at a rotational position where the center of the protruding end surface 38b1 does not coincide with any wire insertion portion 38c on the circumference of the node ring main body 38a. More specifically, each protrusion 38b is arranged so that the center of the protruding end surface 38b1 is positioned at an intermediate position between two adjacent wire insertion portions 38c on the circumference of the node ring main body 38a.
- the seventh and eighth node rings 37 and 38 configured in this way, the seventh node ring 37 is arranged in the first curved region A1 set on the distal end side of the node ring group 30, and the eighth The node rings 38 are arranged in a second curved region A2 set on the base end side of the node ring group 30. More specifically, in the first curved region A ⁇ b> 1 of the node ring group 30, the protrusions 37 b are arranged so as to alternate between the adjacent seventh node rings 37. Further, the eighth node rings 38 are arranged so that the protrusions 38b are staggered between the adjacent eighth node rings 38.
- This modification describes the configuration of the ninth node ring 39 that can set the contact portions at different positions spaced apart from each other when swinging in one direction and swinging in the other direction. It is.
- the ninth node ring 39 includes an annular node ring body 39a and a protrusion 39b that protrudes in a pair from the base end side of the node ring body 39a. It is comprised by the formed metal member.
- a wire insertion portion 39c is provided for each 45 ° rotation position. That is, on the inner periphery of the node ring main body 39a, two sets of wire insertion portions 39c that are axially symmetric with respect to the central axis of the node ring main body 39a are provided for each 90 ° rotation position.
- the pair of protrusions 39b constituting the ninth node ring 39 includes a flat protruding end surface 39b1 and a pair of protruding curved surfaces 39b2 continuous on both sides of the protruding end surface 39b1, respectively. It is configured to have a protruding end. Furthermore, each protrusion 39b is set at a position where an axis connecting the centers of the protrusions 39b1 is offset with respect to the center axis Oi of the insertion portion 2.
- the offset amount of each protrusion 39b is such that any one of the two sets of wire insertion portions 39c arranged in the axially symmetric position is placed on the circumference of the node ring main body 39a. These are set so as to be arranged in a rotational position corresponding to the starting points of a pair of protruding curved surfaces 39b2 that are continuous with each protruding end surface 39b1. In the present modification, more specifically, the starting point of the protruding curved surface 39b2 positioned on the other side of the pair of protruding curved surfaces 39b2 on both sides of the protruding end surface 39b1 is in an axially symmetric position on the circumference of the node ring main body 39a.
- the offset amount of each protrusion 39b is set so that the rotation position coincides with any one set of each wire insertion portion 39c of the two sets of wire insertion portions 39c arranged (FIGS. 25A and 25B). reference).
- the ninth node ring 39 configured in this way can be applied as a node ring for bending in the vertical direction in the second bending region A2.
- the ninth node rings 39 are alternately arranged with the second node rings 32 that are used as bending node rings for bending in the left-right direction.
- each ninth node ring 39 is arranged such that the protrusion 39b is offset upward with respect to the central axis Oi, and the starting point of the protruding curved surface 39b2 continuous to the other side of each protruding end surface 39b1 is the node ring On the circumference of the main body 39a, it is arranged so as to be in a rotational position that coincides with the insertion position of the left and right pulling wires 43l and 43r.
- the configuration of the first region A1 is substantially the same as the configuration shown in the third modified example.
- each protrusion 39b of the ninth node ring 39 is arranged so that each protrusion end surface 39b1 is positioned at a rotational position corresponding to the left and right pulling wires 43l and 43r, the bending portion 6 is in an uncurved state.
- each protrusion 39b of the ninth node ring 39 is adjacent to the left and right pulling wires 43l and 43r at a position that is axisymmetric to the central axis Oi of the insertion portion 2.
- the two node rings 32 can be brought into contact with each other. Therefore, even when the protrusion 39b is offset from the axially symmetric position of the central axis Oi, the load balance can be maintained well, and the linear state of the second curved region can be stably maintained.
- first to third curved regions A1 to A3 having different curved forms are set as the curved regions.
- a projection part 39b is arranged at a position offset in the left-right direction of the insertion part 2 and downward.
- the node rings 39 and the second node rings 32 in which the protrusions 32b are arranged in the vertical direction of the insertion portion 2 are alternately arranged.
- a second node ring 32 in which a protrusion 32b is arranged in the left-right direction of the insertion portion 2 and a protrusion 32b in the vertical direction of the insertion portion 2 are arranged.
- Two node rings 32 are alternately arranged.
- a ninth node ring 39 in which a protrusion 39b is disposed at a position that is offset in the left-right direction of the insertion portion 2 and the vertical direction of the insertion portion 2 The second node rings 32 on which the protrusions 32b are arranged are alternately arranged.
- corresponding wire insertion portions 32c and 39c of the second and ninth node rings 32 and 39 are respectively inserted with the corresponding vertical pulling wires 43u and 43d or left and right pulling wires 43l and 43r.
- a pair of opposing partition walls 51 are provided inside the node ring main body 31 a, and an inner region surrounded by the partition walls 51 is formed as a storage chamber for the imaging unit 21 ( (See FIGS. 28 and 29). Further, the outer region of each partition wall 51 is formed as a storage chamber for the light guide fiber bundle 22, and, for example, the wire 22a exposed from the exterior tube 22b can be directly inserted into the storage chamber. (Not shown).
- this modification demonstrates an example for improving the durability of the front-end
- the first bobbin portion 24 for bonding and fixing the distal end portion of the curved rubber 41 to the distal end portion main body 23 is provided closer to the distal end of the distal end portion main body 23.
- the adhesive 24a used for the first bobbin 24 for example, an epoxy adhesive having excellent chemical resistance such as a cleaning liquid and a disinfecting liquid is employed. Is extended to the front end side so as to cover the outer peripheral surface of. As a result, the tip portion main body 23 is covered with the curved rubber 41 or the adhesive 24a in almost all regions except the end surface of the tip portion main body 23 (that is, the observation portion 5a of the tip hard portion 5), and is durable during cleaning. Improves.
- this modification demonstrates an example for improving the durability of the front-end
- the first bobbin 24 for adhering and fixing the distal end portion of the curved rubber 41 to the distal end portion main body 23 is provided closer to the distal end of the distal end portion main body 23.
- a thin metal pipe 52 is fitted on the outer periphery of the distal end main body 23, and the metal pipe 52 is bonded and fixed to the distal end main body 23.
- the tip portion main body 23 is covered with the curved rubber 41 or the metal pipe 52 in almost all regions except the end face of the tip portion main body 23 (that is, the observation portion 5a of the tip hard portion 5), and is durable during cleaning. Improve.
- this modification demonstrates the adhesion structure of the light guide fiber bundle 22 by which the strand 22a is inserted in the light guide holding hole 23c of the front-end
- the strand 22a of the light guide fiber bundle 22 abuts on the inner peripheral side between the proximal end portion of the distal end wall portion 23a of the distal end portion main body 23 and the distal end portion of the curved rubber 41.
- a ring-shaped spacer 52 is interposed.
- the spacer 53 is bonded and fixed to the distal end wall portion 23 a via an adhesive 24 a used for the first bobbin portion 24.
- a minute gap is provided between the proximal end side of the spacer 53 and the distal end side of the curved rubber 41, and the strands of the light guide fiber bundle 22 are passed through the adhesive 24a flowing from the gap. 22 a is bonded and fixed to the spacer 53.
- the strand 22a of the light guide fiber bundle 22 is fixed to the distal end portion body 23 via the spacer 53, and the bonding portion of the strand 22a is spaced from the light guide holding hole 23c. Will be set. Therefore, for example, even when the tip wall portion 23a is formed relatively thin and the light guide holding hole 23c is formed shallow, an adhesive for bonding and fixing the wire 22a to the tip body 23. However, it is possible to prevent the light guide holding hole 23c from entering the tip end side.
- the present invention is not limited to the embodiments described above, and various modifications and changes are possible, and these are also within the technical scope of the present invention.
- the configuration for mainly deforming the curved shape in the vertical direction is illustrated, but the present invention is not limited to this, and for example, the same applies to the horizontal direction.
- the configuration can be applied.
- an example in which the present invention is applied to a bending portion that can be bent in the vertical and horizontal four-axis directions has been described.
- the present invention is not limited to this.
- the present invention can be applied to a bending portion that can be bent in two axial directions.
- the configuration of the above-described embodiment and the configuration of each modification may be combined as appropriate.
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Abstract
Description
以下、図面を参照して本発明の形態を説明する。図面は本発明の一実施形態に係わり、図1は内視鏡の斜視図、図2は挿入部の先端側の水平軸断面図、図3は挿入部の先端側の垂直軸断面図、図4は図3のA-A断面図、図5は図3のB-B断面図、図6は図3のC-C断面図、図7は図3のD-D断面図、図8はライトガイドの先端側を示す斜視図、図9は撮像ユニットを示す斜視図、図10は湾曲管の上面図、図11は湾曲管の側面図、図12Aは第2の節輪の側面図、図12Bは第2の節輪の斜視図、図13Aは第3の節輪の側面図、図13Bは第3の節輪の斜視図、図14は湾曲角度が小さい状態での節輪群の左右方向への湾曲状態を示す上面図、図15は湾曲角度最大時の節輪群の左右方向への湾曲状態を示す上面図、図16は湾曲角度が小さい状態での節輪群の上下方向への湾曲状態を示す側面図、図17は湾曲角度最大時の節輪群の上下方向への湾曲状態を示す側面図である。
図2,3,10,11に示すように、本実施形態の湾曲部6を構成する節輪群30は、先端に配置された第1の節輪31と、基端に配置された第4の節輪34と、これら第1,第4の節輪31,34の間に連設された複数の第2,第3の節輪32,33と、を有して構成されている。また、節輪群30の外周には網管40が外装され、この網管40によって、隣接する各節輪31~34間の連設状態が保持されている。さらに、網管40の外周には、柔軟な湾曲ゴム41が外装されている。
節輪本体31aの基端側内周には、例えば、45°の回転位置毎に、ワイヤ止部31cが設けられている(図2,3参照)。すなわち、節輪本体31aの内周には、当該節輪本体31aの中心軸に対して軸対称な2組のワイヤ止部31cが90°の回転位置毎に設けられ、これら各組をなすワイヤ止部31cは挿入部2の上下方向及び左右方向に沿って配置されている。
また、第1の節輪31を構成する一対の突起部31bは、例えば、図10,11に示すように、突端部に円弧状或いは放物線状の突曲面を有して基端側に突出する舌片状の部材によって構成されている。これらの突起部31bは、例えば、挿入部2の中心軸Oi(すなわち、節輪本体31aの中心軸)に対して軸対称となるよう対向して設けられている。さらに、各突起部31bは、節輪本体31aの周上において、例えば、左右用牽引ワイヤ43l,43rのワイヤ止部31cと一致する回転位置に設けられている(すなわち、各突起部31bは、挿入部2の左右方向に並んで配置されている)。
第4の節輪34は、例えば、円筒状をなす金属製の節輪本体34aを有して構成されている。この節輪本体34aの内周には、例えば、45°の回転位置毎に、ワイヤ挿通部34cが設けられている。すなわち、節輪本体34aの内周には、当該節輪本体34aの中心軸に対して軸対称な2組のワイヤ挿通部34cが90°の回転位置毎に設けられ、これら各組をなすワイヤ挿通部34cは挿入部2の上下方向及び左右方向に沿って配置されている。
節輪本体32aの内周には、例えば、45°の回転位置毎に、ワイヤ挿通部32cが設けられている。すなわち、節輪本体32aの内周には、当該節輪本体32aの中心軸に対して軸対称な2組のワイヤ挿通部32cが90°の回転位置毎に設けられている。
第2の節輪32を構成する一対の突起部32bは、例えば、図10~12Bに示すように、突端部に円弧状或いは放物線状の突曲面を有して基端側に突出する舌片状の部材によって構成されている。これらの突起部32bは、例えば、挿入部2の中心軸Oi(すなわち、節輪本体32aの中心軸)に対して軸対称となるよう対向して設けられている。さらに、各突起部32bは、節輪本体32aの周上において、軸対称位置に配置された2組のワイヤ挿通部32cのうちの何れか1組の各ワイヤ挿通部32cと一致する回転位置に設けられている(図12A,図12B参照)。
第3の節輪33を構成する一対の突起部33bは、例えば、図10,11,13A,13Bに示すように、突端部に円弧状或いは放物線状の突曲面を有して基端側に突出する舌片状の部材によって構成されている。これらの突起部33bは、例えば、挿入部2の中心軸Oi(すなわち、節輪本体33aの中心軸)に対して軸対称となる位置から所定量だけオフセットした位置に対向して設けられている。さらに、各突起部33bは、当該各突起部33bの突端を結ぶ軸線と、軸対称位置に配置された2組のワイヤ挿通部33cのうちの何れか1組の各ワイヤ挿通部33cを結ぶ軸線と、が互いに平行となる位置に設けられている(図13B参照)。
この場合、第2の節輪32を構成する一対の突起部32bは挿入部2の中心軸Oiに対して軸対称な位置に設けられているため、第1の湾曲領域A1に配列された上下湾曲用及び左右湾曲用の各節輪において、揺動支点となる当接部を結ぶ軸線O2は、挿入部2の中心軸Oiに対するオフセット量が略零となる位置に存在する(図10,11参照)。
この場合、第3の節輪33を構成する一対の突起部33bは、挿入部2の中心軸Oiからオフセットされているため、第2の湾曲領域に配列された上下湾曲用の各節輪において、揺動支点となる当接部を結ぶ軸線O3は、挿入部2の中心軸Oiから上方に所定のオフセット量にてオフセットされた位置に存在する(図11参照)。一方、第2の節輪32を構成する一対の突起部32bは、挿入部2の中心軸Oiに対して軸対称な位置に設けられているため、第2の湾曲領域A2に配列された左右湾曲用の各節輪において、揺動支点となる当接部を結ぶ軸線O2は、挿入部2の中心軸Oiに対するオフセット量が略零となる位置に存在する。
逆に、下方向への操作量が小さいとき、例えば、図16に示すように、湾曲部は、基端側が優先的に湾曲される。すなわち、第3の節輪33は、揺動支点となる軸線O3が上方にオフセットされているため、下方への湾曲時における揺動支点から作用点までの距離は、揺動支点となる軸線O2のオフセット量が略零である第2の節輪32よりも長い。このため、第2の湾曲領域A2に上下湾曲用の節輪として配列された第3の節輪33は、第1の湾曲領域A1に上下湾曲用の節輪として配列された第2の節輪32よりも小さな力で下方に揺動することが可能であり、湾曲部6は基端側が優先的に湾曲される。なお、先端硬質部5を下方向に所定の移動量Lだけ移動させたときの湾曲部6の有効曲率半径rは、αよりも大きく、例えば、r=δである。
一方、上下用湾曲操作レバー17に対する上下方向への操作量が大きいとき、例えば、図17に示すように、湾曲部6は、全体的に湾曲される。すなわち、上方向への湾曲時には、上述のように、湾曲部6は先端側から優先的に湾曲されるが、操作量が大きい場合、上下湾曲用の各節輪は先端側から順に揺動の限界を迎え、最終的に、湾曲部6は全体的に湾曲される。なお、揺動支点がオフセットされている関係上、上下湾曲用の各節輪の揺動の限界は、第3の節輪33の上方向への揺動時が最も大きく、次いで、第2の節輪の上下方向への揺動時、第3の節輪33の下方向への揺動時となる。このため、湾曲部6を上方向に最大限湾曲させたときの有効曲率半径rは、βよりも大きく、例えば、r=εである。また、湾曲部6を下方向に最大限湾曲させたときの有効曲率半径rは、βよりも小さく、例えば、r=ζである。
このような実施形態によれば、湾曲部6の先端側に設定した第1の湾曲領域A1に配列する上下湾曲用の節輪及び左右湾曲用の節輪を、一対の突起部32bが挿入部2の中心軸Oiに対して軸対称に配置された第2の節輪32によって構成し、且つ、湾曲部6の基端側に設定した第2の湾曲領域A2に配列する左右湾曲用の節輪を第2の節輪32によって構成するとともに、第2の湾曲領域に配列する上下湾曲用の節輪を、一対の突起部33bが挿入部2の中心軸Oiに対して軸対称位置から上方に所定のオフセット量にてオフセットされた第3の節輪33によって構成することにより、簡単な構成により、用途に応じた最適な湾曲形態を実現することができる。
第5の節輪35を構成する一対の突起部35bは、例えば、図18に示すように、突端部に円弧状或いは放物線状の突曲面を有して基端側に突出する舌片状の部材によって構成されている。これらの突起部35bは、例えば、挿入部2の中心軸Oi(すなわち、節輪本体35aの中心軸)に対して軸対称となる位置から所定量だけオフセットした位置に対向して設けられている。さらに、各突起部35bは、当該各突起部35bの突端を結ぶ軸線と、軸対称位置に配置された2組のワイヤ挿通部35cのうちの何れか1組の各ワイヤ挿通部35cを結ぶ軸線と、が互いに平行となる位置に設けられている。
第6の節輪36を構成する一対の突起部36bは、例えば、図20Aに示すように、平坦な突端面36b1と、この突端面36b1の両側それぞれ連続する一対の突曲面36b2と、を突端部に有して構成されている。さらに、各突起部36bは、その突端面36b1の中央が、節輪本体36aの周上において、軸対称位置に配置された2組のワイヤ挿通部36cのうちの何れか1組の各ワイヤ挿通部36cと一致する回転位置に設けられている(図20A,図20B参照)。
第7の節輪37を構成する一対の突起部37bは、突端部に円弧状或いは放物線状の突曲面を有して基端側に突出する舌片状の部材によって構成されている。これらの突起部37bは、例えば、挿入部2の中心軸Oi(すなわち、節輪本体37aの中心軸)に対して軸対称となるよう対向して設けられている。さらに、各突起部37bは、節輪本体37aの周上において、何れのワイヤ挿通部37cとも一致しない回転位置に設けられている。より具体的には、各突起部37bは、節輪本体37aの周上において隣り合う2つのワイヤ挿通部37cの中間位置にそれぞれ配置されている。
節輪本体38aの内周には、例えば、45°の回転位置毎に、ワイヤ挿通部38cが設けられている。すなわち、節輪本体38aの内周には、当該節輪本体38aの中心軸に対して軸対称な2組のワイヤ挿通部38cが、90°の回転位置毎に設けられている。
第8の節輪38を構成する一対の突起部38bは、平坦な突端面38b1と、この突端面38b1の両側それぞれ連続する一対の突曲面38b2と、と突端部に有して構成されている。さらに、各突起部38bは、その突端面38b1の中央が、節輪本体38aの周上において、何れのワイヤ挿通部38cとも一致しない回転位置に設けられている。より具体的には、各突起部38bは、節輪本体38aの周上において隣り合う2つのワイヤ挿通部38cの中間位置に、突端面38b1の中央が位置するようそれぞれ配置されている。
このように構成された第7,第8の節輪37,38のうち、第7の節輪37は節輪群30の先端側に設定された第1の湾曲領域A1に配列され、第8の節輪38は節輪群30の基端側に設定された第2の湾曲領域A2に配列されている。より具体的には、節輪群30の第1の湾曲領域A1には、各突起部37bが隣接する第7の節輪37間において互い違いとなるよう配列されている。また、第8の節輪38は、各突起部38bが隣接する第8の節輪38間において互い違いとなるよう配列されている。
このような構成においては、上下用牽引ワイヤ43u,43d或いは左右用牽引ワイヤ43l,43rの何れかが牽引されると、各節輪37,38は、牽引方向に対して互い違いに傾斜する方向に揺動するが、隣接する節輪間において傾斜成分が相殺されることにより、所定の湾曲方向に湾曲される。この場合において、第8の節輪38の突起部38bに設定される揺動支点は、挿入部2の中心軸からオフセットされているため、第1の湾曲領域A1が第2の湾曲領域A2よりも優先的に湾曲される。
節輪本体39aの内周には、例えば、45°の回転位置毎に、ワイヤ挿通部39cが設けられている。すなわち、節輪本体39aの内周には、当該節輪本体39aの中心軸に対して軸対称な2組のワイヤ挿通部39cが、90°の回転位置毎に設けられている。
第9の節輪39を構成する一対の突起部39bは、例えば、図25Aに示すように、平坦な突端面39b1と、この突端面39b1の両側にそれぞれ連続する一対の突曲面39b2と、を突端部に有して構成されている。さらに、各突起部39bは、各突端面39b1の中央を結ぶ軸線が、挿入部2の中心軸Oiに対してオフセットする位置に設定されている。この場合において、各突起部39bのオフセット量は、軸対称位置に配置された2組のワイヤ挿通部39cのうちの何れか1組の各ワイヤ挿通部39cが、節輪本体39aの周上において、各突端面39b1に連続する一対の突曲面39b2の起点間に対応する回転位置内に配置されるよう設定されている。本変形例において、より具体的には、突端面39b1の両側に連続する一対の突曲面39b2のうち他側に位置する突曲面39b2起点が、節輪本体39aの周上において、軸対称位置に配置された2組のワイヤ挿通部39cのうちの何れか1組の各ワイヤ挿通部39cと一致する回転位置となるよう、各突起部39bのオフセット量が設定されている(図25A,図25B参照)。
このような構成によれば、上下方向への湾曲時において、第2の湾曲部A2における湾曲部6の上下方向への曲率半径を、上方と下方とで異ならせることができる。一方、第9の節輪39の各突起部39bは各突端面39b1が左右用牽引ワイヤ43l,43rに対応する回転位置に位置するよう配置されているため、湾曲部6が非湾曲状態にあるとき、第9の節輪39の各突起部39bの少なくとも一部を、左右用牽引ワイヤ43l,43rの近傍であって且つ挿入部2の中心軸Oiに軸対称な位置にて、隣接する第2の節輪32に当接させることができる。従って、突起部39bを中心軸Oiの軸対称位置からオフセットさせた場合においても、荷重バランスを良好に維持することができ、第2の湾曲領域の直線状態を安定的に保持することができる。
本出願は、2013年11月29日に日本国に出願された特願2013-248475号を優先権主張の基礎として出願するものであり、上記の内容は、本願明細書、請求の範囲、および図面に引用されたものである。
Claims (6)
- 挿入部の中心軸に沿って複数の節輪が一列に配列された節輪群と、前記節輪群の先端側に位置する前記節輪を基端側から牽引可能な牽引ワイヤと、を備え、前記牽引ワイヤの牽引力によって前記節輪群を湾曲動作させる内視鏡の湾曲部であって、
前記各節輪は、環状をなす節輪本体と、前記節輪本体の一端面から対をなして突出されて隣接する他の節輪本体の他端面に揺動可能に当接する突起部と、を有し、
前記各節輪のうちの少なくとも1つの前記節輪は、前記一対の突起部と隣接する他の前記節輪本体の他端面との各当接部に形成される揺動支点を結ぶ軸線が、前記挿入部の中心軸に対し、他の何れかの前記節輪の前記揺動支点を結ぶ軸線とは異なるオフセット量にてオフセットされていることを特徴とする内視鏡の湾曲部。 - [規則91に基づく訂正 12.11.2015]
前記各節輪のうちの少なくとも1つの前記節輪において、前記一対の突起部は、突曲面を突端部に有し、前記挿入部の中心軸に対して軸対称な位置からオフセットされていることを特徴とする請求項1に記載の内視鏡の湾曲部。 - 前記各節輪のうちの少なくとも1つの前記節輪において、前記一対の突起部に連続する前記節輪本体の前記一端面の高さは、前記一対の突起部がオフセットされていない側よりも、オフセットされている側が相対的に高くなるよう設定されていることを特徴とする請求項2に記載の内視鏡の湾曲部。
- 前記各節輪のうち少なくとも1つの前記節輪において、前記一対の突起部は、平坦な突端面と、当該突端面の両側にそれぞれ連続する一対の突曲面と、を突端部に有し、
前記各突起部において、前記一対の突曲面のうち一方の前記突曲面は、当該節輪が一方向に揺動する際の前記当接部を構成し、
前記各突起部において、前記一対の突曲面のうち他方の前記突曲面は、当該節輪が他方向に揺動する際の前記当接部を構成することを特徴とする請求項1に記載の内視鏡の湾曲部。 - 前記節輪本体は、前記牽引ワイヤを挿通するワイヤ挿通部を有し、
前記ワイヤ挿通部は、前記節輪本体の周上において、前記突端面に連続する前記一対の突曲面の起点間に対応する回転位置内に配置されていることを特徴とする請求項4に記載の内視鏡の湾曲部。 - 前記節輪本体は、前記牽引ワイヤを挿通するワイヤ挿通部を有し、
前記ワイヤ挿通部は、前記節輪本体の周上において、前記突起部とは異なる回転位置に配置されていることを特徴とする請求項1に記載の内視鏡の湾曲部。
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EP14865638.2A EP3042601A4 (en) | 2013-11-29 | 2014-10-08 | Curve part of endoscope |
JP2015531777A JP5873221B2 (ja) | 2013-11-29 | 2014-10-08 | 内視鏡の湾曲部 |
US15/089,882 US20160213227A1 (en) | 2013-11-29 | 2016-04-04 | Bending portion of endoscope |
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CN110290738A (zh) | 2017-02-13 | 2019-09-27 | 奥林巴斯株式会社 | 内窥镜用弯曲部 |
JP7039174B2 (ja) * | 2017-02-28 | 2022-03-22 | キヤノン株式会社 | ワイヤ駆動マニピュレータ |
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WO2020031378A1 (ja) * | 2018-08-10 | 2020-02-13 | オリンパス株式会社 | 内視鏡 |
JP7248701B2 (ja) * | 2018-10-04 | 2023-03-29 | オリンパス株式会社 | 内視鏡湾曲部、及び、内視鏡 |
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CN114343544A (zh) * | 2021-12-17 | 2022-04-15 | 北京大学 | 一种前端可移动内窥镜 |
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- 2014-10-08 EP EP14865638.2A patent/EP3042601A4/en not_active Withdrawn
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JPWO2015079809A1 (ja) | 2017-03-16 |
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JP5873221B2 (ja) | 2016-03-01 |
CN105636494A (zh) | 2016-06-01 |
US20160213227A1 (en) | 2016-07-28 |
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EP3042601A1 (en) | 2016-07-13 |
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