WO2015182337A1

WO2015182337A1 - Insertion device and surgical system

Info

Publication number: WO2015182337A1
Application number: PCT/JP2015/063135
Authority: WO
Inventors: 康弘岡本
Original assignee: オリンパス株式会社
Priority date: 2014-05-29
Filing date: 2015-05-01
Publication date: 2015-12-03
Also published as: CN205649480U

Abstract

　The insertion device according to the present invention is provided with: a shaft part for rotating about a shaft axis by a motive force for causing an operating part to operate, and thereby transmitting the motive force from a first extension direction to a second extension direction; and a sheathing part for covering an external surface of the shaft part. The insertion device is provided with a speed-reducing part for increasing a drive torque applied in operation by the motive force and transmitting the motive force for which the drive torque was increased toward the operating part. A constant resistance is imparted to the rotating shaft part by a resistance part provided between the external surface of the shaft part and an internal surface of the sheathing part.

Description

Insertion device and surgical system

The present invention includes an insertion device including a shaft portion that transmits power for operating an operation portion that is provided in or attached to the insertion portion by rotating about the shaft axis, and the insertion device. It relates to a surgical system.

Patent Document 1 discloses an ultrasonic diagnostic apparatus which is an insertion device (insertion apparatus) in which an ultrasonic transducer as an operation part is provided at a distal end portion of an insertion part extending along a longitudinal axis. In this ultrasonic diagnostic apparatus, the shaft portion extends from the proximal direction to the distal direction through the inside of the insertion portion. When power is transmitted to the shaft portion, rotational torque (drive torque) acts on the shaft portion, and the shaft portion rotates about the shaft axis. When the shaft portion rotates, power for operating the ultrasonic transducer is transmitted to the ultrasonic transducer via the shaft portion. When the power is transmitted, the ultrasonic transducer rotates. In the ultrasonic diagnostic apparatus, diagnosis is performed with the ultrasonic transducer rotated.

Also, a tube which is a covering portion extends from the proximal end direction to the distal end direction inside the insertion portion. The shaft portion is inserted through the tube. A lubricant such as oil is filled between the outer surface of the shaft portion and the inner surface of the tube. The lubricant reduces the friction between the shaft portion and the tube when the shaft portion is rotating. For this reason, even when the shaft portion contacts the tube in a state where the shaft portion rotates, the rotation speed does not decrease at the portion that contacts the tube, and the shaft portion rotates smoothly. Thereby, in the state which a shaft part rotates, generation | occurrence | production of the twist in a shaft part is prevented.

Japanese Patent Laid-Open No. 5-176931

As in the ultrasonic diagnostic apparatus disclosed in Patent Document 1, when the ultrasonic transducer is rotated by power as the operation unit, the load on the ultrasonic transducer during operation is reduced. For this reason, even when the driving torque applied to the ultrasonic transducer in the operation (rotation) by the power is small, the ultrasonic transducer rotates appropriately. However, for example, in an electric bending endoscope in which a bending portion provided in an insertion portion is an operation portion that bends (operates) by power, a load on the bending portion when operating is increased. For this reason, it is necessary to increase the driving torque applied to the bending portion in the operation (curving) by the power. As the driving torque applied to the operating portion increases, the driving torque (rotational torque) applied to the shaft portion by the power also increases.

By increasing the rotational torque of the shaft portion, even when a lubricant is filled between the shaft portion and the covering portion (tube), the shaft portion is in a rotating state between the shaft portion and the tube. Friction increases. For this reason, when the shaft portion comes into contact with the covering portion in a state where the shaft portion rotates, the rotational speed is higher in the portion in contact with the covering portion than in the portion closer to the driving source than the contact portion with the covering portion. Get smaller. Thereby, in the state which a shaft part rotates, a twist generate | occur | produces in a shaft part. When the twist is generated in the shaft portion, a restoring force for restoring the twist acts on the shaft portion. When the twist at the shaft portion increases, the restoring force increases. When the restoring force exceeds a certain threshold value, the friction between the shaft portion and the tube is switched from static friction to dynamic friction at the contact portion with the covering portion, and the friction is reduced. As a result, the rotational speed increases at the contact portion of the shaft portion with the covering portion.

When the phenomenon as described above occurs, in the state where the shaft portion rotates, the rotation speed greatly changes with time in the shaft portion (particularly, the contact portion with the covering portion). Since the rotational speed of the shaft part, which is a part of the power transmission unit that transmits power to the operating part, changes greatly with time, the operating speed (curving speed) by the power of the operating part such as the bending part also increases with time. Change. Thereby, operation | movement of an operation | movement part becomes unstable.

The present invention has been made paying attention to the above-mentioned problems, and the object of the present invention is to keep the change in the rotational speed of the shaft portion and the operating speed of the operating portion over time due to the power small, and the operation of the operating portion. An object of the present invention is to provide an insertion device that ensures stability. Moreover, it is providing the operation system provided with the insertion apparatus.

In order to achieve the above object, an insertion device according to an aspect of the present invention includes an insertion portion that extends along a longitudinal axis, and is provided in the insertion portion, or attached to the insertion portion, and has power. The first extending direction from the first extending direction by having an operating part that operates by being transmitted and a shaft, and rotating about the shaft axis by the power that operates the operating part A shaft portion that transmits the power in a second extending direction that is opposite to the direction, and extends from the first extending direction toward the second extending direction, and the shaft portion is inserted therethrough. The power source is provided by covering the outer surface of the shaft portion and between the shaft portion and the operating portion, and reducing the operating speed of the operation by the power transmitted through the shaft portion. Action by Between the outer surface of the shaft portion and the inner surface of the covering portion, and the driving torque to be applied is increased to transmit the power with the increased driving torque toward the operating portion. And a resistance portion that provides a certain resistance to the rotating shaft portion.

According to the present invention, it is possible to provide an insertion device in which changes in the rotation speed of the shaft portion and the operation speed of the operation portion due to power are kept small, and the operation stability of the operation portion is ensured. Moreover, a surgery system provided with the insertion device can be provided.

1 is a schematic diagram illustrating an endoscope system in which an endoscope according to a first embodiment is used. It is the schematic which shows the structure which curves the bending part which concerns on 1st Embodiment. It is the schematic which shows the structure which transmits the motive power which generate | occur | produced with the electric motor which concerns on 1st Embodiment to a bending part. It is sectional drawing which shows roughly the structure of the site | part by the side of the 2nd extension direction of the shaft part which concerns on 1st Embodiment, and a coating | coated part. It is the schematic explaining operation | movement in the contact part to a coating | coated part, when the shaft part which concerns on 1st Embodiment contacts the coating | coated part. An example of a change with time of friction at a contact portion of the shaft portion with the covering portion according to the first embodiment and a change with time of rotation speed at the contact portion of the shaft portion with the covering portion. FIG. It is sectional drawing which shows roughly the structure of the site | part by the side of the 2nd extension direction of the shaft part which concerns on a 1st modification, and a coating | coated part. It is sectional drawing which shows roughly the structure of the site | part by the side of the 2nd extension direction of the shaft part which concerns on a 2nd modification, and a coating | coated part. It is sectional drawing which shows roughly the structure of the site | part by the side of the 2nd extension direction of the shaft part which concerns on a 3rd modification, and a coating | coated part. It is sectional drawing which shows schematically the shaft part which concerns on a 3rd modification in the cross section perpendicular | vertical to a shaft axis and passing a wing | blade part. It is sectional drawing which shows roughly the structure of the site | part by the side of the 2nd extension direction of the shaft part which concerns on a 4th modification, and a coating | coated part. It is the schematic which shows the structure of the deceleration part which concerns on a 5th modification. It is sectional drawing which shows roughly the structure of the site | part by the side of the 2nd extension direction of the shaft part which concerns on a 6th modification, and a coating | coated part. It is sectional drawing which shows roughly the structure of the site | part by the side of the 1st extension direction of the shaft part which concerns on a 6th modification, and a coating | coated part.

(First embodiment)
A first embodiment of the present invention will be described with reference to FIGS. FIG. 1 is a diagram illustrating an endoscope system 1 that is a surgical system in which an endoscope 2 that is an insertion device (insertion apparatus) according to the present embodiment is used.

As shown in FIG. 1, an endoscope 2 as an insertion device has a longitudinal axis C. One of the directions parallel to the longitudinal axis C is the proximal direction (the direction of the arrow C1 in FIG. 1), and the opposite direction to the proximal direction is the distal direction (the direction of the arrow C2 in FIG. 1). Further, the proximal direction and the distal direction are parallel to the longitudinal axis C. The endoscope 2 includes an insertion portion (endoscope insertion portion) 3 extending along the longitudinal axis C, and an operation portion (endoscope operation portion) 5 provided on the proximal direction side from the insertion portion 3. . The insertion portion 3 extends along the longitudinal axis C, and is inserted into a body cavity when the endoscope system 1 is used.

一端 One end of a universal cord 6 is connected to the operation unit 5. The universal cord 6 extends from the first extending direction (the direction of the arrow E1 in FIG. 1) to the second extending direction (the direction of the arrow E2 in FIG. 1) that is opposite to the first extending direction. It is extended. Therefore, the end of the universal cord 6 on the second extending direction side is connected to the operation unit 5. A connector 7 is provided at the end of the universal cord 6 on the first extending direction side.

The endoscope system 1 includes an image processing unit 11 such as an image processor, a light source unit 12 including a light source such as a lamp, a display unit 13 such as a monitor, and a drive control unit as peripheral units of the endoscope 2. 15 is provided. The drive control unit 15 is a control device provided with a processor including, for example, a CPU (Central Processing Unit) or an ASIC (application specific integrated circuit). In the present embodiment, the connector 7 of the universal cord 6 is connected to the light source unit 12. Therefore, in the universal cord 6, the first extending direction is a direction away from the operation unit 5, and the second extending direction is a direction toward the operation unit 5.

In the endoscope 2, an imaging cable (not shown) and a light guide (not shown) are extended through the insertion portion 3, the operation portion 5, and the universal cord 6. An imaging element (not shown) such as a CCD is provided inside the distal end portion of the insertion portion 3. The imaging element images a subject through an observation window (not shown) provided on the distal end surface of the insertion portion 3. Then, the imaging signal is transmitted to the image processing unit 11 via the imaging cable, and the image processing unit 11 performs image processing. As a result, a subject image is generated by the image processing unit 11, and the generated subject image is displayed on the display unit 13. The light emitted from the light source unit 12 is guided through the light guide. Then, the guided light is irradiated to the subject from an illumination window (not shown) provided on the distal end surface of the insertion portion 3.

The insertion portion 3 includes a distal end rigid portion 21 that forms the distal end of the insertion portion 3, a bending section 22 provided on the proximal direction side from the distal end rigid portion 21, and a proximal end side from the bending portion 22. A flexible tube section (flexible tube section) 23. The bending portion 22 performs a bending operation when power is transmitted. In other words, the bending portion 22 is an operating portion that is provided in the insertion portion 3 and operates when power is transmitted. The bending portion 22 can be bent in a first bending direction (the direction of arrow B1 and the direction of arrow B2 in FIG. 1) and in the second bending direction (the direction of arrow B3 and the direction of arrow B4 in FIG. 1). is there. Here, the first bending direction is two directions that are perpendicular to (intersect) the longitudinal axis C and are opposite to each other, and the second bending direction is perpendicular (intersect) to the longitudinal axis C. In addition, there are two directions perpendicular to the first bending direction. In one embodiment, the first bending direction coincides with the bending Up direction and the bending Down direction, and the second bending direction coincides with the bending Left direction and the bending Right direction. In another embodiment, the first bending direction coincides with the bending Left direction and the bending Right direction, and the second bending direction coincides with the bending Up direction and the bending Down direction.

FIG. 2 is a diagram showing a configuration in which the bending portion 22 is bent (operated). As shown in FIGS. 1 and 2, the operation unit 5 includes an operation unit case 25 that is a storage case. A bending operation knob 26 and a bending operation dial 27 are attached to the operation portion case 25 as bending operation input portions. A bending operation (first bending operation) for bending the bending portion 22 in the first bending direction is input by the bending operation knob 26. Further, a bending operation (second bending operation) for bending the bending portion 22 in the second bending direction is input by the bending operation dial 27.

Rotating member (first rotating member) 31 that is a pulley or a sprocket is provided inside the operation unit case 25. The rotation operation member 31 is connected to the bending operation knob 26, and the rotation operation member 31 rotates by rotating the bending operation knob 26. The rotation operation member 31 is connected to proximal ends of two bending wires (first bending wires) 32A and 32B. The bending wires 32 A and 32 B extend through the inside of the insertion portion 3, and the distal ends of the bending wires 32 A and 32 B are connected to the distal end portion of the bending portion 22. As the rotary operation member 31 rotates, the bending

wires

32A and 32B move along the longitudinal axis C, and one of the bending

wires

32A and 32B is pulled in the proximal direction. Accordingly, the bending portion 22 performs a bending operation and is bent in one of the first bending directions (for example, the bending Up direction or the bending Down direction).

In the operation unit case 25, a rotation amount detection unit 33 such as a potentiometer is provided. The rotation amount detection unit 33 detects the rotation amount of the bending operation dial 27 by the input of the bending operation (second bending operation). One end of an electric signal line 38 is connected to the rotation amount detection unit 33. The electric signal line 38 extends through the inside of the universal cord 6, and the other end of the electric signal line 38 is connected to the drive control unit 15. A detection signal indicating the rotation amount of the bending operation dial 27 is transmitted from the rotation amount detection unit 33 to the drive control unit 15.

An electric motor 35 as a drive source is provided at the connector 7 (end portion on the first extending direction side) of the universal cord 6. The electric motor 35 is electrically connected to the drive control unit 15 via an electrical wiring 36. The drive control unit 15 adjusts the supply state of power (drive current) to the electric motor 35 based on the detection signal indicating the detection result in the rotation amount detection unit 33. That is, the drive control unit 15 controls the drive state of the electric motor 35 that is a drive source based on an input of a bending operation (second bending operation) with the bending operation dial 27. Driving the electric motor 35 generates power that bends (operates) the bending portion 22 that is the operation portion in the second bending direction.

FIG. 3 is a diagram showing a configuration for transmitting the power generated by the electric motor 35 to the bending portion 22 which is an operation portion. As shown in FIGS. 2 and 3, the power generated by the electric motor 35 is transmitted to the bending portion 22 via the power transmission unit 40. The power transmission unit 40 includes a shaft portion 41 extending inside the universal cord 6. The shaft portion 41 has a shaft axis S as a central axis. The shaft portion 41 extends from the first extending direction (the direction of the arrow E1 in FIGS. 2 and 3) toward the second extending direction (the direction of the arrow E2 in FIGS. 2 and 3). . An end on the first extending direction side of the shaft portion 41 is connected to a motor shaft 37 of the electric motor 35 via a coupling 42.

In addition, a cylindrical covering portion 43 is extended inside the universal cord 6. The covering portion 43 extends from the first extending direction toward the second extending direction. The shaft portion 41 is inserted through the covering portion 43, and the covering portion 43 covers the outer surface of the shaft portion 41. The end of the covering portion 43 on the first extending direction side is connected to a case (not shown) that houses the electric motor 35.

Power is transmitted to the shaft portion 41 by driving the electric motor 35 that is a drive source. As a result, the shaft portion 41 rotates about the shaft axis S with respect to the covering portion 43. As the shaft portion 41 rotates, power for bending the bending portion 22 is transmitted from the first extending direction to the second extending direction.

In the operation unit case 25, a speed reduction unit (torque amplification unit) 45 that is a part of the power transmission unit 40 is provided. An end of the shaft portion 41 on the second extending direction side is connected to a speed reduction portion (torque amplification portion) 45. For this reason, the deceleration part 45 is provided in the power transmission unit 40 between the shaft part 41 and the bending part 22 which is an operation | movement part. The end of the covering portion 43 on the second extending direction side is connected to the operation portion case 25.

The speed reduction unit 45 includes a bevel gear 46A to which the shaft portion 41 is connected and a bevel gear 46B that meshes with the bevel gear 46A. The speed reduction unit 45 includes a spur gear (first rotating body) 47A connected to the bevel gear 46B and a spur gear (second rotating body) 47B that meshes with the spur gear 47A. Power generated by the electric motor 35 is transmitted to the speed reduction unit 45 through the shaft portion 41. In the speed reduction portion 45, power is transmitted from the shaft portion 41 to the spur gear 47A through the

bevel gears

46A and 46B, and the spur gear 47A rotates.

The spur gear (second rotating body) 47B has a larger number of teeth than the spur gear (first rotating body) 47A and a larger outer diameter than the spur gear 47A. Therefore, when power is transmitted from the spur gear 47A, the spur gear (second rotating body) 47B rotates at a rotational angular velocity smaller than that of the spur gear (first rotating body) 47A. Thereby, the operation speed of the operation by power decreases.

In the transmission of power from the spur gear 47A to the spur gear 47B, the magnitude of the power does not change. For this reason, when the operating speed decreases, in the transmission of power from the spur gear 47A to the spur gear 47B, the driving torque applied in the operation by the power increases. That is, the speed reduction portion 45 including the spur gears 47A and 47B reduces the operating speed by the power and increases the driving torque to be applied in the operation by the power. As a result, in the power transmission unit 40, the portion closer to the bending portion 22 than the speed reducing portion 45 has a lower operation speed than the portion farther from the bending portion 22 than the speed reducing portion 45, so that the operation speed is increased. Driving torque increases. For example, the outer diameter (the number of teeth) of the spur gear (second rotating body) 47B is doubled with respect to the spur gear (first rotating body) 47A. In this case, in the power transmission unit 40, in the portion closer to the bending portion 22 than the speed reduction portion 45, the operation speed of the operation by the power is halved compared to the portion farther from the bending portion 22 than the speed reduction portion 45. The driving torque to be applied is doubled.

Rotating member (second rotating member) 51, which is a pulley or a sprocket, is provided inside the operation unit case 25. The rotational operation member 51 is connected to a spur gear 47B of the speed reducing portion 45. The rotational operation member 51 rotates by transmitting the power with the increased driving torque in the speed reduction unit 45. In other words, the power whose driving torque has been increased by the speed reduction unit 45 is transmitted to the bending portion 22 which is the operating portion through the rotating operation member 51. The rotation operation member 51 is connected to the proximal ends of two bending wires (second bending wires) 52 A and 52 B via a chain 53. The bending wires 52 A and 52 B are extended through the insertion portion 3, and the distal ends of the bending wires 52 A and 52 B are connected to the distal end portion of the bending portion 22. By rotating the rotary operation member 51, the bending

wires

52A and 52B move along the longitudinal axis C, and one of the bending

wires

52A and 52B is pulled in the proximal direction. Accordingly, the bending portion 22 performs a bending operation and bends in one of the second bending directions (for example, the bending left direction or the bending right direction).

FIG. 4 is a diagram showing a configuration of a portion on the second extending direction side of the shaft portion 41 and the covering portion 43. As shown in FIG. 4, the shaft portion 41 includes a flexible shaft portion 55 and a rigid shaft portion 56 that is continuous to the second extending direction side of the flexible shaft portion 55. The rigid shaft portion 56 is harder than the flexible shaft portion 55 and forms an end of the shaft portion 41 on the second extending direction side. In the shaft portion 41, the rigid shaft portion 56 is connected to the speed reducing portion 45. The flexible shaft portion 55 is made of, for example, stainless steel, and the rigid shaft portion 56 is made of, for example, a metal such as stainless steel. The dimension along the shaft axis S of the flexible shaft portion 55 is much larger than the dimension along the shaft axis S of the rigid shaft portion 56. For this reason, the rigid shaft portion 56 is provided only at the end portion of the shaft portion 41 on the second extending direction side, and most of the shaft portion 41 is formed from the flexible shaft portion 55.

The covering portion 43 includes a tube member 57 that is a soft covering portion and a base 58 that is a hard covering portion connected to the second extending direction side of the tube member 57. The base 58 is continuous to the second extending direction side of the tube member 57. The base 58 is harder than the tube member 57 and forms an end of the covering portion 43 on the second extending direction side. In the covering portion 43, the base 58 is connected to the operation portion case 25. The tube member 57 that is a soft covering portion is a tube formed from, for example, a resin, and the base 58 that is a hard covering portion is formed from, for example, a metal.

Most of the outer surface of the soft shaft portion 55 is covered with a tube member 57. Further, most of the outer surface of the rigid shaft portion 56 is covered with a base 58. For this reason, the dimension of the tube member 57 along the shaft axis S is much larger than the dimension of the base 58 along the shaft axis S. Therefore, the base 58 is provided only at the end of the covering portion 43 on the second extending direction side, and most of the covering portion 43 is formed from the tube member 57.

The base 58 includes a small diameter portion 61 whose outer diameter is substantially the same as that of the tube member 57, and a large diameter portion 62 whose outer diameter is larger than that of the small diameter portion 61. The large diameter portion 62 is provided on the second extending direction side from the small diameter portion 61, and the end of the covering portion 43 on the second extending direction side is formed by the large diameter portion 62. Further, a stepped portion 63 is formed between the small diameter portion 61 and the large diameter portion 62. Further, a cylindrical nut 65 is connected to the large diameter portion 62 of the base 58 from the second extending direction side. Further, the rigid shaft portion 56 is provided with a protruding portion 66 from which the outer surface of the shaft portion 41 protrudes outward.

A bearing 67 is provided between the outer surface of the rigid shaft portion 56 (the outer surface of the shaft portion 41) and the inner surface of the large-diameter portion 62 of the base 58 (the inner surface of the covering portion 43). The bearing 67 is located between the protruding portion 66 of the shaft portion 41 and the nut 65 in the direction parallel to the shaft axis S (that is, the first extending direction and the second extending direction). The protrusion 66 restricts the movement of the bearing 67 in the first extending direction with respect to the shaft portion 41 and the covering portion 43, and the nut 65 causes the second extending direction of the bearing 67 to the shaft portion 41 and the covering portion 43. Movement to is regulated.

The rigid shaft portion 56 is provided with a recess 71 in which the outer surface of the shaft portion 41 is recessed inward. The recess 71 is located on the first extending direction side from the protrusion 66. An O-ring 72 that is a resistance portion is disposed in the recess 71. The O-ring 72 is disposed in a compressed state between the outer surface of the rigid shaft portion 56 (the outer surface of the shaft portion 41) and the inner surface of the small-diameter portion 61 of the base 58 (the inner surface of the covering portion 43). The outer surface of the shaft portion 56 and the inner surface of the small diameter portion 61 of the base 58 are in contact. When the shaft portion 41 is rotating, the flexible shaft portion 55 (shaft portion 41) may be twisted. In this case, a restoring force that restores torsion acts on the shaft portion 41. In the present embodiment, the resistance in the direction opposite to the restoring force is applied to the shaft portion 41 by the O-ring 72 that is the resistance portion. In other words, the O-ring 72 gives a certain resistance to the rotating shaft portion 41. The details of applying resistance to the shaft portion 41 by the O-ring 72 will be described later.

Next, operations and effects of the endoscope 2 and the endoscope system 1 which are insertion devices of the present embodiment will be described. When the endoscope system 1 is used, the insertion unit 3 is inserted into the lumen. When the bending portion 22 is bent in one of the first bending directions, a bending operation (first bending operation) for bending the bending portion 22 is input by rotating (turning) the bending operation knob 26. The When the bending operation is input, the rotation operation member (first rotation operation member) 31 rotates, and the bending wires (first bending wires) 32A and 32B move along the longitudinal axis C. As a result, the bending portion 22 is bent in one of the first bending directions.

Further, when the bending portion 22 is bent in one of the second bending directions, a bending operation (second bending operation) is input by the bending operation dial 27. Accordingly, electric power is supplied from the drive control unit 15 to the electric motor 35 based on the detection signal from the rotation amount detection unit 33. As a result, the electric motor 35 is driven, the power for bending the bending portion 22 is transmitted to the shaft portion 41, and the shaft portion 41 rotates about the shaft axis S. Thereby, in the shaft part 41, power is transmitted from the first extending direction to the second extending direction. Then, as described above, the driving torque that is applied in the operation by the power in the speed reduction unit (torque amplifying unit) 45 increases, and the power with the increased driving torque is transmitted to the rotation operation member (second rotation operation member) 51. . The rotating operation member 51 rotates by the transmitted power, and the bending wires (second bending wires) 52A and 52B move along the longitudinal axis C. As a result, the bending portion 22 is bent in one of the second bending directions.

When the bending portion 22 is bent (operated) by the power generated by the electric motor 35, the load on the bending portion 22 is increased. In the present embodiment, the driving torque that is applied in the operation by the power is increased by the speed reducing unit 45 including the spur gears 47A and 47B. As a result, in the power transmission unit 40, the drive torque that is applied in the operation by the power is larger in the portion closer to the bending portion 22 than the speed reduction portion 45 compared to the portion farther from the bending portion 22 than the speed reduction portion 45. Therefore, the driving torque that acts on the bending portion 22 in the operation (curving) by power increases, and the driving torque having an appropriate magnitude can be applied to the bending portion 22.

Further, when the shaft portion 41 is rotating, the shaft portion 41 may come into contact with the covering portion 43. FIG. 5 is a diagram for explaining the operation at the contact portion with the covering portion 43 when the shaft portion 41 is in contact with the covering portion 43. As described above, it is necessary to increase the driving torque applied to the bending portion 22 when the bending portion 22 is bent. For this reason, even before the driving torque is amplified in the speed reduction unit 45, the driving torque applied in the operation by the power is increased to some extent. For this reason, the driving torque (rotational torque) acting on the shaft portion 41 also has a certain level.

As the rotational torque of the shaft portion 41 increases, the friction between the outer surface of the shaft portion 41 and the inner surface of the covering portion 43 increases when the shaft portion 41 is rotating. Therefore, as shown in FIG. 5, when the outer surface of the shaft portion 41 comes into contact with the inner surface of the covering portion 43 in a state where the shaft portion 41 rotates, in the portion that comes into contact with the covering portion 43 of the shaft portion 41. Static friction (friction) μF acts. Thereby, in the contact part to the coating | coated part 43 of the shaft part 41, rotation speed becomes small compared with the site | part of the 1st extension direction side (electric motor 35 side) rather than the contact part to the coating | coated part 43. Or, the rotation speed becomes zero. Therefore, in the state where the shaft portion 41 rotates, the shaft portion 41 is twisted.

When the shaft portion 41 is twisted, a restoring force P for restoring the twist acts on the shaft portion 41. The acting direction of the restoring force P coincides with the rotation direction of the shaft portion 41. When the twist at the shaft portion 41 increases, the restoring force P increases. When the restoring force P exceeds a certain threshold value, the friction between the shaft portion 41 and the covering portion 43 is switched from the static friction μF to the dynamic friction μ′F at the contact portion with the covering portion 43, and the friction (μF , Μ′F) becomes smaller. FIG. 6 shows changes over time in the friction (μF, μ′F) at the contact portion of the shaft portion 41 with the covering portion 43 and the rotational speed at the contact portion of the shaft portion 41 with the covering portion 43. An example of the change with time of (V) is shown. In the example shown in FIG. 6, the friction is switched from static friction μF to dynamic friction μ′F at time t1 and time t2. In FIG. 6, the change with time of friction is indicated by a solid line, and the change with time of rotation is indicated by a broken line. In addition, a change with time in the rotation speed when the O-ring (resistor portion) 72 is not provided is indicated by a one-dot chain line as a comparative example of the present embodiment.

As shown in FIG. 6, the friction between the shaft portion 41 and the covering portion 43 is switched from the static friction μF to the dynamic friction μ′F, and the friction is reduced, so that the shaft portion 41 contacts the covering portion 43. In the portion, the rotation speed V increases. Here, in the present embodiment, an O-ring 72 is provided as a resistance portion between the outer surface of the shaft portion 41 and the inner surface of the covering portion 43. For this reason, as shown in FIG. 5, by applying a certain resistance to the shaft portion 41 rotated by the O-ring 72, the resistance in the direction opposite to the restoring force P that restores the twist generated in the shaft portion 41. R acts on the shaft portion. Therefore, as shown in FIG. 6, in this embodiment, the static friction μF is changed to the dynamic friction μ′F as compared with the comparative example in which the O-ring 72 is not provided (that is, the resistance R does not act on the shaft portion 41). In the switching, the increase amount (change amount) of the rotation speed V at the contact portion of the shaft portion 41 with the covering portion 43 becomes small. In other words, when the resistance R acts by the O-ring 72, the (abrupt) increase in the amount of change in the rotation speed is suppressed at the contact portion of the shaft portion 41 with the covering portion 43. The resistance R is large enough to suppress an increase in the amount of change in the rotational speed of the shaft portion 41 due to the restoring force P, and does not increase to such an extent that the rotation of the shaft portion 41 is stopped.

As described above, in this embodiment, when the static friction μF is switched to the dynamic friction μ′F, the increase amount (change amount) of the rotational speed V at the contact portion of the shaft portion 41 with the covering portion 43 is small. Become. For this reason, in the state which the shaft part 41 rotates, the temporal change of the rotational speed in the shaft part 41 is kept small. The change in rotational speed with time in the shaft portion 41 that is a part of the power transmission unit 40 that transmits power to the bending portion 22 is small, so that the operation speed (curving speed) by the power of the bending portion (operation portion) 22 is reduced. Changes over time are also kept small. Thereby, unevenness does not occur in the bending operation of the bending portion 22, and the stability of the bending operation in the bending portion 22 can be ensured.

The O-ring 72 is in contact with the shaft portion 41 at the outer surface of the hard rigid shaft portion 56 and is in contact with the covering portion 43 at the inner surface of the hard base 58. Since the O-ring 72 is in contact with the hard portion of the shaft portion 41 and the hard portion of the covering portion 43, the resistance R against the restoring force P that restores the twist of the shaft portion 41 is caused to act appropriately on the shaft portion 41. Can do.

The rigid shaft portion 56 with which the O-ring 72 abuts forms the end of the shaft portion 41 on the second extending direction side, and the base 58 with which the O-ring 72 abuts is the second extending portion of the covering portion 43. An end on the direction side is formed. That is, the O-ring 72 that is a resistance portion is in contact with the shaft portion 41 at the end portion on the second extending direction side of the shaft portion 41 (end portion on the side close to the bending portion 22). For this reason, in the shaft portion 41, the resistance R against the restoring force P that restores the twist can be appropriately applied to the shaft portion 41, regardless of where the twist occurs. That is, the resistance R against the restoring force P can be appropriately applied to the shaft portion 41 regardless of the position where twisting occurs.

Further, the O-ring 72 which is a resistance portion is provided on the electric motor 35 side (drive source side) from the speed reduction portion (torque amplification portion) 45. For this reason, in the power transmission unit 40, the resistance R by the O-ring 72 acts only on the site where the drive torque before being amplified acts. For this reason, it is not necessary to increase the resistance R, and the O-ring 72 can be downsized. Further, since the resistance R does not increase, loss of driving torque can be reduced in the transmission of power to the bending portion 22.

(Modification)
In the first embodiment, the O-ring 72 is in contact with the outer surface of the rigid shaft portion 56 and the inner surface of the base 8 (hard covering portion) 58, but is not limited thereto. For example, in a modification, the O-ring 72 is in contact with the outer surface of the rigid shaft portion 56 and is positioned between the outer surface of the rigid shaft portion 56 and the inner surface of the tube member (soft covering portion) 57. . For this reason, the O-ring 72 does not contact the base 58. In another modification, the O-ring 72 is in contact with the inner surface of the base 58 and is positioned between the outer surface of the flexible shaft portion 55 and the inner surface of the base 58. For this reason, the O-ring 72 does not contact the rigid shaft portion 56. That is, the O-ring 72 may be in contact with at least one of the outer surface of the hard shaft portion 56 and the inner surface of the base (hard coating portion) 58.

Further, a member other than the O-ring 72 may be used as the resistance portion. For example, as shown in FIG. 7 as a first modification, a friction plate 73 may be provided as a resistance portion. The friction plate 73 is a protrusion 66 and is in contact with the outer surface of the rigid shaft portion 56 of the shaft portion 41. Further, the friction plate 73 is in contact with the inner surface of the base (hard covering portion) 58 of the covering portion 43 at the step portion 63.

Further, as shown in FIG. 8 as a second modified example, a resistance fluid 75 may be provided as a resistance portion. The resistance fluid 75 is filled between the rigid shaft portion 56 and the base 58. Further, a resistance fluid 75 is filled between the sealing ring 76A and the sealing ring 76B in the direction parallel to the shaft axis S. The sealing ring 76 A keeps the space between the rigid shaft portion 56 and the small diameter portion 61 of the base 58 liquid-tight. For this reason, the sealing ring 76A prevents the resistance fluid 75 from flowing out toward the first extending direction. Further, the sealing ring 76 B keeps a liquid-tight space between the protruding portion 66 of the rigid shaft portion 56 and the large diameter portion 62 of the base 58. For this reason, the sealing ring 76B prevents the resistance fluid 75 from flowing out toward the second extending direction.

In the state where the shaft portion 41 is twisted by the fluid resistance from the resistance fluid 75, the resistance R against the restoring force P that restores the twist acts. The resistance fluid 75 is, for example, antiwear grease, and has high viscosity and fluid resistance. Therefore, the oil or the like used as a lubricant in Patent Document 1 is not used as the resistance fluid 75 of the present embodiment because of low viscosity and fluid resistance. In addition, the friction by the sealing rings 76A and 76B is small, and the influence of the friction by the sealing rings 76A and 76B on the resistance R with respect to the restoring force P is small.

As a third modification, as shown in FIGS. 9 and 10, a resistance fluid 75 is provided, and a plurality of wings 77 may be arranged in parallel with the rigid shaft portion 56 in the direction around the shaft axis S. In the wing portion 77, the outer surface of the shaft portion 41 protrudes outward. The wing portion 77 is located on the first extending direction side from the protruding portion 66 of the rigid shaft portion 56, and is located between the sealing ring 76A and the sealing ring 76B in the direction parallel to the shaft axis S. Yes. Therefore, the wings 77 are located in the region filled with the resistance fluid 75, and each wing 77 receives fluid resistance from the resistance fluid 75. By providing the wing portion 77 that receives the fluid resistance from the resistance fluid 75, the resistance R to the restoring force P that restores the twist is increased in the state where the shaft portion 41 is twisted. FIG. 10 shows the shaft portion 41 in a cross section perpendicular to the shaft axis S and passing through the wing portion 77.

Further, as shown in FIG. 11 as a fourth modification, a ball 81 may be provided as a resistance portion. In this modification, a groove portion 82 whose inner surface is recessed outward is formed in the small diameter portion 61 of the base 58. A spring 83 is provided in the groove portion 82. One end of the spring 83 is connected to the base 58 at the bottom of the groove 82. The other end of the spring 83 is connected to the ball 81. For this reason, the ball 81 is located on the first extending direction side from the protrusion 66.

The ball 81 is urged toward the rigid shaft portion 56 by the spring 83, and the outer surface of the rigid shaft portion 56 is pressed by the ball 81. That is, a ball plunger is formed by the ball 81 and the spring 83. With the configuration as described above, friction is generated in the shaft portion 41 by the ball 81 in a state where the shaft portion 41 rotates. As a result, in a state where the shaft portion 41 is twisted, a resistance R against the restoring force P that restores the twist acts.

In the first embodiment, the spur gears 47A and 47B reduce the operation speed of the operation by the power and increase the drive torque to be applied in the operation by the power. However, the configuration for amplifying the drive torque is limited to this. is not. For example, as shown in FIG. 12 as a fifth modification,

columnar bodies

85A and 85B may be provided in the speed reduction portion 45 instead of the spur gears 47A and 47B. The columnar body (first rotating body) 85 A and the columnar body (second rotating body) 85 B are connected via a belt 86. The power generated by the electric motor 35 is transmitted to the columnar body 85A through the shaft portion 41, and the columnar body 85A rotates. Then, power is transmitted from the columnar body 85A to the columnar body 85B through the belt 86, and the columnar body 85B rotates.

Columnar body (second rotating body) 85B has a larger outer diameter than columnar body (first rotating body) 85A. For this reason, when power is transmitted from the columnar body 85A, the columnar body 85B rotates at a smaller rotational angular velocity than the columnar body 85A. Thereby, the operation speed of the operation by power decreases. As in the first embodiment, in the transmission of power from the columnar body 85A to the columnar body 85B, the driving torque applied in the operation by the power increases.

Further, as shown in FIGS. 13 and 14 as a sixth modification, a lubricant 87 such as silicon oil may be filled between the outer surface of the shaft portion 41 and the inner surface of the covering portion 43. In the present modification, a rigid shaft portion (first rigid shaft portion) 91 is continuous with the first extending direction side of the flexible shaft portion 55, and the first extending portion of the shaft portion 41 is formed by the rigid shaft portion 91. An end on the direction side is formed. Also in this modified example, similarly to the first embodiment, the rigid shaft portion (second rigid shaft portion) 56 is continuous with the second extending direction side of the flexible shaft portion 55, and the shaft portion is formed by the rigid shaft portion 56. An end of 41 in the second extending direction is formed. The rigid shaft portion 91 is harder than the flexible shaft portion 55 and has substantially the same hardness as the rigid shaft portion 56. A rigid shaft portion 91 is connected to the motor shaft 37 of the electric motor 35 via the coupling 42.

Further, in the present modification, a base (first hard coating portion) 92 is connected to the first extending direction side of the tube member (soft coating portion) 57 in the covering portion 43, and the covering portion 43 is connected by the base 92. An end on the first extending direction side is formed. Also in this modified example, the base (second hard covering portion) 58 is connected to the second extending direction side of the tube member 57, and the second portion of the covering portion 43 is connected by the base 58 as in the first embodiment. An end on the extending direction side is formed. The base 92 is harder than the tube member 57 and has substantially the same hardness as the base 58. Further, the base 92 is connected to a case (not shown) that houses the electric motor 35.

In this modification, a sealing ring (first seal portion) 93 is disposed between a hard shaft portion (first hard shaft portion) 91 and a base (first hard coating portion) 92. The sealing ring 93 keeps a liquid-tight space between the outer surface of the rigid shaft portion 91 and the inner surface of the base 92. The lubricant 87 is filled in the second extending direction from the sealing ring 93. For this reason, the seal ring 93 prevents the lubricant 87 from flowing out toward the first extending direction.

Also in this modification, an O-ring 72 is provided as a resistance portion between the rigid shaft portion 56 and the base 58 as in the first embodiment. Then, in a state in which the shaft portion 41 is twisted, a resistance R against the restoring force P that restores the twist acts by the O-ring 72.

In this modification, the O-ring 72 keeps the liquid-tight space between the outer surface of the rigid shaft portion 56 and the inner surface of the base 58. The sealing ring 93 is located on the first extending direction side from the O-ring 72, and the lubricant 87 is filled on the first extending direction side from the O-ring 72. For this reason, the O-ring 72 prevents the lubricant 87 from flowing out toward the second extending direction. That is, in the present modification, the O-ring 72 serves as a seal portion (second seal portion) that prevents the lubricant 87 from flowing out toward the second extending direction.

In the direction parallel to the shaft axis S, the lubricant 87 is filled between the sealing ring 93 and the O-ring 72. Therefore, the lubricant 87 is filled over the entire length in the direction parallel to the shaft axis S between the flexible shaft portion 55 and the tube member (soft covering portion) 57.

Lubricant 87 reduces friction between the shaft portion 41 (soft shaft portion 55) and the covering portion 43 (tube member 57) when the shaft portion 41 is rotated by power. For this reason, even when the shaft portion 41 abuts on the covering portion 43, the rotation speed V is suppressed from decreasing at the abutting portion against the covering portion. As a result, the probability that twisting occurs in the shaft portion 41 is reduced, and the amount of twisting is reduced even when twisting occurs in the shaft portion 41. Thereby, the change with time of the rotational speed of the shaft portion 41 is further reduced. For this reason, the change with time of the operation speed (bending speed) due to the power of the bending section (operation section) 22 is further reduced. Thereby, the bending part 22 can perform a bending operation more stably.

In addition, the friction by the sealing ring 93 is small, and the influence of the sealing ring 93 on the resistance R with respect to the restoring force P is small. The lubricant 87 also has a low viscosity such as oil and fluid resistance, and the influence of the lubricant 87 on the resistance R with respect to the restoring force P is small.

Further, by adding a motor similar to the electric motor 35 and a power transmission unit similar to the power transmission unit 40, the above-described configuration can be applied even when the bending portion 22 is bent in the first bending direction.

Further, in the above-described embodiment, etc., the operating portion is the curved portion 22, but is not limited thereto. For example, as in Patent Document 1, in an insertion device in which the operation unit is an ultrasonic transducer, power may be transmitted to the ultrasonic transducer using the same configuration as in the first embodiment.

In the above-described embodiment, the endoscope (2) is described as an example of the insertion device, but the insertion device is not limited to the endoscope (2). For example, the above-described configuration may be applied to a surgical system that uses a manipulator as an insertion device.

That is, in the above-described embodiment or the like, the insertion device (2) is provided in the insertion portion (3) extending along the longitudinal axis (C) and the insertion portion (3), or the insertion portion ( 3), and an operating part (22) that operates by transmitting power. The shaft portion (41) of the power transmission unit (40) is rotated from the first extending direction (E1) by rotating about the shaft axis (S) by the power that operates the operating portion (22). Power is transmitted in a second extending direction (E2) that is opposite to the extending direction (E1). The shaft portion (41) is inserted through the covering portion (43), and the outer surface of the shaft portion (41) is covered with the covering portion (43). The power transmission unit (40) is provided with a speed reduction part (45) between the shaft part (41) and the operation part (22). In the speed reduction part (45), by reducing the operation speed of the operation by the power transmitted through the shaft part (41), the driving torque applied in the operation by the power is increased, and the power having the increased driving torque is supplied to the operation part. Transmit to (22). A resistance portion (72; 73; 75; 81) is provided between the outer surface of the shaft portion (41) and the inner surface of the covering portion (43). In a state where the restoring force (P) for restoring the twist generated in the rotating shaft portion (41) acts on the shaft portion (41), the restoring force (P) is generated by the resistance portion (72; 73; 75; 81). Resistance (R) in the opposite direction acts on the shaft portion (41).

As mentioned above, although embodiment etc. of this invention were described, this invention is not limited to the said embodiment etc., Of course, various deformation | transformation can be made in the range which does not deviate from the summary of this invention.

Claims

An insertion portion extending along the longitudinal axis;
An operating part that is provided in the insertion part or attached to the insertion part and operates by transmitting power;
A second shaft extending from the first extending direction is opposite to the first extending direction by having a shaft shaft and rotating about the shaft shaft by the power for operating the operating portion. A shaft portion for transmitting the power in the installation direction;
A covering portion extending from the first extending direction toward the second extending direction, through which the shaft portion is inserted, and covering an outer surface of the shaft portion;
The driving torque that is provided between the shaft portion and the operating portion and decreases the operating speed of the operation by the power transmitted through the shaft portion, thereby increasing the driving torque that is applied in the operation by the power, and the driving torque A speed reduction unit that transmits the increased power toward the operating unit;
A resistance portion provided between the outer surface of the shaft portion and an inner surface of the covering portion, and imparting a certain resistance to the rotating shaft portion;
An insertion device comprising:
The shaft portion includes a soft shaft portion and a hard shaft portion harder than the soft shaft portion,
The resistance portion is in contact with the outer surface of the rigid shaft portion, and is positioned between the outer surface of the rigid shaft portion and the inner surface of the covering portion.
The insertion device of claim 1.
The insertion device according to claim 2, wherein the rigid shaft portion is continuous with the second extending direction side of the flexible shaft portion and forms an end of the shaft portion on the second extending direction side.
The covering portion includes a soft covering portion and a hard covering portion harder than the soft covering portion,
The resistance portion is in contact with the inner surface of the hard coating portion, and is positioned between the outer surface of the shaft portion and the inner surface of the hard coating portion.
The insertion device of claim 1.
The insertion device according to claim 4, wherein the hard covering portion is continuous with the second extending direction side of the soft covering portion and forms an end of the covering portion on the second extending direction side.
The resistance portion is opposite to the restoring force by applying the constant resistance to the shaft portion in a state where the restoring force restoring the twist generated in the rotating shaft portion acts on the shaft portion. The insertion device according to claim 1, wherein a resistance in a direction is applied to the shaft portion.
In the shaft portion, the outer surface of the shaft portion abuts on the inner surface of the covering portion during rotation by the power, and the shaft portion is in contact with the covering portion in a first portion than the abutting portion. When the rotational speed is smaller than the part on the extending direction side of the or the rotational speed becomes zero, the twist occurs,
The direction of action of the restoring force that restores the twist corresponds to the direction of rotation of the shaft portion,
The insertion device of claim 6.
The deceleration part is
A first rotating body that rotates when the power is transmitted through the shaft portion;
The outer diameter of the first rotating body is larger than that of the first rotating body, and the power is transmitted from the first rotating body to rotate at a rotational angular velocity smaller than that of the first rotating body. A second rotating body for increasing the driving torque to be applied;
The insertion device of claim 1, comprising:
Further comprising a housing case in which the speed reducing portion is housed;
An end of the shaft portion on the second extending direction side is connected to the speed reduction portion inside the housing case,
An end of the covering portion on the second extending direction side is coupled to the housing case.
The insertion device of claim 1.
An operation portion provided on the proximal direction side of the insertion portion and including an operation portion case as the housing case;
A universal cord having one end connected to the operation portion and the shaft portion and the covering portion extending therein;
A rotation operation member that is provided inside the operation unit case and rotates by transmitting the power with the drive torque increased in the speed reduction unit;
A bending wire that extends through the inside of the insertion portion and has a proximal end connected to the rotation operation member, and the rotation operation member rotates to move the bending wire in the longitudinal direction;
Further comprising
The operating part is a bending part provided in the insertion part,
The bending portion is bent by connecting the distal end of the bending wire and transmitting the power by movement of the bending wire in the longitudinal direction.
The insertion device of claim 9.
Further comprising a drive source for generating the power for operating the operating portion and transmitting the generated power toward the shaft portion;
The operation unit includes a bending operation input unit to which a bending operation for bending the bending unit is input.
The insertion device of claim 10.
The insertion device of claim 11;
A drive control unit that controls the drive state of the drive source based on the input of the bending operation;
A surgical system comprising:
A lubricant that is filled between the outer surface of the shaft portion and the inner surface of the covering portion, and reduces friction between the shaft portion and the covering portion when the shaft portion rotates;
The first extending direction of the lubricant is provided on the first extending direction side with respect to the resistance portion, keeps a liquid-tight state between the outer surface of the shaft portion and the inner surface of the covering portion. A first seal portion for preventing outflow to the side;
Further comprising
The resistance portion is a second seal that keeps the liquid-tight space between the outer surface of the shaft portion and the inner surface of the covering portion, and prevents the lubricant from flowing out to the second extending direction side. Comprising a part,
The insertion device of claim 1.