WO2013008821A1 - 内視鏡 - Google Patents
内視鏡 Download PDFInfo
- Publication number
- WO2013008821A1 WO2013008821A1 PCT/JP2012/067604 JP2012067604W WO2013008821A1 WO 2013008821 A1 WO2013008821 A1 WO 2013008821A1 JP 2012067604 W JP2012067604 W JP 2012067604W WO 2013008821 A1 WO2013008821 A1 WO 2013008821A1
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- WIPO (PCT)
- Prior art keywords
- bending
- bending portion
- drive mechanism
- bent
- respect
- Prior art date
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- 0 CC(C(CC1)*1N*)C(CC1)CC(CC2)C1C(CC1)C2CC1C1(*)C(C)C2*1*2 Chemical compound CC(C(CC1)*1N*)C(CC1)CC(CC2)C1C(CC1)C2CC1C1(*)C(C)C2*1*2 0.000 description 1
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Classifications
-
- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0057—Constructional details of force transmission elements, e.g. control wires
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- A—HUMAN NECESSITIES
- A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
- A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
- A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
- A61B1/005—Flexible endoscopes
- A61B1/0051—Flexible endoscopes with controlled bending of insertion part
- A61B1/0052—Constructional details of control elements, e.g. handles
-
- G—PHYSICS
- G02—OPTICS
- G02B—OPTICAL ELEMENTS, SYSTEMS OR APPARATUS
- G02B23/00—Telescopes, e.g. binoculars; Periscopes; Instruments for viewing the inside of hollow bodies; Viewfinders; Optical aiming or sighting devices
- G02B23/24—Instruments or systems for viewing the inside of hollow bodies, e.g. fibrescopes
- G02B23/2476—Non-optical details, e.g. housings, mountings, supports
Definitions
- This invention relates to an endoscope having a plurality of curved portions.
- a first bending portion (active bending portion) that bends in response to an operation of a bending operation knob of an operation portion, and a base end portion of the first bending portion that is passively provided by an external force.
- An endoscope having a second bending portion (passive bending portion) that is curved in a curved manner is disclosed.
- the first bending portion of the endoscope disclosed in Japanese Patent Application Laid-Open No. 2006-218231 is inserted into, for example, a lumen of the large intestine or the like, the first bending portion is bent so that the deep portion direction (insertable direction) is viewed in the endoscope. Push the insertion part into the large intestine while capturing it on the mirror screen.
- the second bending portion is bent and inserted. It may be difficult to push the part toward the back of the large intestine.
- the second bending portion when the insertion portion is pulled to the near side while the first bending portion is bent and the distal end of the insertion portion is hooked on the inner wall of the large intestine to hold the large intestine, an external force is applied to the second bending portion, When the second bending portion is bent in a direction opposite to the bending direction of the first bending portion, the second bending portion may be bent, whereby the large intestine may not be held by the first bending portion.
- An object of the present invention is to provide an endoscope in which the second bending portion is unlikely to bend in the direction opposite to the bending direction of the first bending portion when the first bending portion is bent with respect to a straight state.
- the endoscope according to the present invention is provided with a first bending portion having a first bending tube that can be bent in a plurality of directions with respect to a straight state, and a straight state provided on a proximal end side of the first bending portion.
- a second bending portion having a second bending tube that can be bent in a plurality of directions and bendable in the same direction as at least two directions of the first bending portion, and the plurality of the first bending portions.
- a first bending drive mechanism that bends in the direction of the first and second bending portions when the first bending drive mechanism moves in conjunction with the first bending drive mechanism and an external force is applied to the second bending portion while the first bending portion is straight.
- the second bending portion can be bent in a plurality of directions, and when the bending angle of the first bending portion is increased with respect to the straight state, the second bending portion has a central axis of the second bending tube. On the other hand, the second bending that generates a compressive force on the bending direction side of the first bending portion. And a dynamic mechanism.
- FIG. 1A is a schematic view showing an endoscope according to the first to fourth embodiments.
- FIG. 1B is a schematic perspective view showing a part of the bending tube of the first bending portion of the insertion portion of the endoscope according to the first to fourth embodiments.
- FIG. 2A is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the first embodiment.
- FIG. 2B is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the first embodiment.
- FIG. 2C is a schematic cross-sectional view taken along line 2C-2C in FIGS. 2A and 2B.
- FIG. 3A is a schematic longitudinal sectional view showing an internal structure of an insertion portion and an operation portion of an endoscope according to a modified example of the first embodiment.
- FIG. 3B is a schematic longitudinal sectional view showing an internal structure of an insertion portion and an operation portion of an endoscope according to a modification of the first embodiment.
- FIG. 4A shows a schematic structure of the first bending drive mechanism and the second bending drive mechanism in the vicinity of the boundary between the insertion portion and the operation portion of the endoscope according to the second embodiment, and shows the first structure of the first bending drive mechanism.
- FIG. 4B shows the distal-side traction by the proximal-side traction member of the second bending drive mechanism in the vicinity of the boundary between the insertion portion and the operation portion of the endoscope according to the second embodiment being pulled and the distal-side linking member moving.
- FIG. 4C shows the distal end of the second bending drive mechanism near the boundary between the insertion portion and the operation portion of the endoscope according to the second embodiment, which is further pulled from the state shown in FIG.
- FIG. 4C shows the state which the slider of the front end side traction member contact
- FIG. 5 is a schematic diagram showing a schematic structure of one of a pair of buffer portions of the second bending drive mechanism in the vicinity of the boundary between the insertion portion and the operation portion of the endoscope according to the third embodiment.
- FIG. 6 is a schematic diagram showing one schematic structure of a pair of buffer portions of the second bending drive mechanism in the vicinity of the boundary between the insertion portion and the operation portion of the endoscope according to the fourth embodiment.
- FIG. 7 is a schematic diagram illustrating a schematic structure of a pair of buffer portions of the second bending drive mechanism in the vicinity of the boundary between the insertion portion and the operation portion of the endoscope according to the fourth embodiment.
- FIG. 8 is a schematic longitudinal sectional view showing a buffer portion having a second sprocket and a drum, which is arranged on the main plate inside the operation portion of the endoscope according to the fifth embodiment.
- FIG. 9A is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the fifth embodiment, and showing a state in which the first bending portion is straight.
- FIG. 9B is a schematic front view showing a drum that is disposed inside the operation unit of the endoscope according to the fifth embodiment and is rotatably supported with respect to the second sprocket.
- FIG. 9A is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the fifth embodiment, and showing a state in which the first bending portion is straight.
- FIG. 9B is a schematic front view showing a drum that is disposed inside the operation unit of the endoscope according to the fifth embodiment and is rotatably supported with respect
- FIG. 10A is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the fifth embodiment and showing a state in which the first bending portion is bent approximately 90 degrees in the U direction.
- FIG. 10B is arranged inside the operation portion of the endoscope according to the fifth embodiment, and the second sprocket is rotated when the second sprocket is rotated approximately 90 degrees with respect to the state shown in FIGS. 9A and 9B. It is a schematic front view which shows the drum supported so that rotation was possible.
- FIG. 10A is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the fifth embodiment and showing a state in which the first bending portion is bent approximately 90 degrees in the U direction.
- FIG. 10B is arranged inside the operation portion of the endoscope according to the fifth embodiment, and the second sprocket is rotated when the second sprocket is rotated approximately 90 degrees with respect to the state shown
- FIG. 11A is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the fifth embodiment and showing a state in which the first bending portion is bent approximately 180 degrees in the U direction.
- FIG. 11B is arranged inside the operation unit of the endoscope according to the fifth embodiment, and the second sprocket is approximately 180 degrees with respect to the state shown in FIGS. 9A and 9B, in the state shown in FIGS. 10A and 10B.
- FIG. 12A is a schematic front view showing a drum that is arranged inside an operation unit of an endoscope according to a modification of the fifth embodiment and is rotatably supported with respect to a second sprocket.
- FIG. 12B is a schematic front view showing a drum that is disposed inside an operation unit of an endoscope according to a modification of the fifth embodiment and is rotatably supported with respect to the second sprocket.
- FIG. 13A is a schematic view showing an endoscope according to the sixth embodiment.
- FIG. 13B is a schematic perspective view showing a part of the bending tube of the first bending portion of the insertion portion of the endoscope according to the sixth embodiment.
- FIG. 14A is a schematic longitudinal sectional view showing an internal structure of an insertion portion and an operation portion of an endoscope according to the sixth embodiment.
- FIG. 14B is a schematic longitudinal sectional view showing the internal structure of the insertion portion and the operation portion of the endoscope according to the sixth embodiment.
- FIG. 14C is a schematic cross-sectional view taken along line 14C-14C in FIGS. 14A and 14B.
- the endoscope 10 includes an elongated insertion portion 12 and an operation portion 14 provided at a proximal end portion of the insertion portion 12.
- an observation optical system and an illumination optical system are arranged in the same manner as a general endoscope.
- the endoscope 10 is formed with a channel (not shown) that is used for air supply and water supply, or through which a treatment instrument is inserted.
- the insertion portion 12 has a distal end rigid portion 22, a first bending portion 24, a second bending portion 26, and a flexible tube portion (tubular portion) 28 in order from the distal end side to the proximal end side.
- the proximal end of the flexible tube portion 28 is connected to the operation portion 14.
- the first bending portion 24 functions as a so-called active bending portion that can be bent by operating the operation portion 14.
- the second bending portion 26 functions as a so-called passive bending portion when the bending angle of the first bending portion 24 is small (the amount of bending is small). As the bending angle (bending amount) of the first bending portion 24 increases, the second bending portion 26 functions as a passive bending portion, or exhibits a function like a simple rigid tubular body.
- the first bending section 24 shown in FIG. 1A has a first bending tube 34 in which a plurality of bending pieces 34a, 34b,... Shown in FIG.
- the first bending tube 34 supports first angle wires 60a and 60b, which will be described later, so as to be movable in the axial direction by wire guides (not shown) provided on the bending pieces 34a, 34b,. Note that the distal ends of the first angle wires 60 a and 60 b are fixed to the bending piece 34 a at the most distal end of the first bending tube 34.
- the second bending portion 26 is formed in the same manner as the bending tube 34 of the first bending portion 24, and includes a second bending tube 36 in which a plurality of bending pieces (not shown) are arranged in parallel along the axial direction.
- the second bending tube 36 supports distal-side traction members 78a and 78b described later by a wire guide (not shown) so as to be movable in the axial direction thereof. Note that the distal ends of the distal-side traction members 78 a and 78 b are fixed to the most distal bending piece of the second bending tube 36.
- the first bending tube 34 of the first bending portion 24 and the second bending tube 36 of the second bending portion 26 can be bent with respect to a common central axis C.
- each of them is straight (the bending angle is 0 degree).
- the lengths of the first and second bending tubes 34 and 36 can be set as appropriate.
- the first bending portion 24 and the second bending portion 26 are described as being bent in two directions, but the first bending portion 24 can be bent in four directions, and the second bending portion 26 is in two directions. It is also preferable that the first bending portion 24 can be bent in four directions and the second bending portion 26 can be bent in four directions.
- the first bending portion 24 and the second bending portion 26 have, for example, blades (not shown) disposed outside the first bending tube 34 and the second bending tube 36, and are made of, for example, a rubber material and have elasticity.
- the outer skins 24a and 26a are disposed.
- a coil pipe 62a into which a later-described first angle wire 60a is inserted and a coil pipe 80a into which the distal-side traction member 78a is inserted are adjacent to each other, and the first angle
- the coil pipe 62b through which the wire 60b is inserted and the coil pipe 80b through which the distal-side pulling member 78b is inserted are adjacent to each other. Further, the coil pipes 62b and 80b are opposed to the coil pipes 62a and 80a.
- the coil pipe 62b is opposed to the central axis C of the flexible tube portion 28 with respect to the coil pipe 62a, and the coil pipe 80b of the flexible tube portion 28 is opposed to the coil pipe 80a. It is preferable that it faces the central axis C.
- the endoscope 10 follows the drive of the first bending drive mechanism 44 for bending the first bending portion 24 in a plurality of directions, and the driving of the first bending drive mechanism 44,
- a second bending drive mechanism 46 is provided for maintaining the second bending portion 26 in a straight state or bending the second bending portion 26 in the same direction as the bending direction of the first bending portion 24. That is, the first bending drive mechanism 44 and the second bending drive mechanism 46 are disposed in the insertion unit 12 and the operation unit 14.
- the first bending drive mechanism 44 meshes with the first sprocket (chain drum) 52, the first bending portion operation knob (bending operation input portion) 54, and the first sprocket 52 disposed inside the operation portion 14.
- the chain 56 wound and wound, the first connecting members 58a and 58b disposed at the ends of the chain 56, the first angle wires 60a and 60b, and the first angle wires 60a and 60b are inserted through the first angle members 60a and 60b.
- the operation unit 14 includes a base plate 64 therein.
- the base plate 64 is preferably formed so that the direction along the axial direction of the insertion portion 12 is longer than the direction orthogonal to the axial direction of the insertion portion 12.
- the first sprocket 52 is supported by the main plate 64 and is rotatable around the central axis C1 of the first sprocket 52.
- the first bending portion operation knob 54 is disposed outside the operation portion 14 and can rotate the first sprocket 52 about its central axis C1. That is, the first sprocket 52 and the first bending portion operation knob 54 move integrally with the operation portion 14. For this reason, the operation amount of the first bending portion operation knob 54 is reflected in the movement amount of the first sprocket 52, that is, the rotation amount.
- a chain guide 64a is formed on the main plate 64 so that the chain 56 is moved in a predetermined direction when the first sprocket 52 is rotated around the central axis C1. And the chain 56 can maintain the state meshed
- the distal ends of the first angle wires 60 a and 60 b are fixed to the proximal end of the distal end hard portion 22 and the distal end of the first bending tube 34 of the first bending portion 24.
- the base ends of the first angle wires 60a and 60b are supported by the first connecting members 58a and 58b.
- the distal ends of the first coil pipes 62 a and 62 b are fixed to the proximal end of the bending tube 34 of the first bending portion 24 and the distal end of the bending tube 36 of the second bending portion 26.
- the proximal ends of the first coil pipes 62a and 62b are supported, for example, near the boundary between the proximal end portion of the insertion portion 12 and the operation portion 14. It is also preferable that the base ends of the first coil pipes 62 a and 62 b are fixed to the main plate 64.
- the first bending portion 24 of the endoscope 10 can be bent from the straight state in the U direction and the D direction which are opposite to each other (the bending of the first bending portion 24).
- the mechanism is the same as a general endoscope structure (bending mechanism).
- the second bending drive mechanism 46 moves in conjunction with the first bending drive mechanism 44. Even if the first bending portion 24 is in a straight state, the second bending portion 26 moves the second bending portion 26 when an external force is applied to the second bending portion. When the bending angle of the first bending portion 24 is increased with respect to the straight state, the central axis of the second bending tube 36 in the second bending portion 26 can be passively bent in a plurality of directions. It has a structure for generating a compressive force on the bending direction side of the first bending portion 24 with respect to C.
- the second bending drive mechanism 46 is disposed inside the operation unit 14, and includes a second sprocket (chain drum) 72 in which the drum 72a is integrally disposed, and a proximal-side traction member (from the drum 72a).
- the buffer portions 76a and 76b are disposed between the proximal-side traction members (first traction members) 74a and 74b and the distal-side traction members (second traction members) 78a and 78b.
- a guide portion 64b is formed on the base plate 64 separately from the chain guide 64a.
- the base-side traction members 74a and 74b and the buffer portions 76a and 76b are movable along a predetermined direction (axial direction).
- the second sprocket 72 may be supported so as to be rotatable around a central axis (rotating shaft) C2 thereof by a base plate 64 disposed inside the operation unit 14, and for example, extends from the first sprocket 52. Further, it may be supported by an extending portion (not shown) so as to be rotatable around the central axis C2, or may be supported by both.
- a chain 56 meshed with the first sprocket 52 is meshed with the second sprocket 72. Therefore, when the first bending portion operation knob 54 is rotated around the central axis C1, in addition to the first sprocket 52, the second sprocket 72 has the same direction as the first sprocket 52 around the central axis C2.
- the second bending drive mechanism 46 is driven in conjunction with the first bending drive mechanism 44.
- the axis of the drum 72a and the axis of the second sprocket 72 are the same axis (center axis C2), and the diameter of the drum 72a is smaller than the diameter of the second sprocket 72. For this reason, it is possible to prevent interference between the chain 56 and the proximal-side traction members 74a and 74b and the buffer portions 76a and 76b, and the outer shell of the operation portion 14 does not need to be enlarged.
- the buffer portions 76a and 76b include elastic members 82a and 82b made of, for example, a stretchable coil spring or a stretchable rubber material. In this embodiment, it is assumed that one coil spring is used as the elastic members 82a and 82b.
- the number of elastic members 82a and 82b is not limited to one for each buffer portion 76a and 76b, and a plurality of elastic members 82a and 82b may be used.
- the elastic members 82 a and 82 b of the buffer portions 76 a and 76 b are difficult to bend in the direction opposite to the bending direction of the first bending portion 24 when the first bending portion 24 is bent. It is adjusted to generate power. For example, when the second bending portion 26 is in a straight state and the first bending portion 24 is bent to the maximum in a state where no external force is applied to the second bending portion 26, the second bending portion 26 is When the second bending portion 26 is maintained in a straight state without being bent in the same direction as the bending direction of the bending portion 24, and a force in a different direction such as a direction opposite to the bending direction of the first bending portion 24 is applied to the second bending portion 26.
- the elastic members 82a and 82b of the buffer portions 76a and 76b are adjusted so that they are prevented from being bent in different directions such as the reverse direction. It is also preferable to adjust the elastic members 82a and 82b and adjust the lengths of the front-side pulling members 78a and 78b, for example.
- the initial lengths of the elastic members (coil springs) 82a and 82b of the buffer parts 76a and 76b slightly change depending on the direction of the endoscope 10, particularly the direction of the operation part 14.
- the elastic members 82a and 82b of the buffer portions 76a and 76b are, for example, natural length, and in the vertical direction (vertical direction), the elastic members 82a and 82b of the buffer portions 76a and 76b Is extended due to the weight of the elastic members 82a and 82b and the gravity of the leading-side traction members 78a and 78b.
- the state in which the second bending portion 26 is straight regardless of the extension of the elastic members 82a and 82b is referred to as a neutral state.
- the distal ends of the distal-side traction members 78 a and 78 b are fixed to the proximal end of the bending tube 34 of the first bending portion 24 and the distal end of the second bending tube 36 of the second bending portion 26.
- the proximal ends of the distal-side traction members 78a and 78b are fixed to the buffer portions 76a and 76b. That is, the distal-side traction members 78 a and 78 b are connected to the second bending portion 26 at one end and extend toward the proximal end portion of the insertion portion 12.
- the distal ends of the second coil pipes 80 a and 80 b are fixed to the proximal end of the bending tube 36 of the second bending portion 26 and the distal end of the flexible tube portion 28.
- the proximal ends of the second coil pipes 80a and 80b are supported, for example, near the boundary between the proximal end portion of the insertion portion 12 and the operation portion 14. It is also preferable that the base ends of the second coil pipes 80 a and 80 b are fixed to the main plate 64.
- the pulling force applied to the proximal pulling members 74a and 74b and the distal pulling members 78a and 78b is smaller than the pulling force applied to the first angle wires 60a and 60b, and therefore the proximal pulling members 74a and 74b.
- the front end side traction members 78a and 78b may be thinner than the first angle wires 60a and 60b.
- the coil pipes 80a and 80b may be thinner than the coil pipes 62a and 62b.
- the operation unit 14 has a cover 90.
- the base plate 64 is supported by the cover 90, and the first sprocket 52, the second sprocket 72, the chain 56, the first connecting members 58a and 58b, the first angle wires 60a and 60b, and the base end side disposed on the base plate 64 are supported.
- the traction members 74a and 74b, the buffer portions 76a and 76b, and the distal-side traction members 78a and 78b are covered, and a grip portion that is gripped by the user of the endoscope 10 with, for example, the left hand is formed.
- the first bending portion operation knob 54 is located outside the cover 90 and can be operated, for example, with the left hand.
- the first bending portion operation knob 54 is rotated so that the first bending portion 24 is bent in the U direction.
- the first sprocket 52 rotates with the rotation of the first bending portion operation knob 54, one of the first angle wires 60a and 60b via the chain 56 and the first connection members 58a and 58b. 60a is pulled. Since the distal end of the wire 60a is fixed to the bending piece 34a, when the wire 60a is pulled, the U direction side of the bending piece 34a is pulled to the proximal end side, and the bending pieces 34a, 34b,.
- One bending tube 34 is bent in the U direction. For this reason, the 1st bending part 24 curves in the U direction.
- the second sprocket 72 When the first sprocket 52 rotates, the second sprocket 72 also rotates simultaneously in the same direction, so that the drum 72a coaxial with the second sprocket 72 (center axis C2) rotates integrally. For this reason, one base end side pulling member 74a is pulled among base end side pulling members 74a and 74b. For this reason, of the buffer portions 76a and 76b, the elastic member 82a of one buffer portion 76a extends, for example, from a natural length state or a state where it is extended with respect to its own weight, that is, a neutral state.
- the other proximal pulling member 74b, the elastic member 82b of the buffer 76b, and the distal pulling member 78b try to move to the distal end side of the insertion portion 12, but the proximal pulling member 74b and the distal pulling member 78b. It bends due to its own flexibility.
- the amount of expansion of the elastic member 82a is small, and the pulling force against the distal end side pulling member 78a is weak.
- the elastic force of the elastic member 82a of the buffer portion 76a becomes stronger so that the distal-side traction member 78a approaches the proximal-side traction member 74a while expanding. For this reason, tension
- tensile_strength is added to the front end side pulling member 78a among the front end side pulling members 78a and 78b.
- the elastic member 82a of the buffer portion 76a is disposed between the proximal-side traction member 74a and the distal-side traction member 78a, the distal-side traction member 78a is directly wound around the drum 72a and the distal side The pulling force can be made smaller than when the pulling member 78a is pulled.
- the elastic member 82a of the buffer portion 76a is pulled by the proximal-side traction member 74a, the pulling force on the distal-side traction member 78a is weak when the elastic member 82a starts to expand. Then, as the elastic member 82a of the buffer portion 76a expands, the pulling force on the distal end side pulling member 78a gradually increases, and the buffer portion 76a can exhibit a buffer function.
- the distal end side pulling member 78a of the second bending drive mechanism 46 is in the initial state.
- 78b almost no tensile force is applied, so that the second bending portion 26 functions as a passive bending portion that is passively bent when subjected to an external force.
- the bending angle (bending amount) of the first bending portion 24 is increased, the tensile force applied to the distal-side traction member 78a gradually increases, but when the bending angle of the first bending portion 24 is small, the initial state Similarly to the above, the second bending portion 26 functions as a passive bending portion.
- the pulling force applied to the distal end side pulling member 78a is further increased. Accordingly, a force is immediately applied to the distal-side traction member 78a between the distal end and the proximal end of the bending tube 36 of the second bending portion 26 when the first bending portion 24 is bent from a straight state. Instead, as the amount of bending of the first bending portion 24 increases, a compressive force is applied to the bending direction side of the first bending portion 24 with respect to the central axis C of the bending tube 36 of the second bending portion 26.
- the compression force applied to the second bending portion 26 is the second bending portion 26. It is loaded to such an extent that the bending piece of the bending tube 36 is not rotated, that is, the second bending portion 26 is kept straight.
- the elastic member 82a of the buffer portion 76a is selected and used so as to be in this state, the elastic member 82a of the buffer portion 76a is adjusted, the length of the tip-side traction member 78a is adjusted, and the like. ing.
- the second bending portion 26 it is possible to assist the second bending portion 26 to maintain a straight state by the elastic force of the outer skin 26a made of, for example, rubber material of the bending tube 36 of the second bending portion 26 or the extension of the distal end side pulling member 78a. it can.
- the compressive force is applied to the distal-side traction member 78a on the U direction side between the distal end and the proximal end of the bending tube 36 of the second bending portion 26. And no force is applied to the tip-side traction member 78b on the D direction side.
- an external force is applied to the second bending portion 26 with the first bending portion 24 being at the maximum bending angle, for example, when a pressing force is applied from the D direction side, the compressive force of the distal end side pulling member 78a is used in advance. Since it is easy to bend in the U direction, the second bending portion 26 can be bent in the U direction.
- the second bending portion 26 When the second bending portion 26 is bent in the same direction as the bending direction of the first bending portion 24 as described above, the second bending portion 26 is bent in a state where the bending angle is smaller than the bending angle of the first bending portion 24. Is preferred.
- the second bending portion 26 when a pressing force is applied from the U direction side, the second bending portion 26 is resistant to being bent in the D direction by the compressive force applied to the second bending portion 26, and maintains a straight state. try to.
- the second sprocket 72 is moved to the first sprocket. Rotate in the same direction as 52. For this reason, the base end side pulling member 74a moves toward the distal end side of the insertion portion 12, and the length of the elastic member 82a of the buffer portion 76a is returned to the neutral state. Therefore, when the bending angle of the first bending portion 24 is reduced, the compressive force applied by the distal-side traction member 78a between the distal end and the proximal end of the second bending portion 26 is eliminated.
- the second bending portion 26 of the insertion portion 12 of the endoscope 10 functions as a passive bending portion when the first bending portion 24 is straight or when the bending angle is small. Then, as the bending angle of the first bending portion 24 increases, the second bending portion 26 functions as a passive bending portion that bends when receiving external force in the same direction as the bending direction of the first bending portion 24, The first bending portion 24 exhibits resistance not to bend when it receives an external force in a different direction such as a direction opposite to the bending direction, or resistance to make it difficult to bend. That is, the second bending portion 26 is automatically switched between a state as a passive bending portion and a state as a straight tubular body according to the bending angle (bending amount) and the bending direction of the first bending portion 24. .
- the insertion portion 12 of the endoscope 10 is inserted into, for example, the large intestine.
- the operator holds the insertion portion 12 firmly with the right hand and performs an operation of feeding the insertion portion 12 to the back side of the large intestine and a twisting operation of the insertion portion 12.
- the endoscope 10 is controlled while sensing the reaction force from the large intestine and taking into account the load on the large intestine.
- the surgeon curves the first bending portion 24 and hooks it from the front side to the back side of the bending portion. While the first bending portion 24 is bent, for example, in the U direction and hooked from the near side to the back side of the bent portion, the second bending portion 26 can be bent in the U direction by an external force. Curving in the D direction is prevented.
- the first and second bending portions 24 and 26 of the insertion portion 12 can be reliably hooked from the near side to the far side of the bent portion.
- the state changes to a state in which the bending portion is gripped by the first and second bending portions 24 and 26.
- tip of the insertion part 12 moves to the back
- the bending of the first bending portion 24 is returned straight. If it does so, the front-end
- the second bending drive mechanism 46 moves in conjunction with the first bending drive mechanism 44, and can passively bend the second bending portion 26 in a plurality of directions while the first bending portion 24 is straight.
- the first bending portion 24 is compressed toward the bending direction side of the first bending portion 24 with respect to the central axis C of the second bending tube 36 of the second bending portion 26. It is a structure that generates force.
- the second bending drive mechanism 46 can freely passively bend the second bending portion 26 when the first bending portion 24 is in a straight state or close to a straight state.
- the second bending drive mechanism 44 moves in conjunction with the second bending drive mechanism 46.
- a compressive force can be generated in the same direction as the direction in which the first bending portion 24 is bent. Therefore, the second bending portion 26 is restricted from being bent in a direction opposite to the direction in which the first bending portion 24 is bent, and the second bending portion 26 is maintained in a straight state or the second bending portion. 26 can bend in the same direction as the direction in which the first bending portion 24 is bent. That is, even if an external force is received from the second bending portion 26, for example, from the U direction side while the first bending portion 24 is bent in the U direction, the external force can be resisted.
- the second bending portion 26 can be maintained in a straight state or a substantially straight state.
- a compressive force is applied to the U direction side between the distal end and the base end of the second bending portion 26, when an external force is received from, for example, the D direction side of the second bending portion 26, the second bending portion 26 is easily curved in the U direction. Therefore, according to this embodiment, for example, when the first bending portion 24 is bent in the U direction, the second bending portion 26 can be easily bent in the U direction, but the bending in the D direction can be prevented. .
- the second bending drive mechanism 46 includes the buffer portions 76a and 76b, the timing for generating the compression force when the power is transmitted from the first bending drive mechanism 44 to the second bending drive mechanism 46 is adjusted ( Can be delayed).
- elastic members 82a and 82b such as coil springs and rubber materials having elasticity are used for the buffer portions 76a and 76b
- a compression force can be generated on the side of the second bending portion 26 where the first bending portion 24 is bent with respect to the central axis C, and the compression force can be easily adjusted.
- the buffer portion 76a is disposed between the proximal-side traction member 74a and the distal-side traction member 78a, the buffer portion 76a can be disposed near the boundary between the insertion portion 12 and the operation portion 14. The buffer portion 76a can be easily adjusted.
- the positions of the buffer portions 76 a and 76 b are not limited to the vicinity of the boundary between the proximal end portion of the insertion portion 12 and the operation portion 14.
- the elastic members 82 a and 82 b of the buffer portions 76 a and 76 b may be disposed inside the second bending portion 26.
- the elastic members 82a and 82b are preferably made of an elastic rubber material having elasticity rather than a coil spring. Even with such a structure, the same operational effects as those of the first embodiment described above can be obtained.
- FIGS. 4A to 4C This embodiment is a modification of the first embodiment.
- the same members and members having the same functions as those described in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.
- the first connection members 58a and 58b, the base ends of the first angle wires 60a and 60b, and modifications of the buffer portions 76a and 76b will be described.
- FIG. 4A shows a part of the first direction driving mechanism 44 and the second bending drive mechanism 46 located near the boundary between the insertion unit 12 and the operation unit 14 on the U direction side.
- 4A to 4C show only the U direction side, it is preferable that the D direction side also has the same structure.
- an engagement convex portion (engagement portion) 92a is formed at the base end of the first angle wire 60a.
- the first connection member 58a disposed at each end of the chain 56 has a plurality of engagement recesses (engagement portions) 94a with which the engagement projections 92a of the first angle wire 60a are engaged along the axial direction. Is formed. For this reason, if the position of the engagement convex part 92a with respect to the engagement concave part 94a is set appropriately, the initial tension of the first angle wire 60a can be set appropriately.
- the buffer portion 76a includes a proximal end side connecting member 102a, an elastic member 82a such as a coil spring described in the first embodiment, and a distal end side connecting member 106a.
- the elastic member 82a is disposed between the proximal end side connecting member 102a and the distal end side connecting member 106a.
- An engagement convex portion (engagement portion) 112a is formed at the distal end of the proximal end-side traction member 74a.
- An engagement recess (engagement portion) 114a is formed in the base end side connection member 102a. The engagement convex portion 112a is engaged with the engagement concave portion 114a and is supported so as not to be disengaged in a normal operation.
- the buffer portion 76a forms a slider mechanism 120a in cooperation with the proximal end of the distal end side pulling member 78a.
- This slider mechanism 120a is formed on a slider 122a fixed to the proximal end of the distal end side pulling member 78a and a distal end side connecting member 106a, and engages the slider 122a so as to be slidable in the axial direction of the distal end side pulling member 78a.
- a receiving portion (window portion) 124a that is, the slider 122a is fixed to the proximal end of the distal end side pulling member 78a.
- the distal end side connecting member 106a includes a slider receiving portion (window portion) 124a that engages the slider 122a so as to be slidable in the axial direction of the distal end side pulling member 78a. For this reason, the slider 122a can be moved relative to the slider receiving portion 124a. Although the slider 122a can move in the axial direction with respect to the slider receiving portion 124a, the movement is restricted in a direction away from the axial direction, and the slider 122a is detached from the slider receiving portion 124a in a normal operation. It is supported so that there is no.
- the slider 122a is movable in the axial direction of the distal end side pulling member 78a with respect to the slider receiving portion 124a. If the elastic member 82a is in a neutral state such as a natural length or extended due to gravity, or a state close thereto, the slider 122a is separated from the tip of the slider receiving portion 124a (the left end in FIG. 4A) by, for example, a distance L. Has been. That is, a play is formed between the slider 122a and the slider receiving portion 124a.
- the operation of the endoscope 10 according to this embodiment will be described.
- the proximal end pulling member 74a is pulled toward the proximal end.
- the elastic member 82a moves to the proximal end side in a neutral state such as a natural length or a state where the elastic member 82a is extended by gravity, or a state close thereto.
- the first bending portion 24 can be prevented from being bent in the D direction by applying a compressive force to the U direction side of the second bending portion 26 only in a range where the bending angle in the U direction is large. .
- This embodiment is a modification of the first and second embodiments, and the same members or members having the same functions as those described in the first and second embodiments are denoted by the same reference numerals and detailed. Description is omitted.
- This embodiment is a further modification of the buffer portions 76a and 76b.
- the structure of the base end side connecting member 102a is the same as that of the front end side connecting member 106a.
- the buffer portion 76a forms a slider mechanism 130a in cooperation with the distal end of the proximal pulling member 74a.
- the slider mechanism 130a is formed on a slider 132a fixed to the distal end of the base end side pulling member 74a and a base end side connecting member 102a, and engages the slider 132a so as to be slidable in the axial direction of the base end side pulling member 74a.
- a slider receiving portion (window portion) 134a that is, a slider 132a having the same shape as the slider 122a of the second embodiment is formed at the distal end of the proximal end side pulling member 74a, for example.
- the proximal end side connecting member 102a has a slider receiving portion (window portion) 134a capable of relatively moving the slider 132a of the proximal end side pulling member 74a along the axial direction thereof.
- This slider receiving part 134a has the same shape as the slider receiving part 124a of 2nd Embodiment, for example. Note that the slider 132a of the proximal-side traction member 74a can move in the axial direction of the proximal-side traction member 74a with respect to the slider receiving portion 134a, but cannot move in a direction away from the axial direction. Further, the slider 132a is engaged with the slider receiving portion 134a and does not come off in a normal operation.
- the slider 132a can move relative to the slider receiving portion 134a on the base end side of the buffer portion 76a, and the slider 132a can move relative to the slider receiving portion 124a on the tip end side of the buffer portion 76a. Since the slider 122a is movable, a play is formed until the second sprocket 72 is rotated about the central axis C2 and the force is transmitted to the second bending portion 26.
- the operation of the endoscope 10 will be described.
- the proximal end pulling member 74a is pulled toward the proximal end.
- the slider 132a contacts the proximal end of the slider receiving portion 134a of the proximal end side connecting member 102a.
- the elastic member 82a moves to the proximal end side in a neutral state such as a natural length or a state where the elastic member 82a is extended by gravity, or a state close thereto.
- the slider 122a contacts the tip of the slider receiving portion 124a of the tip side connecting member 106a.
- the elastic member 82a expands.
- the second bending portion 26 can be bent in both the U direction and the D direction.
- a compressive force is gradually applied to the second bending portion 26.
- the first bending portion 24 is bent in the D direction by applying a compressive force to the U direction side of the second bending portion 26 only in a range where the bending angle in the U direction is large. Can be prevented.
- the slider 122a at the proximal end of the distal pulling member 78a is slidable with respect to the slider receiving portion 124a of the distal coupling member 106a, and the slider receiving portion of the proximal coupling member 102a.
- the second bending portion is bent when the first bending portion 24 is bent as compared with the case described in the second embodiment.
- the range of adjustment can be widened.
- the buffer portion 76a of the endoscope 10 according to this embodiment is an example in which elastic members 82a and 82b such as coil springs are removed from the structure described in the third embodiment.
- the buffer portion 76a forms a slider mechanism 140a in cooperation with the distal end of the proximal-side traction member 74a and the distal end of the distal-side traction member 78a.
- the buffer portion 76b forms a slider mechanism 140b in cooperation with the distal end of the proximal-side traction member 74b and the distal end of the distal-side traction member 78b. Since the slider mechanisms 140a and 140b have the same structure, only one slider mechanism 140a will be mainly described here.
- the slider mechanism 140a of the buffer portion 76a has a frame member 142a in which two slider receiving portions 124a and 134a are arranged in parallel.
- the slider receiving portions 124 a and 134 a are preferably arranged in parallel in the longitudinal direction of the insertion portion 12.
- the lengths of the slider receiving portions 124a and 134a in the longitudinal direction are La and Lb, respectively.
- the distance between the distal end of the slider receiving portion 124a and the slider 122a at the proximal end of the distal end side pulling member 78a is L1
- the distance between the proximal end of the slider receiving portion 134a and the slider 132a at the distal end of the proximal end side pulling member 74a. Is the distance L2.
- La is larger than L1 ( ⁇ 0)
- Lb is larger than L2 ( ⁇ 0).
- (La + Lb) / 2 is made larger than (L1 + L2).
- the tip is placed at the tip of the slider receiving portion 124a of the frame member 142a.
- the slider 122a of the side pulling member 78a contacts, and the slider 132a of the base end pulling member 74a contacts the base end of the slider receiving portion 134a. For this reason, when the bending angle of the 1st bending part 24 will be in a predetermined state, the front end side pulling member 78a is pulled.
- the proximal end slider 122b of the distal end side traction member 78b is disposed at a position between the distal end and the proximal end of the slider receiving portion 124b of the frame member 142b, and the distal end slider 132b of the proximal end side traction member 74b is It arrange
- the length of the proximal-side traction member 74a and the distal-side traction member 78a, the slider receiving portion 124a, and the like so that the first bending portion 24 is bent in the U direction at a predetermined bending angle as shown in FIG.
- the second bending portion 26 functions as a passive bending portion in the process of gradually increasing the bending angle from the straight state of the first bending portion 24, and the first bending portion A compressive force can be applied to the U direction side of the bending tube 36 of the second bending portion 26 only when the portion 24 is at a predetermined bending angle or more.
- an elastic member for example, a coil spring
- the bending angle of the first bending portion 24 is larger (the bending amount is larger) than when the compressive force is applied to the second bending portion 26 described in the second and third embodiments (for example, the first bending).
- a compressive force is applied to the second bending portion 26 in a state where the portion 24 is at the maximum bending angle.
- both the slider 122a of the member 78a and the slider 132a of the base end side pulling member 74a are movably disposed. That is, it is also preferable to remove the partition of the slider receiving portions 124a and 134a of the frame member 142a.
- FIGS. 8 to 11B This embodiment is a modification of the first embodiment, and the same members as those described in the first embodiment or members having the same functions are denoted by the same reference numerals as much as possible, and detailed description thereof is omitted.
- the second sprocket 72 has a shaft-like rotational power transmission portion (arm) 152 formed at a position deviated from the rotation axis (center axis) C ⁇ b> 2 with respect to the surface facing the base plate 64.
- the rotation shaft C2 and the rotational power transmission unit 152 are formed in parallel to each other. Then, the rotational force transmission unit (moving unit) 152 moves while drawing an arcuate locus by the second sprocket 72 rotating around the rotation axis C2 in conjunction with the first sprocket 52. To do.
- the drum 72a is formed in a substantially disk shape.
- a circular through hole 72b is formed in which a shaft 164 having a rotation axis (center axis) C2 of the second sprocket 72 is disposed.
- the inner diameter of the through hole 72b of the drum 72a is formed larger than the outer diameter of the shaft 164, and the shaft 164 can rotate relatively smoothly with respect to the drum 72a.
- the drum 72a is formed with a groove portion 172 through which the rotational force transmission portion 152 passes and is movably accommodated.
- the groove 172 of the drum 72a defines a region surrounded by the inner arch 172a, the outer arch 172b, and the end portions 172c and 172d.
- the inner arch 172a and the outer arch 172b are preferably formed as part of an arc centered on the central axis C2.
- the groove part 172 of this embodiment is formed in the position close
- the second sprocket 72 When the first bending portion 24 is straight, the second sprocket 72 is in the state shown in FIG. 9A, and the drum 72a is in the state shown in FIG. 9B, a force (compression force) is applied to the second bending portion 26.
- the second bending portion 26 can passively bend in various directions with respect to the central axis C.
- the shaft 164 erected, for example, in a direction orthogonal to the base plate 64 has a substantially T-shaped longitudinal section that sandwiches the second sprocket 72 and the drum 72a between the shaft 164 and the shaft 164.
- a rotating member 166 is fixed. That is, the shaft 164 has, for example, a male screw portion 164a, the rotating member 166 has a female screw portion 166a, and the screw portions 164a and 166a are screwed together so that the base plate 64 and the rotating member 166 are interposed.
- the second sprocket 72 and the drum 72a are accommodated.
- disk-shaped sliding plates 168a, 168b, 168c are provided between the base plate 64 and the second sprocket 72, between the second sprocket 72 and the drum 72a, and between the drum 72a and the rotating member 166, respectively. Is arranged. For this reason, the sliding plates 168a, 168b, and 168c can suppress the generation of friction between them, and can maintain a relatively slidable relationship between them.
- the groove 172 of the drum 72a is formed around the central axis C2 in a range of about 180 degrees, for example.
- the rotational force transmitting portion 152 can be set to be arranged at the center between the end portions 172c and 172d of the groove portion 172 in a state where the first curved portion 24 is kept straight. Is preferred. At this time, it is preferable that the rotational force transmission unit 152 is located at a position closest to a position where the proximal end side pulling member 74a on the U direction side is separated from the drum 72a (contact point of the proximal end side pulling member 74a).
- the position of the drum 72a in a state where the first curved portion 24 is kept straight is usually due to the balance of the forces of the distal end side traction members 78a and 78b, the buffer portions 76a and 76b, and the proximal end traction members 74a and 74b. It is maintained at a certain position (for example, the position where the rotational force transmission unit 152 is closest to the contact point between the drum 72a and the proximal-side traction member 74a).
- the range of the groove portion 172 is not limited to about 180 degrees, and can be appropriately set, for example, a range of about 30 degrees, a range of about 60 degrees, a range of about 90 degrees, a range of about 120 degrees, and the like.
- the central axis C2 of the drum 72a and the rotation axis C2 of the second sprocket 72 are the same axis (central axis C2), and the outer diameter of the drum 72a is smaller than the outer diameter of the second sprocket 72. For this reason, it is possible to prevent interference between the chain 56 and the proximal-side traction members 74a and 74b and the buffer portions 76a and 76b, and the outer shell of the operation portion 14 does not need to be enlarged.
- the maximum bending angle of the first bending portion 24 is 180 degrees in the U direction (see FIG. 11A). That is, it is of course acceptable that the bending angle of the first bending portion 24 is 90 degrees in the U direction (see FIG. 10A).
- the bending angle of the first bending portion 24 can be appropriately set with respect to the rotation angle of the knob 54, but the bending angle of the first bending portion 24 in this embodiment is the same as that of the drum 52. It is assumed that there is a one-to-one correspondence with the rotation angle. In this case, for example, it is possible to easily grasp the bending angle at which the first bending portion 24 exists in the body cavity or the like.
- the groove portion 172 of the drum 72a is moved in the U direction side by the balance of the forces of the proximal end side traction members 74a and 74b. It is close to the base end side pulling member 74a and is at a position separated from the base end side pulling member 74b on the D direction side. That is, the groove part 172 is close to the U direction side.
- the first bending portion operation knob 54 is rotated so that the first bending portion 24 is bent in the U direction, and the first bending portion is shown in FIGS. 10A and 11A. 27 is curved in the U direction.
- the base end side pulling members 74a and 74b are wound around the drum 72a, one of the base end side pulling members 74a and 74b is connected to the base end side pulling member 74a by the rotational power transmission unit 152.
- the driving force is transmitted and pulled, and the elastic member 96a of the buffer portion 76a on the U direction side of the buffer portions 76a and 76b is extended from, for example, a natural length state or its own weight, that is, a neutral state. To do.
- the proximal-side traction member 74b on the D direction side, the elastic member 82b of the buffer portion 76b, and the distal-side traction member 78b try to move to the distal side of the insertion portion 12, but the proximal-side traction member 74b and the distal side
- the pulling member 78b itself bends due to the flexibility.
- the distal-side traction member 78a of the second bending drive mechanism 46 in the initial state. , 78b almost no tensile force is applied, so that the second bending portion 26 functions as a passive bending portion that is passively bent when subjected to an external force.
- the bending angle (bending amount) of the first bending portion 24 is increased, in this embodiment, for example, from the time when the bending angle exceeds approximately 90 degrees, the distal end side gradually passes through the proximal-side traction member 74a and the buffer portion 76a. The pulling force applied to the pulling member 78a increases.
- the second bending portion 26 functions as a passive bending portion as in the initial state.
- the pulling force applied to the distal end-side traction member 78a is further increased. Accordingly, a force is immediately applied to the distal-side traction member 78a between the distal end and the proximal end of the bending tube 36 of the second bending portion 26 when the first bending portion 24 is bent from a straight state. Instead, as the amount of bending of the first bending portion 24 increases, a compressive force is applied to the bending direction side of the first bending portion 24 with respect to the central axis C of the bending tube 36 of the second bending portion 26.
- the drum 72a automatically rotates so that the force applied to the base end side pulling members 74a and 74b is balanced by the elastic members 82a and 82b of the buffer portions 76a and 76b via the base end side pulling members 74a and 74b. Move. Accordingly, the drum 72a returns to the position shown in FIGS. 9A and 9B.
- the buffer 150 shown in FIG. 12A includes two rotational power transmission parts 152 formed symmetrically with respect to the central axis C2 on the second sprocket 72, and two symmetrically formed with respect to the central axis C2 on the drum 72a.
- a groove 172 A groove 172.
- the buffer portion 150 shown in FIG. 12B includes three rotational force transmission portions 152 formed symmetrically with respect to the central axis C2 in the second sprocket 72, and three portions formed symmetrically with respect to the central axis C2 in the drum 72a.
- This modification is an example in which the amount of play is made smaller than in the examples shown in FIGS. 9A to 12A. As shown in FIG. 12B, the groove portions 172 of this modification are each formed narrower than the range of 120 degrees.
- FIGS. 13A to 14C This embodiment is a modification of the first to fifth embodiments, and the same members or members having the same functions as those described in the first to fifth embodiments are denoted by the same reference numerals and detailed. Description is omitted.
- each of the first bending portion 24 and the second bending portion 26 of the endoscope 10 has four directions (U direction (first direction) and D direction (second direction)). , R direction (third direction), L direction (fourth direction)).
- the first bending drive mechanism 44 has a structure for bending the first bending portion 24 in the R direction and the L direction.
- another sprocket (not shown) arranged coaxially with the first sprocket 52 and operating independently is arranged, and this other sprocket is arranged outside the operation unit 14. Is connected to the bending portion operation knob 54a.
- a chain (not shown) is supported by another sprocket, and the base ends of angle wires 60c and 60d shown in FIG. 14C are supported at the end of the chain.
- the angle wires 60c and 60d are inserted through the coil pipes 62c and 62d. Yes. For this reason, the first bending portion 24 can be bent in four directions.
- the second bending drive mechanism 46 includes three buffer portions 76a, 76b, and 76c, and an interlocking mechanism 202 that interlocks them.
- the buffer portion 76 a has a first elastic member 82 a and is connected to the first interlocking member 202 a of the interlocking mechanism 202.
- the buffer portion 76 b has a second elastic member 82 b and is connected to the second interlocking member 202 b of the interlocking mechanism 202.
- the buffer portion 76 c has second and third elastic members 82 c and 82 d and is connected to the third interlocking member 202 c of the interlocking mechanism 202.
- the first interlocking member 202a is disposed between the distal end of the proximal end pulling member 74a and the proximal end of the elastic member 82a.
- the second interlocking member 202b is disposed between the distal end of the proximal end pulling member 74b and the proximal end of the elastic member 82b.
- the third interlocking member 202c supports the base ends of the elastic members 82c and 82d.
- the proximal end of the distal traction member 78c is connected to the distal end of the elastic member 82c, and the proximal end of the distal traction member 78d is connected to the distal end of the elastic member 82d.
- the distal-side traction member 78c is inserted through the coil pipe 80c, and the distal-side traction member 78d is inserted through the coil pipe 80d.
- the distal ends of the coil pipes 80 c and 80 d are fixed to the proximal end of the bending tube 36 of the second bending portion 26, and the proximal ends are supported by, for example, the proximal end portion of the insertion portion 12.
- the distal ends of the distal-side traction members 78 c and 78 d are fixed between the proximal end of the bending tube 34 of the first bending portion 24 and the distal end of the bending tube 36 of the second bending portion 26.
- the first and second interlocking members 202a, 202b have a substantially U-shaped longitudinal section, and can move within a predetermined range along an axis parallel to the central axis C by the rails 204a, 204b of the base plate 64.
- the third interlocking member 202c selectively engages with the first and second interlocking members 202a and 202b, and is movable within a predetermined range along an axis parallel to the central axis C by the rail 204c of the base plate 64. That is, the first interlocking member 202a, the second interlocking member 202b, and the third interlocking member 202c are movable in the axial direction within a predetermined range by the base plate 64.
- the third interlocking member 202c is formed so as to move together from a certain state to the proximal end side as the first interlocking member 202a or the second interlocking member 202b moves to the proximal end side.
- the coil pipes 62a, 62b, 62c, 62d and the angle wires 60a, 60b, 60c, 60d inside the flexible tube portion 28 are arranged in the U direction with respect to the central axis C, D
- the direction, the R direction, and the L direction are arranged approximately every 90 degrees.
- the coil pipes 80a, 80b, 80c, 80d and the tip-side traction members 78a, 78b, 78c, 78d are arranged approximately 90 degrees in the U, D, R, and L directions with respect to the central axis C. Is arranged.
- the operation of the endoscope 10 will be described.
- the first bending portion 24 is bent in, for example, the U direction from the state where the first bending portion 24 is straight, the second sprocket 72 is rotated and the drum 72a is rotated.
- the base end side pulling member 74a is pulled, the first interlocking member 202a is pulled toward the base end side, and is also hooked by the first interlocking member 202a and the third interlocking member 202c is pulled toward the base end side.
- the second bending portion 26 maintains a straight state.
- the second bending portion 26 tries to maintain a straight state by the compression force.
- the second bending portion 26 is also prevented from being bent in the R direction or the L direction by the compressive force.
- the second bending portion 26 is bent in the U direction by the compression force.
- the second bending portion 26 is also prevented from being bent in the R direction and the L direction in a state where the first bending portion 26 is bent in the U direction, for example, to the maximum bending angle. This prevents the second bending portion 26 from being bent in the R direction by the compressive force of the second bending portion 26 on the L direction side when an external force is applied from the L direction side of the second bending portion 26. This is because when the external force is applied from the R direction side of the bending portion 26, the second bending portion 26 is prevented from being bent in the L direction by the compression force on the R direction side of the second bending portion 26.
- the third interlocking member 202c moves to the proximal end side in conjunction with the first interlocking member 202a.
- the second interlocking member 202b moves in the direction opposite to the first interlocking member 202a and the third interlocking member 202c (the distal end side), but the proximal pulling member 74b has flexibility, so there is play.
- the second interlocking member 202b does not suddenly move to the tip side.
- the first bending portion 24 is bent in the D direction, the second interlocking member 202b is pulled toward the base end side by the base end side pulling member 74b.
- the third interlocking member 202c moves to the base end side in conjunction with the second interlocking member 202b.
- the first interlocking member 202a moves to the front end side (reverse direction) with respect to the second interlocking member 202b and the third interlocking member 202c.
- the first interlocking member 202a does not suddenly move to the front end side. .
- the second bending drive mechanism 46 does not have a slider mechanism has been described, but it may have a slider mechanism.
- the case where the bending portion is straight means not only a state where the bending portion is actually straight (a state where the bending angle is 0 degrees) but also a state where the bending angle is small (a state where the bending angle is substantially straight). Is also included. Further, in this specification and claims, the same direction includes not only the same direction but also a state having a slight deviation.
- Coil pipe 64 ... Ground plate, 64a ... Chain guide, 64b ... guide part, 72 ... second sprocket, 72a ... drum, 74a, 74b ... base end side traction member, 76a, 76b ... buffer part, 78a, 78b ... tip side traction member, 80a, 80b ... coil pipe, 82a, 82b ... Elastic member, 9 ... cover.
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Abstract
Description
第1実施形態について図1Aから図2Cを用いて説明する。
挿入部12は、先端硬質部22と、第1湾曲部24と、第2湾曲部26と、可撓管部(管状部)28とを先端側から基端側に向かって順に有する。可撓管部28の基端は操作部14に連結されている。
後述するが、第1湾曲部24は操作部14を操作することにより湾曲させることができる、いわゆる能動湾曲部として機能する。また、第2湾曲部26は、第1湾曲部24の湾曲角度が小さい(湾曲量が少ない)ときには、いわゆる受動湾曲部として機能する。第1湾曲部24の湾曲角度(湾曲量)が大きくなるにつれて第2湾曲部26が受動湾曲部として機能したり、単なる硬質管状体のような機能を発揮したりする。
第1湾曲部24の第1湾曲管34、及び、第2湾曲部26の第2湾曲管36は共通の中心軸Cに対して湾曲可能であり、ここでは、それぞれ真っ直ぐ(湾曲角度が0度)の状態に対して2方向(上方向(U方向)及び下方向(D方向))に湾曲可能である。なお、第1及び第2湾曲管34,36の長さはそれぞれ適宜に設定できる。
この実施形態では第1湾曲部24及び第2湾曲部26がそれぞれ2方向に湾曲するものとして説明するが、第1湾曲部24が4方向に湾曲可能、かつ、第2湾曲部26が2方向に湾曲可能であったり、第1湾曲部24が4方向に湾曲可能、かつ、第2湾曲部26が4方向に湾曲可能な構造とすることも好適である。
なお、基端側牽引部材74a,74b及び先端側牽引部材78a,78bに加えられる引っ張り力は第1アングルワイヤ60a,60bに加えられる引っ張り力に比べて小さいので、基端側牽引部材74a,74b及び先端側牽引部材78a,78bは第1アングルワイヤ60a,60bよりも細くても良い。また、コイルパイプ80a,80bはコイルパイプ62a,62bよりも細くても良い。
例えば第1湾曲部24及び第2湾曲部26が真っ直ぐの状態で、第1湾曲部用操作ノブ54を第1湾曲部24がU方向に湾曲するように回動させる。第1湾曲部用操作ノブ54の回動に伴って第1スプロケット52が回動すると、チェーン56及び第1接続部材58a,58bを介して、第1アングルワイヤ60a,60bのうち、一方のワイヤ60aが引っ張られる。ワイヤ60aの先端は湾曲駒34aに固定されているので、ワイヤ60aが引っ張られると、湾曲駒34aのU方向側が基端側に引っ張られて湾曲駒34a,34b,…が順次回動して第1湾曲管34がU方向側に湾曲する。このため、第1湾曲部24がU方向に湾曲する。
なお、他方の基端側牽引部材74b、緩衝部76bの弾性部材82b及び先端側牽引部材78bは挿入部12の先端側に移動しようとするが、基端側牽引部材74b及び先端側牽引部材78b自体が有する可撓性により撓む。
ここで、基端側牽引部材74aと先端側牽引部材78aとの間に緩衝部76aの弾性部材82aが配設されているので、先端側牽引部材78aが直接ドラム72aに巻回されて先端側牽引部材78aが牽引されるよりも引っ張り力を小さくすることができる。
また、第2湾曲部26の湾曲管36の例えばゴム材製の外皮26aの弾性力や先端側牽引部材78aの伸びにより、第2湾曲部26が真っ直ぐの状態を維持するように補助することができる。
肛門側から挿入部12の先端を大腸に挿入する場合、術者は右手で挿入部12をしっかりと保持し、挿入部12を大腸の奥側に送り出す操作や挿入部12の捩り操作を行うとともに、大腸からの反力等を感知して大腸への負荷を考慮しながら内視鏡10のコントロールを行う。
術者は挿入部12の先端が大腸の例えばS字結腸等の屈曲部位に差し掛かったときに、第1湾曲部24を湾曲させて屈曲部位の手前側から奥側にかけて引っ掛ける。第1湾曲部24を例えばU方向に湾曲させて屈曲部位の手前側から奥側にかけて引っ掛けている間、外力により第2湾曲部26がU方向に湾曲可能であるが、第2湾曲部26がD方向に湾曲するのは防止されている。
第2湾曲駆動機構46は、第1湾曲駆動機構44に連動して動き、第1湾曲部24が真っ直ぐの状態で第2湾曲部26を複数の方向に受動的に湾曲させることが可能で、第1湾曲部24の湾曲角度を真っ直ぐの状態に対して増大させた際に、第2湾曲部26の第2湾曲管36の中心軸Cに対して第1湾曲部24の湾曲方向側に圧縮力を発生させる構造である。このため、第2湾曲駆動機構46は、第1湾曲部24が真っ直ぐの状態のとき又は真っ直ぐの状態に近いときには第2湾曲部26は自在に受動湾曲させることができる。そして、第1湾曲駆動機構44により第1湾曲部24の湾曲角度を増大させたときに第2湾曲駆動機構44が連動して動き、第2湾曲駆動機構46は、第2湾曲部26のうち第1湾曲部24を湾曲させた方向と同じ方向側に圧縮力を発生させることができる。このため、第1湾曲部24を湾曲させた方向と反対の方向に第2湾曲部26が湾曲するのを規制し、かつ、第2湾曲部26が真っ直ぐの状態を維持し又は第2湾曲部26が第1湾曲部24を湾曲させた方向と同じ方向に湾曲するのを補助することができる。すなわち、第1湾曲部24をU方向に湾曲させた状態で第2湾曲部26の例えばU方向側から外力を受けても、その外力に抗することができ、第2湾曲部26がD方向に湾曲させられることが防止でき、第2湾曲部26が真っ直ぐの状態又は略真っ直ぐの状態を維持できる。また、第2湾曲部26の先端と基端との間にU方向側に圧縮力が付加されていることによって、第2湾曲部26の例えばD方向側から外力を受けると、第2湾曲部26がU方向側に容易に湾曲する。したがって、この実施形態によれば、例えば第1湾曲部24をU方向に湾曲させた場合、第2湾曲部26をU方向に容易に湾曲させることができるが、D方向に曲がるのを防止できる。
図3A及び図3Bに示すように、緩衝部76a,76bの位置は挿入部12の基端部と操作部14との間の境界付近に限られない。例えば、緩衝部76a,76bの弾性部材82a,82bを第2湾曲部26の内部に配置して良い。この場合、弾性部材82a,82bには、コイルバネよりも伸縮性を有する弾性ゴム材等が用いられることが好ましい。このような構造であっても、上述した第1実施形態と同じ作用効果を得ることができる。
図4Aに示すように、第1アングルワイヤ60aの基端には、それぞれ係合凸部(係合部)92aが形成されている。チェーン56の各端部に配置された第1接続部材58aは、第1アングルワイヤ60aの係合凸部92aが係合される複数の係合凹部(係合部)94aが軸方向に沿って形成されている。このため、係合凹部94aに対する係合凸部92aの位置を適宜に設定すれば、第1アングルワイヤ60aの初期張力を適宜に設定できる。
このため、スライダ122aをスライダ受部124aに対して相対的に移動させることができる。なお、スライダ122aはスライダ受部124aに対して軸方向に移動することは可能であるが、軸方向から外れる方向には移動が規制され、通常の動作においてスライダ122aがスライダ受部124aから外れることがないように支持されている。
第1湾曲部24を湾曲させる際、基端側牽引部材74aが基端側に引っ張られる。このとき、弾性部材82aは例えば自然長やその重力により伸びた状態等のニュートラル状態又はそれに近い状態で、基端側に移動する。
なお、スライダ受部134aに対して基端側牽引部材74aのスライダ132aは基端側牽引部材74aの軸方向に移動可能であるが、軸方向から外れる方向には移動できない。また、スライダ132aはスライダ受部134aに係合され、通常の動作において、外れることはない。
第1湾曲部24を湾曲させる際、基端側牽引部材74aが基端側に引っ張られる。このとき、基端側連結部材102aのスライダ受部134aの基端にスライダ132aが当接する。そして、弾性部材82aは例えば自然長やその重力により伸びた状態等のニュートラル状態又はそれに近い状態で、基端側に移動する。
このため、先端側連結部材106aのスライダ受部124aの先端にスライダ122aが当接する。スライダ132aがスライダ受部134aの基端に当接し、かつ、スライダ122aがスライダ受部124aの先端に当接した状態で、基端側牽引部材74aがさらに基端側に引っ張られると、弾性部材82aが伸張する。
第1の湾曲部24が真っ直ぐの状態、第2のスプロケット72が図9Aに示す状態で、ドラム72aが図9Bに示す状態のとき、第2の湾曲部26に力(圧縮力)は加えられておらず、第2の湾曲部26は中心軸Cに対して種々の方向に受動的に湾曲可能である。
溝部172の範囲は略180度に限ることはなく、例えば略30度の範囲、略60度の範囲、略90度の範囲、略120度の範囲等、適宜に設定可能である。
例えば図9Aに示すように第1の湾曲部24及び第2の湾曲部26が真っ直ぐの状態では、ドラム72aの溝部172は基端側牽引部材74a,74bの力のつり合いにより、U方向側の基端側牽引部材74aに近接し、D方向側の基端側牽引部材74bに離隔した位置にある。すなわち、溝部172はU方向側に近接している。
図11Aに示す状態から図10Aに示す状態に第1湾曲部24の湾曲角度を小さくしていくと、溝部172の端部172dを回動力伝達部152が押圧する。このため、ドラム72aが回動する。このとき、ドラム72a自体には、回動力伝達部152で力が付加されていない。このため、基端側牽引部材74a,74bを介した緩衝部76a,76bの弾性部材82a,82bによって、基端側牽引部材74a,74bに加えられる力がつり合うようにドラム72aが自動的に回動する。したがって、ドラム72aは、図9A及び図9Bに示す位置に戻る。
図12Aに示す緩衝部150は、第2スプロケット72に中心軸C2に対して対称に形成された2つの回動力伝達部152と、ドラム72aに中心軸C2に対して対称に形成された2つの溝部172とを有する。このように2つの溝部172に対してそれぞれ回動力伝達部152を配置するように形成すると、緩衝部76a,76bの弾性部材82a,82bに付加される重力の偏りを防止できる。
ここでは、第1湾曲部24が真っ直ぐの状態から第1湾曲部24を例えばU方向に湾曲させると、第2スプロケット72が回動するとともにドラム72aが回動する。このため、基端側牽引部材74aが牽引されるので、第1連動部材202aが基端側に引かれるとともに、第1連動部材202aに引っかけられて第3連動部材202cが基端側に引かれる。
また、第1湾曲部24をD方向に湾曲させるようにすると、第2連動部材202bが基端側牽引部材74bにより基端側に引っ張られる。このとき、第3連動部材202cが第2連動部材202bに連動して基端側に移動する。第1連動部材202aは第2連動部材202b及び第3連動部材202cとは先端側(逆方向)に移動するが、遊びがあるので第1連動部材202aが急激に先端側に移動することはない。
Claims (8)
- 真っ直ぐの状態に対して複数の方向に湾曲可能な第1湾曲管を有する第1湾曲部と、
前記第1湾曲部の基端側に設けられ、真っ直ぐの状態に対して複数の方向に湾曲可能であり、かつ、前記第1湾曲部の少なくとも2方向と同じ方向に湾曲可能な第2湾曲管を有する第2湾曲部と、
前記第1湾曲部を前記複数の方向に湾曲させる第1湾曲駆動機構と、
前記第1湾曲駆動機構に連動して動き、前記第1湾曲部が真っ直ぐの状態で前記第2湾曲部に外力が加えられると前記第2湾曲部を複数の方向に湾曲させることが可能で、前記第1湾曲部の湾曲角度を前記真っ直ぐの状態に対して増大させた際に、前記第2湾曲部のうち前記第2湾曲管の中心軸に対して前記第1湾曲部の湾曲方向側に圧縮力を発生させる第2湾曲駆動機構と
を有することを特徴とする内視鏡。 - 前記第2湾曲駆動機構は、前記第1湾曲駆動機構に連動した動きを緩衝する緩衝部を有することを特徴とする請求項1に記載の内視鏡。
- 前記第2湾曲駆動機構は、
前記第1湾曲駆動機構と連動して動く第1牽引部材と、
前記第2湾曲部に一端が連結され前記挿入部の基端部に向かって延出された第2牽引部材と
をさらに有し、
前記緩衝部は前記第1牽引部材と前記第2牽引部材との間に配設されていることを特徴とする請求項2に記載の内視鏡。 - 前記緩衝部は、伸縮可能な弾性部材を有することを特徴とする請求項2に記載の内視鏡。
- 前記緩衝部は、前記第1湾曲部が真っ直ぐの状態で遊びが最大となり、前記第1湾曲部が真っ直ぐの状態から湾曲角度が増大するにつれて遊びを小さくするスライダ機構を有することを特徴とする請求項2に記載の内視鏡。
- 前記第2湾曲駆動機構は、
前記第1湾曲駆動機構に連動してその回動軸回りに回動可能な第1回動部材と、
前記回動部材にその回動軸回りに回動可能に支持された第2回動部材と、
前記第2回動部材に連動して動き前記第2湾曲部に圧縮力を発生可能な牽引部材と、
を有し、
前記緩衝部は、
前記第2回動部材の回動軸の周囲に設けられた溝部と、
前記溝部内を移動可能に前記溝部に配置され、前記第1湾曲駆動機構に連動して前記溝部に沿って前記回動部材に対して移動して前記回動部材に回動力伝達部と
を有することを特徴とする請求項2に記載の内視鏡。 - 前記第1湾曲部の第1湾曲管は、少なくとも第1方向及び前記第1方向と逆方向の第2方向に湾曲可能であり、
前記第2湾曲部の第2湾曲管は、前記第1方向及び前記第2方向の他に前記第1方向及び第2方向にそれぞれ隣接する第3方向及び前記第3方向と逆方向の第4方向に湾曲可能であり、
前記第2湾曲駆動機構は、前記第1湾曲部の湾曲角度を前記真っ直ぐの状態に対して前記第1方向に増大させた際に、前記第2湾曲部の第2湾曲管の中心軸に対して前記第1湾曲部の湾曲方向側の第1方向と、この湾曲方向側に隣接する湾曲方向側の第3方向及び第4方向とにそれぞれ圧縮力を発生させ、前記第1湾曲部の湾曲角度を前記真っ直ぐの状態に対して前記第2方向に増大させた際に、前記第2湾曲部の第2湾曲管の中心軸に対して前記第1湾曲部の湾曲方向側の第2方向と、この湾曲方向側に隣接する湾曲方向側の第3方向及び第4方向とにそれぞれ圧縮力を発生させる連動機構を有することを特徴とする請求項1ないし請求項6のいずれか1に記載の内視鏡。 - 前記連動機構は、
前記第1湾曲駆動機構に連動して動く第1連動部材及び第2連動部材と、
前記第1湾曲部の湾曲角度を前記真っ直ぐの状態に対して前記第1方向に増大させた際に前記第1連動部材と連動して動き、前記第1湾曲部の湾曲角度を前記真っ直ぐの状態に対して前記第2方向に増大させた際に前記第2連動部材と連動して動く第3連動部材と
を有することを特徴とする請求項7に記載の内視鏡。
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- 2012-07-10 JP JP2013500684A patent/JP5416311B2/ja active Active
- 2012-07-10 EP EP12810608.5A patent/EP2732750B1/en active Active
- 2012-12-28 US US13/729,799 patent/US20130190567A1/en not_active Abandoned
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Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
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EP2837320A4 (en) * | 2012-04-12 | 2016-03-16 | Olympus Corp | Borescope |
US9392932B2 (en) | 2012-04-12 | 2016-07-19 | Olympus Corporation | Endoscope |
CN104512411A (zh) * | 2013-09-26 | 2015-04-15 | 株式会社电装 | 车辆控制***及图像传感器 |
Also Published As
Publication number | Publication date |
---|---|
JPWO2013008821A1 (ja) | 2015-02-23 |
EP2732750B1 (en) | 2017-05-10 |
CN103582444A (zh) | 2014-02-12 |
EP2732750A1 (en) | 2014-05-21 |
CN103582444B (zh) | 2017-07-11 |
US20130190567A1 (en) | 2013-07-25 |
EP2732750A4 (en) | 2015-03-11 |
JP5416311B2 (ja) | 2014-02-12 |
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