CN1933761A - Endoscope insertion auxiliary device - Google Patents

Abstract

An endoscope insertion auxiliary device which has a flexible tube whose front end is provided with a front end member having an outer diameter equal to or greater than the outer diameter of the tube. The outer peripheral surface of the tube is provided with a spiral structure.

Description

Endoscope insertion auxiliary device

Technical field

The present invention relates to a kind of endoscope insertion auxiliary device that uses the helicoidal structure body to assist endoscope to insert.

Background technology

In recent years, endoscope is widely adopted at medical field and industrial circle.When this endoscope is inserted the crooked position that waits in the body cavity, use endoscope insertion auxiliary device sometimes so that can insert smoothly.

For example,, make insertion section self form helical form, twist operation, make and insert big enteral easily by portion's side on hand in advance disclosing a kind of fibre opic endoscope in the Japanese kokai publication sho 54-78884 communique of example as the 1st.

And, disclosing a kind of endoscope insertion auxiliary device as the 2nd routine in advance real the opening in the clear 51-73884 communique of Japan, it utilizes rivet that cylinder is connected with wheel (ring) many places, at the spiral helicine parts of arranged outside, side is inserted and is connected with fibre opic endoscope within it, inserts big enteral easily.

The above-mentioned the 1st in advance in the example, has following shortcoming: promptly can not be used for the insertion that the insertion section is the conventional endoscope of linearity.And, the 2nd complex structure of example in advance, cost height.

And the 2nd is routine in advance because external diameter is immutable, insufficient with contacting of the body cavity that can have various diameters, and possible when rotated propulsive force is not enough.

And the 2nd in advance in the example, when taking out, concavo-convexly might become the obstacle that takes out smoothly because of what helical part formed.

Summary of the invention

The present invention is exactly In view of the foregoing and proposes, and its purpose is, a kind of endoscope insertion auxiliary device that can endoscope be made smooth advances by rotation is provided.

Endoscope insertion auxiliary device of the present invention is characterised in that this device has: flexible pipe; Front end component, the front end that it is located at described pipe has the external diameter more than or equal to the external diameter of described pipe; And the helicoidal structure body, it is located on the outer peripheral face of described pipe.

According to said structure, has front end component contact tube cavity wall more than or equal to the external diameter of the external diameter of pipe.At this moment, by increasing the contact area of front end component and lumen wall, will manage and insert tube chamber, and can not colluded extension by the colon folds in a garment.And the helicoidal structure body contact tube cavity wall of being located on the pipe is rotated, thereby will manage propelling, can realize smooth insertion.

Description of drawings

Fig. 1 is the overall structure figure with endoscope apparatus of embodiments of the invention 1.

Fig. 2 is the perspective view of outward appearance of the endoscope insertion auxiliary device of expression embodiment 1.

Fig. 3 is the structure chart of the front of presentation graphs 2.

Fig. 4 is the profile of the structure of the rotating driving device in the presentation graphs 1.

Fig. 5 is the graph of a relation of expression direction of rotation and direct of travel.

Fig. 6 is that expression is inserted the state diagram of leading in the endoscope insertion auxiliary device with the insertion section of endoscope.

Fig. 7 is illustrated under the state of inserting the insertion section that is connected with endoscope, can utilize the bending mechanism of endoscope to carry out crooked figure.

Fig. 8 is the profile that fluidic state has been injected in the space of expression between endoscope and endoscope insertion auxiliary device.

Fig. 9 A is that expression uses endoscope insertion auxiliary device endoscope to be inserted the key diagram of the state of big enteral.

Fig. 9 B is the state diagram after anal is inserted in expression.

Fig. 9 C is the key diagram that is inserted into the state of crooked intraluminal depths side.

Figure 10 is the perspective view of the rotating driving device of expression the 1st variation.

Figure 11 A is the perspective view that the breakdowns such as rotating driving device with the 2nd variation show.

Figure 11 B is the figure of motor that expression has the rotating shaft of hollow.

Figure 12 A is the profile of the rotating driving device of expression the 3rd variation.

Figure 12 B is the profile of expression along the A-A line of Figure 12 A.

Figure 13 is the figure of summary structure of the endoscope insertion auxiliary device of expression the 4th variation.

Figure 14 A is that expression is inserted into front end component the state diagram of inserting in the position.

Figure 14 B is illustrated in the state diagram that makes balloon inflated shown in Figure 14 A under the state.

Figure 15 is the synoptic diagram of the internal structure of the 5th variation.

Figure 16 is the synoptic diagram of the internal structure of the 6th variation.

Figure 17 is the overall structure figure of the endoscope insertion auxiliary device of embodiments of the invention 2.

Figure 18 A is that expression makes the outstanding state diagram of balloon inflated that constitutes the helical structure body.

Figure 18 B is the figure of expression when making the non-bloating state of the gas cell that constitutes the helical structure body.

Figure 18 C is the figure of expression when making gas cell than further expansible state shown in Figure 18 A.

Figure 19 is the overall structure figure of the endoscope insertion auxiliary device of the 1st variation.

Figure 20 makes the outstanding height of helical structure body that utilizes hollow pipe the to constitute smooth state diagram that partly flattens in the 1st variation.

Figure 21 is the perspective view of structure of the bending section of expression embodiment 2.

Figure 22 is the perspective view of structure of the bending section of expression variation.

Figure 23 A is the figure of the curved shape of the expression front of having carried out crooked when control.

Figure 23 B is the state diagram that is illustrated in when making the pipe rotation under the case of bending.

Figure 24 A is the Action Specification figure of torque limiter.

Figure 24 B is the state diagram when being illustrated in the torque that has among Figure 24 A more than the regulation torque.

Figure 25 is the figure of the helicoidal structure body of the thin densely packed coil shape parts formation directly of the utilization in expression the 2nd variation.

Figure 26 A is the figure of the tubular construction of expression the 3rd variation.

Figure 26 B is illustrated among Figure 26 A to have injected air state figure to outer tube.

Figure 27 A is the figure of the tubular construction of expression the 4th variation.

Figure 27 B is the state diagram that expression makes the balloon inflated among Figure 27 A.

Figure 28 A is the figure of the tubular construction of expression the 5th variation.

Figure 28 B is illustrated in the state diagram of among Figure 28 A the helical structure body being unloaded from pipe.

Figure 29 A is the figure of the rotation limiting mechanism of expression the 6th variation.

Figure 29 B is the state diagram when being illustrated in the torque that has among Figure 29 A more than the regulation torque.

Figure 30 is the structure chart of the rotation limiting mechanism of expression the 7th variation.

Figure 31 A is the figure that the place is set of expression torque limiter.

Figure 31 B is the figure of expression when being arranged on torque limiter on the position different with Figure 31 A.

Figure 31 C is the figure of expression when being arranged on torque limiter on the position different with Figure 31 B with Figure 31 A.

Figure 32 is the structure chart of the partial rotation limiting mechanism of expression the 8th variation.

Figure 33 A is the endoceliac Action Specification figure of being inserted into of the 9th variation.

Figure 33 B is that expression is inserted into the state diagram than depths side also dark shown in Figure 33 A.

Figure 33 C is that expression is inserted into the state diagram than depths side also dark shown in Figure 33 B.

Figure 34 A is the figure of the front of expression the 10th variation.

Figure 34 B is the state diagram that expression makes the front end component bending.

Figure 35 is the perspective view of the front structure of expression embodiments of the invention 3.

Figure 36 A is the figure of the propelling of expression the 1st variation with the structure that keeps body.

Figure 36 B is that expression advances the figure with the internal structure that keeps body.

Figure 37 is the perspective view of the propelling of expression the 2nd variation with the summary structure that keeps body.

Figure 38 is the figure of expression propelling shown in Figure 37 with the internal structure that keeps body.

Figure 39 illustrates propelling under the state in the endoscope of being installed in of the 3rd variation with near the perspective view that keeps the body.

Figure 40 is the perspective view of expression propelling shown in Figure 39 with the summary structure that keeps body.

Figure 41 is the figure of expression propelling shown in Figure 40 with the internal structure that keeps body.

Figure 42 is the perspective view that the front lead to the 4th variation in the passage of the endoscope of special use is inserted in expression.

Figure 43 A is near the perspective view of the outward appearance the special-purpose forward end section of endoscope of expression.

Figure 43 B is the front view of Figure 43 A.

Figure 44 is illustrated in the 4th variation therapeutic appliance is inserted the state diagram of leading in the hollow bulb.

Figure 45 is the perspective view of the front structure of expression embodiments of the invention 4.

Figure 46 is the perspective view of the front structure of expression the 1st variation.

Figure 47 is the perspective view of the front structure of expression the 2nd variation.

Figure 48 is the perspective view of the front structure of expression the 3rd variation.

Figure 49 is the perspective view of the front structure of expression the 4th variation.

Figure 50 is the perspective view of front structure that expression is provided with the endoscope insertion auxiliary device of the external diameter front end component identical with the external diameter of pipe.

Figure 51 is the overall structure figure that the endoscope of embodiment 5 inserts aid system.

Figure 52 is the perspective view of the insertion section front and the screw propulsion probe front of endoscope shown in expression Figure 51.

Figure 53 is the profile of the internal structure of helical form promotion part shown in expression Figure 52.

Figure 54 is the key diagram of screw drives portion shown in expression Figure 51.

Figure 55 is the electric motor units portion shown in expression Figure 54 and the key diagram that is connected of flexible axle.

Figure 56 is the insertion section of expression endoscope and the 1st key diagram of the action that screw propulsion is popped one's head in.

Figure 57 is the key diagram of the action of the helical form promotion part of screw propulsion probe shown in expression Figure 56.

Figure 58 is the insertion section of expression endoscope and the 2nd key diagram of the action that screw propulsion is popped one's head in.

Figure 59 is the key diagram of the helical form promotion part of expression the 1st variation.

Figure 60 is the profile of the internal structure of the helical form promotion part shown in expression Figure 59.

Figure 61 is the key diagram of the helical form promotion part of expression the 2nd variation.

Figure 62 is the profile of the internal structure of the helical form promotion part shown in expression Figure 61.

Figure 63 is the key diagram of the helical form promotion part of expression the 3rd variation.

Figure 64 is the profile of the helical form promotion part of expression the 4th variation.

Figure 65 is the key diagram of the helical form promotion part under the state of the taper balloon inflated shown in Figure 64.

Figure 66 is the front view of the taper gas cell shown in Figure 65.

Figure 67 is the profile of the helical form promotion part of expression the 5th variation.

Figure 68 is the planetary front view of Figure 67.

Figure 69 is the key diagram when being installed in the helical form promotion part shown in Figure 67 on the flexible rotating shaft.

Figure 70 is the profile of the helical form promotion part of expression the 6th variation.

Figure 71 is the profile of the helical form promotion part of expression the 7th variation.

Figure 72 is the perspective view that endoscope that expression constitutes embodiments of the invention 6 inserts the insertion section front of the screw propulsion probe front of aid system and endoscope.

Figure 73 is the key diagram of the helical form promotion part under the state of the rear end side balloon inflated shown in Figure 72.

Figure 74 is the insertion section of expression endoscope and the 1st key diagram of the action that screw propulsion is popped one's head in.

Figure 75 is the insertion section of expression endoscope and the 2nd key diagram of the action that screw propulsion is popped one's head in.

Figure 76 is the insertion section of expression endoscope and the 3rd key diagram of the action that screw propulsion is popped one's head in.

Figure 77 is the perspective view of the insertion section front of expression endoscope insertion auxiliary device of the 1st variation and endoscope.

Figure 78 is the key diagram of the insertion section front of endoscope insertion auxiliary device shown in expression Figure 77 and endoscope.

Figure 79 is the perspective view of the insertion section front of expression endoscope insertion auxiliary device of the 2nd variation and endoscope.

Figure 80 is the perspective view of the operating portion of screw propulsion probe shown in expression Figure 79.

Figure 81 is the perspective view of the insertion section front of expression endoscope insertion auxiliary device of the 3rd variation and endoscope.

Figure 82 is the perspective view that endoscope that expression constitutes embodiments of the invention 7 inserts the insertion section front of the screw propulsion probe front of aid system and endoscope.

Figure 83 is the key diagram of the unitary structure of advance and retreat travel mechanism shown in expression Figure 82.

Figure 84 is the key diagram of the insertion section front of expression endoscope insertion auxiliary device of the 1st variation and endoscope.

Figure 85 is the front view of the helical form promotion part shown in expression Figure 84.

Figure 86 is the perspective view of the insertion section front of expression endoscope insertion auxiliary device of the 2nd variation and endoscope.

Figure 87 is the key diagram of the insertion section front of loaded and unloaded unit shown in expression Figure 86 and endoscope.

To be expression be installed in the profile of the structure under the state in the endoscope with the endoscope-use propulsion plant of embodiments of the invention 8 to Figure 88.

Figure 89 is the side view of Figure 88.

Figure 90 is the front view of Figure 88.

Figure 91 is the schematic diagram of rotation type of drive.

Figure 92 is the endoceliac usage example figure of expression.

Figure 93 is the drawing in side sectional elevation that magnetic field that expression is configured in the 1st variation in the passage applies parts.

Figure 94 is the profilograph that magnetic field that expression is configured in the 1st variation in the passage applies parts.

Figure 95 is the drawing in side sectional elevation that magnetic field that expression is configured in the 2nd variation in the passage applies parts.

Figure 96 is the profile that expression is installed in the 3rd variation the structure under the state in the endoscope.

Figure 97 is the profile that expression is installed in the 4th variation the structure under the state in the endoscope.

Figure 98 is the profile that expression is installed in the 5th variation the structure under the state in the endoscope.

Figure 99 is the profile that expression is installed in the 6th variation the structure under the state in the endoscope.

Figure 100 is the profile that expression is installed in the 7th variation the structure under the state in the endoscope.

Figure 101 utilizes the Magnet of the Magnet of leading section side and rotary part side to make the rotary part side answer magnetic force to float and it is held in the key diagram that can rotate freely.

Figure 102 is the profile that expression is installed in the 8th variation the structure under the state in the endoscope.

Figure 103 is the Action Specification figure of the 8th variation.

Figure 104 is the figure of the part of the 9th variation.

Figure 105 is the front view that expression is installed in the 10th variation the structure under the state in the endoscope.

Figure 106 is the perspective view that expression is installed in the state on the forward end section of endoscope.

Figure 107 is the profile that expression is installed in the 11st variation the structure under the state in the endoscope.

Figure 108 is the profile of the part under the state in the endoscope of being installed in of expression the 13rd variation.

Figure 109 is the profile of the part under the state in the endoscope of being installed in of expression the 13rd variation.

Figure 110 is the profile that expression is installed in the 14th variation the state in the endoscope.

Figure 111 is the profile that expression is installed in the 15th variation the state in the endoscope.

Figure 112 is the profile that expression is installed in the 16th variation the structure under the state in the endoscope.

Figure 113 is the profile of the structure of expression embodiments of the invention 9.

Figure 114 is the schematic diagram of movements that rotation drives.

Figure 115 is the profile of the structure of expression embodiments of the invention 10.

Figure 116 is the front view of Figure 115.

Figure 117 is the perspective view that expression is installed in the state in the endoscope.

Figure 118 is the schematic diagram of movements that rotation drives.

Figure 119 is the profile that expression is installed in the 1st variation the state in the endoscope.

Figure 120 is the perspective view that expression is installed in the 1st variation the state in the endoscope.

Figure 121 is the profile that expression is installed in the 2nd variation the state in the endoscope.

Figure 122 is the perspective view that expression is installed in the 2nd variation the state in the endoscope.

Figure 123 is by the next propulsive Action Specification figure of the rotation of wheel.

The specific embodiment

Below, with reference to description of drawings each embodiment of the present invention.

(embodiment 1)

With reference to Fig. 1～Figure 16 embodiments of the invention 1 are described.

As shown in Figure 1, the endoscope apparatus 1 that possesses embodiment 1 has: the endoscope 2 that carries out splanchnoscopy etc.; This endoscope 2 is inserted lead to the inboard, the endoscope insertion auxiliary device 3 of the embodiment 1 that auxiliary endoscope 2 inserts; Endoscope 2 is provided the light supply apparatus 4 of illumination light; Carry out camera control unit (abbreviating CCU as) 5 at the signal processing that is built in the imaging apparatus in the endoscope 2; With monitor 6, it is transfused to from the video signal of this CCU 5 outputs, thereby shows the endoscopic images by the imaging apparatus shooting.

Endoscope 2 has: insert the flexible elongated insertion section 7 that has of waiting in the body cavity; Be located at the operating portion 8 of the rear end of this insertion section 7; The cable portion 9 of extending from the sidepiece of this operating portion 8.Herein, the end of cable portion 9 connects light supply apparatus 4 and CCU 5.

And insertion section 7 has: front end is provided with the hard leading section 11 (with reference to Fig. 6 and Fig. 8) of illuminating window and observation window; But be located at the bending section 12 (with reference to Fig. 8) of free bend of the rear end of this leading section 11.Be located at bending operation squeezing handle 14 on the operating portion 8 by operation, this bending section 12 can be to desired direction bending.

The not shown light guide of 4 pairs of endoscopies 2 of light supply apparatus provides illumination light.The illumination light that is provided penetrates from illuminating window, working flare intracavity portion.At the illuminated body cavity internal reflection or the light of diffusion, by being installed on the object lens on the observation window, imaging is carried out opto-electronic conversion as optical image on shooting face on the solid-state imager that is disposed on the image space of these object lens.The signal that has carried out opto-electronic conversion by solid-state imager carries out signal processing via CCU 5, sends to monitor 6 after being converted into the video signal of standard.And, show the optical image that images on the solid-state imager at the display surface of monitor 6, as endoscopic images.

As depicted in figs. 1 and 2, the endoscope insertion auxiliary device 3 of present embodiment has flexible (soft) pipe 16.Be provided with the front end component 17 of diameter than the enlarged-diameter of pipe 16 at the front end of this pipe 16, it has the suitable stiffness that flexible member may such as utilizing resin for example forms.

And, on the outer surface of pipe 16, be provided with helicoidal structure body 18, the hollow in thin footpath or solid rope form resin are mounted to helical form, shape is outstanding in the shape of a spiral from outer surface to make this part.And, on the outer surface roughly cylindraceous of front end component 17, be provided with helicoidal structure body 19 equally.In addition, helicoidal structure body 18 and 19 also can be connected to form.

Feature in the present embodiment is, on the outer peripheral face of pipe 16, helicoidal structure body 18 is set, the front end component 17 of enlarged-diameter also is set at the front end of this pipe 16, helicoidal structure body 19 also is set on the outer peripheral face of this front end component 17, by making pipe 16 rotations, especially can utilize the big propulsive force of the helicoidal structure body 19 on the outer peripheral face of being located at front end component 17 to advance endoscope.

As shown in Figure 3, the hollow bulb 16a that manages 16 inboards is communicated with the through hole 17a that central shaft along front end component 17 is provided with.And, the insertion section 7 of endoscope 2 is injected from the rear end of this hollow bulb 16a, the leading section 11 of insertion section 7 is configured in the through hole 17a, is set at the illuminating window that makes endoscope 2 and observation window again, can observe body cavity inside thus at the state that the front opening of through hole 17a exposes.

As shown in Figure 1, be provided with the rotating driving device 21 that makes these pipe 16 rotations in the rear end of this pipe 16.

As shown in Figure 1 and Figure 4, this rotating driving device 21 has: be installed in the motor 23 that keeps on the body 22; Be installed in the gear 24 on the rotating shaft of this motor 23; Be installed in the gear 25 on the front end of cylindrical shell 26 of the rear end that is used for holding tube 16.Gear 24 engagements on this gear 25 and the rotating shaft that is installed in motor 23.By making motor 23 rotations, make this gear 25 rotations, thereby can make cylindrical shell 26 and pipe 16 rotations.

And this motor 23 connects motor driver 27 by cable.This motor driver 27 is built-in with to drive use battery, and also is built-in with the revolution of control motor 23, the control circuit of direction of rotation, also is provided with at the upper surface of this motor driver 27 and operates squeezing handle 28.

And, when the user makes this operation squeezing handle 28 forwards inclination is oblique, can make pipe 16 move to front side, get final product so that motor 23 rotates to propulsive direction, when operation squeezing handle 28 is tilted rearward, can make pipe 16 move to rear side, can be so that the direction rotation that motor 23 is drawn back.

In addition, as shown in Figure 4, the rear end of pipe 16 is installed on the inner peripheral surface of cylindrical shell 26, and this cylindrical shell 26 is held body 22 and is held in and can rotates freely by being supported as the bearing 29 that can rotate freely.

Fig. 5 represents the relation of direction of rotation and direct of travel.As shown in Figure 5, helicoidal structure body 18,19 is set to the external screw thread shape, is rotated in a clockwise direction by making pipe 16, and pipe 16 is advanced, and by making pipe 16 rotation in the counterclockwise direction, can make pipe 16 move to rear side.

But, as shown in Figure 6, the insertion section 7 of endoscope 2 can be inserted and lead in the hollow bulb 16a of this pipe 16.That is, can insert the front of the insertion section 7 of the endoscope 2 in thin footpath from managing 16 end, it is perfectly straight to front end components 17 that insertion section 7 is inserted.In Fig. 6, expression makes the leading section 11 of insertion section 7 from the outstanding slightly state of the through hole 17a of front end component 17.The state that the front end face of endoscope 2 is exposed at the front opening place of through hole 17a can use overview function.

And, be provided with bending section 12 in endoscope 2, so, the insertion section 7 of endoscope 2 is being inserted under the state that leads in the pipe 16, as shown in Figure 7, can utilize the bending mechanism of endoscope 2 to make pipe 16 bendings as Fig. 1 or shown in Figure 6.

That is, in the present embodiment,, can use the overview function and the crooked function of endoscope 2 in that endoscope 2 is inserted under the logical state.Therefore, the endoscope insertion auxiliary device 3 of present embodiment utilizes simple structure, has realized having the device of the mechanism of successfully auxiliary endoscope 2 insertions.

And, as shown in Figure 8, can be under the situation of insertion section 7 sideway swivels that do not make endoscope 2 in order to improve, make the pipe 16 of its outer circumferential side and the function that front end component 17 sides are successfully rotated (smoothly spinfunction), also can inject water or the such fluid 31 of air to both gap location from managing 16 end side as lubricant.

Inject fluid 31 by the gap location to both like this, insertion section 7 is advanced, when driving tube 16 sides made its rotation, insertion section 7 sides of endoscope 2 were not rotated, and can keep more smoothly and insert.

Illustrate that the endoscope insertion auxiliary device 3 that uses the present embodiment that constitutes like this inserts endoceliac effect with endoscope 2.

Fig. 9 A is illustrated in the endoscope insertion auxiliary device 3 that uses present embodiment in the large intestine 37, under the state that the insertion section 7 of endoscope 2 is inserted in the hollow bulb that leads to this endoscope insertion auxiliary device 3, inserts the state of the depths side of large intestine 37 from anus 36.

When the insertion section 7 of endoscope 2 being inserted the depths side of large intestines 37, under the state that insertion section 7 is inserted in the endoscope insertion auxiliary device 3 that leads to present embodiment, be inserted in the anus 36 from the front end component 17 of this endoscope insertion auxiliary device 3.

Shown in Fig. 9 B of the state after in expression is inserted into anus 36, under large intestine 37 situation, do not need bending operation for linearity roughly, the rotating driving device 21 of side makes the rear end rotation of pipe 16 in front of utilizing, thereby front end component 17 is advanced to the thruster of the depths of large intestine 37.Promptly, in the present embodiment, front end at pipe 16, on the outer peripheral face (outer surface) of external diameter, be provided with helicoidal structure body 19 greater than the front end component 17 of the external diameter of pipe 16, so by with state that frictional force that contacting of the internal face of large intestine 37 forms works under make front end component 17 rotations, helicoidal structure body 19 is according to moving with the helical form track of the internal face of butt large intestine 37 successively.

And, can front end component 17 be advanced to the depths side efficiently along with spiral helicine motion track.

And in crooked part such as S word colon, shown in Fig. 9 C, under the observation of using endoscope 2, the bending section 12 that makes endoscope 2 is rotated by utilizing rotating driving device 21 to the bending direction bending of colon etc., makes front end component 17 pass through sweep.

Like this, shown in Fig. 9 A, front end component 17 can be advanced to the depths side in the large intestine 37.And, can more successfully insert the depths side.Figure 10 represents the rotating driving device 21B structure partly of the endoscope insertion auxiliary device 3B of the 1st variation.This rotating driving device 21B constitutes belt wheel 41 is installed on the rotating shaft of motor 23, and by conveyer belt 42, the belt wheel 43 of drive installation on the cylindrical shell 26 of the rear end that is used for holding tube 16 makes its rotation.

In addition, in Figure 10, for simplicity, omitted the maintenance body 22 that Fig. 1 or shown in Figure 4 being used to keep cylindrical shell 26 and motor 23.Action effect when using the 1st variation, the gear 24,25 o'clock among Fig. 1 or Fig. 4 is roughly the same with using.

The rotating driving device 21C of Figure 11 A exploded representation the 2nd variation.This rotating driving device 21C adopts the motor 44 with hollow rotating shaft 44a shown in Figure 11 B.Like this, form hollow rotating shaft 44a, can realize the rotary driving force that the rotation by motor 44 forms is directly passed to the structure of pipe 16 by making motor 44.

That is, constitute pipe 16 rear end is installed on the front end of hollow rotating shaft 44a of motor 44, and from the rear end of hollow rotating shaft 44a the insertion section 7 of endoscope 2 is inserted and to lead in the hollow bulb of this rotating shaft 44a.

Use the rotating driving device 21C of the 2nd variation, can reduce slippages, and can utilize simple structure to realize, can realize cost degradation.

Figure 12 A represents the vertical section of the rotating driving device 21D of the 3rd variation, and Figure 12 B represents along the profile of its A-A line.

Near being held with cylindrical shell 46 by bearing 29 in the rear end of pipe 16 is held in and can rotates freely.On pipe 16 rear end outer peripheral face, for example coil (or electric magnet) 47 is installed, coil (or electric magnet) 48 also is being installed on the inner peripheral surface of cylindrical shell 46 with the opposed maintenance of the outer circumferential side of this coil 47.

Shown in Figure 12 B, two coils 47,48 form along circumferentially being split into a plurality of.And, not shown supply unit is set for the alternating current that between opposed coil 47,48, applies phase shifting.Like this,, relatively apply rotating excitation field, coil 47 is rotated with pipe 16 sides to coil 47 sides with respect to being fixed on the coil 48 that keeps with on the inner peripheral surface of cylindrical shell 46.

This variation has the effect roughly the same with the 2nd variation of Figure 11 A.In addition, in this variation, also a coil in two coils 47,48 can be replaced into Magnet.For example, if the coil 47 of a side of rotation is replaced with Magnet, then can not need to provide the structures such as contact of electric current to coil 47.

Figure 13 represents the summary structure of the endoscope insertion auxiliary device 3E of the 4th variation.In this endoscope insertion auxiliary device 3E, having provides and discharges (as fluidic) compressed-air actuated compressor 51 as fluid supply discharger.In this variation, to be located at the helicoidal structure body 18 of pipe on 16 and to constitute by hollow pipe, the rear end of this hollow pipe is connected on the compressor 51.

And the front end that constitutes the hollow pipe of this helicoidal structure body 18 is connected with gas cell 52 on the outer peripheral face of being located at front end component 17.In addition, in this case, the elastomeric elements such as rubber that are rich in retractility that helicoidal structure body 19 utilization is located on the outer peripheral face of gas cell 52 of the outer peripheral face that covers front end component 17 form.

And, carry compressed air by hollow pipe to the inboard of gas cell 52 from compressor 51, thereby gas cell 52 is expanded.

The user can carry compressed airs to gas cell 52 from compressor 51 by switch 53 is made as on-state from disconnection.

Figure 14 A and Figure 14 B represent the Action Specification figure of this endoscope insertion auxiliary device 3E.

Shown in Figure 14 A, when for example inserting this endoscope insertion auxiliary device 3E in the body cavity 54, if the internal diameter of body cavity 54 is greater than the external diameter of front end component 17, even then make front end component 17 rotations can not obtain competent propulsive force sometimes.

In this case, the user makes compressor 51 work by switch 53 is made as connection, carries compressed air to gas cell 52, as shown in Figure 14B, gas cell 52 is expanded.

And, can make the inwall of the helicoidal structure body 19 contact body cavitys 54 of its outer peripheral face.By under this state, making endoscope insertion auxiliary device 3E rotation, can be set at the state that can produce big propulsive force, can in body cavity 54, make smooth advances.

And,, also can provide air and water or other fluid from the front end of hollow pipe rear end forward end parts 17 by the hollow pipe of these helicoidal structure body 18 uses being configured to the front end of front end component 17.Clean the observation window of inserting the front end that leads to the endoscope 2 in the endoscope insertion auxiliary device 3 by forming this structure, can utilize the water that is provided, or,, can supply gas to guarantee the visual field for observed body cavity is launched.

Figure 15 summary is represented the internal structure of the endoscope insertion auxiliary device 3F of the 5th variation.In this variation, for the lubricity between the insertion section 7 of improving pipe 16 and endoscope 2, circular bearing 55 such as configuration bearing between the inner peripheral surface of the outer peripheral face of the leading section 11 of insertion section 7 and front end component 17, and it is airtight, bearing 55 can be rotated, fill wet goods lubriation material 56 in this airtight inside.

Like this, endoscope's 2 sideway swivels needn't be made, the pipe 16 and front end component 17 sideway swivels of its outer circumferential side can be made.

Figure 16 summary is represented the internal structure of the endoscope insertion auxiliary device 3G of the 6th variation.In this variation,, utilize dual cover 57,58 to constitute pipe 16 for the lubricity between the insertion section 7 of improving pipe 16 and endoscope 2.

Inboard cover 58 just in time mates basically with the insertion section 7 that will insert logical endoscope 2, for example disposes bearing 59 with suitable interval between cover 57 and 58.

By forming this structure, the structure that cover 57 sides outside realizing only making are easily rotated.

(embodiment 2)

Below, embodiments of the invention 2 are described.

Figure 17 summary is represented the endoscope insertion auxiliary device 3H of embodiments of the invention 2.This endoscope insertion auxiliary device 3H for example is provided with rotating driving device 60 in the rear end side of pipe 16.

This rotating driving device 60 has: the gear 61a that is installed in the rear end of pipe 16; With this gear 61a engagement, by the gear 61b that is connected with motor 63 as the torque limiter 62 that rotates limiting unit.

And the helicoidal structure body 18 of being located at pipe 16 outer peripheral face is made of hollow pipe.The front end sealing of this hollow pipe, the rear end connects compressor 64.

And motor 63 is connected control part 65 with compressor 64, these control part 65 attended operation portions 66.By the operation of this operating portion 66, can carry out the control of the compressed-air actuated supply of the control of the rotation of motor 63 and control that rotation stops and rotary speed and opening/closing compressor 64.

Operation aforesaid operations portion 66 forms and has for example carried compressed-air actuated state by compressor 64, thereby shown in Figure 17 or Figure 18 A, can form and make the helicoidal structure body 18 that formed by the hollow pipe that is rich in flexibility from managing the state that 16 external diameter is given prominence to.

On the other hand, operation aforesaid operations portion 66 forms obstructed overcompression machine 64 and carries compressed-air actuated state, thereby shown in Figure 18 B, formation makes the non-bloating state of hollow pipe that forms helicoidal structure body 18, the external diameter of this part is in and manages 16 the roughly the same state of external diameter.

And, carry compressed-air actuated amount by adjusting, can adjust the outstanding height in pipe 16 surfaces that forms helicoidal structure body 18 from hollow pipe.

For example, carry compressed-air actuated amount, shown in Figure 18 C, can make helicoidal structure body 18 higher from managing the outstanding height of 16 outer surface from the further increase of state shown in Figure 18 A.

Like this, in the present embodiment, the hollow pipe that is used to form helicoidal structure body 18 is supplied with or stopped to supply with fluid such as compressed air by control, can be selected to the state that forms helicoidal structure body 18, or become the state that does not form helicoidal structure body 18, and also can adjust helicoidal structure body 18 from managing the outstanding height in 16 surfaces.

Therefore, for example managing 16 when inserting in the body cavitys, shown in Figure 18 A or Figure 18 C, form the height of helicoidal structure body 18 when managing the outstanding state of 16 outer surface.And extracting pipe at 16 o'clock, shown in Figure 18 B, making pipe 16 surface is tabular surface, can be successfully and extract with the short time.

In addition, also the endoscope insertion auxiliary device 3H ' of the 1st variation is such as shown in figure 19, with be located at pipe 16 outer peripheral face formation helicoidal structure body 18 hollow pipe front end, be connected with the hollow pipe of the formation helicoidal structure body 19 of the outer peripheral face of being located at front end component 17, make the hollow space connection.

During this situation, the front end that constitutes the hollow pipe of helicoidal structure body 19 is closed, so carry compressed air if utilize compressor 64, then as shown in figure 19, on the outer peripheral face of pipe 16, form outstanding helicoidal structure body 18, and on the outer peripheral face of front end component 17, also form outstanding helicoidal structure body 19.

On the other hand, by discharging compressed air, as shown in figure 20, the outer peripheral face of front end component 17 becomes the outer peripheral face of general planar, and the outer peripheral face of managing 16 sides equally also becomes tabular surface.In addition, by changing compressed-air actuated conveying capacity, can control helicoidal structure body 18 and 19 height from the outstanding part of outer peripheral face.

Like this, in this variation, under the helicoidal structure body 18 and 19 states that are communicated with of the outer peripheral face that makes the outer peripheral face that is formed in pipe 16 by hollow tubular and front end component 17, by the height of control from the outstanding part of outer peripheral face, insertion in the time of can more successfully inserting and extracting when extracting.

And in present embodiment (also comprising the 1st variation), for example near the part pipe 16 front end, the i.e. part adjacent with the rear end of front end component 17 form bending section (bending unit) 67.This bending section 67 uses electroconductive polymer artificial-muscle (abbreviating EPAM as) to form, and this artificial-muscle can stretch by for example applying voltage.

That is, as shown in figure 21, for example connect the tubulose EPAM68 of same size near pipe 16 the front end and form as one, about this tubulose EPAM 68, about the two sides of corresponding band-like portions, be formed with electrode 69 respectively.

And electrode 69 is connected with an end of holding wire 70 by pipe 16 inside etc.And, the other end of holding wire 70 as shown in figure 17, is connected with the concentric shape contact of the discoideus contact element 71 of the hollow that becomes rotor-side on being installed in pipe 16 rear end outer peripheral face, and, is connected with control part 65 by contacting the stator side contact element 72 of this concentric shape contact.

And, be located at operation operating portion 66, that for example indicate the stick 66a of operating unit to tilt by making as bending direction, control part 65 is corresponding to this tilt operation, applies driving voltage, the direction bending that bending section 67 is tilted to (stick 66a) to the electrode 69 of EPAM 68.

For example, at stick 66a upward when tilting, apply maximum driving voltage to electrode 69 corresponding to following direction, make the EPAM 68 of this part carry out maximum extension, apply suitable driving voltage to the left and right sides of their both sides electrode 69, the EPAM 68 of this part is stretched a little, can make bending section 67 thus to the last direction bending of not stretching.

In addition, this EPAM 68 for example has roughly square proportional characteristic of the electric field intensity that dependent variable and the voltage that applies forms.

As the bending apparatus that makes bending section 67 bendings, also can use EPAM 68 device in addition.For example also can replace EPAM 68, as shown in figure 22, adopt the SMA line 78 of the marmem (abbreviating SMA as) that shrinks by energising.

For this SMA line 78, about being equivalent to of bending section 67, about part, for example be arranged to parallel lines are turned back in front, near the rear end of bending section 67, connect holding wire 70 respectively.

The rear end side of this holding wire 70 identical structure when forming with EPAM 68.And SMA line 78 energisings by to wanting crooked direction can make bending section 67 bendings.

In addition, also can utilize the device of the line that mechanically pulling is connected with bending section 67 to constitute.Like this, in order to make bending section 67 bendings, can select to use several devices, method.

Like this, in the endoscope insertion auxiliary device 3H of present embodiment, from being provided with bending mechanism on one's body, also can be made its front bending so insert under the logical state in the insertion section 7 of endoscope 2 at pipe 16.That is, in embodiment 1, under the state of inserting the insertion section 7 that has led to endoscope 2, utilize the crooked function of endoscope 2, can carry out bending, but in the present embodiment, under the state of not inserting logical insertion section 7, also can make the front bending of pipe 16 by shown in Figure 7.

That is, in the present embodiment, shown in Figure 23 A, can (not inserting under the state of logical endoscope) make the front of pipe 16 to desired direction bending.In addition, if make pipe 16 rotation under the case of bending, front swing shown in Figure 23 B is so under the situations that make pipe 16 rotations, shown in Figure 23 A, also can control bending section 67 and only maintain on the direction will manage 16 curved shape.

And, in the present embodiment, motor 63 rotations are made under the situation of pipe 16 rotations, can utilize helicoidal structure body 18,19 that pipe 16 sides are more successfully advanced, if but helicoidal structure body 18,19 is when being applied in the above torque of setting, utilize torque limiter 62, pipe 16 sides are not rotated as the rotation limiting unit.

This torque limiter 62 can utilize the slide construction based on clutch to constitute.For example shown in Figure 24 A, make two plectane 62a, 62b that the rotation with rubbing surface transmits usefulness opposed and applied under the suitable pressure status and contact at rubbing surface separately.

Therefore, when a plectane, shown in Figure 24 B, two plectane 62a, 62b are in the state that does not transmit revolving force as if the torque more than the power of regulation.Under the situation of present embodiment, form the plectane 62a rotation of a side that is connected with motor 63, but the non-rotary state of another plectane 62b.

Like this, owing to be provided with torque limiter 62, so prevented because the rotation of helicoidal structure body 18,19 and the power that helicoidal structure body 18,19 applied more than the setting from the body cavity walls side.

Like this, identical with embodiment 1 in the present embodiment, be provided with helicoidal structure body 18,19 at the pipe 16 and the outer peripheral face of front end component 17, and be provided with the rotary drive mechanisms that make pipe 16 rotations, so have the action effect identical with embodiment 1.

And, in (comprising the 1st variation) present embodiment, (outstanding) that can change helicoidal structure body 18,19 on the outer peripheral face of being located at pipe 16 and front end component 17 from the surface highly, so can successfully insert and extract.

And, owing to be provided with torque limiter 62, so can prevent because the rotation of helicoidal structure body 18,19 and the power that helicoidal structure body 18,19 applied more than the setting from the body cavity walls side as the rotation limiting unit.

And, in the present embodiment,, lead to front end component 17 so needn't insert the front end of the insertion section 7 of endoscope 2 owing to be provided with bending section 67, by present embodiment as guide line, can carry out to endoceliac insertion etc.

Figure 25 represents the helicoidal structure body 18b of the 2nd variation.In this variation,,, reduced the height of spiral in order can more successfully to extract extracting pipe at 16 o'clock.In addition, in Figure 25, helicoidal structure body 18b is arranged to the densely packed coil shape (inboard at helicoidal structure body 18b has not shown pipe 16) in thin footpath.This helicoidal structure body 18b is less helicoidal structure, but owing on per unit length, be provided with more helicoidal structure body 18b, so can under the situation of rotation, keep the propulsive force of regulation.

On the other hand, when extracting, because helicoidal structure body 18b is less concavo-convex helicoidal structure, so can extract smoothly.

And Figure 26 A and Figure 26 B represent the example of the tubular construction of the 3rd variation.In this variation,, utilize softish thin-walled outer tube 74 to cover pipe 16 surfaces based on the purpose identical with Figure 25.The rear end side of this outer tube 74 connects compressor 64, can be transported to outer tube 74 inboards to air 75, maybe can discharge the air of being carried.

And when insertion tube 16, air-out shown in Figure 26 A, is in and makes outer tube 74 closely be attached to the state that forms helicoidal structure on the outer surface of helicoidal structure body 18 and pipe 16.

On the other hand, when extracting, in softish outer tube 74, inject air 75 it is expanded, thereby shown in Figure 26 B, form level and smooth surface texture.By forming this state, can successfully and utilize the short time to extract pipe 16.

Figure 27 A and Figure 27 B represent the example of the tubular construction of the 4th variation.In this variation, identical with Figure 25, the mobility of the pipe 16 when extracting in order to improve shown in Figure 27 A, utilizes the spiral groove 76 of the outer surface of being located at pipe 16 to constitute helicoidal structure.

And, the pipe 77 of softness and thin-walled is installed on this groove 76, can carry out the supply and the discharge of air from its rear end.And, when inserting, become state shown in Figure 27 A.

On the other hand, when extracting, carry air that it is expanded to the pipe 77 that in groove 76, is provided with, thereby shown in Figure 27 B, form level and smooth surface.By forming this state, can successfully extract pipe 16.

In addition, the tubular construction example of the 5th variation is such shown in Figure 28 A and Figure 28 B, in order to improve extracting property, forms behind insertion tube 16, and helicoidal structure body 18 unloads from managing 16.That is, in this variation, shown in Figure 28 A, helicoidal structure body 18 is fixed on the front-end and back-end of pipe 16 by bonding grade.

And, extracting pipe at 16 o'clock, by pulling the rear end of helicoidal structure body 18 with the power more than the value of regulation, front end based on fixedly the unclamping of bonding grade, shown in Figure 28 B, helicoidal structure body 18 unloads from managing 16.

Figure 29 A represents the rotation limiting mechanism 81 of the 6th variation.In this variation,, for example on two plectane 62a, 62b, pasted splicing tape 82 in order to keep the state that two plectane 62a, 62b connect.

And under the state smaller or equal to the torque value of stipulating, shown in Figure 29 A, when the plectane 62a rotation that makes motor side, plectane 62b also rotates.

On the other hand, under state more than or equal to the torque value of stipulating, shown in Figure 29 B, splicing tape 82 separation or disconnection etc., connection status is destroyed, and the plectane 62a that becomes motor side rotates but the non-rotary state of plectane 62b.Like this, when working, be rotated restriction more than or equal to the torque of the torque value of stipulating.In addition, being not limited to splicing tape 82, also can be other means such as bonding agent that connect usefulness.For example, also can be to utilize Magnet that two plectane 62a, 62b are remained connection status, under more than or equal to the state of the torque value of stipulating, connect destroyed and isolating connection means.

Figure 30 represents the rotation limiting mechanism 81B of the 7th variation.In this variation, on the rotating shaft of motor 63, connecting the torque sensor 83 that detects torque.That is, this variation is provided with torque limiter 62 not as Figure 17 on the rotating shaft of motor 63, and adopts torque sensor 83.

This torque sensor 83 is to control part 65 output torque detection signals.And control part 65 monitors the torque detection signals whether more than or equal to the torque value of regulation, more than or equal to the torque value of regulation the time, the rotation of motor 63 is stopped.Perhaps, the rotary speed control unit with the function that reduces rotary speed also can be set, so that torque value is no more than setting.

The example that the place is set of the torque limiter 62 shown in the presentation graphs 24A such as Figure 31 A etc.As the position of configuration torque limiter 62, between motor 63 and gear 61b, gear 61a, 61b and 61c, 61d each other, gear 61a and manage 16 between etc. also be fit to.Figure 31 A～Figure 31 C specifically represents these examples.In Figure 31 A, the configuration of torque limiter 62 is identical with Figure 17.

That is, the 61b with the gear 61a engagement that is installed in pipe 16 rear ends connects motor 63 by torque limiter 62.

In the variation shown in Figure 31 B, also be inserted with gear 61c and 61d between torque limiter 62 in Figure 31 A and the motor 63.

And, in the variation shown in Figure 31 C, the torque limiter 62 of hollow structure is installed in pipe 16 rear end, on the axle of the hollow of this torque limiter 62, gear 61a is installed, make the gear 61b engagement on this gear 61a and the rotating shaft that is installed on motor 63.

In Figure 31 A etc., when working, utilize the transmission of torque limiter 62 restriction rotations, but Figure 32 represents to utilize different structure to carry out the structure of the rotation restriction of part more than or equal to the torque of the value of regulation.

The endoscope insertion auxiliary device 3I of the 8th variation, rotation limiting mechanism as on front end component 17, the pipe 16 has following structure: embedded the cylindrical structure body 85,86 that is respectively equipped with helicoidal structure body 85b, 86b on cylinder 85a, the 86a of appropriate length being set at.

By means of the frictional force between pipe 16 outer peripheral faces and the cylinder 86a inner peripheral surface, pipe 16 (because outer peripheral face contact cavity walls of cylindrical structure body 86 etc.) will be during with respect to 86 rotations of cylindrical structure body, will produce slip more than or equal to the torque of certain torque.By being 86 cuttings of cylindrical structure body a plurality of, in the bigger part of resistance, specifically contacting body cavity walls on every side and the not voluble part that becomes strongly, rotation stops, and position in addition is rotated, and can obtain propulsive force.Front end component 17 sides also produce roughly the same effect.That is, by means of the frictional force between front end component 17 outer peripheral faces and the cylinder 85a inner peripheral surface, front end component 17 with more than or equal to the torque rotation of certain torque the time, will produce slip with respect to cylindrical structure body 85.

And at cylindrical structure body 85 contact cavity wall and becoming when being difficult for rotation strongly, the rotation of cylindrical structure body 85 stops.In addition, the length of front end component 17 self is shorter than pipe 16, thus only be provided with a cylindrical structure body 85, but also can be divided into a plurality of.

Below, the 9th variation is described.In Figure 17, be provided with can about, the bending mechanism of left and right sides four direction bending, but the endoscope insertion auxiliary device 3J of this variation adopts the bending mechanism of the bending section 67b that only is provided with a direction bending.During this situation, when inserting,, then also successfully be inserted in the crooked body cavity easily if move by the following stated.

Figure 33 A～Figure 33 C represents to be inserted into the state in the body cavity 54 such as large intestine.Shown in Figure 33 A, in the time of in inserting the body cavity 54 of linearity roughly, can under straightened condition, rotate and insert.And, shown in Figure 33 B, when arriving crooked position, at first stop the rotation, to certain direction bending, watch the image of the endoceliac endoscope of insertion etc., confirm current bending direction.This direction with want progressive direction (bending direction of body cavity) not simultaneously, begin once more slowly to rotate, make bending direction and direct of travel identical.Under this state, remove crooked function, begin rotation with usual speed, insert along bending direction.

By repeating this action, can pass through crooked position, shown in Figure 33 C, can be inserted into darker depths side.

Below, the 10th variation is described.Figure 34 A and Figure 34 B represent the front of the endoscope insertion auxiliary device 3K of the 10th variation.This variation is used EPAM illustrated in fig. 21, forms front end component 17B, rather than forms the fore-end of pipe 16.And, can be to bendings such as four direction or at least one directions.

Can crooked front end component 17B by forming, can make front end component 17B from the straightened condition shown in Figure 34 A by crooked shown in Figure 34 B.Make the structure that front end component 17B can be crooked by formation, can insert smoothly more easily.

That is, utilize flexible material to constitute front end component 17B self, and assemble crooked function, thereby hard length shortens, crooked corresponding to the part of this bending in the time of in inserting body cavity by making front end component 17B, can guarantee good insertion.

And, also can not assemble crooked function, and only utilize flexible material to constitute front end component, make front end component according to applied force and bending.

In this case, front end component is crooked passively along the bending of intestinal, so can guarantee good insertion equally.

(embodiment 3)

Below, embodiments of the invention 3 are described.Figure 35 summary is represented the endoscope insertion auxiliary device 3L of embodiments of the invention 3.This endoscope insertion auxiliary device 3L is installed on the outer peripheral face of endoscope 2, is used to insert auxiliary.

Endoscope insertion auxiliary device 3～the 3K of explanation in embodiment 1 and 2 is provided with the hollow bulb that is used for inserting the insertion section 7 that leads to endoscope 2, forms thin footpath but can insert the insertion section of leading in this hollow bulb 7.Like this,, also only limit to not have the endoscope that slotting extensively treating is treated the passage that utensil uses sometimes, can not treat under this situation though can observe in fact.

Therefore, in the present embodiment, also go for having and to insert the endoscope 2 that extensively treating is treated the passage 91 of utensil.

For this reason, in the present embodiment, have as mentioned above and insert auxiliary structure on the outer peripheral face that is installed in endoscope 2.

And, utilize this endoscope insertion auxiliary device 3L, (before endoscope 2) is inserted in the body cavitys of wanting to insert such as large intestine as guide line, after the endoscope insertion auxiliary device 3L that inserts, can easily insert the insertion section 7 of the endoscope 2 with the passage that is difficult to insert then.

The endoscope insertion auxiliary device 3L of present embodiment utilizes adhesive tape 93 to be fixed on the leading section 11 of endoscope 2 with the cylindrical shell 92 that keeps body as propelling, and this cylindrical shell 92 can make the structure that is provided with helicoidal structure body 18,19 on the outer peripheral face of pipe 16 and the front end component 17 of being located at its front end pass through.

And the pipe 16 that is provided with helicoidal structure body 18 moves in this cylindrical shell 92 and passes through freely.

In addition, in the present embodiment, on pipe 16 and front end component 17, hollow bulb 16a and through hole 17a are set, can be used for slotting sides within it of leading to such as therapeutic appliance with thin footpath, but also can form solid rope-like constructed.

The rear end of aforementioned tube 16 is as connecting rotating driving device 60 explanation among the embodiment shown in Figure 17 2, by making the rear end rotation of pipe 16, pipe 16 can make smooth advances.

And the rear end of helicoidal structure body 18 connects the compressor 64 shown in the embodiment 2 of Figure 17, by supplying with or air-out etc., can according to explanation in Figure 18 A etc. like that, adjust the concavo-convex of the helicoidal structure body 18 that utilizes hollow pipe formation.

In addition, the leading section 11 in endoscope 2 is provided with illuminating window 94 and observation window 95.

According to the present embodiment of such formation, as shown in figure 35, make this endoscope insertion auxiliary device 3L by cylindrical shell 92 inside, and this cylindrical shell 92 is fixed on the leading section 11 of the endoscope 2 that carries out splanchnoscopy and treatment.

And, the front end component 17 of the endoscope insertion auxiliary device 3L also forwards more side-prominent than the leading section 11 of endoscope 2 is inserted large intestine etc. earlier.By utilizing rotary drive mechanism to make the rotation of pipe 16 rear end, can successfully advance this endoscope insertion auxiliary device 3L, and be inserted into endoceliac depths side such as large intestine.

After inserting this endoscope insertion auxiliary device 3L, fill in the operation of the rear end side of endoscope 2, thereby endoscope insertion auxiliary device 3L as guide, can be successfully inserted endoceliac depths sides such as large intestine with the front of the insertion section 7 of endoscope 2.

When the front of the insertion section 7 of endoscope 2 being inserted endoceliac depths such as large intestine side, in endoscope insertion auxiliary device 3L, by utilizing compressor 64 aerofluxuss, can make the surface of pipe 16 form the flat surfaces state shown in Figure 18 B, can smoothly endoscope 2 be inserted thus.

According to present embodiment, certainly be used for the not endoscope 2 of the insertion section 7 in channelled thin footpath, also can be used to have the endoscope 2 of the thicker insertion section 7 of passage 91, the insertion that can be used for this endoscope is auxiliary.

In addition, except that the structure of Figure 18 A～Figure 18 C, adopt the structure of the variation of Figure 25～Figure 28 B to carry out the insertion operation of endoscope 2, also can obtain roughly the same action effect.

Figure 36 A represents that the propelling of the 1st variation is with keeping body 92B.This advances with keeping body 92B shown in Figure 36 B, be provided with make the pipe 16 hole 96a that pass through with the consistent groove of spacing of helicoidal structure body 18 that is located at pipe 16 outer peripheral faces, and be formed with nut type guide 92B with the spiral groove 96b that takes in this helicoidal structure body 18.

According to the 1st variation, can advance the endoscope 2 of thicker insertion section 7 more efficiently with passage 91.

Propelling shown in Figure 37 is with keeping body 92C deciding what is right and what is wrong shown in the figure as Figure 38, has near the hole 97a that passes through for example leading section 11 of the insertion section 7 that makes endoscope 2, and have hole 97b, its nut type guide 92B that the pipe 16 that is provided with helicoidal structure body 18 is passed through is held in and can rotates freely.

And, be provided with the motor 99 that rotation drives usefulness in this propelling with the inside that keeps body 92C, be installed in gear 100a and the gear 100b engagement that is installed in nut type guide 92B outer peripheral face on the rotating shaft of this motor 99.In addition, the propelling around gear 100a, the 100b is with keeping body 92C part by otch, so that gear 100a, 100b can rotate.

In addition, the control part 65 of side in front of motor 99 connects by not shown holding wire, rotation and the rotation that can control motor 99 by operating operation portion 66 stop.

And users such as operative doctor can drive nut shape guide 92B rotation by 66 drive motors, 99 rotations of operating operation portion.What illustrate in the inner peripheral surface of nut type guide 92B is provided with as Figure 36 B in addition, makes pipe 16 holes of passing through and makes the helicoidal structure body 18 chimeric spiral grooves that pass through.

By forming this structure, be inserted in the body cavity such as large intestine at pipe 16 after, make to be installed in to advance when keeping rotation on the body 92C to drive with motor 99 rotations, the front of endoscope 2 can be automatically along pipe 16 propellings of effect with similar guide line.

To be expression be installed in state in the endoscope 2 with the front of the endoscope insertion auxiliary device 3N of the 2nd variation to Figure 39.This variation for example in endoscope insertion auxiliary device 3L shown in Figure 35, passes through the pipe 16 that is provided with helicoidal structure body 18 in cylindrical shell 92, but in this variation, by inserting the cover 102 that is connected with the pipe 16 of having established helicoidal structure body 18.

And, in this variation, be provided with at the front end of this cover 102 and advance with keeping body 92D.Figure 40 represents that this propelling is with keeping body 92D.And Figure 41 represents to advance the internal structure with keeping body 92D.This propelling is with keeping body 92D to have and roughly the same structure shown in Figure 38.

That is, as shown in figure 41, be provided with the inside that keeps body 92D in this propelling: rotation drives the motor 99 of usefulness; Be installed in the gear 100a on the rotating shaft of this motor 99; With this gear 100a meshed gears 100b; The nut type guide 92B of this gear 100b is installed.

And, users such as operative doctor insert in the body cavitys behind the depths will managing 16, by 66 drive motors, 99 rotations of operating operation portion, can drive advancing inside to be retained the nut type guide 92B rotation that can rotate freely with maintenance body 92D, cover 102 can be advanced to the leading section of pipe 16.

This variation is utilized the smooth cover of outer peripheral face 102 to cover outer peripheral face and is provided with the pipe 16 of helicoidal structure body 18, so have the effect of the insertion operation of carrying out endoscope 2 smoothly.

Figure 42 is that expression is inserted the state that leads in special-purpose endoscope 112 with the front of the endoscope insertion auxiliary device 3P of the 3rd variation.This variation is shown in Figure 43 A, for example use that have can be from the special-purpose endoscope 112 of the front opening 113 of lower side plug (and the identical passage of section configuration and this front opening 113), make endoscope insertion auxiliary device 3P forwards outstanding, thereby can be used for auxiliary the insertion from this front opening 113.In addition, Figure 43 A represents the perspective view of the front of endoscope 112, and Figure 43 B represents front view.

In addition, the insertion section 7 of this endoscope 112 and other parts are the structures identical with above-mentioned endoscope 2.

This variation can be used this endoscope insertion auxiliary device 3P as guide line.

And this endoscope insertion auxiliary device 3P can insert therapeutic appliance 114 and lead in the hollow bulb of this pipe 16 and treat as shown in figure 44.

In addition, though not shown, also can adopt endoscope insertion auxiliary device is inserted the method for utilizing the passage lead to the endoscope that therapeutic appliance with particle size passage or a plurality of passages uses from endoscope distal end.

(embodiment 4)

Below, embodiments of the invention 4 are described.Figure 45 represents the structure of front of the endoscope insertion auxiliary device 3Q of embodiments of the invention 4.Form the structure that the helicoidal structure body is not set at front end component 17 in the present embodiment.

It is soft more that the hardness that this endoscope insertion auxiliary device 3Q forms front end component 17 arrives front more, towards its hardness continually varying structure of rear end side.

Specifically, this front end component 17 constitutes as the lower parts 122 of hardness that utilize dotted line represents, utilize the higher parts 121 of the hardness that is cone shape and cover the outer peripheral face of the higher parts that are cone shape 121 of this hardness.

And, form and easily front inserted smoothly crooked endoceliac structure.For example, when the front of pipeline was crooked downwards, corresponding to this bending, the front of this front end component 17 was pressed shown in the single-point line crooked, thereby can insert smoothly.Other structures are identical with embodiment 1 etc.

By forming this structure, according to the firmness change of the front end component 17 of present embodiment, front end component 17 is crooked easily, has the effect of improving crooked tracing property.

Figure 46 represents the structure of front of the endoscope insertion auxiliary device 3R of the 1st variation.This endoscope insertion auxiliary device 3R forms and front end component 17 is had arrive the shape of the more little taper seat of its front external diameter 123 or the cone-shaped of taper more.This variation has the effect of the performance of improving the tube chamber that passes through sealing.

Figure 47 represents the structure of front of the endoscope insertion auxiliary device 3S of the 2nd variation.This endoscope insertion auxiliary device 3S improves the surface smoothness of front end component 17 for example at the surface-coated lubricant 124 of front end component 17 shown in Figure 45 etc.

According to this variation, improve the slickness of front end component 17 by lubricated, improve and insert property.Lubricant can be the fluor resin coating of good special teflon (teflon) (registered trade mark) of hydrophilic lubrication agent such as photocatalyst or slickness etc.

Figure 48 represents the structure of front of the endoscope insertion auxiliary device 3T of the 3rd variation.This endoscope insertion auxiliary device 3T is formed with a plurality of hollow magnetic cores 125 is connected into the front end component 17 that can rotate freely.According to this structure, can realize the structure that makes front end component 17 crooked easily.

And, in the time of in inserting body cavity, when for example the downward lateral bending of front is bent, shown in double dot dash line, can improve tracing property in this direction bending for sweep.

According to this variation, form the soft crooked structure of front end, have the effect of raising for the tracing property of bending section.

Figure 49 represents the structure of front of the endoscope insertion auxiliary device 3Y of the 4th variation.This endoscope insertion auxiliary device 3Y forms the structure of the hardness of the parts 125 that make formation front end component 17 with specified period T variation.Specifically, form protuberance and recess and carry out the rounding processing with specified period T along its length direction, make the hardness easier bending of softness more of the part that is formed with recess at the front end of managing 16.

According to this variation, hardness is changing, thereby front end component is crooked easily, has the effect that improves crooked tracing property.

In the above embodiments etc., front end component 17 is thicker than the external diameter of pipe 16, as shown in figure 50, as external diameter and the identical front end component 17 ' of external diameter of managing 16, also can form endoscope insertion auxiliary device 3V.

This endoscope insertion auxiliary device 3V is provided with external diameter and the identical front end component 17 ' of external diameter of managing 16 at the front end of the pipe 16 that is provided with helicoidal structure body 18.In addition, endoscope 2 can being inserted leads in the hollow bulb.

In this variation, also can guarantee in endoceliac good insertion.

And, also can be applied to above-mentioned front end component 17 to the shape of front end component 17 ' shown in Figure 50 and hardness.

That is, as front end component, have diameter with pipe 16 external diameter roughly the same or on the device of maximum outside diameter also belong to the present invention.

And, also belong to the present invention by the device after partly making up each above-mentioned embodiment etc. or changing a part.

(embodiment 5)

Below, with reference to Figure 51～Figure 71 embodiments of the invention 5 are described.

Shown in Figure 51, endoscope's insertion aid system 201 constitutes to be had: have the endoscope apparatus 202 that inserts endoceliac insertion section described later; Be used to improve the endoscope insertion auxiliary device 203 of insertion of the insertion section of this endoscope apparatus 202.

Described endoscope apparatus 202 has: the endoscope 204 that is provided with observation window described later; Described endoscope 204 is provided the light supply apparatus 205 of illumination light; Carry out CCU (camera control unit) 206 at the signal processing of the not shown image pickup part of described endoscope 204; With monitor 207, it is by from these CCU 206 incoming video signals, and shows endoscopic images.

Described endoscope insertion auxiliary device 203 has: screw propulsion probe 208, and its butt body cavity walls also produces propulsive force, so that the insertion section of described endoscope 204 is directed to endoceliac target site; Screw drives portion 209, its helical form described later promotion part 231 to this screw propulsion probe 208 provides driving force; Control the screw propulsion control device 210 of this screw drives portion 209.

The structure of described endoscope apparatus 202 at first, is described.

Described endoscope 204 has: elongated have a flexible insertion section 211; The operating portion 212 of the double as grip part 212a that base end side in this insertion section 211 is provided with continuously.This endoscope 204 is provided with general cord (universal cord) 213 from described operating portion 212 sidepieces extension.In this general cord 213, insert and leading to not shown light guide and holding wire.The adapter portion 214 that is located at the end of this general cord 213 connects described CCU 206.

The flexible flexible pipe portion 217 that has of the bending section 216 of the leading section 215 of the insertion section 211 of described endoscope 204 by hard is set continuously, free bend and longer dimension constitutes.Described leading section 215 is located at the front end of described insertion section 211.Described bending section 216 is located at the base end side of described leading section 215.Described flexible pipe portion 217 is located at the base end side of described bending section 216.

The operating portion 212 of described endoscope 204 has grip part 212a at base end side.Described grip part 212a is the position that operative doctor grips.Upper side at described operating portion 212 disposes the not shown video switch that is used for the described CCU 206 of operated from a distance.And, be provided with the taps and be used to operate the suction shaft that attracts action of supplying gas that not shown being used to operated the action of supplying gas, sent that hydrodynamic(al) does at described operating portion 212.And, be provided with bending operation squeezing handle 218 at described operating portion 212, by gripping grip part 212a and operating bending operation squeezing handle 218, can operate bending section 216 and make its bending.

And, at described operating portion 212, near the front end of grip part 212a, be provided with therapeutic appliance and insert mouth 221, be used to insert therapeutic appliance such as biopsy pliers.This therapeutic appliance insertion mouth 221 portion within it is communicated with the slotting general channels 222 of therapeutic appliance.Therapeutic appliance is inserted mouth 221 by not shown therapeutic appliance such as insertion pliers, makes the front of therapeutic appliance outstanding from the access portal 222a that is formed at leading section 215 by the slotting general channels 222 of the therapeutic appliance of inside, can carry out biopsy etc.

In the present embodiment, insert the passage of general channels 222 from described therapeutic appliance and open the rear end side that 222a inserts the aftermentioned flexible pipe of described screw propulsion probe 208, the rear end side of this flexible pipe is inserted mouthfuls 221 from described therapeutic appliance draw, and be connected to and be installed on described therapeutic appliance and insert in mouthfuls 221 the described screw drives portion 209.In addition, described screw drives portion 209 and described screw propulsion control device 210 are electrically connected by connection cord 223.

And, be provided with at described operating portion 212 and be used to start the driving switch 224 that stops described screw drives portion 209.The initiating signal of this driving switch 224 is by the described screw propulsion control device 210 of described CCU 206 inputs, according to electric power and control signal from this screw propulsion control device 210, described screw drives portion 209 drives, and provides driving force to described screw propulsion probe 208.

In addition, described driving switch 224 also can connect control device 210, and releasably is installed on the operating portion 212.

Described endoscope 204 inserts in general cord 213, insertion section 211, operating portion 212 is leading to not shown light guide.The base end side of this light guide transmits the illumination light from light supply apparatus 205 through the adapter portion 214 of the general cord 213 of operating portion 212 arrival.From the illumination light of light guide transmission by being configured in the not shown lamp optical system of insertion section leading section 215, from the subject of illuminating window 225 illumination affected parts etc.

The reflected light of described illuminated subject is taken into from the observation window 226 with described illuminating window 225 disposed adjacent as shot object image.The shot object image that is taken into is configured in the image pickup part shooting of the CCD (electric charge image-forming component) of its image space etc. by described objective lens optical system, and carries out opto-electronic conversion, is converted into image pickup signal.

And this image pickup signal transmits the signal cable that extends from described image pickup part, through the video-frequency connector of the described general cord 213 of described operating portion 212 arrival, exports to described CCU 206 by described connection cord.206 pairs of image pickup signals from the image pickup part of described endoscope 204 of described CCU carry out signal processing, generate the video signal of standard, and make monitor 7 show endoscopic images.

Below, the concrete structure of described endoscope insertion auxiliary device 203 is described.

Shown in Figure 52, described screw propulsion probe 208 constitutes the helical form promotion part 231 of the drum with the front be located at and the flexible pipe 232 that is provided with continuously with this helical form promotion part 231.

Described helical form promotion part 231 is formed with by rotation at the outer peripheral face of packing container 233 and produces helical form projection 234 thrust, produce structural portion as thrust.This helical form projection 234 utilizes the elastomer of rubber like or hard resin to form.In addition, in the drawings, described helical form projection 234 is formed near the central part of described helical form promotion part 231, but for easy propelling, also can be formed up to the end of cylinder.

Shown in Figure 53, in described flexible pipe 232, insert the flexible axle 235 that is connected with as flexible rotating shaft, it is used to transmit the driving force that drives 231 rotations of described helical form promotion part.In addition,, also can use torque tube (at one-body molded pipe that wire netting is arranged of inner utilization resin of tube wall face etc.) or coil cover etc., replace described flexible axle 235 as flexible rotating shaft.

The rear end side of described flexible pipe 232 connects described screw drives portion 209, and described flexible axle 235 is passing to described helical form promotion part 231 from the revolving force of being located at the electric motor units described later in the described screw drives portion 209.

Described packing container 233 utilizes bonding agent that front container 236 and rear end side container 237 are connected and fixed, thereby constitutes one.In described front container 236, be pressed into to be fixed with and insert the leading section that leads to the described flexible axle 235 in described flexible pipe 232, from these flexible axle 235 transmission of drive force.

And, the front that described flexible pipe 232 is installed on described rear end side container 237, and can make and can rotate with respect to this flexible pipe 232 by bearing 238.In addition, form watertight structure by O type circle 239 between described rear end side container 237 and the described flexible pipe 232.

Therefore, described packing container 233 makes described front container 236 and rear end side container 237 integratedly with respect to described flexible pipe 232 rotations by means of the driving force that transmits from described flexible axle 235.

Thus, described helical form promotion part 231 makes described helical form projection 234 butt body cavity walls, and described packing container 233 rotations are moved thereby can advance and retreat in body cavity, can guide the insertion section 211 of described endoscope 204 in body cavity.

And, because the access portal 222a that general channels 222 is inserted from described therapeutic appliance in described helical form promotion part 231 is outstanding, so described screw propulsion probe 208 is positioned at the field of view scope of the observation window 226 of described endoscope 204, can hold the contact condition of helical form promotion part 231 relative body cavity walls and operating state etc.

Below, the described screw drives portion 209 that produces the driving force make 231 rotations of described helical form promotion part is described.As mentioned above, described screw drives portion 209 is installed in described therapeutic appliance and inserts on mouthfuls 221.

Shown in Figure 54, described screw drives portion 209 constitutes to have: be installed in described therapeutic appliance and insert electric motor units installation portion 241 on 221; Generation makes the electric motor units portion 242 of driving force of described helical form promotion part 231 rotations of described screw propulsion probe 208; As the slider portion 243 of advance and retreat mobile unit, it slides up and down described electric motor units portion 242, and described flexible pipe 232 advance and retreat are moved.

Described slider portion 243 is mobile by described electric motor units portion 242 is advanced and retreat by sliding action, and described flexible pipe 232 advance and retreat are moved, and can make described helical form promotion part 231 advance and retreat move to the position of regulation.Therefore, described screw propulsion probe 208 can make described helical form promotion part 231 advance and retreat move to the position of the field of view of the observation window 226 that does not hinder described endoscope 204.

Described slider portion 243 also can be the mechanism that described electric motor units portion 242 is slided up and down, and can also be to be built-in with the motor drive mechanism that motor slides up and down described electric motor units portion 242.In addition, described slider portion 243 has the not shown slip slot part that described electric motor units portion 242 is slided, and is provided with the slide protrusion portion of the described electric motor units portion 242 that can slide at this slip slot part.In addition, described slider portion 243 can utilize fastening parts such as screw with described electric motor units portion 242 positioning and fixing at assigned position.Therefore, described screw propulsion probe 208 by fastening on the insertion section 211 of endoscope 204.

Described electric motor units portion 242 connects the rear end side of inserting mouthful 221 described flexible pipes 232 of drawing from described therapeutic appliance.Between the packing department 242a of described electric motor units portion 242 and described flexible pipe 232, utilize O type circle 244 to form watertight structure.

Described electric motor units portion 242 has the motor 245 that produces revolving force and makes the revolving force counter-rotating of this motor 245 and transmit the gear 246 of desired torque to output shaft 246a.Provide electric power and control signal from described screw propulsion control device 210 to described motor 245 by described connection cord 223, thereby drive.In addition, described electric motor units portion 242 also can constitute internal battery and provide electric power from this battery.

Shown in Figure 55, in described flexible pipe 232, the rear end side of described flexible axle 235 is by the described output shaft 246a of the described electric motor units of connecting portion 247 connections portion 242.In addition, described output shaft 246a cuts to embed by D and is fastened on the described connecting portion 247.

Thus, described screw drives portion 209 can pass to described flexible axle 235 with the driving force from described electric motor units portion 242, makes described helical form promotion part 231 rotations of described screw propulsion probe 208.

The endoscope that constitutes inserts aid system 201 according to such use that illustrates among Figure 51 like this.In the present embodiment, endoscope 204 is inserted from anus.

Operative doctor carries out inserting from patient's anus the operation of the insertion section 211 of endoscope 204.At this moment, the insertion section of endoscope 204 211 is elongated and have flexiblely, and this insertion section 211 of operative doctor push-and-pull is inserted in the body cavity.

Herein, endoscope apparatus 202 utilizes 206 pairs of endoscope's pictures by the image pickup part shooting of endoscope 204 of CCU to carry out signal processing, makes monitor 207 show endoscopic images.Operative doctor is simultaneously watched the endoscopic images that is presented on this monitor 207, and one side is carried out the insertion operation of the insertion section 211 of endoscope 204.

The insertion section leading section 215 of endoscope 204 inserts colon from patient's anus through rectum.Herein, shown in Figure 56, the insertion section leading section 215 of endoscope 204 is from rectum S shape portion to S shape colon midway, and it is big that the frictional force of the tangential direction of the outer peripheral face of insertion section 211 and the sliding contact surface of body cavity walls becomes, and is not easy to insert under this state.

In the present embodiment, endoscope insertion auxiliary device 203 is set as mentioned above, this endoscope insertion auxiliary device 203 can guide the insertion section 211 of endoscope 204 in body cavity.That is, shown in Figure 57, the access portal 222a that endoscope insertion auxiliary device 203 makes the helical form promotion part 231 of described screw propulsion probe 208 insert general channels 222 from the therapeutic appliance on the insertion section leading section 215 that is formed at endoscope 204 gives prominence to.

Herein, when helical form promotion part 231 is positioned at outside the field of view scope of observation window 226 of described endoscope 204, can not hold the contact condition of helical form promotion part 231 relative body cavity walls and operating state etc., the action that is difficult to obtain helical form promotion part 231 regularly.

But in the present embodiment, described helical form promotion part 231 is positioned at the field of view scope of the observation window 226 of described endoscope 204, can observe, so can make helical form promotion part 231 in desired timing action.

Promptly, operative doctor can be according to the endoscopic images that is shown in monitor 207, the contact condition of affirmation helical form promotion part 231 relative body cavity walls and operating state etc., be judged as to make helical form promotion part 231 action the time, the described driving switch 224 of being located at described operating portion 212 is carried out push, start.

Initiating signal from driving switch 224 passes to described screw propulsion control device 210 by described CCU 206, and 210 outputs of this screw propulsion control device are used to drive the electric power and the control signal of described screw drives portion 209.

Electric power and control signal that described screw drives portion 209 receives from described screw propulsion control device 210, described electric motor units portion 242 drives, and the driving force from this electric motor units portion 242 is passed to described flexible axle 235.Pass to the described helical form promotion part 231 of described screw propulsion probe 208 from the driving force of described flexible axle 235 transmission.

The driving force that described helical form promotion part 231 is accepted from described flexible axle 235 the front container 236 of described packing container 223, and with the rear end side container 237 that on this front container 236, is adhesively fixed integratedly, with respect to described flexible pipe 232 one rotation.

Thus, shown in Figure 57, in the pipeline, forwards advance by making described helical form projection 234 butt body cavity walls and rotation in body cavity in described helical form promotion part 231.Guided by this helical form promotion part 231, the insertion section 211 that operative doctor is filled in endoscope 204 makes it insert the place ahead with described helical form promotion part 231, shown in Figure 58, makes it pass through S shape colon.

In addition, the helical form promotion part 231 of described endoscope insertion auxiliary device 203 also can be by sliding described slider portion 243, flexible pipe 232 is advanced, advanced earlier in helical form promotion part 231, thereby insert the insertion section 211 of endoscope 204 along described flexible pipe 232.

As a result, the endoscope insertion auxiliary device 203 of present embodiment can be held the contact condition of helical form promotion part 231 relative body cavity walls and operating state etc., can improve the insertion of the insertion section 211 of endoscope 204.

And the endoscope insertion auxiliary device 203 of present embodiment can be installed in the existing endoscope 204 with freely loading and unloading, carries out cleanse and disinfect easily.In addition, described helical form promotion part 231 also can constitute the image unit that not shown LED lighting units such as (light emitting diode, Light Emitting Diode) and image pickup part etc. are set.

In addition, the helical form promotion part also can constitute shown in Figure 59 and Figure 60, utilizes gas cell to cover packing container.

Shown in Figure 59 and Figure 60, helical form promotion part 231B constitutes and utilizes the gas cell 251 that is provided with helical form projection 234B to cover packing container 233B.The material that described helical form projection 234B for example utilizes elastic tube etc. to stretch forms.

Described packing container 233B constitutes on front container 236 internally outward that perimeter surface is formed with through hole 252, can provide air to the gas cell 251 of being located at periphery.And flexible pipe 232 is except the pipeline of flexible axle 235, and going back double as is the air supply pipe road.

In addition, though not shown, provide the compressor of air to connect described flexible pipe 232.This compressor can independently constitute, and also can be located in the described screw drives portion 9.

Thus, helical form promotion part 231B can be at the bigger position of internal organs diameter, and it is closely connected on body cavity walls that gas cell 251 is expanded.Herein, for example the lumen diameter of digester tube is different with the people because of position in the body cavity, so by adjusting the swell increment of described gas cell 251, can adjust the contact (=propulsive force) with tube chamber.

In addition, make gas cell 251 expansible timings, being made as described driving switch 224 is pressed when operating, after air compressor starting, gas cell 251 expand, according to electric power and control signal from screw propulsion control device 210, described screw drives portion 209 drives, and provides driving force to described screw propulsion probe 208, thus helical form promotion part 231B rotation.

And helical form promotion part 231B attracts air that gas cell 251 is dwindled, so that make described gas cell 251 can not become obstacle when obtaining endoscopic images and utilize endoscope 204 to observe the place aheads and when extracting the insertion section 211 of endoscope 204.

In addition, helical form promotion part 231 also can constitute shown in Figure 61 and Figure 62, is formed for attracting the attraction hole in the gap that forms between body cavity walls and packing container.

Shown in Figure 61 and Figure 62, helical form promotion part 231C is in the attraction hole 253 in the gap that is formed on the packing container 233C attracting forming between body cavity walls and packing container 233C.

Described packing container 233C is formed with towards inside from outer surface on front container 236 and attracts hole 253, as the retractility waterproof membrane of being located at internal tank, utilizes gas cell 254 to prevent that body fluid etc. from entering inside.And flexible pipe 232C goes back double as attracting pipeline except the pipeline of flexible axle 235.In addition, can be external if constitute body fluid etc. by attracting pipeline be discharged to, then also gas cell 254 can be set.

In addition, though not shown, the suction device that attracts connects described flexible pipe 232C.This suction device can independently constitute, and also can be located in the described screw drives portion 209.

Thus, helical form promotion part 231C attracts to be formed at the gap that forms between body cavity walls and the packing container 233C, and utilizes the closely connected property between body cavity walls and the packing container 233C to make the frictional force increase and decrease, thereby can adjust propulsive force.

In addition, the helical form promotion part also can constitute shown in Figure 63, makes front form taper, so that insert thinner tube chamber easily.

Shown in Figure 63, helical form promotion part 231D constitutes its front and forms taper.Thus, helical form promotion part 231D inserts pipeline in the thinner body cavity easily, and big pipeline expansion in the body cavity easily.In addition, helical form promotion part 231D also can constitute has only fore-end to form elastomer, thus the easy direct of travel of pipeline in the body cavity.

In addition, the helical form promotion part also can constitute shown in Figure 64～Figure 66, at the front end of the packing container of drum the taper gas cell is set.

Shown in Figure 64～Figure 66, the front end of the packing container 233E that helical form promotion part 231E constitutes at drum is provided with taper gas cell 255.In addition, Figure 65 and Figure 66 represent taper gas cell 255 expansible states.

Described packing container 233E constitutes on front container 236 and is formed with through hole 256 towards the front end outer surface internally, can provide air to the taper gas cell 255 of being located at the front end periphery.And flexible pipe 232E goes back double as air supply pipe road except the pipeline of flexible axle 235.In addition, the interior shape that the air that provides from described flexible pipe 232 is passed through also can be provided described front container 236, is not the shape of putting down in writing among the figure.

Thus, helical form promotion part 231E for example when the bending section of butt as described above as S shape colon, also can make 255 expansions of taper gas cell except that obtaining the effect identical with described helical form promotion part 231D, make and pass through bending section.

And, the position of helical form promotion part 231E pipeline sealing in body cavity, by described taper gas cell 255 is expanded, because helical form promotion part 231E had extended to the front before described taper gas cell 255 expands, so can advance easily as long as be rotated.

In addition, described helical form promotion part 231E also can only make described taper gas cell 255 expand when needed, and described taper gas cell 255 is periodically expanded.In addition, the helical form promotion part also can constitute flexible pipe loading and unloading relatively shown in Figure 67～Figure 69.

Shown in Figure 67～Figure 69, helical form promotion part 231F constitutes flexible pipe 232F loading and unloading relatively.More specifically describe, described helical form promotion part 231F is provided for making the planetary gears 257 of this packing container 233F rotation in the inside of integrally formed packing container 233F.In addition, the rotating mechanism that other also can be set replaces planetary gears 257.

And helical form promotion part 231F is provided for pushing the fixedly locking mechanism 258 of the front of flexible pipe 232F on pipe fixed part 259.This locking mechanism 258 is formed with mutual opposed slot part 261 in the inner peripheral surface side of described pipe fixed part 259, is provided with the projection 263 that is used to push fixing described flexible pipe 232F on the wind spring of burying underground in this slot part 261 262.In addition, locking mechanism 258 also can not form above-mentioned mechanical structure, and forms the structure of absorption affinity of having used Magnet etc.

And, between the inner peripheral surface of described packing container 233F and described pipe fixed part 259, being provided with bearing 238, described packing container 233F can be by described relatively pipe fixed part 259 rotations of bearing 238.And, between the inner peripheral surface of described pipe fixed part 259 and described packing container 233F, utilize O type circle 264 to constitute the watertight state.In addition, between described pipe fixed part 259 and described flexible pipe 232F, utilize O type circle 265 to constitute the watertight state.

On the other hand, the flexible pipe 232F of this helical form promotion part 231F that can freely load and unload has been installed, be provided in front chimeric described helical form promotion part 231 described planetary gears 257 the axle 257a fitting portion 266.In addition, described flexible pipe 232F also can insert and be connected with torque tube 267 and replace described flexible axle 235.

Therefore, helical form promotion part 231F can constitute and can freely load and unload on described flexible pipe 232F.

Herein, described flexible pipe 232F is before installing the described helical form promotion part 231F that can freely load and unload, insert the therapeutic appliance of logical described endoscope 204 and insert general channels 222, and make the pipe front outstanding, thereby described helical form promotion part 231F can be installed on this pipe front with can freely loading and unloading the ground watertight from access portal 222a.

Thus, when described helical form promotion part 231F inserts logical endoscope 204 under the state that is installed on described flexible pipe 232F in advance therapeutic appliance is inserted general channels 222,, the butt that can prevent described flexible pipe 232F because this therapeutic appliance is inserted the branch of general channels 222 etc. inserts general channels 222 thereby being difficult to insert described therapeutic appliance.

In addition, the helical form promotion part also can constitute shown in Figure 70, in the inside of packing container electric motor units portion is set.

Shown in Figure 70, helical form promotion part 231G constitutes in the inside of integrally formed packing container 233G electric motor units portion 242 is set.Described electric motor units portion 242 is fixedly being kept by fixed motor part 268.The output shaft 246a of this electric motor units portion 242 connects planetary gears 257.

Be provided with bearing 238 between the inner peripheral surface of described packing container 233G and described fixed motor part 268, described packing container 233G can be by described relatively fixed motor part 268 rotations of bearing 238.In addition, between the inner peripheral surface of described packing container 233G and described fixed motor part 268, utilize O type circle 269 to constitute the watertight states.

And, being formed with the installation portion 268a of flexible pipe 232G in the rear end side of described fixed motor part 268, the front of described flexible pipe 232G is embedded among this installation portion 268a and by coiling and is being connected and fixed.In described flexible pipe 232G, insert and be connected with the holding wire 242b that extends from described electric motor units portion 242.By this holding wire 242b, described electric motor units portion 242 is provided electric power and control signal from described screw propulsion control device 210, thereby drives.

In addition, be provided with the gas cell projection 271 of utilizing gas cell to form at the outer peripheral face of described packing container 233G, as described helical form projection.Therefore, be formed with through hole 272, be used for the air that provides from described flexible pipe 232G is directed to described gas cell projection 271 at described packing container 233 and described fixed motor part 268.

Described gas cell projection 271 can utilize the air capacity that provides to adjust the height of projection.Thus, helical form promotion part 231G is identical with described helical form promotion part 231B, can optimize propulsive force according to the vary in diameter of pipeline in the body cavity.

In addition, helical form promotion part 231G attracts air that gas cell projection 271 is dwindled, so that make described gas cell 254 can not become obstacle when obtaining endoscopic images and utilize endoscope 204 to observe the place aheads and when extracting the insertion section 211 of endoscope 204.

In addition, the helical form promotion part also can guarantee that as the visual field unit makes a part constitute transparence shown in Figure 71, so that do not hinder the field of view scope of described endoscope 204.

Shown in Figure 71, helical form promotion part 231H constitutes the part that the material of utilizing transparent shape forms packing container 233H and helical form projection 234.In addition, helical form promotion part 231H also can utilize the material of transparent shape to form the part of the embedding structure thing of planetary gear etc.

Thus, helical form promotion part 231H does not hinder the illumination light and the field of view of endoscope 204 utilizing endoscope 204 to observe pipeline in the body cavity, when for example digester tube is inner, can transparent part being entered in the field of view scope by adjusting angle as far as possible.

In addition,, guarantee that as the visual field unit also can constitute the part of removing the transparent part be equivalent to described helical form promotion part 231H, gas cell is set in the part of this removal though helical form promotion part 231 is not shown.

During this situation, helical form promotion part 231 makes described balloon inflated become drum when screw propulsion, when utilizing endoscope 204 to observe described gas cell is dwindled, thereby is adjusted to the obstacle that can not become the field of view of endoscope 204 scope.

And, though helical form promotion part 231 is not shown, guarantees as the visual field that the unit also can utilize and be located at therapeutic appliance and insert pliers jack-up function on the access portal 222a of general channels 222, when observing, make pliers jack-up and leave the field of view scope.

(embodiment 6)

Below, with reference to Figure 72～Figure 81 embodiments of the invention 6 are described.

The foregoing description 5 constitutes screw propulsion probe 208 is inserted in the slotting general channels 222 of therapeutic appliance of endoscope 204, but present embodiment constitutes along the periphery of endoscope 204 the installation portion installation screw propulsion probe 208 that utilization can be loaded and unloaded.Structure in addition is identical with the foregoing description 5, so omit explanation, gives same-sign to identical structural element and describes.

That is, shown in Figure 72, the endoscope insertion auxiliary device of embodiment 6 constitutes, and utilizes the loaded and unloaded unit 280 as the installation portion that can load and unload, and screw propulsion probe 208 is installed on the insertion section 211 of endoscope 204.

The described unit 280 that loads and unloads forms the roughly annular shape of 8 fonts, and the particle size ring 281 and being used to front of the insertion section 211 that is used to embed endoscope 204 embeds the path ring 282 of the flexible pipe 232 of described screw propulsion probe 208.

Promptly, the described unit 280 that loads and unloads is inserting described particle size ring 281 with the front of the insertion section 211 of described endoscope 204, and after being installed on the insertion section 211 of described endoscope 204, the flexible pipe 232 of described screw propulsion probe 208 is embedded described path ring 282, the front that described screw propulsion probe 208 be installed in the insertion section 211 of described endoscope 204 also can freely can be loaded and unloaded thus.

In the present embodiment, be provided with two described unit 280 that load and unload that can slide at the insertion section of endoscope 204 leading section 215 and flexible pipe portion 217 these two positions at least.

Thus, described screw propulsion probe 208 slided in the described relatively insertion section 211 of loading and unloading unit 280 and endoscope 204 of flexible pipe 232, and slides in front and back by described flexible pipe 232 is moved forward and backward from operating portion 212 sides of endoscope 204.

And helical form promotion part 231I is provided with rear end side gas cell 283 in the rearward end side.

Shown in Figure 73, this rear end side gas cell 283 forms and expand into the size identical with the diameter of pipeline in the body cavity.Thus, described rear end side gas cell 283 can be positioned described helical form promotion part 231I in this body cavity in the pipeline according to the back is described.In addition, provide air from described flexible pipe 232 to described rear end side gas cell 283.

The endoscope that constitutes inserts such use of aid system according to explanation in the foregoing description 5 like this.Operative doctor inserts the insertion section 211 of endoscope 204 from patient's anus.At this moment, the insertion section of endoscope 204 211 is elongated and have flexiblely, is inserted in the body cavity so this insertion section 211 in push-and-pull.

Endoscope insertion auxiliary device is identical with explanation in the foregoing description 5, push driving switch 224, and by the control of described screw propulsion control device 210, described screw drives portion 209 drives, and described helical form promotion part 231I advances.

In the present embodiment, shown in Figure 74, described helical form promotion part 231I is advanced earlier.Shown in Figure 75, after described helical form promotion part 231I arrives caecum, described rear end side gas cell 283 is expanded.

Herein, described screw propulsion probe 208 is by making described rear end side gas cell 283 be expanded to the size of the pipeline diameter of caecum, with the 231I fastening of described helical form promotion part in caecum.Thus, shown in Figure 76, described screw propulsion probe 208 by described flexible pipe 232 as guide line, endoscope 204 can be inserted into caecum.In addition, described screw propulsion probe 208 also can utilize endoscope 204 to supply gas to big enteral in advance and make expansion before insert endoscope 204, after guaranteeing field of view, inserted endoscope 204.

In addition, though screw propulsion probe 208 is not shown, also can constitute in flexible pipe 232 inner built-in variable hardness functions (coil cover).During this situation, screw propulsion probe 208 improves the hardness of flexible pipe 232 after helical form promotion part 231I arrives caecum and utilizes 283 fastenings of rear end side gas cell, makes easy insertion endoscope 204.In addition, screw propulsion probe 208 also can suitably start/stop the variable hardness function when inserting logical helical form promotion part 231I, improve and insert property.

The result, the endoscope insertion auxiliary device of present embodiment is except that obtaining the effect identical with the foregoing description 5, can load and unload unit 280 by on the insertion section 211 of endoscope 204, installing, also can constitute thin diameter endoscope with the slotting general channels 222 (or thinner) of therapeutic appliance.

And endoscope insertion auxiliary device also can constitute shown in Figure 77, described the loading and unloading gas cell is set on the unit.

Shown in Figure 77, can load and unload unit 280 and constitute in particle size ring 281 sides and path ring 282 sides and be provided with two gas cells 284.Extend the air supply pipe 285 that is used for providing to described two gas cells 284 air on the unit 280 described the loading and unloading, this air supply pipe 285 connects not shown compressor.

The endoscope that constitutes inserts such use of aid system according to explanation in the foregoing description 5 like this.Operative doctor inserts the insertion section 211 of endoscope 204 from patient's anus.At this moment, the insertion section of endoscope 204 211 is elongated and have flexiblely, is inserted in the body cavity so this insertion section 211 in push-and-pull.

Herein, endoscope insertion auxiliary device at first makes the gas cell 284 that can load and unload unit 280 expand, be fixed on the insertion section leading section 215 of endoscope 204 in the intestinal after, helical form promotion part 231 is advanced.

Shown in Figure 78, endoscope insertion auxiliary device is after helical form promotion part 231 advances to a certain degree, and is such according to what illustrate in Figure 73, and the gas cell 234 of helical form promotion part 231 is expanded.Then, endoscope insertion auxiliary device dwindles the gas cell 234 of endoscope 204, serves as that endoscope 204 is inserted in guiding with helical form promotion part 231.By repeating above-mentioned action, endoscope insertion auxiliary device 203 makes the insertion section leading section 215 of endoscope 204 arrive caecum.

Thus, endoscope insertion auxiliary device 203 can insert pipeline in the body cavity with the insertion section 211 of endoscope 204 by Inchworm type (chi is got the worm formula).

And endoscope insertion auxiliary device also can constitute shown in Figure 79 and Figure 80, and the bending section of free bend is set at flexible pipe 232.

Shown in Figure 79, screw propulsion probe 208 constitutes the probe bending section 286 that free bend is set at flexible pipe 232.Described probe bending section 286 is located near the rearward end of helical form promotion part 231, so that have tracing property.

And shown in Figure 80, screw propulsion probe 208 is provided with probe operating portion 287 in rear end side.In this probe operating portion 287, be built-in with the electric motor units portion that constitutes screw drives portion.And described probe operating portion 287 is provided with: the bending operation squeezing handle 288 that makes described probe bending section 286 flexure operations; Starting stops starting shutdown switch 289a, and the switch portion 289 of the direction of rotation of the direction of rotation of adjustable screw shape promotion part 231, rotary speed and speed by-pass cock 289b etc. of the rotation of helical form promotion part 231.

Thus, endoscope insertion auxiliary device makes helical form promotion part 231 on one's own initiative towards the direct of travel of tube chamber, so the easy degree of advancing of helical form promotion part 231 improves.And endoscope insertion auxiliary device is configured in helical form promotion part 231 outside the field of view of endoscope 204 utilizing endoscope 204 to observe digestive tubes when inner, so when making described probe bending section 286 flexure operations, observe body cavity inside easily.

And endoscope insertion auxiliary device also can constitute shown in Figure 81, is provided for the advance and retreat travel mechanism that flexible pipe 232 advance and retreat are moved.

Shown in Figure 81, endoscope insertion auxiliary device constitutes to make and inserts the traction that general channels 222 passes through from therapeutic appliance and connect flexible pipes 232 with rope 291 by rope connecting portion 292.In addition, can load and unload unit 280B and constitute and make path ring 282B extend to the whole insertion section 211 of endoscope 4, described flexible pipe 232 is remained fixed in described insertion section 211 sidepieces.

Thus, endoscope insertion auxiliary device pulls described traction with restricting at 291 o'clock in the front portion from endoscope 204, and flexible pipe 232 is forwards pulled, thereby advances in helical form promotion part 231, by rearward pulling flexible pipe 232, helical form promotion part 231 is retreated from front portion.

Therefore, endoscope insertion auxiliary device has improved because long " pressing " action that causes of flexible pipe 232 is difficult for the situation that quilt is transmitted, and operability improves.

(embodiment 7)

Below, with reference to Figure 82～Figure 87 embodiments of the invention 7 are described.

Present embodiment constitutes advance and retreat travel mechanism is set on the loaded and unloaded unit 280 of the foregoing description 6.Structure in addition is identical with the foregoing description 5, so omit explanation, gives same-sign to identical element and describes.

That is, shown in Figure 82, the endoscope insertion auxiliary device of present embodiment constitutes, and the loaded and unloaded unit 280C that screw propulsion probe 208C has been installed on the insertion section of endoscope 204 leading section 215 is provided with advance and retreat travel mechanism unit 300.

Described screw propulsion probe 208C have form short flexible pipe 301.And helical form promotion part 231 constitutes for example identical with the helical form promotion part 231G that illustrates in Figure 70, is provided with electric motor units portion 242.In addition, the elasticity of described flexible pipe 301 is stronger, and its consistency and elasticity has obtained optimization, when following the tracks of the advancing of tube chamber, can become straight when being not applied to strength at once.

Offer electric power and the control signal of described screw propulsion probe 208C, be provided via the cable 302 of inserting general channels 222 by the therapeutic appliance of endoscope 204.Described cable 302 connects screw propulsion control device 210 in the front side.In addition, this cable 302 can not inserted general channels 222 by therapeutic appliance yet, and attaches in the outside of endoscope 204.

Shown in Figure 83, the described travel mechanism unit 300 of advancing and retreat constitutes to have: produce the motor 303 that is used to make the mobile driving force of described flexible pipe 301 advance and retreat; Will be from the not shown bevel gear of driving force deceleration of this motor 303 etc.; To pass to the roller 304 that described flexible pipe 301 moves its advance and retreat from the rotation of this bevel gear.And, the rotation usefulness motor and the mechanism of also can be in described advance and retreat travel mechanism unit 300 built-in screw propulsion portion 231.

The endoscope that constitutes inserts such use of aid system according to explanation in the foregoing description 5 like this.Operative doctor inserts the insertion section 211 of endoscope 204 from patient's anus.At this moment, the insertion section of endoscope 204 211 is elongated and have flexiblely, is inserted in the body cavity so this insertion section 211 in push-and-pull.

Endoscope insertion auxiliary device is identical with explanation in the foregoing description 5, push driving switch 224, and by the control of described screw propulsion control device 210, described screw drives portion 209 drives, and described helical form promotion part 231 advances.At this moment, the described advance and retreat of endoscope insertion auxiliary device 203 drivings travel mechanism unit 300 advances described flexible pipe 301.

Perhaps, endoscope insertion auxiliary device 203 is when obtaining endoscopic images and utilize endoscope 204 to observe the place aheads and when extracting the insertion section 211 of endoscope 204, described advance and retreat travel mechanism unit 300 is driven into the assigned position that described helical form promotion part 231 can not become obstacle, flexible pipe 301 advance and retreat are moved.

As a result, the endoscope insertion auxiliary device of present embodiment because screw propulsion probe 208 is shorter, so can accomplish miniaturization, is operated except that obtaining the effect identical with the foregoing description 6 easily.

In addition, the helical form promotion part also can constitute shown in Figure 84 and Figure 85, guarantees the unit and removes a part as the visual field, not hinder the field of view scope of endoscope 204.

Shown in Figure 84, helical form promotion part 310 also can constitute as the visual field guarantees the unit and removes a part, not hinder the field of view scope of endoscope 204.

Thus, helical form promotion part 310 does not enter in the field of view scope of endoscope 204 shown in Figure 85 as far as possible.And helical form promotion part 310 is adjusted to the angle of regulation when carrying out endoscopic observation.

In addition, can load and unload the unit and also can constitute shown in Figure 86 and Figure 87, not the built-in motor unit.

Shown in Figure 86 and Figure 87, can load and unload unit 280D and constitute to make and insert the flexible axle 235 of general channels 222 or the driving force that the torque tube transmission comes, the transmission that is rotated via gear 311 from the therapeutic appliance by endoscope 204.

Thus, endoscope insertion auxiliary device is simple in structure, the assembling work raising.

(embodiment 8)

Below, with reference to Figure 88～Figure 92 embodiments of the invention 8 are described.

Endoscope apparatus 401 shown in Figure 88 constitutes to have: endoscope 402; And endoscope insertion auxiliary device (or endoscope-use subject in propulsion plant) 403, it is installed in leading section of this endoscope 402 and can freely loads and unloads, and endoscope 402 is successfully imported or inserts in the body cavity etc. in the subject.

Endoscope 402 has the endoceliac elongated insertion section 404 of insertion, and the base end side in this insertion section 404 is provided with not shown operating portion.And insertion section 404 has: the leading section 405 of being located at the hard of its front end; Be located at the bending section 406 of free bend of the rear end of this leading section 405; Arrive the flexible portion 407 (with reference to Figure 92) of longer dimension of the front end of operating portion from the rear end of this bending section 406.

And the not shown bending operation squeezing handle of operating portion is located in user's operation, can make bending section 406 to desired direction bending.

Be connected with the light guide 408 that transmits illumination light in these insertion section 404 interpolations, never illustrated light supply apparatus provides illumination light to the incident end of the illumination light of the rear end that becomes this light guide 408.The front end face of this light guide 408 becomes the ejaculation end face of illumination light.The illumination light that transmits by this light guide 408 penetrates end face from this, injects to front side through illuminating lens 409 again, the body cavity inside of illumination front side.

Shown in Figure 88,404 leading section 405 is provided with and is equipped with the adjacent observation window (camera window) of illuminating window of illuminating lens 409 in the insertion section, makes illuminated endoceliac optical image imaging by the object lens 411 that are installed on this observation window.Dispose for example charge coupled cell (abbreviating CCD as) 412 as imaging apparatus at this image space, the optical image of 412 pairs of imagings of CCD carries out opto-electronic conversion.

This CCD 412 connects not shown signal processing apparatus by holding wire, by this signal processing apparatus the output signal of CCD 412 is converted to video signal, shows image by CCD 412 shootings at the display surface of monitor.

And, in the insertion section 404 of this endoscope 402, be provided with the passage 413 that to insert therapeutic appliance such as logical pliers, the rear end side of this passage 413 is branch near the rear end of insertion section 404, this ramose side inserts mouth 414 with therapeutic appliance and is communicated with, and the opposing party arrives the attraction joint that connects not shown suction device.

And, can insert mouthfuls 414 magnetic fields of inserting with rotary part 417 splits of the formation endoscope insertion auxiliary device 403 of following explanation from this therapeutic appliance and apply parts 415.

And the outer peripheral face of 404 leading section 405 is installed with the rotary part that rotates freely 417 that is provided with Magnet 416 in the insertion section.

The roughly cylindrical shape of this rotary part 417 shown in Figure 89, is provided with at its outer peripheral face and forms spiral helicine jut 418, by with rotary part 417 rotations, and can be by should spiral helicine jut 418 acquisition propulsive forces.In addition, this jut 418 also can be mounted for helical form with hollow pipe, solid ropy can also be mounted for helical form.And, also can form one, more than two or three.

In the time of on the outer peripheral face that above-mentioned rotary part 417 is installed on leading section 405, use the ring-type fixed part 419 near the outer peripheral face the chimeric rear end that is fixed on leading section 405 and be fixed on the roughly discoideus fixed part 420 that is provided with opening 420a of the hollow on the front end face.Be provided with by the teat 421 on the front opening that is installed in passage 413 such as being pressed at this fixed part 420.

That is, fixed part 419 and 420 is installed on the leading section 405, rotary part 417 can be mounted on leading section 405 and can rotates freely by both sides at rotary part 417.During this situation, shown in Figure 90, on fixed part 420, be provided with the opening 420a that guarantees the visual field, can illuminating window and observation window be in the light with the opposed part of the front end face of endoscope 402.

Length direction at the inner peripheral surface of this rotary part 417 for example is fixed with ringshaped magnet 416 near the substantial middle.This Magnet 416 forms shown in Figure 91 at circumferencial direction alternate configurations N, S magnetic pole and magnetized structure.

On the other hand, insert the magnetic field lead to passage 413 in and apply parts 415, Magnet 423 is installed at the front end of the flexible axle 422 of transmission revolving force.The rear end of this flexible axle 422 is installed on the rotating shaft of motor 424, by making motor 424 rotations, can make Magnet 423 rotations of the front end of flexible axle 422.

Shown in Figure 91, this Magnet 423 forms at circumferencial direction or radial arrangement the polar structure of N, S, can utilize the rotary magnet mode to drive rotary part 417 rotations.

That is, in alternate configurations had S and the polar ringshaped magnet 416 of N, making in radial arrangement had polar bar-shaped Magnet 423 rotations, by Magnet 416,423 attraction and repulsion each other, and ringshaped magnet 416 rotations of outer circumferential side.

In the present embodiment, endoscope 402 can use the conventional endoscope with passage 413, can clean and germ-resistant watertight structure so endoscope 402 self forms.

On the other hand, rotary part 417 for example utilizes can cleaning and formation such as germ-resistant resin component of ringshaped magnet 416 has been installed.And fixed part 419 and 420 also utilizes and can clean and formation such as germ-resistant resin component.

And it is simple that magnetic field applies parts 415 side structures, so formation can be cleaned and germ-resistant watertight structure easily.

Like this, in the present embodiment, separate configuration has the rotary part 417 that the outer peripheral face at leading section 5 can dispose with rotating freely and makes the magnetic field of Magnet 416 rotations of being located at this rotary part 417 apply parts 415 in the passage 413 of endoscope 402, by forming this structure, can make leading section 405 can slightly must not surpass necessary degree, and form the structure of the existing endoscope 402 that goes for having passage 413.And, make rotary part 417 sides and magnetic field apply the structure that parts 415 sides are separated by formation, can simplify structure separately, realize reaching easily the structure of watertight.

With reference to the effect of Figure 92 explanation based on the present embodiment of this structure.Near the rear end of the outer peripheral face of the leading section 405 of the insertion section 404 of endoscope 402, at first install and fix parts 419, then rotary part 417 is embedded the outer peripheral face of leading sections 405.Afterwards, the front opening that the teat 421 of fixed part 420 is pressed into passage 413 is medium, installs and fixes parts 420.Thus, the user can be mounted to rotary part 417 and can rotate freely on the outer peripheral face of leading section 405.

And, shown in Figure 88, insert the front that mouthful 414 insertion magnetic fields apply parts 415 from therapeutic appliance.And, be located near the opposed position interior week that Magnet 423 that magnetic field applies parts 415 front ends is set at the Magnet 416 of being located at rotary part 417.

In addition, rear end side at flexible axle 422 is provided with scale etc., labelling etc. is carried out in scale position when being set on the opposed position of middle position with interior week (length direction) of Magnet 416 to Magnet 423 in advance, on this position, the rear end side of flexible axle 422 inserted on mouthfuls 414 in therapeutic appliance be fixed into and rotate freely.

And, the insertion section 404 that the endoscope 402 of rotary part 417 is installed is inserted in the body cavity.Carrying out endoscopic operative doctor for example inserts the front of insertion section 404 from the anus side.

And operative doctor is connected and is used for the not shown switch that driving magnetic field applies the motor 424 of parts 415, makes this motor 424 rotations.By the rotation of this motor 424, the Magnet 423 of its front end is with flexible axle 422 rotations, and by means of the rotating excitation field of this Magnet 423, revolving force acts on the ringshaped magnet 416 that is configured in its outer circumferential side.And rotary part 17 is with these Magnet 416 rotations.

Outer peripheral face at this rotary part 417 is provided with spiral helicine jut 418, shown in Figure 92,418 rotations of this jut, thus the body cavity walls that contact with jut 418, specifically engage with the internal face of the folds in a garment shape (concavo-convex) of large intestine 425, act on propulsive forces to rotary part 417.That is,, screw can be screwed in the depths side of the parts that screw will be installed by making the screw rotation.

Like this, by making rotary part 417 rotation, to rotary part 417 effect propulsive forces, can be in these rotary part 417 rotations, the leading section 405 that this rotary part 417 can be installed with rotating freely makes smooth advances or is directed to the depths side of large intestine 425.Present embodiment has following effect.

Structure according to present embodiment, the rotary part of the general cylindrical shape shape that is provided with Magnet 416 is installed at the outer circumferential side of leading section 405, to make the magnetic field of this rotary part magnetic rotation apply parts 415 in discontiguous mode be configured in the passage 413, so the external diameter of leading section 405 can be not thick excessively, leading section 405 can make smooth advances.

That is, the rotary part 417 of the roughly cylindrical shell shape that is provided with Magnet 416 is installed, magnetic field is applied parts 415 be configured in the passage 413, can make the rotation of rotary part 417 magnetic in discontiguous mode thus at the outer circumferential side of leading section 405.And,, can simplify structure separately, and form watertight structure easily by rotary part 417 sides and magnetic field are applied parts 415 splits formation.

And,, then can not produce yet contacting of rotary part 417 and liquid etc. produced obstacle if can realize the watertightness of endoscope 402 self in advance.Rotary part 417 loads and unloads easily.And, according to its structure as can be known, clean easily, can clean reliably and sterilize.

And the structure of present embodiment can be installed in the existing endoscope 402.And, owing to can directly use, can successfully accomplish when using crooked function, to advance except the function of therapeutic appliance with the endoscope 402 the passage 413.

With reference to Figure 93 and Figure 94 the 1st variation is described.Figure 93 utilizes the cross section to represent near the passage 413 of (endoscope 402) leading section 405, and Figure 94 utilizes the vertical section to represent to be configured near the electric magnet 427 of passage 413 inside.

In embodiment 8, at the front end of flexible axle 422 bar-shaped Magnet 423 has been installed and has been applied parts 415, but in this variation, electric magnet 427 has been installed shown in Figure 93 and Figure 94 as magnetic field.

That is,, on unshakable in one's determination 428, coil 429 is set, and is provided with electric magnet 427 at the front end of flexible axle 422.In addition, the holding wire that is connected with the two ends of coil 429 is inserted and is led in the hollow bulb of flexible axle 422, connects dc sources such as battery in rear end side.

And, identical with embodiment 8, utilize motor 424 to make flexible axle 422 rotations, in these flexible axle 422 rotations, electric magnet 427 also rotates.

By the rotation of electric magnet 427, the direction in its magnetic field rotation, identical when making Magnet 423 rotations, produce the power that makes Magnet 416 rotations that are disposed at electric magnet 427 outer circumferential sides.

In addition, also can on electric magnet 427, ferromagnetism bodies such as pure iron be set at coil 429 centers.During this situation, can strengthen the magnetic field that electric magnet 427 produces, thereby make Magnet 416 rotations more reliably.This variation has the effect roughly the same with embodiment 8.

Figure 95 represents the 2nd variation.This variation flows through the electric magnet 427a that disposes side by side, the electric current of 427b by change in therapeutic appliance is used passage 413, apply the magnetic field that is used to make Magnet 416 rotations that are disposed at its outer circumferential side.For example shown in Figure 95, flow through the size of electric current of two electric magnet 427a, 427b of disposed adjacent by change, can produce the magnetic field that make its rotation Magnet 416.In addition, also can change sense of current.

Under the situation of this variation, do not need to make Magnet 416 rotations by motor 424.According to this variation, has the advantage that can make magnetic field apply parts 415 sideway swivels.In addition have the effect roughly the same with embodiment 8.

Figure 96 represents the 3rd variation.This variation makes the Magnet 416 that are disposed in the rotary part 417 be large-scale Magnet 416B, and makes that to be disposed at therapeutic appliance also be large-scale Magnet 423B with the Magnet that rotate freely 423 in the passage 413.

That is, form the ringshaped magnet 416B of length near the length direction length overall of rotary part 417.Magnet 423B also forms roughly the same length.

And, in this variation, form the structure of not using fixed part 419 and 420.That is, rotary part 417 forms the internal diameter roughly chimeric with the outer peripheral face of leading section 405, so that can rotate freely on the outer peripheral face of leading section 405.During this situation, if directly keep this state, then rotary part 417 might be from leading section 405 along leading section 405 length direction move, but because all sides dispose Magnet 423B within it, so, can limit moving along its length by the magnetic force of Magnet 416B and this Magnet 423B.

According to this variation, have and to improve revolving force, and rotary part 417 is fixed into rotatable effect freely on leading section 405, and do not have the mechanical constraint that causes because of fixed part 419 and 420.

Therefore, this variation can simplified structure, and makes Magnet 423B sideway swivel, thereby can make rotary part 417 with bigger power rotation.And, do not use fixed part 419,420, easily loading and unloading rotary part 417 on leading section 405.

Figure 97 represents the 4th variation.This variation utilizes Magnet 416B to constitute rotary part 417 integral body in the 3rd variation.According to this variation, can improve revolving force.In addition have the effect identical with the 3rd variation.

Figure 98 represents the 5th variation.This variation makes the fixed part 420 of the front among the embodiment 8 be transparent component, and is provided with the 420b of semi-spherical shape portion that the front that makes fixed part 420 forms semi-spherical shape.According to this variation, can guarantee to use the observation of endoscope 402, and, can guarantee to contact with the slyness of body cavity walls by making front form semi-spherical shape.And, if fixed part 419 also forms spheroid 419a towards rear side, then when extracting endoscope 402, can carry out smoothly.

Figure 99 represents the 6th variation.This variation for example constitutes in the 5th variation shown in Figure 98, has deleted teat 421 from fixed part 420, makes this fixed part 420 can be with rotary part 417 (with rotary part 417) rotation integratedly.And, utilize transparent component to form this rotary part 417, the helical form jut 418 with the outer peripheral face of rotary part 417 is arranged to front simultaneously.

According to this variation, can improve propulsive force.In addition have the effect identical with the 5th variation.Figure 100 and Figure 101 represent the 7th variation.This variation constitutes in the structure of embodiment 8 magnetic bearing is set, so that the central shaft of rotary middle spindle and endoscope 402 can not produce skew.Specifically, in the leading section 405 of endoscope 402, annular recessed portion is set respectively, ringshaped magnet 431a, 431b are installed respectively near front end with near on each outer peripheral face position of rear end.

And, in rotary part 417 sides, on the inner peripheral surface of the both sides, front and back of Magnet 416, annular recessed portion is set, ringshaped magnet 432a, 432b are installed, with opposed with above-mentioned Magnet 431a, 431b respectively respectively.

Magnet 431a, the 431b of this moment form different magnetic poles in the inboard and the outside of radial direction shown in Figure 101.Specifically inboard is that the N utmost point, the outside are the S utmost point.On the other hand, Magnet 432a, 432b form different magnetic poles in the inboard and the outside of radial direction shown in Figure 101, and be set to and Magnet 431a, 431b between produce repulsion.Specifically inboard is that the S utmost point, the outside are the N utmost point.

Therefore, to working at the opposed Magnet 431a of front, 432a repulsion, to also being that repulsion works at the opposed Magnet 431b of rear end side, 432b, rotary part 417 sides are retained as the state that floats from the outer peripheral face of leading section 405.Thus, rotary part 417 can not rotate with endoscope 402 contiguously, so rotation efficiency is good.

Figure 102 and Figure 103 represent the 8th variation.The 8th variation shown in Figure 102 constitutes in the structure shown in Figure 103, opposed Magnet 431a and 431b and Magnet 432a and the 432b configuration of staggering on the length direction of leading section 405.Specifically, will be located at the Magnet 431a of leading section 405 sides of endoscope 402, the interval of 431b, set greater than the Magnet 432a that is located at rotary part 417 sides, the interval of 432b.And, when the user has installed the rotary part 417 that can rotate freely on the outer peripheral face of leading section 405, shown in Figure 102,, Magnet 432a, 432b are staggered (Δ specifically only staggers) a little and mutually opposed in the Magnet 431a that installs with large-spacing, the inboard of 431b.

By forming this structure, can obtain the effect shown in Figure 103.

For example for rotary part 17 sides, shown in the left side among Figure 103, even the external force that moves to its front is worked and rotary part 17 sides are moved by the lateral deviation of forward end shown in the arrow, by means of at the opposed Magnet 431a of front, 432a, (because of this skew approaching, thereby) stronger magnetic repulsion force also works.Therefore, shown in the right side among Figure 103, by means of this magnetic repulsion force, rotary part 417 turns back to the state before the skew.To the back-end during side shifting, the return force of same magnetic works at rotary part 417.

Therefore, do not need the fixed part in the structure 419 and 420 shown in Figure 100.

According to this variation, do not use fixed part 419,420, utilize simple structure rotary part 417 can be held in and can rotate freely.

Figure 104 represents the 9th variation.It is identical with the 7th variation that this variation constitutes, and uses bearing to keep rotary part 417, so that the central shaft of rotary middle spindle and endoscope 402 can not produce skew.Specifically, shown in Figure 104, when forward end 405 mounting rotating units 417, use bearing 434.

That is, bearing 434 is installed on leading section 405, then this bearing 434 is inserted between leading section 405 and the rotary part 417 mounting rotating unit 417.In this variation, because bearing 434 is difficult to cleaning, so use disposable bearing 434

According to this variation, compare the situation of embodiment 8, can more reliably rotary part 417 be held in and can rotate freely.

Figure 105 and Figure 106 represent the 10th variation.This variation is used a plurality of rollers (or needle bearing) 435 based on the reason identical with the 7th variation when mounting rotating unit 417.In Figure 105, for example utilize three locational blocks 436 on the inner peripheral surface that is located at rotary part 417 that 3 rollers 435 are held in and can rotate freely.

During this situation, shown in Figure 106, roller 435 can be inserted in the block 436 of the inner peripheral surface of being located at rotary part 417, leading section 405 insertions with endoscope 402 get final product then.In addition, also can be under the state that roller 435 is inserted into midway, with leading section 405 insertions of endoscope 402.

According to this variation, compare the situation of embodiment 8, can more reliably rotary part 417 be held in and can rotate freely.

In addition, the quantity of roller 435 also can be more.

Figure 107 represents the 11st variation.This variation is used ball bearing 438 based on the reason identical with the 7th variation when mounting rotating unit 417.

In this variation, for example in fixed part 419 and 420 with 417 opposed of rotary parts on a plurality of positions, for example on three, four positions, form the recess more bigger than hemisphere, ball 439 can taken in with rotating freely by portion within it.

And, rotary part 417 with fixed part 419 and 420 opposed on, upwards form the annular recessed portion more smaller in week respectively, and be formed with the ball bearing 438 that contacts with ball 439 with rotating freely than hemisphere.

In this variation, also can reliably rotary part 417 be held in and can rotate freely.

The following describes the 12nd variation.This variation in the outer peripheral face of the leading section 405 of endoscope 402 and the contact portion of rotary part 417, is formed with for example special teflon of the less parts of coefficient of friction (registered trade mark) film by applying to wait in the structure of embodiment 8.According to this variation, also can reduce friction, improve sliding, rotary part 417 is rotated smoothly.Below with reference to Figure 108 the 13rd variation is described.This variation is equivalent to for example variation of structure shown in Figure 109.In the structure shown in Figure 99, moving that rotary part 417 is distolateral forward is not subjected to mechanical constraint, so if do not use for example big Magnet shown in Figure 96, then might move from desired position.

Therefore, in this variation,, also can limit rotary part 417 forward end side shiftings even under the situation of having used small magnet.

Shown in Figure 108 and Figure 109, circumferential a plurality of positions in the rear surface of rotary part 417, utilize elastomeric element be provided with from this rotary part 417 axially to the tiltedly outstanding axial region 441 of central shaft inclination of the leading section 405 of endoscope 402, the roller or the tire 442 that can rotate freely are installed on this axial region 441.

And tire 442 is by the application of force, make endoscope 402 leading section 405 outer peripheral face with engaged for the circumferential groove 443 that semi-spherical shape roughly forms by otch.Therefore, tire 442 flexibly is crimped on the inwall of circumferential groove 443, can engage with rotating freely, limits rotary part 417 forward end side shiftings simultaneously.

According to this variation, have the function that moves anti-locking mechanism that prevents that rotary part 417 from moving forward and backward, can utilize tire 442 that rotary part 417 is held in and can successfully rotates freely as having used bearing.

Figure 110 represents the 14th variation.This variation divides at the front end opening of passage 413 to form screwed hole portion 445 in the structure of embodiment 8, utilizes hole or the screwed hole of fixing screw 446 by fixed part 420, and the fixed part 420 of front is fixed on the leading section 405.

Promptly, in embodiment 8, form and utilize the structure be pressed into etc. in the front opening that embedded mode is fixed on the fixed part 420 of front in passage 413, but in this variation, the front opening of the passage of using in therapeutic appliance 413 is provided with screwed hole portion 445, and it is fixed to form screw.

According to this variation, can be fixed on fixed part 420 more securely on the leading section 405, therefore can prevent rotary part 417 forward end side shiftings more reliably.

Figure 111 represents the 15th variation.This variation is provided with external thread part 451 on the front outer peripheral face of the leading section 405 of endoscope 402.And, the internal thread part 454 that is provided with on the inner peripheral surface of this external thread part 451 and the cylinder 453 that has flange 452 in the front end periphery is screwed togather, thereby this cylinder 453 is fixed on the outer peripheral face of leading section 405.

And, utilize the flange 452 of this cylinder 453 and fixed part 419 that rotary part 417 is held in and can rotates freely, and restriction rotary part 417 moving on its length direction.According to this variation, can prevent reliably that fixed part 420 from moving from desired position of rotation.

Figure 112 represents the 16th variation.In this variation, as the teat among the embodiment 8 421, form the shape chimeric, and extension 456 is set rearward from this teat 421 with the front opening of passage 413.This protuberance 456 by being connected from inserting the outstanding link 457 of front end that leads to the Magnet 423 in passage 413 with rotating freely.Specifically, wide diameter portion is set, takes in the hollow bulb of this wide diameter portion in the front end setting of link 457, and can connect mutually with rotating freely in the rear end of protuberance 456.Therefore, Magnet 423 sides are retained with respect to extension 456 sides and can rotate freely.According to this variation, can be easily the Magnet 423 in the passage 413 be configured on the position of Magnet 416 of rotary part 417.This variation has the effect identical with the 15th variation.

(embodiment 9)

Below, with reference to Figure 113 and Figure 114 embodiments of the invention 9 are described.Figure 113 represents the endoscope insertion auxiliary device of embodiments of the invention 9.The endoscope insertion auxiliary device 403 of present embodiment is identical with embodiment 8, has rotary part 417 and fixed part 419 and 420.

On the other hand, on the outer peripheral face of the leading section 405 of endoscope 402, the magnetic field that setting has an embodiment 8 applies the electric magnet 461 of the function of parts 415, the position of this electric magnet 461 is opposed with the Magnet of being located on the rotary part 417 at the outer circumferential side of this electric magnet 461 416, utilizes direct drive mode to make Magnet 416 rotations of rotary part 417.

That is, use rotary part 417 and the fixed part 419,420 identical with embodiment 8.In the present embodiment, the difference with embodiment 8 is to be built-in with the electric magnet 461 that tool produces the rotating excitation field effect in endoscope 402.Electric magnet 461 is sealed, so that moisture can not enter from the outside.

Figure 114 represents the schematic diagram of movements of direct drive mode in this case.

Identical with the rotary magnet mode, a plurality of electric magnet 461 that produce magnetic field diametrically of configuration in ringshaped magnet 416.By changing the magnetic field that produces by electric magnet 461, can make cyclic Magnet 416 rotations.Shown in Figure 113, dispose this electric magnet 461 in endoscope's 402 sides, thereby constitute the rotating mechanism that makes rotary part 417 rotations that are provided with Magnet 416.In addition, the holding wire that is connected with electric magnet 461 is inserted and is led to endoscope 402 inside, and the supply unit that produces usefulness with rotating excitation field is connected.

Other structures are identical with the structure of explanation in embodiment 8, and identical element is given identical symbol and omitted explanation.The side view of present embodiment and front view are identical with Figure 89 and Figure 90 among the embodiment 8, so the diagram of omission.

Present embodiment has following effect.

Though must be with endoscope 402 as special designs, identical with embodiment 8, easily rotary part 417 and endoscope 402 are formed watertight structure respectively.

In addition, as the variation of present embodiment, except the 1st variation～the 3rd variation of embodiment 8, can directly use the 4th variation～the 15th variation.

(embodiment 10)

Below, with reference to Figure 115～Figure 118 embodiments of the invention 10 are described.The endoscope insertion auxiliary device that Figure 115 represents to have embodiment 10 is installed in the cross-section structure under the state in the endoscope, Figure 116 represents the front view of Figure 115, Figure 117 represents the perspective view of the state in the endoscope that endoscope insertion auxiliary device is installed in, and Figure 118 represents to rotate the schematic diagram of driving.

Endoscope apparatus 471 with present embodiment is made of the endoscope 402 and the endoscope insertion auxiliary device 473 that can freely load and unload in this endoscope 402.

Be a passage 413 in the endoscope shown in the embodiment 8 402, but the endoscope 402 of this embodiment form the structure with a plurality of passage 413a and 413b.At this moment, for example shown in Figure 116, above-below direction is provided with symmetrically on central shaft on the front end face of leading section 405 for passage 413a and 413b.Other structures of endoscope 402 are identical with the endoscope 402 shown in the embodiment 8, so use the same-sign explanation.

And, be connected with rotating excitation field in each passage 413a, 413b interpolation and apply parts 474a, 474b.Rotating excitation field applies parts 474a, 474b and at the front end of flexible axle 475a, 475b bar-shaped Magnet 476a, 476b is installed, and the rear end of flexible axle 475a, 475b connects motor 477a, 477b respectively.

And motor 477a, 477b connect rotation control circuit 478, are located at guidance panel 479 on this rotation control circuit 478 by operation, motor 477a, 477b are in phase rotated or anti-phase the rotation with synchronous regime.

And, in the present embodiment, on the outer peripheral face of the leading section 405 of endoscope 402, cylindrical shell 481 is installed.This cylindrical shell 481 has the internal diameter chimeric with the outer peripheral face of leading section 405, and leading section 405 is inserted in this cylindrical shell 481.

Become when the insertion leading section 405 of cylindrical shell 481 on the end face (front end face) of depths side and for example be provided with teat 482a, 482b, by these teats 482a, 482b are pressed into respectively among passage 413a, the 413b, cylindrical shell 481 is fixed on the leading section 405.And, shown in Figure 116, on the front end face of this cylindrical shell 481, be provided with opening 481a with illuminating window and the opposed part of observation window at least.

And, shown in Figure 117,, utilize support frame 485 becoming Magnet ratch tire (or roller) 483a, the 483b of rotary body and pseudo-tire (roller) 484a, the 484b of non-Magnet is held in and can rotates freely at the outer circumferential side of cylindrical shell 481.

More particularly, be provided with to the outstanding support frame 485a of radius lateral direction on everywhere, be provided with cyclic support frame 485b continuously at the front end of each support frame 485a the circumferential of the outer peripheral face of cylindrical shell 481.On cyclic support frame 485b,, respectively tire 483a, the 483b of magnetic annulus made of iron or circular plate shape and non-magnetic pseudo-tire 484a made of iron, 484b are mounted to and can rotate freely at opposed two places of above-below direction and opposed two places of left and right directions.

Therefore, shown in Figure 116, magnetic tire 483a made of iron, 483b with the passage 413a, the 413b that are disposed at its inboard endoscope 402 in the approaching state of Magnet 476a, 476b opposed.And,, can make magnetic tire 483a made of iron, 483b rotation respectively by utilizing motor 477a, 477b to make to be disposed at Magnet 476a, the 476b rotation in passage 413a, the 413b.At this moment, motor 477a, 477b rotate along being driven in the other direction respectively, so magnetic tire 483a made of iron, 483b are each other along opposite spin.

Figure 118 represents the field structure of Magnet 476a (476b is also identical) and tire 483a (483b is also identical) and the schematic diagram that rotation drives.

Bar-shaped Magnet 476a who rotates around length direction is geomagnetic into the magnetic pole that alternately forms N, S with respect to this rotating shaft obliquely.Relative therewith, the ringshaped magnet that constitutes tire 483a is geomagnetic into the magnetic pole that alternately forms N, S on circumferentially.

Therefore, by making bar-shaped Magnet 476a rotation, on the ringshaped magnet that constitutes tire 483a, periodically change in its magnetic field of magnet segment near Magnet 476a.Can utilize this magnetic field that periodically changes, for example by making tire 483a rotation shown in the arrow.

The effect of present embodiment is as follows.The insertion section 404 of endoscope 402 is inserted in the body cavity from front.And user's operating operation panel 479 makes motor 477a, 477b along opposite spin.

Like this, bar-shaped Magnet 476a, the 476b that is configured in passage 413a, the 413b rotates mutually in opposite direction.And shown in the schematic diagram of Figure 118, magnetic tire 483a made of iron, 483b are mutually along opposite spin.

Therefore, the outer circumferential side of tire 483a, 483b is brought into play the forwards cylindrical shell 481 of the inboard of pushing body intracavity wall and the effect of leading section 405 sides.

And, because tire 483a, 483b are moved independently, so can change direct of travel.

For example, operating operation panel 479, set the rotary speed of motor 477a side less than the rotary speed of motor 477b side, thereby the rotary speed of tire 483a of upside that can make leading section 405 and advance along the direction of lateral bending song upwards less than the rotary speed of the tire 483b of downside.

Present embodiment has following effect.

If make the bearing portions of tire 483a, 483b form the simple structures such as sliding bearing of employing low-friction material, then cleaning is good.And, as mentioned above, because tire 483a, 483b are moved independently, so can change direct of travel.

With reference to Figure 119 and Figure 120 the 1st variation is described.Figure 119 utilizes profile to represent the structure of the 1st variation.This variation replaces tire 483a, the 483b among the embodiment 10, and paired Magnet system roller 491a, 492a and 491b, the 492b that can rotate freely have been installed along its length.

Promptly, be equivalent on the position of above-below direction at (opposed) on the outer peripheral face of cylindrical shell 481 with passage 413a, 413b, length direction along cylindrical shell 481 is provided with recess (slot part), in each groove, take in magnetic roller 491a made of iron, 492a and 491b, 492b, and they are supported to and can rotate freely.

And, between paired roller 491a, 492a, set up the crawler belt 493a of belt shape, between roller 491b, 492b, set up crawler belt 493b, form crawler type driving mechanism 494a, 494b.

And, shown in Figure 120, replace tire 484a, 484b among the embodiment 10, paired non-Magnet system roller 491c, 492c and 491d, the 492d that can rotate freely have been installed along its length.In addition, in Figure 120, roller 491d, 492d are at the opposition side of roller 491c, 492c, so do not illustrate.

And, between paired roller 491c, 492c, set up crawler belt 493c, between roller 491d, 492d, set up crawler belt 493d, form pseudo-crawler type driving mechanism 494c, 494d.Herein, crawler belt 493d and crawler type driving mechanism 494d do not occur in the accompanying drawings.

And, in embodiment 10, bar-shaped Magnet 476a, 476b with the opposed part of tire 483a, 483b near be magnetized, but in this variation, form with roller 491a, 492a and the opposed part of roller 491b, 492b respectively and be tilted magnetized bar-shaped Magnet 476a ', 476b '.

Other structures are identical with embodiment 10.According to this variation, the length direction of leading section 405 is provided with paired roller 491a, 492a etc. respectively, so compare embodiment 10, can more stably advance leading section 405 sides.In addition have the effect identical with embodiment 10.

With reference to Figure 121～Figure 123 the 2nd variation is described.Figure 121 utilizes profile to represent the structure of the 2nd variation.This variation is provided with driving mechanism 495a, the 495b of crank push-press type, replaces the crawler type driving mechanism in the 1st variation.

Promptly, shown in Figure 121 and Figure 122, on the position that is equivalent to above-below direction in cylindrical shell 481, and recess (slot part) is set along the length direction of cylindrical shell 481, two places are taking in magnetic wheel 496a made of iron, 497a and 496b, 497b respectively in front and back, and each wheel h (h=496a, 497a, 496b, 497b) is supported in cylindrical shell 481 and can rotate freely.

H is provided with crank mechanism at each wheel, and by the rotation of wheel h, the push rod 498 that an end is connected with wheel h can freely be given prominence to or the recess that submerges (can freely change overhang) from recess.Each push rod 498 keeps in the cylindrical shell 499 by bar, is kept cylindrical shell 499 to be held in and can be free to slide by bar.

Figure 123 represents the schematic diagram of crank push-press type driving mechanism.Shown in this Figure 123, wheel h rotates roughly half-turn, and push rod 498 is outstanding to oblique rear side, and overhang becomes greatly gradually, so its front end pushes body cavity walls w to oblique rear side.Therefore, be provided with the cylindrical shell 481 of this wheel h and leading section 405 sides by body cavity walls w to become oblique lower side to the front side pushing.

Figure 123 represents for example to be located at the 496a of the outer peripheral face upside of leading section 405, the situation of 497a, 496b, the 497b of the outer peripheral face downside by being located at leading section 405 equally, and cylindrical shell 481 and leading section 405 sides are by to becoming the front side pushing of tiltedly going up side direction.That is, cylindrical shell 481 and leading section 405 are advanced mobile by thruster forwards.

And as described in Example 10, by operating operation panel 479, the rotary speed of control motor 477a, 477b also can change propulsive direction.In addition have the effect identical with variation 1.

In addition, wait the embodiment that carries out formations such as part combination to wait to above-mentioned each embodiment and also belong to the present invention.

By making the rotations such as front end component that are provided with the helical structure body, can obtain bigger propulsive force, can wait the insertion of carrying out endoscope smoothly in vivo.

Claims (49)

1. endoscope insertion auxiliary device, this device has:

Flexible pipe;

Front end component, it is located at the front end of described pipe, and external diameter is more than or equal to the external diameter of described pipe; And

The helicoidal structure body, it is located at the outer peripheral face of described pipe.

2. endoscope insertion auxiliary device according to claim 1 is provided with the helicoidal structure body on the outer peripheral face of described front end component.

3. endoscope insertion auxiliary device according to claim 1, described front end component has the through hole that is communicated with the hollow bulb of described pipe, and the insertion section of endoscope can be inserted from the end side of described pipe and be led to the through hole.

4. endoscope insertion auxiliary device according to claim 2, described front end component has the through hole that is communicated with the hollow bulb of described pipe, and the insertion section of endoscope can be inserted from the end side of described pipe and be led to the through hole.

5. endoscope insertion auxiliary device according to claim 1, this device have the rotary drive unit that drives described pipe rotation.

6. endoscope insertion auxiliary device according to claim 3, this device have the rotary drive unit that drives described pipe rotation.

7. endoscope insertion auxiliary device according to claim 1, this device has the change unit, and it can change described helicoidal structure body at least one side's who is located at described pipe and described front end component the outer peripheral face from the outstanding height of described outer peripheral face.

8. endoscope insertion auxiliary device according to claim 3, this device has the change unit, and it can change described helicoidal structure body at least one side's who is located at described pipe and described front end component the outer peripheral face from the outstanding height of described outer peripheral face.

9. endoscope insertion auxiliary device according to claim 1, the external diameter of described front end component can change.

10. endoscope insertion auxiliary device according to claim 2, the external diameter of described front end component can change.

11. endoscope insertion auxiliary device according to claim 1, the described helical structure body that is located on the outer peripheral face of described pipe is a hollow structure.

12. endoscope insertion auxiliary device according to claim 7, the described helicoidal structure body that is located at least one side's the outer peripheral face of described pipe and described front end component is a hollow structure, utilizes the fluid that provides from the front operating portion by this hollow bulb to drive described change unit.

13. endoscope insertion auxiliary device according to claim 1, this device has bending mechanism, and it makes at least one side of described pipe and front end component crooked.

14. endoscope insertion auxiliary device according to claim 13, described bending mechanism are to use, and parts that voltage shrinks constitute by applying.

15. endoscope insertion auxiliary device according to claim 13, described bending mechanism is located near the front end of described pipe.

16. endoscope insertion auxiliary device according to claim 13, described bending mechanism is at least one direction bending.

17. endoscope insertion auxiliary device according to claim 13, described bending mechanism constitute by dragging line and bending at front operating portion layback.

18. endoscope insertion auxiliary device according to claim 13, described bending mechanism can be to a plurality of direction bendings, this endoscope insertion auxiliary device is provided with control unit, even it controls the feasible pipe rotation that makes under the state of bending mechanism bending, bending direction is also constant.

19. endoscope insertion auxiliary device according to claim 13, described bending mechanism can only be to a direction bending, this endoscope insertion auxiliary device is provided with control unit, its control make by rotation, the rotation of carrying out bending, pipe repeatedly stop, bending Solution removes and passes through sweep.

20. endoscope insertion auxiliary device according to claim 3, described pipe with inserted the position that logical curvature section of endoscope overlaps near, by constituting than the softish material of part in addition.

21. constitute by flexible material near the endoscope insertion auxiliary device according to claim 3, described pipe and connecting portion described front end component, thereby can be crooked.

22. endoscope insertion auxiliary device according to claim 5, described rotary drive unit utilize the revolving force of motor to drive described pipe rotation.

23. endoscope insertion auxiliary device according to claim 22, described motor has the rotating shaft of hollow, can be used for the insertion section of endoscope inserted leading in wherein.

24. a plurality of electric magnet that endoscope insertion auxiliary device according to claim 5, described rotary drive unit use a plurality of electric magnet on the outer peripheral face of being located at pipe and be located at the outer circumferential side of described a plurality of electric magnet constitute.

25. endoscope insertion auxiliary device according to claim 5, described rotary drive unit has the rotation limiting unit, and when the torque more than setting was worked, this rotation limiting unit limited the rotation of described pipe side.

26. two disk-like members that endoscope insertion auxiliary device according to claim 25, described rotation limiting unit use rubbing surface to be crimped constitute.

27. endoscope insertion auxiliary device according to claim 25, described rotation limiting unit comprises: two disk-like members that are crimped; And link, it is held in connection status with two disk-like members and can utilizes suitable torque that they are separated.

28. endoscope insertion auxiliary device according to claim 25, described rotation limiting unit has: the pick off that detects torque; And control unit, its output according to described pick off stops the rotation driving of rotary drive unit.

29. endoscope insertion auxiliary device according to claim 25, described rotation limiting unit comprises: a plurality of cylinder parts of its length direction configuration in the outer peripheral face upper edge of described pipe; Be located at the helicoidal structure body on the outer peripheral face of each cylinder part respectively.

30. endoscope insertion auxiliary device according to claim 1, being shaped as towards the described external diameter of front end of described front end component diminishes.

31. endoscope insertion auxiliary device according to claim 1, described front end component are more near the more little cone-shaped of front end external diameter.

32. endoscope insertion auxiliary device according to claim 1, described front end component is by can be by external force and the flexible material of passive bending constitutes.

33. endoscope insertion auxiliary device according to claim 1, the external diameter that is shaped as of described front end component is cyclically-varying.

34. endoscope insertion auxiliary device according to claim 1, the hardness that is shaped as of described front end component is cyclically-varying.

35. endoscope insertion auxiliary device according to claim 1, described front end component constitute hardness soft more to front end more, change continuously towards the rear end.

36. endoscope insertion auxiliary device according to claim 1, the surface of described front end component has been implemented lubricated.

37. endoscope insertion auxiliary device according to claim 1, described front end component constitute the diameter of external diameter and described pipe is roughly the same or connect into and can rotate freely greater than a plurality of hollow pearl bodies of its diameter.

38. endoscope insertion auxiliary device according to claim 12, the helicoidal structure body of being located at the outer peripheral face of described pipe is formed by hollow pipe respectively with the helicoidal structure body of being located at the outer peripheral face of described front end component, and two hollow pipes are communicated with.

39. endoscope insertion auxiliary device according to claim 9, the unit that changes the external diameter of described front end component comprises: the gas cell of being located at the outer peripheral face of described front end component; With the supply deliverying unit that described gas cell is carried out fluidic supply and discharge.

40. having, endoscope insertion auxiliary device according to claim 3, this device between the inner peripheral surface of the outer peripheral face of described insertion section and described pipe, supply with fluidic unit.

41. airtightly between the endoscope insertion auxiliary device according to claim 3, the outer peripheral face of described insertion section and the inner peripheral surface of described pipe become can rotate freely, lubriation material has been filled in its inside.

42. endoscope insertion auxiliary device according to claim 3 also is inserted with between the inner peripheral surface of the outer peripheral face of described insertion section and described pipe and is retained the pipe that can rotate freely.

43. endoscope insertion auxiliary device according to claim 1, this device has the maintenance body, and it is installed in the side of front of the insertion section of endoscope, and the described pipe that keeps movably being provided with described helicoidal structure body makes it.

44. according to the described endoscope insertion auxiliary device of claim 43, described maintenance body has the rotary drive unit that drives described pipe rotation.

45. endoscope insertion auxiliary device according to claim 1, the described pipe that is provided with described helicoidal structure body can be inserted in the passage that leads to endoscope.

46. endoscope insertion auxiliary device according to claim 7, this device have after inserting body cavity the helical structure body from the mechanism that pipe unloads, and make the described pipe smooth unit that flattens as the height of eliminating described helical structure body.

47. endoscope insertion auxiliary device according to claim 1, the endoscope that is inserted into after described endoscope insertion auxiliary device inserts is to have the special-purpose endoscope that can plug the cross sectional shape of described endoscope insertion auxiliary device from lower side.

48. endoscope insertion auxiliary device according to claim 1, when described endoscope insertion auxiliary device inserts back insertion endoscope, overlapping other pipe on described pipe, eliminate because of described helical structure body form concavo-convex, the insertion of endoscope is carried out smoothly.

49. endoscope insertion auxiliary device according to claim 3, the through hole that is communicated with described pipe and described front end component can be used as endoscope path way, is used for therapeutic appliance inserted leading in wherein.

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