WO2006104057A1

WO2006104057A1 - Medical instrument insertion device and medical instrument insertion device system

Info

Publication number: WO2006104057A1
Application number: PCT/JP2006/306009
Authority: WO
Inventors: Shinsuke Tanaka; Hironobu Takizawa
Original assignee: Olympus Corporation
Priority date: 2005-03-28
Filing date: 2006-03-24
Publication date: 2006-10-05
Also published as: JP2006305320A

Abstract

A medical instrument insertion device and a medical instrument insertion device system, enabling an insertion section to be reliably advanced in a stable state in a body by using a simple mechanism. The medical instrument insertion device has a spiral structure section provided on an elongate insertion section (10); a holding section (30) for holding the insertion section (10) so that the insertion section (10) can be advanced and retreated in the direction of a predetermined axis; and a rotation drive section (20) for rotating the holding section (30) about the predetermined axis. The construction improves operability of the insertion of the insertion section (10), which enables the insertion section (10) to be reliably inserted into a body cavity without requiring an operator to perform complex operation and to be skilled.

Description

Specification

Medical instrument insertion device and medical instrument insertion device system

Technical field

The present invention relates to a medical instrument insertion device and a medical instrument insertion device system for inserting a medical instrument such as an endoscope into a curved body cavity such as the large intestine.

Background art

[0002] Normally, in order to insert an endoscope into a deep part of a body cavity duct such as the large intestine, it is necessary to pass through a complicated curved part such as a sigmoid colon, and the operator who uses it requires skill. . Various inventions that facilitate the insertion of such endoscopes have been disclosed.

[0003] For example, in Patent Document 1 as a first conventional example, the entire insertion portion of an endoscope is formed in a spiral shape, and the insertion portion is rotated by a needle provided at an outer end portion of the insertion portion. Thus, a large intestine fiberscope is disclosed in which the insertion of an endoscope into the large intestine is improved. Patent Document 2 as a second conventional example discloses a large intestine fiberscope inductor in which a large number of cylinders and rings (rings) are connected and a spiral member is provided on the outside thereof. Here, the insertion part of the endoscope is passed through the inside of the cylinder and the ring, and the connecting body of the cylinder and the ring is rotated to facilitate the insertion of the endoscope into the large intestine. Further, Patent Document 3 as a third conventional example discloses an endoscope insertion device that performs an advance / retreat operation and a twist operation with respect to an insertion portion of an endoscope. Here, among the plurality of balls that press the endoscope insertion portion, the ball connected to the motor rotates in the axial direction of the insertion portion or in a direction perpendicular to the axial direction. Twisting motion is being performed.

Patent Document 1: Japanese Patent Laid-Open No. 54-78884

Patent Document 2: Japanese Utility Model Publication No. 51-73884

Patent Document 3: Japanese Patent Laid-Open No. 3-92126

Disclosure of the invention

Problems to be solved by the invention

[0004] However, in the first conventional example and the second conventional example, in order to transmit the rotational force at the rear end portion of the endoscope, the inner portion provided with the anal portion and the rotation transmitting portion as the insertion port is provided. Between the rear end of the endoscope, It is difficult to improve operability because the insertion part causes unstable movement or twists. In order to improve the stability of the insertion portion, bringing the rotation drive portion closer to the insertion port leads to shortening the overall length of the insertion portion. Therefore, it is necessary to insert the insertion portion into a deep portion of the body cavity duct. Make it difficult. Further, in the third conventional example, since the force for propelling the endoscope is not output beyond a certain value, for example, when the insertion portion of the endoscope is inserted deep in the body cavity duct, etc. When the frictional force generated between the insertion portion and the inner wall of the body cavity is increased, there is a problem that the propulsive force is insufficient. In order to make up for the lack of propulsive force in the insertion section, making a powerful actuator such as a motor that generates propulsive force leads to an increase in the size of the entire apparatus, resulting in an increase in cost or low operability. Leading down. In addition, since the advancement / retraction operation and torsional operation of the insertion portion are performed by separate motors, the drive mechanism tends to be complicated.

[0005] The present invention has been made in view of the above-described points, and a medical instrument insertion device and a medical instrument insertion device system capable of reliably propelling the body with a simple mechanism while the insertion portion is stabilized. The purpose is to provide.

Means for solving the problem

In order to achieve the above object, the present invention provides the following means.

The present invention provides a helical structure provided in an elongated insertion portion, a holding means for holding the insertion portion so as to advance and retreat along a predetermined axial direction, and the holding means around the predetermined axis. Provided is a medical instrument insertion device characterized by comprising a rotation drive unit for rotation.

[0007] According to the above configuration, the holding means holds the insertion portion so as to be able to advance and retreat in the axial direction while being held at a fixed position with respect to the subject. Here, since the insertion portion is held by the holding means, it rotates following the rotation of the holding means. Therefore, in the intraluminal duct, the insertion portion moves smoothly when the helical structure rotates in contact with the inner wall of the duct.

[0008] Further, according to the medical instrument insertion device of the above invention, the holding means has the resistance portion, the resistance portion is provided at a position in contact with the insertion portion, and the resistance portion moves along the predetermined axis. It is desirable that it is possible. According to the above configuration, the resistance portion rotates as the holding means rotates. Roll. At this time, since the resistance portion is in contact with the insertion portion, the insertion portion also rotates as the resistance portion rotates. As a result, when a part of the insertion part is in the body cavity, a propulsive force is generated in a part of the insertion part. Also, since the resistance portion moves along a predetermined axis, even if the insertion portion moves along the predetermined axis, the resistance portion only moves together with the insertion portion. Therefore, the holding means and the rotation driving unit are not moved by being moved by the movement of the insertion unit. Therefore, the positions of the holding means and the rotation driving unit can always be kept at a fixed position.

[0009] Further, it is preferable that the resistance portion generates a force that resists in a direction substantially perpendicular to the direction of the predetermined axis. According to the above configuration, the rotation of the rotation drive unit is reliably transmitted to the insertion unit by the resistance unit.

[0010] According to the medical instrument insertion device of the above invention, it is preferable that the resistance portion is a belt having a convex portion intermittently in a direction along a predetermined axis. According to the above configuration, it is possible to limit the advance / retreat direction of the insertion portion.

[0011] According to the medical instrument insertion device of the present invention, it is preferable that the resistance portion is a rotating member having a rotating shaft in a direction substantially perpendicular to the predetermined axial direction. According to the above configuration, it is possible to provide means for limiting the advancing / retreating direction of the insertion portion.

[0012] According to the medical instrument insertion device of the present invention, the holding means may be provided with a magnetic field generation unit. According to the above configuration, the holding unit can have a simple structure.

[0013] Further, according to the medical instrument insertion device of the present invention, it is preferable to have an outer diameter varying means for varying the outer diameter of the helical structure portion. According to the above configuration, since the contact between the spiral structure portion and the body tissue surface can be made appropriate, the insertion portion can be reliably propelled.

[0014] The present invention also provides an elongated insertion portion, a spiral structure portion provided in the insertion portion, a holding means for holding the insertion portion so as to advance and retreat along a predetermined axial direction, and the holding means. There is provided a medical instrument insertion device system comprising: a rotation drive unit that rotates a rotation around a predetermined axis; and a medical device that is guided by the insertion unit and inserted into a body cavity.

[0015] According to the above configuration, the holding means holds the insertion portion so that the insertion portion can advance and retreat in the axial direction. The rotation drive unit rotates the holding means while being held at a certain position with respect to the subject. Here, when the insertion part is held by the holding means, the insertion part rotates following the rotation of the holding means. Further, when the spiral structure portion is provided in the insertion portion, the insertion portion is smoothly propelled or retracted in the body cavity by rotating the spiral structure portion in contact with the inner wall of the conduit. .

[0016] Further, according to the medical instrument insertion device system of the above invention, the holding means is movable in the longitudinal direction of the insertion portion, and resists the spiral structure substantially perpendicularly to the longitudinal direction of the insertion portion. It is preferable to provide. According to the above configuration, rotation is reliably transmitted to a medical device such as an endoscope by the resistance portion provided in the holding unit.

[0017] According to the medical instrument insertion device of the above invention, the holding means may be provided with a magnetic field generation unit, and the insertion unit may be provided with a magnet or a magnetic material. By adopting such a configuration, the configuration of the holding means can be simplified.

The invention's effect

[0018] As described above, according to the medical instrument insertion device of the present invention, the rotational motion is transmitted to the insertion portion in the vicinity of the insertion port, so that the insertion portion outside the body may perform an unstable motion or twist. First, the insertion portion can be inserted into the body cavity in a stable state. As a result, the operability of the insertion is improved, so that the insertion portion can be reliably inserted into the body cavity without requiring a complicated operation or skill from the operator.

[0019] Further, according to the medical instrument insertion system of the present invention, for the same reason as the above effect, the insertion part for assisting the insertion of the medical instrument into the body cavity duct is stably placed in the body cavity. Can be inserted. As a result, the operability of insertion is improved, so that it is possible to reliably insert the insertion portion and the medical instrument into the body cavity without requiring complicated operations and skill from the operator.

Brief Description of Drawings

FIG. 1 is a diagram showing a state where an insertion portion of a medical instrument insertion device system of the present invention propels a body cavity duct.

[FIG. 2-1] FIG. 2-1 is a diagram for explaining the outline of the entire configuration of the medical instrument insertion device system according to the first embodiment of the present invention. [Fig. 2-2] Fig. 2-2 is an enlarged view of the area surrounded by A in Fig. 2-1.

3 is a diagram showing details of a rotation drive unit and a holding unit in the medical instrument insertion device system of FIG. 1.

[FIG. 4-1] FIG. 41 is a longitudinal side view showing the configuration of the endless track portion in the holding portion of FIG.

[Fig. 4-2] Fig. 42 is a longitudinal front view showing the configuration of the endless track portion in the holding portion of Fig. 3.

[FIG. 4-3] FIG. 4 3 is a plan view of the holding belt.

[5] FIG. 5 is a diagram showing a deformation of the latch when the endless track portion is operated.

圆 6] Fig. 6 is a diagram showing the deformation of the latch when the endless track moves in the direction opposite to that of Fig. 5.

7 is a diagram showing a state where an endoscope is inserted into a body cavity duct using the medical instrument insertion device system of FIG. 2. FIG.

FIG. 8-1 is a vertical side view showing the configuration of the rotating member of the holding unit according to a modification of the holding unit of FIG.

[Fig. 8-2] Fig. 8-2 is a longitudinal sectional front view showing the configuration of the rotating member of the holding unit according to a modification of the holding unit of Fig. 3.

[FIG. 9-1] FIG. 9 1 is a diagram showing an internal structure of a holding unit according to a modification of the holding unit of FIG.

FIG. 9-2 is a longitudinal side view showing a latch configuration according to a modified example of the holding portion of FIG.

FIG. 10 is a schematic diagram showing a configuration of a holding unit according to a modification of the holding unit in FIG.

FIG. 11-1 is a schematic diagram showing a configuration of a holding unit according to a modification of the holding unit in FIG.

[FIG. 11-2] FIG. 11 2 is an enlarged cross-sectional view of a part of the central portion.

[FIG. 12-1] FIG. 12-1 is a schematic diagram showing a configuration of a holding unit according to a modification of the holding unit of FIG.

[FIG. 12-2] FIG. 12-2 is an enlarged cross-sectional view of a part thereof. FIG. 13 is a schematic diagram showing an overall configuration of a medical instrument insertion device system according to a second embodiment of the present invention.

FIG. 14 is a diagram showing a configuration of an insertion portion, a hollow shaft motor, and a tubular magnet.

FIG. 15 is a diagram showing an internal configuration of the insertion portion according to a modification of the insertion portion of FIG.

FIG. 16 is a view showing an insertion portion and a rotation drive portion according to a modification of the medical instrument insertion device system of FIG.

FIG. 17 is a schematic diagram showing an overall configuration of a medical instrument insertion device system according to a third embodiment of the present invention.

[FIG. 18-1] FIG. 18-1 is a diagram showing a transmission unit according to the medical instrument insertion device system of FIG.

[FIG. 18-2] FIG. 18-2 is a cross-sectional view showing the configuration of the transmission section.

FIG. 19 is a view showing a state in which forceps are inserted into a body cavity duct using the medical instrument insertion device system of FIG.

FIG. 20 is a schematic diagram showing an overall configuration of a medical instrument insertion device system according to a fourth embodiment of the present invention.

[FIG. 2D] FIG. 21-1 is a cross-sectional view showing details of a rotation transmission system and the like in the medical instrument insertion device system of FIG.

[Fig. 21-2] Fig. 21-2 is a cross-sectional view taken along line AA in Fig. 21-1.

[FIG. 22-1] FIG. 22-1 is a diagram showing the operation of the slider of the rotation transmission system of FIG.

[FIG. 22-2] FIG. 22-2 is a diagram showing the operation of the slider of the rotation transmission system of FIG.

[Fig. 22-3] Fig. 22-3 is a diagram showing the operation of the slider of the rotation transmission system of Fig. 21.

[FIG. 22-4] FIG. 22-4 is a diagram showing the operation of the slider of the rotation transmission system of FIG.

FIG. 23 is a cross-sectional view showing a configuration of a slider according to a modification of the rotation transmission system of FIG.

FIG. 24 is a cross-sectional view showing a configuration of a rotation transmission system according to a modification of the rotation transmission system of FIG.

FIG. 25 is a diagram showing details of a base portion and a rotation transmission system of a medical instrument insertion device system according to a fourth embodiment of the present invention. [FIG. 26-1] FIG. 26-1 is a diagram showing an overall configuration of a medical instrument insertion device system according to a modification of the helical structure of the present invention.

[Fig. 26-2] Fig. 26-2 is an enlarged view of a part of the insertion portion shown in Fig. 26-1.

[FIG. 27-1] FIG. 27-1 is a diagram showing a change in the shape of the helical structure.

FIG. 27-2 is a diagram showing a change in the shape of the spiral structure portion.

[FIG. 27-3] FIG. 27-3 is a diagram showing a change in the shape of the helical structure.

Explanation of symbols

1, 100, 150, 200, 300 ... Medical instrument insertion device system

10, 110, 160 ... Insertion section

11, 112 ... Helical structure

12 ··· Hollow tube (outer diameter variable means)

20 ... Rotation drive

21 ... Motor

22 pulley

23 ... Rotation transmission belt

30 ... Holding part (holding means)

31 ... Outer cylinder

33 ... Endless track

34 ... Latch

42, 243 ... holding belt

71 ... Endoscope

81 ··· Rotating member

83… Load detector

86 ... Magnet

87, 130 ... Tubular magnet

111 ... Ring magnet

120 ... Hollow shaft motor

121 ... Magnetic force generator 140 ... capsule type medical device

151 ... High pressure air source

152 · · · Transmission

210 ··· Base

220 · · · Rotational transmission system

230i (230a, 230b) ... Slider

240i (240a, 240b) ... Bell rod rotating body

241i (241a, 241b) ... Belt rotation motor

310i (310a, 310b) ... Pressing member

BEST MODE FOR CARRYING OUT THE INVENTION

[First Embodiment]

Hereinafter, a medical instrument insertion device system according to a first embodiment of the present invention will be described with reference to FIGS.

FIG. 1 is a diagram showing a state in which the insertion portion of the medical instrument insertion device system 1 according to the present invention propels a body lumen duct. FIG. 2-1 is a diagram for explaining an outline of the overall configuration of the medical instrument insertion device system 1, and FIG. 2-2 is an enlarged view of a portion surrounded by A in FIG.

[0023] As shown in FIG. 2-1, the medical instrument insertion apparatus system 1 includes an insertion portion 10, a rotation driving portion 20, and a holding portion (holding means) 30. Here, the insertion portion 10 has an elongated shape having flexibility, and is inserted into a body cavity duct such as the large intestine. The rotation driving unit 20 has a function of driving the holding unit 30 to rotate. The holding unit 30 has a function of rotating the insertion unit 10 by holding the insertion unit 10 and rotating by receiving a rotational force from the rotation driving unit 20.

[0024] The insertion portion 10 is flexible, so that it can be bent according to the shape of the body cavity duct when inserted into the body cavity duct. Further, as shown in FIG. 2B, the surface of the insertion portion 10 is provided with a spiral structure portion 11 that also has a string-like member formed in a spiral shape. The spiral structure portion 11 has a function of generating a propulsive force when the insertion portion 10 rotates with at least a portion thereof in contact with the inner wall of the body cavity duct. In addition, the rotation drive unit 20 Includes a motor 21 that generates a rotational force, a pulley 22 connected to the motor 21, and a rotation transmission belt 23 that transmits the rotational force from the pulley 22 to the holding unit 30.

FIG. 3 is a diagram showing a detailed configuration of the rotation drive unit 20 and the holding unit 30. The holding portion 30 includes through tubes 32a and 32b, an endless track portion 33, and a latch 34 inside an outer cylinder 31 having a hollow cylindrical shape. Here, the through pipes 32a and 32b have a hollow cylindrical shape so that the insertion portion 10 can be passed therethrough, and are arranged so as to be coaxial with the central axis (predetermined axis) of the outer cylinder 31. 31 are fixed to end faces 41a and 41b, respectively. In addition, a plurality of endless track portions 33 are provided between the through tubes 32a and 32b inside the outer cylinder 31, and are arranged so as to face each other with the central axis of the outer cylinder 31 interposed therebetween. Note that three or more endless track portions 33 that are not limited to this may be provided, and each may be arranged so as to surround the central axis of the outer cylinder 31. A plurality of latches 34 are attached to the inner wall of the outer cylinder 31 so as to face the endless track portion 33.

FIG. 4A to FIG. 4C are diagrams showing details of one of the endless track portions 33 provided in the holding portion 30. The endless track 33 has a holding belt (resistor) 42, a recess 43, a protrusion (projection) 44, and a rotating cylinder 45. Here, the holding belt 42 as the resistance portion is an annular member having flexibility and having a width wider than the outer diameter of the insertion portion 10, and is stretched by the two rotating cylinders 45a and 45b. Is provided. A plurality of recesses 43 are provided in the vicinity of the center on the surface of the holding belt 42 along the longitudinal direction of the holding belt 42. Further, the protrusions 44 as convex portions have a saw-like shape, and a plurality of protrusions 44 are arranged in the vicinity of both ends of the holding belt 42 along the longitudinal direction of the holding belt 42. With this configuration, the concave portion 43 comes into contact with the insertion portion 10 inserted through the penetration tubes 32a and 32b, and the projection 44 does not come into contact with the insertion portion 10. Further, since the shape of the holding belt 42 is curved, the protrusion 44 is preferably an elastic member.

The rotating cylinders 45a and 45b each have a cylindrical shape having a length equal to or greater than the width of the holding belt 42, and are rotatably held around the shaft member 46 as an axis. Bearings 47 are respectively provided at both ends of the shaft member 46, and the bearings 47 are attached to the inner wall of the outer cylinder 31 via panel 48. With this configuration, the endless track portion 33 is urged toward the central axis of the outer cylinder 31 by the elastic force of the panel 48. That is, to the through pipe 32a, 32b The insertion portion 10 to be inserted is sandwiched between the plurality of endless track portions 33 at a suitable pressure.

[0028] In this way, the holding belt 42 is held so as to be rotatable in the longitudinal direction thereof, so that even if a plurality of endless track portions 33 are urged to the insertion portion 10, the insertion portion 10 is propelled. There is no hindrance. Further, due to the recess 43 provided in the holding belt 42, the endless track portion 33 has a function of making the insertion portion 10 free to propel and resist only in the circumferential direction without resisting in the advancing and retreating direction of the insertion portion 10. is doing. That is, the holding unit 30 has a function of continuing to transmit rotational power to the insertion unit 10 without hindering the operation in the advancing and retreating direction while being always located in the vicinity of the mouth entrance of the body cavity duct.

FIGS. 5 and 6 are diagrams showing the operation of the protrusion 44 and the latch 34. FIG. A plurality of latches 34 are attached to the inner wall of the outer cylinder 31 and are arranged to face the endless track portion 33 so as to contact the protrusion 44 on the surface of the endless track portion 33. Further, a notch 51 is provided in a part of the side surface of the latch 34. Here, when the endless track 33 rotates in the direction shown in Fig. 5 (a) and Fig. 5 (b) (left direction in the figure), the projection 44 moves and contacts the latch 34 along with this rotation. To do. At this time, the latch 34 is bent by the notch 51 provided in the latch 34, and the protrusion 44 passes through the latch 34. On the other hand, when the endless track 33 rotates in the direction shown in Fig. 6 (a) (rightward in the figure) and the projection 44 contacts the latch 34, as shown in Fig. 6 (b). Since the projection 44 and the latch 34 interfere with each other, the endless track portion 33 does not rotate. In this state, when the force that further rotates the endless track 33 is applied, the latch 34 bends so that the notch 51 is torn as shown in FIG. 6 (c). If the force continues to act as it is, the latch 34 is broken as shown in FIG. 6 (d). At this time, the endless track 33 can freely rotate in either direction. In this way, the endless track section 33 is rotatable in the propelling direction of the insertion section 10 and does not apply a certain reaction force in the backward direction! /

Next, the operation of the medical instrument insertion device system 1 configured as described above will be described. Here, it is also possible to apply the force indicating an example in which the medical instrument insertion device system 1 is applied to insertion into the large intestine, and insertion into other body cavity ducts, and the operation is similar to the operation described below. is there.

[0031] As shown in FIG. 2, when it is necessary to perform a medical practice in a body cavity such as a large intestine of a subject In this case, the operator installs the rotary drive unit 20 in which the holding unit 30 is incorporated in the vicinity of the anus 61 as the insertion port of the subject, and inserts the insertion unit 10 into the perforation tubes 32a and 32b in the holding unit 30. . At this time, the rotational drive unit 20 is installed so that the end surface 41a side of the outer cylinder 31 faces the subject. Next, the operator inserts the vicinity of the distal end portion of the insertion portion 10 into the large intestine, and drives the motor 21. The rotational driving force generated by the motor 21 is transmitted to the holding unit 30 via the pulley 22 and the rotation transmission belt 23.

[0032] In the holding portion 30, the plurality of holding belts 42 urge the insertion portion 10 inserted through the penetration tubes 32a and 32b. At this time, the insertion portion 10 is in contact with a plurality of recesses 43 provided in the longitudinal direction of the holding belt 42. Therefore, when the holding portion 30 rotates, a force force that resists the insertion portion 10 is generated in the contact portion in a direction substantially perpendicular to the longitudinal direction of the insertion portion 10. As a result, the insertion unit 10 rotates following the rotation operation of the holding unit 30. In this way, the rotational driving force generated by the motor 21 is reliably transmitted to the insertion portion 10.

[0033] When the insertion portion 10 starts rotating, the helical structure portion 11 provided on the surface of the insertion portion 10 generates a propulsive force by rotating at least a portion thereof in contact with the intestinal wall. Therefore, the insertion portion 10 smoothly promotes the large intestine. Accordingly, the holding belt 42 moves along a predetermined axis in the holding portion 30 following the movement of the insertion portion 10. Therefore, the holding unit 30 and the rotation driving unit 20 are not moved by being dragged by the movement of the insertion unit 10. That is, the positions of the holding means and the rotation drive unit can always be kept at a constant position. As a result, the rotary drive unit 20 can always be installed near the anus regardless of the total length of the insertion unit 10. As a result, the interval between the rotary drive unit 20 and the anus 61 can be shortened, so that the insertion unit 10 between them does not cause unstable movement or twist.

[0034] After the insertion portion 10 starts insertion into the body cavity duct, the propulsive force generated by the helical structure portion 11 is small while the insertion length of the insertion portion 10 is short. The propulsion stops due to resistance to the intestinal wall, etc., and there is a case where the backward movement force that pushes the insertion portion 10 out of the body may work. In such a case, the rotation of the insertion portion 10 is restricted by the action of the projection 44 and the latch 34 provided on the endless track portion 33 to prevent the insertion portion 10 from moving backward. Thereafter, the insertion part 10 propels to the deep part of the large intestine, and sufficient propulsive force is obtained. This allows the insertion section 10 to provide sufficient Until it is obtained, the force for pushing the insertion portion 10 out of the body is hindered, so that the insertion can be made easier. On the other hand, the insertion portion 10 bends along the shape of the intestine, and the reaction force may increase. In this case, the latch 34 is damaged and the rotation is not restricted. Therefore, forcibly inserting the insertion portion 10 is prevented.

[0035] After the insertion unit 10 reaches the deepest part of the large intestine in this manner, the operator stops the motor 21 and stops the propulsion of the insertion unit 10. Thereafter, as shown in FIG. 7, an endoscope 71 as a medical instrument is inserted into the large intestine for observation, diagnosis or treatment. Here, in the vicinity of the distal end of the endoscope 71, a cylindrical member 72 that is inserted through the insertion portion 10 and connects the endoscope 71 and the insertion portion 10 is provided by a fixing member 73. When the endoscope 71 is inserted into the body cavity duct, the end portion of the insertion portion 10 outside the body is passed through the cylindrical member 72. Then, the endoscope 71 is guided to the deep part of the large intestine along the insertion part 10. That is, the inserted insertion portion 10 has a function as a guide wire for the endoscope 71. Thus, since the insertion portion 10 is used as a guide wire, the endoscope 71 can be smoothly inserted to the deepest part of the large intestine. When the endoscope 71 reaches the deepest part of the large intestine, the insertion part 10 may be removed first so as not to interfere with diagnosis and treatment.

[0036] As described above, according to the medical instrument insertion device system 1 according to the present embodiment, the rotation drive unit 20 drives the insertion unit 10 to rotate while maintaining a certain distance from the subject. be able to. That is, regardless of the total length of the insertion portion 10, the rotation driving portion 20 can always be arranged near the insertion port of the subject. As a result, the interval between the rotation drive unit 20 and the insertion port can be shortened, so that the insertion unit 10 force between them does not cause unstable movement or twisting when the insertion unit 10 is rotationally driven. Therefore, the insertion part 10 can be inserted into the body cavity in a stable state. That is, when propelling the intracorporeal duct by contacting the inner wall of the intraluminal duct while rotating the helical structure section 11, the insertion section 10 is smoothly inserted to reliably propel the intraluminal duct. be able to. As a result, the insertion portion 10 can be reliably inserted without requiring complicated operations and skill from the operator.

Note that this embodiment is not limited to the configuration described above! /.

First, in the present embodiment, the holding portion 30 has the endless track portion 33. However, the present invention is not limited to this. As shown in FIGS. 8-1 and 8-1, a plurality of rotating members are used. ( It is good also as a structure which has the resistance part) 81. In this case, the rotation member 81 as the resistance portion is configured to be rotatable in the longitudinal direction of the insertion portion 10, and a plurality of rotation members 81 are arranged along the longitudinal direction. A plurality of recesses 43 are provided on the surface of the rotating member 81 along the circumferential direction of the rotating member 81. Further, a plurality of projections 44 are provided in the vicinity of both ends of the rotating member 81 whose width is larger than the outer diameter of the insertion portion 10 as in the holding belt 42. The latch 34 is fixed inside the outer cylinder 31 so as to face the protrusion 44.

[0038] With this configuration, as with the endless track portion 33 in the first embodiment, it is possible to transmit rotational power to the insertion portion 10 without hindering the propulsion and retraction of the insertion portion 10. become. The insertion portion 10 can be propelled or retracted by rotating the spiral structure portion 11 in contact with the intestinal wall in the body cavity duct by the rotational power transmitted to the insertion portion 10. Further, by making the width of the rotating member 81 larger than the outer diameter of the insertion portion 10, the projection 44 and the latch 34 can be attached in the same manner as the endless track portion 33, and the same effect as in the first embodiment is obtained. be able to.

[0039] Secondly, in this embodiment, the rotation direction restriction is released by breaking the latch 34. However, as shown in Fig. 9-1, the load applied to the motor 21 is detected and the latch 34 is released. You may stumble to move. In this case, a load detector 83 for detecting the load applied to the motor 21 1S is provided between the motor 21 and the pulley 22, and the latch 34 is moved closer to and away from the protrusion 44 as shown in FIG. 9-2. An actuator 82 to be moved is provided between the outer cylinder 31 and the latch 34. Here, when the load applied to the motor 21 exceeds the threshold value by the insertion unit 10 propelling to the deep part of the large intestine, the load detection unit 83 determines that the deep part of the large intestine where rotation direction regulation is unnecessary is inserted, and the actuator 82 Start driving. The actuator 82 releases the positional force that makes the latch 34 come into contact with the projection 44 and releases the rotation direction restriction. According to this, since the latch 34 is not broken when the rotational direction restriction is released, the holding portion 30 can be used repeatedly.

[0040] Thirdly, in the present embodiment, the force provided with the latch 34 and the projection 44 as means for restricting the rotation direction may be omitted. In this case, as shown in FIG. 10, the holding part 30 has a single through pipe 32c coaxial with the central axis of the holding part 30, and the inner peripheral part of the through pipe 32c is in its longitudinal direction. A large number of grooves 84 may be provided along the. Also, As shown in FIG. 11-1 and FIG. 11-2, the inner peripheral portion of the piercing tube 32c may be covered with a large number of cilia 85. Here, both ends of the cilia 85 are fixed to the inner peripheral portion of the penetration tube 32c so that the direction of the cilia 85 is the longitudinal direction of the penetration tube 32c.

[0041] With this configuration, when the holding portion 30 rotates, the circumferential direction of the insertion portion 10 inserted into the piercing tube 32c by the groove 84 or the cilia 85 provided inside the piercing tube 32c. Resistance is generated. Then, by this resistance, the rotation operation of the holding portion 30 is transmitted to the insertion portion 10 without preventing the insertion portion 10 from being propelled or retracted. When the insertion portion 10 rotates, the helical structure portion 11 rotates while contacting the intestinal wall, so that the insertion portion 10 can be pushed and retracted. At this time, the groove 84 or cilia 85 cast inside the insertion tube 32c is substantially parallel to the longitudinal direction of the insertion portion 10, so that no resistance is generated in the forward / backward direction of the insertion portion 10. Thus, the cost can be reduced by simplifying the configuration of the holding unit 30.

[0042] Fourth, the rotation operation of the holding unit 30 may be transmitted to the insertion unit 10 using magnetic force. In this case, as shown in FIGS. 12-1 and 12-2, the insertion portion 10 has a hollow structure, and the magnet 86 is disposed inside the hollow structure. The shape of the magnet 86 is a rectangular parallelepiped having a square cross section having the same length as the inner diameter of the insertion portion 10, and is magnetized in the radial direction of the insertion portion 10. Further, the holding unit 30 has a circular tube-shaped tubular magnet 87 instead of the outer cylinder 31. Here, the magnet 86 provided in the insertion portion 10 and the tubular magnet 87 included in the holding portion 30 are in a state of attracting each other with their opposite magnetic poles facing each other. Further, in order to allow the insertion portion 10 to smoothly move in the forward and backward direction while being inserted through the inner peripheral portion of the tubular magnet 87, the surface of the insertion portion 10 is subjected to a surface treatment that reduces friction. Has been.

According to this configuration, the rotation of the motor 21 is transmitted to the tubular magnet 87, so that the insertion portion 10 having the magnet 86 rotates following the rotation of the tubular magnet 87. At this time, the helical structure portion 11 provided in the insertion portion 10 contacts the inner wall of the body cavity while rotating, so that the insertion portion 10 propels the body lumen. In this way, the rotation drive unit 20 rotates the insertion unit 10 using the magnetic force of the holding unit 30, so that the insertion unit 10 can be smoothly promoted and retracted. Further, since the tubular magnet 87 and the magnet 86 in the insertion portion 10 attract each other, the magnet 86 does not move relative to the holding portion 30.

[Second Embodiment] Next, a medical instrument insertion device system 100 according to a second embodiment of the present invention will be described using FIG. 13 and FIG. Note that the same components as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

[0045] The medical instrument insertion device system 100 of the present embodiment is different from the first embodiment in that it includes an insertion portion 110 having a hollow structure. That is, as shown in FIG. 13, the insertion portion 110 is a flexible tube, and various functional members can be passed through the tube. Further, as shown in FIG. 14, the medical instrument insertion apparatus system 100 includes a hollow shaft motor 120 as the rotation drive unit 20 and a tubular magnet 130 as a holding means.

Here, the insertion portion 110 is configured by connecting a large number of thin ring-shaped magnets 111 having poles in the radial direction so that the insertion portion 110 can be bent. Further, on the surface of the insertion portion 110, a spiral structure portion 112 is provided so as to be fixed to each ring-shaped magnet 111. The tubular magnet 130 is a cylindrical magnet that is provided with a cylindrical duct having a radius larger than the outer diameter of the insertion portion 110 and is radially magnetized so that the insertion portion 110 can be passed through the inside. . The hollow shaft motor 120 is a circular tube-shaped motor provided so as to be fixed to the hollow shaft 131 surrounding the tubular magnet 130, and rotationally drives the tubular magnet 130.

[0047] Here, when the capsule medical device 140 for observing the intraluminal duct as a medical instrument is assisted in insertion into the intraluminal duct, as shown in FIG. A flexible cable 141 connected to the capsule medical device 140 is inserted into 110. The capsule medical device 140 has a hemispherical member with a transparent tip, an LED or other illumination device that illuminates the inside of the body cavity facing the hemispherical member inside the capsule medical device 140, and the body cavity An image sensor such as a CCD is built-in. These power sources are supplied by a power supply line provided in the cable 141. In addition, the image signal of the captured image is sent to the image processing apparatus 142 installed outside the body via the signal line in the cable 141, and the processed image is displayed on the monitor 143.

[0048] The capsule medical device 140 and the cable 141 are not fixed at all with respect to the insertion portion 110. Therefore, even if the insertion portion 110 rotates, the capsule medical device 140 rotates or the cable 141 Will not twist. In this way, the capsule medical device 140 By rotating only the insertion portion 110 that does not rotate, the capsule medical device 140 is smoothly propelled into the body lumen.

[0049] With this configuration, when the capsule medical device 140 is inserted into the intraluminal duct, the operator uses the hollow shaft motor 120 provided with the tubular magnet 130 as an anus as an insertion port of the subject. It is installed in the vicinity of 61 and the insertion part 110 is inserted through the inside of the tubular magnet 130. Next, the operator inserts the vicinity of the distal end portion of the insertion portion 110 into the large intestine, and drives the hollow shaft motor 120. Then, when the hollow shaft motor 120 rotates, the tubular magnet 130 fixed therein rotates, and the insertion portion 110 having the ring-shaped magnet 111 follows the rotation of the magnetic field generated by the tubular magnet 130. Rotate. Due to the rotation of the insertion part 110, the helical structure part 112 provided on the surface of the insertion part 110 rotates while contacting the inner wall of the body cavity, so that a propulsive force is generated in the insertion part 110. As a result, the capsule medical device 140 is pushed into the deep part of the body cavity duct. At this time, since the capsule medical device 140 does not rotate, the captured image does not rotate when the inside of the body cavity is observed using the image sensor.

[0050] As described above, according to the medical instrument insertion device system 100 according to the present embodiment, the insertion unit 110 is inserted into the body cavity while the medical device such as the capsule medical device 140 is inserted into the insertion unit 110. Can be inserted into the inner conduit. Further, for the same reason as in the first embodiment, since the insertion portion 110 is inserted into the body cavity conduit in a stable state, the spiral structure portion 112 is in contact with the inner wall of the body cavity conduit while rotating. Thus, the insertion unit 110 can reliably push the intraluminal duct. As a result, the medical device inserted through the insertion portion 110 can be reliably inserted into the body cavity duct and propelled. Further, since the tubular magnet 130 as the holding means is directly rotated by the hollow shaft motor 120, the efficiency of power transmission is improved. Other effects are the same as those of the first embodiment.

[0051] It should be noted that this embodiment is not limited to the configuration described above!

First, the insertion portion 110 may be made of a magnetic material instead of the ring-shaped magnet 111. That is, since the material used for the insertion portion 110 is not limited to a magnet, a material more suitable for the insertion portion 110 can be selected.

Secondly, a flexible magnet that does not constitute the entire insertion portion 110 with a magnet may be provided inside the insertion portion 110. For example, as shown in FIG. Magnet 113 force A plurality of magnets 113 may be embedded in the tubular insertion portion 110 in the circumferential direction. Here, the directions of the magnetic poles of the plurality of soft magnets 113 are provided so as to face the center line of the insertion portion 110, respectively. Adjacent soft magnets 113 are arranged so as to have opposite magnetic directions. The effect in this case is the same as that of the present embodiment.

[0053] Third, a plurality of magnets may be embedded in the insertion portion 110. That is, as shown in FIG. 16, a large number of the aforementioned string-like soft magnets 113 are embedded in the insertion portion 110, and the rotation drive portion 20 has a magnetic force generation portion 121 instead of the hollow shaft motor 120. Yes. In the magnetic force generator 121, a number of coils 122 that generate a magnetic force in the radial direction are arranged in the circumferential direction. In addition, the currents flowing through the plurality of coils 122 are controlled so that adjacent coils 122 in the magnetic force generator 121 generate magnetic forces in opposite directions.

[0054] According to this configuration, the direction of the magnetic force of each of the plurality of coils 122 is sequentially switched by repeating the control to reverse the direction of the current flowing through the coil 122. At this time, the insertion portion 110 rotates when the soft magnet 113 provided therein receives a change in the magnetic force of the coil 122. Due to the rotation of the insertion portion 110, the helical structure portion 112 provided on the surface of the insertion portion 110 rotates while contacting the inner wall of the body cavity, so that a propulsive force is generated in the insertion portion 110, and the capsule medical device 140 Is pushed toward the deep part of the body lumen. With this configuration, the number of mechanically driven parts can be reduced, so that the risk of failure due to wear or fatigue of each part can be reduced.

[Third Embodiment]

Next, a medical instrument insertion device system 150 according to a third embodiment of the present invention will be described with reference to FIGS. Note that the same components as those in the first or second embodiment are denoted by the same reference numerals and description thereof is omitted.

[0056] The medical instrument insertion device system 150 of the present embodiment is different from the first and second embodiments in that the rotation driving unit 20 rotates the insertion unit using a high-pressure fluid. That is, as shown in FIG. 17, the medical instrument insertion device system 150 includes a high-pressure air source 151 as a rotation drive unit and a transmission unit 152 connected to the high-pressure air source 151. Here, the high-pressure air source 151 generates high-pressure air for rotating the insertion section 160 and feeds it through the transmission section 152. The transmission unit 152 inserts high-pressure air sent from the high-pressure air source 151. A mechanism for spraying the insertion portion 160 and rotating the insertion portion 160 is provided. In the present embodiment, the insertion portion 160 has a hollow structure, and the inner diameter thereof is large enough to allow the endoscope 71 to pass through.

As shown in FIGS. 18-1 and 18-2, a U-shaped groove 153 as a holding means is carved in the center of the transmission portion 152. The U-shaped groove 153 has a width that allows the insertion portion 160 to be slidably installed, and has a smooth surface so that friction with the insertion portion 160 is minimized. Further, on the side wall of the U-shaped groove 153, when the insertion portion 160 is installed in the U-shaped groove, the outlet is set to a height substantially equal to the highest position of the spiral structure portion 11 provided on the surface of the insertion portion 160. 1 54 are open. Further, a connection port 155 connected to the high-pressure air source 151 is provided on the side wall of the transmission unit 152. The connection port 155 and the plurality of air outlets 154 are communicated with each other by a high-pressure pipe 156 arranged inside the transmission unit 152. That is, the high-pressure line 156 connected to the connection port 155 branches into a plurality of parts inside the transmission unit 152 and is connected to each of the plurality of air outlets 154. Further, in the vicinity of the outlet 154, the high-pressure pipe 156 is arranged perpendicular to the side wall of the U-shaped groove 153, so that the high-pressure air is blown out perpendicularly to the side wall force of the U-shaped groove 153, and the spiral structure The part 11 can be sprayed in the circumferential direction of the insertion part 160.

With this configuration, the operator installs the high-pressure air source 151 and the transmission unit 152 in the vicinity of the anus 61 as the insertion port, and inserts the insertion unit 160 into the U-shaped groove 153 provided in the transmission unit 152. The high-pressure air source 151 is driven to supply high-pressure air to the transmission unit 152. At this time, the high-pressure air that has passed through the inside of the transmission part 152 is blown to the spiral structure part 11 of the insertion part 160 through a plurality of outlets 154 provided. The helical structure 11 receives the force of the high-pressure air in the circumferential direction of the insertion part 160, so that the insertion part 160 rotates. Then, since the helical structure 11 provided on the surface of the insertion portion 160 rotates while contacting the inner wall of the body cavity duct, a propulsive force is generated in the insertion section 160, and the insertion section 160 passes through the body cavity duct. Promote. Here, since the U-shaped groove 153 of the transmission part 152 has low friction, the transmission part 152 that does not hinder the propulsion of the insertion part 160 is not dragged into the insertion port! /.

In this way, after the insertion portion 160 having a hollow structure has reached the deep part of the body cavity duct, the endoscope 71 is inserted into the insertion portion 160 as shown in FIG. Normal Perform endoscopy and endoscopic treatment using forceps 161.

[0060] As described above, according to the medical instrument insertion device system 150 according to the present embodiment, the insertion unit 160 is rotated by high-pressure air. It becomes possible to propel the pipeline. Further, the transmission unit 152 can drive the insertion unit 160 to rotate in a state where a constant distance is always maintained with respect to the subject near the subject's insertion port.

For example, the fluid that the transmission unit 152 sprays and rotates on the insertion unit 160 may be a high-pressure water flow instead of the high-pressure air. Further, instead of the U-shaped groove 153, the transmission portion 152 may be provided with a cylindrical pipe line through which the insertion portion 160 can be passed. The effects in these cases are the same as in this embodiment.

[Fourth Embodiment]

Next, a medical instrument insertion device system 200 according to a fourth embodiment of the present invention will be described with reference to FIGS. Note that the same components as those in the first or second embodiment are denoted by the same reference numerals and description thereof is omitted.

[0063] The present embodiment is different from the first embodiment in that a rotation control unit that actively rotates a holding belt as a holding unit to directly rotate the insertion unit 10 is provided.

That is, as shown in FIG. 20, the medical instrument insertion device system 200 includes an insertion portion 10, a base portion 210 provided outside the body of the subject, and a rotation transmission system connected to the base portion 210.

220. The rotation transmission system 220 has a function of rotating the insertion portion 10.

[0064] As shown in FIGS. 21-1 and 21-2, the base portion 210 includes support members 211 and 212 arranged in two pairs in the forward and backward direction of the insertion portion 10. The support member 211 (212) is divided into two support members 21 la (212a) and 211b (212b) having two symmetrical shapes. The support members 211a (212a) and 211b (212b) are connected to each other by hinges 216 so that they can be opened and closed. A notch is provided. That is, when the support member 21 la (212a) and the support member 211b (212b) are closed, the support member 211 (212) passes the insertion portion 10 near the center thereof. It is configured so that a substantially circular hole can be opened.

[0065] In the following description of the present embodiment, the configuration provided on the support member 211a side is denoted by a at the end of the reference numeral, and the configuration provided on the support member 2 ib side includes When b is added to the end of the code and both a and b are indicated, i is added to the end of the code.

The rotation transmission system 220 includes sliders 230i (230a, 230b) and bell rod rotating bodies 240i (240a, 240b). Here, the slider 230i is provided between the support member 21li and the support member 212i, and moves in the advancing / retreating direction of the insertion portion 10. Further, the belt rotating body 240i is connected to the slider 230i and has a function of rotating the insertion portion 10.

[0067] The slider 230i is movably provided on a slider shaft 23 li provided between the support member 211i and the support member 212i. A panel 232i that urges the slider 230i in the direction of the support member 212i is disposed on the slider shaft 231i between the support member 211i and the slider 230i. Further, a linear encoder (not shown) is built in between the slider 230i and the slider shaft 231i. The linear encoder detects the distance between the support member 211i (212i) and the slider 230i by measuring the moving distance of the slider 230i on the slider shaft 231i.

[0068] A plurality of linear actuators 233i are attached to the side of the slider 230i facing the insertion portion 10. In the present embodiment, as an example, a configuration in which four linear actuators 233i are attached to a slider 230i will be described. The linear actuator 233i drives the belt rotating body 240i in a direction approaching and separating from the insertion portion 10 passed through the notch provided in the support members 211i and 212i. In this way, the slider 230i can move integrally with the belt rotating body 240i via the linear actuator 233i on the slider shaft 23li.

[0069] The belt rotating body 240i includes a belt rotating motor 241i constituting a rotation driving unit, a rotor 24 2i, and a holding belt (holding means, resistance unit) 243i. The belt rotation motor 241i is connected to two linear actuators 233i separated from each other in the advancing / retreating direction of the insertion portion 10 among the four linear actuators 233i described above via a belt rotation shaft 244i. A rotor 242i is connected to the remaining two linear actuators 233i via a belt rotating shaft 244i. The holding belt 243i as the holding means and the resistance portion is annular and flexible. And is provided in a state of being stretched by the belt rotation motor 241i and the rotor 242i. That is, the benolet rotating bodies 240a and 240b are arranged so as to sandwich the insertion portion 10 passed through the notches provided in the support rods 211i and 212i. Further, the rotational speed of the belt rotating body 240i is controlled so as to be synchronized with the position on the slider shaft 23li.

[0070] With this configuration, when the belt rotating body 240i is moved in the direction approaching the insertion portion 10 by the linear actuator 233i, the holding belt 243i is appropriate for the insertion portion 10. It is energized with a load. The load urging the insertion portion 10 is adjusted by the movement of the reductor 233i. Further, since the belt rotating body 240i is arranged symmetrically with respect to the insertion portion 10, the insertion portion 10 can be sandwiched with a suitable pressure.

It should be noted that the input / output line 251 for transmitting and receiving signals and power to / from the linear encoder, the belt rotation motor 241i, and the linear actuator 233i are connected to the outside via the slider 230i.

Next, the operation of the medical instrument insertion device system 200 configured as described above will be described with reference to FIGS. 22-1 to 22-4. Here, an example is shown in which the medical instrument insertion device system 200 is applied to insertion into the large intestine, but it can also be applied to insertion into other body cavity ducts, and the operation is similar to the operation described below. It is. In FIG. 22-1 to FIG. 22-4, the spiral structure portion 11 provided on the outer surface of the insertion portion 10 is omitted.

[0073] First, the operator arranges the rotation transmission system 220 provided in the base portion 210 in the vicinity of the anus 61 as an insertion port so that the rule of the support member 211 is directed to the subject. Then, the operator opens the support member 21 li with the hinge 216 as an axis, disposes the insertion assisting tool in a semicircular columnar notch provided in the support member 21 li, and closes the support member 21 li. At this time, the support member 21 li (212i) is integrally opened and closed together with other components such as the slider 230i and the belt rotating body 240i. Next, the operator drives a belt rotation motor 241i as a rotation driving unit to rotate the holding belt 243i.

[0074] When the holding belt 243i starts rotating, as shown in Fig. 22-1, the slider 230i is integrated with the belt rotating body 240i and the linear actuator 233i to support the slider shaft 231i. It is located on the holding member 212i side. In addition, the belt rotating bodies 240a and 240b urge the load so that they are opposed to the insertion portion 10 by the linear actuator 233i. In this state, the belt rotation motor 241i rotates and the holding belt 243i rotates in a direction substantially perpendicular to the advancing / retreating direction of the insertion portion 10, whereby the insertion portion 10 rotates together with the spiral structure portion 11 (not shown). I do. At this time, the rotational speeds of the two belt rotating bodies 240i and the positions on the slider shaft 231i are controlled so as to synchronize, so that the insertion portion 10 is smoothly rotated.

[0075] When the insertion portion 10 rotates in a body cavity duct such as the digestive tract, the helical structure portion 11 provided on the outer surface of the insertion portion 10 rotates while contacting the inner wall of the body cavity. 10 has thrust. As a result, the insertion portion 10 advances in the body cavity duct. Accordingly, a force that moves to the support member 21 li side together with the insertion portion 10 acts on the belt rotation body 240i that transmits rotational power to the insertion portion 10, and therefore the slider 230i is integrated with the belt rotation body 240i. To the support member 21 li side (Fig. 22-2). At this time, the force that the panel 232i urges toward the support member 212i with respect to the slider 230i is set to be weaker than the propulsive force of the insertion portion 10 by the helical structure 11, so that the movement of the slider 230i is hindered. Don't be.

[0076] Since the movement distance of the slider 230i is measured by the linear encoder, when the slider 23 Oi moves and hits the support member 21 li, the linear encoder moves closer to the support member 21 li. Detect that At this time, the linear actuator 233i is driven to raise the belt rotating body 240i to a height at which it does not come into contact with the insertion portion 10, and temporarily stops transmission of rotational power to the belt rotating body 240 insertion portion 10 ( Fig. 22-3) o As a result, the belt rotating body 240i does not follow the propulsion of the insertion portion 10, and the slider 230i can move freely. Then, the slider 230i is returned to the support member 212i side integrally with the belt rotating body 240i by the biasing force of the panel 232i (FIG. 22-4).

[0077] When the linear encoder detects that the slider 230i has hit the support member 212i, the linear actuator 233i again brings the belt rotating body 240i into contact with the insertion portion 10, and the holding belt 243i by the belt rotating motor 241i. Rotate the insertion part 10 again. By repeating the above operation, the insertion unit 10 continues to smoothly promote the body cavity duct.

[0078] Note that when the linear actuator 233i raises or lowers the belt rotating body 240i, the belt rotation Rotate the holding belt 243i without stopping the motor 241i.

Further, as shown in FIG. 23, the slider 230i may be moved toward the support member 212i by a linear motor 261i provided on the slider 230i instead of the panel. In this case, when the rotational power is transmitted to the insertion portion 10 (the state shown in FIGS. 22-1 and 22-2), the linear motor 26 li stops driving and frees the movement of the slider 230i. The linear motor 261i is driven to move the slider 230i only when the actuator is returned to the support member 212i side (the state shown in FIGS. 22-3 and 22-4). By configuring so as to control in this way, an operation equivalent to the above-described operation can be obtained.

[0079] As described above, according to the medical instrument insertion device system 200 according to the present embodiment, the rotation of the insertion portion 10 is directly and actively transmitted by the holding belt 243i, so that the insertion portion 10 can be more reliably obtained. Can be rotated. Further, since the belt rotating body 240 i and the insertion portion 10 are integrally advanced toward the insertion port by the slider 230i, the advancement of the insertion portion 10 in the body cavity passage is not hindered. Can be performed more reliably.

It should be noted that this embodiment is not limited to the configuration described above! /.

First, as shown in FIG. 24, a plurality of rotation transmission systems 220 may be provided along the advancing / retreating direction of the insertion portion 10. In other words, in the present modification, the intermediate support member 213i is provided at an intermediate position between the support members 211i and 212i, the space between the support member 211i and the intermediate support member 213i, and the support member 212i and the intermediate support member 213i. The rotation transmission system 220 as described above is arranged in each space.

With this configuration, unlike the case of a single set of rotation transmission system 220, a plurality of rotation transmission systems 220 can be driven alternately to rotate the insertion portion 10. That is, when the belt rotating body 240i of one rotation transmission system 220 is separated from the insertion portion 10, the other rotation transmission system 220 can transmit rotational power to the insertion portion 10. Therefore, since the insertion part 10 can be always rotated, there is no loss of propulsion time, and the insertion part 10 can be efficiently promoted. Other effects are the same as in the fourth embodiment.

[0082] Second, instead of the linear encoder that detects the position of the slider 230i, a contact sensor (not shown) that detects contact at one end of the slider 23Oi may be provided. This contact sensor Thus, it can be detected that the slider 230i has come into contact with the support member 21li, and the linear actuator 233i can be operated in response to the detection result. The contact sensor is not particularly limited as long as it can detect that the force slider 230i, which is a sensor such as a pressure sensor, an optical sensor, or a switch, is close to the support member 211i. In addition, the contact sensor may be mounted at a position facing the slider 230i of the support member 211i without being mounted on the end of the slider 230i. This is efficient because the position of the slider 230 i does not always need to be detected unlike a linear encoder.

[Fifth Embodiment]

Next, a medical instrument insertion device system 300 according to a fifth embodiment of the present invention will be described using FIG. Note that the same components as those in the first or fourth embodiment are denoted by the same reference numerals and description thereof is omitted.

[0084] This embodiment is different from the fourth embodiment in that the base portion 210 and the rotation transmission system 220 are provided in the holding portion 30 in the first embodiment. That is, the medical instrument insertion device system 300 includes the insertion unit 10, the rotation drive unit 20, and the holding unit (holding unit) 30 as in the first embodiment. The holding part 30 has a base part 210 and a rotation transmission system 220.

In this case, as shown in FIG. 25, the rotation transmission system 220 includes a pressing member 310i that presses against the insertion portion 10 without rotating, instead of the belt rotating body 240i and the belt rotating motor 241i. Yes. Further, the support member 21 li of the base portion 210 is fixed to one end of the outer cylinder 31, and the support member 212 i is fixed to the other end of the outer cylinder 31. In this way, the base portion 210 and the entire rotation transmission system 220 are fixed to the outer cylinder 31 of the holding portion 30 to rotate together with the holding portion 30.

[0086] With this configuration, the force of the pressing member 310i is driven by the linear actuator 233i, and the insertion portion 10 is sandwiched with a suitable pressure. Then, the entire rotation transmission system 220 is rotated by the rotation drive unit 20, so that rotational power is transmitted to the insertion unit 10 via the pressing member 310 i. In this way, the insertion section 10 propels the body cavity duct while rotating. Note that the operations of the slider 230i, the pressing member 310i, and the like with respect to the propelling direction of the insertion portion 10 at this time are the same as the operations in the fourth embodiment. [0087] As described above, according to the medical instrument insertion device system 300 according to the present embodiment, the rotation drive unit 20 is in a state where a certain distance from the subject is maintained near the subject's insertion port. The insertion portion 10 can be rotationally driven. Further, since the pressing member 31 Oi and the insertion portion 10 are integrally advanced toward the insertion port by the slider 230i, the advancement of the insertion portion 10 in the body cavity duct is not hindered. This can be done more reliably. In addition, since the motor 21 that is driven to rotate is arranged outside the holding unit 30, a motor with a large output can be used, so that the insertion unit 10 can be rotated and propelled more reliably. It becomes.

It should be noted that the present invention is not limited to the above-described embodiments, and various modifications may be made by, for example, partially combining the above-described embodiments without departing from the scope of the invention. Variations are possible.

[0089] The helical structure 11 (112) described in each embodiment is not limited to the above-described form.

FIG. 26-1 is a diagram showing an overall configuration of a medical instrument insertion device system according to a modification of the helical structure 11, and FIG. 26-2 is an enlarged view of a part of the insertion unit 10 shown in FIG. 26-1. It is a figure. In this modification, the helical structure 11 is provided with an outer diameter varying means. In other words, as shown in FIG. 26-2, the helical structure 11 is constituted by a hollow tube (outer diameter varying means) 12 having a hollow portion and formed by an elastic member such as rubber having excellent elasticity. It has been done. As shown in FIG. 26-1, a fluid supply unit 15 is provided at one end of the hollow tube 12 on the outside of the body. The fluid supply unit 15 has a function of supplying a fluid such as compressed air to a hollow portion formed inside the hollow tube 12.

[0090] In the above configuration, when the fluid supply unit 15 is driven and compressed air is sent into the hollow tube 12, the hollow tube 12 having high stretchability is inserted into the insertion unit 10 as shown in FIG. Helical protrusions that protrude from the outer diameter of the protrusions are formed. On the other hand, when the fluid supply unit 15 is stopped and the compressed air is not sent, the hollow tube 12 contracts due to its own elastic force as shown in FIG. 27-2. Is almost the same height as the surface of the insertion portion 10. Also, increasing the amount of compressed air sent to the hollow tube 12 increases the outer diameter of the hollow tube 12 as shown in FIG. The height of the spiral protrusion is higher than that shown in Figure 27-1. In this manner, the height of the spiral protrusion formed by the hollow tube 12 is adjusted by adjusting the amount of compressed air sent into the hollow tube 12. Note that the fluid supply unit 15 may have a function of discharging the hollow portion force fluid of the hollow tube 12.

As described above, according to the present modification, the supply of fluid such as compressed air to the hollow tube 12 forming the spiral structure portion 11 and the supply stop thereof are controlled, so that the insertion portion 10 Surface force It is possible to select whether or not to form a projecting spiral projection, and to adjust the height of the spiral projection. Therefore, when the insertion portion 10 is inserted into the body cavity conduit, as shown in FIG. 27-1 or FIG. 27-3, the insertion portion 10 in the body cavity conduit is formed by forming a spiral protrusion with the hollow tube 12. Can improve the propulsive power. Further, when the insertion portion 10 is also removed from the body cavity duct, the insertion portion 10 can be removed smoothly and in a short time by making the surface of the insertion portion 10 flat as shown in FIG. 27-2. Togashi.

Industrial applicability

[0092] As described above, the medical instrument insertion device and the medical instrument insertion device system according to the present invention are useful for inserting a medical instrument into a curved body cavity such as the large intestine. Suitable for insertion of capsule medical devices.

Claims

The scope of the claims

[1] a spiral structure provided in the elongated insertion portion;

Holding means for holding the insertion portion so as to be movable back and forth along a predetermined axial direction; and a rotation driving portion for rotating the holding means;

A medical instrument insertion device comprising:

[2] The holding means includes a resistance portion, the resistance portion is provided at a position in contact with the insertion portion, and the resistance portion is movable along the predetermined axis. The medical instrument insertion device according to claim 1.

3. The medical instrument insertion device according to claim 2, wherein the resistance portion generates a force that resists in a direction substantially perpendicular to the direction of the predetermined axis.

[4] The medical instrument insertion device according to [2] or [3], wherein the resistance portion is a belt having convex portions intermittently in a direction along the predetermined axis.

[5] The medical instrument insertion device according to [2] or [3], wherein the resistance portion is a rotating member having a rotating shaft in a direction substantially perpendicular to the predetermined axial direction.

6. The medical instrument insertion device according to any one of claims 1 to 5, wherein the holding means includes a magnetic field generation unit.

[7] The medical instrument insertion device according to any one of [1] to [5], wherein the medical instrument insertion device includes an outer diameter varying unit that varies an outer diameter of the spiral structure portion. Place.

[8] an elongated insertion portion to be inserted into the body cavity;

A helical structure provided on the outer periphery of the insertion part;

A medical instrument guided by the insertion portion and inserted into a body cavity;

A medical instrument insertion device system comprising:

[9] The holding means includes a resistance portion that is movable in a longitudinal direction of the insertion portion and resists the helical structure portion substantially perpendicularly to the longitudinal direction of the insertion portion. 9. The medical instrument insertion device system according to claim 8.

[10] The holding means includes a magnetic field generator,

The medical instrument insertion device system according to claim 8, wherein the insertion portion includes a magnet.

[11] The holding means includes a magnetic field generator,

9. The medical instrument insertion device system according to claim 8, wherein the insertion unit includes a magnetic body.