WO2020003614A1 - Appareil d'insertion - Google Patents

Appareil d'insertion Download PDF

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Publication number
WO2020003614A1
WO2020003614A1 PCT/JP2019/007911 JP2019007911W WO2020003614A1 WO 2020003614 A1 WO2020003614 A1 WO 2020003614A1 JP 2019007911 W JP2019007911 W JP 2019007911W WO 2020003614 A1 WO2020003614 A1 WO 2020003614A1
Authority
WO
WIPO (PCT)
Prior art keywords
shaft member
shaft
attached
rotation axis
fitted
Prior art date
Application number
PCT/JP2019/007911
Other languages
English (en)
Japanese (ja)
Inventor
豊 正木
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
Publication of WO2020003614A1 publication Critical patent/WO2020003614A1/fr

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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
    • G—PHYSICS
    • G02—OPTICS
    • G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
    • G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
    • G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes

Definitions

  • the present invention relates to an insertion device, and more particularly, to an insertion device having a driven member that operates according to a driving force generated in a driving source.
  • the above-mentioned auxiliary tool operates (rotates) according to a driving force generated in a driving source such as an electric motor disclosed in International Publication No. 2014/192527.
  • the driving force generated in the above-described driving source may be a plurality of driving forces arranged in parallel with each other, such as a motor shaft and a shaft member disclosed in International Publication No. WO2014 / 92537. Is transmitted to the above-mentioned auxiliary tool through the shaft member.
  • WO 2014/92537 does not specifically disclose a method for reducing the complexity of the operation for adjusting the inter-axis distance described above. Therefore, according to the configuration disclosed in International Publication No. WO 2014/92537, a problem arises in that the operation related to the assembly of the mechanism for transmitting the driving force generated in the driving source to the driven member becomes complicated. ing.
  • the present invention has been made in view of the above-described circumstances, and is an insertion device capable of reducing the complexity of work relating to assembly of a mechanism for transmitting a driving force generated in a driving source to a driven member. It is intended to provide.
  • An insertion device includes an elongated insertion portion inserted into a subject, a driven member provided in the insertion portion, and a first member parallel to a longitudinal axis of the insertion portion.
  • a drive source that generates a driving force for driving the driven member by rotating about a rotation axis; and a rotation about the first rotation axis with the rotation of the drive source;
  • FIG. 1 is a diagram illustrating an example of a configuration of an endoscope system including an endoscope according to an embodiment.
  • FIG. 2 is a cross-sectional view schematically illustrating an example of a configuration of a motor unit provided in the endoscope according to the embodiment and a peripheral portion thereof.
  • the figure which expanded a part of FIG. The figure for explaining an example of the composition of the gear train provided in the endoscope concerning an embodiment.
  • FIGS. 1 to 6 relate to an embodiment of the present invention.
  • the endoscope system 1 includes an endoscope 11 having a function as an insertion device that can be inserted into a lumen of a subject, and a plurality of units connected to the endoscope 11. And a control system 12 including the control system.
  • FIG. 1 is a diagram illustrating an example of a configuration of an endoscope system including the endoscope according to the embodiment.
  • the endoscope 11 is configured to have an elongated insertion section 21, an operation section 22 provided on the base end side of the insertion section 21, and a universal cable 23 extending from the operation section 22.
  • the control system 12 and the endoscope 11 are connected by a universal cable 23 extending from the operation unit 22.
  • the insertion section 21 is configured to include an insertion section main body 31 and a rotating member 32.
  • the insertion portion main body 31 has an elongated shape that is inserted into the lumen of the subject from the distal end side in the longitudinal direction and extends along the longitudinal axis direction.
  • the insertion portion main body 31 is provided with a distal end hard portion 31a, a curved portion 31b, and a flexible tube portion 31c in this order from the distal end.
  • the flexible tube portion 31c has flexibility according to the bent shape of the lumen of the subject.
  • the bending portion 31b is formed by a known structure having a plurality of bending pieces.
  • the bending portion 31b can be bent in four directions, up, down, left, and right, in accordance with the operation of the operation unit 22.
  • An observation window (not shown) and an illumination window (not shown) are provided in the distal end hard portion 31 a of the insertion portion 21.
  • An imaging unit (not shown) is provided behind the observation window of the distal end hard portion 31a.
  • the imaging unit includes an observation optical system and an imaging device.
  • a light guide 41 composed of a plurality of optical fiber bundles and a signal cable 42 for an image signal are inserted through the insertion section 21, the operation section 22, and the universal cable 23 of the endoscope 11, respectively.
  • a motor driving cable 43 is inserted into the operation unit 22 and the universal cable 23.
  • a connector 23a is provided at the end of the universal cable 23.
  • the connector 23a is provided with a light guide connector 41a, a processor cable 41b, and a controller cable 41c.
  • the connector 23a has a board inside, and the memory 23b is mounted on the board.
  • the memory 23b is a rewritable nonvolatile memory.
  • the controller 12d of the control system 12 can access the memory 23b through the controller cable 41c, and can write data through a signal line (not shown).
  • the signal cable 42 is inserted through the processor cable 41b and is configured to be connectable to the processor 12b.
  • the motor driving cable 43 is inserted into the controller cable 41c and is configured to be connectable to the controller 12d.
  • the operation unit 22 includes a grip 51, a buckling stopper 52 supporting a base end of the flexible tube 31 c of the insertion unit 21, two knobs 51 a and 51 b provided on the grip 51, and various instructions. And an operation member section 53 having a plurality of buttons to which are assigned.
  • the operation member section 53 is provided with a release button, a suction button, an air / water supply button, and the like.
  • the bend preventing portion 52 prevents the flexible tube portion 31c of the insertion portion 21 from being bent.
  • the user of the endoscope 11, for example, an operator can turn the knob 51a to bend the bending portion 31b of the insertion portion 21 shown in FIG. 1 in the vertical direction.
  • the user can bend the bending portion 31b in the left-right direction by rotating the knob 51b.
  • the rotating member 32 is disposed in the insertion section 21 of the endoscope 11. More specifically, the rotating member 32 is detachably attached to the proximal end side of the curved portion 31b and, for example, to the outer peripheral surface near the distal end portion of the flexible tube portion 31c from the distal end side of the insertion portion main body 31. ing.
  • the rotating member 32 is configured to have fins 32a protruding in a spiral shape on the outer peripheral portion.
  • the rotating member 32 is configured to be detachable at a predetermined position of the flexible tube portion 31c through the distal end hard portion 31a and the curved portion 31b of the insertion portion main body 31.
  • the rotating member 32 is configured as a driven member that rotates around the longitudinal axis of the insertion section 21 by the driving force of the motor 71.
  • a drive unit 61 for driving the rotating member 32 is provided at a portion from the vicinity of the boundary between the insertion portion 21 and the operation portion 22 to, for example, the distal end portion of the flexible tube portion 31c.
  • the rotating member 32 is configured to be able to rotate by the driving force of the driving unit 61.
  • the rotation directions of the rotation member 32 are both directions around the central axis CO of the insertion portion main body 31. Therefore, the rotating member 32 can be used as an auxiliary tool for assisting the operation when inserting the insertion section main body 31 into the lumen of the subject.
  • the rotating member 32 can be used as an auxiliary tool for assisting an operation when removing the insertion portion main body 31 inserted into the lumen of the subject.
  • the rotating member 32 is configured as an auxiliary tool capable of assisting an operation related to insertion and removal of the insertion portion main body 31.
  • the description will be made assuming that the central axis CO of the insertion section main body 31 is coaxial with the longitudinal axis of the insertion section main body 31.
  • the drive unit 61 includes a motor unit 62 disposed near a boundary between the insertion section 21 and the operation section 22, a gear 63 disposed at, for example, a distal end of the flexible tube section 31c, and a motor unit 62 and a gear 63. And a drive shaft 64 disposed between the two.
  • the motor unit 62 has a motor 71 as a drive source and a gear train 72.
  • the motor 71 and the gear train 72 are arranged on the base end side of the insertion section 21.
  • the motor unit 62 is housed in a gear box 73 serving as a gear support frame in a state protruding from a vicinity of a boundary between the insertion portion 21 and the operation portion 22 in a direction orthogonal to a longitudinal direction of the insertion portion 21. I have.
  • the drive shaft 64 is inserted into the flexible tube 31c.
  • a channel 66 is provided outside the drive shaft 64.
  • the channel 66 has a tube main body 66a and a fixing portion 66b.
  • the drive shaft 64 is inserted through the tube body 66a.
  • the tube body 66a protects the outside of the drive shaft 64 over substantially the entire length.
  • the fixing portion 66b is fixed to the base end of the tube main body 66a.
  • the drive shaft 64 is inserted not only into the tube main body 66a but also into the cylindrical fixing portion 66b.
  • the tube main body 66a is formed using a material such as a resin having electrical insulation, abrasion resistance and flexibility.
  • a gear 63 is fixed to the tip of the drive shaft 64.
  • a relay gear 90 is fixed to the base end of the drive shaft 64.
  • a portion of the drive shaft 64 closer to the tip end than the relay gear 90 has appropriate elasticity and flexibility.
  • the rotating member 32 has a cylindrical shape, and has a tooth portion (hereinafter referred to as an inner tooth portion) 32b on the inner peripheral surface.
  • the inner peripheral tooth portion 32b may be formed on the inner peripheral surface of the rotating member 32 or may be formed on the inner peripheral surface of a cylindrical member fixed to the inner peripheral surface of the rotating member 32.
  • the control system 12 includes a light source unit 12a, a processor 12b, a monitor 12c, a controller 12d, and an input unit 12e.
  • the light source unit 12a and the processor 12b are connected.
  • the processor 12b and the monitor 12c are also connected.
  • the light source unit 12a and the controller 12d are also connected.
  • the controller 12d and the input unit 12e are also connected.
  • the light source unit 12a emits illumination light for illuminating the observation target.
  • the illumination light from the light source unit 12a enters the light guide connector 41a.
  • the processor 12b includes an image processing unit that processes an image captured by the imaging unit of the observation optical system to generate an endoscope image.
  • the processor 12b is connected to the imaging unit of the endoscope 11 via the processor cable 41b.
  • the monitor 12c is configured as a display unit that displays the generated endoscope image.
  • the controller 12d controls the entire endoscope system 1.
  • the controller 12d is a peripheral device connected when the endoscope 11, which is the main body of the endoscope, is used.
  • the input unit 12e is a device for inputting instructions and the like to the controller 12d.
  • the input unit 12e is, for example, a keyboard or a foot switch (not shown).
  • the input unit 12e includes a forward switch FS and a backward switch BS for controlling the motor 71 and instructing the insertion section 21 to move in and out of the body cavity.
  • the controller 12d is not limited to a dedicated device, but may be a general-purpose processing device such as a personal computer on which an arbitrary program is installed.
  • the motor unit 62 controls the rotation speed of the motor 71 by servo control or the like in response to a command from the controller 12d.
  • the controller 12d controls the rotation direction and the rotation direction of the motor 71.
  • FIG. 2 is a cross-sectional view schematically illustrating an example of a configuration of a motor unit provided in the endoscope according to the embodiment and peripheral portions thereof.
  • FIG. 3 is an enlarged view of a part of FIG.
  • the motor 71 is provided so as to be built in the endoscope 11.
  • the gear train 72 has a plurality of gears that transmit a rotational driving force from a motor 71 built in the endoscope 11.
  • the gear box 73 has an outer case 83 constituted by a case body 83a and a cap 83b.
  • the motor 71 has a cylindrical motor shaft 71a at the tip.
  • the motor 71 is connected to a circuit board 81a via a cable 71b extending from a base end.
  • the circuit board 81a is provided with a connector 81b that can be connected to the motor driving cable 43. That is, the motor 71 is connected to the motor driving cable 43 via the circuit board 81a.
  • a relay gear 71c and a bearing member 71d are attached to the motor shaft 71a.
  • the motor shaft 71a is fitted into the bracket 111 with the bearing member 71d attached.
  • the motor shaft 71a rotates around the rotation axis M (see FIG. 3) with the rotation of the motor 71.
  • the rotation axis M of the motor shaft 71a is parallel to the center axis CO in a state where the motor shaft 71a to which the bearing member 71d is attached is fitted into the bracket 111.
  • the motor 71 generates a driving force for driving the rotating member 32 by rotating about a rotation axis M parallel to a central axis CO corresponding to the longitudinal axis of the insertion portion 21.
  • the relay gear 71c is mounted at a position where the relay gear 71c meshes with the relay gear 72c of the gear train 72, and rotates around the rotation axis M according to the rotation of the motor shaft 71a.
  • the gear train 72 includes a relay gear 72c that rotates around the axis of the rotation axis G1 (see FIG. 3), a relay gear 72d that rotates around the axis of the rotation axis G2 (see FIG. 3), and a relay gear 90.
  • the relay gear 72c is attached to a position on the distal end side of the cylindrical shaft member 72a that meshes with the relay gear 71c.
  • a cap 72b is fitted near the relay gear 72c in the shaft member 72a.
  • the relay gear 72d is located at a position where it meshes with each of the teeth formed on the proximal end side of the shaft member 72a and the cylindrical relay gear 90 having an internal space 90a capable of accommodating the proximal end of the drive shaft 64. Are located in
  • a rolling bearing 72e is attached to the shaft member 72a at a position adjacent to the base end side of the relay gear 72c.
  • a bearing member such as a ball bearing, a roller bearing, and a needle bearing can be used as the rolling bearing 72e.
  • a sliding bearing may be attached instead of the rolling bearing 72e.
  • the rolling bearing 72e is formed as a bearing member that is inserted into the inner ring while the inner ring rotates with respect to the outer ring and the shaft member 72a is rotatable around the rotation axis G1.
  • the outer ring of the rolling bearing 72e is fixed in a state of being fitted into each of the bracket 111 and the housing 72f constituting the exterior of the gear train 72.
  • a distal end side of the shaft member 72a protrudes from the housing 72f.
  • the shaft member 72a rotates around the rotation axis G1 together with the inner ring of the rolling bearing 72e with the rotation of the relay gears 71c and 72c.
  • the rotation axis G1 is parallel to the central axis CO in a state where the shaft member 72a to which the rolling bearing 72e is attached is fitted into the bracket 111. That is, the shaft member 72a rotates around the rotation axis G1 with the rotation of the motor shaft 71a.
  • the shaft member 72g is fitted into the housing 72f with the two ball bearings 72h attached.
  • the ball bearing 72h is formed as a bearing member in which the outer ring rotates with respect to the inner ring, and the shaft member 72g is inserted into the inner ring.
  • the relay gear 72d is attached at a position so as to cover the outer rings of the two ball bearings 72h.
  • the relay gear 72d together with the outer rings of the two ball bearings 72h, rotates around the rotation axis G2 corresponding to the central axis of the shaft member 72g with the rotation of the teeth formed on the base end side of the shaft member 72a. Rotate.
  • the rotating shaft G2 is parallel to the central axis CO in a state where the shaft member 72a to which the rolling bearing 72e is attached is fitted into the bracket 111.
  • the central axis CO, the rotation axis M, the rotation axis G1, and the rotation axis G2 have a positional relationship parallel to each other.
  • the motor shaft 71a, the shaft member 72a, and the shaft member 72g are arranged so as to have a parallel positional relationship with each other.
  • the rotational driving force generated in the motor 71 is transmitted to the relay gear 72c via the motor shaft 71a and the relay gear 71c. Further, according to the configuration described above, the rotational driving force transmitted to the relay gear 72c is transmitted to the base end of the drive shaft 64 via the shaft member 72a, the relay gear 72d, and the relay gear 90.
  • the relay gear 71c, the shaft member 72a, the relay gear 72c, the relay gear 72d, the relay gear 90, and the drive shaft 64 constitute a driving force transmission mechanism that transmits the driving force generated by the motor 71 to the rotating member 32.
  • the rotating member 32 rotates around the longitudinal axis of the insertion section 21 according to the driving force transmitted by the rotation of the motor shaft 71a and the shaft member 72a.
  • the rolling bearing 72e is provided with an inner ring 76a that rotates together with the shaft member 72a, and an outer ring 76b that is fitted into the housing 72f with a part of the distal end protruding from the housing 72f. ing.
  • a fitting portion 77 having a shape that can be fitted to a fitted portion 111c (described later) of the bracket 111 is provided around the outer ring 76b of the rolling bearing 72e. Is formed.
  • the fitting portion 77 is formed to have a convex shape corresponding to the male side in the spigot structure.
  • 4 and 5 are diagrams for explaining an example of a configuration of a gear train provided in the endoscope according to the embodiment.
  • the bracket 111 has a hole 111a into which a motor shaft 71a (not shown) to which a bearing member 71d is attached and a hole 111b into which a shaft member 72a to which a rolling bearing 72e is attached are fitted. It is configured as a provided fixing member.
  • the bracket 111 has a fixed portion provided with a hole 111a into which the portion of the motor shaft 71a to which the bearing member 71d is attached and a hole 111b into which the portion of the shaft member 72a to which the rolling bearing 72e is attached. It is configured as a member.
  • a fitted portion 111c having a shape that can be fitted to the fitting portion 77 of the gear train 72 is formed.
  • the fitting portion 111c is formed to have a concave shape corresponding to the female side in the spigot structure.
  • the cap 72b and the relay gear 72c are respectively attached to predetermined positions on the distal end side of the shaft member 72a after the shaft member 72a is fitted into the hole 111b.
  • the shaft member 72a has a fitting portion 77 formed by a rolling bearing 72e, a housing 72f having a shape that covers a part of the outer peripheral surface of the rolling bearing 72e, and a fitting formed in the hole 111b.
  • the fitting portion 111c is fitted into the bracket 111 with the fitting portion 111c fitted.
  • the gear train 72 and the bracket 111 are connected by a spigot structure.
  • the position of the rotation axis M with respect to the bracket 111 is defined by fitting the motor shaft 71a to which the bearing member 71d is attached into the hole 111a. Further, according to the present embodiment, by fitting the shaft member 72a to which the rolling bearing 72e is attached into the hole 111b, the fitting portion 77 and the fitted portion 111c are fitted together, and the rotating shaft G1 with respect to the bracket 111 is fitted. (And the position of G2) are defined. Therefore, according to the present embodiment, the motor shaft 71a to which the bearing member 71d is attached is fitted into the hole 111a, and the shaft member 72a to which the rolling bearing 72e is attached is fitted into the hole 111b.
  • the inter-axis distance TL with G1 can be reliably set to a predetermined distance. Therefore, according to the present embodiment, it is possible to reduce the complexity of the operation related to the assembly of the mechanism for transmitting the driving force generated by the motor 71 to the rotating member 32.

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  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Optics & Photonics (AREA)
  • Biomedical Technology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Pathology (AREA)
  • Medical Informatics (AREA)
  • Astronomy & Astrophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Molecular Biology (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Biophysics (AREA)
  • General Physics & Mathematics (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)

Abstract

L'invention concerne un appareil d'insertion comprenant : une partie insertion allongée qui est insérée dans un objet à examiner ; un élément entraîné disposé dans la partie insertion ; une source d'entraînement qui génère une force d'entraînement pour entraîner l'élément entraîné en tournant autour d'un premier axe de rotation parallèle à l'axe longitudinal de la partie insertion ; un premier élément arbre qui tourne autour du premier axe de rotation lorsque la source d'entraînement tourne et auquel un premier élément palier est fixé ; un second élément arbre qui tourne autour d'un second axe de rotation parallèle au premier axe de rotation lorsque le premier élément arbre tourne et auquel un second élément palier est fixé ; et un élément de fixation qui est pourvu d'un premier trou dans lequel le premier élément arbre ayant le premier élément palier fixé à celui-ci est ajusté et d'un second trou dans lequel le second élément arbre ayant le second élément palier fixé à celui-ci est ajusté.
PCT/JP2019/007911 2018-06-26 2019-02-28 Appareil d'insertion WO2020003614A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-120727 2018-06-26
JP2018120727A JP2021191315A (ja) 2018-06-26 2018-06-26 挿入機器

Publications (1)

Publication Number Publication Date
WO2020003614A1 true WO2020003614A1 (fr) 2020-01-02

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PCT/JP2019/007911 WO2020003614A1 (fr) 2018-06-26 2019-02-28 Appareil d'insertion

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JP (1) JP2021191315A (fr)
WO (1) WO2020003614A1 (fr)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016176586A (ja) * 2015-03-23 2016-10-06 Ntn株式会社 自動車用減速機付きモータ駆動装置
WO2017010128A1 (fr) * 2015-07-15 2017-01-19 オリンパス株式会社 Mécanisme de transmission de force d'entraînement pour dispositif médical
JP2018074790A (ja) * 2016-10-31 2018-05-10 Ntn株式会社 電動アクチュエータ

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2016176586A (ja) * 2015-03-23 2016-10-06 Ntn株式会社 自動車用減速機付きモータ駆動装置
WO2017010128A1 (fr) * 2015-07-15 2017-01-19 オリンパス株式会社 Mécanisme de transmission de force d'entraînement pour dispositif médical
JP2018074790A (ja) * 2016-10-31 2018-05-10 Ntn株式会社 電動アクチュエータ

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