WO2020121763A1 - Dispositif de retenue et système d'entraînement pour endoscope souple - Google Patents

Dispositif de retenue et système d'entraînement pour endoscope souple Download PDF

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Publication number
WO2020121763A1
WO2020121763A1 PCT/JP2019/045430 JP2019045430W WO2020121763A1 WO 2020121763 A1 WO2020121763 A1 WO 2020121763A1 JP 2019045430 W JP2019045430 W JP 2019045430W WO 2020121763 A1 WO2020121763 A1 WO 2020121763A1
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WIPO (PCT)
Prior art keywords
holding
holding member
wheel
holding device
tubular portion
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Application number
PCT/JP2019/045430
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English (en)
Japanese (ja)
Inventor
誠 橋爪
真哉 小野木
龍 中楯
勉 岩佐
西村　浩一
菜穂子 山村
Original Assignee
国立大学法人九州大学
ジョンソン・エンド・ジョンソン株式会社
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Application filed by 国立大学法人九州大学, ジョンソン・エンド・ジョンソン株式会社 filed Critical 国立大学法人九州大学
Publication of WO2020121763A1 publication Critical patent/WO2020121763A1/fr

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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
    • 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 a holding device for holding a medical device having a tubular portion such as an endoscope and a drive system for a flexible endoscope having the holding device.
  • Patent Document 1 discloses a technique relating to a holding device that holds a tubular portion of a medical instrument such as a flexible endoscope so that the tubular portion of the medical instrument can be moved back and forth.
  • Patent Document 1 discloses a shaft roller 90 as a holding device that holds a tubular portion of the medical device in a retractable manner.
  • the shaft roller 90 includes sheaves 92A and 92B that hold the tubular portion 64 of the endoscope so as to be capable of advancing and retracting. By rotating the sheaves 92A and 92B, the tubular portion 64 of the endoscope is axially moved. To move to.
  • the grooves 93A and 93B of the sheaves 92A and 92B are said to enhance the frictional force between the tubular portions 64 of the endoscope by rubber coating or the like so that the tubular portions 64 of the endoscope do not slip (Patent Document 1). 1 paragraph 0053, FIG. 6B).
  • the tubular portion 64 of the endoscope can be held so as to be able to advance and retreat in the axial direction, and the tubular portion of the endoscope can be controlled by controlling the rotation of the sheaves 92A and 92B. It is possible to control the feed amount of 64 in the axial direction.
  • the tubular portion 64 of the endoscope cannot be rotated around its axis. In use, the endoscope may require a "twisting motion" or rotation of the tubular portion of the endoscope about its axis.
  • Such a rotating mechanism causes an increase in size and cost of the device.
  • power for driving the endoscope to rotate about the major axis of the tubular portion and power for driving the entire shaft roller 90 to rotate are required.
  • Two motors are required, and a control mechanism that moves the two motors in coordination is also required.
  • the rotations of the two motors do not cooperate for some reason, a strong twist is applied to the tubular portion, which may damage the endoscope.
  • it is desirable that the axial roller 90 is disposed near the patient to prevent the tubular portion of the endoscope from meandering outside the patient's body, but the rotational trajectory of the axial roller 90 is large near the patient.
  • the present invention is a holding device that holds a tubular portion of a medical instrument such as a flexible endoscope so that the tubular portion can be moved back and forth, without rotating the holding device itself, of the tubular portion of the medical instrument.
  • An object of the present invention is to provide a holding device capable of allowing a twisting motion.
  • a holding device for holding a medical device having a tubular portion, wherein the tubular portion is moved forward and backward relative to the holding device in a longitudinal direction thereof, with respect to a rotational direction about the longitudinal direction.
  • a holding device that includes a holding member that holds a rotatable member.
  • (Structure 2) A wheel member in which the holding member holds the tubular portion so as to be sandwiched by a first holding member and a second holding member, and the first holding member has a rotation axis in a direction substantially orthogonal to the longitudinal direction.
  • the second holding member is a wheel member having a rotation axis in a direction substantially orthogonal to the longitudinal direction, and a small rotating body having an axis substantially parallel to a tangent line of the outer circumference as a rotation axis on its outer circumference.
  • (Structure 4) A small rotating body of a wheel member included in the first holding member and a wheel included in the second holding member when holding the tubular portion so as to be sandwiched by the first holding member and the second holding member.
  • the first holding member and the second holding member each include at least two wheel members, and when the tubular portion is held by the first holding member and the second holding member, Among the small rotating bodies of the plurality of wheel members included in the first holding member and the small rotating bodies of the plurality of wheel members included in the second holding member, at least three small rotating bodies are always in contact with the tubular portion. 10.
  • the holding device according to any one of configurations 3 to 9, which is configured to.
  • (Configuration 20) 20 The holding device according to any one of configurations 2 to 19, wherein the small rotating body has a spindle shape or a barrel shape.
  • (Configuration 24) A drive system for a flexible endoscope, comprising the holding device according to any one of configurations 1 to 23.
  • the tubular portion of the medical instrument is held in the longitudinal direction relative to the holding device so as to be rotatable in the rotational direction about the longitudinal direction.
  • the twisting operation can be allowed in the tubular portion of the medical device without rotating the holding device itself.
  • FIG. 1 is a schematic diagram showing a drive system for a flexible endoscope according to an embodiment of the present invention.
  • Perspective view showing the internal mechanism of the holding device Front view showing the internal mechanism of the holding device
  • Bottom view showing the internal mechanism of the holding device The figure which shows the holding member with which a holding device is equipped.
  • the figure which shows the wheel member with which a holding member is equipped.
  • Plan view showing the disk member Perspective view showing the disc member
  • the figure which shows the structure of the holding member of the other example of a holding device The figure which shows the structure of the holding member of the other example of a holding device. The figure which shows the structure of the holding member of the other example of a holding device. The figure which shows the example which provided the holding device with the wiping part for wiping the tubular part of an endoscope.
  • FIG. 1 is a schematic diagram showing a drive system for a flexible endoscope according to an embodiment of the present invention.
  • the drive system 100 for a flexible endoscope has, as its rough structure, a main body 101, an operating portion 102, an arm portion 103, an endoscope mounting portion 104, and a bending arm 105. And a holding device 1.
  • the drive system 100 for a flexible endoscope is a system for supporting an operation of an inspection or a treatment using the flexible endoscope 2 which is a medical instrument having a tubular portion, and an endoscope is installed inside the endoscope mounting portion 104.
  • the mirror 2 is attached and used.
  • the endoscope attachment portion 104 is fitted with an operation portion of the endoscope 2 or an air supply/water supply/suction button, an operation dial, or the like (not particularly shown) provided in the endoscope 2, and the buttons and the like. It has a drive unit that drives an operation dial and the like.
  • the endoscope mounting portion 104 also has a drive portion for driving the endoscope 2 so as to rotate (arrow in FIG. 1), whereby the tubular portion 21 of the endoscope 2 is lengthened. It can be rotated around an axis with the direction as the axis.
  • the operation unit 102 is a user interface for operating the endoscope 2.
  • the main body 101 has a control unit that performs control processing for driving the endoscope mounting unit 104 and the drive unit of the holding device 1 in response to a signal based on an operation on the operation unit 102.
  • a caster is provided below the main body 101 so that the entire apparatus can be moved.
  • the arm portion 103 is rotatable with respect to the main body portion 101, and the arm is configured to be extendable/contractible in its longitudinal direction (not particularly shown). Thereby, the arrangement positions of the endoscope 2 and the holding device 1 can be adjusted appropriately.
  • the bending arm 105 is an arm to which the holding device 1 is attached, and has a bending portion in the middle of the arm.
  • the holding device 1 is used, for example, on the bed on which the patient is lying and near the mouth and anus of the patient.
  • FIG. 2 is a perspective view of the holding device 1 viewed from the base end side of the arm.
  • the holding device 1 holds the tubular portion 21 of the endoscope 2 relative to the longitudinal direction so as to control the delivery amount and advances and retracts the tubular portion 21 relative to the longitudinal direction with respect to the rotational direction about the longitudinal direction. Is a device that holds it rotatably.
  • the holding device 1 advances and retracts the tubular portion 21 by rotating the holding member while holding the tubular portion 21 of the endoscope 2 between the holding members 11A and 11B equipped with wheel members, and at the same time, the longitudinal portion It is rotatably held in the direction of rotation about the direction.
  • the holding members 11A and 11B are rotating members, and are covered by a wheel portion cover 16 for reducing the inclusion of an object such as an end of surgical operation in the rotating portion during endoscopic examination or treatment. Further, it is entirely covered by the main body case 11.
  • FIGS. 4 and 5 are views showing the internal mechanism of the holding device 1 without the main body case 11 and the like.
  • FIG. 3 is a perspective view seen from the arm proximal end side
  • FIG. 4 is a front view
  • FIG. 5 is a bottom view. Is.
  • the holding device 1 includes a fixed block 1A and a slide block 1B.
  • the slide block 1B is configured to be slidable with respect to the fixed block 1A, and the gap between the holding member 11A and the holding member 11B can be narrowed or widened between the lock position and the release position.
  • Each component of the fixed block 1A is attached to the frame 12A, and is a motor M for driving the holding members 11A and 11B, a holding member 11A, and a power transmission mechanism from the motor M to the holding member 11A.
  • Gears G1 to G5, a rotary shaft 15, a slide lock mechanism 18A that locks the slide while maintaining a gap, a lock release lever 14 that unlocks the slide lock mechanism 18A, and the like are provided.
  • the drive circuit for controlling the motor M is provided in the arm portion 103 via the wiring, but the drive circuit may be located easily.
  • Each component of the slide block 1B is attached to the frame 12B, and the holding member 11B, the gears G6 and G7 that are power transmission mechanisms from the motor M to the holding member 11B, the slide lock mechanism 18B, and the slide block 1B.
  • the gear G1 provided on the rotation shaft of the motor M meshes with the reduction gear G2.
  • the reduction gear G2 is non-rotatably attached to the rotary shaft 15 together with the bevel gear G3.
  • the rotating shaft 20A of the holding member 11A is detachably attached to the shaft holder 19A and is non-rotatably attached.
  • a gear G4, which is a bevel gear, is non-rotatably attached to the lower end of the shaft holder 19A, and the rotation of the motor M is transmitted to the holding member 11A by meshing the gear G4 with the gear G3.
  • a gear G6, which is a bevel gear, and a gear G5, which meshes with the gear G6 slidably and non-rotatably, are formed on the distal end side (slide block 1B side) of the rotary shaft 15.
  • the gear G5 is formed in the longitudinal direction of the rotary shaft 15 so as to have a length equal to or longer than the sliding amount of the slide block 1B with respect to the fixed block 1A.
  • a hole that meshes with the gear G5 is formed in the center of the gear G6, so that the gears G5 and G6 mesh slidably and non-rotatably.
  • the holding member 11B is detachably attached to the shaft holder 19B and is non-rotatably attached.
  • a gear G7 which is a bevel gear, is non-rotatably attached to the lower end of the shaft holder 19B, and the rotation of the motor M is transmitted to the holding member 11B when the gears G6 and G7 mesh with each other.
  • the rotating shaft 20B of the holding member 11B is rotated in the opposite direction.
  • the rotation link mechanism is configured such that the rotation of the holding member 11A and the rotation of the holding member 11B are opposite to each other and the rotations are synchronized while the distance between the holding members 11A and 11B is variable.
  • the slide lock mechanism 18A provided in the fixed block 1A has a hook that engages with the slide lock mechanism 18B on the tip side (slide block 1B side).
  • the base end side of the slide lock mechanism 18A is rotatably attached to the frame 12A, and the front end side of the slide lock mechanism 18A rotates in the direction of the bottom surface of the holding device 1.
  • the slide lock mechanism 18B provided in the slide block 1B has a hook that engages with the slide lock mechanism 18A on the tip side (fixed block 1A side), and has a mechanism that rotates in the upper surface direction of the holding device 1. ..
  • the hook of the slide lock mechanism 18A is lowered, the hook of the slide lock mechanism 18A is raised, and the slide block 1B approaches the fixed block A.
  • the hooks of the slide lock mechanism 18A and the hooks of the slide lock mechanism 18B come to the position where they mesh with each other, the two hooks are engaged with each other by the torsion coil springs arranged in the rotation shaft of each slide lock so that both hooks return to their original positions. And is locked. Thereby, the distance between the holding member 11A and the holding member 11B is fixed at a predetermined distance.
  • the slide lock mechanism 18A slides the lock release lever 14 in a direction away from the slide block 1B to reach a position where the hooks of the slide lock mechanism 18A and the slide lock mechanism 18B are disengaged from each other.
  • the hooks are arranged to hang down on the bottom surface side of the holding device 1. Therefore, the lock can be released by operating the lock release lever 14.
  • the slide block 1B slides away from the fixed block 1A by the action of the compression spring installed between the slide block 1B and the bottom frame 12C, and the holding member 11A and the holding member 11B. The intervals can be widened.
  • the holding member 11A has a rotary shaft 20A that is in the vertical direction when the holding device 1 is placed on a horizontal plane, and the wheel member 10 arranged above and below the rotary shaft 20A.
  • I have two. That is, the holding member 11A includes two wheel members 10 arranged in parallel on the same rotation axis. The individual wheel members 10 have the same structure. The two wheel members 10 are non-rotatably attached to the rotary shaft 20A.
  • a spacer 30 ⁇ /b>A is provided between the upper and lower two-stage wheel members 10 to maintain the space therebetween. Due to the size relationship between the small rotating body 10R and the medical device, the spacer 30A may be omitted if it is unnecessary.
  • the above-described configuration of the holding member 11A is the same for the holding member 11B.
  • FIG. 7 is a perspective view showing the wheel member 10.
  • the wheel member 10 has a plurality of barrel-shaped or spindle-shaped small rotating bodies 10R on the outer circumference of the disk member 10D, the axis of rotation of which is substantially parallel to the tangent line of the outer circumference.
  • five small rotating bodies 10R are used as an example.
  • a stack of a plurality of wheel members 10 is generally called an "omni wheel” and is used as a wheel that enables movement in multiple directions.
  • the outer peripheral shape of the small rotating body 10R is substantially the same as the arc of a circle contacting the outer periphery of the wheel member 10, when the wheel member 10 is viewed from the direction perpendicular to the surface of the disc member,
  • the shape of the outer circumference is substantially circular.
  • the small rotating body 10R has a barrel-shaped or spindle-shaped through-hole at the center of its long axis, and a shaft serving as a rotation axis is inserted through the through-hole and is configured to be rotatable around the rotation axis. ing.
  • the small rotating body and the rotating shaft of the small rotating body may be integrally formed or fixed to each other, and a bearing that rotatably receives the rotating shaft may be formed on the disk member.
  • the disk member and the rotary shaft of the small rotating body are preferably formed of a metal member such as stainless steel, brass, or titanium, and of these, stainless steel is preferable.
  • a metal member such as stainless steel, brass, or titanium
  • synthetic resin such as polyethylene, polypropylene, ABS, vinyl chloride, nylon, synthetic rubber such as silicone rubber and urethane rubber, and metal such as stainless steel can be considered. When repeatedly used, it is preferably one that can withstand steam sterilization.
  • the material of the small rotating body is preferably a non-slip material in order to suppress slippage in the long axis direction between the small rotating body and the tubular portion, and silicone is preferable.
  • the surface of the small rotating body may be provided with a non-slip shape such as non-slip, embossing or sandblasting.
  • 8 is a plan view showing the disk member 10D
  • FIG. 9 is a perspective view.
  • the disk member 10D has a joint portion 10D1 for fixing the shaft that is the rotation axis of the small rotating body 10R at the position that is the apex of the pentagon.
  • each side of the pentagon is formed in a shape capable of receiving the small rotating body 10R.
  • an example is given in which the shape is along the outer circumference of the small rotating body 10R.
  • a recess for receiving the shaft is formed in the joint portion 10D1, and the shaft is fitted into the recess and fixed by welding or the like. That is, at the joint portions 10D1 adjacent to each other, both ends of the shaft, which is the rotation axis of the small rotating body 10R, are fixed, whereby the small rotating body 10R is rotatably attached to the disc member 10D.
  • the shaft is fixed to the disk member 10D by welding or the like as an example here, the shaft may be detachable.
  • FIG. 10 is a schematic view showing the holding members 11A and 11B in a state where the tubular portion 21 of the endoscope 2 is held.
  • the slide block 1B is configured to be slidable with respect to the fixed block 1A, and the slide block 1B is opened between the holding member 11A and the holding member 11B.
  • the tubular portion 21 of the endoscope 2 is attached and detached.
  • the slide block 1B is slid so as to be closed to hold the above-mentioned lock.
  • the tubular portion 21 of the endoscope 2 is held so as to be sandwiched by the member 11A and the holding member 11B (FIG. 10).
  • the holding member 11A and the holding member 11B each include two wheel members 10 each having a rotation axis in a direction substantially orthogonal to the longitudinal direction of the tubular portion 21, and a total of four wheel members 10.
  • the tubular portion 21 is held so as to surround it.
  • FIG. 11 is a schematic cross-sectional view for explaining a state in which the tubular portion 21 of the endoscope 2 is held.
  • the holding member 11A includes two wheel members 10 arranged vertically, and the wheel member 10 in the upper stage and the wheel member 10 in the lower stage are arranged so as to be out of phase with each other.
  • the small rotating body 10R of one wheel member 10 and the joint portion 10D1 of the other wheel member 10 are arranged to face each other. Thereby, at least one of the small rotating bodies included in the holding member 11A is in contact with the tubular portion 21.
  • This structure is the same for the holding member 11B.
  • the joint portion 10D1 of the wheel member 10 of the holding member 11A is arranged so as to face the small rotating body 10R of the wheel member 10 of the holding member 11B, and the joint portion 10D1 of the wheel member 10 of the holding member 11B. Are arranged so as to face the small rotating body 10R of the wheel member 10 of the holding member 11A.
  • the small rotating body 10R of the two wheel members 10 included in the holding member 11A and the two wheel members 10 included in the holding member 11B are configured to be in contact with the tubular portion 21 without fail. The conditions under which at least three small rotating bodies 10R always contact the tubular portion 21 in this manner will be described below.
  • Wheel member diameter D [mm] Number of small rotating bodies Nr Small rotating body angle ⁇ [deg] Joint angle ⁇ [deg] Joint length l >5 [mm]
  • the small rotating body angle ⁇ is the angle (center angle) that one small rotating body occupies on the outer periphery of the wheel member, and the joint angle ⁇ is one joint existing between the small rotating bodies.
  • the angle 10D1 occupies the outer circumference of the wheel member (center angle).
  • a circle C indicated by an alternate long and short dash line in FIG. 8 is a circle in contact with the outer periphery of the wheel member, and is also a line in contact with the outer periphery of the small rotating body 10R.
  • the diameter D of the wheel member is the diameter of the circle C
  • the joint length 1 is the length of the arc on the circle C formed by the central angle ⁇ .
  • the length 1 that one joint occupies on the outer circumference of the wheel member is expressed by Equation 3 by the joint angle ⁇ and the diameter D of the wheel member.
  • Equation 4 Considering concrete manufacturing means such as welding of the shaft which is the rotating shaft of the small rotating body, the minimum distance required for the outer periphery of the wheel member is about 5 [mm] per joint. Substituting 5 [mm] for the part length l, ⁇ is expressed by Equation 4.
  • the number Nr of small rotating bodies is Nr ⁇ 5.96 [pcs] Becomes That is, when the joining portion is not contracted (when it is 5 [mm] or more), the number condition of the small rotating bodies for the three small rotating bodies to always support the tubular portion 21 is 5 or less.
  • the diameter D of the wheel member is preferably small, and at most about 60 mm. In this case, when the number condition of the small rotating bodies is similarly calculated from the equations 4 and 2, ⁇ 9.54 [deg] and Nr ⁇ 9.42 [pcs].
  • the diameter D of the wheel member is more preferably 50 mm or less, and in this case, ⁇ 11.45 [deg] and Nr ⁇ 7.85 [pcs]. Therefore, the number Nr of the small rotating bodies is preferably 3 to 9, more preferably 3 to 7, and most preferably 3 to 5. In addition, in order to satisfy the number condition, it is more preferable that the number of the small rotating bodies is large, since the medical device can easily rotate around the long axis.
  • the holding device 1 of the present embodiment holds the tubular portion 21 of the endoscope 2 so as to sandwich the tubular portion 21 with the two holding members 11A and 11B having the two wheel members 10.
  • the rotation of the holding member 11A and the holding member 11B are interlocked with each other, whereby the four wheel members 10 are interlocked with each other to rotate and thereby move the tubular portion 21 back and forth in the longitudinal direction. That is, the delivery amount is controllably held in the longitudinal direction of the tubular portion 21.
  • the small rotating body 10R arranged on the outer periphery of the wheel member 10 can passively rotate, when the rotational force around the axis is applied to the tubular portion 21, the small rotating body 10R rotates, The tubular portion 21 is rotatable about its axis. Therefore, when a rotational force about the longitudinal axis is applied to the tubular portion 21 by the rotation of the endoscope 2 by the endoscope mounting portion 104 (see FIG. 1), the small rotating body 10R passively rotates and the tubular portion is rotated. Allows twisting drive for 21.
  • the holding device provided in the drive system 100 for the flexible endoscope is described, and the "twisting motion" is driven by the drive system 100 for the flexible endoscope as an example.
  • the "twisting motion" is driven by the drive system 100 for the flexible endoscope as an example.
  • it can also be used when performed by a person.
  • the forward/backward movement of the tubular portion can be electrically controlled by the holding member to adjust the feed amount and be fixed at a desired position, and the twisting movement necessary for insertion/treatment is performed by the operator in the medical device.
  • the medical device can be rotated while being held by simply applying a rotating force.
  • the wheel members 10 of the holding members 11A and 11B are arranged so that at least three small rotating bodies 10R are always in contact with the tubular portion 21 in the portion holding the medical device.
  • the tubular portion 21 can be stably held without restraining the axial rotation of the tubular portion 21 and causing no slippage in the back-and-forth movement.
  • the wheel member may be detachably attached to the holding member.
  • the wheel member detachable By making the wheel member detachable, it is possible to easily wash and sterilize only the portion of the endoscope that comes into contact with the tubular portion (that is, the portion to which the patient's body fluid can adhere). Also, it is possible to handle tubular parts with different diameters by exchanging with wheel members of different diameters or exchanging spacers for holding the gap between the upper and lower two-stage wheel members with different heights.
  • the holding member may be configured to be detachable from the holding device.
  • the holding member includes the holding member 11A and the holding member 11B as an example, but the number of holding members may be increased.
  • FIG. 12 shows an example in which a plurality of holding members are arranged in the longitudinal direction of the tubular portion. In this way, by disposing a plurality of holding members in the longitudinal direction, the number of small rotating bodies that come into contact with the tubular portion of the endoscope is increased, so that the holding force at the time of forward/backward movement can be increased.
  • there are support points at a plurality of locations apart from each other in the longitudinal direction of the tubular portion of the endoscope it becomes easy to define the insertion angle of the tubular portion of the endoscope into the natural opening of the patient such as the mouth and anus.
  • FIGS. 13(a) and 13(b) show an example in which one holding member is configured as a sliding member that slidably holds a tubular portion of a medical device such as an endoscope. ..
  • the holding member 11A-3 in FIGS. 13A and 13B has basically the same configuration as the holding member 11A in the present embodiment.
  • the holding member 11B-3 is a wall-shaped member that is provided so as to face the holding member 11A-3 and that holds the tubular portion of the endoscope with the holding member 11A-3.
  • a sliding holding member S formed of a member having a low friction in relation to the surface of the tubular portion and having a concave portion for holding the tubular portion. It is provided.
  • the material of the slide holding member S include fluororesins such as Teflon (registered trademark), synthetic resins such as polyethylene, polypropylene and ABS, and metals such as SUS members that have been surface-treated to improve sliding. Among them, a fluororesin such as Teflon (registered trademark) having particularly good sliding property is preferable.
  • the holding member including the wheel member can be integrated into one, so that the entire holding device can be made smaller.
  • FIGS. 13(a) and 13(b) show an example in which a plurality of holding members are arranged in the longitudinal direction of the tubular portion in the examples of FIGS. 13(a) and 13(b).
  • FIG. 15 shows an example of a holding device having a wiping portion for wiping the lubricating gel on the surface of the tubular portion.
  • the wiping portion 17 is provided on the patient side of the holding members 11A and 11B, or on both the patient side and the hand side of the holding members 11A and 11B.
  • the wiping portion 17 is provided with a member W made of, for example, a sponge or a rubber member for removing gel or water from the surface of the medical device. Since the patient's body fluid adheres to this member W, it is more preferable that it can be replaced. In this way, by removing the lubricating gel and the water on the surface of the tubular portion, it is possible to reduce unintended slippage due to the movement of the tubular portion in the long axis direction due to the reduction in the holding force.
  • a member W made of, for example, a sponge or a rubber member for removing gel or water from the surface of the medical device. Since the patient's body fluid adheres to this member W, it is more preferable that it can be replaced. In this way, by removing the lubricating gel and the water on the surface of the tubular portion, it is possible to reduce unintended slippage due to the movement of the tubular portion in the long axis direction due to the reduction in the holding force.
  • the holding members 11A and 11B are provided with wheel members that are coaxially installed in parallel in two steps, but the present invention is not limited to this.
  • the wheel of the holding member 11A-3 It is also acceptable to have a single stage member.
  • the holding member may be provided with three or more stages of wheel members.
  • the tubular portion of the medical device typified by an endoscope can be held in the longitudinal direction thereof to advance and retreat and can be freely rotated about the longitudinal axis, it is retained.
  • the wheel members provided on the members need not be provided coaxially or in parallel. Further, the wheel members having different diameters may be mixed and used. Further, wheel members having different configurations exemplified below may be mixed and used. Even when the diameter of the wheel member provided on the holding member 11A is different from the diameter of the wheel member provided on the holding member 11B, the gear of the gear that transmits the rotational force to each of the holding members 11A and 11B. By appropriately setting the ratio, the rotation of the holding member 11A and the rotation of the holding member 11B can be synchronized with each other so that they rotate in opposite directions and the peripheral velocities on the outer circumference of the wheel member become equal.
  • the small rotating bodies have the same size, and the small rotating bodies are evenly provided on the outer periphery of the wheel, but the small rotating bodies have different sizes. It may be arranged on the outer periphery of.
  • the positional relationship between the slide block 1B and the fixed block 1A that is, the distance between the holding members 11A and 11B
  • the present invention is not limited to this.
  • a biasing mechanism that biases the opposing holding members toward each other is provided, and when holding the tubular portion of the endoscope, a biasing force that constantly narrows the interval between the holding members is generated. Good.

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  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Abstract

L'invention concerne un dispositif de retenue qui peut retenir une partie tubulaire d'un outil médical, tel qu'un endoscope souple, de manière mobile vers l'avant et vers l'arrière, et qui peut donner à la partie tubulaire un mouvement de torsion sans avoir besoin de faire tourner le dispositif de retenue lui-même.　L'invention concerne un dispositif de retenue 1 servant à retenir une partie tubulaire d'un outil médical, tel qu'un endoscope souple, de manière mobile vers l'avant et vers l'arrière, le dispositif de retenue comportant un élément de retenue (11A, 11B) qui peut retenir la partie tubulaire de manière rotative dans une direction de rotation autour de la direction allant dans le sens de la longueur tout en déplaçant la partie tubulaire vers l'avant et vers l'arrière par rapport à la direction allant dans le sens de la longueur.
PCT/JP2019/045430 2018-12-12 2019-11-20 Dispositif de retenue et système d'entraînement pour endoscope souple WO2020121763A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2018-232281 2018-12-12
JP2018232281A JP2020092809A (ja) 2018-12-12 2018-12-12 保持装置及び軟性内視鏡の駆動システム

Publications (1)

Publication Number Publication Date
WO2020121763A1 true WO2020121763A1 (fr) 2020-06-18

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PCT/JP2019/045430 WO2020121763A1 (fr) 2018-12-12 2019-11-20 Dispositif de retenue et système d'entraînement pour endoscope souple

Country Status (2)

Country Link
JP (1) JP2020092809A (fr)
WO (1) WO2020121763A1 (fr)

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0397431A (ja) * 1989-09-08 1991-04-23 Olympus Optical Co Ltd 内視鏡装置
US20130137927A1 (en) * 2011-11-30 2013-05-30 Fujifilm Corporation Propulsion assembly for endoscope and driving method

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0397431A (ja) * 1989-09-08 1991-04-23 Olympus Optical Co Ltd 内視鏡装置
US20130137927A1 (en) * 2011-11-30 2013-05-30 Fujifilm Corporation Propulsion assembly for endoscope and driving method

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JP2020092809A (ja) 2020-06-18

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