JP3333744B2 - Swing structure - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope oscillating structure.

[0002]

2. Description of the Related Art In an endoscope which is inserted into a blood vessel, a viscera, or the like to perform a physical examination or an operation, a oscillating portion is formed particularly at a distal end of the endoscope. It is designed to be inserted smoothly into As a conventional oscillating structure, for example, as shown in FIGS. 10 and 11, a tip holder a and an intermediate holder b are connected by a flexible tube k, and a ring-shaped body c is attached to the flexible tube k. , And movable pieces e, e are disposed between the intermediate holding tool b and the base holding tool d fixedly provided on the base end side thereof. And intermediate holder b
And a pair of distal end tension springs f, f made of a shape memory alloy, which are shortened by heating, are provided between the movable pieces e, e and the base holder d. Are provided in a pair, and the base ends of the pulling wires h, h are fixed to the movable pieces e, e.
h is fixed to the tip holder a.

[0003]

However, in the above-described oscillating structure, as shown in FIG. 11, one of the distal tension springs f and the other of the proximal tension springs g are operated to recover the shape. When the head is swung, the pulling wire h on one end side tension spring f only loosens, and the head swings only by the pulling force i by the base side tension spring g on the other side pulling wire h. However, there is a problem that the operating force (traction force) for the swing motion is small. In addition, there has been a problem that the length of the entire oscillating structure increases and the oscillating portion becomes unstable.

Accordingly, the present invention solves the above-mentioned problems, provides a sufficiently large operating force for the oscillating operation, and can shorten the entire oscillating structure. It is an object of the present invention to provide a swing structure capable of stably maintaining a curved state and a straight state.

[0005]

In order to achieve the above-mentioned object, in the oscillating structure according to the present invention, a plurality of ring-shaped bodies are arranged at predetermined intervals between a tip holder and an intermediate holder. At the mutual interval between the tip holder, the wheel cutting body and the intermediate holder,
The first and second compression coil spring portions made of a shape memory alloy, which are extended by the shape recovery operation, are rotated by 180 ° with respect to the axis of the ring-shaped body.
Interposed Conversely position, the base end retainer to the base end side of the intermediate holder, distribution and set at predetermined intervals, along the first and second compression coil spring portion, first and second A first pulling wire made of a shape memory alloy, which is provided with a pulling wire and is shortened by a shape recovery operation along a proximal extension of the first and second pulling wires.
A second tension coil spring is provided to fix the tips of the first and second pulling wires to the tip holder, and
The proximal end of the second pulling wire is connected to the distal ends of the first and second extension coil springs, and the proximal ends of the first and second extension coil springs are fixed to the proximal end holder, and By the shape recovery operation of the first compression coil spring portion and the second tension coil spring
By swinging the head in one direction, the second compression coil spring portion and the first extension coil spring are turned 180 ° by the shape recovery operation .
It is configured to swing in the direction . Further, only the first and second tension coil springs are configured to be able to perform a shape recovery operation.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described below in detail with reference to the drawings showing embodiments.

FIG. 1 schematically shows a oscillating structure according to the present invention. This oscillating structure A is used for an endoscope which is inserted into a blood vessel, an internal organ, or the like to perform an examination or surgery on a body. , A tip holder 7, an intermediate holder 8, a base holder 10
A flexible tube 1 for connecting the distal holder 7 to the intermediate holder 8 so as to be able to swing, and a base holder 10 relatively fixed at a predetermined distance to the proximal side of the intermediate holder 8. And a metal pipe 9 connected to the intermediate holding tool 8, the distal end side from the intermediate holding tool 8 serves as the oscillating portion S, and the base end side from the intermediate holding tool 8 serves as the support section 2.

The flexible tube 1 is formed by covering a metal coil wire 19 with a first vapor-deposited resin layer 20 from the inner peripheral side and a second vapor-deposited resin layer 21 from the outer peripheral side. It is formed. For example, polyparaxylylene (“parylene”) is used as the first and second vapor-deposited resin layers 20 and 21, and a soft stainless steel wire is used as the coil wire 19. Further, the distal end holder 7, the intermediate holder 8 and the proximal end holder 10 are each formed in an annular shape, and an image guide (not shown) is inserted into a hole inside thereof.

A plurality of sliced bodies 3 are arranged at predetermined intervals between the tip holder 7 and the intermediate holder 8, and the tip holder 7, the sliced body 3 and the intermediate holder 8 are connected to each other. The first space made of a shape memory alloy that extends by the shape recovery operation
The compression coil springs 4 and the second compression coil springs 5 are interposed at positions 180 ° opposite to each other with respect to the axis L of the ring-shaped body 3.

More specifically, the cutting pieces 3 are provided in the flexible tube 1 so as to be slidable in the axial direction, and the tip holding members 7, the cutting pieces 3 and the intermediate holding members 8 Conductive metal tube 6
Are provided in a protruding manner on both sides in the direction of the axis L. Each of the first and second compression coil spring portions 4 is formed as an independent coil spring. Then, the end of the first compression coil spring 4 and the end of the second compression coil spring 5 are fixed to the corresponding ends of the metal tubes 6.

Also, the first and second compression coil spring portions 4...
The first and second pulling wires 11 and 12 are provided along 5. Specifically, the first pulling wire 11 is inserted through the first compression coil springs 4 and the metal tubes 6, and the second pulling wire 11 is inserted through the second compression coil springs 5 and the metal tubes 6. Insert 12 Then, the first and second pulling wires 11,1
2 is fixed to the tip holder 7.

Further, first and second tension coil springs 13 and 14 made of a shape memory alloy, which are shortened by a shape recovery operation, are provided along the base end side extension lines of the first and second pulling wires 11 and 12. I do. That is, the first and second tension coil springs 13 and 14 are provided between the intermediate holder 8 and the base holder 10 and inside the metal pipe 9 in parallel with each other. And the first compression coil spring portions 4 are arranged on a straight line, and
The second tension coil spring 14 and the second compression coil spring portions 5 are arranged on a straight line.

Further, the base ends of the first and second pulling wires 11, 12 are connected to the distal ends of the first and second tension coil springs 13, 14, and the first and second tension coil springs 13, 14 are connected. The base end is fixed to the base end holder 10. Specifically, the conductive metal tube 15,
15 through the first and second pulling wires 11, 12 to the first end.
・ Connect to the tip of the second tension coil springs 13,14. Also,
Connect the conductive metal tubes 16, 16 to the base end holder 10 with the axis L
The conductive metal tubes 16,
The proximal ends of the first and second tension coil springs 13 and 14 are fixed to the distal end side of 16.

As described above, the first and second tension coil springs 13 and 14 are disposed in the oscillating portion S, and the first and second pulling wires 11 and 12 are provided inside (the pipe on the proximal end side). The tension coil springs 13 and 14 (in 9) are antagonized. Then, the shape recovery operation of the first compression coil spring portions 4 and the second tension coil springs 14, and the second compression coil spring portions 5 and the first tension coil springs 13
With the above shape recovery operation, the head is swung.

That is, as shown in FIG. 2, the first compression coil springs 4 and the second tension coil springs 14 are electrically connected in series via a connection line 30 or the like, and the second compression coil springs 4 are connected in series. 5 and the first tension coil spring 13 are electrically connected in series via a connection line 31 and the like, and the first compression coil spring portions 4 are connected.
The state in which a current flows through the second tension coil spring 14 and the second
A switch circuit 17 is provided which can be switched between a state in which a current flows through the compression coil spring portions 5 and the first tension coil spring 13 and an entire off state.

As shown in FIG. 3, the shape recovery operation of the first compression coil springs 4 and the second tension coil springs 14, the second compression coil springs 5 and the first tension coil springs 13
And the first and second tension coil springs 13, 14
It is also preferable that only the shape recovery operation is enabled. That is, the ON state of the first compression coil spring portions 4 and the second tension coil springs 14 and the second compression coil spring portions 5.
An ON state of the first and second extension coil springs 13, an ON state of the first and second extension coil springs 13 and 14, an entire OFF state,
Is provided with a switch circuit 18 which can be switched alternatively.

Next, the method of manufacturing the swing structure A will be described. As shown in FIG. 4A, a metal tube 6 is attached to the peripheral wall of the Teflon multi-lumen tube forming the intermediate holder 8.
Insert a stainless steel tube. At that time, no adhesive is used. Next, as shown in FIG. 4B, stainless steel coils 22 are YAG laser welded to both ends of the stainless steel tube. Next, as shown in FIG. 4C, the coils forming the first and second compression coil spring portions 4 and 5 are attached. Further, metal tubes 6 and 6 are attached to the coil.

Thereafter, as shown in FIG. 4D, a ring-shaped body 3 (multi-lumen tube) is mounted. Further, FIG.
(E) As shown in FIG. 5 (b), the stainless steel coil 22 is welded to the metal tubes 6, 6, the first and second compression coil spring portions 4, 5 are attached, and the metal tubes 6, 6 are attached. Steps such as welding the stainless steel coil 22 are repeated.

Next, as shown in FIG. 5 (c), a multi-lumen tube forming the tip holder 7 is attached, and a stainless steel pipe welded to the tip of a Teflon-coated stainless wire forming the pulling wires 11, 12 is attached. . Next, FIG.
As shown in (d), the stainless steel pipes 23, 23 on the distal end side are welded to fix the pulling wires 11, 12. Next, FIG.
As shown in (f), the stainless steel pipes 24, 24 for fixing the tension coils are laser-welded to the base ends of the pulling wires 11, 12, and the stainless coils 25, 25 are laser-welded.

Thereafter, as shown in FIG. 6A, first and second tension coil springs 13 and 14 are attached.
As shown in (d), the stainless steel pipe 26, the multi-lumen tube (the base end holder 10) and the like are attached. Further, FIG.
As shown in (e), the tip of the lead wire 27 for energization is connected to the tip of the swinging part.

Next, as shown in FIGS. 7A and 7B, a stainless steel pipe 28 and a stainless steel pipe 28 are attached to the intermediate holder 8 and the base end holder 10, respectively.
The metal pipe 9 (stainless steel pipe) is laser-welded while the tension coil is stretched. Then, as shown in FIGS. 7 (c) to 7 (d), the stainless steel pipe 29 is externally fitted to the tip holder 7 and laser-welded, and the flexible tube 1 (Parylene bellows coil) is externally fitted to the oscillating part and both ends are provided. Glue. Finally, as shown in FIG. 7E, if the tip of the oscillating portion is cut and the length is adjusted, the oscillating structure A is completed.

The operation of the oscillating structure A will be described with reference to FIG. 8. In the non-energized state, as shown in FIG. 8A, the first and second compression coil spring portions 4,. Normal pressing forces F ₁ , F for pushing the tip holder 7 to the tip side by 5.
₁ and the normal tensile forces F ₂ , F ₂ for pulling the distal end holder 7 toward the proximal end by the first and second tension coil springs 13, 14 are balanced, and the whole is maintained straight.

As shown in FIG. 8B, when the first compression coil springs 4 and the second tension coil springs 14 are energized to perform a shape recovery operation, the pressing force of the first compression coil springs 4 is increased. F ₃ , the tensile force F ₄ by the second tension coil spring 14,
There occurs, both the force F _3, F ₄ is synthesized, (whereas
Swings with great force in the direction of arrow D ) .

Conversely, as shown in FIG. 8C, when the second compression coil springs 5 and the first tension coil springs 13 are energized to perform a shape recovery operation, the second compression coil springs 5 ... and the pressing force F ₃ by a force F ₄ tensile according to the first tension coil spring 13, is generated, both the force F _3, F ₄ are combined, (a 180 ° opposite in the other direction) arrow Shake the head with great force in the E direction.

As shown in FIG. 9, when the first tension coil spring 13 and the second tension coil spring 14 are energized at the same time and the shape is restored, the tension by the first and second tension coil springs 13 and 14 is increased. The forces F ₄ , F ₄ are generated, and the first and second compression coil spring portions 4, 5,. That is, the swing part S
Shrinks while keeping straight. Thereby, the bending rigidity of the oscillating portion S increases, and the straight state can be firmly maintained.

After the oscillating operation and the shortening operation of the oscillating portion S as described above are stopped, the flexible tube 1 shown in FIG.
Due to the restoring force, the state returns to the straight state shown in FIG.

As described above, according to the swing structure A, a large operating force can be obtained at the time of swing even if the diameter is small. Moreover, the bending rigidity of the oscillating portion S can be increased. Further, it is not necessary to provide a small-diameter flexible tube between the tip holder 7 and the intermediate holder 8 which has been conventionally required.

In FIG. 1, the first and second compression coil springs 4 and 5 and the first and second tension coil springs 13 and 14 are shown.
And one pair of the first and second pulling wires 11 and 12 are shown, but actually two pairs are provided. That is, one of the first and second compression coil spring portions 4, 5,.
The first and second tension coil springs 13 and 14, the first and second pulling wires 11 and 12, the other first and second compression coil spring portions 4,..., And the first and second tension coils Springs 13, 14 and
The first and second pulling wires 11, 12 are displaced by 90 ° when viewed from the axis L direction. This allows the user to swing in four directions, up, down, left, and right, as viewed from the axis L direction.

Further, the first and second compression coil spring portions 4...
5 and the first and second tension coil springs 13 and 14 and the first and second pulling wires 11 and 12 are respectively provided in pairs, and the necks are provided only in two directions such as up and down directions and left and right directions. You may comprise so that it can shake. Also, the first and second compression coil spring portions 4,.
5 may be constituted by one compression coil spring. In that case, each wheel-slicing body 3 is fixed in the middle of the coil spring.

[0030]

EXAMPLE A oscillating structure as a product of the present invention was actually manufactured by the manufacturing method shown in FIGS. When the vibration operation was evaluated, when the current value for energizing and heating was set to 300 mA, in both the right and left directions,
A swing angle of 40 ° was obtained.

[0031]

Since the present invention is configured as described above, the following effects can be obtained.

According to the oscillating structure of the first aspect, the pressing force generated by the shape recovery operation of the first compression coil springs 4.
The tensile force by the shape recovery operation of the first tension coil spring 13 is added to the force obtained by applying the tensile force by the shape recovery operation of the tension coil spring 14, or the pressing force by the shape recovery operation of the second compression coil spring portions 5. Since the oscillating operation can be performed by the force, an operating force twice as large as the conventional one (of FIGS. 10 and 11) can be obtained. In addition, the distance between the intermediate holder 8 and the proximal holder 10 can be reduced, and the whole can be made compact (shortened) as compared with the conventional swing structure.

According to the swing structure of the second aspect, the first
By performing the shape recovery operation of only the second tension coil springs 13 and 14, the bending rigidity of the oscillating portion S is increased and the straight state is maintained, so that it is easy to insert into a portion that was difficult to insert with the conventional endoscope. Becomes

[Brief description of the drawings]

FIG. 1 is an enlarged sectional view showing an embodiment of the present invention.

FIG. 2 is a simplified explanatory diagram of a switch circuit.

FIG. 3 is a simplified explanatory diagram of another switch circuit.

FIG. 4 is an explanatory view of a manufacturing method.

FIG. 5 is an explanatory view of a manufacturing method.

FIG. 6 is an explanatory view of a manufacturing method.

FIG. 7 is an explanatory view of a manufacturing method.

FIG. 8 is an operation explanatory view.

FIG. 9 is an operation explanatory view.

FIG. 10 is an explanatory diagram of a conventional example.

FIG. 11 is an explanatory diagram of a conventional example.

[Explanation of symbols]

 REFERENCE SIGNS LIST 3 wheel cutting body 4 first compression coil spring portion 5 second compression coil spring portion 7 tip holder 8 intermediate holder 10 base end holder 11 first pulling wire 12 second pulling wire 13 first pulling coil spring 14 second Extension coil spring L axis

Claims (2)

(57) [Claims] A plurality of ring-shaped members are arranged at a predetermined interval between a tip holder and an intermediate holder, and a shape recovery member is provided at an interval between the tip holder, the ring-shaped member and the intermediate holder. First and second compression coil spring portions made of a shape memory alloy which are extended by operation are interposed at positions 180 ° opposite to each other with respect to the axis of the ring-shaped body, and a base end holder is provided on the base end side of the intermediate holder. , arrangement and set at predetermined intervals <br/>, along the first and second compression coil spring portion, with disposing the first and second puller wires, first
A first and a second tension coil spring made of a shape memory alloy, which is shortened by a shape recovery operation, is disposed along an extension line on the base end side of the second pulling wire, and the distal ends of the first and second pulling wires are disposed. The first and second pulling wires are fixed to the distal end holder, and the proximal ends of the first and second pulling wires are connected to the distal ends of the first and second tension coil springs. The first compression coil spring portion and the second compression coil spring portion are fixed to the base end holder.
Neck in one direction by shape recovery operation with tension coil spring
A swing structure characterized in that the swing structure is configured to swing in the other direction by 180 ° by the shape recovery operation of the second compression coil spring portion and the first extension coil spring. 2. The oscillating structure according to claim 1, wherein only the first and second extension coil springs are configured to be capable of performing a shape recovery operation.