JP4451206B2 - Endoscope system - Google Patents

Description

  The present invention relates to an endoscope system.

  In general, when performing a treatment of a required part in the body or an examination of a living tissue by an operation from outside the body using an endoscope, for example, a plurality of treatment tools such as a needle knife and a grasping forceps are continuously used. Sometimes. In such a case, conventionally, the selected treatment instrument is inserted into the body through a channel provided in the insertion portion of the endoscope, and after performing a predetermined treatment, the treatment instrument is pulled out of the body, and the treatment instrument is channeled again. And so on.

When such a treatment tool is inserted into the channel, a long treatment tool must be carefully inserted into the narrow channel from the forceps opening of the endoscope, which is troublesome and requires high attention. Also, in recent years, treatment instrument insertion portions with various outer diameters and treatment instruments having different outer diameters between the treatment instrument distal end portion and the treatment instrument insertion portion in accordance with the type of procedure and the outer diameter of the endoscope channel. Has been proposed.
Therefore, as an insertion / removal device that automatically performs insertion / removal operation into the channel and can also handle such treatment tools having different diameters, a pressure contact between a roller and a treatment tool having a different diameter is provided. A rotary solenoid that selects a state and a release state is arranged (for example, see Patent Document 1), or a roller that has a different diameter according to the outer diameter of the treatment instrument insertion portion to be used (for example, a patent) Reference 2) has been proposed.
JP 57-190541 A (FIG. 2) Japanese Patent Laid-Open No. 9-492 (FIG. 6)

However, for example, in the conventional technique described in Patent Document 1, since it is necessary to provide a rotary solenoid for adjusting the roller interval in addition to the roller rotation driving unit, the driving mechanism and its control may be complicated. There is.
Further, in the conventional technique described in Patent Document 2, since the roller needs to be replaced, the procedure becomes complicated.
The present invention has been made in view of the above circumstances, and provides an endoscope system capable of facilitating a procedure by inserting and removing treatment instruments having different outer diameters with a simple configuration using a single drive source. The purpose is to do.

The present invention employs the following means in order to solve the above problems.
An endoscope system according to the present invention includes a channel through which a treatment instrument insertion portion having flexibility can be inserted, and an insertion / extraction means for inserting and extracting the treatment instrument insertion portion into and from the channel. A drive shaft that is rotationally driven by a rotational drive source, a roller that is rotated by receiving a rotational drive force from the drive shaft, and can advance and retract the treatment instrument insertion portion, and the drive shaft on the roller An endoscope system comprising a power transmission device for transmitting a rotational driving force from the roller, wherein a rotational central axis of the roller can revolve around the driving shaft, and the rotational central axis and the When the distance from the drive shaft is the revolution radius, the first distance obtained by adding the radius of the roller to the revolution radius is longer than the second distance between the drive shaft and the treatment instrument insertion portion, The power transmission device revolves the rotation center shaft around the drive shaft; And wherein the rotating the roller Kikaido central axis.

  In this endoscope system, when the drive shaft is rotated in a direction in which the treatment instrument insertion portion inserted through the channel is advanced and retracted, the roller can be revolved around the drive shaft by the power transmission device. Can be brought into contact with each other. At this time, even if the treatment instrument insertion portion has a different outer diameter, the roller can rotate at a position where the roller contacts the treatment instrument insertion portion. Therefore, the outer diameter of the treatment instrument insertion portion for inserting and removing the inside of the channel is large. Regardless, the roller can be brought into contact with the treatment instrument insertion portion. In addition, after contacting the treatment instrument insertion portion, the roller can be rotated about the rotation center axis in the same direction as the drive shaft while pressing the roller against the treatment instrument insertion portion.

The endoscope system according to the present invention is the endoscope system, wherein a treatment instrument distal end portion that performs treatment by receiving a forward / backward driving force is arranged at a distal end of the treatment instrument insertion portion, and the treatment instrument distal end An operation means for supplying the advancing / retreating driving force to the part is provided, and the operation means includes the drive shaft, the roller, and the power transmission device.
This endoscope system can supply advancing / retreating driving force to the distal end portion of the treatment instrument in the same manner as the insertion / extraction of the treatment instrument insertion portion.

  The endoscope system according to the present invention is the endoscope system, wherein the power transmission device is a planetary gear mechanism including a plurality of planetary gears and a sun gear, and among the plurality of planetary gears, The drive shaft is connected to one of the above, and the roller is an internal gear rotatably provided with the planetary gear around the sun gear.

  In this endoscope system, when the drive shaft is rotated, the sun gear and the roller that is the internal gear can revolve around the planetary gear while rotating. When the roller is brought into contact with the treatment instrument insertion portion and the revolution is restricted, the roller can be rotated on the spot and the treatment instrument insertion portion can be moved in the rotation direction.

  The endoscope system according to the present invention is the endoscope system, wherein the power transmission device has one end slidably connected to the drive shaft and the other end connected to the rotation center of the roller. A support member that rotatably supports the shaft, a first pulley connected to the drive shaft, a second pulley connected to the roller, the first pulley, and the second pulley; And a wound endless belt.

  In the endoscope system, when the drive shaft is rotated, the support member and the roller can be rotated around the drive shaft in the rotation direction of the drive shaft. When the roller comes into contact with the treatment instrument insertion portion, the rotation of the drive shaft is transmitted to the first pulley to rotate the endless belt, and the roller rotates about the rotation center axis via the second pulley. Can be made.

  The endoscope system according to the present invention is the endoscope system, wherein the power transmission device has one end slidably connected to the drive shaft and the other end connected to the rotation center of the roller. A support member rotatably connected to the shaft; a first gear connected to the drive shaft; a second gear connected to the roller; and a support member rotatably attached to the support member. And a third gear meshed with the first gear and the second gear.

  In the endoscope system, when the drive shaft is rotated, the support member, the roller, and the third gear can be revolved around the drive shaft in the rotation direction of the drive shaft. Further, when the roller and the treatment instrument insertion portion come into contact with each other, the rotation of the drive shaft is transmitted from the first gear to the third gear to rotate it, and further transmitted to the second gear to rotate the roller. It can be rotated around the moving center axis.

  The endoscope system according to the present invention is the endoscope system, in which the power transmission device includes the first gear connected to the drive shaft and the roller with the treatment instrument insertion portion interposed therebetween. And a support roller meshed with the first gear.

  In this endoscope system, the support roller is rotated via the first gear by rotating the drive shaft, and the roller is revolved around the drive shaft to contact the treatment instrument insertion portion. The treatment instrument insertion portion can be pressed between the two. In addition, after the press contact, the roller can be rotated in the direction opposite to the support roller, and the treatment instrument insertion portion can be advanced and retracted in the channel.

The endoscope system according to the present invention is the endoscope system, characterized in that a grip portion capable of rotating the drive shaft is connected.
In this endoscope system, the drive shaft can be manually driven to rotate by gripping the grip portion and rotating around the drive shaft.

An endoscope system according to the present invention is the endoscope system, wherein the treatment instrument insertion portion includes an outer tube formed by winding at least one element wire in a coil shape, In the outer peripheral surface, concave portions that can be engaged with the strands and convex portions that can be engaged between the adjacent strands are alternately formed in the circumferential direction.
In this endoscope system, the contact area between the outer peripheral surface of the roller and the outer periphery of the outer tube can be increased by engaging the concave portion and the convex portion, and the rotational driving force is more preferably used as the forward / backward driving force of the outer tube. Can communicate.

The endoscope system according to the present invention is the endoscope system, wherein a plurality of the strands are arranged, and at least one of the strands is formed to have a larger diameter than the other strands. It is characterized by being.
This endoscope system can increase the contact area between the outer peripheral surface of the roller and the outer periphery of the outer tube by contacting the roller with the large-diameter portion of the wire, and more appropriately drives the rotation of the outer tube. Can be transmitted as force.

The endoscope system according to the present invention is the endoscope system, wherein a wire member is wound around the outer periphery of the outer tube in a coil shape.
This endoscope system can increase the contact area between the outer peripheral surface of the roller and the outer periphery of the outer tube by the contact between the linear member and the roller, and can transmit the rotational driving force as the driving force of the outer tube more preferably. it can.

  According to the present invention, even with a treatment instrument insertion portion having a different outer diameter, a roller can be pressed against and inserted into the treatment instrument insertion portion with a single rotational drive source.

A first embodiment according to the present invention will be described with reference to FIGS.
As shown in FIG. 1, an endoscope system 1 according to the present embodiment is opened and closed by receiving a flexible insertion portion 2, an operation portion 3 for operating the insertion portion 2, and an advancing / retreating driving force. A forceps tip portion (treatment tool tip portion) 5 for gripping the needle, a flexible forceps insertion portion (treatment tool insertion portion) 6, a channel 7 through which the forceps insertion portion 6 can be inserted, and a channel 7 An insertion / removal means 8 for inserting and removing the forceps insertion portion 6 therein, an operation means 10 for supplying an advancing / retreating driving force to the forceps tip portion 5, and a storage portion 11 connected to the operation portion 3 for storing the forceps insertion portion 6. And.

As shown in FIG. 2, the insertion / extraction means 8 and the operation means 10 include a drive shaft 13 that is rotationally driven by a motor (rotation drive source) 12 with a brake fixedly supported in the operation unit 3, and a drive shaft 13. Are provided with a roller 15 that can be rotated by receiving a rotational driving force from the drive shaft 13, and a power transmission device 16 that transmits the rotational driving force from the drive shaft 13 to the roller 15.
The outer peripheral surface of the roller 15 that comes into contact with the forceps insertion portion 6 is concave, and is formed so that the contact area with the forceps insertion portion 6 is increased.

  The power transmission device 16 revolves the rotation center shaft 17 of the roller 15 around the drive shaft 13 and rotates the roller 15 about the rotation center shaft 17, for example, three planetary gears 18, 19, 20, A planetary gear mechanism 22 including a gear 21 is provided. A drive shaft 13 is connected to the planetary gear 18 to be a fixed gear, and the roller 15 is an internal gear in which planetary gears 18, 19, and 20 are arranged around the sun gear 21. The power transmission device 16 includes a first power transmission device 16A disposed on the distal end side of the operation unit 3, and a protrusion of the forceps distal end portion 5 from the distal end of the channel 7 on the proximal end side of the first power transmission device 16A. And a second power transmission device 16B that is spaced apart by a length or more. Both the first power transmission device 16 </ b> A and the second power transmission device 16 </ b> B are a pair of planetary gear mechanisms 22 facing each other with the forceps insertion portion 6 interposed therebetween.

The size of each gear is such that when the distance between the rotation center shaft 17 and the drive shaft 13 is the revolution radius 23, the first distance 25 obtained by adding the radius R of the roller 15 to the revolution radius 23 is The distance is adjusted to be longer than the second distance 26 with the forceps insertion portion 6.
The operation unit 3 includes an insertion / extraction switch 27 that instructs the insertion / extraction means 8 to insert / extract the forceps insertion unit 6 and an operation switch 28 that instructs the operation means 10 to operate the forceps tip 5. Yes.
The motor 12, the insertion / extraction switch 27, and the operation switch 28 are connected to a control unit and a power supply unit (not shown).

  The forceps insertion portion 6 includes a mantle tube 30 having a distal end connected to the forceps tip portion 5, an operation wire 31 that is disposed so as to be able to advance and retreat with respect to the mantle tube 30 and transmits advancing and retreating driving force to the forceps tip portion 5, and a mantle. An operation tube 32 disposed on the proximal end side at a predetermined interval from the tube 30 and connected to the proximal end side of the operation wire 31, and disposed between the outer tube 30 and the operation tube 32, and a forceps insertion portion A spring 33 that biases the outer tube 30 and the operation tube 32 so as not to approach each other when the 6 moves in the channel 7 is provided.

Next, the operation method, operation, and effect of the endoscope system 1 according to the present embodiment will be described.
First, the insertion part 2 is inserted into the body cavity in the state shown in FIG. 1, and the distal end of the insertion part 2 is moved to a desired site.
And in order to move the forceps insertion part 6 to the front-end | tip direction of the channel 7, the insertion / extraction switch 27 is operated, and each motor 12 in the 1st power transmission device 16A and the 2nd power transmission device 16B is made to the same direction. Drives at the same speed.

At this time, as the planetary gear 18 connected to the drive shaft 13 rotates, the other planetary gear 20, the sun gear 21, and the roller 15 revolve around the planetary gear 18 while rotating.
Then, the roller 15 approaches the forceps insertion portion 6 while rotating in the rotation direction of the planetary gear 18, and the roller 15 contacts the forceps insertion portion 6 as shown in FIG. 3. Then, the roller 15 continues to rotate at that position, and the forceps insertion portion 6 pressed against the roller 15 moves in the channel 7 as shown in FIG.

After the forceps tip 5 protrudes from the tip of the channel 7, the insertion / extraction switch 27 is operated to temporarily stop the motor 12.
Next, the operation switch 28 is operated to rotate only the motor 12 related to the second power transmission device 16B in the same direction as described above. At this time, since the planetary gear 18 related to the first power transmission device 16A is kept stopped, the outer tube 30 is held by the roller 15 of the first power transmission device 16A. On the other hand, the operation tube 32 further moves in the direction toward the distal end of the channel 7 with the rotation of the roller 15 related to the second power transmission device 16B.
In this way, the operation wire 31 moves together with the operation tube 32, and the advance / retreat driving force is transmitted to the forceps tip 5, and the forceps tip 5 opens as shown in FIG.

When grasping and closing the tissue, the operation switch 28 is operated to rotate the motor 12 of the second power transmission device 16B in a direction different from the above.
At this time, the planetary gear 18 rotates, and the roller 15 is temporarily separated from the operation tube 32 while rotating in the same direction as the planetary gear 18 and revolves around the planetary gear 18 in that direction. 32. After the contact, the roller 15 rotates while being in pressure contact with the operation tube 32, and as shown in FIG. 6, the operation tube 32 and the operation wire 31 are moved to the proximal end side of the channel 7 to close the forceps distal end portion 5.

  Next, the insertion / extraction switch 27 is operated to drive the motors 12 of the first power transmission device 16A and the second power transmission device 16B. At this time, while the roller 15 of the first power transmission device 16A rotates in the same direction as the planetary gear 18, it temporarily separates from the outer tube 30 around the planetary gear 18 and revolves in that direction. 30 abuts. After the contact, the respective rollers 15 rotate while being in pressure contact with the forceps insertion portion 6, and move the forceps insertion portion 6 toward the base end side of the channel 7, as shown in FIG.

According to this endoscope system 1, when the drive shaft 13 is rotated in a direction in which the forceps insertion portion 6 inserted into the channel 7 is advanced and retracted within the channel 7, the sun is transmitted around the planetary gear 18 by the power transmission device 16. The roller 15 can revolve around the drive shaft 13 while rotating the gear 21 and the roller 15 that is an internal gear, and the roller 15 and the forceps insertion portion 6 can be brought into contact with each other. At this time, even if the forceps insertion portion 6 has a different outer diameter, the roller 15 is driven around the rotation center axis 17 while being pressed against the forceps insertion portion 6 at a position where the roller 15 is in contact with the forceps insertion portion 6. Since the roller 15 can rotate in the same direction as 13, the roller 15 can be brought into contact with and moved by the forceps insertion portion 6 regardless of the size of the outer diameter of the forceps insertion portion 6 through which the channel 7 is inserted and removed. it can.
Therefore, even if only the motor 12 for rotating the roller 15 is used, it is possible to cope with the forceps insertion portion 6 having different diameters.

Next, a second embodiment will be described with reference to FIGS.
In addition, the same code | symbol is attached | subjected to the component similar to 1st Embodiment mentioned above, and description is abbreviate | omitted.
The difference between the second embodiment and the first embodiment is that the power transmission device 41 of the endoscope system 40 according to this embodiment has one end 42a that slides on the drive shaft 13 as shown in FIG. The support member 42 is rotatably connected, and the other end 42 b rotatably supports the rotation central shaft 17 of the roller 43, the first pulley 44 connected to the drive shaft 13, and the first pulley 44 connected to the roller 43. The second pulley 45 and the endless belt 46 wound around the first pulley 44 and the second pulley 45 are provided.

When the frictional force between the one end 42a of the support member 42 and the drive shaft 13 is greater than the frictional force between the other end 42b and the rotation center shaft 17, and the movement of the support member 42 is restricted. The size is rotatable with respect to the drive shaft 13.
When the distance between the rotation center shaft 17 and the drive shaft 13 is the revolution radius 23, the first distance 25 obtained by adding the radius r of the roller 43 to the revolution radius 23 is the first distance 25 between the drive shaft 13 and the forceps insertion portion 6. The distance is adjusted to be longer than the distance 26 of 2.

Next, an operation method, an operation and an effect of the endoscope system 40 according to the present embodiment will be described.
First, also in this embodiment, the insertion part 2 is inserted into the body cavity in the state shown in FIG.
Then, by operating the insertion / extraction switch 27, the motors 12 in the first power transmission device 16A and the second power transmission device 16B are rotationally driven in the same direction at the same speed.

At this time, with the rotation of the first pulley 44 to which the drive shaft 13 is connected, the support member 42 rotates about one end 42a, and the roller 43 together with the second pulley 45 connected to the other end 42b. The first pulley 44 revolves in the rotation direction of the first pulley 44.
Then, as shown in FIG. 10, the roller 43 moves in the rotational direction of the first pulley 44 and approaches the forceps insertion portion 6, and the roller 43 abuts on the forceps insertion portion 6 as shown in FIG. 11. At this time, as the support member 42 is stopped, the drive shaft 13 and the support member 42 idle, and the rotational force of the first pulley 44 is transmitted to the second pulley 45 through the endless belt 46. Continue to rotate in the same direction as the drive shaft 13. In this way, the forceps insertion portion 6 pressed against the roller 43 moves in the channel 7.

After the forceps tip 5 protrudes from the tip of the channel 7, the insertion / extraction switch 27 is operated to temporarily stop the motor 12.
Next, the operation switch 28 is operated to rotate only the motor 12 related to the second power transmission device 16B in the same direction as described above. At this time, since the motor 12 related to the first power transmission device 16A is kept stopped, the outer tube 30 is held by the roller 43 of the first power transmission device 16A. On the other hand, the operation tube 32 further moves toward the distal end of the channel 7 as the roller 43 associated with the second power transmission device 16B rotates.
Thus, as in the first embodiment, the forceps tip 5 is opened as shown in FIG.

When grasping and closing the tissue, the operation switch 28 is operated to rotate the motor 12 of the second power transmission device 16B in a direction different from the above.
At this time, with the rotation of the drive shaft 13, the support member 42 once separates from the operation tube 32 around the one end 42 a and moves in that direction, and again comes into contact with the operation tube 32. After the contact, the roller 43 rotates in a direction different from the above while being pressed against the operation tube 32, and as shown in FIG. 13, the operation tube 32 and the operation wire 31 are moved to the proximal end side of the channel 7 to forceps. The tip 5 is closed.

  Next, the insertion / extraction switch 27 is operated to drive the motors 12 of the first power transmission device 16A and the second power transmission device 16B. At this time, the support member 42 and the roller 43 of the first power transmission device 16 </ b> A are once separated from the outer tube 30, revolved in that direction, and come into contact with the outer tube 30 again. After the contact, the respective rollers 43 rotate while being pressed against the forceps insertion portion 6 to move the forceps distal end portion 5 toward the base end side of the channel 7 as shown in FIG.

  According to the endoscope system 40, when the drive shaft 13 is rotated, the support member 42 and the roller 43 can be rotated around the drive shaft 13 in the rotation direction of the drive shaft 13. When the roller 43 comes into contact with the forceps insertion portion 6, the rotation of the drive shaft 13 is transmitted to the first pulley 44 to rotate the endless belt 46, and the roller 43 is rotated via the second pulley 45. It can be rotated around the moving center axis 17. And the effect | action and effect similar to 1st Embodiment can be acquired.

Next, a third embodiment will be described with reference to FIG.
In addition, the same code | symbol is attached | subjected to the component similar to other embodiment mentioned above, and description is abbreviate | omitted.
The difference between the third embodiment and the second embodiment is that the power transmission device 48 of the endoscope system 47 according to the present embodiment is connected to the drive shaft 13 instead of the first pulley 44. The first gear 50, the second gear 51 connected to the roller 43 instead of the second pulley 45, and the support member 52 instead of the endless belt 46 are arranged so as to be rotatable. 50 and the third gear 53 meshed with the second gear 51 is provided.
The third gear 53 is rotatably supported between one end 52a and the other end 52b of the support member 52.

Next, the operation method, operation, and effect of the endoscope system 47 according to the present embodiment will be described.
First, similarly to the second embodiment, the insertion portion 2 is inserted into the body cavity and the insertion / extraction switch 27 is operated. At this time, with the rotation of the first gear 50 to which the drive shaft 13 is connected, the support member 52 rotates about the one end 52 a, and the roller 43 together with the second gear 51 and the third gear 53 rotates. Revolves around the first gear 50. On the other hand, the rotational force of the first gear 50 is transmitted to the third gear 53 and further transmitted to the second gear 51, so that the roller 43 rotates in the same direction as the drive shaft 13.

After the roller 43 moves in the rotation direction of the first gear 50 and approaches the forceps insertion portion 6, the roller 43 and the forceps insertion portion 6 come into contact with each other, and then the movement of the support member 52 is restricted, and the drive shaft 13 The support member 52 rotates idly and the roller 43 continues to rotate together with the second gear 51. In this way, the forceps insertion portion 6 pressed between the rollers 43 moves in the channel 7.
Thereafter, the forceps insertion portion 6 is inserted and removed and the forceps tip portion 5 is opened and closed by the same operation as in the second embodiment and its action.

  According to the endoscope system 47, when the drive shaft 13 is rotated by the same operation method as in the second embodiment, the support member 52, the roller 43, and the third gear 53 are rotated around the drive shaft 13. Both can revolve in the rotational direction of the drive shaft 13. Further, when the roller 43 and the forceps insertion portion 6 come into contact with each other, the rotation of the drive shaft 13 is transmitted from the first gear 50 to the third gear 53 and rotated, and further transmitted to the second gear 51. Thus, the roller 43 can be rotated around the rotation center axis 17.

Next, a fourth embodiment will be described with reference to FIGS.
In addition, the same code | symbol is attached | subjected to the component similar to other embodiment mentioned above, and description is abbreviate | omitted.
The difference between the fourth embodiment and the second embodiment is that the power transmission device 56 of the endoscope system 55 according to this embodiment includes a first gear 50 connected to the drive shaft 13 and forceps insertion. The support roller 59 having a gear 58 that is arranged to face the roller 43 with the portion 57 interposed therebetween and meshed with the first gear 50 is provided.

  The endoscope system 55 does not include the operation means 10, and when the forceps insertion portion 57 is inserted from the forceps opening 61 of the endoscope 60 and then the forceps tip portion 5 is operated, the base of the forceps insertion portion 57 is not provided. A forceps operation unit (not shown) connected to the end is operated. The motor 62 is of a type without a brake, and the drive shaft 13 is rotatable when the motor 62 is not driven.

Next, the operation method, operation, and effect of the endoscope system 55 according to the present embodiment will be described.
First, the forceps insertion portion 57 is inserted into the channel 7 from the forceps opening 61, and the motor 62 is rotated by operating the insertion / extraction switch 27. At this time, the support roller 59 rotates in a direction different from that of the drive shaft 13 by the rotation of the first gear 50 to which the drive shaft 13 is connected. On the other hand, along with the rotation of the first pulley 44 to which the drive shaft 13 is connected, the support member 52 rotates around one end 52a, and the roller 43 together with the second pulley 45 connected to the other end 52b Revolves around the pulley 44 in the direction of its rotation.

  Then, the roller 43 moves in the rotational direction of the first pulley 44 and approaches the forceps insertion portion 57, and the roller 43 comes into contact with the forceps insertion portion 57. At this time, the movement of the support member 52 is restricted, the drive shaft 13 and the support member 52 are idled, and the rotation of the first pulley 44 is transmitted to the second pulley 45 through the endless belt 46, thereby It continues to rotate in the same direction as the drive shaft 13. In this way, the forceps insertion portion 57 pressed against the roller 43 and the support roller 59 moves in the channel 7.

After the forceps tip 5 protrudes from the tip of the channel 7, the insertion / extraction switch 27 is operated to stop the motor 62. Then, the forceps tip 5 is opened and closed by a forceps operation section (not shown).
When the forceps insertion portion 57 is removed from the channel 7, the forceps insertion portion 57 is pulled out from the channel 7 and removed.

  According to this endoscope system 55, the support roller 59 is rotated via the first gear 50, and the roller 43 is revolved around the drive shaft to come into contact with the forceps insertion portion 57. The forceps insertion part 57 can be pressed between the terminal 59 and the terminal 59. Further, after the pressure contact, the roller 43 can be rotated in the direction opposite to the support roller 59, and the forceps insertion portion 57 can be advanced and retracted in the channel 7 with the support roller 59 and the roller 43 being pressed. Therefore, even when the forceps insertion portion 57 is inserted / removed from the forceps opening 61, the forceps insertion portion 57 can be inserted / removed in accordance with the change in the diameter of the forceps insertion portion 57 by one motor 62 without taking a complicated configuration.

Next, a fifth embodiment will be described with reference to FIGS.
In addition, the same code | symbol is attached | subjected to the component similar to other embodiment mentioned above, and description is abbreviate | omitted.
The difference between the fifth embodiment and the fourth embodiment is that the power transmission device 65 of the endoscope system 63 according to the present embodiment is capable of rotating the drive shaft 13 instead of the motor 62. It is a point that is connected.

  According to this endoscope system 63, instead of driving the motor 62, the drive shaft 13 can be rotated by rotating the grip portion 66, and the same operation and effect as in the fourth embodiment can be obtained. be able to.

Next, a sixth embodiment will be described with reference to FIG.
In addition, the same code | symbol is attached | subjected to the component similar to other embodiment mentioned above, and description is abbreviate | omitted.
The difference between the sixth embodiment and the first embodiment is that the outer tube 70 and the operation tube 71 of the forceps insertion portion 68 of the endoscope system 67 according to this embodiment have at least one strand 72. The coil 73 is wound, and on the outer peripheral surface of the roller 73, concave portions 73A that can be engaged with the strands 72 and convex portions 73B that can be engaged between adjacent strands 72 are alternately formed in the circumferential direction. It is a point that has been done.

  According to this endoscope system 67, the contact area between the outer peripheral surface of the roller 73 and the outer periphery of the outer tube 70 and the operation tube 71 can be increased by engaging the concave portion 73A and the convex portion 73B. The rotational driving force of the roller 73 can be more suitably transmitted as the forward / backward driving force of the outer tube 70 and the operation tube 71.

Next, a seventh embodiment will be described with reference to FIG.
In addition, the same code | symbol is attached | subjected to the component similar to other embodiment mentioned above, and description is abbreviate | omitted.
The difference between the seventh embodiment and the sixth embodiment is that the outer tube 77 and the operation tube 78 of the forceps insertion portion 76 of the endoscope system 75 according to the present embodiment include two types of strands 72, 80, and one strand 80 is formed to have a larger diameter than the other strands 72.

  According to this endoscope system 75, the contact area between the outer peripheral surface of the roller 73 and the outer periphery of the outer tube 77 and the operation tube 78 can be increased by the contact between the strand 80 having a large diameter and the roller 73, The rotational driving force can be more suitably transmitted as the forward / backward driving force of the outer tube 77 and the operation tube 78.

Next, an eighth embodiment will be described with reference to FIG.
In addition, the same code | symbol is attached | subjected to the component similar to other embodiment mentioned above, and description is abbreviate | omitted.
The difference between the eighth embodiment and the sixth embodiment is that the wire member 86 is coiled on the outer periphery of the outer tube 83 and the operation tube 85 of the forceps insertion portion 82 of the endoscope system 81 according to this embodiment. It is the point that it was wound in the shape.

  According to this endoscope system 81, the contact area between the outer peripheral surface of the roller 73 and the outer periphery of the outer tube 83 and the operation tube 85 can be increased by the contact between the line member 86 and the roller 73, and the rotational driving force can be further increased. Preferably, it can be transmitted as a forward / backward driving force of the outer tube.

The technical scope of the present invention is not limited to the above embodiment, and various modifications can be made without departing from the spirit of the present invention.
For example, in the above embodiment, the operation means 10 has the same configuration as the insertion / extraction means 8, but the operation means 90 moves the first shaft member 91 forward and backward in the axial direction of the channel 7 as shown in FIG. An advancing / retracting mechanism 93 having one solenoid 92 and a holding mechanism 97 having a second solenoid 96 connected to the distal end side of the first shaft member 91 and moving the second shaft member 95 in the radial direction of the channel 7. And a regulating mechanism 101 having a third solenoid 100 connected to the proximal end side of the first solenoid 92 and moving the third shaft member 98 forward and backward in the radial direction of the channel 7.

  In this case, the tip shape of the second shaft member 95 and the third shaft member 98 is provided with a protruding member 102 that can easily hold the forceps insertion portion 6, and the forceps insertion portion 6 is placed in the channel 7. At the time of insertion / extraction, the motor 12 can be quickly inserted / removed using the fast rotation. Further, when operating the forceps tip 5, the opening / closing operation can be performed with a mechanism that improves the gripping force with a higher torque using a solenoid.

Further, the cross section of the strands may not be a circle like the strands 72 and 80, but may be strands 103 and 105 having a square cross section as shown in FIG.
In this case, workability can be further improved.

1 is a side view including a partial cross section showing an endoscope system according to a first embodiment of the present invention. It is sectional drawing which shows the principal part of the power transmission device of the endoscope system which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 1st Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 1st Embodiment of this invention. It is (a) top view (b) side view which shows the principal part of the power transmission device of the endoscope system which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 2nd Embodiment of this invention. It is explanatory drawing which shows the operation method of the endoscope system which concerns on the 2nd Embodiment of this invention. It is (a) top view (b) side view which shows the principal part of the power transmission device of the endoscope system which concerns on the 3rd Embodiment of this invention. It is a side view including the partial cross section which shows the endoscope system which concerns on the 4th Embodiment of this invention. It is the (a) front view (b) side view (c) back view which shows the principal part of the power transmission device of the endoscope system which concerns on the 4th Embodiment of this invention. It is a side view including the partial cross section which shows the endoscope system which concerns on the 5th Embodiment of this invention. It is a top view which shows the principal part of the power transmission device of the endoscope system which concerns on the 5th Embodiment of this invention. It is a side view which shows the principal part of the power transmission device of the endoscope system which concerns on the 6th Embodiment of this invention. It is a side view which shows the principal part of the power transmission device of the endoscope system which concerns on the 7th Embodiment of this invention. It is a side view which shows the principal part of the power transmission device of the endoscope system which concerns on the 8th Embodiment of this invention. It is a side view including the partial cross section which shows the endoscope system which concerns on other embodiment of this invention. It is a side view which shows the principal part of the power transmission device of the endoscope system which concerns on other embodiment of this invention.

Explanation of symbols

1, 40, 47, 55, 63, 67, 75, 81 Endoscopic system 5 Forceps tip (treatment tool tip)
6, 57, 68, 76, 82 Forceps insertion part (treatment instrument insertion part)
7 Channel 8 Insertion / extraction means 10, 90 Operation means 12, 62 Motor (rotation drive source)
13 Drive shaft 15, 43, 73 Roller 16, 41, 48, 56, 65 Power transmission device 17 Rotating center shaft 18, 20 Planetary gear 21 Sun gear 22 Planetary gear mechanism 23 Revolving radius 25 First distance 26 Second distance Distance 30, 70, 77, 83 Mantle tube 42, 52 Support member 44 First pulley 45 Second pulley 46 Endless belt 50 First gear 51 Second gear 53 Third gear 59 Support roller 66 Grip portion 72 80, 103, 105 Wire 73A Recess 73B Protrusion 86 Wire member

Claims (10)

A channel through which the treatment instrument insertion portion having flexibility can be inserted;
An insertion / extraction means for inserting and extracting the treatment instrument insertion portion in the channel,
The insertion / extraction means is
A drive shaft that is rotationally driven by a rotational drive source;
A roller that is rotated by receiving a rotational driving force from the drive shaft and can advance and retract the treatment instrument insertion portion;
An endoscope system comprising a power transmission device that transmits a rotational driving force from the drive shaft to the roller,
The rotation center axis of the roller can revolve around the drive shaft,
When a distance between the rotation center axis and the drive shaft is a revolution radius, a first distance obtained by adding the radius of the roller to the revolution radius is a second distance between the drive shaft and the treatment instrument insertion portion. The distance is longer than the distance,
An endoscope system, wherein the power transmission device revolves the rotation center axis around the drive axis and rotates the roller around the rotation center axis. A treatment tool distal end portion that performs treatment by receiving advance / retreat driving force is disposed at the distal end of the treatment instrument insertion portion,
Comprising an operating means for supplying the advance / retreat driving force to the distal end of the treatment instrument,
The endoscope system according to claim 1, wherein the operation unit includes the drive shaft, the roller, and the power transmission device. The power transmission device is a planetary gear mechanism including a plurality of planetary gears and a sun gear;
The drive shaft is connected to one of the plurality of planetary gears;
The endoscope system according to claim 1, wherein the roller is an internal gear that rotatably includes the planetary gear around the sun gear. The power transmission device has one end slidably connected to the drive shaft, and the other end rotatably supporting the rotation center shaft of the roller;
A first pulley connected to the drive shaft;
A second pulley connected to the roller;
The endoscope system according to claim 1, further comprising an endless belt wound around the first pulley and the second pulley. The power transmission device has one end slidably connected to the drive shaft and the other end movably connected to the rotation center shaft of the roller;
A first gear connected to the drive shaft;
A second gear connected to the roller;
The third gear according to claim 1, further comprising a third gear that is rotatably arranged with respect to the support member and meshed with the first gear and the second gear. Endoscope system. The power transmission device is
A first gear connected to the drive shaft;
The endoscope system according to claim 4, further comprising a support roller that is disposed to face the roller with the treatment instrument insertion portion interposed therebetween and meshed with the first gear.   The endoscope system according to any one of claims 1 to 6, wherein a grip portion capable of rotating the drive shaft is connected. The treatment instrument insertion portion includes an outer tube formed by winding at least one element wire in a coil shape,
On the outer peripheral surface of the roller, a recess that can be engaged with the wire,
The endoscope system according to any one of claims 1 to 7, wherein convex portions that can be engaged between adjacent strands are alternately formed in a circumferential direction.   The endoscope system according to claim 8, wherein a plurality of the strands are arranged, and at least one of the strands is formed with a larger diameter than the other strands. The endoscope system according to claim 8, wherein a wire member is wound around the outer periphery of the outer tube in a coil shape.

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