JP5851216B2 - Oscillation mechanism structure and endoscope - Google Patents

Oscillation mechanism structure and endoscope Download PDF

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JP5851216B2
JP5851216B2 JP2011256407A JP2011256407A JP5851216B2 JP 5851216 B2 JP5851216 B2 JP 5851216B2 JP 2011256407 A JP2011256407 A JP 2011256407A JP 2011256407 A JP2011256407 A JP 2011256407A JP 5851216 B2 JP5851216 B2 JP 5851216B2
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mechanism structure
swing mechanism
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JP2013106905A (en
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一恵 飯倉
一恵 飯倉
胡　尉之
尉之 胡
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Fujikura Ltd
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Description

本発明は、首振機構構造体及びそれを利用した内視鏡に関する。   The present invention relates to a swing mechanism structure and an endoscope using the same.

従来の内視鏡には、隙間をもたして複数個の短筒体を連結ワイヤにより連結し、短筒体に挿通した首振りワイヤを引っ張ることによって首振り可能にした首振機構が設けられている。
特許文献１では、短筒体（首振節輪）の連結のために２本の連結ワイヤを設け、レーザー溶接にて連結ワイヤに連結している。
特許文献２では、短筒体（湾曲駒）の連結のために３本の連結ワイヤを設け、湾曲駒をリベットによって回動自在に連結している（段落００１３〜００１６）。
特許文献３では、短筒体（アングルリング）を形状記憶合金で形成し、ピン等で連結している（段落００２６〜００２７）。
特許文献４では、首振りワイヤ（アングル操作ワイヤ）を螺線状に複数回巻いて筒状体を形成し、この筒状体を内視鏡の先端硬性部の後部に嵌めて固着させている。 A conventional endoscope is provided with a swing mechanism that allows a plurality of short cylinders to be connected by a connecting wire with a gap and allows the head to swing by pulling a swing wire inserted through the short cylinder. It has been.
In Patent Document 1, two connecting wires are provided for connecting short cylinders (oscillating nodes) and connected to the connecting wires by laser welding.
In Patent Document 2, three connecting wires are provided for connecting short cylinders (curving pieces), and the bending pieces are rotatably connected by rivets (paragraphs 0013 to 0016).
In Patent Document 3, short cylinders (angle rings) are formed of a shape memory alloy and connected with pins or the like (paragraphs 0026 to 0027).
In Patent Document 4, a tubular body is formed by winding a swing wire (angle operation wire) a plurality of times in a spiral shape, and this tubular body is fitted and fixed to the rear portion of the distal end rigid portion of the endoscope. .

特開平１１−２５３３８７号公報JP-A-11-253387 特開平５−１８４５２６号公報Japanese Patent Application Laid-Open No. 5-184526 特開平５−３１７２３６号公報JP-A-5-317236 特開平６−２６９３９９号公報JP-A-6-269399

本発明は、上記事情に鑑みてなされたものであり、連結ワイヤが不要であり、短筒体の連結が容易な首振機構構造体及びそれを利用した内視鏡を提供することを課題とする。   The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an oscillation mechanism structure that does not require a connecting wire and that can easily connect short cylinders, and an endoscope using the same. To do.

前記課題を解決するため、本発明は、並列された２本のワイヤに、その長手方向に沿って複数個の短筒体を挿通し、前記複数個の短筒体のうち先端にある短筒体のみを前記ワイヤに固定し、隣接する２つの短筒体のそれぞれの対向する端面に、凹部又は凸部からなる相互に咬合う咬合構造を形成し、最後尾の短筒体の後方への移動が規制された状態で、前記２本のワイヤが、それぞれの隣接する２つの短筒体の咬合せを維持する程度に後方に引張られており、引張られた状態を維持しつつ前記２本のワイヤの一方を繰り寄せるとともに他方を繰り出して、それぞれの隣接する短筒体の中心軸どうしを相互に傾けることで、前記複数個の短筒体全体を首振動作させる首振機構構造体を提供する。
この首振機構構造体によれば、複数個の短筒体に形成した凹部又は凸部からなる咬合構造によって短筒体どうしの揺動の支点が設定されるので、短筒体どうしの接合に連結ワイヤ、ピン、レーザー溶接等が不要になり、ワイヤに短筒体を挿通するだけで容易に組み立てが可能になる。連結ワイヤ等を省略できるので、短筒体の構造をより単純にすることが可能であり、短筒体の内部に光ファイバ等の部材を挿通するスペースをより大きく確保することができる。隣接する短筒体間の距離が規制されることにより、咬合構造を維持することができ、繰り返しの揺動に耐久できる首振機構構造体を構成することができる。 In order to solve the above-mentioned problem, the present invention inserts a plurality of short cylinders along the longitudinal direction of two parallel wires, and the short cylinder at the tip of the plurality of short cylinders Only the body is fixed to the wire, and an opposing occlusal structure consisting of a concave portion or a convex portion is formed on each opposing end surface of two adjacent short cylindrical bodies, and the rearward end of the short tubular body at the end is formed. In a state where movement is restricted, the two wires are pulled backward so as to maintain the engagement of the two adjacent short cylinders, and the two wires are maintained while being held in tension. A swing mechanism structure for swinging the entire plurality of short cylinders by feeding one of the wires and the other and tilting the central axes of the adjacent short cylinders to each other is provided. To do.
According to this swing mechanism structure, since the fulcrum of the swinging of the short cylinders is set by the occlusion structure formed by the concave or convex portions formed in the plurality of short cylinders, the short cylinders can be joined to each other. Connecting wires, pins, laser welding, and the like are not necessary, and assembly can be easily performed simply by inserting a short cylinder through the wire. Since the connecting wire and the like can be omitted, the structure of the short cylinder can be simplified, and a larger space for inserting a member such as an optical fiber can be secured inside the short cylinder. By controlling the distance between the adjacent short cylinders, the occlusal structure can be maintained, and a swing mechanism structure that can endure repeated swinging can be configured.

本発明の首振機構構造体は、前記短筒体の端面から突出する凸部の長さが、前記短筒体の端面から窪む凹部の深さより大きいことが好ましい。
この首振機構構造体によれば、隣接する２つの短筒体の内外径が同程度でも、ワイヤの長手方向に沿った凸部の長さと凹部の深さとの差に相当して、首振動作に必要な隙間を確保することができる。 In the swing mechanism structure of the present invention, it is preferable that the length of the convex portion protruding from the end surface of the short cylindrical body is greater than the depth of the concave portion recessed from the end surface of the short cylindrical body.
According to this swing mechanism structure, even if the inner and outer diameters of two adjacent short cylinders are approximately the same, the neck vibration is equivalent to the difference between the length of the convex portion and the depth of the concave portion along the longitudinal direction of the wire. A gap necessary for the work can be secured.

本発明の首振機構構造体は、前記複数の短筒体のそれぞれが、一つの端面に前記凸部を有し、その反対側の端面に前記凹部を有することが好ましい。
この首振機構構造体によれば、ワイヤに短筒体を挿通する際、先端から後方に向けて、凸部と凹部の向きを揃えて連結することができるので、組み立てが容易になる。凸部と凹部が各短筒体に設けられることにより、複数の短筒体の形状及び寸法を同一にして首振機構構造体を構成し、廉価にすることもできる。 In the swing mechanism structure of the present invention, it is preferable that each of the plurality of short cylinders has the convex portion on one end surface and the concave portion on the opposite end surface.
According to this oscillating mechanism structure, when the short cylindrical body is inserted through the wire, it is possible to connect the convex portions and the concave portions in the same direction from the tip toward the rear, so that assembly is facilitated. By providing the convex portion and the concave portion in each short cylinder, the shape and dimensions of the plurality of short cylinders can be made the same to constitute the swing mechanism structure, and the cost can be reduced.

本発明の首振機構構造体は、前記凸部及び前記凹部の厚みを短筒体の厚みと同じにすることが好ましい。
この首振機構構造体によれば、咬合構造を短筒体の厚みの範囲内で形成することができ、短筒体の内部に光ファイバ等の部材を挿通するスペースを最大限確保することができる。 In the swing mechanism structure of the present invention, it is preferable that the thickness of the convex portion and the concave portion is the same as the thickness of the short cylindrical body.
According to this swing mechanism structure, the occlusal structure can be formed within the range of the thickness of the short cylinder, and the maximum space for inserting a member such as an optical fiber can be secured inside the short cylinder. it can.

本発明の首振機構構造体は、前記凸部の長さが、首振機構構造体の先端から後部に向けて段階的に小さくなっていることが好ましい。
この首振機構構造体によれば、ワイヤの操作による力が先端に伝わりやすくなり、首振機構構造体の先端部を曲げやすくすることができる。 In the swing mechanism structure of the present invention, it is preferable that the length of the convex portion is gradually reduced from the front end to the rear portion of the swing mechanism structure.
According to this swing mechanism structure, the force due to the operation of the wire is easily transmitted to the tip, and the tip of the swing mechanism structure can be easily bent.

本発明の首振機構構造体は、前記凸部の形状が半円形または三角形であることが好ましい。
この首振機構構造体によれば、凸部を基本的な形状とすることで、短筒体の寸法が小さくても容易に凸部を形成することができる。 In the swing mechanism structure of the present invention, it is preferable that the shape of the convex portion is a semicircular shape or a triangular shape.
According to this oscillating mechanism structure, the convex portion can be easily formed even if the size of the short cylindrical body is small because the convex portion has a basic shape.

また、本発明は、上記の首振機構構造体を備える内視鏡を提供する。
この内視鏡によれば、上記の首振機構構造体を先端部の首振に利用することができる。 Moreover, this invention provides an endoscope provided with said swing mechanism structure.
According to this endoscope, the above-mentioned swing mechanism structure can be used for swinging the tip portion.

本発明によれば、連結ワイヤが不要であり、短筒体の連結が容易な首振機構構造体及びそれを利用した内視鏡を提供することができる。   ADVANTAGE OF THE INVENTION According to this invention, a connection wire is unnecessary and the oscillation mechanism structure body which can connect a short cylinder easily, and an endoscope using the same can be provided.

（ａ）は、本発明の第１実施形態に係る首振機構構造体の短筒体を示す側面図であり、（ｂ）は、（ａ）の首振機構構造体における短筒体の連結状態を示す側面図であり、（ｃ）は、（ａ）の首振機構構造体を湾曲させた状態を示す側面図である。(A) is a side view which shows the short cylinder of the swing mechanism structure which concerns on 1st Embodiment of this invention, (b) is the connection of the short cylinder in the swing mechanism structure of (a). It is a side view which shows a state, (c) is a side view which shows the state which curved the swing mechanism structure of (a). （ａ）は、図１（ａ）の短筒体を示す平面図であり、（ｂ）は、図１（ａ）の短筒体を示す斜視図である。(A) is a top view which shows the short cylinder body of Fig.1 (a), (b) is a perspective view which shows the short cylinder body of Fig.1 (a). （ａ）は、図１の首振機構構造体を利用した内視鏡の模式図であり、（ｂ）は、内視鏡の先端部におけるアングル角の説明図である。(A) is a schematic diagram of an endoscope using the swing mechanism structure of FIG. 1, and (b) is an explanatory view of an angle angle at the distal end portion of the endoscope. 図３（ａ）のＳ−Ｓ線に沿う断面図である。It is sectional drawing which follows the SS line | wire of Fig.3 (a). 短筒体の凸部及び凹部の表面を平滑にする例の説明図である。It is explanatory drawing of the example which smoothes the surface of the convex part of a short cylinder, and a recessed part. （ａ）〜（ｄ）は、首振機構構造体における短筒体の組み合わせを例示する側面図である。(A)-(d) is a side view which illustrates the combination of the short cylinder in a swing mechanism structure. （ａ）は、本発明の第２実施形態に係る首振機構構造体の短筒体を示す側面図であり、（ｂ）は、（ａ）の首振機構構造体における短筒体の連結状態を示す側面図であり、（ｃ）は、（ａ）の首振機構構造体を湾曲させた状態を示す側面図である。(A) is a side view which shows the short cylinder of the swing mechanism structure which concerns on 2nd Embodiment of this invention, (b) is the connection of the short cylinder in the swing mechanism structure of (a). It is a side view which shows a state, (c) is a side view which shows the state which curved the swing mechanism structure of (a). （ａ）は、本発明の第３実施形態に係る首振機構構造体の短筒体を示す側面図であり、（ｂ）は、（ａ）の首振機構構造体における短筒体の連結状態を示す側面図であり、（ｃ）は、（ａ）の首振機構構造体を湾曲させた状態を示す側面図である。(A) is a side view which shows the short cylinder of the swing mechanism structure which concerns on 3rd Embodiment of this invention, (b) is the connection of the short cylinder in the swing mechanism structure of (a). It is a side view which shows a state, (c) is a side view which shows the state which curved the swing mechanism structure of (a). （ａ）は、本発明の第４実施形態に係る首振機構構造体の短筒体を示す側面図であり、（ｂ）は、（ａ）の首振機構構造体における短筒体の連結状態を示す側面図であり、（ｃ）は、（ａ）の首振機構構造体を湾曲させた状態を示す側面図である。(A) is a side view which shows the short cylinder of the swing mechanism structure which concerns on 4th Embodiment of this invention, (b) is the connection of the short cylinder in the swing mechanism structure of (a). It is a side view which shows a state, (c) is a side view which shows the state which curved the swing mechanism structure of (a). （ａ）は、図９（ａ）の短筒体を示す平面図であり、（ｂ）は、図９（ａ）の短筒体を示す斜視図である。(A) is a top view which shows the short cylinder body of Fig.9 (a), (b) is a perspective view which shows the short cylinder body of Fig.9 (a). 短筒体の凸部の長さを先端から後部に向けて段階的に小さくした例を示す側面図である。It is a side view which shows the example which made the length of the convex part of the short cylinder body small in steps toward the rear part from the front-end | tip. （ａ）〜（ｃ）は、隣接する短筒体間における凸部と凹部との咬合構造を例示する説明図である。(A)-(c) is explanatory drawing which illustrates the occlusal structure of the convex part and recessed part between adjacent short cylinders. 首振機構構造体の変形例を示す側面図である。It is a side view which shows the modification of a swing mechanism structure.

以下、好適な実施の形態に基づき、図面を参照して本発明を説明する。
図３（ａ）に、本発明の首振機構構造体を用いた内視鏡の一例を示す。この内視鏡５は、操作部３と、操作部３から突設されて体内等に挿入される管状の挿入部２と、挿入部２の先端において観察対象物に向けられる先端部１ａを首振り可能に支持する首振部１を備えている。首振部１の内部には、並列された２本のワイヤＷ，Ｗに、その長手方向に沿って複数個の短筒体１０を挿通した構成の首振機構構造体４が設けられている。 The present invention will be described below based on preferred embodiments with reference to the drawings.
FIG. 3A shows an example of an endoscope using the swing mechanism structure of the present invention. The endoscope 5 includes an operation unit 3, a tubular insertion unit 2 that protrudes from the operation unit 3 and is inserted into a body or the like, and a distal end portion 1 a that is directed to an observation object at the distal end of the insertion unit 2. There is provided a swinging portion 1 that is swingably supported. A swing mechanism structure 4 having a configuration in which a plurality of short cylinders 10 are inserted along the longitudinal direction of two parallel wires W and W is provided inside the swing portion 1. .

図２（ａ）に示すように、短筒体１０の本体を構成する筒状本体部１１は、略円筒状である。筒状本体部１１の内面には、首振ワイヤＷが挿通される孔１５を有する膨出部１４を複数個有する。図示例では、２本のワイヤＷの挿通位置に対応する約１８０°の間隔で、２つの孔１５，１５が配置されている。ワイヤＷの側面は、孔１５の内面に固定されることなく、スライド移動可能に挿通される。短筒体１０は、ステンレス等の金属や、成形可能な合成樹脂等、適宜の材質により構成可能である。
また、図４に示すように、短筒体１０の内部には、例えばイメージファイバやライトガイド等の各種線状部材７，８，９が挿通される。各種線状部材７，８，９は、首振機構構造体４の長手方向に延在して配置されるので、これらを配置するスペースを確保する観点から、各短筒体１０の内径（筒状本体部１１の内径）は略一定であることが好ましい。 As shown in FIG. 2A, the cylindrical main body 11 constituting the main body of the short cylinder 10 is substantially cylindrical. A plurality of bulged portions 14 having holes 15 through which the swing wire W is inserted are provided on the inner surface of the cylindrical main body portion 11. In the illustrated example, the two holes 15 and 15 are arranged at an interval of about 180 ° corresponding to the insertion position of the two wires W. The side surface of the wire W is inserted in a slidable manner without being fixed to the inner surface of the hole 15. The short cylinder 10 can be made of an appropriate material such as a metal such as stainless steel or a moldable synthetic resin.
As shown in FIG. 4, various linear members 7, 8, 9 such as an image fiber and a light guide are inserted into the short cylinder 10. Since the various linear members 7, 8, 9 are arranged extending in the longitudinal direction of the swing mechanism structure 4, the inner diameter (cylinder) of each short cylinder 10 is ensured from the viewpoint of securing a space for arranging them. The inner diameter of the main body portion 11 is preferably substantially constant.

図１（ａ）及び図２（ｂ）に示すように、短筒体１０は、筒状本体部１１の一方の端面１１ａにその端面１１ａから突出する凸部１２を、他方の端面１１ｂにその端面１１ｂから窪む凹部１３を有する。これらの凸部１２及び凹部１３は、図１（ｂ）に示すように、隣接する短筒体１０，１０が互いに対向する端面１１ａ，１１ｂにそれぞれ設けられ、凸部１２と凹部１３が相互に咬合う咬合構造を形成している。また、図１（ｃ）に示すように、隣接する短筒体１０，１０どうしが、凸部１２と凹部１３による咬合構造を維持しながら相互に首振方向に揺動可能である。   As shown in FIGS. 1 (a) and 2 (b), the short cylindrical body 10 has a convex portion 12 projecting from one end surface 11a of the cylindrical main body portion 11 on the other end surface 11b. It has the recessed part 13 depressed from the end surface 11b. As shown in FIG. 1 (b), the convex portions 12 and the concave portions 13 are provided on the end surfaces 11a and 11b where the adjacent short cylinders 10 and 10 face each other, and the convex portions 12 and the concave portions 13 are mutually connected. An occlusal occlusal structure is formed. Moreover, as shown in FIG.1 (c), the adjacent short cylinders 10 and 10 can mutually rock | fluctuate to an oscillation direction, maintaining the occlusal structure by the convex part 12 and the recessed part 13. As shown in FIG.

図３（ａ）に示すように、複数個の短筒体１０のうち先端にある短筒体１０ａのみをワイヤＷに固定し、最先端の短筒体１０ａ以外の短筒体１０は、ワイヤＷに対して自由にされている。短筒体１０ａとワイヤＷの固定方法は、特に限定されるものではなく、孔１５の内部でワイヤＷを接着剤、はんだ付け、溶接等により固定する方法、短筒体１０ａの先端面から突出するワイヤＷに抜け止め加工を施したり、短筒体１０ａの先端側にワイヤ保持体（図示せず）を設けたりして、ワイヤＷが孔１５から抜けないようにする方法、図１３に示すように、先端にある短筒体１０ａに挿通したワイヤＷにおいて、短筒体１０ａの前に、ワイヤＷに固定したコマ１６を設け、ワイヤＷの抜け止めとする方法などが挙げられる。コマ１６は、短筒体１０ａの抜け止め部であればよく、ワイヤＷへの固定方法も、接着、溶接、カシメなど、特に限定されない。   As shown in FIG. 3 (a), only the short cylinder 10a at the tip of the plurality of short cylinders 10 is fixed to the wire W, and the short cylinders 10 other than the most advanced short cylinder 10a are wire Freed against W. The fixing method of the short cylinder 10a and the wire W is not particularly limited, and a method of fixing the wire W in the hole 15 by an adhesive, soldering, welding, or the like, protruding from the distal end surface of the short cylinder 10a. FIG. 13 shows a method for preventing the wire W from coming out of the hole 15 by applying a retaining process to the wire W to be removed or providing a wire holding body (not shown) on the distal end side of the short cylindrical body 10a. As described above, in the wire W inserted through the short cylinder 10a at the tip, there is a method in which a top 16 fixed to the wire W is provided in front of the short cylinder 10a to prevent the wire W from coming off. The top 16 only needs to be a retaining portion of the short cylinder 10a, and the fixing method to the wire W is not particularly limited, such as adhesion, welding, or caulking.

ワイヤＷ，Ｗは、先端側では最先端の短筒体１０ａに固定されるとともに、後方では例えば滑車３ｂに掛けられている。最先端の短筒体１０ａから滑車３ｂまでの長さが、ワイヤＷの通常の長さ（外力の加わっていない状態での長さ）より長くなるように短筒体１０ａや滑車３ｂが固定され、ワイヤＷのテンションが維持され、最先端の短筒体１０ａが後方に引っ張られる。また、最後尾の短筒体１０ｂは、その後方に導中管２ａが存在することにより短筒体１０ｂの後方への移動（先端にある短筒体１０ａからの距離）が規制されている。これにより、隣接する短筒体１０，１０間の距離が制限されるので、最先端の短筒体１０ａから最後尾の短筒体１０ｂまで、すべての短筒体１０，１０，…の凸部１２と凹部１３の咬合構造が維持される。   The wires W, W are fixed to the state-of-the-art short cylindrical body 10a on the distal end side, and hung on, for example, a pulley 3b on the rear side. The short cylinder 10a and the pulley 3b are fixed so that the length from the most advanced short cylinder 10a to the pulley 3b is longer than the normal length of the wire W (the length in a state where no external force is applied). The tension of the wire W is maintained, and the most advanced short cylinder 10a is pulled backward. Further, the rearmost short cylinder 10b is restricted in its rearward movement (distance from the short cylinder 10a at the tip) by the presence of the guiding pipe 2a behind it. Thereby, since the distance between the adjacent short cylinders 10 and 10 is limited, the convex portions of all the short cylinders 10, 10,... From the most advanced short cylinder 10a to the rearmost short cylinder 10b. The occlusal structure of 12 and the recessed part 13 is maintained.

最後尾の短筒体１０ｂの後方への移動を規制する構成としては、図１３に示すように、ワイヤＷにコマ１７を固定し、このコマ１７と最後尾の短筒体１０ｂの後端面との間にバネ１８を設ける構成を採用することも可能である。この場合、首振部１の後述する首振り角度αを大きくすることが可能となり、好ましい。コマ１７は、短筒体１０ｂを前方へ付勢するバネ１８の圧力を受ける、バネ受け部であればよく、ワイヤＷへの固定方法も、接着、溶接、カシメなど、特に限定されない。図示のバネ１８は圧縮コイルバネであるが、短筒体を前方へ付勢可能であれば、他種のバネも制限なく使用可能である。   As shown in FIG. 13, the frame 17 is fixed to the wire W, and the frame 17 and the rear end surface of the rearmost short cylinder 10b are arranged to restrict the rearward movement of the rearmost short cylinder 10b. It is also possible to employ a configuration in which the spring 18 is provided between the two. In this case, it is possible to increase a later-described swing angle α of the swing portion 1, which is preferable. The top 17 may be a spring receiving portion that receives the pressure of the spring 18 that biases the short cylindrical body 10b forward, and the fixing method to the wire W is not particularly limited, such as adhesion, welding, or caulking. Although the illustrated spring 18 is a compression coil spring, other types of springs can be used without limitation as long as the short cylinder can be biased forward.

導中管２ａは、例えば金属や樹脂等からなる帯状または棒状の部材を螺旋状に曲げて形成することができる。導中管２ａは、挿入部２の長手方向に対して交差する方向へ湾曲可能な可撓性を有することが好ましい。また、導中管２ａがバネのような伸縮性を有して、短筒体１０ｂを先端側へ付勢しても良い。挿入部２は、例えば血管や腸管等の周囲の形状に追随して任意に湾曲変形が可能である。首振機構構造体４や導中管２ａの周囲は、ポリウレタン、ポリオレフィン、ポリアミド等の合成樹脂からなるチューブ状のシース６により被覆される。シース６内に首振機構構造体４を配置しやすい観点から、各短筒体１０の外径（筒状本体部１１の外径）は略一定であることが好ましい。   The guiding pipe 2a can be formed by, for example, bending a band-shaped or rod-shaped member made of metal, resin, or the like into a spiral shape. The guiding pipe 2a preferably has a flexibility that allows bending in a direction that intersects the longitudinal direction of the insertion portion 2. Further, the guiding pipe 2a may have elasticity such as a spring, and the short cylinder 10b may be urged toward the tip side. The insertion portion 2 can be arbitrarily deformed in a curved manner following the surrounding shape of, for example, a blood vessel or an intestinal tract. The periphery of the oscillation mechanism structure 4 and the guiding pipe 2a is covered with a tubular sheath 6 made of a synthetic resin such as polyurethane, polyolefin, or polyamide. From the viewpoint of easily arranging the swing mechanism structure 4 in the sheath 6, it is preferable that the outer diameter of each short cylinder 10 (the outer diameter of the cylindrical main body 11) is substantially constant.

首振部１の後方側では、２本のワイヤＷ，Ｗは並行して挿入部２の導中管２ａ内に挿通され、操作部３の滑車３ｂに接続される。首振部１及び導中管２ａの内径に合わせて、ワイヤ支持部３ｃを通じてワイヤＷ，Ｗの間隔が変更される。
ワイヤＷ，Ｗは、滑車３ｂの周囲で接続されてもよい。あるいは１本に連続したワイヤを用いて、その中間部が滑車３ｂに掛けられ、該ワイヤの両端部がそれぞれ最先端の短筒体１０ａに固定されるように構成してもよい。これにより、一方のワイヤＷを後方へ繰り寄せると、他方のワイヤＷを前方に繰り出すことができる。
滑車３ｂの軸に連結された回転ハンドル３ａにより、図３（ａ）に示す中立状態（首振部１が直線状である状態）からどちらか一方に揺動させれば、どちらか一方のワイヤＷが操作部３に引っ張られ、図３（ｂ）に示すように、首振部１が直線状態から挿入部２に対してどちらか一方側に湾曲して首振状態となる。首振状態の湾曲方向は、いずれのワイヤＷを引っ張るかにより、左右いずれにも首振可能である。
例えば、図３（ａ）の滑車３ｂを時計回りに回すと、右側のワイヤＷが滑車３ｂに向けて後方に引っ張られ、左側のワイヤＷが滑車３ｂから先端側に押し出されることにより、最先端の短筒体１０ａのワイヤ固定部が右側では後方に引っ張られて、図３（ｂ）の実線に示すように右側に首振り動作をする。また、滑車３ｂを反時計回りに回すと図３（ｂ）の二点鎖線に示すように左側に首振り動作をする。
なお、ワイヤＷの操作手段は、図示した手動ハンドルのほか、ボタン操作や機械制御等、特に限定されることなく、種々の手段を採用することが可能である。
図３（ｂ）に示す首振り半径Ｒ、首振り角度α、首振部１の外径Ｄは、内視鏡５の観察対象部位の寸法や形状などにも依存して適宜設定でき、特に限定されるものではないが、例えば人体内に適用される医療用の内視鏡では、角度αは１０〜１５０°、外径Ｄがφ１〜５ｍｍ程度とすることもできる。 On the rear side of the oscillating portion 1, the two wires W and W are inserted into the guide tube 2 a of the insertion portion 2 in parallel and connected to the pulley 3 b of the operation portion 3. The distance between the wires W and W is changed through the wire support portion 3c in accordance with the inner diameters of the oscillation portion 1 and the guiding pipe 2a.
The wires W, W may be connected around the pulley 3b. Alternatively, a single continuous wire may be used so that an intermediate portion thereof is hung on the pulley 3b, and both end portions of the wire are fixed to the most advanced short cylinder 10a. Thereby, when one wire W is drawn back, the other wire W can be drawn forward.
If the rotary handle 3a connected to the shaft of the pulley 3b is swung to either one from the neutral state shown in FIG. 3A (the state where the swinging portion 1 is linear), either one of the wires W is pulled by the operation unit 3, and as shown in FIG. 3B, the swing unit 1 is bent from the linear state to one side with respect to the insertion unit 2 to be in a swing state. The bending direction in the swinging state can swing to the left or right depending on which wire W is pulled.
For example, when the pulley 3b in FIG. 3 (a) is rotated clockwise, the right wire W is pulled backward toward the pulley 3b, and the left wire W is pushed out from the pulley 3b to the front end side. The wire fixing portion of the short cylinder 10a is pulled rearward on the right side, and swings to the right as shown by the solid line in FIG. Further, when the pulley 3b is turned counterclockwise, a swinging motion is performed to the left as shown by a two-dot chain line in FIG.
The operation means for the wire W is not particularly limited, such as button operation or machine control, in addition to the illustrated manual handle, and various means can be adopted.
The swing radius R, the swing angle α, and the outer diameter D of the swing portion 1 shown in FIG. 3B can be appropriately set depending on the size and shape of the observation target portion of the endoscope 5, Although not limited, for example, in a medical endoscope applied to the human body, the angle α may be 10 to 150 ° and the outer diameter D may be about φ1 to 5 mm.

首振部１の首振状態は、図１（ｃ）に示すように、隣接する短筒体１０間に形成される凸部１２と凹部１３との咬合構造が支点を構成し、凹部１３内で凸部１２が揺動して、隣接する短筒体１０の中心軸どうしを相互に傾けることにより、実現される。凹部１３内で凸部１２が揺動可能とするためには、凹部１３がその内部で凸部１２を揺動させる余裕を有する程度に大きく、かつ中立状態でも首振状態でも隣接する短筒体１０間に隙間を有するように、凸部１２の長さＡが、凹部１３の深さＢより大きくされている（Ａ＞Ｂ）。
本実施形態では、凸部１２は、突出部１２ａの先端に半円形に形成され、凹部１３は凸部１２を収容可能な半円形に形成され、凹部１３の内径Ｒｂが、凸部１２の外径Ｒａより大きくされている（Ｒａ＜Ｒｂ）。つまり、凸部１２の先端部の曲率半径が、凹部１３の曲率半径より若干小さくされている。また、半円形の代わりに、中心角が１８０°未満の円弧状とすることもできる。
揺動の際、半円形の凸部１２の先端部は、凹部１３内で一定位置に固定される必要はなく、力の関係により、円弧面に沿って横ズレしてもよい。 As shown in FIG. 1C, the swinging state of the swinging portion 1 is such that the occlusal structure of the convex portion 12 and the concave portion 13 formed between the adjacent short cylinders 10 forms a fulcrum, This is realized by swinging the convex portion 12 and tilting the central axes of the adjacent short cylinders 10 to each other. In order to make the convex portion 12 swingable in the concave portion 13, the concave portion 13 is large enough to have a margin for swinging the convex portion 12 in the concave portion 13, and is adjacent to both the neutral state and the swinging state. The length A of the convex part 12 is made larger than the depth B of the concave part 13 (A> B) so that there is a gap between the ten parts.
In the present embodiment, the convex portion 12 is formed in a semicircular shape at the tip of the protruding portion 12 a, the concave portion 13 is formed in a semicircular shape that can accommodate the convex portion 12, and the inner diameter Rb of the concave portion 13 is outside the convex portion 12. It is larger than the diameter Ra (Ra <Rb). That is, the radius of curvature of the tip of the convex portion 12 is slightly smaller than the radius of curvature of the concave portion 13. Moreover, it can also be set as circular arc shape whose center angle is less than 180 degrees instead of a semicircle.
When swinging, the tip of the semicircular convex portion 12 does not need to be fixed at a fixed position in the concave portion 13 and may be laterally displaced along the arc surface depending on the force.

本実施形態の首振機構構造体４は、個々の短筒体１０をワイヤＷに固定する必要がないので、ワイヤＷに順次挿通した短筒体１０の凸部１２と凹部１３とを咬合わせるだけで、容易に組み立てることができる。複数個の短筒体１０に形成した凸部１２と凹部１３との咬合構造によって短筒体１０どうしの揺動の支点が設定されるので、連結ワイヤなしで複数個の短筒体を容易に連結することが可能になる。
また、それぞれの短筒体１０が、一つの端面１１ａに凸部１２を、その反対側の端面１１ｂに凹部１３を有するので、先端から後方に向けて、凸部１２と凹部１３の向きを揃えて連結することができ、組み立てが容易になる。 Since the swing mechanism structure 4 according to the present embodiment does not need to fix the individual short cylinders 10 to the wires W, the convex portions 12 and the concave portions 13 of the short cylinders 10 that are sequentially inserted through the wires W are engaged with each other. Just assemble easily. Since the fulcrum of swinging between the short cylinders 10 is set by the occlusal structure of the convex parts 12 and the concave parts 13 formed on the plurality of short cylinders 10, the plurality of short cylinders can be easily formed without connecting wires. It becomes possible to connect.
In addition, each short cylinder 10 has a convex portion 12 on one end surface 11a and a concave portion 13 on the opposite end surface 11b, so that the directions of the convex portion 12 and the concave portion 13 are aligned from the tip toward the rear. And can be assembled easily.

凸部１２と凹部１３の向きは、図６（ａ）または（ｃ）に示すように、後側の短筒体１０の凸部１２と、前側の短筒体１０の凹部１３との咬合構造としてもよい。また、図６（ｂ）または（ｄ）に示すように、前側の短筒体１０の凸部１２と、後側の短筒体１０の凹部１３の咬合構造としてもよい。図６（ａ）または（ｂ）に示すように、先端または最後尾にある短筒体としては、凸部１２のみを有する短筒体１０Ａを用いたり、凹部１３のみを有する短筒体１０Ｂを用いたりしてもよい。   The direction of the convex part 12 and the recessed part 13 is the occlusal structure of the convex part 12 of the rear short cylinder 10 and the concave part 13 of the front short cylinder 10 as shown in FIG. It is good. Further, as shown in FIG. 6B or 6D, an occlusal structure of the convex portion 12 of the front short cylinder 10 and the concave portion 13 of the rear short cylinder 10 may be adopted. As shown in FIG. 6 (a) or (b), the short cylinder 10A having only the convex part 12 or the short cylinder 10B having only the concave part 13 is used as the short cylinder at the tip or the tail. It may be used.

図２に示すように、凸部１２の厚みｔ２及び凹部１３の厚みｔ３を短筒体１０の筒状本体部１１の厚みｔ１と同じにしている。これにより、凸部１２と凹部１３との咬合構造を短筒体１０の厚みｔ１の範囲内で形成することができ、短筒体１０の内部に光ファイバ等の部材を挿通するスペースを最大限確保することができる。
図５に示すように、咬合構造において凸部１２と凹部１３とが互いに接触する面は、平滑処理、耐摩耗処理などの表面処理を施すことが好ましい。これにより、凸部１２と凹部１３との咬合構造の耐久性が向上し、揺動が円滑になる。 As shown in FIG. 2, the thickness t 2 of the convex portion 12 and the thickness t 3 of the concave portion 13 are the same as the thickness t 1 of the cylindrical main body portion 11 of the short cylindrical body 10. Maximum Accordingly, it is possible to form the toothing of the convex portion 12 and concave portion 13 within the range of the thickness t 1 of the short tube bodies 10, the interior of the short tube bodies 10 a space for inserting a member such as an optical fiber As long as possible.
As shown in FIG. 5, it is preferable that the surface where the convex portion 12 and the concave portion 13 are in contact with each other in the occlusal structure is subjected to a surface treatment such as a smoothing treatment or an abrasion resistance treatment. Thereby, durability of the occlusal structure of the convex part 12 and the recessed part 13 improves, and rocking | fluctuation becomes smooth.

以上、本発明を好適な実施の形態に基づいて説明してきたが、本発明は上述の実施形態に限定されるものではなく、本発明の要旨を逸脱しない範囲で種々の改変が可能である。   Although the present invention has been described based on the preferred embodiments, the present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the gist of the present invention.

図７に示す首振機構構造体の短筒体２０は、筒状本体部２１の一つの端面２１ａに三角形状の凸部２２を形成し、その反対側の端面２１ｂに三角形状の凹部２３を形成している。凹部２３内で凸部２２が揺動可能となるように、凹部２３の角度θｂが、凸部２２の角度θａより大きくされている（θａ＜θｂ）。また、中立状態でも、首振状態でも、隣接する短筒体２０どうしが隙間を有するように、凸部２２を含む突出部２２ａの長さＡが、凹部２３の深さＢより大きくされている（Ａ＞Ｂ）。上述したようにワイヤＷを操作すると、図７（ｃ）に示すように、隣接する短筒体２０，２０の中心軸どうしを相互に傾けることで、複数個の短筒体２０全体を首振動作させることができる。
凸部や凹部の形状が半円形や三角形などの単純な形状であると、寸法が小さくても容易に凸部や凹部を形成することができ、好ましい。 The short cylinder 20 of the swing mechanism structure shown in FIG. 7 has a triangular convex portion 22 formed on one end surface 21a of the cylindrical main body 21, and a triangular concave portion 23 formed on the opposite end surface 21b. Forming. The angle θb of the concave portion 23 is made larger than the angle θa of the convex portion 22 so that the convex portion 22 can swing in the concave portion 23 (θa <θb). Further, the length A of the protrusion 22a including the protrusion 22 is larger than the depth B of the recess 23 so that the adjacent short cylinders 20 have a gap between the neutral state and the swinging state. (A> B). When the wire W is operated as described above, as shown in FIG. 7 (c), the central axes of the adjacent short cylinders 20 and 20 are inclined with respect to each other so that the plurality of short cylinders 20 as a whole vibrate. You can make it.
It is preferable that the shape of the convex portion or the concave portion is a simple shape such as a semicircle or a triangle, since the convex portion or the concave portion can be easily formed even if the size is small.

図８に示す首振機構構造体の短筒体３０は、筒状本体部３１の一つの端面３１ａに形成された凸部３２が半楕円形であり、その反対側の端面３１ｂに形成された凹部３３は半円形である。凸部３２の半楕円形は、楕円（短半径ａ＜長半径ｂ）の長軸が凸部３２の突出方向に延び、凹部３３の半径ｃが、長半径ｂより大きくされている（ａ＜ｂ＜ｃ）。また、中立状態でも、首振状態でも、隣接する短筒体３０どうしが隙間を有するように、凸部３２を含む突出部３２ａの長さＡが、凹部３３の深さＢより大きくされている（Ａ＞Ｂ）。上述したようにワイヤＷを操作すると、図８（ｃ）に示すように、隣接する短筒体３０，３０の中心軸どうしを相互に傾けることで、複数個の短筒体３０全体を首振動作させることができる。
楕円は、短軸の両端より長軸の両端で曲率が大きい（曲率半径が小さい）ため、本実施形態のように長軸方向の端部を凸部３２の形状とすることにより、同程度の寸法の半円形に比べて凸部３２の先端における曲率半径が小さく、揺動角度の大きい咬合構造を構成することができる。 The short cylinder 30 of the swing mechanism structure shown in FIG. 8 has a convex portion 32 formed on one end surface 31a of the cylindrical main body portion 31 in a semi-elliptical shape, and is formed on the opposite end surface 31b. The recess 33 is semicircular. In the semi-elliptical shape of the convex portion 32, the major axis of the ellipse (short radius a <long radius b) extends in the protruding direction of the convex portion 32, and the radius c of the concave portion 33 is larger than the long radius b (a < b <c). Moreover, the length A of the protrusion part 32a including the convex part 32 is made larger than the depth B of the concave part 33 so that adjacent short cylinders 30 may have a gap between the neutral state and the swinging state. (A> B). When the wire W is operated as described above, as shown in FIG. 8C, the central axes of the adjacent short cylinders 30 and 30 are inclined with respect to each other so that the plurality of short cylinders 30 as a whole vibrate. You can make it.
Since the ellipse has a larger curvature at both ends of the major axis than that at both ends of the minor axis (the radius of curvature is small), the end of the major axis direction is shaped like the convex portion 32 as in this embodiment, so that the same degree is obtained. An occlusal structure having a small radius of curvature at the tip of the convex portion 32 and a large swing angle compared to a semicircular size can be formed.

図９及び図１０に示す首振機構構造体の短筒体１００は、筒状本体部１０１の一つの端面１０１ａ全体が凸部１０２とされ、その反対側の端面１０１ｂ全体が凹部１０３とされている。上述したようにワイヤＷを操作すると、図９（ｃ）に示すように、隣接する短筒体１００，１００の中心軸どうしを相互に傾けることで、複数個の短筒体１００全体を首振動作させることができる。
本実施形態の場合、凸部１０２及び凹部１０３は三角形状であり、凹部１０３内で凸部１０２が揺動可能となるように、凹部１０３の角度θｂが、凸部１０２の角度θａより大きくされている（θａ＜θｂ）。また、図１０に示すように、凸部１０２及び凹部１０３の稜線は、ワイヤＷが挿通される膨出部１０４の孔１０５とは約９０°ずれた位置に形成されている。この場合、凸部１０２が凹部１０３と咬合構造を構成するため、凸部を平面に突き合わせた場合に比べて、揺動時に支点の位置が安定するので、個々の短筒体１００をワイヤＷに固定しなくても、凸部１０２と凹部１０３の位置がずれるような捩れの発生を防止することができる。 The short cylinder 100 of the swing mechanism structure shown in FIGS. 9 and 10 has an entire end surface 101 a of the cylindrical main body 101 as a convex portion 102 and an entire end surface 101 b on the opposite side as a concave portion 103. Yes. When the wire W is operated as described above, as shown in FIG. 9C, the central axes of the adjacent short cylinders 100 and 100 are inclined with respect to each other so that the plurality of short cylinders 100 as a whole vibrate. You can make it.
In the present embodiment, the convex portion 102 and the concave portion 103 are triangular, and the angle θb of the concave portion 103 is made larger than the angle θa of the convex portion 102 so that the convex portion 102 can swing in the concave portion 103. (Θa <θb). Further, as shown in FIG. 10, the ridge lines of the convex portion 102 and the concave portion 103 are formed at positions shifted by about 90 ° from the hole 105 of the bulging portion 104 through which the wire W is inserted. In this case, since the convex portion 102 forms an occlusal structure with the concave portion 103, the position of the fulcrum is more stable when swinging than when the convex portion is abutted against a flat surface. Even if it is not fixed, it is possible to prevent the occurrence of twisting such that the positions of the convex portion 102 and the concave portion 103 are shifted.

図１１に示す首振機構構造体の短筒体１０は、凸部１２の長さＡ１、Ａ２、Ａ３、・・・が、首振機構構造体の先端から後部に向けて（図１１では左から右に向かって）段階的に小さくなっている。この首振機構構造体によれば、揺動の支点となる凸部１２の先端と、短筒体１０の重心との距離が、先端側ほど大きくなることにより、ワイヤＷの操作による力が先端側の短筒体に伝わりやすくなり、首振機構構造体の先端部を曲げやすくすることができる。すべての短筒体１０の凸部１２の長さを１個ずつ順に小さくしてもよい（Ａ１＞Ａ２＞Ａ３＞・・・）。また、先端側の１個または数個の短筒体１０の凸部１２の長さを他の短筒体１０の凸部１２の長さより大きくしてあれば、それより後ろ側にある他の短筒体１０の凸部１２の長さは一定にしてもよい。 In the short cylinder 10 of the swing mechanism structure shown in FIG. 11, the lengths A 1 , A 2 , A 3 ,... 11 is gradually reduced from the left to the right). According to this swing mechanism structure, the distance between the tip of the convex portion 12 serving as the fulcrum of swing and the center of gravity of the short cylindrical body 10 increases toward the tip, so that the force due to the operation of the wire W is increased. It becomes easy to be transmitted to the short cylinder on the side, and the tip of the oscillation mechanism structure can be easily bent. All the length of the convex portion 12 of the short tube bodies 10 may be smaller in this order one by one (A 1> A 2> A 3> ···). Further, if the length of the convex portion 12 of one or several short cylinders 10 on the front end side is larger than the length of the convex portion 12 of the other short cylindrical body 10, The length of the convex portion 12 of the short cylinder 10 may be constant.

図１２には、隣接する短筒体間における凸部と凹部との咬合構造の各種組み合わせを例示する。
図１２（ａ）の場合、図１と同様に、凸部１２と凹部１３の向きがすべて同一である。
図１２（ｂ）の場合、両端面に凸部１２を有する短筒体１２０と、両端面に凹部１３を有する短筒体１３０とを交互に組み合わせている。
図１２（ｃ）の場合、先端側の端面に凸部１２及び凹部１３を有し、後方の端面にも凸部１２及び凹部１３を有する短筒体１４０を用いている。 In FIG. 12, various combinations of the occlusal structure of the convex part and recessed part between adjacent short cylinders are illustrated.
In the case of FIG. 12A, as in FIG. 1, the directions of the convex portion 12 and the concave portion 13 are all the same.
In the case of FIG.12 (b), the short cylinder 120 which has the convex part 12 in both end surfaces, and the short cylinder 130 which has the recessed part 13 in both end surfaces are combined alternately.
In the case of FIG.12 (c), the short cylinder 140 which has the convex part 12 and the recessed part 13 in the end surface of the front end side, and has the convex part 12 and the recessed part 13 also in the back end surface is used.

Ｗ…ワイヤ、１…首振部（アングル部）、２…挿入部、３…操作部、４…首振機構構造体、５…内視鏡、１０，２０，３０，１００…短筒体（リング）、１１，２１，３１，１０１…筒状本体部、１１ａ，２１ａ，３１ａ，１０１ａ…凸部を有する端面、１１ｂ，２１ｂ，３１ｂ，１０１ｂ…凹部を有する端面、１２，２２，３２，１０２…凸部、１３，２３，３３，１０３…凹部。 W ... wire, 1 ... oscillation part (angle part), 2 ... insertion part, 3 ... operation part, 4 ... oscillation mechanism structure, 5 ... endoscope, 10, 20, 30, 100 ... short cylinder ( Ring) 11, 21, 31, 101 ... cylindrical main body, 11a, 21a, 31a, 101a ... end face having a convex part, 11b, 21b, 31b, 101b ... end face having a concave part, 12, 22, 32, 102 ... convex part, 13, 23, 33, 103 ... concave part.

Claims (8)

並列された２本のワイヤが、その長手方向に沿って複数個の短筒体に挿通されており、
前記複数個の短筒体のうち先端にある短筒体のみが前記ワイヤに固定されており、
前記複数個の短筒体のうち前記先端にある短筒体以外の各短筒体は、前記ワイヤが１本ずつ挿通される２つの孔を有して、前記ワイヤが、その側面を前記孔の内面に固定することなく、スライド移動可能に挿通されており、
隣接する２つの短筒体のそれぞれの対向する端面に、凹部又は凸部からなる相互に咬合う咬合構造が形成されており、
前記複数個の短筒体のうち最後尾の短筒体の後方に、螺旋状に曲げて形成したバネの伸縮性を有する導中管が設けられているか、又は、前記ワイヤに固定されたコマと前記最後尾の短筒体の後端面との間にバネが設けられており、
前記バネにより前記最後尾の短筒体が先端側へ付勢され、前記最後尾の短筒体の後方への移動が規制された状態で、前記２本のワイヤが、それぞれの隣接する２つの短筒体の咬合せを維持する程度に後方に引張られており、
引張られた状態を維持しつつ前記２本のワイヤの一方を繰り寄せるとともに他方を繰り出して、それぞれの隣接する短筒体の中心軸どうしを相互に傾けることで、前記複数個の短筒体全体を首振動作させる首振機構構造体。 Juxtaposed two wires were found are inserted into a plurality of short tube bodies along its longitudinal direction,
The short cylindrical body only at the tip of the plurality of short tube bodies is fixed to said wire,
The plurality of the short cylinder other than the short cylindrical body which is in the tip of the short tube bodies, has two holes in which the wire is inserted one by one, the wires, the side of its without fixing to the inner surface of the hole, it is slidably inserted,
An occlusal structure consisting of a concave portion or a convex portion is formed on each opposing end face of two adjacent short cylinders,
Behind the end of the short tube bodies of the plurality of short tube bodies, Luke have guiding hollow tube is provided with a stretchable spring formed by bending in a spiral, or secured to the wire frame and spring is provided between the rear end surface of the end of the short tube bodies,
Wherein by the spring end of the short tube bodies is urged distally, the state in which the movement is restricted to the rear of the last short tube bodies, the two wires, two for each of the adjacent It is pulled backward enough to maintain the occlusion of the short cylinder,
While maintaining the tensioned state, one of the two wires is drawn and the other is drawn so that the central axes of the adjacent short cylinders are inclined with respect to each other so that the entire plurality of short cylinders are A swing mechanism structure for swinging. 前記短筒体の端面から突出する凸部の長さが、前記短筒体の端面から窪む凹部の深さより大きい請求項１に記載の首振機構構造体。   2. The swing mechanism structure according to claim 1, wherein the length of the convex portion protruding from the end surface of the short cylinder is greater than the depth of the concave portion recessed from the end surface of the short cylinder. 前記複数個の短筒体のそれぞれが、一つの端面に前記凸部を有し、その反対側の端面に前記凹部を有する請求項１に記載の首振機構構造体。   2. The swing mechanism structure according to claim 1, wherein each of the plurality of short cylinders has the convex portion on one end surface and the concave portion on the opposite end surface. 前記凸部及び前記凹部の厚みを短筒体の厚みと同じにした請求項１に記載の首振機構構造体。   The swing mechanism structure according to claim 1, wherein the thickness of the convex portion and the concave portion is the same as the thickness of the short cylindrical body. 前記凸部の長さが、首振機構構造体の先端から後部に向けて段階的に小さくなっている請求項１に記載の首振機構構造体。   The swing mechanism structure according to claim 1, wherein a length of the convex portion is gradually reduced from a front end to a rear portion of the swing mechanism structure. 前記凸部の形状が半円形または三角形である請求項１に記載の首振機構構造体。   The swing mechanism structure according to claim 1, wherein a shape of the convex portion is a semicircle or a triangle. 前記短筒体の前記対向する端面のうち、一つの端面全体が平面視で三角形状の凸部とされ、その反対側の端面全体が平面視で三角形状の凹部とされており、前記凸部及び前記凹部は、それぞれの端面で前記短筒体の厚み方向に稜線を有し、前記短筒体の各端面の周上において、前記２本のワイヤを挿通する前記２つの孔が１８０°の間隔で配置されており、前記稜線が前記２つの孔とは９０°ずれた位置に形成されている請求項１に記載の首振機構構造体。 Wherein one of the end faces of the opposed short cylindrical body, the entire one end face is a triangular protrusion in plan view, it is the triangular recess entire end face of the opposite side in plan view, the convex portion And the recess has a ridge line in the thickness direction of the short cylinder at each end face, and the two holes through which the two wires are inserted are 180 ° on the circumference of each end face of the short cylinder. 2. The swing mechanism structure according to claim 1, wherein the swing mechanism structure is disposed at an interval, and the ridgeline is formed at a position shifted by 90 ° from the two holes. 請求項１〜７のいずれか１項に記載の首振機構構造体を備える内視鏡。   An endoscope comprising the swing mechanism structure according to any one of claims 1 to 7.
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