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    • 2. 发明授权
    • Intra-tube traveling apparatus
    • 管内行走装置
    • US5144848A
    • 1992-09-08
    • US608573
    • 1990-11-02
    • Nobuaki UenishiMitsugu NagayoshiHirofumi MiyanagaTomoaki SatoKatsunori SakiyamaYasuhiro UedaHideyuki Adachi
    • Nobuaki UenishiMitsugu NagayoshiHirofumi MiyanagaTomoaki SatoKatsunori SakiyamaYasuhiro UedaHideyuki Adachi
    • F16L55/34G02B6/44G02B23/24
    • F16L55/34G02B23/2476G02B6/4464
    • An intra-tube traveling apparatus includes a moving unit to which an endoscope is held and which is self-driven to travel in a pipe path, and a movement control section for controlling movement of the moving unit. The moving unit includes an elastic actuator which is extended/contracted in the radial direction and axial directions of the pipe path upon reception of the pressurized fluid, balloons attached to the front and rear ends of the elastic actuator. Each of the balloons is radially expanded/deformed upon reception of the pressurized fluid therein to be locked to the inner surface of the pipe path. The movement control section includes a pressurized fluid supply unit, a switching control section, a stop signal output switch for outputting a stop signal for stopping a movement operation of the moving unit, and a unit fixing portion for supplying the pressurized fluid to the balloons upon reception of the stop signal from the stop signal output switch to expand/deform the lock portions, thereby fixing the moving unit to the inner surface of the pipe path.
    • 管内行进装置包括:内窥镜被保持并且自行驱动地在管路中行进的移动单元,以及用于控制移动单元的移动的移动控制部。 移动单元包括弹性致动器,该弹性致动器在接收到加压流体时,沿着管路的径向方向和轴向方向延伸/收缩,附接到弹性致动器的前端和后端的气囊。 每个气囊在其中接收加压流体时径向膨胀/变形,以锁定到管路的内表面。 运动控制部分包括加压流体供应单元,切换控制部分,用于输出用于停止移动单元的移动操作的停止信号的停止信号输出开关,以及用于将加压流体供应到气球的单元固定部分 接收来自停止信号输出开关的停止信号以使锁定部分膨胀/变形,从而将移动单元固定到管道的内表面。
    • 3. 发明授权
    • Apparatus for bending an insertion section of an endoscope using a shape
memory alloy
    • 用于使用形状记忆合金弯曲内窥镜的插入部分的装置
    • US4930494A
    • 1990-06-05
    • US291242
    • 1988-12-28
    • Sakae TakehanaYasuhiro UedaMasakazu GotandaTomohisa SakuraiHideyuki Adachi
    • Sakae TakehanaYasuhiro UedaMasakazu GotandaTomohisa SakuraiHideyuki Adachi
    • A61B1/005A61F2/00A61M25/01F03G7/06
    • A61M25/0158A61B1/00147A61B1/0058F03G7/065A61F2210/0014A61M2205/0266
    • The distal end of an insertion section of an endoscope is divided into a plurality of segments each including a pair of SMA coils which are arranged symmetrically with respect to an axis and memorize a close-winding shape. As the SMA coils recovers their memorized shape, the distal end of the insertion section is bent. The SMA coils are restored to the memorized shape when they are conductively heated by means of a current supply circuit. The current supply circuit comprises an input unit for inputting a target value of the bend angle for a leading segment, a sensor for detecting the distance of insertion of the insertion section, a detector circuit for detecting the bend angle of each segment, and means for controlling the amount of current supply so that the bend angle of the SMA coils agrees with a target angle. The inputted angle is set as the target angle for the leading segment, and the detected bend angle of each segment is set as the target angle for each succeeding segment. The set value is renewed each time the insertion distance of the insertion section attains a predetermined distance.
    • 内窥镜的插入部的前端被分割成多个片段,每个片段包括一对相对于轴对称设置的SMA线圈并且记忆紧绕形状。 当SMA线圈恢复其记忆形状时,插入部分的远端弯曲。 当SMA线圈通过电流供应电路导电加热时,SMA线圈恢复到记忆形状。 电流供给电路包括用于输入前导部分的弯曲角度的目标值的输入单元,用于检测插入部分的插入距离的传感器,用于检测每个部分的弯曲角度的检测器电路,以及用于 控制电流供给量,使得SMA线圈的弯曲角度与目标角度一致。 将输入的角度设定为前段的目标角度,将各段的检测弯曲角度设定为每个后续段的目标角度。 每当插入部的插入距离达到预定距离时,更新设定值。