JP2984296B2 - Automatic endoscope insertion device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic insertion device for an endoscope that automatically inserts an endoscope into a biological conduit or an industrial conduit, for example.

[Prior art] Previously, the preprint of the academic lecture of the 1978 Spring Meeting of the Japan Society of Precision Machinery
On pages 65 to 66 (Document A), there is shown a rubber bag type in-pipe traveling machine which moves in a uniform pipe in one direction.

This is achieved by arranging a pair of rubber bags that can be expanded only in the radial direction in a state where they are separated from each other at appropriate intervals in the front and rear, and interposing a rubber bag that can be expanded only in the axial direction between these front and rear rubber bags. , An orifice n ₁ between the front position rubber bag and the intermediate position rubber bag, and an orifice n ₂ between the intermediate position rubber bag and the rear position rubber bag, and further the rear position rubber bag And an air supply hose connected to the main body to form an actuator body.

When the actuator having the above configuration is used, air is supplied from an air supply hose in a state where the rubber bag is inserted into an appropriate insertion pipe of the actuator. The rear end of the actuator body is fixed in the insertion tube, and then the rubber bag at the intermediate position is inflated in the axial direction to advance the front end of the actuator body. Is radially expanded to fix the front end side of the actuator body in the insertion tube. After fixing the front end side of the actuator body at the forward position in this way, then, by reducing the air pressure in the actuator body, the rubber bag at the rear position is radially reduced, and the rubber bag at the intermediate position is removed. The actuator body is contracted in the axial direction, and the rear end side of the actuator body is advanced. Then, by repeatedly discharging the air from the air supply hose as described above, the forward movement of the actuator body is performed.

In addition, in the 1989 Annual Meeting of the Japan Society for Precision Engineering Spring Meeting, pp. 229-230 (Reference B), the rubber bag-type in-line running machine of the above configuration is attached to the colonoscope and this colonoscope is automatically inserted. An apparatus is shown.

[Problems to be Solved by the Invention] In the automatic insertion device for a colonoscope shown in Document B, it is not necessary to separately connect the air supply hoses to the front and rear rubber bags and the rubber bag at the intermediate position, so that the automatic insertion is performed. Although there is a great effect on miniaturization and diameter reduction of the whole device, since the supply and exhaust of air to and from each rubber bag is repeated by one air supply hose, it takes time to advance the actuator body, There was a problem that the traveling speed was slow.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide an automatic insertion device for an endoscope which can increase the traveling speed of an actuator body and reduce the size of the whole. .

Means for Solving the Problems The present invention is arranged on an outer peripheral surface of an insertion portion of an endoscope, and is provided with a pair of radially expandable and contractible radially deformable members which are separated from each other in a forward and backward direction, An actuator body provided between the telescopic deformation member and an axial telescopic deformation member capable of being telescopically deformable in the axial direction of the endoscope insertion portion, and the radial telescopic deformation on the front side of the actuator main body is provided. A member is fixed to the endoscope insertion portion, and the radial expansion / contraction member on the rear side is held in a movable state by the endoscope insertion portion, and fluid is supplied to the radial expansion / contraction member on the rear side. A first connection port for connecting a discharge tube, a second connection port between the rear-side radial elastic member and the axial elastic member, the axial elastic member and the front side; Connection between the member and the radial expansion / contraction member Ports are formed, and the relationship among the opening area S _A of the first connection port, the opening area S _{B of} the second connection port, and the opening area S _C of the third connection port is expressed as S _A > S _B > are those set in the S _C.

[Function] At the time of supplying the fluid into the actuator body, the fluid is supplied from the fluid supply / discharge tube to the rear-side radially-expandable / deformable member through the first connection port having the largest opening area. Until the radial expansion / contraction member changes to an appropriate expanded shape, the amount of air flowing into the axial expansion / contraction member through the second connection port is suppressed to increase the pressing speed of the rear radial expansion / contraction member. After the rear-side radially deformable member is deformed to an appropriate expanded shape, the supply fluid from the fluid supply / discharge tube is passed through the rear-side radially deformable member to the second connection having the next larger opening area. The fluid flows into the axially deformable member through the opening. Also in this case, similarly, the amount of air flowing into the front-side radial expansion / contraction member through the third connection port is suppressed until the axial expansion / contraction member deforms into an appropriate expansion shape. The pressurizing speed is increased, and the rear-side radial elastic member, the axial elastic member, and the front radial elastic member are sequentially and efficiently deformed.

In addition, when the fluid is discharged from the actuator body, the fluid in the rear-side radial expansion / contraction member is discharged to the fluid supply / discharge tube through the first connection port having the largest opening area, so that the rear side is first discharged. Until the radially elastic member is deformed into an appropriate contracted shape, the flow of fluid from the axially elastic member into the rear radially elastic member through the second connection port is suppressed, and the rear radially elastic member is expanded. Increase the suction speed of the deformable member. Then, after the rear-side radial expansion / contraction member is deformed into an appropriate contracted shape, the fluid in the axial-direction expansion / contraction member is then transferred to the rear-side radial expansion / contraction member through the second connection port having the larger opening area. Through a fluid supply / discharge tube. In this case, similarly, the amount of air flowing from the front-side radial elastic member to the axial elastic member through the third connection port is suppressed until the axial elastic member is deformed into an appropriate contracted shape. Then, the suction speed of the axial elastic member is increased, and the rear radial elastic member, the axial elastic member, and the front radial elastic member are sequentially and efficiently deformed.

Hereinafter, a first embodiment of the present invention will be described with reference to FIGS.

FIG. 1 shows a schematic configuration of an actuator main body 1 of the automatic insertion device for an endoscope. Reference numeral 2 denotes an endoscope for inserting a large intestine to which the actuator main body 1 is attached.

FIG. 2 shows a schematic configuration of the endoscope 2 on which the actuator body 1 is mounted. In this case, the insertion section 4 is connected to the hand-side operation section 3 of the endoscope 2.
A flexible tube portion 5 is provided on the proximal side of the insertion portion 4, and a distal end portion 7 is connected to a distal end side of the flexible tube portion 5 via a curved portion 6. The actuator body 1 is mounted on the outer peripheral surface of the insertion section 4 of the endoscope 2 on the distal end side.

Further, the insertion portion 4 of the endoscope 2 is provided in the actuator body 1.
Balloons (radial expansion / contraction members) on a pair of front and rear bags which are arranged in a spaced state on the outer peripheral surface of
9 are provided. These front and rear balloons 8, 9 are formed in a substantially ring shape by an elastic material such as rubber. The front and rear balloons 8, 9 are expanded and deformed in the radial direction when a working fluid such as air is supplied into the bag.

Further, an endoscope 2 is provided between the pair of balloons 8 and 9.
An intermediate balloon (axially elastically deformable member) 10 which is expandable and contractible in the axial direction of the insertion portion 4 is provided. The pair of front balloon 8, intermediate balloon 10, and rear balloon 9 are integrally joined. The intermediate balloon 10 is formed in a substantially double tubular shape by an elastic material such as rubber. Further, the outer balloon portion and the inner tube portion of the intermediate balloon 10 are formed with a telescopically deformable portion 11 which is bent in a substantially bellows shape. The intermediate balloon 10 is inflated and deformed in the axial direction when a working fluid such as air is supplied into the bag.

Further, the front balloon 8 of the actuator body 1
Is fixed to the distal end of the insertion section 4 of the endoscope 2. The rear balloon 9 and the intermediate balloon 10 are held by the insertion section 4 of the endoscope 2 in a state where the rear balloon 9 and the intermediate balloon 10 can move in the axial direction.
In this case, the front balloon 8 is fixed to a rigid portion or a non-flexible portion such as the distal end component 7 at the distal end of the insertion section 4 of the endoscope 2 and the bending piece 6a at the distal end. Further, the intermediate balloon 10 of the actuator body 1 is extended to a position for accommodating the entire curved portion 6 of the endoscope 2.

A plurality of bending pieces 6a are rotatably connected to the bending portion 6 of the endoscope 2 via rotation pins 6b. And
The foremost bending piece 6 a of the bending portion 6 is fixed to a terminal portion of the distal end forming portion 7. Further, an angle wire 12 is fixed to a terminal portion of the distal end forming portion 7 or a bending piece 6a at the forefront. The angle wire 12 is configured to be pulled by the rotation of the drum 13 disposed in the hand-side operation unit 3, and the angle wire 12 is rotated by rotating the drum 13 with a bending operation knob (not shown). The bending section 6 can be remotely operated to bend via the bending section.

On the other hand, a first connection port 15 for connecting a fluid supply / discharge tube 14 to the rear balloon 9, a second connection port 16 between the rear balloon 9 and the intermediate balloon 10, a middle balloon 10 and a front balloon. A third connection port 17 is formed between the first and second connection ports 8. And, the opening area of these first connection ports 15
S _A, the opening area S _B of the second connecting opening 16, the relationship of the opening area S _C of the third connecting opening 17 is set to _{S A> S B> S C} .

The proximal end of the fluid supply / discharge tube 14 is connected to a piping system 19 of a drive control unit 18 of the actuator body 1 shown in FIG. The drive control unit 18 is provided with an air supply pump 20 and a suction pump 21. In this case, the air supply pump 20 has a filter 22, a recuperator (pressure reducing valve) 23,
A two-position three-port solenoid valve 24 is connected to the suction pump 21. Similarly, a filter 25, a regulator (reducing valve) 26, and a two-position three-port solenoid valve 27 are sequentially connected to the suction pump 21. The base end of the fluid supply / discharge tube 14 is connected to the electromagnetic valve 24 on the air supply pump 20 side. Further, one end of a branch pipe 28 is connected to the base end of the fluid supply / discharge tube 14. The other end of the branch pipe 28 is a solenoid valve on the suction pump 21 side.
Connected to 27. The solenoid valve 24 on the air pump 20 side
Switches between a communication position for communicating between the fluid supply / discharge tube 14 and the air supply pump 20 side and an atmosphere release position for releasing the fluid supply / discharge tube 14 to the atmosphere. Switches between a communication position for communicating between the fluid supply / discharge tube 14 and the suction pump 21 side and an atmosphere release position for opening the fluid supply / discharge tube 14 to the atmosphere.

A pressure sensor 29 is mounted on the fluid supply / discharge tube 14. The pressure sensor 29 is connected to a controller 31 via a comparator 30. The controller 31 is connected to solenoid valves 24 and 27, respectively. The operation of the solenoid valves 24 and 27 is controlled by the controller 31.

 Next, the operation of the above configuration will be described.

First, the endoscope 2 to which the actuator body 1 is attached is inserted into a predetermined position in the large intestine 32 of the patient. In this case, the actuator body 1 is held in a state where a working fluid such as air is not supplied into the front balloon 8, the intermediate balloon 10, and the rear balloon 9 when not operating, and the front and rear balloons 8, 9 have the smallest outer diameters. The deflated state and the intermediate balloon 10 are held in the deflated state in which the length in the axial direction is the smallest.

When the actuator body 1 is operated, first, the air supply pump 20 is driven, and the solenoid valve 24 of the air supply pump 20 is set to a communication position for communicating between the fluid supply / discharge tube 14 and the air supply pump 20 side. Switching is controlled. Then, a filter 22, a regulator 23, a solenoid valve 24,
Actuator body 1 through fluid supply / discharge tube 14
Working air is supplied into the rear balloon 9, and the rear balloon 9 is inflated and deformed in the radial direction. In this case, air is supplied from the fluid supply / discharge tube 14 to the rear balloon 9 via the first connection port 15 (open area S _A ) having the largest opening area. Also, the amount of air flowing from the inside of the rear balloon 9 to the intermediate balloon 10 through the second connection port 16 (opening area S _B ) having a small opening area can be suppressed. Therefore, when air is supplied to the actuator main body 1, the rear balloon 9 can be efficiently pressurized until it is deformed into an inflated shape in which the rear balloon 9 is pressed against and fixed to the inner wall surface of the large intestine 32 as shown in FIG. In addition, the pressing speed of the rear balloon 9 can be increased.

Then, the rear balloon 9 is deformed to the inflated shape,
After being fixed by being pressed against the inner wall surface of the large intestine 32 at the position A in the drawing, the supply air from the fluid supply / discharge tube 14 passes through the inside of the rear balloon 9 and the second connection port 16 having the next largest opening area.
The intermediate balloon 10 is inflated and deformed in the axial direction as shown in FIG. 4 (b). In this case, since the front balloon 8 is held in a contracted state, the front balloon 8 can be moved (advanced) from the position B to the position C in FIG. The insertion section 4 of the endoscope 2 can be moved forward together with the front balloon 8.
Also, during the expansion and deformation operation of the intermediate balloon 10, the intermediate balloon 10 flows into the front balloon 8 from the inside of the intermediate balloon 10 through the third connection port 17 (opening area S _C ) having an opening area smaller than that of the second connection port 16. Since the amount of air can be suppressed, the intermediate balloon 10 can be efficiently pressurized until the intermediate balloon 10 is deformed into the inflated shape shown in FIG.
The pressurizing speed of the intermediate balloon 10 can be increased.

Further, after the intermediate balloon 10 is deformed into the inflated shape shown in FIG. 4 (b), the air supplied from the fluid supply / discharge tube 14 passes through the rear balloon 9, the intermediate balloon 10, and then the third connection. The gas flows into the front balloon 8 through the mouth 17. Then, the front balloon 8 is inflated and deformed in the radial direction as shown in FIG. 4C, and is pressed against and fixed to the inner wall surface of the large intestine 32. Thus, the front balloon 8 is
At the time when the solenoid valve 24 is pressed against the inner wall surface and fixed, the electromagnetic valve 24 is switched to the open-to-atmosphere position, and the driving of the air supply pump 20 is stopped.

Next, the suction pump 21 is driven, and the electromagnetic valve 27 on the suction pump 21 side is connected to the fluid supply / discharge tube 14 and the suction pump 21.
It is controlled to switch to a communication position that communicates with the side. Therefore, in this state, a suction operation of sucking the air in the actuator body 1 through the fluid supply / discharge tube 14 is performed. During this suction operation, first, the air in the rear balloon 9 is sucked through the first connection port 15 (opening area S _A ) having the largest opening area, and the rear balloon 9 is contracted and deformed in the radial direction. In this case, the second connection port 16 is the first connection port.
Since the opening area is smaller than 15, the second connection port 16
Through the (opening area S _B ), the amount of air sucked into the rear balloon 9 from inside the intermediate balloon 10 can be suppressed. Therefore, at the time of the operation of sucking the air in the actuator body 1, the rear balloon 9 can be efficiently contracted and deformed first.

After the rear balloon 9 is deformed to the contracted shape, the air in the intermediate balloon 10 is sucked through the second connection port 16, and the intermediate balloon 10 is contracted and deformed in the axial direction as shown in FIG. Is done. In this case, the rear balloon 9
Is held in a deflated state, so that the rear balloon 9 can be moved (advanced) from the position A in FIG. Also, at the time of the contraction deformation operation of the intermediate balloon 10, it is sucked into the intermediate balloon 10 from the front balloon 8 side through the third connection port 17 (opening area S _C ) having an opening area smaller than that of the second connection port 16. Since the amount of air can be suppressed, the intermediate balloon 10 can be efficiently sucked until the intermediate balloon 10 is deformed into the contracted shape shown in FIG. 4D, and the suction speed of the intermediate balloon 10 is reduced. Can be enhanced.

After the intermediate balloon 10 is deformed into a contracted shape, the air in the front balloon 8 is sucked through the third connection port 17 and the front balloon 8 is contracted and deformed in the radial direction. Then, the front balloon 8 is separated from the inner wall surface of the large intestine 32 and the fixation is released, and the forward movement of one stroke is completed.

Next, the working air is supplied again from the fluid supply / discharge tube 14, and the initial operation is repeated as shown in FIG. 4 (e), and thereafter, the same forward operation is repeated.

The switching operation between pressurization and suction of the actuator body 1 is performed by switching the electromagnetic valves 24 and 27. In this case, the switching operation of the solenoid valves 24 and 27 is performed by sequential switching control by the controller 31. Note that the switching operation of the solenoid valves 24 and 27 may be performed manually.

Further, during the operation of the actuator body 1, the pressure sensor
The pressure state in the fluid supply / discharge tube 14 is detected by 29. The detection signal from the pressure sensor 29 is input to a comparator 30, and is compared with a predetermined set value of a predetermined set pressure width in the comparator 30. When the pressure detected by the pressure sensor 29 is detected by the comparator 30 in a state other than the predetermined pressure range, the controller 31 opens the solenoid valve 24 or 27 to the atmosphere, and the liquid supply / drain tube 14 is opened.
The internal pressure state is switched to the atmospheric pressure state and controlled so that excessive air supply or suction is prevented. Therefore, for example, even when the balloons 8, 9, and 10 are damaged due to some kind of obstacle and an abnormal state occurs in which the pressure state in the fluid supply / discharge tube 14 deviates from a predetermined set pressure range, the fluid supply / discharge It is possible to prevent the pressure state in the tube 14 from being maintained in this abnormal state for a long time.

Also, during the backward operation or the withdrawal operation of the endoscope 2, the air supply pump 20 and the suction pump 21 are held in the off state, respectively, and the electromagnetic valve 24 and the suction pump on the air supply pump 20 side are held.
The solenoid valves 27 on the 21 side are both held in a state where they are switched to the open-to-atmosphere position, and in this state, when the endoscope 2 is pulled out, these endoscopes 2 are moved backward or withdrawn. No action is taken.

Therefore, the first connection port for connecting the fluid supply / discharge tube 14 in the rear balloon 9 is configured as described above.
15, a second connection port 16 between the rear balloon 9 and the intermediate balloon 10, a third connection port between the intermediate balloon 10 and the front balloon 8.
Are formed respectively, and these first connection ports 15 are formed.
The opening area S _A of the opening area S _B of the second connecting opening 16, so the relationship between the opening area S _C of the third connecting opening 17 is set to S _A> S _B> S _C, to the actuator body 1 At the time of air supply operation or suction operation, the rear balloon 9, the intermediate balloon 10,
The pressurization or suction speed can be sequentially increased in the order of the front balloon 8, and the traveling speed of the actuator body 1 can be increased.

Here, for example, the first connecting port 15 opening area S _A of the opening area S _B of the second connecting opening 16, the relationship between the opening area S _C of the third connecting opening 17 S _A <S _B <S _C When the setting is made, the rear balloon 9 and the intermediate balloon 1 are used at the time of air supply work or suction work to the actuator body 1.
0, the front balloon 8 is deformed at one time and the travel of the actuator body 1 becomes impossible, and when S _A = S _B = S _C as in the conventional case, it takes time for the forward movement of the actuator body 1 to take place. And the running speed becomes slower. Therefore, in the above-described embodiment, the disadvantages of the above-described conventional example can be surely solved, and the traveling performance of the actuator body 1 can be improved.

Further, in the above configuration, the supply and exhaust of air to the front balloon 8, the intermediate balloon 10, and the rear balloon 9 are controlled by one.
Since the fluid supply / discharge tube 14 can efficiently perform the operation, the configuration of the actuator body 1 for automatically inserting the endoscope 2 can be simplified, and the overall size can be reduced.

FIG. 5 shows a second embodiment of the present invention.

This is a configuration in which a contact sensor 41 is provided at the distal end of the distal end component 7 of the endoscope 2 to detect, for example, that the distal end of the distal end component 7 has contacted the inner wall of the large intestine 32 when the endoscope 2 is automatically inserted. It was done. In this case, the contact sensor 41 is formed by, for example, a pressure-sensitive sensor. Further, the contact sensor 41 is connected to an LED (light emitting diode) drive circuit 44 via an amplifier 42 and a comparator 43 in order. further,
The LED drive circuit 44 is connected to display elements 45 and 46 such as LEDs (light emitting diodes) provided in the hand-side operation unit 3 of the endoscope 2 and the eyepiece unit 3a.

When the contact sensor 41 detects that the distal end of the distal end component 7 has contacted the inner wall of the large intestine 32 during automatic insertion of the endoscope 2, the detection signal (voltage change signal) from the contact sensor 41 is amplified. After being amplified by 42, the comparator
It is input to the comparator 43 and is compared with a preset value of a predetermined set pressure width in the comparator 43. Furthermore, this comparator
When the detection pressure from the contact sensor 41 is detected by the sensor sensor 43 in a state other than a predetermined set pressure range, the LED drive circuit 44 controls the display device 45 of the hand-side operation unit 3 of the endoscope 2 and the eyepiece unit 3a. , 46 are illuminated to indicate that the distal end of the distal end component 7 has come into contact with the inner wall of the large intestine 32.

Therefore, in the above-described configuration, the state in which the distal end of the distal end component 7 is in contact with the inner wall of the large intestine 32 during automatic insertion of the endoscope 2 is determined by the operation of the proximal operation unit 3 and the eyepiece 3a of the endoscope 2. Since it is possible to display by turning on each display element 45, 46, at the time when each display element 45, 46 is turned on, a user such as a doctor rotates the drum 13 with a bending operation knob (not shown), and the angle wire 12 By remotely bending the bending portion 6 through the endoscope, the state in which the distal end of the distal end portion 7 of the endoscope 2 is in contact with the inner wall of the large intestine 32 can be released. Here, when the distal end component 7 of the endoscope 2 moves away from the inner wall of the large intestine 32, the display elements 45 and 46 are turned off. Therefore, by repeating this operation, the endoscope 2 can be automatically inserted even inside the bent large intestine 32.

In addition, a plurality of contact sensors 41 are provided and arranged on the top, bottom, left and right of the distal end component 7 of the endoscope 2, and display elements 45 and 46 such as LEDs (light emitting diodes) are respectively associated with the contact sensors 41. It may be arranged so as to be able to determine which part of the top, bottom, left and right of the distal end component 7 of the endoscope 2 is in contact.

FIG. 6 shows a third embodiment of the present invention.

This is because a bending motor 51 for rotating and driving the drum 13 is mounted in the proximal operation unit 3 of the endoscope 2 of the second embodiment, and a driving circuit 52 of the bending motor 51 is connected to a controller 53.
And the controller 53
To the comparator 43, for example, an LED lamp,
A display 54 such as a buzzer, a TV monitor, or the like is connected.

When the output signal from the comparator 43 is input to the controller 53, the controller 53 controls the motor drive circuit 52, and the display 54 displays the distal end of the distal end component 7 of the endoscope 2 on the large intestine 32. The state of contact with the inner wall is displayed. The motor 51 for bending is driven by a motor drive circuit 52 in a direction to release the state in which the distal end of the distal end component 7 of the endoscope 2 is in contact with the inner wall of the large intestine 32. In this case, the contact sensors 41 are disposed on the upper, lower, left, and right sides of the distal end component 7 of the endoscope 2. For example, when an output signal from the contact sensor 41 below the distal end component 7 is detected, The bending motor 51 is driven by a fixed amount so as to bend the distal end component 7 upward in the opposite direction.

Therefore, in the above configuration, even when the endoscope 2 is inserted into the bent large intestine 32, troublesome operation of the bending operation knob can be omitted, and operability is improved. The operation of automatically inserting the endoscope 2 can be further simplified.

FIG. 7 shows a fourth embodiment of the present invention.

In this configuration, a non-slip portion 61 having an uneven shape bent substantially in a bellows shape is provided on the outer peripheral surfaces of the front balloon 8 and the rear balloon 9 of the actuator body 1.

In this case, when the endoscope 2 is inserted into the large intestine 32 and the front balloon 8 and the rear balloon 9 are inflated and deformed in the radial direction, the slip preventing portions on the outer peripheral surfaces of the front balloon 8 and the rear balloon 9 are formed. Since the large intestine 61 can be engaged with the inner wall surface of the large intestine 32, the endoscope 2 can be reliably prevented from slipping from the fixed position. Therefore, in this case, the traction force of the endoscope 2 by the actuator body 1 can be increased, so that the forward movement at the time of automatic insertion of the endoscope 2 can be reliably performed.

It should be noted that the present invention is not limited to the above-described embodiments, and it goes without saying that various modifications can be made without departing from the spirit of the present invention.

[Effects of the Invention] According to the present invention, it is possible to increase the traveling speed of the actuator body and reduce the size of the entire actuator.

[Brief description of the drawings]

1 to 4 show a first embodiment of the present invention. FIG. 1 is a schematic configuration diagram of an actuator body of an automatic insertion device for an endoscope, and FIG. 2 is a diagram in which the actuator body is mounted. FIG. 3 is a schematic configuration diagram showing a drive control unit of the actuator main body, FIG. 4 is a vertical sectional view showing operation of the actuator main body, and FIG. 5 is a second embodiment of the present invention.
FIG. 6 is a schematic configuration diagram showing a third embodiment of the present invention, and FIG. 7 is a perspective view showing a fourth embodiment of the present invention. DESCRIPTION OF SYMBOLS 1 ... Actuator main body, 2 ... Endoscope, 4 ... Insertion part, 8 ... Front balloon (radial expansion / contraction deformation member), 9 ...
… Rear balloon (radial expansion / contraction member), 10… Intermediate balloon (axial expansion / contraction member), 14… Tube, 15…
... 1st connection port, 16 ... 2nd connection port, 17 ... 3rd connection port.

Claims (1)

(57) [Claims] 1. A pair of radially expanding and contracting members which are arranged on the outer peripheral surface of an insertion portion of an endoscope and which can be contracted and deformed in the radial direction and are spaced apart from each other. And an axially expanding and contracting member capable of expanding and contracting in the axial direction of the endoscope insertion portion, and the radially expanding and contracting member on the front side of the actuator body is inserted into the endoscope. And the rear-side radially deformable member is held movably by the endoscope insertion portion, and a fluid supply / discharge tube is connected to the rear-side radially deformable member. A first connection port, a second connection port between the rear-side radial elastic member and the axial elastic member, the axial elastic member, and the front elastic member; Forming third connection ports between them, The opening area S _A of the connecting port of a feature in that the second connection hole of the opening area S _B, the third connection port relationship of the opening area S _C of the set to S _A> S _B> S _C Automatic insertion device for endoscopes.