JP2948834B2 - Endoscope insertion device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope insertion device capable of applying a twisting operation and an advance / retreat operation to an endoscope insertion section.

[Problems to be solved by the prior art and the invention] In recent years, while observing the inside of a body cavity by inserting an elongated insertion portion into the body cavity, and performing a treatment process using a processing tool as necessary, Alternatively, an endoscope apparatus capable of observing the inside of a tube hole by inserting the insertion portion into a tube hole of a boiler or the like is widely used.

The insertion portion is formed to have a length of a pipe line of the subject to be observed. For this reason, when the part to be observed is deep inside the conduit, insertion and removal of the insertion part tend to be complicated.

To cope with this, for example, in Japanese Patent Application Laid-Open No. 1-148232, an advancing / retracting drive means for applying an advancing / retracting operation to an upper air insertion section is disposed outside the upper air duct, and the insertion section and the removal are removed by this driving means. A technique that makes it possible to do so is disclosed.

By the way, when inserting the insertion portion into the large intestine, it is difficult to insert the insertion portion as it is in the S-shaped colon part,
Conventionally, a technique called an α-loop method has been used.
The α-loop method is to advance the insertion portion while twisting it, and to curve the curved portion to form an α-shaped loop.By making the large intestine a smooth curved shape, the insertion of the insertion portion is facilitated. Is what you do. However, this procedure requires the insertion and retraction and twisting of the insert.
It has been empirically known that this torsion is effective in facilitating the insertion and removal even when the insertion portion is inserted into and removed from the tube hole.

Of these forward / backward movements and twisting movements, the forward / backward movements can be added using the above-described prior art, but the twisting movements need to be added by the operator's hand, and it is difficult to reduce the complexity of the operation. is there.

[Object of the Invention] The present invention has been made in view of these circumstances,
It is an object of the present invention to provide an endoscope insertion device that enables an insertion / retraction operation and a torsion operation to be added to an insertion portion, thereby facilitating insertion and removal of the insertion portion.

[Means and Actions for Solving the Problems] An endoscope insertion device according to the present invention includes an advancing / retreating drive means for advancing and retreating an insertion portion of an endoscope inserted into a subject, and rotating the insertion portion. Rotating drive means for causing the insertion portion to perform a twisting operation, wherein the advance / retreat drive means and the rotary drive means are fixed to a non-rotating body, The insertion section is rotated by the rotation driving means to apply a twist to the distal end portion, and the insertion section is inserted into and removed from the pipe by moving the insertion section forward and backward by the advance / retreat driving means.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIGS. 1 to 3 relate to a first embodiment of the present invention.
FIG. 2 is a sectional view of the insertion device, FIG. 2 is a view taken along the line II-II of FIG. 1, and FIG. 3 is a schematic configuration diagram of the endoscope device.

As shown in FIG. 3, the endoscope 1 is flexible, and has an elongated insertion portion 2 inserted into a duct such as a body cavity, and the insertion portion 2.
And a large-diameter operation section 3 provided on the base end side of the main body.
A universal cord 3a extends from one side of the operation unit 3, and the endoscope 1 is connected to the universal cord 3a.
The light source device 4 and the monitor 5a are connected via a, and are connected to a video device 5 having a built-in signal processing circuit, a bending motor driving device 6 for driving a bending motor (not shown) provided in the operation unit 3, and the like. ing.

Then, the insertion section 2 is inserted into the body cavity of the subject lying on the bed 7, and the illumination light generated by the light source device 4 is transmitted to the observation site via the distal end 2 a of the distal end of the insertion section 2. When irradiating, the bending motor in the operation section 3 is operated by the bending motor driving device 6 as necessary, and the bending section 2b disposed adjacent to the base end side of the distal end section 2a is bent. ,
The video of the observed part is processed by a signal processing circuit in the video device 5 and output to the monitor 5a.

Incidentally, an insertion device 8 according to the present invention is movably disposed near the bed 7.

As shown in FIGS. 1 and 2, an insertion hole 9 through which the insertion portion 2 is inserted is formed substantially horizontally through the insertion device 8, and the insertion portion 2 is set, for example, to the right in the drawing. It is set so that it is inserted from the insertion base end side 9a and protrudes from the opposite protruding side 9b.

Four concave portions 11 radially formed about the axis of the insertion hole 9 are provided at a position deviated to the insertion base end side 9b of the insertion hole 9, and a ball 12 is provided in each of the concave portions 11.
Is loosely fitted.

A pressing member 13 is disposed on the opposite side of the insertion hole 9 with the ball 12 interposed therebetween. The pressing member 13 includes a slide shaft 14 and a large-diameter retainer 15 fixed to one end of the slide shaft 14.
A sliding member 16 having a concave surface 16a having substantially the same curvature as the outer periphery of the ball 12 is affixed to the side facing the ball 12. The retainer 15 of the slide shaft 14
One side opposite to the side is slidably inserted into a slide hole 11b formed in the bottom surface 11a of the concave portion 11. Further, a coil spring 17 is interposed between the bottom surface 12a and the retainer 14, and the ball 12 is
The pressing force is constantly pressed in the direction of the insertion hole 9 and is stopped by the locking member 11c provided on the insertion hole 9 side of the concave portion 11.

When the ball 12 is stopped by the locking member 12c, the distance between the side facing the ball 12 is set to be slightly shorter than the diameter of the insertion portion 2, and the insertion portion is inserted into the insertion hole 9. When the ball 2 is inserted, the ball 12
Are separated from each other against the urging force of the coil spring 17. As a result, the insertion portion 2 is gripped from all sides by these balls 12. The coefficient of friction between the ball 12 and the sliding member 16 that is in sliding contact with the ball 12 is set to a very small value. Is set so as to grip the insertion portion 2 while rotating smoothly.

As shown in FIG. 2, a recess 11 above the insertion hole 9 is provided.
A friction member 18 is disposed on the side of the ball 12 disposed inside the insertion hole 9 with respect to the axis thereof, and a concave portion having substantially the same curvature as the outer periphery of the ball 12 formed on the friction member 18. 18a
Are in contact with the surface of the ball 12. Further, between the opposite side of the concave surface 18a of the friction member 18 and the side wall 11d of the concave portion 11, the coil spring 1 is connected via a thrust bearing 19a.
The friction member 18 is constantly urged toward the ball 12 by the urging force of the coil spring 19, and the friction member 18 is made of a magnetic material (not shown).
Can be separated from the ball 12.

In addition, a shaft 21 extends from the opposite side of the concave surface 18a of the friction member 18. The friction member 18 of the shaft 21
The other end of the motor 11 projects out of the recess 11 through a hole formed in the side surface 11d of the recess 11, and the projected end is connected to the motor 24 via the coupling and the clutch 23.
Is connected to the output shaft 24a. The motor 24, the friction member 18 and the like constitute an advance / retreat driving means 25.

The coupling 22 has a serration formed inside a cylindrical housing, an end of the shaft 21 inserted into the housing, and the electromagnetic clutch 23 provided opposite the end. A gear is formed on the output shaft 23a, and these gears are slidably engaged with the serrations.

Then, the motor 24 is rotated and the electromagnetic clutch is rotated.
When the connection 23 is connected, the rotation of the output shaft 24 a of the motor 24 is transmitted to the shaft 21 via the coupling 22, whereby the friction member 18 is rotated in the longitudinal direction of the insertion hole 9 and inserted into the insertion hole 9. The inserted insertion portion 2 is moved forward and backward.

As shown in FIG. 1, on the side of the insertion base end 9a of the ball 12 disposed above the insertion hole, there is provided a rotation driving means 27 including another friction member 26 and the like. I have.

That is, a concave surface 26a having substantially the same curvature as the outer periphery of the ball 12 is formed on the ball 12 side of the friction member 27, and a shaft 28 is provided on the opposite side of the concave surface 26a of the friction member 26, One end of the shaft 28 is slidably inserted into a motor chamber 29 provided adjacent to the recess 11 through a hole formed in the side surface 11d for a predetermined distance.

A coil spring 31 is interposed between the friction member 27 and the side surface 11d via a thrust bearing 31a, and the friction member 26 is biased by the coil spring 29.
Is pressed by the ball 12, and the friction member 26 can be separated from the ball 12 by the action of a magnetic material (not shown).

In the motor chamber 29, a coupling 32 and an electromagnetic clutch 33 configured similarly to those described above are provided, and the shaft 28 is connected to the motor 30 via the coupling 32 and the electromagnetic clutch 33. Is connected to the output shaft 30a. And while rotating this motor 30, the electromagnetic clutch
When the ball 33 is connected, the ball 12 is rotated in a direction orthogonal to the axis of the insertion hole 9, so that a twisting operation is applied to the insertion portion 2 inserted into the insertion hole 9.

The magnetic body of the rotary drive unit and the magnetic body of the forward / backward drive unit are arranged such that when one of the friction members 18, 26 is rotated by being in contact with the ball 12, the other friction member 18, 26 is rotated. It is set to be separated from the ball 12.

On the other hand, a cleaning chamber 34 having an enlarged diameter is formed substantially at the center of the insertion hole 9. In the cleaning chamber 34, a plurality of cleaning brushes 35 arranged in parallel with the axis of the insertion hole 9 are provided in a circular shape. The outer circumference of the cleaning brush 35 is exposed in the insertion hole 9 and the cleaning brush 35
One end of the rotary shaft 35a is rotatably inserted into a motor chamber 36 provided on the concave portion 11 side of the cleaning chamber 34, and a pinion 35b is formed at the inserted portion. The motor chamber 36 has the rotating shaft inserted into the motor chamber 36.
A plurality of motors 37 corresponding to 35a are provided, and a large-diameter gear 37b mounted on the output shaft of these motors 37 meshes with the pinion 35b. In addition, the washing room 3
A plurality of nozzles 38a are opened above 5, and these nozzles 38a are connected to a cleaning liquid tank 38c provided above the insertion device 8 through a cleaning liquid passage 38 provided with a pump 38b. . The cleaning liquid stored in the cleaning liquid tank 38c is supplied from the nozzle 38a through the pump 38b to the cleaning chamber.
When discharging to 34a and starting rotation of the motor 38,
The cleaning brush 35 is rotated so that the outer periphery of the insertion section 2 is cleaned.

A seal member 39 for preventing the cleaning liquid discharged into the cleaning chamber 34 from moving toward the concave section 11 is interposed between the cleaning chamber 34 and the recess 11 of the insertion hole 9. On the bottom surface, a discharge passage 34b is opened via a slope 34a.
The discharge passage 34b communicates with a waste liquid tank (not shown) provided below the insertion device 8, and the waste liquid used for cleaning the insertion portion 2 is stored in the waste liquid tank via the discharge passage 34b. It has become.

Further, a lubrication unit 41 is provided near the protruding side 9a of the insertion device 8.

The lubrication unit 41 includes a grease tank 42a provided at an upper portion of the insertion device 8, a pump 42b for pumping grease stored in the grease tank 42a, and a grease passage 42 to which grease is fed. I have. One end of the grease passage 42 communicates with a lubrication chamber 43 which is formed at the same position as the axis of the insertion hole 9 and has a slightly larger diameter than the insertion hole 9. The grease fed under pressure is supplied to the lubrication chamber 43 so that grease is attached to the outer periphery of the insertion portion 2 through which the insertion hole 9 is inserted.

A grease leveling member is formed on the projecting side 9b of the insertion hole 9 with a member having elasticity, and has a hole having the same axis as the axis of the insertion hole 9 and substantially the same diameter as the diameter of the insertion portion 2. 44 are provided. When the insertion portion 2 passes through the hole of the grease leveling 44, the grease attached in the lubrication chamber 43 is evenly distributed on the outer peripheral surface of the insertion portion 2. .

When observing the inside of a duct such as a body cavity using the endoscope 1 and the insertion device 8 having such a configuration, first, the distal end portion 2a of the endoscope 1 is inserted into an insertion hole formed in the insertion device 8. 9, the distal end portion 2a and the insertion portion 2 are moved in the direction of the projecting side 9b of the insertion hole 9.

Then, the distal end portion 2a reaches a portion of the insertion hole 9 where the concave portion 11 is formed, is urged toward the insertion hole 9 by the pressing member 12 of the concave portion 11, and is stopped by the locking member 11c. Contact the opposing sides of the ball 12 that is present. The tip 2a
When the ball 12 is pressed by the tip 2a, the ball 12 is moved in a direction away from each other against the urging force of the urging member 13, and the ball 12 As a result, the tip 2a is gripped.

In this state, when the electromagnetic clutch 23 of the forward / backward driving means 25 is connected, the rotation of the motor 24 is started, and the shaft 21 is slid to bring the friction member 18 into contact with the ball 12, so that the ball 12 is inserted into the insertion hole. As a result, the distal end portion 2a and the insertion portion 2 are moved in the direction of the protruding side 9b.

Further, the other balls 12 that are not in contact with the friction member 18 are rotated while being supported by the concave surface 17a of the sliding member 17, and the insertion portion 2 is moved while being gripped by the balls 12, and with this movement, The ball 12 moves the insertion section 2 relatively to the operation section 3 side.

The distal end portion 2a passes through the portion where the sealing member 39 is provided, reaches the cleaning chamber 34, slides on the outer periphery provided in the cleaning water 34 and exposed in the insertion hole 9, and eventually. Is moved to the vicinity of the lubrication chamber 43.

Next, the grease of the grease tank 42a is supplied to the lubrication chamber 43 through the grease passage 42 by operating the pump 42b of the lubrication unit 41 provided in the vicinity of the protruding side 9b of the insertion device 8 and the tip 2a. If you move
The grease is attached to the distal end portion 2a and the outer periphery of the insertion portion 2, and is evenly leveled by the grease leveling 44 provided on the projecting side, so that the distal end portion 2a projects from the projecting side 9b.

In this state, the distal end portion 2a is inserted into the body cavity of the subject lying on the bed 7, and the insertion portion 2 is further protruded by the advance / retreat driving means 25. While the friction member 18 of 25 is separated from the ball 12, the friction member 26 of the rotation driving means 27 is brought into contact with the ball 12, and the ball 12 is rotated in a direction perpendicular to the axis of the insertion hole 9. A twisting operation is applied to the section 2a and the insertion section 2.

By adding the advancing / retracting operation and the torsion operation to the insertion portion 2, the insertion of the insertion portion 2 into the body cavity is facilitated, and the α-shaped loop can be easily formed.

In this manner, the distal end portion 2a is moved to the vicinity of the observation site, and the bending portion 2b is bent by a bending motor (not shown) provided in the operation portion 3 by the bending motor driving device 7 as necessary. Then, the tip 2a is directed to the site to be observed. Then, when the illumination light generated by the light source device 7 is irradiated from the tip 2a to the observation site, the image of the observation site is processed by the signal processing circuit in the video device 6 and output to the monitor 5a. The above-mentioned observation site is connected to the monitor 5a.
It is possible to observe through.

When this observation and treatment are completed, the advance / retreat drive device
While rotating the ball 12 in the opposite direction to that described above through 25 to retract the insertion section 2, the cleaning liquid is discharged to the cleaning chamber 34 via a pump 38 b and disposed in the cleaning chamber 34 by a motor 37. The brush 35 that is rotating. Then, the outer circumference of the insertion section 2 for moving the cleaning chamber 34 in the direction of the insertion base end side 9a is washed with the brush 35 and the cleaning liquid, and dirt and lubrication in the body cavity which may adhere to the outer circumference of the insertion section 2 are obtained. Grease and the like attached in the chamber 43 are dropped.

In this embodiment, the endoscope 1 has been described as an example in which the insertion section 2 has flexibility and is configured to observe an image of a part to be observed on the monitor 5a. However, the present invention is limited to this example. There is no need to do this, and it is of course applicable to rigid endoscopes and fiberscopes.

Further, in this embodiment, the example has been described in which the advance / retreat drive means 25 and the rotation drive means 27 are connected only to the ball 12 disposed above the insertion hole 9, but these advance / retreat drive means 25 are provided. The rotation driving means 27 can be provided continuously with a plurality of balls 12.

FIG. 4 is a side view of the insertion device according to the second embodiment of the present invention. The same members as those in the first embodiment and members having the same functions are denoted by the same reference numerals, and description thereof is omitted.

In this embodiment, an extendable insertion auxiliary tube 46 is provided on a protruding side 9b from which the insertion portion 2 protrudes from the insertion device 8.

That is, a fixed tube 46a having an inner diameter slightly larger than the diameter of the insertion portion 2 is fixed to the protruding side 9b, and a slide tube 46b is slidably provided on the outer periphery of the fixed tube 46a. ing. A pad 47 that is in contact with the body surface of the subject is provided at an end of the slide tube 46b opposite to the protruding side 9b.

With such a configuration, when the insertion portion 2 is protruded from the protruding side 9b in a state where the slide tube 46b is extended and the pad 47 is in contact with the body surface, the insertion portion 2 protruding from the protruding side 9b is weighted by itself. This prevents the tip portion 2a from being bent, and improves the snipability of the distal end portion 2a to the body cavity opening.

FIG. 5 is a side view of an insertion auxiliary tube according to a third embodiment of the present invention.

In this embodiment, a flexible sliding tube 46b inserted into a body cavity is slidably provided on a fixed tube 46a fixed to the projecting side of the insertion device in the second embodiment described above. Insert the tube 46b into the body cavity, and insert the insertion section of the endoscope into this sliding tube.
It is configured to be inserted into the body cavity via 46b. Therefore, insertion of the insertion portion is easy even at a site where the body cavity is complicatedly bent.

6 and 7 relate to a fourth embodiment of the present invention.
The figure is a perspective view of the insertion device, and FIG. 7 is a side view of the insertion device.

In this embodiment, the insertion device 8 is configured to be fixed to one end of the bed 7. That is, a hook portion 48a is formed on one side of the insertion device 8 so as to protrude substantially horizontally, and a screw 49 that is capable of moving forward and backward in the direction of the hook portion 48a is opposed to the hook portion 48a. A supporting portion 48b is provided. An abutting portion 49a is rotatably provided at an end of the screw 48 on the side of the hooking portion 48a, while a finger hooking member 49b is provided at the other end.
Is provided.

With this configuration, one end of the bed 7 is positioned between the hooking portion 48a and the bearing portion 48b, and the screw 4 is inserted through the finger hooking member 49b.
By rotating 9, the contact portion 49 a contacts the surface of the bed 7 to fix the insertion device 8.

8 to 10 relate to a fifth embodiment of the present invention.
FIG. 9 is a perspective view of the insertion device, FIG. 9 is a sectional view of the insertion device, and FIG.
FIG. 10 is a plan view of the grip. In this embodiment, the insertion device 8 is formed in a small size that is portable, and the insertion device 8 is rotatable via a hinge 51 on a main body 8a and an upper portion of the main body 8a and via a hooking member 61. And a lid 8b provided so as to be fixable to the main body 8a.

A motor 52 is vertically fixed to a lower portion of the main body 8a, and an output shaft 52a of the motor 52 projects into a concave portion 53 formed in the main body 8a. Also, this output shaft 52
The holding member 55 of the rotating shaft 54 is fixed to the end of a,
The holding member 55 can be rotated by the action of the motor 52.

On the side of the holding member 55, another motor 56 is fixed substantially horizontally so as to be orthogonal to the axis of the motor 52,
An output shaft 56a of the motor 56 is used as a wheel of the rotating wheel 54.

The concave portion 53 is opened on the upper surface of the main body 8a, that is, on one side closed by the lid 8b, and a gap 9 slightly wider than the diameter of the insertion portion 2 is formed in the opened portion.
Is provided so that the insertion portion 2 can be inserted into the gap 9. The height of the rotating wheel 54 is set so that the rotating wheel 54 comes into contact with the lower side of the insertion portion 3 when the insertion portion 2 is inserted into the gap 9. Incidentally, the motor 52, the rotating wheel 54 and the like constitute the forward and backward driving means 25,
The rotation driving means 27 is driven by the rotating wheel 54 and another motor 52 and the like.
Is configured.

Then, a rotating wheel 54 is provided via a horizontally provided motor 56.
Is rotated in the longitudinal direction of the gap 9 so that the insertion portion 2 inserted through the gap 9 can be sent out, and the rotating wheel 54 is moved vertically by the motor 52 provided vertically. 9 at right angles to the longitudinal direction of the rotating wheel
By rotating 54, the insertion section 2 can be rotated to apply a twist.

Further, a grip parallel to the gap 9 is provided on one side of the main body 8a.
57 is provided, and by gripping the grip 57, the insertion device 8 can be gripped and the orientation can be adjusted. As shown in FIG. 10, an operation button for the motors 52 and 56 is provided at a position where the thumb is located when the grip 57 is gripped. Each operation button displays what kind of action is applied to the insertion section 2 when the button is operated, and the operator performs a desired action on the insertion section 2 by operating according to this display. It is possible to add.

On the other hand, as shown in FIG. 9, a concave surface 58 is formed on the side of the main body 8a of the lid 8b, and a pair of holding members 59 are rotatable through the concave surface 58 via a shaft 59a and can advance and retreat a predetermined distance. It is provided in. The holding member 59 is provided with a rotating wheel 60 via a wheel 60a, and the rotating wheel 60 is disposed above the insertion portion 2 inserted into the gap 9 when the lid 8b is closed. Is contacted with the assigned part. A coil spring 59b is interposed between the holding member 59 and the concave surface 58, and the rotating wheel 60 is urged against the upper surface of the insertion section 2 by the urging force of the coil spring 59b. I have. Therefore, this insertion part 2
Are supported by the rotating shafts 53 and 60 at three upper and lower points, and are advanced and retracted and rotated by the rotation of the lower rotating wheel 54.

With this configuration, the endoscope 1 is inserted into the gap 9 by opening the lid 8b.
And the lower side of the insertion portion 2 is placed on the rotating wheel 54. Then, when the lid 8b is closed and fixed with the locking member 61, the other rotating wheel 60 is urged by the coil spring 59b above the insertion portion 2, and the insertion portion 2 is gripped.

In this state, the rotating wheel 54 is rotated in the longitudinal direction of the gap 9 by operating the operation button of the blip 57 to move the insertion portion 2 forward and backward, while the rotating wheel 54 is moved in a direction orthogonal to the longitudinal direction of the gap 9. By rotating the insertion portion 2, a twisting action is applied to the insertion portion 2.

FIG. 11 is an explanatory view of the use state of the insertion device according to the sixth embodiment of the present invention.

In this embodiment, the insertion device 8 has the same configuration as that of the fifth embodiment, and a hook member 63 such as a hook is provided on the upper surface of the insertion device 8. Bed 7
An L-shaped bent stand 64 is provided at the corner of
This stand 6 is detachably fixed via 64a.
The hanging member 63 is hung on the lower end of a hanging member 65 such as a wire hung down from the upper end of 4.

With this configuration, while the insertion device 8 is portable, it is not necessary to support the insertion device 8 with a hand or the like at the time of operation, and the operator can concentrate on the operation and is prevented from being unnecessarily tired. It is possible to expect accurate operation by itself.

12 to 14 relate to a seventh embodiment of the present invention.
The figure is a perspective view of the insertion device, FIG. 13 is a side view, and FIG. 14 is a sectional view of the insertion device.

In this embodiment, an insertion device 8 is provided integrally with an end of a bed 7 and a winding endoscope 1 is provided in the insertion device 8.

As shown in FIG. 13, a cylindrical body 67 containing a drum 66 around which the long insertion portion 2 is wound is provided in the insertion device 8. The central axis of the cylindrical body 67 coincides with the longitudinal direction of the bed, and the cylindrical body 67 is rotatably supported by a shaft portion 67a provided on the base end side opposite to the bed 7. A gear 67b is formed around the outer periphery of the proximal end of the cylindrical body 67, and the gear 67b is engaged with a pinion 30b of an output shaft 30a of the motor 30 provided in the insertion device 8.
The motor 30, the cylindrical body 67, and the like constitute a rotation drive unit 25, and the rotation drive unit 25 is operated by an operation panel 8c provided outside the insertion device 25. It has become.

Further, the gap sensor 68 faces the gear of the cylindrical body 67.
Are arranged. The gap sensor 68 is connected to a rotation angle detection circuit 68a so that the gap sensor 68 can detect the inclination of the cylinder 67 by counting the peaks and valleys of the rotating gear 67b. Has become.
The rotation angle detection circuit 68a is connected to the monitor 5a and the motor 30, so that the inclination of the cylinder 67 is displayed on the monitor 5a, and the cylinder 67 is rotated by a predetermined angle or more. When this is done, a signal for stopping the rotation of the motor 30 is output. It should be noted that an alarm device such as light or sound is connected to the rotation angle detection circuit 68a, and an alarm is issued by this alarm device when the cylinder 67 is rotated more than a predetermined angle. Is also possible.

On the other hand, as shown in FIG.
A flat plate 66a orthogonal to the center of rotation is provided. A part of the flat plate 66a is a shaft portion 66b, and the drum 66 is rotatably supported on the shaft portion 66b via a bearing 66c. The shaft 66c is provided with a slip ring 69. One side of the drum 66 is open, and a gear 66d is formed inside the opening. A motor 24 is fixed to the flat plate 66a, and a pinion 24b provided on an output shaft 24a of the motor 24 is meshed with the gear 66d. The forward / backward drive means 25 is constituted by the motor 24, the gear 66b, and the like.

The light source device 4 is provided in the drum 66 and is connected to the proximal end side of the insertion portion 2 wound around the drum 66 via a connector device. The device 4 and a later-described bending portion drive unit 71
The universal cord 3a extends from one side of the drum 66 and extends to the outside via the shaft 67a of the cylindrical body 67. . Further, a bending portion drive unit 71 is provided on the drum 66, and the bending portion drive unit 71
This makes it possible to bend the bending portion 2b so that the distal end portion 2a is directed to the above-described observation site. The forward / backward drive device 25 and the bending portion drive unit 71 are also operated on the operation panel 8c.

As shown in FIG. 13, the distal end portion 2a of the insertion portion 2 passes through the insertion portion 9 provided in the insertion device 8, and projects from the projecting side 9b of the insertion portion 9 toward the bed 7. Has become.

A stator 72a of the linear motor 72 and a guide shaft 73 are provided in the insertion portion 9 in parallel with the longitudinal direction of the insertion portion 9, and a moving member 74 is slidably provided between the stator 72a and the guide shaft 73. Have been. Also, the rotor 7 of the linear motor 72 is located near the stator 72a of the moving member 74.
2b is fixed, and the moving member 74 is
Can move in the longitudinal direction of the insertion portion 9.

An ultrasonic motor is provided on the bed 7 side of the moving member 74.
75 are provided. The stator 75 of this ultrasonic motor 75
While a is fixed to the moving member 74, the rotor 75b is formed of a soft member, and one end of a sliding tube 46b inserted into a body cavity is fixed, and the linear motor 72b, the ultrasonic motor 75 allows the sliding tube 46b to move forward and backward and rotate. The linear motor 72b and the ultrasonic motor 75
Is also configured to be operated by the panel device 8c.

Further, the stator 75a and the rotor 75 of the ultrasonic motor 75
b and the moving member 74 to the sliding tube 46b
A hole concentric with the inner hole is formed, and the insertion portion 2 is inserted into the sliding tube 56b through the hole.

With such a configuration, the drum 66 is
Is rotated to advance and retreat the insertion section 2, while the torsion operation is applied to the insertion section 2 by rotating the cylindrical body 67 via the rotation driving means.

In addition, by providing the insertion portion 9 with the rotation driving means as described in the first embodiment, the twisting operation applied to the insertion portion 2 can be made more reliable. It is also possible to dispose a cleaning device in the insertion section 9.

In this embodiment, since the insertion section 2 is rotated together with the drum 66, there is an effect that the insertion section 2 is not partially twisted. Also, the sliding tube 46
Since the same twisting operation as that of the insertion portion 2 can be applied to b, the insertion of the insertion portion 2 is easier.

FIG. 15 is a side view of a sliding tube according to an eighth embodiment of the present invention.

In this embodiment, a spring 78 made of a heat-sensitive deformable member such as a shape memory alloy is provided around the outer periphery of the distal end portion of the sliding tube 46b to be inserted into the body cavity together with the insertion portion. A power supply cable 78a is connected to the spring 78. When power is supplied to the spring 78 via the cable 78a, the spring 78 is turned on.
Is expanded and contracted to make the sliding tube 46
The tip of b is curved.

Therefore, when the sliding tube 46b is inserted into the body cavity and the distal end of the sliding tube 46b approaches the bent portion of the body cavity, the distal end is curved to conform to the bending of the body cavity. It is possible to easily insert the tube 46b. Further, after inserting the distal end of the sliding tube 46b into the bent portion, the bending of the body cavity is corrected by returning to the linear shape of the distal end to insert the insertion portion of the endoscope. It becomes possible to insert the part very easily.

The sliding tube 46 according to the configuration of the present embodiment is used.
Of course, b can be used for the sliding tube 46b and the slide tube 46b of the second, third, and seventh embodiments described above.

FIGS. 16 and 17 relate to a ninth embodiment of the present invention.
FIG. 17 is an explanatory view of the operation state of the distal end portion, and FIG. 17 is a block diagram of the bending operation section.

In this embodiment, as shown in FIG. 17, an angle motor 79 for bending the bending portion 2a and an angle motor control circuit 80 and a motor control circuit The angle motor control circuit 80 and the insertion portion advance / retreat motor control circuit 81 are connected to a switch control unit 82. The switch control unit 82 is provided with a switch 82a.When the switch 82a is turned on, the bending portion 2b is returned to a linear shape by the action of the switch control unit 82, and at the same time, the insertion portion advance / retreat motor 24 is turned on. The insertion unit 2 is configured to be operated to be advanced to the inner part of the body cavity.

With this configuration, when the switch 82a is operated,
As shown in FIG. 16, the bending portion 2b is further bent while the distal end portion 2a is locked to the inner wall of the body cavity such as the intestinal tract, and the insertion portion 2 is advanced to the back, and the bending portion 2b is returned to a linear shape. At the same time, the operation of advancing the insertion portion 2 by the insertion portion advance / retreat motor 24 is automatically performed, and the insertion of the insertion portion 2 is facilitated.

[Effects of the Invention] As described above, according to the endoscope insertion device of the present invention, it is possible to add an advancing / retreating operation and a twisting operation to the insertion portion, and to easily insert and remove the insertion portion. This has the effect that it can be performed.

Further, according to the present invention, since the advancing / retreating drive means and the rotation drive means are respectively fixed to the non-rotating body, it is possible to provide an endoscope insertion device which is compact and has a simple structure without taking up space. it can.

[Brief description of the drawings]

1 to 3 relate to a first embodiment of the present invention. FIG. 1 is a sectional view of an insertion device, FIG. 2 is a view taken along the line II-II of FIG. 1, and FIG. FIG. 4 is a schematic configuration diagram of a mirror device, FIG. 4 is a side view of an insertion device according to a second embodiment of the present invention, FIG. 5 is a side view of an insertion auxiliary tube according to a third embodiment of the present invention, FIG. FIG. 7 relates to a fourth embodiment of the present invention, FIG. 6 is a perspective view of the insertion device, FIG. 7 is a side view of the insertion device, and FIGS. 8 to 10 are diagrams of a fifth embodiment of the invention. 8 is a perspective view of the insertion device, FIG. 9 is a cross-sectional view of the insertion device, FIG. 10 is a plan view of the grip, and FIG. 11 is a state of use of the insertion device according to the sixth embodiment of the present invention. FIGS. 12 to 14 relate to a seventh embodiment of the present invention. FIG. 12 is a perspective view of the insertion device, FIG. 13 is a side view, FIG. 14 is a cross-sectional view of the insertion device, and FIG. Is a slidein according to the eighth embodiment of the present invention. Side view of the tubing, No. 16
FIG. 17 and FIG. 17 relate to the ninth embodiment of the present invention, FIG. 16 is an explanatory view of the operation state of the distal end portion, and FIG. 17 is a block diagram of the bending operation section. DESCRIPTION OF SYMBOLS 1 ... Endoscope 2 ... Insertion part 25 ... Advance / retreat drive means 27 ... Rotation drive means

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshiyuki Takara 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside O-Limpus Optical Industry Co., Ltd. (72) Inventor Masahito Goto 2-34-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Inventor Akira Suzuki 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Saka Takebata 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. O-Limpus Optical Industry Co., Ltd. (72) Inventor Yoshinao Daiaki 2-43-2 Hatagaya, Shibuya-ku, Tokyo In-Olympus Optical Industry Co., Ltd. (72) Koichi Yoshimitsu 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. O Olympus Optical Co., Ltd. (72) Inventor Yoshiyasu Aoki 2-43-2 Hatagaya, Shibuya-ku, Tokyo (56) References JP-A-59-181122 (JP, A) (58) Fields investigated (Int. Cl. ⁶ , DB name) A61B 1/00-1/32

Claims (1)

(57) [Claims] An advancing / retracting drive means for advancing / retracting an insertion portion of an endoscope to be inserted into a subject; a rotation driving means for rotating the insertion portion to perform a twisting operation on the insertion portion; Having the advancing and retreating drive means and the rotation drive means,
An endoscope insertion device fixed to a non-rotating body.