公开(公告)号：US20120271105A1

公开(公告)日：2012-10-25

申请号：US13451232

申请日：2012-04-19

申请人： Takayuki NAKAMURA ,  Tsuyoshi ASHIDA ,  Yasunori OHTA ,  Shinichi YAMAKAWA ,  Rick CORNELIUS ,  Charles Alan BRANTINGHAM

发明人： Takayuki NAKAMURA ,  Tsuyoshi ASHIDA ,  Yasunori OHTA ,  Shinichi YAMAKAWA ,  Rick CORNELIUS ,  Charles Alan BRANTINGHAM

IPC分类号： A61B1/00

CPC分类号： A61B1/0016 ,  A61B1/00101 ,  A61B1/00135 ,  A61B1/31

摘要： An insertion assisting device includes a rotary body formed in a toroidal shape, and a support and drive unit that rotatably supports and rotates the rotary body. The support and drive unit has two supports, a first support and a second support. The first support is formed in a substantially cylindrical shape, and rotatably supports the rotary body. The second support is formed in a substantially triangular tubular shape, is arranged inside the first support, and supports driving gears that transmit a driving force to the rotary body. The second support is shorter than the first support, and is arranged so that front and rear end portions thereof are located inside front and rear end portions of the first support.

摘要翻译： 插入辅助装置包括形成为环形的旋转体，以及支撑和驱动单元，其可旋转地支撑和旋转旋转体。 支撑和驱动单元具有两个支撑件，第一支撑件和第二支撑件。 第一支撑件形成为大致圆筒形状，并可旋转地支撑旋转体。 第二支撑件形成为大致三角形的管状形状，布置在第一支撑件的内部，并且支撑向旋转体传递驱动力的驱动齿轮。 第二支撑件比第一支撑件短，并且被布置成使得其前端部和后端部位于第一支撑件的前端部和后端部内。

公开(公告)号：US20120271106A1

公开(公告)日：2012-10-25

申请号：US13454769

申请日：2012-04-24

申请人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  Charles Alan BRANTINGHAM

发明人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  Charles Alan BRANTINGHAM

IPC分类号： A61B1/00

CPC分类号： A61B1/0016 ,  A61B1/0008 ,  A61B1/00135 ,  A61B1/01

摘要： A self-propelled device nips an endless belt between a worm wheel and a driven roller. The endless belt is circulated by rotating the worm wheel, and thereby an insertion section of an endoscope advances and retreats inside a body cavity. The driven roller has a width larger than the worm wheel, and is provided with a pair of flanges at both ends. The worm wheel is disposed between the pair of flanges. When the endless belt is nipped between the worm wheel and the driven roller, the endless belt is deformed by the pair of flanges.

摘要翻译： 自推进装置在蜗轮和从动辊之间夹住环形带。 环形带通过旋转蜗轮而循环，从而内窥镜的插入部在身体腔内前进和后退。 从动辊的宽度大于蜗轮，并在两端设有一对凸缘。 蜗轮设置在一对凸缘之间。 当环形带夹在蜗轮和从动辊之间时，环形带由一对凸缘变形。

公开(公告)号：US20130006053A1

公开(公告)日：2013-01-03

申请号：US13538427

申请日：2012-06-29

申请人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  Charles Alan BRANTINGHAM

发明人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  Charles Alan BRANTINGHAM

IPC分类号： A61B1/00

CPC分类号： A61B1/0016 ,  A61B1/00135

摘要： A propelling device includes a traveling body that rotates in a state of being brought into contact with an inner wall of an alimentary canal, an external cylinder around which the traveling body is wound, and a mounting cylinder on which a tip end portion of an endoscope is mounted. Three driven rollers are rotatably attached to the external cylinder. The traveling body is pinched between the driven rollers and driving gears. As the driving gears rotate, the traveling body travels in a circulating manner. A rotating shaft of the driven roller located at the center among the three driven rollers is held by a shaft hole that is made long in a gear arrangement direction in which the driving gears are disposed side by side.

摘要翻译： 推进装置包括在与消化道的内壁接触的状态下旋转的行进体，行进体围绕其的外筒，以及内窥镜的前端部的安装筒 被安装。 三个从动辊可旋转地附接到外筒。 行走体被夹在从动辊和驱动齿轮之间。 当驱动齿轮旋转时，行走体以循环方式行进。 位于三个从动辊中心的从动辊的旋转轴由沿着驱动齿轮并排配置的齿轮排列方向长的轴孔保持。

公开(公告)号：US20120277530A1

公开(公告)日：2012-11-01

申请号：US13455172

申请日：2012-04-25

申请人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  John J. ALLEN ,  Charles Alan BRANTINGHAM

发明人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  John J. ALLEN ,  Charles Alan BRANTINGHAM

IPC分类号： A61B1/01

CPC分类号： A61B1/0016 ,  A61B1/0008 ,  A61B1/00135 ,  A61B1/01

摘要： An insertion assisting device includes a rotary body in the form of toroid, and a support and drive part for supporting the rotary body in a rotatable manner and rotating it. The support and drive part has an approximately cylindrical supporting member for supporting the rotary body in a rotatable manner. The rotary body is provided with a convex portion for increasing the thickness to improve the strength thereof. A concave portion having a shape corresponding to the shape of the convex portion is formed on a portion of a front end surface of the supporting member, which is made in contact with the convex portion. The concave portion prevents the rotary body from stopping rotating, which may be caused by point contact between the convex portion and the supporting member.

摘要翻译： 插入辅助装置包括环形的旋转体，以及用于以可旋转方式支撑旋转体并使其旋转的支撑和驱动部。 支撑和驱动部分具有用于以可旋转的方式支撑旋转体的近似圆柱形的支撑构件。 旋转体设置有用于增加厚度以提高其强度的凸部。 在与凸部接触的支撑部件的前端面的一部分上形成具有与凸部形状对应的形状的凹部。 凹部防止旋转体停止旋转，这可能由凸部和支撑部件之间的点接触引起。

公开(公告)号：US20130158349A1

公开(公告)日：2013-06-20

申请号：US13543316

申请日：2012-07-06

申请人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA ,  Rick Cornelius ,  Maureen P. Sheridan

发明人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA ,  Rick Cornelius ,  Timothy P. SHERIDAN

IPC分类号： A61B1/00 ,  A61B1/04

CPC分类号： A61B1/00133 ,  A61B1/00006 ,  A61B1/00059 ,  A61B1/00128 ,  A61B1/00135 ,  A61B1/0016 ,  A61B1/04

摘要： An insertion and extraction assisting device of an endoscope has a promotion unit attached on the front end side of the endoscope and a transmission section whose one end is connected to a promotion unit, and the other end is drawn along the endoscope, and an outside unit. The other end of the transmission section is connected to the outside unit, and rotational force or a turn signal from the outside unit is transmitted to the promotion unit, so that driving force is generated by the promotion unit. When the other end of the transmission section is connected to, the outside unit reads an ID code expressing a kind of the promotion unit and controls the rotational force or the turn signal to send to the promotion unit.

摘要翻译： 内窥镜的插拔机构具有安装在内窥镜的前端侧的促进单元和将一端连接到升降单元的传动部，并且另一端沿着内窥镜被拉出，外侧单元 。 变速部分的另一端连接到外部单元，并且来自外部单元的旋转力或转动信号被传递到促销单元，从而促销单元产生驱动力。 当传输部分的另一端连接时，外部单元读取表示促销单元的种类的ID代码，并控制旋转力或转向信号发送到促销单元。

公开(公告)号：US20120271107A1

公开(公告)日：2012-10-25

申请号：US13454796

申请日：2012-04-24

申请人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  Rick CORNELIUS ,  John J. ALLEN

发明人： Shinichi YAMAKAWA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Yasunori OHTA ,  Rick CORNELIUS ,  John J. ALLEN

IPC分类号： A61B1/00

CPC分类号： A61B1/01 ,  A61B1/0008 ,  A61B1/00135 ,  A61B1/0016

摘要： A self-propelled device includes a mounting part mounted on an insertion part of an endoscope, a hollow toroidal rotary body, and a rotary body supporting tube that is arranged in the internal space of rotary body and supports the rotary body from the inside. The rotary body supporting tube is attached to the outside of the mounting part. The mounting part is provided with a worm wheel, and the rotary body supporting tube is provided with a driven roller. The rotary body is sandwiched between the worm wheel and the driven roller, and is circulated and moved with the rotation of the worm wheel. Wipers for closing the gap formed between the mounting part and the rotary body are provided at the front and rear ends of the mounting part, and thereby preventing entering of foreign body from the gap.

摘要翻译： 自推进装置包括安装在内窥镜的插入部分上的安装部分，中空的环形旋转体和设置在旋转体的内部空间中并从内部支撑旋转体的旋转体支撑管。 旋转体支撑管附接到安装部分的外部。 安装部设有蜗轮，旋转体支撑筒设有从动辊。 旋转体夹在蜗轮和从动辊之间，随着蜗轮的旋转而循环移动。 用于封闭形成在安装部分和旋转体之间的间隙的擦拭器设置在安装部分的前端和后端，从而防止异物从间隙进入。

公开(公告)号：US20120184816A1

公开(公告)日：2012-07-19

申请号：US13341677

申请日：2011-12-30

申请人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA ,  Masayuki IWASAKA

发明人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA ,  Masayuki IWASAKA

IPC分类号： A61B1/00

CPC分类号： A61B1/0016 ,  A61B1/00135

摘要： An endoscope has an elongated tube for entry in a body cavity. A guide assembly includes a shaft sleeve for mounting on the elongated tube. A housing sleeve is supported around the shaft sleeve. Three endless belts are secured to the housing sleeve, for endlessly moving in an axial direction of the elongated tube, and propelling the elongated tube by contacting a cavity wall of the body cavity. A driving device is contained in the housing sleeve, for driving the endless belts. Three curved walls constitute the housing sleeve, and support the endless belts movably and in a transversely curved state. Each of the endless belts includes an upper belt run, curved by the curved walls convexly outwards, for contacting the body cavity. A lower belt run is disposed inside, and tensioned between the driving device and the belt rollers.

摘要翻译： 内窥镜具有用于进入体腔的细长管。 引导组件包括用于安装在细长管上的轴套。 壳体套筒围绕轴套支撑。 三个环形带被固定到壳体套筒上，用于在细长管的轴向方向上不停地移动，并且通过接触体腔的空腔壁来推动细长管。 驱动装置容纳在壳体套筒中，用于驱动环形带。 三个弯曲的壁构成壳体套筒，并且可移动地且以横向弯曲的状态支撑环形带。 每个环形带包括一个上部的皮带，由弯曲的壁向外凸出，用于接触体腔。 较低的皮带行程设置在内部，并在驱动装置和皮带辊之间张紧。

公开(公告)号：US20120238817A1

公开(公告)日：2012-09-20

申请号：US13408331

申请日：2012-02-29

申请人： Yasunori OHTA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Masayuki IWASAKA

发明人： Yasunori OHTA ,  Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Masayuki IWASAKA

IPC分类号： A61B1/00

CPC分类号： A61B1/00156 ,  A61B1/00135 ,  A61B1/0016 ,  A61B1/05

摘要： A propelling unit of a self-propellable apparatus is attached to a front end portion of an insert section of an electronic endoscope. The propelling unit includes feeding rollers disposed at its front. On each feeding roller, one end of a belt is wound. A winding roller and a worm wheel are provided behind each feeding roller. When the worm wheel rotates, the belt is drawn out from the feeding roller, and wound up onto the winding roller. The belts move while making contact with an interior wall of a body lumen, and hence produce propulsive force to the front end portion of the insert section. When the contact between the belts and the interior wall is insufficient, a balloon is inflated to press the belts against the interior wall.

摘要翻译： 自推进装置的推进装置安装在电子内窥镜的插入部的前端部。 推进单元包括设置在其前部的进给辊。 在每个进给辊上，带的一端被卷绕。 每个进料辊后面都设有卷绕辊和蜗轮。 当蜗轮旋转时，皮带从进料辊中拉出，卷绕到卷绕辊上。 皮带在与体腔的内壁接触的同时移动，因此对插入部的前端部产生推进力。 当皮带和内壁之间的接触不足时，气球被充气以将皮带压靠内壁。

公开(公告)号：US20120238807A1

公开(公告)日：2012-09-20

申请号：US13361259

申请日：2012-01-30

申请人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA

发明人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA

IPC分类号： A61B1/04

CPC分类号： A61B1/05 ,  A61B1/00135 ,  A61B1/00156 ,  A61B1/0016 ,  A61B1/0051 ,  A61B1/126

摘要： An endoscopy system includes a self-propelling endoscope attached with a self-propelling device, a drive source device for providing drive force to the self-propelling device, a controller connected to the drive source device and for controlling moving direction and speed of the self-propelling device, and a monitor for displaying a captured image. The drive source device transmits drive information such as forward movement, backward movement, stop, speed, load torque of the self-propelling device to a processing device. The processing device displays the drive information on the monitor with the captured image.

摘要翻译： 内窥镜系统包括附带有自推进装置的自推进式内窥镜，用于向自推进装置提供驱动力的驱动源装置，连接到驱动源装置并用于控制自身的移动方向和速度的控制器 辅助设备和用于显示捕获的图像的监视器。 驱动源装置将自动推进装置的前进，后退，停止，转速，负载转矩等驱动信息发送到处理装置。 处理设备用捕获的图像在监视器上显示驱动信息。

公开(公告)号：US20130172679A1

公开(公告)日：2013-07-04

申请号：US13538458

申请日：2012-06-29

申请人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA ,  Maureen P. Sheridan

发明人： Tsuyoshi ASHIDA ,  Takayuki NAKAMURA ,  Shinichi YAMAKAWA ,  Yasunori OHTA ,  Timothy P. SHERIDAN

IPC分类号： A61B1/00 ,  A61B1/07 ,  A61B1/12 ,  A61B1/05 ,  A61B1/015 ,  A61B1/018 ,  A61B17/29 ,  A61B17/32 ,  A61M5/32 ,  A61B1/31 ,  A61B1/005

CPC分类号： A61B1/00156 ,  A61B1/00006 ,  A61B1/00066 ,  A61B1/00087 ,  A61B1/00096 ,  A61B1/00114 ,  A61B1/00119 ,  A61B1/00135 ,  A61B1/00154 ,  A61B1/0016 ,  A61B1/0052 ,  A61B1/015 ,  A61B1/018 ,  A61B1/051 ,  A61B1/07 ,  A61B1/12 ,  A61B1/31 ,  A61B17/29 ,  A61B17/320016 ,  A61M5/32

摘要： If an instruction indicating advance is input, first and second motors are driven to rotate first and second torque wires. A rotary body is circulated by the rotation of the first and second torque wires, and a propelling unit advances. The first and second TGs detect the rotating speeds of the first and second torque wires. If disconnection of the first torque wire is detected by a disconnection detecting section, a motor control section stops driving of the first motor coupled to the disconnected first torque wire, and rotates the second motor coupled to the second torque wire that is not disconnected at a low speed to rotate the second torque wire at a low speed. Through the low-speed rotation of the second torque wire, the propelling unit advances at a low speed or retreats at a low speed.

摘要翻译： 如果输入了指示提示的指令，则驱动第一和第二马达来旋转第一和第二扭矩线。 旋转体通过第一和第二扭矩线的旋转而循环，并且推进单元前进。 第一和第二TG检测第一和第二扭矩线的转速。 如果通过断线检测部检测到第一扭矩线的断开，则电动机控制部停止与分离的第一扭矩线连接的第一电动机的驱动，并且使与第二转矩线不连接的第二电动机旋转， 低速以低速旋转第二扭矩线。 通过第二扭矩线的低速旋转，推进单元以低速度前进或以低速退回。