WO2018096679A1 - 剛性可変装置 - Google Patents

剛性可変装置 Download PDF

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Publication number
WO2018096679A1
WO2018096679A1 PCT/JP2016/085199 JP2016085199W WO2018096679A1 WO 2018096679 A1 WO2018096679 A1 WO 2018096679A1 JP 2016085199 W JP2016085199 W JP 2016085199W WO 2018096679 A1 WO2018096679 A1 WO 2018096679A1
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WO
WIPO (PCT)
Prior art keywords
bending rigidity
rigidity
shape memory
stiffness
low
Prior art date
Application number
PCT/JP2016/085199
Other languages
English (en)
French (fr)
Inventor
龍彦 沖田
Original Assignee
オリンパス株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by オリンパス株式会社 filed Critical オリンパス株式会社
Priority to PCT/JP2016/085199 priority Critical patent/WO2018096679A1/ja
Priority to CN201680091148.8A priority patent/CN109996482B/zh
Priority to JP2018552372A priority patent/JP6698868B2/ja
Publication of WO2018096679A1 publication Critical patent/WO2018096679A1/ja
Priority to US16/421,566 priority patent/US11259690B2/en

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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
    • 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
    • A61B1/0058—Flexible endoscopes using shape-memory elements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/01—Introducing, guiding, advancing, emplacing or holding catheters
    • A61M25/0102—Insertion or introduction using an inner stiffening member, e.g. stylet or push-rod
    • 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
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00004—Operational features of endoscopes characterised by electronic signal processing
    • A61B1/00006—Operational features of endoscopes characterised by electronic signal processing of control signals
    • 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
    • A61B1/00147—Holding or positioning arrangements
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0043—Catheters; Hollow probes characterised by structural features
    • A61M2025/0063—Catheters; Hollow probes characterised by structural features having means, e.g. stylets, mandrils, rods or wires to reinforce or adjust temporarily the stiffness, column strength or pushability of catheters which are already inserted into the human body
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61M—DEVICES FOR INTRODUCING MEDIA INTO, OR ONTO, THE BODY; DEVICES FOR TRANSDUCING BODY MEDIA OR FOR TAKING MEDIA FROM THE BODY; DEVICES FOR PRODUCING OR ENDING SLEEP OR STUPOR
    • A61M25/00—Catheters; Hollow probes
    • A61M25/0043—Catheters; Hollow probes characterised by structural features
    • A61M25/005—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids
    • A61M25/0053—Catheters; Hollow probes characterised by structural features with embedded materials for reinforcement, e.g. wires, coils, braids having a variable stiffness along the longitudinal axis, e.g. by varying the pitch of the coil or braid

Definitions

  • the present invention relates to a stiffness variable device that changes the stiffness of a flexible member.
  • Patent Document 1 discloses an endoscope that can change the rigidity of the soft part of the insertion part.
  • a flexible member for example, a coil pipe
  • a flexible adjustment member for example, a coil pipe
  • a flexible adjusting wire is fixed via a separator.
  • the flexible member and the flexibility adjusting member extend over substantially the entire (full length) of the soft portion along the soft portion which is a flexible member to which the flexible member and the flexible adjusting member are attached. Further, it extends to the operation unit.
  • the flexible adjustment member By pulling the flexible adjustment member, the flexible member is compressed and hardened. Thereby, the rigidity of the soft part which is a flexible member is changed over the whole soft part.
  • Patent Document 1 the rigidity of the entire flexible member is changed, and the rigidity of one part of the flexible member over the entire length of the flexible member, in other words, the rigidity of a desired area in the flexible member is not changed.
  • the flexible member and the flexibility adjusting member are mounted on the flexible member, the flexible member becomes thick.
  • the present invention has been made in view of these circumstances, and an object of the present invention is to provide a stiffness variable device that can change the stiffness of a desired area in the flexible member and can make the flexible member thinner.
  • variable stiffness apparatus of the present invention is a variable stiffness apparatus that is attached to a flexible member and provides different rigidity to the flexible member, wherein A member, a second longitudinal member disposed along the first longitudinal member, and an inducer, wherein the first longitudinal member includes at least one high bending stiffness portion and a high bending stiffness portion.
  • the shape memory member When the phase of the shape memory member is in the first phase, the shape memory member is in a low rigidity state, and when the phase of the shape memory member is in the second phase The shape memory member has a high rigidity shape having higher rigidity than the low rigidity state. And the inducer is disposed around the low-bending-rigidity portion, and the shape memory member is disposed between the first phase and the second phase at a part of the shape memory member. A phase transition is caused to change the rigidity of one part of the second longitudinal member in the longitudinal axis direction of the second longitudinal member.
  • a stiffness variable device that can change the rigidity of a desired area in the flexible member and can thin the flexible member.
  • FIG. 1A is a schematic diagram of a variable stiffness system according to the first embodiment.
  • FIG. 1B is a diagram illustrating a state in which one part of the shape memory member arranged in the variable stiffness system is heated.
  • FIG. 1C is a perspective view of an endoscope in which the stiffness variable apparatus of the stiffness variable system is incorporated.
  • FIG. 1D is a diagram showing that the joint portion of the stiffness variable device is in a low stiffness state.
  • FIG. 1E is a diagram showing that the joint portion of the stiffness variable device is in a high rigidity state.
  • FIG. 1F is a diagram illustrating a modification of the first embodiment.
  • FIG. 1A is a schematic diagram of a variable stiffness system according to the first embodiment.
  • FIG. 1B is a diagram illustrating a state in which one part of the shape memory member arranged in the variable stiffness system is heated.
  • FIG. 1C is a perspective view of an endoscope in which the stiffness variable apparatus of the
  • FIG. 2A is a diagram illustrating a state in which one part of the shape memory member arranged in the variable stiffness system according to the second embodiment is heated.
  • FIG. 2B is a diagram illustrating a state in which the heated partial position is moved from the state illustrated in FIG. 2A by the moving mechanism.
  • FIG. 3A is a diagram illustrating a first modification of the second embodiment.
  • FIG. 3B is a diagram illustrating a second modification of the second embodiment.
  • FIG. 3C is a diagram illustrating a third modification of the second embodiment.
  • FIG. 4A is a schematic diagram of a variable stiffness system according to a third embodiment.
  • FIG. 4B is a schematic view of a first longitudinal member and a control device arranged in the variable stiffness system shown in FIG. 4A.
  • FIG. 4C is a schematic view of a second longitudinal member and a moving mechanism arranged in the variable stiffness system shown in FIG. 4A.
  • FIG. 5A is a diagram showing that the stiffness variable device arranged in the stiffness variable system shown in FIG. 4A is in the minimum stiffness state.
  • FIG. 5B is a diagram illustrating that the rigidity variable device illustrated in FIG. 5A is switched to a low rigidity state by movement.
  • FIG. 5C is a diagram illustrating that the rigidity variable device illustrated in FIG. 5B is switched to a high rigidity state by heating.
  • FIG. 5D is a diagram illustrating that the rigidity variable device illustrated in FIG. 5C is switched to a low rigidity state by movement.
  • FIG. 6A is a diagram illustrating an example of a second longitudinal member according to the third embodiment.
  • FIG. 6B is a diagram illustrating an example of a second longitudinal member according to the third embodiment.
  • variable stiffness system 10 includes, for example, a variable stiffness device 20 attached to the flexible member 101, and a control device 80 that controls the variable stiffness device 20.
  • the rigidity variable device 20 provides different rigidity to the flexible member 101 and changes the rigidity of the flexible member 101.
  • the stiffness variable device 20 includes a first longitudinal member 30, a second longitudinal member 40 disposed along the first longitudinal member 30, and an induction body 50.
  • the second longitudinal member 40 may be adjacent to or adjacent to the first longitudinal member 30.
  • the first longitudinal member 30 is an outer cylinder
  • the second longitudinal member 40 is a core member disposed inside the first longitudinal member 30.
  • the cross-sectional shape of the outer cylinder perpendicular to the longitudinal axis of the outer cylinder is a ring shape
  • the outer periphery of the cross-section of the core member perpendicular to the longitudinal axis of the core member is circular.
  • the stiffness varying device 20 provides a stable bending stiffness with respect to bending in any direction.
  • the cross-sectional shape of the outer cylinder is not necessarily an annular shape, and may be another shape, for example, a C shape.
  • the first longitudinal member 30 and the second longitudinal member 40 are positioned and fixed to the flexible member 101. Accordingly, the second longitudinal member 40 is relatively positioned and fixed with respect to the first longitudinal member 30.
  • the first longitudinal member 30 has at least one high bending rigidity portion 31 having relatively high bending rigidity and at least one low bending rigidity portion 33 having relatively low bending rigidity. That is, the bending rigidity of the high bending rigidity portion 31 is high, and the bending rigidity of the low bending rigidity portion 33 is lower than the bending rigidity of the high bending rigidity portion 31.
  • the first longitudinal member 30 has four high bending rigidity portions 31 and three low bending rigidity portions 33.
  • the first longitudinal member 30 further includes one cylindrical outer support member 35 that supports the high bending rigidity portion 31 and the low bending rigidity portion 33. The bending rigidity of the outer support member 35 is lower than the bending rigidity of the high bending rigidity portion 31.
  • the bending rigidity of the outer support member 35 may be the same as or different from the bending rigidity of the low bending rigidity portion 33. For this reason, the first longitudinal member 30 is relatively easy to bend at the low bending rigidity portion 33, and is relatively difficult to bend at the high bending rigidity portion 31.
  • the high bending rigidity portion 31, the low bending rigidity portion 33, and the outer support member 35 are separate from each other.
  • the high bending rigidity part 31 has a cylindrical member such as a metal pipe, for example.
  • the low bending rigidity portion 33 includes, for example, a coil member such as a loosely wound coil.
  • the coil member of the low bending rigidity portion 33 may be a tightly wound coil.
  • the outer side support member 35 has a coil member such as a tightly wound coil, for example.
  • the coil member of the outer support member 35 may be a loosely wound coil.
  • the low bending rigidity portion 33 and the outer support member 35 may include, for example, a metal wire-like and spiral member.
  • the high bending rigidity portion 31 is a cylindrical hard portion having high bending rigidity
  • the low bending rigidity portion 33 and the outer support member 35 are cylindrical soft portions having low bending rigidity.
  • the outer support member 35 is disposed inside the high bending rigidity portion 31 and the low bending rigidity portion 33.
  • the outer peripheral surface of the outer support member 35 is bonded and fixed to the inner peripheral surface of the high bending rigidity portion 31.
  • the high bending rigidity portions 31 are arranged at a desired distance from each other in the longitudinal axis direction of the first longitudinal member 30.
  • the low bending rigidity portion 33 is disposed in each space between the high bending rigidity portions 31 in the longitudinal axis direction of the first longitudinal member 30. Accordingly, the plurality of high bending rigidity portions 31 and the plurality of low bending rigidity portions 33 are alternately arranged in the longitudinal axis direction of the first longitudinal member 30.
  • the low bending rigidity portions 33 are not in direct mechanical contact with each other, and are disposed apart from each other.
  • the low bending rigidity portions 33 are not in direct thermal contact with each other.
  • the end portion of the low bending rigidity portion 33 is fixed to the end portion of the high bending rigidity portion 31 adjacent to the end portion.
  • the end portion of the low bending rigidity portion 33 may be disposed away from the end portion of the high bending rigidity portion 31 adjacent to the end portion.
  • the low bending rigidity portion 33 winds the outer support member 35 in the space between the high bending rigidity portions 31.
  • one low bending rigidity portion 33 does not wind the outer support member 35 over the entire length of the outer support member 35, but one lower bending rigidity portion 33 is the outer side of the entire length of the outer support member 35.
  • One part of the support member 35 is wound.
  • one part of the member which the low bending rigidity part 33 winds is called a to-be-wrapped part.
  • the wound portion indicates one part of the outer support member 35.
  • the low bending rigidity portion 33 partially winds the outer support member 35.
  • the low bending rigidity portion 33 is positioned on the outer support member 35 by the high bending rigidity portion 31 such that the low bending rigidity portion 33 winds around one portion of the outer support member 35.
  • the outer diameter of the winding of the low bending rigidity portion 33 is substantially the same as the outer diameter of the high bending rigidity portion 31. It is preferable that the winding of the low bending rigidity portion 33 does not protrude with respect to the high bending rigidity portion 31 in the direction orthogonal to the longitudinal axis of the first longitudinal member 30.
  • the inner peripheral surface of the low bending rigidity portion 33 is in contact with the outer peripheral surface of the outer support member 35.
  • the inner peripheral surface of the low bending rigidity portion 33 may be separated from the outer peripheral surface of the outer support member 35.
  • the length of the low bending rigidity portion 33 is different from the length of the high bending rigidity portion 31, and is shorter than the length of the high bending rigidity portion 31, for example.
  • the length of the low bending rigidity portion 33 may be the same as the length of the high bending rigidity portion 31.
  • the outer support member 35 is disposed over the entire length of the variable stiffness device 20.
  • the outer support member 35 is disposed in a spiral shape.
  • the outer support member 35 functions as a core material for the high bending rigidity portion 31 and the low bending rigidity portion 33.
  • the outer support member 35 is disposed for positioning the low bending rigidity portion 33 and the high bending rigidity portion 31 and is disposed for ease of assembly of the first longitudinal member 30. Note that the outer support member 35 may be omitted if the low bending rigidity portion 33 is easily positioned with respect to the high bending rigidity portion 31.
  • the second longitudinal member 40 is disposed over the entire length of the stiffness variable device 20.
  • the second longitudinal member 40 is disposed inside the outer support member 35. Accordingly, the outer support member 35 is interposed between the high bending stiffness portion 31 and the low bending stiffness portion 33 and the second longitudinal member 40 in the radial direction of the second longitudinal member 40.
  • the outer peripheral surface of the second longitudinal member 40 is not in contact with the inner peripheral surface of the outer support member 35, and a space is formed between the outer support member 35 and the second longitudinal member 40.
  • the second longitudinal member 40 has at least a shape memory member 41 in which the phase can be changed by heat between the first phase and the second phase.
  • the second longitudinal member 40 has only the shape memory member 41.
  • the shape memory member 41 assumes a low rigidity state that can be easily deformed according to an external force, and exhibits a low elastic coefficient. Therefore, when the phase of the shape memory member 41 is in the first phase, the shape memory member 41 provides the flexible member 101 with relatively low rigidity. In the first phase, the rigidity variable device 20 and the flexible member 101 can be easily bent by an external force, for example.
  • the shape memory member 41 when the phase of the shape memory member 41 is in the second phase, the shape memory member 41 takes a high rigidity state having higher rigidity than the low rigidity state and exhibits a high elastic coefficient. Therefore, when the phase of the shape memory member 41 is in the second phase, the shape memory member 41 takes a high rigidity state indicating a tendency to take a memory shape stored in advance against an external force, and is flexible.
  • the member 101 is provided with a relatively high rigidity.
  • the memory shape may be linear, for example.
  • the rigidity variable device 20 and the flexible member 101 can maintain, for example, a substantially linear state, or can bend more slowly than the first phase by an external force.
  • the external force means a force that can deform the shape memory member 41, and gravity is also considered as a part of the external force.
  • the bending rigidity of the shape memory member 41 is lower than the bending rigidity of the high bending rigidity portion 31 when the phase of the shape memory member 41 is the first phase, and is the same as or lower than the bending rigidity of the low bending rigidity portion 33.
  • the bending stiffness of the shape memory member 41 is the same as or lower than the bending stiffness of the high bending stiffness portion 31 and higher than the bending stiffness of the low bending stiffness portion 33.
  • the shape memory member 41 has, for example, a shape memory alloy.
  • the shape memory alloy may be an alloy containing NiTiCu, for example.
  • the shape memory member 41 is not limited to the shape memory alloy, and may be made of other materials such as a shape memory polymer, a shape memory gel, and a shape memory ceramic.
  • the shape memory alloy constituting the shape memory member 41 may be a member in which the phase of the shape memory alloy changes between the martensite phase and the austenite phase, for example.
  • This shape memory alloy is easily plastically deformed by an external force during the martensite phase. That is, the shape memory alloy exhibits a low elastic modulus during the martensite phase.
  • the shape memory alloy resists external force and does not easily deform during the austenite phase.
  • it is assumed that the shape memory alloy is deformed by a larger external force.
  • the shape memory alloy exhibits superelasticity and returns to the memorized shape. In other words, the shape memory alloy exhibits a high elastic modulus during the austenite phase.
  • the low bending rigidity portion 33 has a conductive material.
  • the low bending rigidity portion 33 may be configured by, for example, a heating wire, that is, a conductive member having a large electric resistance.
  • a first insulating film (not shown) is disposed around the low bending rigidity portion 33. The first insulating film prevents a short circuit between the low bending rigidity portion 33 and the outer support member 35 and a short circuit between the high bending rigidity portion 31 and the low bending rigidity portion 33.
  • a second insulating film (not shown) is disposed around the outer support member 35.
  • the second insulating film includes a short circuit between the low bending rigidity portion 33 and the outer support member 35, a short circuit between the high bending rigidity portion 31 and the outer support member 35, and the outer support member 35 and the shape memory member 41. To prevent short circuit between.
  • the induction body 50 has a performance of receiving heat from the control device 80 and generating heat.
  • the induction body 50 transfers this heat to one part of the shape memory member 41 arranged around the induction body 50.
  • the induction body 50 causes the transition of the phase of the shape memory member 41 between the first phase and the second phase at this partial position.
  • the induction body 50 changes the rigidity of one part of the second longitudinal member 40 in the longitudinal axis direction of the second longitudinal member 40.
  • the induction body 50 should just be arrange
  • FIG. For example, in the configuration in which the low bending stiffness portion 33 includes such an induction body 50, the configuration of the stiffness variable device 20 can be simplified. In the present embodiment, as an example of a configuration in which the low bending rigidity portion 33 includes the induction body 50, the low bending rigidity portion 33 also serves as the induction body 50.
  • the control device 80 has a drive unit 81 that drives each low bending rigidity portion 33 independently.
  • the drive unit 81 has one power source and one switch.
  • the drive part 81 is electrically connected to the low bending rigidity part 33 via the wiring part 83.
  • the wiring part 83 is, for example, a metal wire member.
  • the wiring portion 83 only needs to be electrically connected to the low bending rigidity portion 33 and may be integrated with the low bending rigidity portion 33 or may be a separate body.
  • the drive unit 81 supplies current to the low bending rigidity portion 33 via the wiring portion 83 according to the switch ON operation, and the current to the low bending rigidity portion 33 according to the switch OFF operation. Stop supplying.
  • the low bending rigidity portion 33 has a performance of generating heat upon receiving a current supplied from the control device 80. The amount of heat generated by the low bending rigidity portion 33 depends on the amount of current supplied.
  • the low bending rigidity portion 33 functions as an inducer 50 that causes the shape memory member 41 to cause a phase transition between the first phase and the second phase by heat.
  • the low bending rigidity portion 33 functions as a coil heater that is a heating portion that heats the shape memory member 41 via the outer support member 35.
  • the shape memory member 41 has a property that the phase of the shape memory member 41 is changed from the first phase to the second phase by heat generated from the low bending rigidity portion 33 that functions as the induction body 50.
  • the low bending rigidity portion 33 that functions as the induction body 50 is disposed between the first phase and the second phase at one portion of the shape memory member 41 that is disposed around the low bending rigidity portion 33.
  • the phase change of the shape memory member 41 is caused.
  • the low bending rigidity portion 33 changes the rigidity of one part of the second longitudinal member 40 in the longitudinal axis direction of the second longitudinal member 40.
  • the area 90 heated by the low bending rigidity portion 33 will be described with reference to FIG. 1B.
  • the area 90 indicates the periphery (near the vicinity) of the low bending rigidity portion 33 and indicates an area where heat generated from the low bending rigidity portion 33 is transmitted.
  • one low bending rigidity portion 33 is wound around one portion (a portion to be wound) of the outer support member 35. Accordingly, one low bending rigidity portion 33 does not heat the outer support member 35 over the entire length, but heats a portion (a portion to be wound), in other words, partially heats the outer support member 35. .
  • the low bending rigidity part 33 may heat not only the wound part but also the periphery of the wound part including the wound part.
  • the low bending rigidity portion 33 does not heat the shape memory member 41 over the entire length via the wound portion. Since the first longitudinal member 30 is positioned and fixed relative to the second longitudinal member 40, the low-bending rigid portion 33 is formed in the shape memory member 41 over the entire length of the shape memory member 41 via the wound portion. The desired area in the shape memory member 41 is heated. In this way, the low bending rigidity portion 33 partially heats the shape memory member 41. Specifically, the low bending rigidity portion 33 heats a portion of the shape memory member 41 surrounded by the wound portion via the wound portion.
  • a heated portion 41a one part of the heated shape memory member 41, in other words, an area in the shape memory member 41 where heating is desired is referred to as a heated portion 41a.
  • the heated portion 41a is shown in black.
  • the heated part 41 a is included around the low bending rigidity part 33.
  • the heated portion 41a may include a portion surrounded by the low bending rigidity portion 33 and overlapping the low bending rigidity portion 33, and the periphery of this portion.
  • the heated portion 41 a includes not only a portion of the shape memory member 41 surrounded by the wound portion but also a portion of the shape memory member 41 surrounded by the end portion of the high bending rigidity portion 31. That is, the heated part 41a may be slightly longer than the wound part.
  • the heated part 41a is in the second phase and is a hard part, and one part of the shape memory member 41 other than the heated part 41a is in the first phase and is a soft part that is softer than the heated part 41a.
  • the heat transfer range in the wound portion includes, for example, the temperature of heat, the thickness of the wound portion, the length and thickness of the high bending rigidity portion 31, and the length and thickness of the low bending rigidity portion 33.
  • the heat conductivity of the outer support member 35, the heat conductivity of the high bending rigidity portion 31, the material of the low bending rigidity portion 33, the material of the high bending rigidity portion 31, and the material of the outer support member 35 are adjusted.
  • the length of the heat transfer range in the wound portion indicates the length of the first longitudinal member 30 in the longitudinal axis direction.
  • the heat transfer range in the heated part 41a includes, for example, the temperature of the heat, the thickness of the wound part, the length and thickness of the wound part, the length and thickness of the high bending rigidity part 31, and the low The length and thickness of the bending rigid portion 33, the thickness of the heated portion 41a, the thermal conductivity of the high bending rigid portion 31, the thermal conductivity of the outer support member 35, and the thermal conductivity of the shape memory member 41, The material is adjusted by the material of the high bending rigidity portion 31, the material of the low bending rigidity portion 33, the material of the outer support member 35, and the material of the shape memory member 41. Note that the length of the heat transfer range in the heated portion 41a indicates the length of the first longitudinal member 30 in the longitudinal axis direction.
  • the shape memory member 41 has an elongated external shape.
  • the low bending rigidity portion 33 has a wire-like member and is disposed on the outer periphery of the outer support member 35 disposed on the outer periphery of the shape memory member 41.
  • the low bending rigidity portions 33 are arranged at a desired interval with respect to each other along the longitudinal axis direction of the stiffness variable device 20.
  • the low bending rigidity portion 33 extends spirally around the outer periphery of the outer support member 35. Thanks to such a configuration, the heat generated from the low bending rigidity portion 33 is efficiently transmitted to the shape memory member 41 via the outer support member 35.
  • the plurality of low bending rigidity portions 33 may be the same structure. However, the present invention is not limited to this, and the plurality of low bending rigidity portions 33 may include a plurality of different structures. Different structures may have different lengths, different thicknesses, different pitches, for example, and may be made of different materials. That is, all or some of the plurality of low bending rigidity portions 33 may have the same characteristics or different characteristics.
  • variable stiffness device 20 and the flexible member 101 will be described.
  • the rigidity variable device 20 is attached to the flexible member 101 without any shape memory member 41 being constrained.
  • the stiffness variable device 20 is arranged with a small space in a limited space of the flexible member 101.
  • the limited space means a space that can just accommodate the variable stiffness device 20. Therefore, even if the deformation of one of the variable stiffness device 20 and the flexible member 101 is slight, it can contact the other and apply an external force. Note that the flexible member 101 only needs to have a slightly larger space than the variable stiffness device 20.
  • the flexible member 101 is a tube that has an inner diameter that is slightly larger than the outer diameter of the variable stiffness device 20 and can be bent when an external force is applied.
  • the stiffness variable device 20 may be disposed inside the tube.
  • the stiffness variable device 20 is positioned and fixed relative to the flexible member 101.
  • the flexible member 101 may be an insertion part of the endoscope 100, for example. Therefore, the endoscope 100 includes a flexible member 101 and a stiffness variable device 20 that is attached to the flexible member 101 and provides different rigidity to the flexible member 101.
  • the control device 80 may be disposed in the endoscope 100, or may be disposed in a control device (not shown) of the endoscope 100 connected to the endoscope 100. Therefore, the variable stiffness system 10 is arranged in the endoscope 100, or in an endoscope system having the endoscope 100 and the control device for the endoscope 100.
  • variable stiffness system 10 is in an initial state.
  • the drive unit 81 does not supply current to the low bending rigidity portion 33, the low bending rigidity portion 33 does not generate heat, the heated portion 41a does not occur, and the shape memory member 41 and The flexible member 101 is in a low rigidity state over the entire length.
  • the drive unit 81 supplies a current to the low bending rigidity unit 33 via the wiring unit 83 in accordance with the ON operation of the switch.
  • the low bending rigidity portion 33 generates heat in response to the supply of current.
  • the heat is not directly transmitted from the low bending rigidity portion 33 to the shape memory member 41 but is indirectly transmitted from the low bending rigidity portion 33 to the shape memory member 41 via the wound portion.
  • the heat is not transmitted from the low bending rigidity portion 33 to the outer support member 35 over the entire length of the outer support member 35, but is transmitted to a wound portion that is a part of the outer support member 35. Heat is transmitted from the wound portion to the heated portion 41a of the shape memory member 41.
  • the heat transfer from the low bending rigidity portion 33 to the high bending rigidity portion 31 and the heat transfer from the high bending rigidity portion 31 to the outer support member 35 are, for example, based on the thermal conductivity of the high bending rigidity portion 31. It is suppressed. Further, the heat transmitted from the wound part to the heated part 41a is a part of the shape memory member 41 other than the heated part 41a from the heated part 41a by adjusting the heat transmission range in the heated part 41a. It is suppressed that it is transmitted to. Therefore, heat is suppressed from being transmitted from one wound part over the entire length of the shape memory member 41 by adjusting the heat transmission range of the wound part and the heated part 41a.
  • the temperature of the heated part 41a rises due to heat transfer. Then, the phase of the heated part 41a is switched from the first phase to the second phase by heating, and the rigidity of the heated part 41a is increased by heating. Therefore, the heated part 41a is switched from the low rigidity state to the high rigidity state. That is, the low bending rigidity portion 33 is arranged in the vicinity of the low bending rigidity portion 33 in the heated portion 41a that is a part of the shape memory member 41, and the phase of the heated portion 41a is changed from the first phase to the second phase. Change to the next phase. And the low bending rigidity part 33 changes the rigidity of the to-be-heated part 41a from a low rigidity state to a high rigidity state.
  • the heated portion 41a can be regarded as a hard portion having high rigidity and difficult to bend, and one part of the shape memory member 41 other than the heated portion 41a can be regarded as a soft portion having low rigidity and easy to bend.
  • the rigidity varying device 20 is positioned and fixed relative to the flexible member 101, and the heated portion 41a is disposed in a desired area in the flexible member 101 by positioning.
  • the rigidity of the desired area in the flexible member 101 is increased.
  • the rigidity varying device 20 provides relatively high rigidity only to one portion of the flexible member 101 in the entire length of the flexible member 101. Therefore, the flexible member 101 does not switch from the low rigidity state to the high rigidity state over the entire length of the flexible member 101 but partially switches from the low rigidity state to the high rigidity state, in other words, the flexible member 101. A part of the total length of the switch from the low rigidity state to the high rigidity state.
  • the stiffness varying device 20 changes the stiffness state of the heated portion 41a, which is a part of the shape memory member 41, arranged around the low bending stiffness portion 33, and the change in the flexible member 101 is achieved by this change. Change the stiffness of the desired area.
  • One part of the flexible member 101 in a highly rigid state tends to return to the memory shape against an external force acting on the flexible member 101, that is, a force that can deform the shape memory member 41. Therefore, one part of the flexible member 101 maintains a substantially straight state.
  • the low bending stiffness portion 33 is sandwiched between two high bending stiffness portions 31 in the longitudinal axis direction of the first longitudinal member 30.
  • the low bending rigidity portion 33 functions as the joint portion 51 of the stiffness varying device 20 when one high bending rigidity portion 31 bends with respect to the other high bending rigidity portion 31.
  • the outer support member 35, the control device 80, the drive unit 81, and the wiring unit 83 are omitted for clarity of illustration.
  • the joint portion 51 includes a wound portion and a heated portion 41 a surrounded by the low bending rigidity portion 33.
  • FIG. 1D shows an initial state, and the joint portion 51 is in a low rigidity state. Therefore, the joint part 51 is easily bent by an external force.
  • FIG. 1E when the heated portion 41a is switched from the low rigidity state to the high rigidity state, the joint portion 51 is also switched from the low rigidity state to the high rigidity state. Therefore, when the joint portion 51 is in a high rigidity state, the one high bending rigidity portion 31 is less likely to bend with respect to the other high bending rigidity portion 31 as compared to the low rigidity state, and the substantially straight state. To maintain. That is, the stiffness variable device 20 and the flexible member 101 are less likely to bend and maintain a substantially straight state.
  • the drive unit 81 located on the rightmost side in FIG. 1B supplies a current to the low bending rigidity portion 33 located on the rightmost side in FIG.
  • heat is generated in response to the supply of current. This heat is transferred from the right low bending rigidity portion to the wound portion.
  • the low bending rigidity portion 33 and the right side low bending rigidity portion are arranged away from each other, and the wound portions are also arranged away from each other. Therefore, the shape memory member 41 is heated at a partial position (referred to as a right heated portion for convenience) different from the heated portion 41a described above, and the temperature of the right heated portion is increased by heating.
  • the phase of the right heated part is switched from the first phase to the second phase by heating, and the rigidity of the right heated part is increased by heating. Therefore, the right heated portion switches from the low rigidity state to the high rigidity state, the rigidity of another desired area in the flexible member 101 is increased, and two parts of the entire length of the flexible member 101 are changed from the low rigidity state to the high rigidity state. Switch to the rigid state.
  • the temperature of the heated portion on the right side may be different from the temperature of the heated portion 41a, and thus the rigidity of the heated portion on the right side may be different from the rigidity of the heated portion 41a. Therefore, the rigidity of another desired area in the flexible member 101 is different from the rigidity of the desired area in the flexible member 101. Thus, the rigidity of the flexible member 101 may be partially changed.
  • the heated portions 41a can be thermally connected to each other by adjusting the heat transfer range. Therefore, the rigidity of the entire shape memory member 41 can be changed.
  • the driving unit 81 stops the supply of current to the low bending rigidity unit 33 according to the switch-off operation. Then, the heating is stopped, and the temperature of the heated portion 41a is lowered by natural cooling. Then, the phase of the heated part 41a is switched from the second phase to the first phase, and the rigidity of the heated part 41a decreases. And the rigidity of one part of the flexible member 101 in which the to-be-heated part 41a is arrange
  • positioned also falls.
  • the stiffness variable device 20 provides a relatively low rigidity to the flexible member 101 and easily deforms according to an external force acting on the flexible member 101, that is, a force that can deform the shape memory member 41. Therefore, the flexible member 101 can be easily bent by an external force.
  • the rigidity of the heated portion 41a and the rigidity of one part of the flexible member 101 can return to the rigidity before being heated.
  • the joint 51 is in a low rigidity state
  • the one high bending rigidity portion 31 is easily bent with respect to the other high bending rigidity portion 31 as compared to the high rigidity state. That is, the rigidity variable device 20 and the flexible member 101 are easily bent.
  • the phase of one part of the shape memory member 41 is switched between the first phase and the second phase by the low bending rigidity portion 33, whereby the rigidity of the desired area in the flexible member 101 is switched. It is done.
  • the rigidity of one part of the shape memory member 41 arranged around the low bending rigidity portion 33 is changed by the low bending rigidity portion 33.
  • the rigidity of the desired area in the flexible member 101 can be changed by changing the rigidity of the partial position.
  • the configuration of the variable stiffness device 20 can be made simple and thin by arranging the high bending rigidity portion 31, the low bending rigidity portion 33, the outer support member 35, and the shape memory member 41, and the flexible member 101 is made thin. it can.
  • the outer support member 35 can improve the assemblability of the first longitudinal member 30.
  • the low bending rigidity part 33 functions as the induction body 50, the structure of the rigidity variable apparatus 20 can be simplified.
  • the high bending rigidity portion 31 is disposed. Therefore, even if the low bending rigidity portion 33 and the heated portion 41a are short and the short heated portion 41a is in a high rigidity state, the high bending rigidity portion 31 causes the rigidity variable device 20 and the flexible member 101 to have a large total length. The part can be switched to a highly rigid state. And power saving can be implement
  • the rigidity variable device 20 also functions as a bidirectional actuator for switching the shape of the flexible member 101 under a situation where an external force other than gravity acts on the flexible member 101. In addition, no external force other than gravity acts on the flexible member 101, and the flexible member 101 is deformed in the first phase before the phase of the shape memory member 41 is switched to the second phase. Under circumstances, it also functions as a unidirectional actuator that returns the shape of the flexible member 101 to its original shape.
  • FIG. 1F shows a first modification of the present embodiment.
  • the induction body 50 is a separate body from the low bending rigidity portion 33 as an example of a configuration in which the low bending rigidity portion 33 includes the induction body 50.
  • Each of the induction bodies 50 is disposed around each of the low bending rigidity portions 33.
  • One inducer 50 may be arranged over the entire length of the first longitudinal member 30.
  • the induction body 50 includes, for example, a coil member such as a tightly wound coil.
  • the coil member of the induction body 50 may be a loosely wound coil.
  • the induction body 50 may have, for example, a metal wire-like and spiral member.
  • the induction body 50 winds the outer periphery of the low bending rigidity part 33, for example.
  • the induction body 50 may have a soft cylindrical member such as a pipe.
  • the induction body 50 is a cylindrical soft part having low bending rigidity.
  • the bending rigidity of the induction body 50 may be the same as the bending rigidity of the low bending rigidity portion 33 or may be different from the bending rigidity of the low bending rigidity portion 33, for example.
  • the induction body 50 may surround the outer periphery of the low bending rigidity portion 33 over the entire periphery.
  • the inner peripheral surface of the induction body 50 is separated from the outer peripheral surface of the low bending rigidity portion 33.
  • the inner peripheral surface of the induction body 50 may be in close contact with the outer peripheral surface of the low bending rigidity portion 33.
  • Both ends of the induction body 50 may surround the outer peripheral surface of the end portion of the high bending rigidity portion 31.
  • the inner peripheral surfaces at both ends of the induction body 50 can be in close contact with the outer peripheral surface at the end of the high bending rigidity portion 31. That is, the inner peripheral surface at both ends of the induction body 50 may not be in close contact with the outer peripheral surface at the end of the high bending rigidity portion 31.
  • the induction body 50 is electrically connected to the wiring part 83.
  • the drive unit 81 supplies current to the induction body 50 via the wiring unit 83 according to the switch ON operation, and stops supplying current to the induction body 50 according to the switch OFF operation. .
  • the induction body 50 transfers heat to one part of the shape memory member 41 via the low bending rigidity portion 33 and the outer support member 35.
  • the induction body 50 functions as a coil heater that is a heating unit that heats the shape memory member 41 via the low bending rigidity portion 33 and the outer support member 35.
  • the induction body 50 can heat the shape memory member 41 via the low bending rigidity portion 33 and the outer support member 35, the induction body 50 may be in direct mechanical contact with the low bending rigidity portion 33, or the low bending rigidity portion 33 may be mechanically contacted. May not be in direct contact.
  • the configuration of the present modification may be incorporated in the configuration of each of the second and third embodiments described later and the configuration of each modification of the second embodiment.
  • the length of the high bending rigidity portion 31 is preferably longer than the length of the heated portion 41a.
  • the stiffness variable device 20 includes a moving mechanism 60 that moves the second longitudinal member 40 along the first longitudinal member 30. Therefore, in the present embodiment, the second longitudinal member 40 is movable with respect to the first longitudinal member 30.
  • the first longitudinal member 30 is positioned and fixed as in the first embodiment.
  • the moving mechanism 60 moves the second longitudinal member 40 with respect to the outer support member 35.
  • the moving mechanism 60 pulls or presses the second longitudinal member 40. As the second longitudinal member 40 moves, the heated portion 41a also moves.
  • the moving mechanism 60 is electrically connected to the control device 80, and the movement is controlled in advance by the control device 80.
  • the moving mechanism 60 moves the heated portion 41 a, which is a part of the shape memory member 41 in the high rigidity state, arranged around the low bending rigidity portion 33 to the periphery of the high bending rigidity portion 31.
  • the periphery of the high bending rigidity portion 31 is that the heated portion 41a is surrounded by the high bending rigidity portion 31 over the entire length of the heated portion 41a, and the heated portion 41a is the portion of the heated portion 41a.
  • the position which overlaps with the high bending rigidity part 31 over the full length is shown.
  • the moving mechanism 60 includes a motor (not shown) and a moving member (not shown) that is connected to one end of the second longitudinal member 40 and moves the second longitudinal member 40 by the rotational force of the motor.
  • the moving member is directly connected to one end of the shape memory member 41.
  • the moving member is, for example, a wire-shaped member.
  • the moving mechanism 60 may be disposed on the operation unit 103 connected to the proximal end portion of the insertion unit.
  • the moving mechanism 60 may be driven by operating a button on the operation unit 103.
  • the rigidity of the heated part 41a arranged around the low bending rigidity part 33 is increased by heating, and the heated part 41a is in a low rigidity state.
  • the heated part 41a can be regarded as a hard part having high rigidity.
  • FIG. 2B when the second longitudinal member 40 is moved by the moving mechanism 60, the heated portion 41 a that is a hard part is shifted from the periphery of the low bending rigidity portion 33 to the periphery of the high bending rigidity portion 31. In other words, the heated part 41 a overlaps the high bending rigidity part 31.
  • part of the shape memory member 41 other than the to-be-heated part 41a is the periphery of the low bending rigidity part 33 in which the to-be-heated part 41a was arrange
  • the soft portion 41 c overlaps the low bending rigidity portion 33.
  • one part of the shape memory member 41 arranged around the low bending rigidity part 33 is switched from the heated part 41a, which is a hard part that is difficult to bend, to a soft part 41c that is easy to bend.
  • the joint portion 51 is switched from the high rigidity state to the low rigidity state.
  • the stiffness varying device 20 provides the flexible member 101 with a relatively low stiffness.
  • variable stiffness device 20 provides a relatively low rigidity to the flexible member 101 by naturally cooling the heated portion 41 a disposed around the low bending rigidity portion 33.
  • the state is referred to as a natural provision state.
  • the rigidity varying device 20 can provide the flexible member 101 with relatively low rigidity faster than the natural provision state by the movement of the heated portion 41a. That is, in this embodiment, the flexible member 101 can be switched from the high-rigidity state to the low-rigidity state in a shorter time than natural cooling. Thereby, the responsiveness with respect to the flexible member 101 can be improved.
  • FIG. 3A shows a first modification of the present embodiment.
  • the first longitudinal member 30 includes a heat insulating member 37 disposed between the high bending rigidity portion 31 and the low bending rigidity portion 33 in the longitudinal axis direction of the first longitudinal member 30.
  • the heat insulating member 37 is fixed to the end of the high bending rigidity portion 31 and has a ring shape, for example.
  • the low bending rigidity portion 33 is sandwiched between two heat insulating members 37.
  • the heat insulating member 37 is fixed to the end of the low bending rigidity portion 33 and is thermally connected to the low bending rigidity portion 33.
  • the heat insulating member 37 prevents heat generated from the low bending rigidity portion 33 from being transmitted to the high bending rigidity portion 31.
  • the heat insulating member 37 is a member having a low thermal conductivity, such as a resin.
  • the low bending rigidity portion 33 can be fixed to the high bending rigidity portion 31 by the heat insulating member 37, the outer support member 35 can be omitted, and the rigidity variable device 20 can be thinned.
  • the low bending rigidity portion 33 can be disposed near the shape memory member 41 as compared with the configuration of the first embodiment, and heat is stored in the shape memory from the low bending rigidity portion 33. It can be quickly and directly transmitted to the member 41.
  • the heat insulating member 37 can prevent heat from being transmitted from the low bending rigid portion 33 to the high bending rigid portion 31, so that the length of the heat transmission range in the heated portion 41 a, in other words, desired in the flexible member 101 can be reduced.
  • the length of the area to be controlled can be controlled more precisely.
  • FIG. 3B shows a second modification of the present embodiment.
  • the first longitudinal member 30 has a cylindrical connecting member 39 that connects the high bending rigidity portions 31 to each other. Both ends of the connecting member 39 are fixed to the outer peripheral surface of the end portion of the high bending rigidity portion 31.
  • the connecting member 39 is disposed around each space between the high bending rigidity portions 31.
  • One connecting member 39 may be disposed over the entire length of the first longitudinal member 30.
  • the connecting member 39 has a bending rigidity lower than that of the high bending rigidity portion 31.
  • the bending rigidity of the connecting member 39 may be the same as or different from the bending rigidity of the low bending rigidity portion 33.
  • the connecting member 39 includes a coil member such as a tightly wound coil, for example.
  • the coil member of the connecting member 39 may be a loosely wound coil.
  • the connecting member 39 may include, for example, a metal wire-like and spiral member.
  • the connecting member 39 is disposed on the outer periphery of the low bending rigidity portion 33.
  • the connecting member 39 is arranged in a spiral shape and winds the low bending rigidity portion 33.
  • the outer peripheral surface of the low bending rigidity portion 33 may be fixed to the inner peripheral surface of the connecting member 39.
  • the low bending rigidity portion 33 can be disposed in the vicinity of the shape memory member 41 as compared with the configuration of the first embodiment, and the connection strength of the high bending rigidity portion 31 and the first longitudinal member are increased by the connection member 39. 30 assemblability can be improved.
  • FIG. 3C shows a third modification of the present embodiment.
  • the connecting member 39 is disposed on the inner periphery of the low bending rigidity portion 33. Both ends of the connecting member 39 are fixed to a heat insulating member 37 disposed at the end of the high bending rigidity portion 31.
  • the inner peripheral surface of the low bending rigidity portion 33 is fixed to the outer peripheral surface of the connecting member 39, and the end portion of the low bending rigidity portion 33 is disposed away from the heat insulating member 37.
  • the heat insulating member 37 prevents heat from being transmitted from the low bending rigidity portion 33 to the high bending rigidity portion 31 via the connecting member 39.
  • the connecting member 39 can improve the connection strength of the high bending rigidity portion 31 and the assemblability of the first longitudinal member 30.
  • Each of the modified examples 1, 2, and 3 of the second embodiment may be incorporated in the configuration of the first embodiment and the configuration of the modified example of the first embodiment.
  • the configuration of the first longitudinal member 30 of the present embodiment is the same as that of the first longitudinal member 30 of the first embodiment, but the heat insulation of the first modification of the second embodiment.
  • the member 37 is arranged.
  • the length of the high bending rigidity portion 31 is the same as the length of the heated portion 41a, but is preferably longer than the length of the heated portion 41a. In the present embodiment, it is assumed that three high bending rigidity portions 31 and two low bending rigidity portions 33 are arranged.
  • the second longitudinal member 40 of the present embodiment includes at least one shape memory member 41, at least one soft member 43 that is softer than the shape memory member 41, and a shape memory. It has a cylindrical inner support member 45 that supports the member 41 and the soft member 43.
  • the second longitudinal member 40 includes two shape memory members 41, three soft members 43, and one inner support member 45.
  • the plurality of shape memory members 41 and the plurality of soft members 43 are alternately arranged in the longitudinal axis direction of the second longitudinal member 40. That is, the shape memory members 41 are arranged apart from each other. The shape memory member 41 and the soft member 43 are fixed with respect to each other. The shape memory member 41 and the soft member 43 are inserted into the inner support member 45. The outer peripheral surface of the shape memory member 41 and the outer peripheral surface of the soft member 43 are fixed to the inner peripheral surface of the inner support member 45 by bonding or welding. The shape memory member 41 and the soft member 43 are positioned and fixed to the inner support member 45.
  • the bending stiffness of the shape memory member 41 is higher than the bending stiffness of the soft member 43 regardless of whether the phase of the shape memory member 41 is the first phase or the second phase.
  • the shape memory member 41 functions as the heated portion 41 a over the entire length of the shape memory member 41.
  • the length of the shape memory member 41 is longer than the length of the low bending rigidity portion 33.
  • the soft member 43 can be bent, for example.
  • the soft member 43 is, for example, a spring material.
  • the soft member 43 is softer and more flexible than the shape memory member 41.
  • the inner support member 45 is disposed on the outer periphery of the shape memory member 41 and the soft member 43.
  • the inner support member 45 includes a coil member such as a tightly wound coil, for example.
  • the coil member of the inner support member 45 may be a loosely wound coil.
  • the inner support member 45 may include a metal wire-like and spiral member.
  • the bending rigidity of the inner support member 45 is substantially the same as the bending rigidity of the soft member 43.
  • the outer peripheral surface of the inner support member 45 is in contact with the inner peripheral surface of the outer support member 35, and the inner support member 45 slides the outer support member 35 by the moving mechanism 60.
  • the shape memory member 41 and the soft member 43 are fixed to the inner support member 45, the shape memory member 41 and the soft member 43 move together with the inner support member 45 as the inner support member 45 moves. If the inner support member 45 can move relative to the outer support member 35, the outer peripheral surface of the inner support member 45 is not in contact with the inner peripheral surface of the outer support member 35, and the space is outside the outer peripheral surface of the inner support member 45. It may be formed between the inner peripheral surface of the support member 35.
  • FIG. 5A shows that the stiffness variable device 20 is in the lowest stiffness state (super soft state).
  • the variable stiffness system 10 In the minimum rigidity state, the variable stiffness system 10 is in an initial state, the drive unit 81 does not supply current to the low bending rigidity portion 33, the low bending rigidity portion 33 does not generate heat, and the shape memory member 41 and the flexible member 101 will be described as being in a low rigidity state.
  • the shape memory member 41 (soft part) overlaps with the high bending rigidity part 31 (hard part), and the soft member 43 overlaps with the low bending rigidity part 33 (soft part). Therefore, the rigidity varying device 20 provides the flexible member 101 with the lowest rigidity.
  • FIG. 5B shows that the rigidity variable device 20 is in a low rigidity state (soft state). At this time, the second elongate member 40 is moved by the moving mechanism 60 with respect to the minimum rigidity state, for example.
  • the shape memory member 41 (soft part) overlaps the low bending rigidity part 33 (soft part), and the soft member 43 overlaps the high bending rigidity part 31 (hard part). Accordingly, the stiffness varying device 20 provides the flexible member 101 with a relatively low stiffness.
  • FIG. 5C shows that the rigidity variable device 20 is in a high rigidity state (hard state). At this time, the second longitudinal member 40 is not moved with respect to the low rigidity state shown in FIG. 5B. Further, due to the heat generated from the low bending rigidity portion 33, the entire shape memory member 41 functions as the heated portion 41a and changes from the soft portion to the hard portion.
  • the heated part 41a (hard part) overlaps the low bending rigidity part 33 (soft part), and the soft member 43 overlaps the high bending rigidity part 31 (hard part). Therefore, the rigidity varying device 20 provides the highest rigidity to the flexible member 101.
  • FIG. 5D shows that the stiffness variable device 20 is in the lowest stiffness state.
  • the second longitudinal member 40 is moved by the moving mechanism 60 with respect to, for example, a highly rigid state.
  • the heated part 41a (hard part) overlaps with the high bending rigidity part 31 (hard part), and the soft member 43 overlaps with the low bending rigidity part 33 (soft part). Therefore, the rigidity varying device 20 provides the flexible member 101 with the lowest rigidity.
  • the second longitudinal member 40 can be partially softened by the soft member 43. Further, the shape memory members 41 are arranged apart from each other. Therefore, heat transfer between the shape memory members 41 is suppressed. Thereby, it is possible to precisely control the change in rigidity of a desired area in the flexible member 101.
  • the inner support member 45 may be omitted as long as the shape memory member 41 and the soft member 43 are fixed to each other by welding or bonding at the end portions. That is, as shown in FIGS. 6A and 6B, the second longitudinal member 40 may have a shape memory member 41 and a soft member 43. The soft member 43 is also extendable in the longitudinal direction of the second longitudinal member 40, for example. Thereby, the rigidity variable apparatus 20 and the flexible member 101 can be made thin. The bending rigidity of the soft member 43 only needs to be lower than the bending rigidity of the shape memory member 41. Therefore, as shown in FIG. 6B, the soft member 43 may be, for example, a metal wire member. 6A and 6B, the moving mechanism 60 is connected to the soft member 43, for example.
  • the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. Moreover, various inventions can be formed by appropriately combining a plurality of constituent elements disclosed in the embodiment.

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Abstract

剛性可変装置（１０）は、第１の長手部材（３０）と第２の長手部材（４０）と誘起体（５０）とを有する。第１の長手部材（３０）は、少なくとも１つの高曲げ剛性部（３１）と少なくとも１つの低曲げ剛性部（３３）とを有する。誘起体（５０）は、低曲げ剛性部（３３）の周辺に配置される、第２の長手部材（４０）の形状記憶部材（４１）の一部位において、第１の相と第２の相との間で形状記憶部材（４１）の前記相の移り変わりを引き起こさせて、第２の長手部材（４０）の長手軸方向における第２の長手部材（４０）の一部位の剛性を変更させる。

Description

剛性可変装置
　本発明は、可撓性部材の剛性を変更する剛性可変装置に関する。
　例えば、特許文献１は、挿入部の軟性部の剛性を変更し得る内視鏡を開示している。この内視鏡では、可撓性部材（例えばコイルパイプ）の両端部が内視鏡の所定位置に固定されており、この可撓性部材には可撓性調整部材（例えばコイルパイプに挿通された可撓性調整ワイヤ）が分離体を介して固定されている。可撓性部材と可撓性調整部材は、可撓性部材と可撓性調整部材とを装着される可撓性部材である軟性部に沿って軟性部のほぼ全体（全長）にわたって延びており、さらに操作部にまで延びている。可撓性調整部材が引っ張られることによって、可撓性部材が圧縮されて硬くなる。これにより、可撓性部材である軟性部の剛性は軟性部のほぼ全体にわたって変更される。
特開平５－９１９７１号公報
　特許文献１では、可撓性部材全体の剛性が変更されてしまい、可撓性部材の全長における可撓性部材の一部位の剛性、言い換えると可撓性部材における所望するエリアの剛性は変更されない。可撓性部材と可撓性調整部材とが可撓性部材に搭載されると、可撓性部材が太くなってしまう。
　本発明は、これらの事情に鑑みてなされたものであり、可撓性部材における所望するエリアの剛性を変更でき可撓性部材を細くできる剛性可変装置を提供することを目的とする。
　前記の目的を達成するために、本発明の剛性可変装置の一態様は、可撓性部材に装着され、前記可撓性部材に異なる剛性を提供する剛性可変装置であって、第１の長手部材と、前記第１の長手部材に沿って配置される第２の長手部材と、誘起体とを具備し、前記第１の長手部材は、少なくとも１つの高曲げ剛性部と、高曲げ剛性部の曲げ剛性よりも低い曲げ剛性を有する少なくとも１つの低曲げ剛性部とを有し、前記第２の長手部材は、第１の相と第２の相との間で相が移り変わり得る形状記憶部材を少なくとも有し、前記形状記憶部材の前記相が前記第１の相にあるときは前記形状記憶部材は低剛性状態を取り、前記形状記憶部材の前記相が前記第２の相にあるときは前記形状記憶部材は前記低剛性状態よりも高い剛性を有する高剛性状態を取り、前記誘起体は、前記低曲げ剛性部の周辺に配置される、前記形状記憶部材の一部位において、前記第１の相と前記第２の相との間で前記形状記憶部材の前記相の移り変わりを引き起こさせて、前記第２の長手部材の長手軸方向における前記第２の長手部材の一部位の剛性を変更させる。
　本発明によれば、可撓性部材における所望するエリアの剛性を変更でき可撓性部材を細くできる剛性可変装置を提供できる。
図１Ａは、第１の実施形態の剛性可変システムの概略図である。 図１Ｂは、剛性可変システムに配置される形状記憶部材の一部位が加熱された状態を示す図である。 図１Ｃは、剛性可変システムの剛性可変装置が組み込まれた内視鏡の斜視図である。 図１Ｄは、剛性可変装置の関節部が低剛性状態であることを示す図である。 図１Ｅは、剛性可変装置の関節部が高剛性状態であることを示す図である。 図１Ｆは、第１の実施形態の変形例を示す図である。 図２Ａは、第２の実施形態の剛性可変システムに配置される形状記憶部材の一部位が加熱された状態を示す図である。 図２Ｂは、加熱された一部位が移動機構によって図２Ａに示す状態から移動した状態を示す図である。 図３Ａは、第２の実施形態の変形例１を示す図である。 図３Ｂは、第２の実施形態の変形例２を示す図である。 図３Ｃは、第２の実施形態の変形例３を示す図である。 図４Ａは、第３の実施形態の剛性可変システムの概略図である。 図４Ｂは、図４Ａに示す剛性可変システムに配置される第１の長手部材及び制御装置の概略図である。 図４Ｃは、図４Ａに示す剛性可変システムに配置される第２の長手部材及び移動機構の概略図である。 図５Ａは、図４Ａに示す剛性可変システムに配置される剛性可変装置が最低剛性状態であることを示す図である。 図５Ｂは、図５Ａに示す剛性可変装置が移動によって低剛性状態に切り替わったことを示す図である。 図５Ｃは、図５Ｂに示す剛性可変装置が加熱によって高剛性状態に切り替わったことを示す図である。 図５Ｄは、図５Ｃに示す剛性可変装置が移動によって低剛性状態に切り替わったことを示す図である。 図６Ａは、第３の実施形態の第２の長手部材の一例を示す図である。 図６Ｂは、第３の実施形態の第２の長手部材の一例を示す図である。
　以下、図面を参照して本発明の一実施形態について説明する。なお、一部の図面では図示の明瞭化のために部材の一部の図示を省略する。形状記憶部材４１において、高剛性状態（硬質状態）である部位（被加熱部４１ａ）が黒塗りで示されている。
　[第１の実施形態]
　以下に、本発明の第１の実施形態について説明する。　
　図１Ａと図１Ｂと図１Ｃとに示すように、剛性可変システム１０は、例えば可撓性部材１０１に装着される剛性可変装置２０と、剛性可変装置２０を制御する制御装置８０とを有する。
　剛性可変装置２０は、可撓性部材１０１に異なる剛性を提供し、可撓性部材１０１の剛性を変更する。剛性可変装置２０は、第１の長手部材３０と、第１の長手部材３０に沿って配置される第２の長手部材４０と、誘起体５０とを有する。第２の長手部材４０は、第１の長手部材３０と隣り合ってもよいし隣接してもよい。例えば、第１の長手部材３０は外筒であり、第２の長手部材４０は第１の長手部材３０の内部に配置された芯部材である。例えば、外筒の長手軸に垂直な外筒の断面形状は環形状であり、芯部材の長手軸に垂直な芯部材の断面の外周は円形状である。この場合、剛性可変装置２０は、どの方向の曲がりに対しても安定した曲げ剛性を提供する。外筒の断面形状は、必ずしも環形状である必要はなく、他の形状、例えばＣ字形状であってもよい。本実施形態では、第１の長手部材３０と第２の長手部材４０とは、可撓性部材１０１に位置決め固定される。したがって、第２の長手部材４０は、第１の長手部材３０に対して、相対的に位置決め固定されることとなる。
　第１の長手部材３０は、相対的に曲げ剛性が高い少なくとも１つの高曲げ剛性部３１と、相対的に曲げ剛性が低い少なくとも１つの低曲げ剛性部３３とを有する。つまり高曲げ剛性部３１の曲げ剛性は高く、低曲げ剛性部３３の曲げ剛性は高曲げ剛性部３１の曲げ剛性よりも低くなっている。本実施形態では、例えば、第１の長手部材３０は、４つの高曲げ剛性部３１と３つの低曲げ剛性部３３とを有するものとする。第１の長手部材３０は、高曲げ剛性部３１と低曲げ剛性部３３とを支持する筒状の１つの外側支持部材３５をさらに有する。外側支持部材３５の曲げ剛性は、高曲げ剛性部３１の曲げ剛性よりも低くなっている。外側支持部材３５の曲げ剛性は、低曲げ剛性部３３の曲げ剛性と同一であってもよいし異なってもよい。このため、第１の長手部材３０は、低曲げ剛性部３３では比較的曲がりやすく、高曲げ剛性部３１では比較的曲がりにくい。
　高曲げ剛性部３１と低曲げ剛性部３３と外側支持部材３５とは、互いに対して別体である。高曲げ剛性部３１は、例えば、金属製のパイプといった筒部材を有する。低曲げ剛性部３３は、例えば、疎巻きコイルといったコイル部材を有する。低曲げ剛性部３３のコイル部材は、密着巻きコイルでもよい。外側支持部材３５は、例えば、密着巻きコイルといったコイル部材を有する。外側支持部材３５のコイル部材は、疎巻きコイルでもよい。低曲げ剛性部３３と外側支持部材３５とは、例えば、金属製のワイヤ状且つ螺旋状の部材を有してもよい。高曲げ剛性部３１は高い曲げ剛性を有する筒状の硬質部であり、低曲げ剛性部３３と外側支持部材３５とは低い曲げ剛性を有する筒状の軟質部である。
　外側支持部材３５は、高曲げ剛性部３１と低曲げ剛性部３３との内側に配置される。外側支持部材３５の外周面は、高曲げ剛性部３１の内周面に接着固定される。高曲げ剛性部３１同士は、第１の長手部材３０の長手軸方向において互いに対して所望する間隔離れて配置されている。低曲げ剛性部３３は、第１の長手部材３０の長手軸方向における高曲げ剛性部３１同士の間の各スペースに配置される。したがって、複数の高曲げ剛性部３１と複数の低曲げ剛性部３３とは、第１の長手部材３０の長手軸方向において交互に配置される。言い換えると、低曲げ剛性部３３同士は、互いに対して機械的に直接接触しておらず、互いに対して離れて配置される。低曲げ剛性部３３同士は、熱的に直接接触していない。低曲げ剛性部３３の端部は、端部に隣り合う高曲げ剛性部３１の端部に固定される。低曲げ剛性部３３の端部は、端部に隣り合う高曲げ剛性部３１の端部から離れて配置されてもよい。低曲げ剛性部３３は、高曲げ剛性部３１同士の間のスペースにおいて、外側支持部材３５を巻回している。本実施形態では、１つの低曲げ剛性部３３が外側支持部材３５を外側支持部材３５の全長に渡って巻回するのではなく、１つの低曲げ剛性部３３が外側支持部材３５の全長における外側支持部材３５の一部位を巻回する。以下において、低曲げ剛性部３３が巻回する部材の一部位を、被巻回部と称する。本実施形態では、被巻回部は、外側支持部材３５の一部位を示す。このように低曲げ剛性部３３は、外側支持部材３５を部分的に巻回する。言い換えると、低曲げ剛性部３３は、低曲げ剛性部３３が外側支持部材３５の一部位を巻回するように、高曲げ剛性部３１によって外側支持部材３５に位置決めされる。低曲げ剛性部３３の巻きの外径は、高曲げ剛性部３１の外径と略同一である。低曲げ剛性部３３の巻きは、第１の長手部材３０の長手軸に直交する方向において、高曲げ剛性部３１に対して突出していないことが好ましい。低曲げ剛性部３３の内周面は、外側支持部材３５の外周面に接触する。なお低曲げ剛性部３３の内周面は、外側支持部材３５の外周面から離れてもよい。低曲げ剛性部３３の長さは、高曲げ剛性部３１の長さと異なっており、例えば高曲げ剛性部３１の長さよりも短い。なお低曲げ剛性部３３の長さは、高曲げ剛性部３１の長さと同一でもよい。
　外側支持部材３５は、剛性可変装置２０の全長に渡って配置される。外側支持部材３５は、螺旋状に配置される。例えば、外側支持部材３５は、高曲げ剛性部３１と低曲げ剛性部３３とに対する芯材として機能する。外側支持部材３５は、低曲げ剛性部３３と高曲げ剛性部３１との位置決めを実施するために配置され、第１の長手部材３０の組立易さのために配置される。なお、低曲げ剛性部３３が高曲げ剛性部３１に対して容易に位置決めされるのであれば、外側支持部材３５は省略されてもよい。
　第２の長手部材４０は、剛性可変装置２０の全長に渡って配置される。第２の長手部材４０は、外側支持部材３５の内部に配置される。したがって、外側支持部材３５は、第２の長手部材４０の径方向において、高曲げ剛性部３１及び低曲げ剛性部３３と、第２の長手部材４０との間に介在する。第２の長手部材４０の外周面は外側支持部材３５の内周面とは接触しておらず、スペースが外側支持部材３５と第２の長手部材４０との間に形成される。
　第２の長手部材４０は、第１の相と第２の相との間で相が熱によって移り変わり得る形状記憶部材４１を少なくとも有する。本実施形態では、第２の長手部材４０は、形状記憶部材４１のみを有する。形状記憶部材４１の相が第１の相にあるときは、形状記憶部材４１は、外力に従って容易に変形し得る低剛性状態を取り、低い弾性係数を示す。したがって、形状記憶部材４１の相が第１の相にあるときは、形状記憶部材４１は可撓性部材１０１に比較的低い剛性を提供する。第１の相において、剛性可変装置２０と可撓性部材１０１とは、例えば、外力によって容易に撓むことが可能となる。また、形状記憶部材４１の相が第２の相にあるときは、形状記憶部材４１は、低剛性状態よりも高い剛性を有する高剛性状態を取り、高い弾性係数を示す。したがって、形状記憶部材４１の相が第２の相にあるときは、形状記憶部材４１は、外力に抗してあらかじめ記憶している記憶形状を取る傾向を示す高剛性状態を取り、可撓性部材１０１に比較的高い剛性を提供する。記憶形状は、例えば直線状であってよい。第２の相において、剛性可変装置２０と可撓性部材１０１とは、例えば、略直線状態を維持可能となる、または外力によって第１の相に比べて緩やかに撓むことが可能となる。
　ここにおいて、外力とは、形状記憶部材４１を変形させ得る力を意味しており、重力も外力の一部と考える。
　形状記憶部材４１の曲げ剛性は、形状記憶部材４１の相が第１の相のとき、高曲げ剛性部３１の曲げ剛性よりも低く、低曲げ剛性部３３の曲げ剛性と同一または低い。形状記憶部材４１の曲げ剛性は、形状記憶部材４１の相が第２の相のとき、高曲げ剛性部３１の曲げ剛性と同一または低く、低曲げ剛性部３３の曲げ剛性よりも高い。
　形状記憶部材４１は、例えば、形状記憶合金を有する。形状記憶合金は、例えば、ＮｉＴｉＣｕを含む合金であってよい。また、形状記憶部材４１は、形状記憶合金に限らず、形状記憶ポリマー、形状記憶ゲル、形状記憶セラミックなど、他の材料から構成されていてもよい。
　形状記憶部材４１を構成する形状記憶合金は、例えば、マルテンサイト相とオーステナイト相との間で形状記憶合金の相が移り変わる部材であってもよい。この形状記憶合金は、マルテンサイト相時には、外力に対して容易に塑性変形する。つまり、その形状記憶合金は、マルテンサイト相時には低い弾性係数を示す。一方、形状記憶合金は、オーステナイト相時には、外力に抵抗して容易には変形しない。ここで、形状記憶合金がさらに大きな外力によって変形したとする。変形した形状記憶合金に対して大きな外力が打ち消された際、形状記憶合金は、超弾性を示して、記憶している形状に戻る。つまり、形状記憶合金は、オーステナイト相時には高い弾性係数を示す。
　低曲げ剛性部３３は、導電性材料を有する。低曲げ剛性部３３は、例えば、電熱線、つまり電気抵抗の大きい導電性部材で構成されてよい。例えば、低曲げ剛性部３３の周囲には図示しない第１絶縁膜が配置される。第１絶縁膜は、低曲げ剛性部３３と外側支持部材３５との間の短絡と、高曲げ剛性部３１と低曲げ剛性部３３との短絡とを防止する。
　例えば、外側支持部材３５の周囲には、図示しない第２絶縁膜が配置される。第２絶縁膜は、低曲げ剛性部３３と外側支持部材３５との間の短絡と、高曲げ剛性部３１と外側支持部材３５との間の短絡と、外側支持部材３５と形状記憶部材４１との間の短絡とを防止する。
　誘起体５０は、制御装置８０から電流の供給を受けて熱を発する性能を有する。誘起体５０は、この熱を、誘起体５０の周辺に配置される形状記憶部材４１の一部位に伝える。そして、誘起体５０は、この一部位において、第１の相と第２の相との間で形状記憶部材４１の相の移り変わりを引き起こさせる。誘起体５０は、第２の長手部材４０の長手軸方向における第２の長手部材４０の一部位の剛性を変更させる。誘起体５０は、形状記憶部材４１の相の移り変わりを引き起こすことが可能な位置に配置されればよい。例えば低曲げ剛性部３３がこのような誘起体５０を備える構成では、剛性可変装置２０の構成を簡素にできる。本実施形態では、低曲げ剛性部３３が誘起体５０を備える構成の一例として、低曲げ剛性部３３は誘起体５０を兼ねる。
　ここで、熱による形状記憶部材４１の相の移り変わりについて説明する。
　制御装置８０は、各低曲げ剛性部３３をそれぞれ独立に駆動する駆動部８１を有する。駆動部８１は、１つの電源と１つのスイッチとを有する。駆動部８１は、配線部８３を介して低曲げ剛性部３３に電気的に接続される。配線部８３は、例えば、金属のワイヤ状の部材である。配線部８３は、低曲げ剛性部３３に電気的に接続されていればよく、低曲げ剛性部３３と一体であってもよいし別体であってもよい。駆動部８１は、それぞれ、スイッチのオン動作に応じて、配線部８３を介して低曲げ剛性部３３に電流を供給し、また、スイッチのオフ動作に応じて、低曲げ剛性部３３に対する電流の供給を停止する。
　低曲げ剛性部３３は、制御装置８０から電流の供給を受けて熱を発する性能を有する。低曲げ剛性部３３の発熱量は、電流の供給量に応じる。低曲げ剛性部３３は、熱によって形状記憶部材４１に第１の相と第２の相の間の相の移り変わりを引き起こさせる誘起体５０として機能する。詳細には、低曲げ剛性部３３は、外側支持部材３５を介して形状記憶部材４１を加熱する加熱部であるコイルヒータとして機能する。形状記憶部材４１は、誘起体５０として機能する低曲げ剛性部３３から発生した熱によって、第１の相から第２の相に形状記憶部材４１の相が移り変わる性質を有する。詳細には、誘起体５０として機能する低曲げ剛性部３３は、低曲げ剛性部３３の周辺に配置される、形状記憶部材４１の一部位において、第１の相と第２の相との間で形状記憶部材４１の相の移り変わりを引き起こさせる。そして、低曲げ剛性部３３は、第２の長手部材４０の長手軸方向における第２の長手部材４０の一部位の剛性を変更させる。
　ここで、図１Ｂを参照して低曲げ剛性部３３によって加熱されるエリア９０について説明する。エリア９０は、低曲げ剛性部３３の周辺（近傍）を示し、低曲げ剛性部３３から発生した熱が伝わるエリアを示す。本実施形態では、ある１つの低曲げ剛性部３３は、外側支持部材３５の一部位（被巻回部）を巻回している。したがって、１つの低曲げ剛性部３３は、外側支持部材３５を全長に渡って加熱するのではなく、一部位（被巻回部）を加熱する、言い換えると外側支持部材３５を部分的に加熱する。低曲げ剛性部３３は、被巻回部のみだけでなく、被巻回部を含む被巻回部周辺を加熱してもよい。また、低曲げ剛性部３３は、被巻回部を介して形状記憶部材４１を全長に渡って加熱するのではない。第１の長手部材３０は第２の長手部材４０に対して相対的に位置決め固定されるため、低曲げ剛性部３３は、被巻回部を介して形状記憶部材４１の全長における形状記憶部材４１の一部位の剛性、言い換えると形状記憶部材４１における所望するエリアを加熱する。このように低曲げ剛性部３３は、形状記憶部材４１を部分的に加熱する。詳細には、低曲げ剛性部３３は、被巻回部を介して被巻回部によって囲まれる形状記憶部材４１の一部位を加熱する。
　以下において、加熱された形状記憶部材４１の一部位を、言い換えると形状記憶部材４１において加熱が所望されるエリアを、被加熱部４１ａと称する。図面において、被加熱部４１ａと、形状記憶部材４１において加熱されていない部位とを区別するために、被加熱部４１ａを黒塗りで表す。被加熱部４１ａは、低曲げ剛性部３３の周辺に含まれる。なお被加熱部４１ａは、低曲げ剛性部３３によって囲まれて且つ低曲げ剛性部３３にオーバラップする部位と、この部位の周辺とを含んでもよい。言い換えると、被加熱部４１ａは、被巻回部によって囲まれる形状記憶部材４１の一部位のみならず、高曲げ剛性部３１の端部によって囲まれる形状記憶部材４１の一部位も含む。つまり被加熱部４１ａは、被巻回部よりも微小に長いこともありえる。被加熱部４１ａは第２の相にあり硬質部であり、被加熱部４１ａ以外の形状記憶部材４１の一部位は第１の相にあり被加熱部４１ａよりも柔らかい軟質部である。
　被巻回部における熱の伝達範囲は、例えば、熱の温度と、被巻回部の太さと、高曲げ剛性部３１の長さ及び厚みと、低曲げ剛性部３３の長さ及び厚みと、外側支持部材３５の熱伝導率と、高曲げ剛性部３１の熱伝導率と、低曲げ剛性部３３の材質と、高曲げ剛性部３１の材質と、外側支持部材３５の材質とによって調整される。なお被巻回部における熱の伝達範囲の長さは、第１の長手部材３０の長手軸方向における長さを示す。
　被加熱部４１ａにおける熱の伝達範囲は、例えば、熱の温度と、被巻回部の太さと、被巻回部の長さ及び厚みと、高曲げ剛性部３１の長さ及び厚みと、低曲げ剛性部３３の長さ及び厚みと、被加熱部４１ａの太さと、高曲げ剛性部３１の熱伝導率と、外側支持部材３５の熱伝導率と、形状記憶部材４１の熱伝導率と、高曲げ剛性部３１の材質と、低曲げ剛性部３３の材質と、外側支持部材３５の材質と、形状記憶部材４１の材質とによって調整される。なお被加熱部４１ａにおける熱の伝達範囲の長さは、第１の長手部材３０の長手軸方向における長さを示す。
　形状記憶部材４１は、細長い外観形状を有する。低曲げ剛性部３３は、ワイヤ状の部材を有しており、形状記憶部材４１の外周に配置される外側支持部材３５の外周に配置される。低曲げ剛性部３３同士は、剛性可変装置２０の長手軸方向に沿って互いに対して所望する間隔を離れて配置される。低曲げ剛性部３３は、外側支持部材３５の外周を螺旋状に延びている。このような構成のおかげで、低曲げ剛性部３３から発生する熱は、外側支持部材３５を介して形状記憶部材４１に効率良く伝達される。
　複数の低曲げ剛性部３３は、同一構造体であってよい。しかし、これに限定されることなく、複数の低曲げ剛性部３３は、複数の異なる構造体を含んでいてもよい。異なる構造体は、例えば、異なる長さや異なる太さや異なるピッチを有していてもよく、また、異なる材料で作られていてもよい。つまり、複数の低曲げ剛性部３３は、すべてまたはいくつかが、同じ特性を有していてもよいし、異なる特性を有していてもよい。
　ここで、剛性可変装置２０と可撓性部材１０１との関係について説明する。
　剛性可変装置２０は、形状記憶部材４１が何ら拘束されることなく、可撓性部材１０１に装着される。例えば、剛性可変装置２０は、可撓性部材１０１の限られた空間内に少ないスペースをもって配置される。限られた空間とは、剛性可変装置２０をちょうど収容し得る空間を意味している。したがって、剛性可変装置２０と可撓性部材１０１との一方の変形は、わずかであっても、他方に接触して外力を与え得る。なお可撓性部材１０１は、剛性可変装置２０よりもわずかに大きい空間を有してさえいればよい。
　例えば、可撓性部材１０１は、剛性可変装置２０の外径よりもわずかに大きい内径を有し、外力が付加されることで撓むことが可能なチューブである。剛性可変装置２０は、このチューブの内部に配置されてよい。剛性可変装置２０は、可撓性部材１０１に対して相対的に位置決め固定される。図１Ｃに示すように、可撓性部材１０１は、例えば、内視鏡１００の挿入部であってよい。したがって、内視鏡１００は、可撓性部材１０１と、可撓性部材１０１に装着され、可撓性部材１０１に異なる剛性を提供する剛性可変装置２０とを有する。制御装置８０は、内視鏡１００に配置されてもよいし、内視鏡１００に接続される内視鏡１００の制御装置（図示せず）に配置されてもよい。したがって、剛性可変システム１０は、内視鏡１００に配置される、または内視鏡１００と内視鏡１００の制御装置とを有する内視鏡システムに配置される。
　以下に、本実施形態における、可撓性部材１０１における所望するエリアの剛性の変更について説明する。
　まず図１Ａに示すように、剛性可変システム１０は初期状態であるとする。初期状態では、駆動部８１は低曲げ剛性部３３に電流を供給しておらず、低曲げ剛性部３３は熱を発生しておらず、被加熱部４１ａが発生せず、形状記憶部材４１と可撓性部材１０１とは全長に渡って低剛性状態である。
　図１Ｂに示すように、例えば、駆動部８１は、スイッチのオン動作に応じて、配線部８３を介して低曲げ剛性部３３に電流を供給する。低曲げ剛性部３３は、電流の供給に応じて熱を発生する。熱は、低曲げ剛性部３３から形状記憶部材４１に直接伝達されるのではなく、低曲げ剛性部３３から被巻回部を介して形状記憶部材４１に間接的に伝達される。熱は、低曲げ剛性部３３から外側支持部材３５全長に渡って外側支持部材３５に伝達されるのでなく、外側支持部材３５の一部位である被巻回部に伝達される。また熱は、被巻回部から形状記憶部材４１の被加熱部４１ａに伝達される。
　なお、低曲げ剛性部３３から高曲げ剛性部３１への熱の伝達と、高曲げ剛性部３１から外側支持部材３５への熱の伝達とは、例えば高曲げ剛性部３１の熱伝導率によって、抑制される。また被巻回部から被加熱部４１ａに伝達された熱は、上記した被加熱部４１ａにおける熱の伝達範囲の調整によって、被加熱部４１ａから被加熱部４１ａ以外の形状記憶部材４１の一部位に伝達されることは抑制される。したがって熱は、被巻回部及び被加熱部４１ａ熱の伝達範囲の調整によって、１つの被巻回部から形状記憶部材４１全長に渡って伝達されことは抑制される。
　熱の伝達によって、被加熱部４１ａの温度は上がる。すると被加熱部４１ａの相は加熱によって第１の相から第２の相に切り替わり、被加熱部４１ａの剛性は加熱によって上がる。したがって、被加熱部４１ａは低剛性状態から高剛性状態に切り替われる。つまり、低曲げ剛性部３３は、低曲げ剛性部３３の周辺に配置される、形状記憶部材４１の一部位である被加熱部４１ａにおいて、被加熱部４１ａの相を第１の相から第２の相に移り変わらせる。そして低曲げ剛性部３３は、被加熱部４１ａの剛性を低剛性状態から高剛性状態に変更する。被加熱部４１ａは剛性が高く曲がりにくい硬質部とみなせることができ、被加熱部４１ａ以外の形状記憶部材４１の一部位は剛性が低く曲がりやすい軟質部とみなせる。
　剛性可変装置２０は可撓性部材１０１に対して相対的に位置決め固定されており、被加熱部４１ａは位置決めによって可撓性部材１０１における所望するエリアに配置される。被加熱部４１ａが低剛性状態から高剛性状態に切り替わることによって、可撓性部材１０１における所望するエリアの剛性が上がる。言い換えると、剛性可変装置２０は、可撓性部材１０１の全長における可撓性部材１０１の一部位のみに比較的高い剛性を提供する。したがって、可撓性部材１０１は可撓性部材１０１の全長に渡って低剛性状態から高剛性状態に切り替わるのではなく部分的に低剛性状態から高剛性状態に切り替わる、言い換えると可撓性部材１０１の全長における一部位が低剛性状態から高剛性状態に切り替わる。このように剛性可変装置２０は、低曲げ剛性部３３の周辺に配置される、形状記憶部材４１の一部位である被加熱部４１ａの剛性状態を変更し、この変更によって可撓性部材１０１における所望するエリアの剛性を変更する。
　高剛性状態である可撓性部材１０１の一部位は、可撓性部材１０１に作用する外力すなわち形状記憶部材４１を変形させ得る力に対抗して記憶形状に戻る傾向を示す。したがって、可撓性部材１０１の一部位は、略直線状態を維持する。
　ここで、低曲げ剛性部３３は、第１の長手部材３０の長手軸方向において、２つの高曲げ剛性部３１に挟まれる。図１Ｄと図１Ｅとに示すように、この低曲げ剛性部３３は、一方の高曲げ剛性部３１が他方の高曲げ剛性部３１に対して曲がる際に剛性可変装置２０の関節部５１として機能する。図１Ｄと図１Ｅとでは、図示の明瞭化のために、外側支持部材３５と制御装置８０と駆動部８１と配線部８３との図示を省略している。この関節部５１は、低曲げ剛性部３３によって囲まれる被巻回部及び被加熱部４１ａを含む。図１Ｄは初期状態を示し、関節部５１は低剛性状態である。したがって、関節部５１は外力によって容易に曲がる。図１Ｅに示すように被加熱部４１ａが低剛性状態から高剛性状態に切り替わった際、関節部５１も低剛性状態から高剛性状態に切り替わる。したがって、関節部５１が低剛性状態に比べて、関節部５１が高剛性状態のもとでは、一方の高曲げ剛性部３１は他方の高曲げ剛性部３１に対して曲がりにくくなり、略直線状態を維持する。つまり、剛性可変装置２０及び可撓性部材１０１は、曲がりにくくなり、略直線状態を維持する。
　なお図１Ｂの最も右側に位置する駆動部８１が図１Ｂの最も右側に位置する低曲げ剛性部３３（以下、便宜上、右側低曲げ剛性部と称する）に電流を供給し、右側低曲げ剛性部は電流の供給に応じて熱を発生したとする。この熱は、右側低曲げ剛性部から被巻回部に伝達される。低曲げ剛性部３３と右側低曲げ剛性部とは互いに離れて配置されており、被巻回部同士も互いに離れて配置される。したがって、形状記憶部材４１は上記した被加熱部４１ａとは異なる一部位（便宜上、右側被加熱部と称する）にて加熱され、右側被加熱部の温度は加熱によって上がる。すると、右側被加熱部の相は加熱によって第１の相から第２の相に切り替わり、右側被加熱部の剛性は加熱によって上がる。したがって、右側被加熱部は低剛性状態から高剛性状態に切り替わり、可撓性部材１０１における所望する別のエリアの剛性が上がり、可撓性部材１０１の全長における２つの部位が低剛性状態から高剛性状態に切り替わる。
　例えば、右側被加熱部の温度は被加熱部４１ａの温度と異なってもよく、このため右側被加熱部の剛性は被加熱部４１ａの剛性と異なってもよい。したがって、可撓性部材１０１における所望する別のエリアの剛性は、可撓性部材１０１における所望するエリアの剛性と異なる。このように、可撓性部材１０１の剛性は、部分的に変更されてもよい。もちろん本実施形態では、例えば全ての低曲げ剛性部３３に電流が流れた際に、熱の伝達範囲の調整によって、被加熱部４１ａ同士が互いに熱的に接続されることも可能である。したがって、形状記憶部材４１全体の剛性が変更することも可能である。
　駆動部８１は、スイッチのオフ動作に応じて、低曲げ剛性部３３に対する電流の供給を停止する。すると、加熱が停止され、被加熱部４１ａの温度が自然冷却によって下がる。すると、被加熱部４１ａの相は第２の相から第１の相に切り替わり、被加熱部４１ａの剛性は下がる。そして、被加熱部４１ａが配置されている可撓性部材１０１の一部位の剛性も下がる。言い換えると、剛性可変装置２０は、比較的低い剛性を可撓性部材１０１に提供し、可撓性部材１０１に作用する外力すなわち形状記憶部材４１を変形させ得る力に従って容易に変形する。したがって、可撓性部材１０１は、外力によって容易に撓むことが可能となる。また被加熱部４１ａの剛性及び可撓性部材１０１の一部位の剛性は、加熱される前の剛性に戻ることが可能である。関節部５１は高剛性状態に比べて、関節部５１が低剛性状態のもとでは、一方の高曲げ剛性部３１は他方の高曲げ剛性部３１に対して曲がり易くなる。つまり、剛性可変装置２０及び可撓性部材１０１は、曲がり易くなる。
　このように例えば低曲げ剛性部３３によって形状記憶部材４１の一部位の相が第１の相と第２の相の間で切り換えられることによって、可撓性部材１０１における所望するエリアの剛性が切り換えられる。
　本実施形態では、低曲げ剛性部３３の周辺に配置される、形状記憶部材４１の一部位の剛性を、低曲げ剛性部３３によって変更する。本実施形態では、一部位の剛性の変更によって、可撓性部材１０１における所望するエリアの剛性を変更できる。また本実施形態では、高曲げ剛性部３１と低曲げ剛性部３３と外側支持部材３５と形状記憶部材４１との配置によって剛性可変装置２０の構成をシンプル且つ細くでき、可撓性部材１０１を細くできる。
　本実施形態では、外側支持部材３５によって、第１の長手部材３０の組立性を向上できる。本実施形態では、低曲げ剛性部３３が誘起体５０として機能するため、剛性可変装置２０の構成を簡素にできる。
　本実施形態では、高曲げ剛性部３１が配置される。したがって、低曲げ剛性部３３及び被加熱部４１ａが短く、短い被加熱部４１ａが高剛性状態であっても、高曲げ剛性部３１によって、剛性可変装置２０及び可撓性部材１０１の全長の大部分を高剛性状態に切り替えることができる。そして、剛性可変装置２０及び可撓性部材１０１の全長の大部分が高剛性状態に切り替わる際に、省電力化を実現できる。
　剛性の切り換えに加えて、可撓性部材１０１に重力以外の外力が作用している状況下においては、剛性可変装置２０は、可撓性部材１０１の形状を切り換える双方向アクチュエータとしても機能する。また、可撓性部材１０１に重力以外の外力が作用しておらず、形状記憶部材４１の相が第２の相に切り換えられる前の第１の相において可撓性部材１０１が変形されている状況下においては、可撓性部材１０１の形状を元に戻す単一方向アクチュエータとしても機能する。
　［変形例］
　図１Ｆは、本実施形態の変形例１を示す。本変形例では、低曲げ剛性部３３が誘起体５０を備える構成の一例として、誘起体５０は、低曲げ剛性部３３とは別体である。誘起体５０それぞれは、低曲げ剛性部３３それぞれの周辺に配置される。１つの誘起体５０が、第１の長手部材３０の全長に渡って配置されてもよい。
　誘起体５０は、例えば、密着巻きコイルといったコイル部材を有する。誘起体５０のコイル部材は、疎巻きコイルでもよい。誘起体５０は、例えば、金属製のワイヤ状且つ螺旋状の部材を有してもよい。誘起体５０は、例えば、低曲げ剛性部３３の外周を巻回する。誘起体５０は、パイプといった軟質の筒部材を有してもよい。誘起体５０は、低い曲げ剛性を有する筒状の軟質部である。誘起体５０の曲げ剛性は、例えば、低曲げ剛性部３３の曲げ剛性と同一であってもよいし、低曲げ剛性部３３の曲げ剛性と異なってもよい。誘起体５０は、低曲げ剛性部３３の外周を全周に渡って囲ってもよい。
　誘起体５０の内周面は、低曲げ剛性部３３の外周面から離れる。誘起体５０の内周面は、低曲げ剛性部３３の外周面に密着してもよい。誘起体５０の両端は、高曲げ剛性部３１の端部の外周面を囲ってもよい。誘起体５０の両端における内周面は、高曲げ剛性部３１の端部における外周面に密着することが可能である。つまり、誘起体５０の両端における内周面は、高曲げ剛性部３１の端部における外周面に密着しなくてもよい。
　誘起体５０は、配線部８３に電気的に接続される。駆動部８１は、それぞれ、スイッチのオン動作に応じて、配線部８３を介して誘起体５０に電流を供給し、また、スイッチのオフ動作に応じて、誘起体５０に対する電流の供給を停止する。誘起体５０は、熱を低曲げ剛性部３３及び外側支持部材３５を介して形状記憶部材４１の一部位に伝える。誘起体５０は、低曲げ剛性部３３及び外側支持部材３５を介して形状記憶部材４１を加熱する加熱部であるコイルヒータとして機能する。誘起体５０は、低曲げ剛性部３３及び外側支持部材３５を介して形状記憶部材４１を加熱できれば、低曲げ剛性部３３に機械的に直接接触してもよいし、低曲げ剛性部３３に機械的に直接接触していなくてもよい。
　本変形例の構成は、後述する第２，３の実施形態それぞれの構成と第２の実施形態の変形例それぞれの構成とに組み込まれてもよい。
　[第２の実施形態]
　以下に、図２Ａと図２Ｂとを参照して、本発明の第２の実施形態について説明する。本実施形態では、第１の実施形態とは異なることのみを記載する。
　本実施形態では、高曲げ剛性部３１の長さは、被加熱部４１ａの長さよりも長いことが好ましい。
　剛性可変装置２０は、第１の長手部材３０に沿って第２の長手部材４０を移動させる移動機構６０を有する。したがって、本実施形態では、第２の長手部材４０は、第１の長手部材３０に対して、移動可能となっている。なお第１の長手部材３０は、第１の実施形態と同様に、位置決め固定される。移動機構６０は、例えば、第２の長手部材４０を、外側支持部材３５に対して移動させる。移動機構６０は、第２の長手部材４０を、牽引または押圧する。第２の長手部材４０の移動に従って、被加熱部４１ａも移動する。
　移動機構６０は、制御装置８０に電気的に接続されており、制御装置８０によって移動を予め制御される。例えば、移動機構６０は、低曲げ剛性部３３の周辺に配置される、高剛性状態の形状記憶部材４１の一部位である被加熱部４１ａを、高曲げ剛性部３１の周辺に移動させる。高曲げ剛性部３１の周辺とは、図２Ｂに示すように被加熱部４１ａが被加熱部４１ａの全長に渡って高曲げ剛性部３１によって囲まれて、被加熱部４１ａが被加熱部４１ａの全長に渡って高曲げ剛性部３１にオーバラップする位置を示す。
　例えば、移動機構６０は、図示しないモータと、第２の長手部材４０の一端部に接続され、モータの回転力によって第２の長手部材４０を移動させる図示しない移動部材とを有する。移動部材は、例えば、形状記憶部材４１の一端部に直接接続される。移動部材は、例えば、ワイヤ状の部材である。移動機構６０は、挿入部の基端部に連結される操作部１０３に配置されてもよい。移動機構６０は、操作部１０３におけるボタンの操作によって、駆動してもよい。
　ここで、図２Ａに示すように、第１の実施形態と同様に、低曲げ剛性部３３の周辺に配置される被加熱部４１ａの剛性が加熱によって上がり、被加熱部４１ａは低剛性状態から高剛性状態に切り替わったとする。被加熱部４１ａは、剛性が高い硬質部位とみなせる。図２Ｂに示すように、第２の長手部材４０が移動機構６０によって移動した際、硬質部位である被加熱部４１ａは、低曲げ剛性部３３の周辺から高曲げ剛性部３１の周辺にずれる。言い換えると、被加熱部４１ａは、高曲げ剛性部３１にオーバラップする。そして、第２の長手部材４０の移動によって、被加熱部４１ａが配置されていた低曲げ剛性部３３の周辺には、被加熱部４１ａ以外の形状記憶部材４１の一部位である軟質部位４１ｃが配置される。言い換えると、軟質部位４１ｃは、低曲げ剛性部３３にオーバラップする。さらに言い換えると、低曲げ剛性部３３の周辺に配置される、形状記憶部材４１の一部位は、曲りにくい硬質部位である被加熱部４１ａから曲がりやすい軟質部位４１ｃに切り替わる。また関節部５１は、高剛性状態から低剛性状態に切り替わる。これにより、剛性可変装置２０は、可撓性部材１０１に比較的低い剛性を提供することとなる。
　ここで、剛性可変装置２０が、本実施形態とは異なり、低曲げ剛性部３３の周辺に配置される被加熱部４１ａを自然冷却することによって可撓性部材１０１に比較的低い剛性を提供する状態を自然提供状態と称する。本実施形態では、剛性可変装置２０は、被加熱部４１ａの移動によって、自然提供状態に比べて早く可撓性部材１０１に比較的低い剛性を提供できる。つまり、本実施形態では、自然冷却よりも、可撓性部材１０１を短時間に高剛性状態から低剛性状態に切り替えることができる。これにより可撓性部材１０１に対する応答性を向上できる。
　［変形例１］
　図３Ａは、本実施形態の変形例１を示す。本変形例では、外側支持部材３５が省略される。第１の長手部材３０は、第１の長手部材３０の長手軸方向において高曲げ剛性部３１と低曲げ剛性部３３との間に配置される断熱部材３７を有する。断熱部材３７は、例えば、高曲げ剛性部３１の端部に固定され、リング状である。第１の長手部材３０の長手軸方向において、低曲げ剛性部３３は２つの断熱部材３７に挟まれる。断熱部材３７は、低曲げ剛性部３３の端部に固定され、低曲げ剛性部３３に熱的に接続される。断熱部材３７は、低曲げ剛性部３３から発生した熱が高曲げ剛性部３１に伝達されることを防止する。断熱部材３７は、例えば、樹脂などの、低い熱伝導率を有する部材である。
　本変形例では、断熱部材３７によって、低曲げ剛性部３３を高曲げ剛性部３１に固定でき、外側支持部材３５を不要にでき、剛性可変装置２０を細くできる。本実施形態では、外側支持部材３５が不要なため、第１の実施形態の構成に比べて低曲げ剛性部３３を形状記憶部材４１の近傍に配置でき、熱を低曲げ剛性部３３から形状記憶部材４１に素早く直接伝達できる。また断熱部材３７によって、低曲げ剛性部３３から高曲げ剛性部３１への熱の伝達を防止できるため、被加熱部４１ａにおける熱の伝達範囲の長さ、言い換えると、可撓性部材１０１における所望するエリアの長さをより精密に制御できる。
　［変形例２］
　図３Ｂは、本実施形態の変形例２を示す。第１の長手部材３０は、高曲げ剛性部３１同士を連結する筒状の連結部材３９を有する。連結部材３９の両端は、高曲げ剛性部３１の端部の外周面に固定される。連結部材３９は、高曲げ剛性部３１同士の間の各スペースの周辺に配置される。１つの連結部材３９が、第１の長手部材３０の全長に渡って配置されてもよい。連結部材３９は、高曲げ剛性部３１の曲げ剛性よりも低い曲げ剛性を有する。連結部材３９の曲げ剛性は、低曲げ剛性部３３の曲げ剛性と同一であってもよいし異なってもよい。連結部材３９は、例えば、密着巻きコイルといったコイル部材を有する。連結部材３９のコイル部材は、疎巻きコイルでもよい。連結部材３９は、例えば、金属製のワイヤ状且つ螺旋状の部材を有してもよい。本変形例では、連結部材３９は、低曲げ剛性部３３の外周に配置される。連結部材３９は、螺旋状に配置されており、低曲げ剛性部３３を巻回する。低曲げ剛性部３３の外周面は、連結部材３９の内周面に固定されてもよい。
　本変形例では、第１の実施形態の構成に比べて低曲げ剛性部３３を形状記憶部材４１の近傍に配置できると共に、連結部材３９によって高曲げ剛性部３１の連結強度と第１の長手部材３０の組立性とを向上できる。
　［変形例３］
　図３Ｃは、本実施形態の変形例３を示す。連結部材３９は、低曲げ剛性部３３の内周に配置される。連結部材３９の両端は、高曲げ剛性部３１の端部に配置される断熱部材３７に固定される。低曲げ剛性部３３の内周面は連結部材３９の外周面に固定されており、低曲げ剛性部３３の端部は断熱部材３７から離れて配置される。断熱部材３７は、熱が低曲げ剛性部３３から連結部材３９を介して高曲げ剛性部３１に伝達することを防止する。
　本変形例では、連結部材３９によって高曲げ剛性部３１の連結強度と第１の長手部材３０の組立性とを向上できる。
　第２の実施形態の変形例１，２，３それぞれは、第１の実施形態の構成と第１の実施形態の変形例の構成とに組み込まれてもよい。
　[第３の実施形態]
　以下に、図４Ａと図４Ｂと図４Ｃとを参照して、本発明の第３の実施形態について説明する。本実施形態では、第１，２の実施形態とは異なることのみを記載する。
　図４Ａと図４Ｂとに示すように、本実施形態の第１の長手部材３０の構成は、第１の実施形態の第１の長手部材３０に、第２の実施形態の変形例１の断熱部材３７が配置された構成である。高曲げ剛性部３１の長さは、被加熱部４１ａの長さと同一であるが、被加熱部４１ａの長さよりも長いことが好ましい。本実施形態では、３つの高曲げ剛性部３１と２つの低曲げ剛性部３３とが配置されているものとする。
　図４Ａと図４Ｃとに示すように、本実施形態の第２の長手部材４０は、少なくとも１つの形状記憶部材４１と、形状記憶部材４１よりも軟質な少なくとも１つの軟質部材４３と、形状記憶部材４１と軟質部材４３とを支持する筒状の内側支持部材４５とを有する。本実施形態では、例えば、第２の長手部材４０は、２つの形状記憶部材４１と３つの軟質部材４３と１つの内側支持部材４５とを有するものとする。
　複数の形状記憶部材４１と複数の軟質部材４３とは、第２の長手部材４０の長手軸方向において交互に配置される。つまり形状記憶部材４１同士は、互いに離れて配置される。形状記憶部材４１と軟質部材４３とは、互いに対して固定される。形状記憶部材４１と軟質部材４３とは、内側支持部材４５に挿入される。形状記憶部材４１の外周面と軟質部材４３の外周面とは、内側支持部材４５の内周面に接着または溶接などによって固定される。形状記憶部材４１と軟質部材４３とは、内側支持部材４５に位置決め固定される。
　形状記憶部材４１の曲げ剛性は、形状記憶部材４１の相が第１の相であっても第２の相であっても、軟質部材４３の曲げ剛性よりも高い。形状記憶部材４１は、形状記憶部材４１全長に渡って被加熱部４１ａとして機能する。形状記憶部材４１の長さは、低曲げ剛性部３３の長さよりも長い。
　軟質部材４３は、例えば、湾曲可能となっている。軟質部材４３は、例えば、ばね材である。軟質部材４３は、形状記憶部材４１よりも柔らかく撓みやすい。
　内側支持部材４５は、形状記憶部材４１と軟質部材４３との外周に配置される。内側支持部材４５は、例えば、密着巻きコイルといったコイル部材を有する。内側支持部材４５のコイル部材は、疎巻きコイルでもよい。内側支持部材４５は、例えば、金属製のワイヤ状且つ螺旋状の部材を有してもよい。例えば、内側支持部材４５の曲げ剛性は、軟質部材４３の曲げ剛性と略同一である。内側支持部材４５の外周面は外側支持部材３５の内周面とは接触しており、内側支持部材４５は移動機構６０によって外側支持部材３５をスライドする。形状記憶部材４１と軟質部材４３とは、内側支持部材４５に固定されるため、内側支持部材４５の移動に伴い、内側支持部材４５と共に移動する。内側支持部材４５が外側支持部材３５に対して移動できれば、内側支持部材４５の外周面は外側支持部材３５の内周面とは接触しておらず、スペースが内側支持部材４５の外周面と外側支持部材３５の内周面との間に形成されてもよい。
　図５Ａは、剛性可変装置２０が最低剛性状態（超軟質状態）であることを示す。最低剛性状態では、剛性可変システム１０は初期状態であり、駆動部８１は低曲げ剛性部３３に電流を供給しておらず、低曲げ剛性部３３は熱を発生しておらず、形状記憶部材４１と可撓性部材１０１とは低剛性状態であるものとして説明する。
　最低剛性状態において、形状記憶部材４１（軟質部）は高曲げ剛性部３１（硬質部）にオーバラップし、軟質部材４３は低曲げ剛性部３３（軟質部）にオーバラップする。したがって、剛性可変装置２０は、可撓性部材１０１に最も低い剛性を提供する。
　図５Ｂは、剛性可変装置２０が低剛性状態（軟質状態）であることを示す。このとき、第２の長手部材４０は、例えば最低剛性状態に対して移動機構６０によって移動する。
　低剛性状態において、形状記憶部材４１（軟質部）は低曲げ剛性部３３（軟質部）にオーバラップし、軟質部材４３は高曲げ剛性部３１（硬質部）にオーバラップする。したがって、剛性可変装置２０は、可撓性部材１０１に比較的低い剛性を提供する。
　図５Ｃは、剛性可変装置２０が高剛性状態（硬質状態）であることを示す。このとき、第２の長手部材４０は、図５Ｂに示す低剛性状態に対して移動していない。また低曲げ剛性部３３から発生した熱によって、形状記憶部材４１全体は被加熱部４１ａとして機能し軟質部から硬質部に変化する。
　高剛性状態において、被加熱部４１ａ（硬質部）は低曲げ剛性部３３（軟質部）にオーバラップし、軟質部材４３は高曲げ剛性部３１（硬質部）にオーバラップする。したがって、剛性可変装置２０は、可撓性部材１０１に最も高い剛性を提供する。
　図５Ｄは、剛性可変装置２０が最低剛性状態であることを示す。このとき、第２の長手部材４０は、例えば高剛性状態に対して移動機構６０によって移動する。
　最低剛性状態において、被加熱部４１ａ（硬質部）は高曲げ剛性部３１（硬質部）にオーバラップし、軟質部材４３は低曲げ剛性部３３（軟質部）にオーバラップする。したがって、剛性可変装置２０は、可撓性部材１０１に最も低い剛性を提供する。
　本実施形態では、軟質部材４３により第２の長手部材４０を部分的に柔らかくできる。また形状記憶部材４１同士は互いに離れて配置される。したがって、形状記憶部材４１同士における、熱の伝達が抑制される。これにより、可撓性部材１０１における所望するエリアの剛性の可変を精密に制御できる。
　本実施形態では、形状記憶部材４１と軟質部材４３とは互いに対して端部にて溶接または接着などによって固定されていれば、内側支持部材４５は省略されてもよい。つまり、図６Ａと図６Ｂとに示すように、第２の長手部材４０は、形状記憶部材４１と軟質部材４３とを有してもよい。軟質部材４３は、例えば、第２の長手部材４０の長手軸方向において伸縮可能でもある。これにより、剛性可変装置２０と可撓性部材１０１とを細くできる。また軟質部材４３の曲げ剛性は、形状記憶部材４１の曲げ剛性よりも低ければよい。したがって、図６Ｂに示すように、軟質部材４３は、例えば、金属製のワイヤ状の部材でもよい。図６Ａと図６Ｂとにおいて、移動機構６０は、例えば、軟質部材４３に接続される。
　本発明は、上記実施形態そのままに限定されるものではなく、実施段階ではその要旨を逸脱しない範囲で構成要素を変形して具体化できる。また、上記実施形態に開示される複数の構成要素の適宜な組み合せにより種々の発明を形成できる。

Claims (16)

  1. 　可撓性部材に装着され、前記可撓性部材に異なる剛性を提供する剛性可変装置であって、
    　第１の長手部材と、前記第１の長手部材に沿って配置される第２の長手部材と、誘起体とを具備し、
    　前記第１の長手部材は、少なくとも１つの高曲げ剛性部と、高曲げ剛性部の曲げ剛性よりも低い曲げ剛性を有する少なくとも１つの低曲げ剛性部とを有し、
    　前記第２の長手部材は、第１の相と第２の相との間で相が移り変わり得る形状記憶部材を少なくとも有し、
    　前記形状記憶部材の前記相が前記第１の相にあるときは前記形状記憶部材は低剛性状態を取り、前記形状記憶部材の前記相が前記第２の相にあるときは前記形状記憶部材は前記低剛性状態よりも高い剛性を有する高剛性状態を取り、
    　前記誘起体は、前記低曲げ剛性部の周辺に配置される、前記形状記憶部材の一部位において、前記第１の相と前記第２の相との間で前記形状記憶部材の前記相の移り変わりを引き起こさせて、前記第２の長手部材の長手軸方向における前記第２の長手部材の一部位の剛性を変更させる、剛性可変装置。
  2. 　前記低曲げ剛性部は、前記誘起体を備える請求項１に記載の剛性可変装置。
  3. 　前記第１の長手部材に沿って前記第２の長手部材を移動させる移動機構を具備し、
    　前記移動機構は、前記低曲げ剛性部の周辺に配置される、前記高剛性状態の前記形状記憶部材の前記一部位を、前記高曲げ剛性部の周辺に移動させる請求項２に記載の剛性可変装置。
  4. 　前記第１の長手部材は外筒であり、前記高曲げ剛性部は筒部材を有し、前記低曲げ剛性部はコイル部材を有し、
    　前記第２の長手部材は、前記第１の長手部材の内部に配置された芯部材である請求項３に記載の剛性可変装置。
  5. 　前記第１の長手部材は、複数の高曲げ剛性部と、複数の低曲げ剛性部とを有し、
    　前記複数の高曲げ剛性部と前記複数の低曲げ剛性部とは、前記第１の長手部材の長手軸方向において交互に配置される請求項４に記載の剛性可変装置。
  6. 　前記誘起体は、熱を発する性能を有し、
    　前記形状記憶部材は、前記誘起体から発生した熱によって、前記第１の相から前記第２の相に前記形状記憶部材の前記相が移り変わる性質を有する請求項５に記載の剛性可変装置。
  7. 　前記第２の長手部材は、前記形状記憶部材のみを有する請求項６に記載の剛性可変装置。
  8. 　前記第２の長手部材は、複数の形状記憶部材と、前記形状記憶部材よりも軟質な複数の軟質部材とをさらに有し、
    　前記複数の形状記憶部材と前記複数の軟質部材とは、前記第２の長手部材の前記長手軸方向において交互に配置される請求項６に記載の剛性可変装置。
  9. 　前記第２の長手部材は、前記形状記憶部材と前記軟質部材との外周に配置され、前記形状記憶部材と前記軟質部材とを支持する筒状の内側支持部材を有する請求項８に記載の剛性可変装置。
  10. 　前記第１の長手部材は、前記高曲げ剛性部と前記低曲げ剛性部との内側に配置され、前記高曲げ剛性部と前記低曲げ剛性部とを支持する筒状の外側支持部材を有する請求項６に記載の剛性可変装置。
  11. 　前記外側支持部材は、前記高曲げ剛性部の前記曲げ剛性よりも低い曲げ剛性を有するコイル部材を有する請求項１０に記載の剛性可変装置。
  12. 　前記第１の長手部材は、前記第１の長手部材の前記長手軸方向において前記高曲げ剛性部と前記低曲げ剛性部との間に配置される断熱部材を有する請求項１０に記載の剛性可変装置。
  13. 　前記第１の長手部材は、前記第１の長手部材の前記長手軸方向において前記高曲げ剛性部と前記低曲げ剛性部との間に配置される断熱部材を有する請求項６に記載の剛性可変装置。
  14. 　前記第１の長手部材は、前記低曲げ剛性部の外周または内周に配置され、前記高曲げ剛性部同士を連結する筒状の連結部材を有する請求項１３に記載の剛性可変装置。
  15. 　前記連結部材は、前記高曲げ剛性部の曲げ剛性よりも低い曲げ剛性を有するコイル部材を有する請求項１４に記載の剛性可変装置。
  16. 　可撓性部材と、
    　前記可撓性部材に装着され、前記可撓性部材に異なる剛性を提供する請求項１に記載の剛性可変装置と、
    　を具備する内視鏡。
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