WO2018189837A1 - 剛性可変装置と内視鏡 - Google Patents

剛性可変装置と内視鏡 Download PDF

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Publication number
WO2018189837A1
WO2018189837A1 PCT/JP2017/015007 JP2017015007W WO2018189837A1 WO 2018189837 A1 WO2018189837 A1 WO 2018189837A1 JP 2017015007 W JP2017015007 W JP 2017015007W WO 2018189837 A1 WO2018189837 A1 WO 2018189837A1
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WO
WIPO (PCT)
Prior art keywords
bending rigidity
stiffness
rigidity
longitudinal
low
Prior art date
Application number
PCT/JP2017/015007
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/JP2017/015007 priority Critical patent/WO2018189837A1/ja
Publication of WO2018189837A1 publication Critical patent/WO2018189837A1/ja
Priority to US16/597,281 priority patent/US11389052B2/en

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    • 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
    • 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
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0057—Constructional details of force transmission elements, e.g. control wires

Definitions

  • the present invention relates to a stiffness varying device that provides different stiffness to a flexible member and an endoscope having the stiffness varying device.
  • the variable hardness actuator for changing the hardness of a flexible member.
  • the variable hardness actuator is mounted on a flexible member, provides different hardness to the flexible member, and is simple and durable.
  • the hardness variable actuator includes a plurality of wiring portions that supply current, a plurality of induction members that generate heat in response to the current supplied from the wiring portions, and a shape memory member that can transmit heat from the induction members.
  • a wiring part is connected to each induction member, and induction members are arranged away. The phase of the shape memory member can be changed from the first phase to the second phase by heat supplied from the induction member.
  • the shape memory member phase When the shape memory member phase is in the first phase, the shape memory member is in a low stiffness state, and when the shape memory member phase is in the second phase, the shape memory member has a higher stiffness than the low stiffness state. Take high rigidity state.
  • the variable hardness actuator provides low rigidity to the flexible member by the shape memory member in the low rigidity state, and provides high rigidity to the flexible member by the shape memory member in the high rigidity state.
  • Each of the inductive members arranged away from each other conducts heat to a part of the shape memory member in the entire length of the shape memory member. For this reason, the hardness variable actuator changes the rigidity of a desired area in the flexible member, that is, changes the rigidity of the flexible member partially.
  • variable hardness actuator since the wiring portion is connected to each induction member, the variable hardness actuator may be thick. Then, the flexible member on which the variable hardness actuator is arranged may be thick.
  • the present invention has been made in view of these circumstances, and an object of the present invention is to provide a variable stiffness device that can easily adopt a configuration in which a flexible member is not easily thickened.
  • one aspect of the rigidity varying device of the present invention is attached to a flexible member, provides different rigidity to the flexible member, a first longitudinal member, and the first A second longitudinal member movable along the longitudinal member, wherein the first longitudinal member includes at least one first high bending stiffness portion and a bending portion of the first high bending stiffness portion. At least one first low bending rigidity portion having a bending rigidity lower than the rigidity, and the second longitudinal member includes at least one second high bending rigidity portion and the second high bending rigidity.
  • At least one second low bending rigidity portion having a bending rigidity lower than the bending rigidity of the portion, and a soft member in which the second high bending rigidity portion and the second low bending rigidity portion are disposed. And the relative position between the first longitudinal member and the second longitudinal member changes, The rigidity of the one-site changes of the variable stiffness device in the longitudinal axis direction of the variable stiffness device.
  • one aspect of the endoscope of the present invention is the flexible member, and the flexible member is attached to the flexible member and provides the flexible member with different rigidity. And a variable stiffness device.
  • FIG. 1A is a schematic diagram of a variable stiffness system according to an embodiment of the present invention, and shows that the variable stiffness device of the variable stiffness system is in a first state.
  • FIG. 1B is a diagram illustrating that the stiffness variable apparatus illustrated in FIG. 1A has been switched to the second state.
  • FIG. 1C is a perspective view of an endoscope in which the stiffness variable device is incorporated.
  • FIG. 2A is a diagram illustrating an example of a soft member of the stiffness variable device.
  • FIG. 2B is a diagram illustrating an example of a soft member of the stiffness variable device.
  • FIG. 3A is a diagram illustrating that the joint portion of the stiffness variable device is in a low rigidity state.
  • FIG. 3B is a diagram illustrating that the joint portion of the stiffness variable device is in a highly rigid state.
  • FIG. 4 is a view showing a modification of the second longitudinal member.
  • variable stiffness system 10 includes, for example, a variable stiffness device 20 attached to the flexible member 101, and a control device 90 that controls the variable stiffness device 20.
  • the rigidity variable device 20 provides the flexible member 101 with different rigidity.
  • the stiffness variable device 20 includes a first longitudinal member 30 and a second longitudinal member 50 that is movable along the first longitudinal member 30.
  • the second longitudinal member 50 is adjacent to the first longitudinal member 30.
  • the second longitudinal member 50 may be adjacent to the first longitudinal member 30.
  • the first longitudinal member 30 is an outer cylinder
  • the second longitudinal member 50 is a core portion 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 an annular shape
  • the outer periphery of the cross-section of the core part perpendicular to the longitudinal axis of the core part is an annular shape.
  • the stiffness variable device 20 provides a stable stiffness against bending in any direction.
  • the cross-sectional shape of each of the outer cylinder and the core portion does not necessarily have to be a ring shape, and may be another shape, for example, a C shape.
  • the first longitudinal member 30 is positioned and fixed relative to the flexible member 101.
  • the second longitudinal member 50 is movable with respect to the first longitudinal member 30 and the flexible member 101.
  • the first longitudinal member 30 includes a cylindrical core member 31 into which the second longitudinal member 50 is inserted, and at least one cylindrical first hard member 33 disposed on the outer periphery of the core member 31. .
  • the core member 31 covers the second longitudinal member 50 over the entire length of the second longitudinal member 50.
  • the length of the core member 31 is longer than the length of the second longitudinal member 50.
  • the length of the core member 31 may be substantially the same as the length of the second longitudinal member 50.
  • the core member 31 is disposed over the entire length of the variable stiffness device 20.
  • the core member 31 is inserted into the first hard member 33 and disposed inside the first hard member 33.
  • the core member 31 functions as a core for the first hard member 33.
  • the core member 31 is a cylindrical support member that supports the first hard member 33.
  • the core member 31 has, for example, a spiral coil member such as a tightly wound coil.
  • the coil member of the core member 31 may be a loosely wound coil.
  • the core member 31 may have, for example, a metal wire-like and spiral member.
  • the core member 31 is a hollow member, for example, a cylindrical shape.
  • the first hard member 33 is a hollow member, for example, a cylindrical shape.
  • the first hard member 33 has, for example, a metal pipe.
  • the first hard member 33 is separate from the core member 31.
  • the first hard member 33 is shorter than the core member 31.
  • the inner peripheral surface of the first hard member 33 is fixed to the outer peripheral surface of the core member 31 by, for example, adhesion or welding. Then, the first hard member 33 is positioned on the core member 31 such that the first hard member 33 surrounds the core member 31.
  • the first hard members 33 are not in direct mechanical contact with each other in the longitudinal axis direction of the first longitudinal member 30 and are disposed at a desired distance from each other. In other words, the first hard member 33 partially surrounds the core member 31 in the entire length of the core member 31. That is, one first hard member 33 does not surround the core member 31 over the entire length of the core member 31, but one first hard member 33 covers one part of the core member 31 in the entire length of the core member 31. Enclose.
  • the first space 35 is disposed between the first hard members 33 in the longitudinal axis direction of the first longitudinal member 30.
  • the length of the first hard member 33 is different from the length of the first space 35, and is longer than the length of the first space 35, for example.
  • the length of the first hard member 33 may be substantially the same as the length of the first space 35.
  • the outer peripheral surface of the core member 31 is exposed to the outside of the first longitudinal member 30.
  • the first space 35 indicates a portion of the core member 31 that is not covered by the first hard member 33 in the entire length of the core member 31.
  • the longitudinal axis direction of the first longitudinal member 30 is the left-right direction in FIG. 1A.
  • the first hard members 33 and the first spaces 35 are alternately arranged on the outer peripheral surface of the core member 31 in the longitudinal axis direction of the first longitudinal member 30. As long as the first hard members 33 and the first spaces 35 are alternately arranged, the number of the first hard members 33 and the number of the first spaces 35 are not particularly limited. In addition, it is sufficient that at least one first hard member 33 and at least one first space 35 are arranged.
  • the first longitudinal member 30 has at least one first high bending rigidity portion 41 having relatively high bending rigidity and at least one first low bending rigidity portion 43 having relatively low bending rigidity. That is, the bending rigidity of the first high bending rigidity portion 41 is high, and the bending rigidity of the first low bending rigidity portion 43 is lower than the bending rigidity of the first high bending rigidity portion 41.
  • the first longitudinal member 30 has three first high bending rigidity portions 41 and two first low bending rigidity portions 43.
  • the first high bending rigidity portion 41 includes, for example, a cylindrical first hard member 33 that covers the core member 31.
  • the first high bending rigidity portion 41 further has a portion of the core member 31 covered with the first hard member 33. That is, the first high bending rigidity portion 41 includes the first hard member 33 and one portion of the core member 31 around the first hard member 33.
  • the first low bending rigidity portion 43 has a portion of the core member 31 that is not covered by the first hard member 33. In other words, the first low bending rigidity portion 43 has one portion of the core member 31 in the first space 35.
  • the first high bending rigidity portion 41 and the first low bending rigidity portion 43 are disposed on the core member 31, and the core member 31 includes the first high bending rigidity portion 41 and the first low bending rigidity portion 43. To be shared.
  • the outer peripheral surface of the first hard member 33 is exposed to the outside of the first longitudinal member 30.
  • the outer peripheral surface of the core member 31 is exposed to the outside of the first longitudinal member 30.
  • the core member 31 is exposed to the outside from the first hard member 33 and protrudes to the outside with respect to the first hard member 33.
  • the core member 31 is a cylindrical soft part having a low bending rigidity
  • the first hard member 33 is a cylindrical hard part having a high bending rigidity.
  • the bending rigidity of the core member 31 may be substantially the same as the bending rigidity of the first hard member 33. Therefore, the bending rigidity of the first high bending rigidity portion 41 including only the core member 31 is high, and the bending rigidity of the first high bending rigidity portion 41 including only the core member 31 is high. Lower.
  • the first longitudinal member 30 is relatively difficult to bend at the first high bending rigidity portion 41 and is relatively easy to bend at the first low bending rigidity portion 43.
  • the first high bending rigidity portion 41 and the first low bending rigidity portion 43 are arranged along the longitudinal axis direction of the first longitudinal member 30.
  • the first hard members 33 and the first spaces 35 are alternately arranged. With this arrangement, the plurality of first high bending rigidity portions 41 and the plurality of first low bending rigidity portions 43 are alternately arranged in the longitudinal direction of the first longitudinal member 30. If the first high bending rigidity portions 41 and the first low bending rigidity portions 43 are alternately arranged, the number of the first high bending rigidity portions 41 and the number of the first low bending rigidity portions 43 are as follows. There is no particular limitation. Depending on the length of the first hard member 33 and the length of the first space 35, the length of the first high bending rigidity portion 41 is longer than the length of the first low bending rigidity portion 43, or the first The length of the low bending rigidity portion 43 is substantially the same.
  • the core member 31 is disposed, for example, to perform the positioning of the first hard member 33 and the definition of the interval between the first hard members 33 (the length of the first space 35).
  • the core member 31 includes, for example, the positioning of the first high bending rigidity portion 41 and the first low bending rigidity portion 43, and the lengths of the first high bending rigidity portion 41 and the first low bending rigidity portion 43, respectively.
  • Arranged to implement the provisions of The core member 31 is arranged for assembling the first longitudinal member 30.
  • the first high bending rigidity portion 41 (first hard member 33) is disposed at each of both end portions of the first longitudinal member 30, but the arrangement is not necessarily limited to this.
  • the first low bending rigidity portion 43 may be disposed at each of both end portions, the first high bending rigidity portion 41 (first hard member 33) is disposed at one end portion, and the first low bending rigidity portion 41 is disposed at the other end portion.
  • the low bending rigidity part 43 may be arrange
  • the second longitudinal member 50 is disposed inside the core member 31.
  • the outer peripheral surface of the second longitudinal member 50 (soft member 51 described later) is not in contact with the inner peripheral surface of the core member 31, and a space is formed between the core member 31 and the second longitudinal member 50.
  • the outer peripheral surface may be in contact with the inner peripheral surface.
  • the second longitudinal member 50 includes a soft member 51 and at least one second hard member 53.
  • the soft member 51 is inserted into the core member 31 and has a cylindrical shape.
  • the second hard member 53 is disposed inside the soft member 51.
  • the soft member 51 inserted into the core member 31 is covered with the core member 31 over the entire length of the soft member 51.
  • the length of the soft member 51 is shorter than the length of the core member 31.
  • the length of the soft member 51 may be substantially the same as the length of the core member 31.
  • the soft member 51 is arranged over the entire length of the stiffness variable device 20.
  • a second hard member 53 is inserted into the soft member 51, and the soft member 51 is disposed outside the second hard member 53.
  • the soft member 51 functions as a protective member that protects the outer peripheral surface of the second hard member 53 against the inner peripheral surface of the core member 31.
  • the soft member 51 is an interposed member that is interposed between the core member 31 and the second hard member 53 and prevents the second hard member 53 from coming into direct contact with the core member 31.
  • the soft member 51 is a cylindrical support member that supports the second hard member 53.
  • the soft member 51 may have a metal member, for example. As shown in FIG. 2A, the soft member 51 may have, for example, a stranded wire in which a plurality of metal strands are twisted with respect to each other. As shown in FIG. 2B, the soft member 51 may have, for example, a contact coil. The soft member 51 may have a loosely wound coil. The soft member 51 may have a resin material. The soft member 51 is a hollow member, for example, a cylindrical shape.
  • the second hard member 53 may be a solid member or a hollow member.
  • the second hard member 53 may be a metal material or a resin material.
  • the second hard member 53 is a separate body from the soft member 51.
  • the second hard member 53 is shorter than the soft member 51.
  • the inner peripheral surface of the soft member 51 is fixed to the outer peripheral surface of the second hard member 53 by, for example, adhesion or welding. Then, the second hard member 53 is positioned on the soft member 51 such that the second hard member 53 is disposed inside the soft member 51.
  • the second hard members 53 are not in direct mechanical contact with each other in the longitudinal axis direction of the second longitudinal member 50, and are disposed at a desired distance from each other. In other words, the second hard member 53 is partially disposed inside the soft member 51 along the entire length of the soft member 51. That is, one second hard member 53 is not disposed inside the soft member 51 over the entire length of the soft member 51, but one second hard member 53 is the soft member 51 along the entire length of the soft member 51. It is arranged in one part.
  • the second space 55 is disposed between the second hard members 53 in the longitudinal axis direction of the second longitudinal member 50.
  • two second spaces 55 are arranged.
  • No member is arranged in the second space 55.
  • the length of the second hard member 53 is different from the length of the second space 55, for example, longer than the length of the second space 55.
  • the length of the second hard member 53 may be substantially the same as the length of the second space 55.
  • the 2nd space 55 shows the site
  • the longitudinal direction of the second longitudinal member 50 is the left-right direction in FIG. 1A and is the same direction as the longitudinal axis direction of the first longitudinal member 30.
  • the second hard member 53 and the second space 55 are alternately arranged inside the soft member 51 in the longitudinal axis direction of the second longitudinal member 50. As long as the second hard members 53 and the second spaces 55 are alternately arranged, the number of the second hard members 53 and the number of the second spaces 55 are not particularly limited. Further, it is sufficient that at least one second hard member 53 and at least one second space 55 are arranged.
  • the second longitudinal member 50 has at least one second high bending rigidity portion 61 having relatively high bending rigidity and at least one second low bending rigidity portion 63 having relatively low bending rigidity. That is, the bending rigidity of the second high bending rigidity portion 61 is high, and the bending rigidity of the second low bending rigidity portion 63 is lower than the bending rigidity of the second high bending rigidity portion 61.
  • the second longitudinal member 50 includes three second high bending rigidity portions 61 and two second low bending rigidity portions 63.
  • the second high bending rigidity portion 61 includes, for example, a second hard member 53 disposed inside the soft member 51.
  • the second high bending rigidity portion 61 further includes a portion of the soft member 51 that covers the second hard member 53. That is, the second high bending rigidity portion 61 includes the second hard member 53 and one portion of the soft member 51 around the second hard member 53.
  • the second low bending rigidity portion 63 has a portion of the soft member 51 that covers the space portion of the soft member 51 in which the second hard member 53 is not disposed inside the soft member 51. In other words, the second low bending rigidity portion 63 has one portion of the soft member 51 in the second space 55.
  • the second high bending rigidity portion 61 and the second low bending rigidity portion 63 are disposed on the soft member 51, and the soft member 51 includes the second high bending rigidity portion 61 and the second low bending rigidity portion 63. To be shared.
  • the soft member 51 is a cylindrical soft part having a low bending rigidity
  • the second hard member 53 is a hard part having a high bending rigidity.
  • the bending rigidity of the soft member 51 may be substantially the same as the bending rigidity of the second hard member 53. Accordingly, the second high bending rigidity portion 61 including a part of the soft member 51 and the second hard member 53 has a high bending rigidity, and the bending rigidity of the second low bending rigidity portion 63 including only the soft member 51 is Lower.
  • the second longitudinal member 50 is relatively difficult to bend at the second high bending rigidity portion 61 and is relatively easy to bend at the second low bending rigidity portion 63.
  • the second high bending stiffness portion 61 and the second low bending stiffness portion 63 are arranged along the longitudinal axis direction of the second longitudinal member 50.
  • the second hard members 53 and the second spaces 55 are alternately arranged.
  • the plurality of second high bending rigidity portions 61 and the plurality of second low bending rigidity portions 63 are alternately arranged in the longitudinal axis direction of the second longitudinal member 50. If the second high bending rigidity portions 61 and the second low bending rigidity portions 63 are alternately arranged, the number of the second high bending rigidity portions 61 and the number of the second low bending rigidity portions 63 are as follows. There is no particular limitation.
  • the length of the second high bending rigidity portion 61 is longer than the length of the second low bending rigidity portion 63, or the second This is substantially the same as the length of the low bending rigidity portion 63.
  • the soft member 51 is disposed, for example, to perform positioning of the second hard member 53 and regulation of the interval between the second hard members 53 (the length of the second space 55).
  • the soft member 51 includes, for example, the positioning of the second high bending rigidity portion 61 and the second low bending rigidity portion 63, and the length of each of the second high bending rigidity portion 61 and the second low bending rigidity portion 63.
  • Arranged to implement the provisions of The soft member 51 is arranged for the assembly of the second longitudinal member 50.
  • the second high bending rigidity portion 61 (second hard member 53) is disposed at each of both end portions of the second longitudinal member 50, but the arrangement is not necessarily limited to this.
  • a second low bending rigidity portion 63 may be disposed at each of both ends, a second high bending rigidity portion 61 may be disposed at one end, and a second low bending rigidity portion 63 may be disposed at the other end. May be.
  • the length of the second hard member 53 is longer than the length of the first space 35. Therefore, the length of the second high bending rigidity portion 61 is longer than the length of the first low bending rigidity portion 43.
  • the bending rigidity of the second hard member 53 is substantially the same as the bending rigidity of the first hard member 33. Therefore, the bending rigidity of the second high bending rigidity portion 61 is substantially the same as the bending rigidity of the first high bending rigidity portion 41.
  • the bending rigidity of the second hard member 53 may be higher or lower than the bending of the first hard member 33. Therefore, the bending rigidity of the second high bending rigidity portion 61 may be higher or lower than the bending rigidity of the first high bending rigidity portion 41.
  • the bending rigidity of the soft member 51 is substantially the same as the bending rigidity of the core member 31. Therefore, the bending rigidity of the second low bending rigidity portion 63 is substantially the same as the bending rigidity of the first low bending rigidity portion 43.
  • the bending rigidity of the core member 31 and the bending rigidity of the soft member 51 are lower than the bending rigidity of the first hard member 33 and the bending rigidity of the second hard member 53, the bending rigidity of the soft member 51 is the core member. It may be higher or lower than the flexural rigidity of 31.
  • the bending rigidity of the first low bending rigidity portion 43 and the bending rigidity of the second low bending rigidity portion 63 are the bending rigidity of the first high bending rigidity portion 41 and the bending rigidity of the second high bending rigidity portion 61, respectively. If lower than each, the bending rigidity of the second low bending rigidity portion 63 may be higher or lower than the bending rigidity of the first low bending rigidity portion 43.
  • the stiffness variable device 20 includes a moving mechanism 80 that moves the second longitudinal member 50 relative to the first longitudinal member 30.
  • the second longitudinal member 50 is movable along the first longitudinal member 30 by the moving mechanism 80.
  • the outer peripheral surface of the soft member 51 slides on the inner peripheral surface of the core member 31.
  • the moving mechanism 80 moves the second longitudinal member 50 by pulling or pressing the second longitudinal member 50.
  • the soft member 51 is pulled or pressed.
  • the second longitudinal member 50 moves, the second hard member 53, the second high bending rigidity portion 61, and the second low bending rigidity portion 63 also move.
  • the moving mechanism 80 is electrically connected to the control device 90, and the movement is controlled by the control device 90.
  • the moving mechanism 80 includes, for example, a motor (not shown) and a moving member (not shown) that is connected to one end of the second longitudinal member 50 and moves the second longitudinal member 50 by the rotational force of the motor.
  • the motor may be disposed in the operation unit 103 (see FIG. 1C) connected to a base end portion of an insertion unit (described later) that functions as the flexible member 101.
  • the motor may be driven by an operation such as turning on or off the switch 103a in the operation unit 103.
  • the moving member is directly connected to one end of the soft member 51 and pulls or presses the second longitudinal member 50 by a rotational force.
  • the moving member is disposed from the position where the motor is disposed to one end of the soft member 51.
  • the moving member is disposed inside the operation unit 103 and the flexible member 101.
  • the moving member is, for example, a wire-shaped member.
  • the motor may be omitted as the moving mechanism 80, and the second longitudinal member 50 may be moved manually.
  • the moving mechanism 80 may have an operation dial 103b instead of the motor.
  • the operation dial 103b is disposed on the operation unit 103 and connected to the moving member.
  • the operation dial 103b is operated by a finger of a hand holding the operation unit 103, and rotates around the central axis of the operation dial 103b by the operation.
  • the operation dial 103b is switched to an ON position or an OFF position by rotation. In response to this switching, the moving member is pulled or pressed. Thereby, the 2nd longitudinal member 50 moves.
  • a lever (not shown) may be used in place of the operation dial 103b.
  • the control device 90 is configured by a hardware circuit including, for example, an ASIC.
  • the control device 90 may be configured by a processor.
  • program code for causing the processor to function as the control device 90 by being executed by the processor in an internal memory of the processor or an external memory (not shown) arranged to be accessible by the processor.
  • the control device 90 may be disposed in the operation unit 103.
  • the control device 90 controls the pulling, pressing, and stopping of the moving mechanism 80 in conjunction with the operation of the switch 103a.
  • the stiffness varying device 20 is configured to provide a first stiffness to the flexible member 101 based on the position of the second longitudinal member 50 relative to the first longitudinal member 30 by the movement of the second longitudinal member 50. And the second state in which the second rigidity higher than the first rigidity is provided to the flexible member 101.
  • the second high bending rigidity portion 61 is disposed around the first high bending rigidity portion 41, and the second low bending rigidity portion 63 is the first low bending rigidity portion 43. Arranged around.
  • the periphery of the first high bending rigidity portion 41 in the first state indicates a position where the second high bending rigidity portion 61 is adjacent to the first high bending rigidity portion 41. Specifically, the periphery indicates a position where the second high bending rigidity portion 61 overlaps the first high bending rigidity portion 41 over the entire length of the second high bending rigidity portion 61.
  • the second high bending rigidity portion 61 is covered with the first high bending rigidity portion 41 and accommodated in the first high bending rigidity portion 41.
  • the periphery of the first low bending rigidity portion 43 in the first state indicates a position where the second low bending rigidity portion 63 is adjacent to the first low bending rigidity portion 43. Specifically, the periphery indicates a position where the first low bending rigidity portion 43 overlaps the second low bending rigidity portion 63 over the entire length of the first low bending rigidity portion 43. That is, most of the second low bending rigidity portion 63 is covered with the first low bending rigidity portion 43 and accommodated in the first low bending rigidity portion 43.
  • the second high bending rigidity portion 61 is disposed inside the first high bending rigidity portion 41, and the first low bending rigidity portion 43 is around the second low bending rigidity portion 63. Placed in.
  • the first high bending rigidity portions 41 and the first low bending rigidity portions 43 are alternately arranged, and the second high bending rigidity portions 61 and the second low bending rigidity portions 63 are alternately arranged. Therefore, in the first state, the second low bending rigidity portion 63 accommodated in the first low bending rigidity portion 43 is adjacent to the second high bending rigidity portion 61 accommodated in the first high bending rigidity portion 41. Placed in. In the first state, since the soft first low-bending rigidity portion 43 overlaps the soft second low-bending rigidity portion 63, the first low-bending rigidity portion 43 is bent.
  • the first longitudinal member 30 and the second longitudinal member 50 are in a low-rigid state that can be easily deformed in accordance with an external force. Therefore, in the first state, the rigidity varying device 20 provides the flexible member 101 with a relatively low rigidity such that the flexible member 101 is easily bent. In the first state, the first longitudinal member 30, the second longitudinal member 50, and the flexible member 101 can be easily bent by an external force, for example.
  • the second high bending rigidity portion 61 is disposed around the first low bending rigidity portion 43, and the second low bending rigidity portion 63 is the first high bending rigidity portion 41. Arranged around.
  • the periphery of the first low bending rigidity portion 43 in the second state indicates a position where the first low bending rigidity portion 43 is adjacent to the second high bending rigidity portion 61. Specifically, the periphery indicates a position where the first low bending rigidity portion 43 overlaps the second high bending rigidity portion 61 over the entire length of the first low bending rigidity portion 43.
  • the first low bending rigidity portion 43 covers most of the second high bending rigidity portion 61 and accommodates most of the second high bending rigidity portion 61.
  • the periphery of the first high bending rigidity portion 41 in the second state indicates a position where the second low bending rigidity portion 63 is adjacent to the first high bending rigidity portion 41. Specifically, the periphery indicates a position where the second low bending rigidity portion 63 overlaps the first high bending rigidity portion 41 over the entire length of the second low bending rigidity portion 63. That is, the second low bending rigidity portion 63 is covered with the first high bending rigidity portion 41 and is accommodated in the first high bending rigidity portion 41. As described above, in the second state, the second low bending rigidity portion 63 is disposed inside the first high bending rigidity portion 41, and the first low bending rigidity portion 43 is around the second high bending rigidity portion 61. Placed in.
  • the first high bending rigidity portions 41 and the first low bending rigidity portions 43 are alternately arranged, and the second high bending rigidity portions 61 and the second low bending rigidity portions 63 are alternately arranged. Therefore, in the second state, the second high bending rigidity portion 61 accommodated in the first low bending rigidity portion 43 is adjacent to the second low bending rigidity portion 63 accommodated in the first high bending rigidity portion 41. Placed in. In the second state, since the soft first low-bending rigidity portion 43 overlaps the hard second high-bending rigidity portion 61, the first low-bending rigidity portion 43 is difficult to bend.
  • the first longitudinal member 30 and the second longitudinal member 50 are in a high rigidity state having higher rigidity than in the low rigidity state. Therefore, in the second state, the rigidity variable device 20 takes a high rigidity state in which the flexible member 101 tends to have a shape that is difficult to bend against an external force, so that the flexible member 101 is relatively difficult to bend. High rigidity is provided to the flexible member 101.
  • the shape that is not easily bent may be, for example, a straight line.
  • the first longitudinal member 30, the second longitudinal member 50, and the flexible member 101 can maintain a substantially straight state, for example, or bend more slowly than the first state by an external force. Can be removed.
  • the external force means a force capable of deforming the first longitudinal member 30 and the second longitudinal member 50, and gravity is also considered as a part of the external force.
  • 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 restriction of the second longitudinal member 50 and the moving member.
  • the first longitudinal member 30, the second longitudinal member 50, and the moving member are 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 first longitudinal member 30, the second longitudinal member 50, and the moving member. Therefore, even if slight deformation of one of the first longitudinal member 30 and the second longitudinal member 50 and the flexible member 101 is slight, an external force can be applied by contacting the other.
  • the flexible member 101 only needs to have a slightly larger space than the first longitudinal member 30, the second longitudinal member 50, and the moving member.
  • the flexible member 101 has an outer diameter that is slightly larger than the outer diameter of the rigidity variable device 20, in particular, the outer diameter of the first hard member 33, and can be bent when an external force is applied. It is a tube.
  • the 1st longitudinal member 30, the 2nd longitudinal member 50, and a moving member may be arrange
  • the first longitudinal member 30 is positioned and fixed relative to the flexible member 101, and the second longitudinal member 50 is movable relative to the first longitudinal member 30 and the flexible member 101. It is.
  • the flexible member 101 may be an insertion part of the endoscope 100, for example.
  • the endoscope 100 may be medical or industrial. Therefore, as shown in FIG.
  • 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 stiffnesses to the flexible member 101.
  • the flexible member 101 is an example of a small precision device on which the stiffness variable device 20 is mounted. Examples of the small precision instrument include an elongated member such as a manipulator and a catheter in addition to the insertion portion.
  • the motor of the moving mechanism 80 and the control device 90 may be arranged in the endoscope 100 or may be arranged 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 a first state which is an initial state.
  • the moving mechanism 80 is not driven, and the first longitudinal member 30 and the second longitudinal member 50 are in a low rigidity state over the entire length.
  • the control device 90 controls the moving mechanism 80 so that the position state is switched from the first state to the second state.
  • the moving mechanism 80 moves the second longitudinal member 50 with respect to the first longitudinal member 30, and the position state is switched from the first state to the second state.
  • the first low bending rigidity portion 43 overlaps the second high bending rigidity portion 61 over the entire length of the first low bending rigidity portion 43
  • the second low bending rigidity portion 63 is the second low bending rigidity portion 63.
  • the first high bending rigidity portion 41 overlaps the entire length of the low bending rigidity portion 63.
  • the stiffness variable device 20 takes a high stiffness state at the first low bending stiffness portion 43. That is, the rigidity of the rigidity variable device 20 partially increases in the longitudinal axis direction of the rigidity variable device 20.
  • the first space 35 (first low bending rigidity portion 43) is positioned and fixed relative to the desired area of the flexible member 101. Therefore, by overlapping the second high bending rigidity portion 61 with the first low bending rigidity portion 43, a desired area to which the first low bending rigidity portion 43 is fixed is provided with a relatively high rigidity. Increased area rigidity. That is, the rigidity of one part of the flexible member 101 where the first low bending rigidity portion 43 where the second high bending rigidity portion 61 overlaps is increased. In other words, the stiffness variable device 20 provides high rigidity only to one portion of the flexible member 101 in the entire length of the flexible member 101.
  • 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, a part of the total length of the flexible member 101 is switched from the low rigidity state to the high rigidity state.
  • the stiffness varying device 20 changes the stiffness state of the stiffness varying device 20 around the first low bending stiffness portion 43, and changes the desired area stiffness of the flexible member 101 by this change.
  • two first low bending rigidity portions 43 are arranged. Therefore, the number of partial places and the number of areas are two. The number of one part and the number of areas correspond to the first low bending rigidity portion 43.
  • One part of the flexible member 101 in a highly rigid state opposes an external force acting on the flexible member 101, that is, a force that can deform the second high bending rigidity portion 61. Therefore, one part of the flexible member 101 in a highly rigid state maintains a substantially straight state.
  • first high bending stiffness portions 41 and the second high bending stiffness portions 61 are alternately and continuously arranged in the longitudinal axis direction of the stiffness variable device 20.
  • the rigidity variable device 20 is in a highly rigid state over the entire length, and provides high rigidity over the entire length of the flexible member 101.
  • the flexible member 101 maintains a substantially straight state over the full length.
  • the first low bending rigidity portion 43 is sandwiched between the two first high bending rigidity portions 41 in the longitudinal axis direction of the first longitudinal member 30.
  • the first low bending rigidity portion 43 is rigid when one first high bending rigidity portion 41 is bent with respect to the other first high bending rigidity portion 41. It functions as the joint portion 71 of the variable device 20.
  • illustration of the moving mechanism 80 and the control device 90 is omitted for clarity of illustration.
  • FIG. 3A shows an initial state (first state), and the joint portion 71 is in a low rigidity state. Therefore, the joint portion 71 is easily bent by an external force.
  • FIG. 3A shows an initial state (first state)
  • the joint portion 71 when the first low bending rigidity portion 43 overlaps the second high bending rigidity portion 61, the joint portion 71 also switches from the low rigidity state to the high rigidity state. Therefore, when the joint portion 71 is in a high rigidity state, the one first high bending rigidity portion 41 is bent with respect to the other first high bending rigidity portion 41 as compared to the joint portion 71 in a low rigidity state. It becomes difficult to maintain a substantially straight state. That is, the stiffness variable device 20 and the flexible member 101 are less likely to bend and maintain a substantially straight state.
  • control device 90 controls the moving mechanism 80 so that the position state is switched from the second state to the first state.
  • the moving mechanism 80 moves the second longitudinal member 50 relative to the first longitudinal member 30, and the position state is switched from the second state to the first state.
  • the second high bending rigidity portion 61 overlaps the first high bending rigidity portion 41 over the entire length of the second high bending rigidity portion 61
  • the first low bending rigidity portion 43 is the first low bending rigidity portion 43. It overlaps with the second low bending rigidity portion 63 over the entire length of the low bending rigidity portion 43.
  • the stiffness variable device 20 takes a low stiffness state at the first low bending stiffness portion 43. That is, the rigidity of the rigidity variable device 20 is partially reduced in the longitudinal axis direction of the rigidity variable device 20.
  • the first space 35 (first low bending rigidity portion 43) is positioned and fixed relative to the desired area of the flexible member 101. Therefore, by overlapping the second low bending rigidity portion 63 with the first low bending rigidity portion 43, a desired area to which the first low bending rigidity portion 43 is fixed is provided with a relatively low rigidity. Area stiffness is reduced. That is, the rigidity of one part of the flexible member 101 in which the first low-bending rigidity portion 43 where the second low-bending rigidity portion 63 overlaps is reduced. In other words, the rigidity varying device 20 provides low rigidity only to one portion of the flexible member 101 in the entire length of the flexible member 101.
  • the flexible member 101 does not switch from the high rigidity state to the low rigidity state over the entire length of the flexible member 101, but partially switches from the high rigidity state to the low rigidity state. In other words, a part of the total length of the flexible member 101 is switched from the high rigidity state to the low rigidity state.
  • the stiffness varying device 20 changes the stiffness state of the stiffness varying device 20 around the first low bending stiffness portion 43, and changes the desired area stiffness of the flexible member 101 by this change.
  • the joint portion 71 is easier to bend with respect to the other first high bending rigidity portion 41 when the joint portion 71 is in the low rigidity state than in the high rigidity state. . That is, the rigidity variable device 20 and the flexible member 101 are easily bent.
  • the position state is switched between the first state and the second state by the moving mechanism 80, whereby the rigidity of the desired area in the flexible member 101 is switched.
  • the second longitudinal member 50 moves relative to the first longitudinal member 30, and the rigidity of one part of the stiffness varying device 20 in the longitudinal axis direction of the stiffness varying device 20 changes due to the movement. Specifically, the rigidity of one portion of the stiffness varying device 20 around the first low bending rigidity portion 43 is changed by the second high bending rigidity portion 61 and the second low bending rigidity portion 63. In the present embodiment, the rigidity of a desired area in the flexible member 101 can be changed by changing the rigidity of the partial position, and the rigidity state of the flexible member 101 can be partially changed.
  • the combination of the 1st longitudinal member 30 and the 2nd longitudinal member 50, the core member 31, the 1st hard member 33, the 1st high bending rigidity part 41, and the 1st low bending rigidity is simplified and thinned by the arrangement of the portion 43, the soft member 51, the second hard member 53, the second high bending rigidity portion 61, and the second low bending rigidity portion 63.
  • the flexible member 101 can be made thin. As described above, in the present embodiment, it is possible to provide the variable stiffness device 20 that can easily adopt a configuration in which the flexible member 101 is not easily thickened.
  • the second longitudinal member 50 is moved relative to the first longitudinal member 30 by the moving mechanism 80. Therefore, in the present embodiment, the position state can be quickly switched between the first state and the second state, and the responsiveness of switching with respect to the rigid state of the flexible member 101 can be improved.
  • the stiffness variable device 20 changes the stiffness of a desired area in the flexible member 101 using, for example, a shape memory member having a shape memory alloy, unlike the present embodiment.
  • the stiffness variable device 20 generates a plurality of unillustrated wiring portions that supply current, and a plurality of unillustrated inductions that receive the current supplied from the wiring portions to generate heat and transmit the generated heat to the shape memory member.
  • a wiring part is arrange
  • the phase of the shape memory member can be changed from the first phase to the second phase by heat transferred from the induction member.
  • the shape memory member phase When the shape memory member phase is in the first phase, the shape memory member is in a low stiffness state, and when the shape memory member phase is in the second phase, the shape memory member has a higher stiffness than the low stiffness state. Take high rigidity state.
  • the rigidity variable device 20 provides the flexible member 101 with low rigidity by the shape memory member in the low rigidity state, and provides high rigidity to the flexible member 101 by the shape memory member in the high rigidity state. Thereby, the rigidity variable apparatus 20 changes the rigidity of the desired area in the flexible member 101.
  • the heated shape memory member in the high rigidity state returns to the low rigidity state by natural cooling.
  • the state in which the shape memory member in the highly rigid state is naturally cooled to provide the flexible member 101 with relatively low rigidity is referred to as a naturally provided state.
  • the rigidity varying device 20 can provide the flexible member 101 with relatively low rigidity by moving the second longitudinal member 50 earlier than in the naturally provided state. 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.
  • the wiring portion is arranged on each induction member, the arrangement of the wiring portion becomes complicated, the configuration of the stiffness variable device 20 becomes complicated, and the flexible member 101 may become thick.
  • the arrangement of the second high bending stiffness portion 61 and the second low bending stiffness portion 63 can make the configuration of the stiffness variable device 20 simple and thin, and make the flexible member 101 thin. Can be made possible.
  • the soft member 51 is shared by the second high bending rigidity portion 61 and the second low bending rigidity portion 63. For this reason, in this embodiment, the number of parts of the second longitudinal member 50 can be reduced, the configuration of the variable stiffness device 20 can be made simple and thin, and the flexible member 101 can be made thin. .
  • the cylindrical soft member 51 can prevent wear of the core member 31 and the second hard member 53 caused by movement.
  • the soft member 51 when the soft member 51 has a stranded wire, the mechanical strength of the soft member 51 is improved. Thereby, even if the moving mechanism 80 pulls or presses the second longitudinal member 50, it is possible to prevent the soft member 51 from being damaged due to the pulling or pressing.
  • the soft member 51 when the soft member 51 has a contact coil, the bending rigidity of the soft member 51 is lowered. Thereby, low rigidity can be provided to the flexible member 101.
  • by adjusting the density of the metal strands in the stranded wire, the diameter of the metal strands, the number of windings of the close-contact coil, the diameter of the close-contact coil strands, and the elasticity of the close-contact coil flexibility is achieved. The rigidity provided to the elastic member 101 can be adjusted.
  • the second hard member 53 can be easily positioned by the soft member 51, and the length of the second space 55 can be easily defined.
  • the second high bending stiffness portion 61 and the second low bending stiffness portion 63 can be easily positioned by the soft member 51, and the second high bending stiffness portion 61 and the second low bending stiffness portion 63 can be positioned.
  • Each length of 63 can be easily defined.
  • the mechanical strength of the second longitudinal member 50 can be improved by the soft member 51.
  • the soft member 51 is omitted, a thin connecting member is disposed in the second space 55, and the second hard member 53 is, for example, a solid large-diameter portion. It is assumed that the end of the connecting member is fixed to the second hard member 53 adjacent to the end. Assume that the position state is switched from the first state to the second state while the flexible member 101 is curved, and the second longitudinal member 50 moves relative to the first longitudinal member 30. At this time, the pulling force of the moving mechanism 80 that pulls the second longitudinal member 50 may be increased depending on the connection between the connecting member and the second hard member 53 and the curved state.
  • connection part of a connection member and the 2nd hard member 53 may fracture
  • the connecting member is integral with the second hard member 53, the strength of the connecting portion may be insufficient, and the second longitudinal member 50 may be easily broken.
  • the connecting member is a thin wire and the second hard member 53 is a metal pipe, the assembly of the second longitudinal member 50 such as the connection between the connecting member and the second hard member 53 is not easy. There is.
  • the soft member 51 is disposed, the second hard member 53 is disposed at a desired distance from each other inside the soft member 51, and the second space 55 is disposed.
  • the second longitudinal member 50 can be easily broken.
  • the second longitudinal member 50 can be easily assembled. In the present embodiment, since no member is disposed in the second space 55, the number of parts of the second longitudinal member 50 can be reduced.
  • the core member 31 is shared by the first high bending rigidity portion 41 and the first low bending rigidity portion 43. For this reason, in this embodiment, the number of parts of the first longitudinal member 30 can be reduced, the configuration of the variable stiffness device 20 can be simplified and thinned, and the flexible member 101 can be thinned. .
  • the first hard member 33 can be easily positioned by the core member 31, and the length of the first space 35 can be easily defined.
  • the first high bending rigidity portion 41 and the first low bending rigidity portion 43 can be easily positioned by the core member 31, and the first high bending rigidity portion 41 and the first low bending rigidity portion 43 can be positioned.
  • the length of each of 43 can be easily defined.
  • the first longitudinal member 30 can be easily assembled by the core member 31.
  • the core member 31 can improve the mechanical strength of the first longitudinal member 30.
  • 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. Further, in the situation where an external force other than gravity is not applied to the flexible member 101 and the rigidity variable device 20 is in the second state, the flexible member 101 is a unidirectional actuator that returns the shape of the flexible member 101 to its original shape. Also works.
  • various members are arranged inside the flexible member 101 and outside the first longitudinal member 30.
  • the member is a light guide member (not shown) such as an optical fiber.
  • the light guide member guides the illumination light to the distal end portion of the flexible member 101 in order to emit illumination light from the distal end portion of the flexible member 101 toward the outside of the endoscope 100.
  • the second longitudinal member 50 moves, and the first longitudinal member 30 is disposed between the second longitudinal member 50 and a light guide member (not shown). Therefore, the first longitudinal member 30 can prevent the wear of the second longitudinal member 50 and the light guide member caused by the movement of the second longitudinal member 50.
  • the first longitudinal member 30 is positioned and fixed relative to the flexible member 101, and the second longitudinal member 50 is moved by the moving mechanism 80.
  • the present invention is not limited to this.
  • One of the first longitudinal member 30 and the second longitudinal member 50 may be moved by the moving mechanism 80.
  • the second elongate member 50 has an inner soft member 57 disposed inside the soft member 51.
  • the inner soft member 57 is disposed in each of the second spaces 55.
  • two inner soft members 57 are arranged.
  • the second hard member 53 and the inner soft member 57 are alternately arranged inside the soft member 51 in the longitudinal axis direction of the second longitudinal member 50. Therefore, the inner soft member 57 is disposed between the two second hard members 53.
  • the end portion of the inner soft member 57 contacts the second hard member 53 adjacent to the end portion.
  • the end portion of the inner soft member 57 may be fixed to the second hard member 53 adjacent to the end portion by, for example, adhesion or welding.
  • the outer peripheral surface of the inner soft member 57 is in contact with the inner peripheral surface of the soft member 51.
  • the outer peripheral surface of the inner soft member 57 may be separated from the soft member 51.
  • the inner soft member 57 is positioned on the soft member 51 such that the inner soft member 57 is disposed inside the soft member 51.
  • the inner soft member 57 is arranged to define the distance between the second hard members 53 (second high bending rigidity portions 61), in other words, the length of the second low bending rigidity portion 63.
  • the inner soft member 57 disposed between the second hard members 53 is disposed for positioning the second hard member 53.
  • the inner soft member 57 has, for example, a spring member.
  • the spring member has, for example, a tightly wound spring.
  • the spring member may have a loosely wound spring, for example.
  • the inner soft member 57 may include, for example, a linear member such as a thin wire and an elastic member such as rubber.
  • the outer diameter of the winding of the inner soft member 57 is substantially the same as the outer diameter of the second hard member 53.
  • the second low bending rigidity portion 63 further includes an inner soft member 57 covered with one portion of the soft member 51.
  • the second soft member 53 (second high bending rigidity portion 61) can be easily positioned by the inner soft member 57, and the second longitudinal member 50 can be easily assembled.
  • the present invention is not limited to the above-described embodiment, and various modifications can be made without departing from the scope of the invention in the implementation stage.
  • the embodiments may be appropriately combined as much as possible, and in that case, the combined effect can be obtained.
  • the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements.

Abstract

剛性可変装置（２０）は、第１の長手部材（３０）と第２の長手部材（５０）とを有する。第１の長手部材（３０）は、少なくとも１つの第１の高曲げ剛性部（４１）と少なくとも１つの第１の低曲げ剛性部（４３）とを有する。第２の長手部材（５０）は、少なくとも１つの第２の高曲げ剛性部（６１）と少なくとも１つの第２の低曲げ剛性部（６３）と軟質部材（５１）とを有する。第１の長手部材（３０）と第２の長手部材（５０）との相対位置が変化することで、剛性可変装置（２０）の長手軸方向における剛性可変装置（２０）の一部位の剛性が変化する。

Description

剛性可変装置と内視鏡
　本発明は、可撓性部材に異なる剛性を提供する剛性可変装置と剛性可変装置を有する内視鏡とに関する。
　例えば、国際公開第２０１６／１７４７４１号は、可撓性部材の硬度を変更するための硬度可変アクチュエータを開示している。硬度可変アクチュエータは、可撓性部材に装着され、可撓性部材に異なる硬度を提供し、シンプルで耐久性を有する。硬度可変アクチュエータは、電流を供給する複数の配線部と、配線部から供給された電流を受けて熱を発生する複数の誘起部材と、誘起部材から熱を伝えられる形状記憶部材とを有する。配線部は誘起部材それぞれに接続され、誘起部材同士は離れて配置される。形状記憶部材の相は、誘起部材から供給される熱によって、第１の相から第２の相に移り変わり得る。形状記憶部材の相が第１の相にあるときは形状記憶部材は低剛性状態を取り、形状記憶部材の相が第２の相にあるときは形状記憶部材は低剛性状態よりも高い剛性を有する高剛性状態を取る。硬度可変アクチュエータは、低剛性状態の形状記憶部材によって低い剛性を可撓性部材に提供し、高剛性状態の形状記憶部材によって高い剛性を可撓性部材に提供する。互いに離れて配置される誘起部材それぞれは、形状記憶部材の全長における形状記憶部材の一部に熱を伝える。このため、硬度可変アクチュエータは、可撓性部材における所望するエリアの剛性を変更する、つまり可撓性部材の剛性を部分的に変更する。
　国際公開第２０１６／１７４７４１号に開示される硬度可変アクチュエータでは、配線部が誘起部材それぞれに接続されるため、硬度可変アクチュエータが太くなることがある。すると硬度可変アクチュエータが配置される可撓性部材も太くなることがある。
　本発明は、これらの事情に鑑みてなされたものであり、可撓性部材が太くなりにくい構成を採用しやすい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し、第１の長手部材と、前記第１の長手部材に沿って移動可能な第２の長手部材と、を有し、前記第１の長手部材は、少なくとも１つの第１の高曲げ剛性部と、前記第１の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つの第１の低曲げ剛性部とを有し、前記第２の長手部材は、少なくとも１つの第２の高曲げ剛性部と、前記第２の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つの第２の低曲げ剛性部と、前記第２の高曲げ剛性部と前記第２の低曲げ剛性部とが配置される軟質部材とを有し、前記第１の長手部材と前記第２の長手部材との相対位置が変化することで、前記剛性可変装置の長手軸方向における前記剛性可変装置の一部位の剛性が変化する。
　前記の目的を達成するために、本発明の内視鏡の一態様は、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上記に記載の剛性可変装置とを有する。
図１Ａは、本発明の一実施形態の剛性可変システムの概略図であり、剛性可変システムの剛性可変装置が第１状態にあることを示す図である。 図１Ｂは、図１Ａに示す剛性可変装置が第２状態に切り替わったことを示す図である。 図１Ｃは、剛性可変装置が組み込まれた内視鏡の斜視図である。 図２Ａは、剛性可変装置の軟質部材の一例を示す図である。 図２Ｂは、剛性可変装置の軟質部材の一例を示す図である。 図３Ａは、剛性可変装置の関節部が低剛性状態にあることを示す図である。 図３Ｂは、剛性可変装置の関節部が高剛性状態にあることを示す図である。 図４は、第２の長手部材の変形例を示す図である。
実施形態
　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。
　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９０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に沿って移動可能な第２の長手部材５０とを有する。第２の長手部材５０は、第１の長手部材３０と隣り合う。なお第２の長手部材５０は、第１の長手部材３０に隣接してもよい。例えば、第１の長手部材３０は外筒であり、第２の長手部材５０は第１の長手部材３０の内部に配置された芯部である。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、芯部の長手軸に垂直な芯部の断面の外周は環形状である。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剛性を提供する。外筒及び芯部それぞれの断面形状は、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、例えば、第１の長手部材３０は、可撓性部材１０１に対して相対的に位置決め固定される。例えば、第２の長手部材５０は、第１の長手部材３０と可撓性部材１０１とに対して移動可能である。
　第１の長手部材３０は、第２の長手部材５０が挿入される筒状の芯部材３１と、芯部材３１の外周に配置される少なくとも１つの筒状の第１の硬質部材３３とを有する。
　芯部材３１は、第２の長手部材５０の全長に渡って、第２の長手部材５０を覆う。例えば、芯部材３１の長さは、第２の長手部材５０の長さよりも長い。芯部材３１の長さは、第２の長手部材５０の長さと略同一でもよい。芯部材３１は、剛性可変装置２０の全長に渡って配置される。芯部材３１は、第１の硬質部材３３に挿入され、第１の硬質部材３３の内側に配置される。例えば、芯部材３１は、第１の硬質部材３３に対する芯として機能する。芯部材３１は、第１の硬質部材３３を支持する筒状の支持部材である。
　芯部材３１は、例えば、密着巻きコイルといった螺旋状のコイル部材を有する。芯部材３１のコイル部材は、疎巻きコイルでもよい。芯部材３１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。芯部材３１は、中空部材であり、例えば円筒状である。
　本実施形態では、３つの第１の硬質部材３３が配置されるものとする。第１の硬質部材３３は、中空部材であり、例えば円筒状である。第１の硬質部材３３は、例えば、金属製のパイプを有する。第１の硬質部材３３は、芯部材３１とは別体である。第１の硬質部材３３は、芯部材３１よりも短い。
　第１の硬質部材３３の内周面は、芯部材３１の外周面に、例えば接着または溶接などによって固定される。そして第１の硬質部材３３は、第１の硬質部材３３が芯部材３１を囲うように、芯部材３１に位置決めされる。第１の硬質部材３３同士は、第１の長手部材３０の長手軸方向において、互いに対して機械的に直接接触しておらず、互いに対して所望する間隔離れて配置されている。言い換えると、第１の硬質部材３３は、芯部材３１の全長において、芯部材３１を部分的に囲う。つまり、１つの第１の硬質部材３３が芯部材３１を芯部材３１の全長に渡って囲うのではなく、１つの第１の硬質部材３３が芯部材３１の全長における芯部材３１の一部位を囲う。したがって、第１の長手部材３０の長手軸方向において、第１の硬質部材３３同士の間には、第１のスペース３５が配置される。本実施形態では、２つの第１のスペース３５が配置されるものとする。この第１のスペース３５には、部材が配置されていない。第１の硬質部材３３の長さは、第１のスペース３５の長さと異なっており、例えば、第１のスペース３５の長さよりも長い。なお第１の硬質部材３３の長さは、第１のスペース３５の長さと略同一でもよい。第１のスペース３５において、芯部材３１の外周面は、第１の長手部材３０の外部に露出する。第１のスペース３５とは、芯部材３１の全長において、第１の硬質部材３３によって覆われていない芯部材３１の部位を示す。第１の長手部材３０は可撓性部材１０１に対して相対的に位置決め固定されるため、第１のスペース３５は可撓性部材１０１の所望するエリアに対して相対的に位置決め固定されることとなる。なお第１の長手部材３０の長手軸方向は、図１Ａの左右方向である。
　第１の硬質部材３３と第１のスペース３５とは、第１の長手部材３０の長手軸方向において、芯部材３１の外周面にて交互に配置される。第１の硬質部材３３と第１のスペース３５とが交互に配置されていれば、第１の硬質部材３３の数と第１のスペース３５の数とは特に限定されない。また第１の硬質部材３３と第１のスペース３５とは、それぞれ少なくとも１つ配置されていればよい。
　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つの第１の高曲げ剛性部４１と、相対的に曲げ剛性が低い少なくとも１つの第１の低曲げ剛性部４３とを有する。つまり第１の高曲げ剛性部４１の曲げ剛性は高く、第１の低曲げ剛性部４３の曲げ剛性は第１の高曲げ剛性部４１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、３つの第１の高曲げ剛性部４１と２つの第１の低曲げ剛性部４３とを有するものとする。
　第１の高曲げ剛性部４１は、例えば、芯部材３１を覆う筒状の第１の硬質部材３３を有する。第１の高曲げ剛性部４１は、第１の硬質部材３３によって覆われる芯部材３１の一部位をさらに有する。つまり、第１の高曲げ剛性部４１は、第１の硬質部材３３と、第１の硬質部材３３の周辺における芯部材３１の一部位とを有する。
　第１の低曲げ剛性部４３は、第１の硬質部材３３によって覆われていない芯部材３１の一部位を有する。言い換えると、第１の低曲げ剛性部４３は、第１のスペース３５における芯部材３１の一部位を有する。
　第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とは芯部材３１に配置されており、芯部材３１は第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とに共有される。
　第１の高曲げ剛性部４１では、第１の硬質部材３３の外周面が、第１の長手部材３０の外部に露出する。第１の低曲げ剛性部４３では、芯部材３１の外周面が、第１の長手部材３０の外部に露出する。第１の低曲げ剛性部４３では、芯部材３１は、第１の硬質部材３３から外部に露出しており、第１の硬質部材３３に対して外部に突出する。
　芯部材３１は低い曲げ剛性を有する筒状の軟質部であり、第１の硬質部材３３は高い曲げ剛性を有する筒状の硬質部である。なお芯部材３１の曲げ剛性は、第１の硬質部材３３の曲げ剛性と略同一でもよい。したがって、芯部材３１の一部と第１の硬質部材３３とを含む第１の高曲げ剛性部４１の曲げ剛性は高く、芯部材３１のみを含む第１の低曲げ剛性部４３の曲げ剛性は低くなる。そして、第１の長手部材３０は、第１の高曲げ剛性部４１では比較的曲がりにくく、第１の低曲げ剛性部４３では比較的曲がりやすくなる。
　第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とは、第１の長手部材３０の長手軸方向に沿って配置される。
　第１の硬質部材３３と第１のスペース３５とは、交互に配置される。この配置によって、複数の第１の高曲げ剛性部４１と複数の第１の低曲げ剛性部４３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。第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とが交互に配置されていれば、第１の高曲げ剛性部４１の数と第１の低曲げ剛性部４３の数とは特に限定されない。第１の硬質部材３３の長さと第１のスペース３５の長さとによって、第１の高曲げ剛性部４１の長さは、第１の低曲げ剛性部４３の長さよりも長い、または第１の低曲げ剛性部４３の長さと略同一である。
　芯部材３１は、例えば、第１の硬質部材３３の位置決めと、第１の硬質部材３３同士の間隔（第１のスペース３５の長さ）の規定とを実施するために配置される。芯部材３１は、例えば、第１の高曲げ剛性部４１と第１の低曲げ剛性部４３との位置決めと、第１の高曲げ剛性部４１及び第１の低曲げ剛性部４３それぞれの長さの規定とを実施するために配置される。芯部材３１は、第１の長手部材３０の組立のために配置される。
　第１の長手部材３０の両端部それぞれには、第１の高曲げ剛性部４１（第１の硬質部材３３）が配置されるが、配置はこれに限定される必要はない。両端部それぞれに第１の低曲げ剛性部４３が配置されてもよいし、一端部に第１の高曲げ剛性部４１（第１の硬質部材３３）が配置され、他端部に第１の低曲げ剛性部４３が配置されてもよい。
　第２の長手部材５０は、芯部材３１の内部に配置される。第２の長手部材５０（後述する軟質部材５１）の外周面は芯部材３１の内周面とは接触しておらず、スペースが芯部材３１と第２の長手部材５０との間に形成される。なお外周面は、内周面と接触してもよい。
　第２の長手部材５０は、軟質部材５１と、少なくとも１つの第２の硬質部材５３とを有する。軟質部材５１は、芯部材３１に挿入され、筒状である。第２の硬質部材５３は、軟質部材５１の内部に配置される。
　芯部材３１に挿入される軟質部材５１は、軟質部材５１の全長に渡って、芯部材３１に覆われる。例えば、軟質部材５１の長さは、芯部材３１の長さよりも短い。軟質部材５１の長さは、芯部材３１の長さと略同一でもよい。軟質部材５１は、剛性可変装置２０の全長に渡って配置される。軟質部材５１には第２の硬質部材５３が挿入され、軟質部材５１は第２の硬質部材５３の外側に配置される。軟質部材５１は、第２の硬質部材５３の外周面を芯部材３１の内周面に対して保護する保護部材として機能する。軟質部材５１は、芯部材３１と第２の硬質部材５３との間に介在し、第２の硬質部材５３が芯部材３１と直接接触することを防止する介在部材である。軟質部材５１は、第２の硬質部材５３を支持する筒状の支持部材である。
　軟質部材５１は、例えば、金属部材を有してもよい。図２Ａに示すように、軟質部材５１は、例えば、複数の金属素線が互いに対して撚り合わされた撚線を有してもよい。図２Ｂに示すように、軟質部材５１は、例えば、密着コイルを有してもよい。軟質部材５１は、疎巻きコイルを有してもよい。軟質部材５１は、樹脂材を有してもよい。軟質部材５１は、中空部材であり、例えば円筒状である。
　本実施形態では、３つの第２の硬質部材５３が配置されるものとする。第２の硬質部材５３は、例えば、中実部材でもよいし、中空部材でもよい。第２の硬質部材５３は、例えば、金属材でもよいし、樹脂材でもよい。第２の硬質部材５３は、軟質部材５１とは別体である。第２の硬質部材５３は、軟質部材５１よりも短い。
　軟質部材５１の内周面は、第２の硬質部材５３の外周面に、例えば接着または溶接などによって固定される。そして第２の硬質部材５３は、第２の硬質部材５３が軟質部材５１の内部に配置されるように、軟質部材５１に位置決めされる。第２の硬質部材５３同士は、第２の長手部材５０の長手軸方向において、互いに対して機械的に直接接触しておらず、互いに対して所望する間隔離れて配置されている。言い換えると、第２の硬質部材５３は、軟質部材５１の全長において、軟質部材５１の内部に部分的に配置される。つまり、１つの第２の硬質部材５３が軟質部材５１の全長に渡って軟質部材５１の内部に配置されるのではなく、１つの第２の硬質部材５３が軟質部材５１の全長における軟質部材５１の一部位に配置される。したがって、第２の長手部材５０の長手軸方向において、第２の硬質部材５３同士の間には、第２のスペース５５が配置される。本実施形態では、２つの第２のスペース５５が配置されるものとする。第２のスペース５５には、部材が配置されていない。第２の硬質部材５３の長さは、第２のスペース５５の長さと異なっており、例えば、第２のスペース５５の長さよりも長い。なお第２の硬質部材５３の長さは、第２のスペース５５の長さと略同一でもよい。第２のスペース５５とは、軟質部材５１の全長において、第２の硬質部材５３が配置されていない軟質部材５１の部位を示す。なお第２の長手部材５０の長手軸方向は、図１Ａの左右方向であり、第１の長手部材３０の長手軸方向と同じ方向である。
　第２の硬質部材５３と第２のスペース５５とは、第２の長手部材５０の長手軸方向において、軟質部材５１の内部にて交互に配置される。第２の硬質部材５３と第２のスペース５５とが交互に配置されていれば、第２の硬質部材５３の数と第２のスペース５５の数とは特に限定されない。また第２の硬質部材５３と第２のスペース５５とは、それぞれ少なくとも１つ配置されていればよい。
　第２の長手部材５０は、相対的に曲げ剛性が高い少なくとも１つの第２の高曲げ剛性部６１と、相対的に曲げ剛性が低い少なくとも１つの第２の低曲げ剛性部６３とを有する。つまり第２の高曲げ剛性部６１の曲げ剛性は高く、第２の低曲げ剛性部６３の曲げ剛性は第２の高曲げ剛性部６１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２の長手部材５０は、３つの第２の高曲げ剛性部６１と２つの第２の低曲げ剛性部６３とを有するものとする。
　第２の高曲げ剛性部６１は、例えば、軟質部材５１の内部に配置される第２の硬質部材５３を有する。第２の高曲げ剛性部６１は、第２の硬質部材５３を覆う軟質部材５１の一部位をさらに有する。つまり、第２の高曲げ剛性部６１は、第２の硬質部材５３と、第２の硬質部材５３の周辺における軟質部材５１の一部位とを有する。
　第２の低曲げ剛性部６３は、軟質部材５１の内部において第２の硬質部材５３が配置されていない軟質部材５１の空間部を覆う軟質部材５１の一部位を有する。言い換えると、第２の低曲げ剛性部６３は、第２のスペース５５における軟質部材５１の一部位を有する。
　第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とは軟質部材５１に配置されており、軟質部材５１は第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とに共有される。
　軟質部材５１は低い曲げ剛性を有する筒状の軟質部であり、第２の硬質部材５３は高い曲げ剛性を有する硬質部である。なお軟質部材５１の曲げ剛性は、第２の硬質部材５３の曲げ剛性と略同一でもよい。したがって、軟質部材５１の一部と第２の硬質部材５３とを含む第２の高曲げ剛性部６１の曲げ剛性は高く、軟質部材５１のみを含む第２の低曲げ剛性部６３の曲げ剛性は低くなる。そして、第２の長手部材５０は、第２の高曲げ剛性部６１では比較的曲がりにくく、第２の低曲げ剛性部６３では比較的曲がりやすくなる。
　第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とは、第２の長手部材５０の長手軸方向に沿って配置される。
　第２の硬質部材５３と第２のスペース５５とは、交互に配置される。この配置によって、複数の第２の高曲げ剛性部６１と複数の第２の低曲げ剛性部６３とは、第２の長手部材５０の長手軸方向において交互に配置される。第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とが交互に配置されていれば、第２の高曲げ剛性部６１の数と第２の低曲げ剛性部６３の数とは特に限定されない。第２の硬質部材５３の長さと第２のスペース５５の長さとによって、第２の高曲げ剛性部６１の長さは、第２の低曲げ剛性部６３の長さよりも長い、または第２の低曲げ剛性部６３の長さと略同一である。
　軟質部材５１は、例えば、第２の硬質部材５３の位置決めと、第２の硬質部材５３同士の間隔（第２のスペース５５の長さ）の規定とを実施するために配置される。軟質部材５１は、例えば、第２の高曲げ剛性部６１と第２の低曲げ剛性部６３との位置決めと、第２の高曲げ剛性部６１及び第２の低曲げ剛性部６３それぞれの長さの規定とを実施するために配置される。軟質部材５１は、第２の長手部材５０の組立のために配置される。
　第２の長手部材５０の両端部それぞれには、第２の高曲げ剛性部６１（第２の硬質部材５３）が配置されるが、配置はこれに限定される必要はない。両端部それぞれに第２の低曲げ剛性部６３が配置されてもよいし、一端部に第２の高曲げ剛性部６１が配置され、他端部に第２の低曲げ剛性部６３が配置されてもよい。
　例えば、第２の硬質部材５３の長さは、第１のスペース３５の長さよりも長い。したがって、第２の高曲げ剛性部６１の長さは、第１の低曲げ剛性部４３の長さよりも長い。
　例えば、第２の硬質部材５３の曲げ剛性は、第１の硬質部材３３の曲げ剛性と略同一である。したがって第２の高曲げ剛性部６１の曲げ剛性は、第１の高曲げ剛性部４１の曲げ剛性と略同一である。
　なお第２の硬質部材５３の曲げ剛性は、第１の硬質部材３３の曲げよりも高くても低くてもよい。したがって、第２の高曲げ剛性部６１の曲げ剛性は、第１の高曲げ剛性部４１の曲げ剛性よりも高くても低くてもよい。
　例えば、軟質部材５１の曲げ剛性は、芯部材３１の曲げ剛性と略同一である。したがって第２の低曲げ剛性部６３の曲げ剛性は、第１の低曲げ剛性部４３の曲げ剛性と略同一である。
　芯部材３１の曲げ剛性及び軟質部材５１の曲げ剛性それぞれが第１の硬質部材３３の曲げ剛性及び第２の硬質部材５３の曲げ剛性それぞれよりも低ければ、軟質部材５１の曲げ剛性は、芯部材３１の曲げ剛性よりも高くても低くてもよい。また、第１の低曲げ剛性部４３の曲げ剛性及び第２の低曲げ剛性部６３の曲げ剛性それぞれが第１の高曲げ剛性部４１の曲げ剛性および第２の高曲げ剛性部６１の曲げ剛性それぞれよりも低ければ、第２の低曲げ剛性部６３の曲げ剛性は、第１の低曲げ剛性部４３の曲げ剛性よりも高くても低くてもよい。
　第１の長手部材３０と第２の長手部材５０との相対位置が変化することで、図１Ａの左右方向である剛性可変装置２０の長手軸方向における剛性可変装置２０の一部位の剛性が変化する。これにより、剛性可変装置２０は、可撓性部材１０１に異なる剛性を提供する。このために、例えば、剛性可変装置２０は、第１の長手部材３０に対して第２の長手部材５０を移動させる移動機構８０を有する。本実施形態では、第２の長手部材５０は、移動機構８０によって、第１の長手部材３０に沿って移動可能となっている。軟質部材５１の外周面は、芯部材３１の内周面を摺動する。移動機構８０は、第２の長手部材５０の牽引または押圧によって、第２の長手部材５０を移動させる。例えば、軟質部材５１が牽引または押圧される。第２の長手部材５０の移動に従って、第２の硬質部材５３と第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とも移動する。移動機構８０は、制御装置９０に電気的に接続されており、制御装置９０によって移動を制御される。
　移動機構８０は、例えば、図示しないモータと、第２の長手部材５０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５０を移動させる図示しない移動部材とを有する。モータは、可撓性部材１０１として機能する後述する挿入部の基端部に連結される操作部１０３（図１Ｃ参照）に配置されてもよい。モータは、操作部１０３におけるスイッチ１０３ａのＯＮまたはＯＦＦといった操作によって、駆動してもよい。移動部材は、例えば、軟質部材５１の一端部に直接接続され、回転力によって第２の長手部材５０を牽引または押圧する。移動部材は、モータの配置位置から軟質部材５１の一端部にまで配置される。例えば、移動部材は、操作部１０３と可撓性部材１０１との内部に配置される。移動部材は、例えば、ワイヤ状の部材である。
　移動機構８０として、モータが省略され、第２の長手部材５０は手動操作によって移動してもよい。例えば、移動機構８０は、モータの代わりに、操作ダイアル１０３ｂを有してもよい。操作ダイアル１０３ｂは、操作部１０３に配置され、移動部材に接続される。例えば、操作ダイアル１０３ｂは、操作部１０３を把持する手の指によって操作され、操作によって操作ダイアル１０３ｂの中心軸周りに回転する。操作ダイアル１０３ｂは、回転によって、ＯＮの位置またはＯＦＦの位置に切り替わる。この切り替わりに応じて、移動部材は牽引または押圧される。これにより、第２の長手部材５０が移動する。操作ダイアル１０３ｂの代わりに、図示しないレバーが用いられてもよい。
　制御装置９０は、例えば、ＡＳＩＣなどを含むハードウエア回路によって構成される。制御装置９０は、プロセッサによって構成されても良い。制御装置９０がプロセッサで構成される場合、プロセッサの内部メモリまたはプロセッサがアクセス可能に配置された図示しない外部メモリに、プロセッサが実行することで当該プロセッサを制御装置９０として機能させるためのプログラムコードを記憶しておく。制御装置９０は、例えば、操作部１０３に配置されてもよい。制御装置９０は、スイッチ１０３ａの操作に連動して、移動機構８０の牽引と押圧と停止とを制御する。
　剛性可変装置２０は、第１の長手部材３０に対する第２の長手部材５０の位置状態を、第２の長手部材５０の移動によって、第１の剛性を可撓性部材１０１に提供する第１状態と第１の剛性よりも高い第２の剛性を可撓性部材１０１に提供する第２状態との間で切り替える。
　図１Ａに示す第１状態では、第２の高曲げ剛性部６１は第１の高曲げ剛性部４１の周辺に配置され、第２の低曲げ剛性部６３は第１の低曲げ剛性部４３の周辺に配置される。第１状態における第１の高曲げ剛性部４１の周辺とは、第２の高曲げ剛性部６１が第１の高曲げ剛性部４１に隣り合う位置を示す。詳細には、この周辺とは、第２の高曲げ剛性部６１が第２の高曲げ剛性部６１の全長に渡って第１の高曲げ剛性部４１にオーバラップする位置を示す。つまり、第２の高曲げ剛性部６１は、第１の高曲げ剛性部４１に覆われ、第１の高曲げ剛性部４１に収容される。第１状態における第１の低曲げ剛性部４３の周辺とは、第２の低曲げ剛性部６３が第１の低曲げ剛性部４３に隣り合う位置を示す。詳細には、この周辺とは、第１の低曲げ剛性部４３が第１の低曲げ剛性部４３の全長に渡って第２の低曲げ剛性部６３にオーバラップする位置を示す。つまり、第２の低曲げ剛性部６３の大部分は、第１の低曲げ剛性部４３に覆われ、第１の低曲げ剛性部４３に収容される。このように第１状態では、第２の高曲げ剛性部６１は第１の高曲げ剛性部４１の内部に配置され、第１の低曲げ剛性部４３は第２の低曲げ剛性部６３の周囲に配置される。
　第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とが交互に配置され、第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とが交互に配置される。したがって第１状態では、第１の低曲げ剛性部４３に収容される第２の低曲げ剛性部６３は、第１の高曲げ剛性部４１に収容される第２の高曲げ剛性部６１の隣に配置される。第１状態では、軟質な第１の低曲げ剛性部４３が軟質な第２の低曲げ剛性部６３にオーバラップするため、第１の低曲げ剛性部４３は曲がる状態となる。
　第１状態では、第１の長手部材３０と第２の長手部材５０とは、外力に従って容易に変形し得る低剛性状態である。したがって、第１状態では、剛性可変装置２０は、可撓性部材１０１が撓みやすいような比較的低い剛性を可撓性部材１０１に提供する。第１状態において、第１の長手部材３０と第２の長手部材５０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。
　図１Ｂに示す第２状態では、第２の高曲げ剛性部６１は第１の低曲げ剛性部４３の周辺に配置され、第２の低曲げ剛性部６３は第１の高曲げ剛性部４１の周辺に配置される。第２状態における第１の低曲げ剛性部４３の周辺とは、第１の低曲げ剛性部４３が第２の高曲げ剛性部６１に隣り合う位置を示す。詳細には、この周辺とは、第１の低曲げ剛性部４３が第１の低曲げ剛性部４３の全長に渡って第２の高曲げ剛性部６１にオーバラップする位置を示す。つまり、第１の低曲げ剛性部４３は、第２の高曲げ剛性部６１の大部分を覆い、第２の高曲げ剛性部６１の大部分を収容する。第２状態における第１の高曲げ剛性部４１の周辺とは、第２の低曲げ剛性部６３が第１の高曲げ剛性部４１に隣り合う位置を示す。詳細には、この周辺とは、第２の低曲げ剛性部６３が第２の低曲げ剛性部６３の全長に渡って第１の高曲げ剛性部４１にオーバラップする位置を示す。つまり第２の低曲げ剛性部６３は、第１の高曲げ剛性部４１に覆われ、第１の高曲げ剛性部４１に収容される。このように第２状態では、第２の低曲げ剛性部６３は第１の高曲げ剛性部４１の内部に配置され、第１の低曲げ剛性部４３は第２の高曲げ剛性部６１の周囲に配置される。
　第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とが交互に配置され、第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とが交互に配置される。したがって第２状態では、第１の低曲げ剛性部４３に収容される第２の高曲げ剛性部６１は、第１の高曲げ剛性部４１に収容される第２の低曲げ剛性部６３の隣に配置される。第２状態では、軟質な第１の低曲げ剛性部４３が硬質な第２の高曲げ剛性部６１にオーバラップするため、第１の低曲げ剛性部４３は曲がり難い状態となる。
　第２状態では、第１の長手部材３０と第２の長手部材５０とは、低剛性状態よりも高い剛性を有する高剛性状態である。したがって、第２状態では、剛性可変装置２０は、可撓性部材１０１が外力に抗して撓みにくい形状を有する傾向を示す高剛性状態を取り、可撓性部材１０１が撓みにくいような比較的高い剛性を可撓性部材１０１に提供する。撓みにくい形状は、例えば直線状であってよい。第２状態において、第１の長手部材３０と第２の長手部材５０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状態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、第１の長手部材３０と第２の長手部材５０と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。
　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、第２の長手部材５０と移動部材と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、第１の長手部材３０と第２の長手部材５０と移動部材とは、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、第１の長手部材３０と第２の長手部材５０と移動部材とをちょうど収容し得る空間を意味している。したがって、第１の長手部材３０及び第２の長手部材５０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、第１の長手部材３０と第２の長手部材５０と移動部材と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、特に第１の硬質部材３３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。第１の長手部材３０と第２の長手部材５０と移動部材とは、このチューブの内部に配置されてよい。第１の長手部材３０は可撓性部材１０１に対して相対的に位置決め固定され、第２の長手部材５０は第１の長手部材３０と可撓性部材１０１とに対して相対的に移動可能である。可撓性部材１０１は、例えば、内視鏡１００の挿入部であってよい。内視鏡１００は、医療用でもよいし、工業用でもよい。したがって、図１Ｃに示すように、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。なお可撓性部材１０１は、剛性可変装置２０が搭載される小型な精密機器の一例である。この小型な精密機器は、挿入部の他に、例えば、マニピュレータ、カテーテルなどの細長い部材などが挙げられる。移動機構８０のモータ及び制御装置９０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は初期状態である第１状態にあるとする。初期状態では、移動機構８０は駆動しておらず、第１の長手部材３０と第２の長手部材５０とは、全長に渡って低剛性状態にある。
　操作部１０３におけるスイッチ１０３ａがＯＮされると、制御装置９０は、位置状態が第１状態から第２状態に切り替わるように、移動機構８０を制御する。
　図１Ｂに示すように、移動機構８０は第１の長手部材３０に対して第２の長手部材５０を移動させ、位置状態が第１状態から第２状態に切り替わる。このとき、第１の低曲げ剛性部４３は第１の低曲げ剛性部４３の全長に渡って第２の高曲げ剛性部６１にオーバラップし、第２の低曲げ剛性部６３が第２の低曲げ剛性部６３の全長に渡って第１の高曲げ剛性部４１にオーバラップする。そして剛性可変装置２０は、第１の低曲げ剛性部４３において高剛性状態を取る。つまり、剛性可変装置２０の剛性は、剛性可変装置２０の長手軸方向において、部分的に上がる。
　第１のスペース３５（第１の低曲げ剛性部４３）は、可撓性部材１０１の所望するエリアに対して相対的に位置決め固定される。したがって、第１の低曲げ剛性部４３に対する第２の高曲げ剛性部６１のオーバラップによって、第１の低曲げ剛性部４３が固定される所望するエリアは比較的高い剛性を提供され、所望するエリアの剛性が上がる。つまり第２の高曲げ剛性部６１がオーバラップする第１の低曲げ剛性部４３が配置されている可撓性部材１０１の一部位の剛性は、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、第１の低曲げ剛性部４３の周辺における剛性可変装置２０の剛性状態を変化させ、この変化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。本実施形態では、２つの第１の低曲げ剛性部４３が配置される。したがって、一部位の数とエリアの数とは２つでる。一部位の数とエリアの数とは、第１の低曲げ剛性部４３に対応する。
　高剛性状態にある可撓性部材１０１の一部位は、可撓性部材１０１に作用する外力すなわち第２の高曲げ剛性部６１を変形させ得る力に対抗する。したがって、高剛性状態にある可撓性部材１０１の一部位は、略直線状態を維持する。
　なお剛性可変装置２０の長手軸方向において第１の高曲げ剛性部４１と第２の高曲げ剛性部６１とが連続して交互に配置される。これにより剛性可変装置２０は、全長に渡って高剛性状態となり、可撓性部材１０１全長に渡って高い剛性を提供する。そして可撓性部材１０１は、全長に渡って、略直線状態を維持する。
　ここで、第１の低曲げ剛性部４３は、第１の長手部材３０の長手軸方向において、２つの第１の高曲げ剛性部４１に挟まれる。図３Ａと図３Ｂとに示すように、この第１の低曲げ剛性部４３は、一方の第１の高曲げ剛性部４１が他方の第１の高曲げ剛性部４１に対して曲がる際に剛性可変装置２０の関節部７１として機能する。図３Ａと図３Ｂとでは、図示の明瞭化のために、移動機構８０と制御装置９０との図示を省略している。図３Ａは初期状態（第１状態）を示し、関節部７１は低剛性状態にある。したがって、関節部７１は外力によって容易に曲がる。図３Ｂに示すように第１の低曲げ剛性部４３が第２の高曲げ剛性部６１にオーバラップした際、関節部７１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７１が低剛性状態に比べて、関節部７１が高剛性状態のもとでは、一方の第１の高曲げ剛性部４１は他方の第１の高曲げ剛性部４１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。
　操作部１０３におけるスイッチ１０３ａがＯＦＦされると、制御装置９０は、位置状態が第２状態から第１状態に切り替わるように、移動機構８０を制御する。
　図１Ａに示すように、移動機構８０は第１の長手部材３０に対して第２の長手部材５０を移動させ、位置状態が第２状態から第１状態に切り替わる。このとき、第２の高曲げ剛性部６１が第２の高曲げ剛性部６１の全長に渡って第１の高曲げ剛性部４１にオーバラップし、第１の低曲げ剛性部４３が第１の低曲げ剛性部４３の全長に渡って第２の低曲げ剛性部６３にオーバラップする。そして剛性可変装置２０は、第１の低曲げ剛性部４３において低剛性状態を取る。つまり、剛性可変装置２０の剛性は、剛性可変装置２０の長手軸方向において、部分的に下がる。
　第１のスペース３５（第１の低曲げ剛性部４３）は、可撓性部材１０１の所望するエリアに対して相対的に位置決め固定される。したがって、第１の低曲げ剛性部４３に対する第２の低曲げ剛性部６３のオーバラップによって、第１の低曲げ剛性部４３が固定される所望するエリアは比較的低い剛性を提供され、所望するエリアの剛性が下がる。つまり第２の低曲げ剛性部６３がオーバラップする第１の低曲げ剛性部４３が配置されている可撓性部材１０１の一部位の剛性は、下がる。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の一部位のみに低い剛性を提供する。したがって、可撓性部材１０１は、可撓性部材１０１の全長に渡って高剛性状態から低剛性状態に切り替わるのではなく、部分的に高剛性状態から低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、高剛性状態から低剛性状態に切り替わる。このように剛性可変装置２０は、第１の低曲げ剛性部４３の周辺における剛性可変装置２０の剛性状態を変化させ、この変化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。
　低剛性状態にある可撓性部材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。関節部７１は高剛性状態に比べて、関節部７１が低剛性状態のもとでは、一方の第１の高曲げ剛性部４１は他方の第１の高曲げ剛性部４１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。
　このように位置状態が移動機構８０によって第１状態と第２状態との間で切り替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替えられる。
　本実施形態では、第２の長手部材５０が第１の長手部材３０に対して移動し、移動によって剛性可変装置２０の長手軸方向における剛性可変装置２０の一部位の剛性が変化する。詳細には、第１の低曲げ剛性部４３の周辺における剛性可変装置２０の一部位の剛性が、第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とによって変化する。本実施形態では、一部位の剛性の変化によって、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、可撓性部材１０１の剛性状態を部分的に変更できる。また本実施形態では、第１の長手部材３０と第２の長手部材５０との組み合わせと、芯部材３１と第１の硬質部材３３と第１の高曲げ剛性部４１と第１の低曲げ剛性部４３と軟質部材５１と第２の硬質部材５３と第２の高曲げ剛性部６１と第２の低曲げ剛性部６３との配置とによって、剛性可変装置２０の構成をシンプル且つ細くすることを可能にでき、可撓性部材１０１を細くすることを可能にできる。このように本実施形態では、可撓性部材１０１が太くなりにくい構成を採用しやすい剛性可変装置２０を提供できる。
　本実施形態では、移動機構８０によって、第１の長手部材３０に対して第２の長手部材５０を移動させる。したがって本実施形態では、位置状態を第１状態と第２状態との間で素早く切り替えることができ、可撓性部材１０１の剛性状態に対する切り替えの応答性を向上できる。
　ここで、剛性可変装置２０が、本実施形態とは異なり、例えば形状記憶合金を有する形状記憶部材を用いて、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とする。この場合、剛性可変装置２０は、電流を供給する複数の図示しない配線部と、配線部から供給された電流を受けて熱を発生し、発生した熱を形状記憶部材に伝える複数の図示しない誘起部材とを有する。配線部は誘起部材それぞれに配置され、誘起部材同士は離れて配置される。形状記憶部材の相は、誘起部材から伝えられる熱によって、第１の相から第２の相に移り変わり得る。形状記憶部材の相が第１の相にあるときは形状記憶部材は低剛性状態を取り、形状記憶部材の相が第２の相にあるときは形状記憶部材は低剛性状態よりも高い剛性を有する高剛性状態を取る。剛性可変装置２０は、低剛性状態の形状記憶部材によって低い剛性を可撓性部材１０１に提供し、高剛性状態の形状記憶部材によって高い剛性を可撓性部材１０１に提供する。これにより、剛性可変装置２０は、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。熱せられた高剛性状態の形状記憶部材は、自然冷却によって、低剛性状態に戻る。ここで高剛性状態の形状記憶部材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。自然提供状態では、熱が低剛性状態における温度に下がるまでに時間がかかってしまう。しかしながら本実施形態では、剛性可変装置２０は、第２の長手部材５０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。また配線部は誘起部材それぞれに配置されるため、配線部の配置が煩雑になり、剛性可変装置２０の構成が複雑となり、可撓性部材１０１は太くなることがある。しかしながら本実施形態では、移動機構８０と、芯部材３１と第１の硬質部材３３と第１の高曲げ剛性部４１と第１の低曲げ剛性部４３と軟質部材５１と第２の硬質部材５３と第２の高曲げ剛性部６１と第２の低曲げ剛性部６３との配置とによって、剛性可変装置２０の構成をシンプル且つ細くすることを可能にでき、可撓性部材１０１を細くすることを可能にできる。
　本実施形態では、軟質部材５１は第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とに共有される。このため本実施形態では、第２の長手部材５０の部品点数を削減でき、剛性可変装置２０の構成をシンプル且つ細くすることを可能にでき、可撓性部材１０１を細くすることを可能にできる。
　本実施形態では、筒状の軟質部材５１によって、移動によって生じる、芯部材３１及び第２の硬質部材５３それぞれの摩耗を防止できる。
　本実施形態では、軟質部材５１が撚線を有すると、軟質部材５１の機械的な強度は向上する。これにより移動機構８０が第２の長手部材５０を牽引または押圧しても、牽引または押圧に伴う軟質部材５１の破損を防止できる。本実施形態では、軟質部材５１が密着コイルを有すると、軟質部材５１の曲げ剛性が低下する。これにより、可撓性部材１０１により低い剛性を提供できる。本実施形態では、撚線における金属素線の密度と、金属素線の直径と、密着コイルの巻きの数と、密着コイルの素線の直径と、密着コイルの弾性との調整によって、可撓性部材１０１に提供する剛性を調整できる。
　本実施形態では、軟質部材５１によって、第２の硬質部材５３を容易に位置決めでき、第２のスペース５５の長さを容易に規定できる。本実施形態では、軟質部材５１によって、第２の高曲げ剛性部６１と第２の低曲げ剛性部６３とを容易に位置決めでき、第２の高曲げ剛性部６１及び第２の低曲げ剛性部６３それぞれの長さを容易に規定できる。本実施形態では、軟質部材５１によって、第２の長手部材５０の機械的な強度を向上できる。
　ここで、本実施形態と異なり、軟質部材５１が省略され、第２のスペース５５に細径の連結部材が配置され、第２の硬質部材５３は例えば中実の太径部であるとする。連結部材の端部は、端部に隣り合う第２の硬質部材５３に固定されるとする。可撓性部材１０１が湾曲している状態で、位置状態が第１状態から第２状態に切り替わり、第２の長手部材５０が第１の長手部材３０に対して移動するとする。このとき、第２の長手部材５０を牽引する移動機構８０の牽引力は、連結部材と第２の硬質部材５３との連結と、湾曲状態とによって、大きくなってしまうことがある。そして、連結部材と第２の硬質部材５３との連結部分に応力が集中し、連結部分が破断することがある。また連結部材が第２の硬質部材５３と一体である場合、連結部分の強度が不足し、第２の長手部材５０は壊れ易くなってしまうことがある。連結部材が細径のワイヤで、第２の硬質部材５３が金属製のパイプである場合、連結部材と第２の硬質部材５３との連結といった第２の長手部材５０の組立は容易ではないことがある。
　しかしながら本実施形態では、軟質部材５１が配置され、第２の硬質部材５３は軟質部材５１の内部において互いに対して所望する間隔離れて配置され、第２のスペース５５が配置される。これにより本実施形態では、可撓性部材１０１が湾曲している状態において移動機構８０の牽引力が大きくなっても、応力の集中を解消でき、連結部分の破断を解消でき、連結部分の強度不足に伴う第２の長手部材５０は壊れ易さを解消できる。また本実施形態では、第２の長手部材５０を容易に組み立てることができる。また本実施形態では、第２のスペース５５には部材が配置されないため、第２の長手部材５０の部品点数を削減できる。
　本実施形態では、芯部材３１は第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とに共有される。このため本実施形態では、第１の長手部材３０の部品点数を削減でき、剛性可変装置２０の構成をシンプル且つ細くすることを可能にでき、可撓性部材１０１を細くすることを可能にできる。
　本実施形態では、芯部材３１によって、第１の硬質部材３３を容易に位置決めでき、第１のスペース３５の長さを容易に規定できる。本実施形態では、芯部材３１によって、第１の高曲げ剛性部４１と第１の低曲げ剛性部４３とを容易に位置決めでき、第１の高曲げ剛性部４１及び第１の低曲げ剛性部４３それぞれの長さを容易に規定できる。本実施形態では、芯部材３１によって、第１の長手部材３０を容易に組立できる。本実施形態では、芯部材３１によって、第１の長手部材３０の機械的な強度を向上できる。
　剛性の切り替えに加えて、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の形状を切り替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、剛性可変装置２０が第２状態にあ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。
　例えば、可撓性部材１０１の内部且つ第１の長手部材３０の外部には、図示しない様々な部材が配置される。部材とは、例えば、光ファイバ等の図示しない導光部材である。この導光部材は、例えば照明光を可撓性部材１０１の先端部から内視鏡１００の外部に向かって出射するために、可撓性部材１０１の先端部に照明光を導光する。本実施形態では、第２の長手部材５０が移動し、第１の長手部材３０は第２の長手部材５０と図示しない導光部材との間に配置される。したがって、第１の長手部材３０は、第２の長手部材５０の移動によって生じる、第２の長手部材５０及び導光部材それぞれの摩耗を防止できる。
　本実施形態では、第１の長手部材３０が可撓性部材１０１に対して相対的に位置決め固定され、第２の長手部材５０は移動機構８０によって移動するが、これに限定される必要はない。第１の長手部材３０と第２の長手部材５０との一方が移動機構８０によって移動すればよい。
　［変形例］
　図４を参照して、第２の長手部材５０の変形例について説明する。本変形例における第１の長手部材３０は、本実施形態の第１の長手部材３０と同様であるため、この説明を省略する。
　第２の長手部材５０は、軟質部材５１の内部に配置される内側軟質部材５７を有する。内側軟質部材５７は、第２のスペース５５それぞれに配置される。本実施形態では、２つの内側軟質部材５７が配置される。第２の硬質部材５３と内側軟質部材５７とは、第２の長手部材５０の長手軸方向において、軟質部材５１の内部にて交互に配置される。したがって、内側軟質部材５７は、２つの第２の硬質部材５３の間に配置される。内側軟質部材５７の端部は、端部に隣り合う第２の硬質部材５３に、接触する。内側軟質部材５７の端部は、端部に隣り合う第２の硬質部材５３に、例えば接着または溶接などによって固定されてもよい。内側軟質部材５７の外周面は、軟質部材５１の内周面に、接触する。なお内側軟質部材５７の外周面は、軟質部材５１から離れてもよい。内側軟質部材５７は、内側軟質部材５７が軟質部材５１の内部に配置されるように、軟質部材５１に位置決めされる。内側軟質部材５７は、第２の硬質部材５３（第２の高曲げ剛性部６１）同士の間隔、言い換えると、第２の低曲げ剛性部６３の長さを規定するために配置される。第２の硬質部材５３同士の間に配置される内側軟質部材５７は、第２の硬質部材５３の位置決めのために配置される。
　内側軟質部材５７は、例えば、ばね部材を有する。ばね部材は、例えば、密着巻きばねを有する。ばね部材は、例えば、疎巻きばねを有してもよい。内側軟質部材５７は、例えば、細いワイヤといった線状部材、ゴムといった弾性部材を有してもよい。内側軟質部材５７の巻きの外径は、第２の硬質部材５３の外径と略同一である。
　第２の低曲げ剛性部６３は、軟質部材５１の一部位に覆われる内側軟質部材５７をさらに有する。
　本変形例では、内側軟質部材５７によって、第２の硬質部材５３（第２の高曲げ剛性部６１）を容易に位置決めでき、第２の長手部材５０を容易に組立できる。
　なお、本願発明は、上記実施形態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種々に変形することが可能である。また、各実施形態は可能な限り適宜組み合わせて実施してもよく、その場合組み合わせた効果が得られる。更に、上記実施形態には種々の段階の発明が含まれており、開示される複数の構成要件における適当な組み合わせにより種々の発明が抽出され得る。

Claims (19)

  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移動可能な第２の長手部材と、
    　を具備し、
    　前記第１の長手部材は、少なくとも１つの第１の高曲げ剛性部と、前記第１の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つの第１の低曲げ剛性部とを有し、
    　前記第２の長手部材は、少なくとも１つの第２の高曲げ剛性部と、前記第２の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つの第２の低曲げ剛性部と、前記第２の高曲げ剛性部と前記第２の低曲げ剛性部とが配置される軟質部材とを有し、
    　前記第１の長手部材と前記第２の長手部材との相対位置が変化することで、前記剛性可変装置の長手軸方向における前記剛性可変装置の一部位の剛性が変化する、剛性可変装置。
  2. 　前記第１の長手部材に対して前記第２の長手部材を移動させる移動機構を具備する、請求項１に記載の剛性可変装置。
  3. 　前記剛性可変装置は、前記第１の長手部材に対する前記第２の長手部材の位置状態を、前記第２の長手部材の移動によって、第１の剛性を前記可撓性部材に提供する第１状態と前記第１の剛性よりも高い第２の剛性を前記可撓性部材に提供する第２状態との間で切り替える、請求項２に記載の剛性可変装置。
  4. 　前記第１状態では、前記第１の低曲げ剛性部の周辺に、前記第２の低曲げ剛性部は配置され、
    　前記第２状態では、前記第１の低曲げ剛性部の周辺に、前記第２の高曲げ剛性部は配置される、請求項３に記載の剛性可変装置。
  5. 　前記第１状態では、前記第１の高曲げ剛性部の周辺に、前記第２の高曲げ剛性部は配置され、
    　前記第２状態では、前記第１の高曲げ剛性部の周辺に、前記第２の低曲げ剛性部は配置される、請求項４に記載の剛性可変装置。
  6. 　前記軟質部材は、筒状である、請求項１に記載の剛性可変装置。
  7. 　前記軟質部材は、金属部材を有する、請求項６に記載の剛性可変装置。
  8. 　前記軟質部材は、複数の金属素線が互いに対して撚り合わされた撚線を有する、請求項７に記載の剛性可変装置。
  9. 　前記軟質部材は、密着コイルを有する、請求項７に記載の剛性可変装置。
  10. 　前記第１の長手部材は、前記第２の長手部材を覆う筒状の芯部材を具備し、
    　前記第１の高曲げ剛性部は、前記芯部材を覆う筒状の第１の硬質部材を有する、請求項１に記載の剛性可変装置。
  11. 　前記第１の高曲げ剛性部は、前記第１の硬質部材によって覆われる前記芯部材の一部位をさらに有する、請求項１０に記載の剛性可変装置。
  12. 　前記第１の低曲げ剛性部は、前記第１の硬質部材によって覆われていない前記芯部材の一部位を有する、請求項１０に記載の剛性可変装置。
  13. 　前記第１の高曲げ剛性部と前記第１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１に記載の剛性可変装置。
  14. 　前記軟質部材は、筒状であり、
    　前記第２の高曲げ剛性部は、前記軟質部材の内部に配置される第２の硬質部材を有する、請求項１に記載の剛性可変装置。
  15. 　前記第２の高曲げ剛性部は、前記第２の硬質部材を覆う前記軟質部材の一部位をさらに有する、請求項１４に記載の剛性可変装置。
  16. 　前記第２の低曲げ剛性部は、前記軟質部材の内部において前記第２の硬質部材が配置されていない前記軟質部材の空間部を覆う前記軟質部材の一部位を有する、請求項１４に記載の剛性可変装置。
  17. 　前記第２の低曲げ剛性部は、前記軟質部材の一部位に覆われる内側軟質部材を有する、請求項１４に記載の剛性可変装置。
  18. 　前記第２の高曲げ剛性部と前記第２の低曲げ剛性部とは、前記第２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１に記載の剛性可変装置。
  19. 　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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