JPH04144533A - Endoscope - Google Patents

Abstract

PURPOSE:To facilitate inspection, etc., to reduce intrusiveness, and to extend inspection range by controlling the main body for executing telemetry transmission of an image signal from an observing means so that the direction of inertia force can be switched to the different direction, floating it in a zero gravity space and using it. CONSTITUTION:In a minute gravity space or in a zero gravity space, this endoscope is inserted into a body-cavity of a patient. In the body-cavity, a main body 1 is in a floating state. In such a state, in the case it is desired to vary or advance the attitude of the main body 1, it is operated by operating an external transmitting part placed in the outside of the body and executing telemetry transmission of a signal to a receiving part 15 of the endoscope. In accordance with the contents of the signal received by the receiving part 15, a valve controller 16 opens a prescribed valve 9 repeatedly for a short time each, and emits singly and repeatedly compressed air from a tank 14. By a reaction at the time of emitting singly compressed air from a nozzle 12, inertia force works on the main body 1. In such a state, in accordance with the blowout direction from the nozzle 12, inertial navigation, that is, a conversion of the direction and a movement of the main body 1 can be executed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope used particularly in a microgravity space or a zero gravity space.

[Conventional technology] Endoscopes that inspect inside body cavities, engines, piping, etc.
Various methods have been proposed and used so far.

However, all of these conventional endoscopes are intended to be used on Earth. Therefore, due to the influence of gravity, a large operating force is required to remotely control and change the viewing direction or moving direction. Therefore, it was necessary to construct a power source, an operation transmission system, etc. that have a large driving force. Additionally, the structure becomes more complex and larger accordingly.

[Problems to be Solved by the Invention] In recent years, opportunities for humans to live in space using rockets, space stations, etc. have gradually increased. It is naturally expected that inspections of living organisms and equipment will become necessary in outer space as well.

In this case, as you move away from the Earth's gravitational field, the gravity decreases until you reach an almost weightless space. The operation of an endoscope in such an environment requires a different concept from that of conventional endoscopes, but there is still no known endoscope that can be used in such an environment.

The present invention has been made with attention to the above-mentioned problems, and its purpose is to provide an endoscope that can facilitate examinations, etc., be minimally invasive, and expand the examination range in microgravity space or zero gravity space. It is about providing.

[Means and Actions for Solving the Problems] In order to solve the above problems, the present invention includes a capsule-shaped main body, an observation means provided on the main body, and an observation means provided on the main body to generate inertial forces in different directions. a first means for selectively generating an inertial force, a second means for generating an inertial force by the first means and switching the direction of the inertial force, and a third means for receiving a signal for controlling the second means. and a fourth means for telemetrically transmitting a signal to the third means and an image signal from the observation means, and the main body is used while floating in a microgravity space or a zero gravity space. This is a characteristic endoscope.

[Embodiment] FIGS. 1 to 3 show a first embodiment of the present invention.

Reference numeral 1 in FIG. 1 is the main body of the endoscope, which has a capsule shape with a spherical tip wall and a rear wall, and a cylindrical middle portion. Inside the main body 1, various necessary parts as described below are incorporated. This endoscope is designed to float independently in a microgravity space or a zero gravity space.

An objective lens 2 serving as an observation means is provided at the center of the front wall of the main body 1. A solid-state image sensor, for example a CCD 3, is installed inside the objective lens 2, and the CCD 3 is equipped with a CCD drive circuit 5 controlled by a control section 4.

The CCD 3 constitutes observation means that converts the field of view formed through the objective lens 2 into an imaging signal. This signal is transmitted to the extracorporeal receiving section 7 through the image transmitting section 6. The signal received by the extracorporeal receiver 7 is sent to the video circuit 8
The signal is converted into a video signal, and a visual field image observed by the endoscope is displayed on a monitor 9.

Further, in the tip wall portion of the main body 1, LEDs 11 as illumination means are provided above and below the objective lens 2.

Furthermore, a plurality of nozzles 12 are formed at equal angular intervals around the rear end wall of the main body 1, and each nozzle 12 is connected to the tank 1 through a valve 9.
Connected to 4. Tank 14 is filled with compressed air. Each valve 9 is configured to open and close upon receiving a signal from a valve controller 16 operated by a receiving section 15. The receiving section 15 operates upon receiving transmission from the extracorporeal transmitting section 17.

Telemetry transmission of signals from the image transmitting section 6 to the extracorporeal receiving section 7 or from the extracorporeal transmitting section 17 to the receiving section 15 is performed by means using radio, ultrasound, etc., which can be used depending on the environment.

Further, power required by the CCD drive circuit 5, LEDll, each valve 9, receiving section 15, valve controller 16, etc. is supplied from a power source (storage battery) 13.

Note that, as shown in FIG. 1, the tank 14 is connected to the main body 1.
It is placed in the center inside. An image transmitter 6 and a controller 4 are installed in the main body 1 at a position closer to the tip than the tank 14, and a power source 13 is installed above these. Further, the receiving section 15 is installed within the rear end of the main body 1.

Next, the operation of the endoscope having the above configuration will be explained. This endoscope is inserted into the patient's body cavity in a microgravity space or zero gravity space. The main body 1 is in a floating state within the body cavity. If it is desired to change the posture of the main body 1 or move it forward in this state, the external transmitting section 17 located outside the body is operated to telemetry transmit a signal to the receiving section 15 of the endoscope. Depending on the content of the signal received by the receiver 15, the valve controller 16 repeatedly opens a predetermined valve 9 for a short period of time, and repeatedly discharges compressed air from the tank 14. Inertial force (propulsion) acts on the main body 1 due to the reaction when compressed air is released from the nozzle 12. According to the direction of the jet from the nozzle 12, inertial navigation, that is, the direction of the main body 1 can be changed and moved. In addition,
FIG. 3 shows the relationship among the valve drive signal, valve opening (compressed air release time), and the amount of movement of the main body 1.

According to this endoscope, the direction of the main body 1 can be changed and moved in a microgravity space or a zero gravity space, which makes the examination easier, less invasive, and expands the examination range. I can figure it out.

When performing inertial navigation by installing a plurality of length measuring sensors in different directions on the outer surface of the main body 1, the position can be monitored by sequentially measuring the distance from the surrounding walls to the main body 1 using the length measuring sensors. You can also do this. Also, for example, main body 1
Changes in the distance to the barrier on each side are determined using the length measurement sensors installed on the top, bottom, left, and right sides of the . The direction and degree of movement of the main body 1 may be determined and an inertial force opposite to the movement may be applied.

4 and 5 show a second embodiment of the present invention. In this embodiment, piezoelectric elements 2 each emit ultrasonic waves at each of the upper, lower, left, right, and rear end portions of the rear portion of the main body 1.
1 is provided, and the inertial force (propulsive force) can be applied to the main body 1 by the ultrasonic waves oscillated by the ultrasonic wave. Also, main body 1
A piezoelectric element drive circuit 22 operated by a signal received by the receiving section 15 is provided inside, and is adapted to selectively drive the piezoelectric element 21. In this second embodiment, the propulsion force and attitude control can be performed using ultrasonic waves. Other configurations and operations are substantially the same as those of the first embodiment.

6 and 7 show a third embodiment of the present invention. In this embodiment, 3 side surfaces at the rear of the main body 1
A fan 25 is provided at each of the parts above the direction and the rear end part. Each fan 25 is driven by a respective motor 26. Further, a motor drive circuit 27 is provided within the main body 1 and is operated by a signal received by the receiving section 15.

In this embodiment, by selectively driving the fan 25, surrounding fluid is drawn in and blown out, and the reaction causes the main body 1
Propulsive force and attitude control can be performed. Other configurations and operations are substantially the same as those of the first embodiment.

FIGS. 8 and 9 show a fourth embodiment of the present invention. In this embodiment, a cable 31 made of a flexible tube is led out from the rear end of the main body 1.
There is an energy transmission line 32 and a pressure tube 33 inside.
is guided through. The energy transmission line 32 connects the energy control section 34 inside the main body 1 and the extracorporeal power supply section 35 .

The pressurizing tube 33 connects a reserve tank 36 inside the main body 1 and a pump 37 outside the body. Furthermore, a plurality of nozzles 38 are provided on the outer surface of the main body 1, each having a different position or orientation. For example, vertically oriented nozzles 38 are provided on the upper, lower, left, and right sides of the outer surface of the relatively front portion of the main body 1, and a plurality of nozzles 38 are provided on the outer surface of the relatively rear portion of the main body 1 at equal angular intervals and directed diagonally outward. There are 38. Each nozzle 38 is connected to the reserve tank 36 via a respective electromagnetic valve 39. This spare tank 3
6 is constantly replenished with pressurized fluid from a pump 37 located outside the body through the pressurizing tube 33. The electromagnetic valve 39 is selectively opened by a valve controller 40 also installed inside the main body 1. Further, the valve controller 40 is operated in response to a signal received by the receiving section 15 inside the main body 1 . The other configurations are substantially the same as those of the above embodiment.

In this embodiment, when a predetermined chisel magnetic valve 39 is opened by a valve controller 40 operated by a signal received by a receiving unit 15, pressurized fluid is supplied from a reserve tank 36 to a corresponding nozzle 38 and ejected. Then, the reaction force at this time can be used to control the propulsion force and attitude of the main body 1. Further, energy to each part is received from an extracorporeal power supply section 35 through an energy transmission line 32, and is supplied through an energy control section 34. Other effects are described in 1 above.
This is substantially the same as that of the embodiment.

In addition, inertia force can be applied to the main body of the endoscope by magnetic force, which can be used for propulsion and posture control. That is, a magnetic body is attached to the main body, which is suspended in a magnetic field, and the magnetic field is changed three-dimensionally to provide inertial force.

10 to 13 show a fifth embodiment of the present invention. This embodiment relates to an intravascular self-propelled testing device as a medical microrobot.

That is, as shown in FIG. 10, this device has a plurality of capsule parts 41, 42, 43, which are connected in a negative row. At the tip of the main body 41a in the most advanced capsule section 41, an ultrasonic image sensor 44 is provided to obtain a two-dimensional forward visual field image. Ultrasonic elements 45 are provided all around the circumferential surface of the intermediate capsule portion 42 to obtain an ultrasonic tomographic image of the blood vessel 46 in the cross-sectional direction. The rearmost capsule portion 43 incorporates telemetry functional components. Further, a recovery cable 47 is led out from the rear end of the capsule portion 43 at the rearmost end.

Further, a plurality of self-propelled legs 48, which will be described later, protrude diagonally forward from the peripheral surface of the front portion of the most advanced capsule portion 41, and are attached at equal angular intervals over the entire circumference. As shown in FIGS. 12 and 13, this self-propelled leg 48 is a band-shaped member 51 made of a bidirectional shape memory alloy.
A conductive layer 5 with relatively electrical resistance for electrical heating on one side of the
2 is attached. The conductive layer 52 is made of nickel, for example, and has a parallel portion 52 from one end to the other end.
The other ends of a and 52a are connected to form a loop shape.

Further, the width of the portions 52a, 52a is gradually reduced from one end side to the other end side. Furthermore, this conductive layer 5
Both sides of 2 are covered with an electrically insulating film 53. Then, one narrow end side of the conductive layer 52, 52g, 52a, is used as a proximal end, and this is bent as shown in FIG.

In order to operate such self-propelled legs 48, the conductive layer 5
2 is energized to generate heat using electrical resistance heat, the tip side of the conductive layer 52 is heated to a high temperature first, and the first
The A portion on the tip side is bent to the state shown in Figure 1 (■). Then,
As the heating progresses, part B bends into the state shown in Figure 11 (■). In this way, by sequentially bending from part A to part B, the kicking action of the self-propelled leg 48 is achieved. Further, after the kicking operation of the self-propelled legs 48, when the above-mentioned energization is stopped, heat is naturally dissipated and the state returns to the state shown in FIG. Note that when the member 51 is formed of a unidirectional shape memory alloy, the elastic restoring force of the member 51 and the insulating film 53 returns to the state shown in FIG. .

In this intravascular self-propelled testing device, when the plurality of self-propelled legs 48 on the most advanced capsule section 41 perform a kicking motion, each self-propelled leg 48 pushes the wall surface of the blood vessel 46 backward. kick to move the capsule portion 41 forward. Then, an ultrasonic imaging device 44 in the most advanced capsule section 41 is used to obtain and observe a two-dimensional forward visual field image, and an ultrasonic device 45 in the middle capsule section 42 is used to obtain an ultrasonic image in the cross-sectional direction of the blood vessel 46. Obtain a sonic tomogram. Further, information on these operations, observations, etc. is processed by the telemetry function of the capsule section 43 at the rear end. These can be collected by pulling the cable 47.

Note that if the self-propelled legs 48 are not performing a kicking motion,
The self-propelled legs 48 extend diagonally forward and their respective tips touch the inner wall of the blood vessel 46, and the capsule portions 41, 42, 4
Hold 3.

This type of self-propelled testing device has a simple structure and can be made thin, so it can be used not only inside blood vessels but also inside other narrow lumens. Further, the structure of the self-propelled legs 48 is not limited to the above structure, but may be based on the bimetal principle as shown in FIGS. 14 to 16. That is, this is made by pasting a loop-shaped nickel layer 56 for electrical heating on one side of a belt-shaped resin member 55, and the nickel layer 56 is covered with an electrically insulating film 57. When the nickel layer 56 is made to generate heat by passing current through it, the linear state shown in FIG.
It changes to a curved state.

In other words, it is possible to perform a bouncing motion. Moreover, by stopping the above-mentioned energization, the linear state shown in FIG. 14 (3) is restored. According to this, high-speed response is realized by making the self-propelled legs 48 microscopic.

Furthermore, the self-propelled legs may be constructed using bimorph piezoelectric elements. For example, Figures 17 to 1
Figure 9 shows an example of this. In this example, a plurality of legs 59 are provided on one side of a bimorph piezoelectric element 58 at intervals and protrude diagonally rearward, and the bimorph piezoelectric element 58 is normally in the state shown in FIG. Each leg 59 is vibrated by repeating the curved state shown in FIG. 18 and the curved state shown in FIG. 19. This movement can then be used to move the capsule forward or backward in a so-called cat-like manner.

FIG. 20 shows a sixth embodiment of the present invention. This embodiment relates to a self-propelled colon inspection device as a medical microrobot. That is, this device has a plurality of capsule parts 61, 62, 63, which are connected in a negative row. An objective lens 64 for observing the front field of view is provided at the tip of the main body 61a in the most advanced capsule portion 61, and an image is taken by an image sensor (not shown) provided inside the objective lens 64. Further, around the objective lens 64, an illumination window 65 and a treatment instrument lead-out hole (not shown) are provided. The intermediate capsule section 62 is for storing the collected sample, and has a plurality of openings 66 on its front end surface for taking in the sample, through which the sample can be sucked and collected. The capsule portion 63 at the rearmost end incorporates telemetry functional components.

Further, a self-propelled leg 67 for forward movement is provided on the lower surface of the capsule portion 61 at the most extreme end, and a self-propelled leg 68 for backward movement is provided on the lower surface of the capsule portion 63 at the rearmost end. Various self-propelled legs 67, 68 as described above can be used, but the forward and backward legs are arranged with their kicking directions reversed.

In this self-propelled large intestine testing device, when the self-propelled leg 67 of the most advanced capsule portion 61 performs a kicking motion, each of the capsule portions 61, 62 and 63 moves forward. When the self-propelled legs 68 on the rearmost capsule section 63 perform a kicking motion, each capsule section 61, 62 . , 63 retreat. Furthermore, observation can be performed while being illuminated by the most advanced capsule section 61, and treatment can be performed by leading out the manipulator 69 from the treatment instrument leading-out hole. FIG. 20 shows a state in which a polyp 71 is removed using a snare wire 70. In the intermediate capsule section 62, a sample can be collected by suction and stored. Further, information on these operations, observations, etc. is processed by the telemetry function of the capsule section 63 at the rear end. In addition, since the self-propelled legs 68 for retreating are provided, there is no need to provide a cable for collecting them.

FIG. 21 shows a seventh embodiment of the present invention. This embodiment relates to a self-propelled small intestine inspection device as a medical microrobot. That is, this device has two capsule parts 72 and 73, front and rear, which are connected.

An objective lens 74 for observing the front field of view is provided at the tip of the main body 72a in the most advanced capsule portion 72, and an image is taken by an image sensor (not shown) provided inside the objective lens 74. Further, around the objective lens 74, an illumination window 75 and a treatment instrument lead-out hole (not shown) are provided. Ultrasonic elements 76 are provided around the entire circumference of the main body 73a of the rear capsule portion 73, thereby obtaining ultrasonic tomographic images of surrounding tissue. Further, the rear capsule portion 73 is provided with a hole 77 for pouring water. Moreover, a telemetry functional component is incorporated in at least one of the two capsule parts 72 and 73.

Furthermore, a plurality of position stopping legs 78 are provided on the lower surface of the capsule portion 72 at the most distal end. This position stop leg 78
expands outward at the required position to stop the capsule portion 72 at that position. As this leg 78, various types as mentioned above can be used. A balloon 79 is provided around the rear capsule portion 73,
By expanding, it comes into contact with the wall of the small intestine 80. Thus, each capsule portion 72, 73 of this self-propelled small intestine testing device is inserted by the sliding movement of the small intestine 80.

Further, information on these operations, observations, etc. is processed by the telemetry function described above.

FIG. 22 shows an eighth embodiment of the present invention. This embodiment relates to a self-propelled capsule 81 for use in a narrow lumen as a medical microrobot. That is, this self-propelled capsule 81 has a flexible and elongated main body 82, and an observation objective lens 83a and its illumination window 83a are provided at the tip of the elongated main body 82. Furthermore, self-propelled legs 84 having the above-mentioned configuration are provided at a plurality of locations on the circumferential surface of the elongated main body 82 at certain intervals in the front and back over the entire circumference. By operating the self-propelled legs 84, the elongated main body 82 can be inserted while being self-propelled within the narrow lumen. Further, a flexible cable 86 is connected to the rear end of the self-propelled capsule 81. Illumination light, imaging signals (or optical images), etc. are transmitted through this cable 86.

When inserting this into the bile duct 87, for example, the self-propelled capsule 81 is introduced through the channel 89 of the endoscope 88, inserted into the bile duct 87, and then allowed to self-propel. can be inserted.

FIGS. 23 to 26 show a microrobot that is left in a living body for a long time in order to perform treatment inside the living body. FIG. 23 shows an example of two biological microrobots, that is, a blood collection robot 91 and a bone repair robot 92. The blood collection robot 91 has a function of collecting the patient's own blood and separating its components. The bone repair robot 92 has the function of synthesizing bone using the above components and repairing the patient's own bone.

Specifically, both robots 91 and 92 have forward injection ports 93 in their capsule bodies 91a and 92a.
A propulsion device 95 having an attitude control injection port 94 is provided. Furthermore, in the capsule bodies 91a and 92a,
An illumination window 96 and an observation window 97 are provided so that the inside of the living body can be observed. This observed information and control of the injection operation of each injection port 93.94 is carried out by a telemetry function built into each of the capsule bodies 91a, 92a, based on commands from an external operating device 98.99 outside the living body. It has become so. The blood collection robot 91 has
Blood collection manipulator 101 with a needle-shaped tip
Further, a blood storage tank 102 and a component separation device 103 are provided within the capsule body 91a.

The propulsion device 95 and the blood collection manipulator 101 are operated by an external operating device 98 through telemetry transmission using wireless or the like. The component separation device 103 separates calcium, phosphorus, oxygen, etc. from blood.

The bone repair robot 92 includes a bone resection manipulator 10.
4. Bone fixing manipulator 105, artificial bone outlet 106
and is provided. In the capsule body 92a of the bone repair robot 92, a bone synthesis device 107 and an artificial bone discharging device 108 consisting of a pump and the like are provided. Propulsion device 95
, the bone resection manipulator 104 , and the bone correction manipulator 105 are operated by telemetry transmission from an external operating device 99 . Bone synthesis device 10
In step 7, a calcium phosphate-based substance is made from the separated elements and used as an artificial bone.

The component separation device 103 of the blood collection robot 91 and the bone synthesis device 107 of the bone repair robot 92 are the substance transport pipe 10.
connected by 9.

A system including the blood collection robot 91 and the bone repair robot 92 is shown in block form in FIG. 24.

As shown in FIG. 23, the blood collection robot 91 and the bone repair robot 92 are left in the living body for a long period of time, and the blood collection robot 91 collects blood from the patient's blood vessel 100 and stores it. The components necessary for bone synthesis are separated from the blood and transferred to the bone repair robot 92.
The bone is transported to a bone synthesis device 107 in which artificial bone necessary for repair is synthesized.

The bone repair robot 92 also includes a bone resection manibulator 1.
In step 04, the diseased part of the patient's bone 110 is excised and repaired with the artificial bone received from the artificial bone discharging device 108 using the bone manipulator 105.

The power for each of the robots 91 and 92 is also obtained from inside the living body. An example of this means is shown in FIG. That is,
The component separation device 111 of the blood collection robot 91 separates glucose (C6H1206) and oxygen (
0□) and separate the storage tanks 112 and 11.
3. Separate and store. Then, when energy is required, the oxidation decomposition device 114 oxidizes and extracts electrical energy.

This electric energy drives, for example, the motor 115, etc., and operates, for example, the propulsion device 116. Since the energy source is obtained from within the body in this way, there is no need for external supplies, and the robot can be left in place for a long period of time.

Moreover, an internal combustion engine may be used as the power source obtained from a living body. FIG. 26 shows an example of this case. That is, a component separation device 121 that separates oxygen from blood and an oxygen storage tank 122 that stores the oxygen are provided.

In addition, a component separation device 12 that separates methane gas from stool
3 and a methane gas storage tank 1 that stores the methane gas.
24 is provided. It is provided with an internal combustion engine 125 that operates by burning the oxygen and methane gas.

When energy is needed, the internal combustion engine 125 is operated to oxidize methane gas and extract thermal energy.

This drives the propulsion device 126, for example.

Note that the above example was about bone repair, but
It can also be used in the same way for repairing blood vessels. FIG. 27 shows a blood vessel repair robot 130 in that case. The blood collection robot 131 is the same as described above.

This blood vessel repair robot 130 has its capsule body 1
30a includes a manipulator 133 for gripping and manipulating the artificial sheet 132, a manipulator 134 for manipulating the suture needle, a discharge port 136 for feeding out the protein thread 135, and an artificial sheet (
A port 137 for taking out the protein film 132 is provided. Further, an illumination window 138 and an observation window 139 are also provided.

Further, the capsule body 130a is provided with a propulsion device having a forward jet nozzle 141 and an attitude control jet nozzle 142.

Further, inside the capsule body 130a, as shown in FIG. 28, there is a protein membrane synthesis device 145 that synthesizes a protein membrane using components obtained from the blood collection robot 131 through the transport pipe 143, and a protein membrane. A pump 146 for discharging protein threads, a protein thread synthesis device 147 for synthesizing protein threads, and a pump 148 for discharging protein threads are provided.

Thus, in the blood collection robot 131, the component separation device 149 separates proteins from the collected blood. The blood vessel repair robot 130 receives the protein and synthesizes an artificial sheet 132, which is a protein membrane, and a protein thread 135, and pumps 146, 148 send out each as needed, and use them as needed. This operation is controlled by telemetry transmission using wireless or the like.

The blood vessel repair robot 130 uses its operating manipulator 133 and suture needle operating manipulator 134 to sew and repair an artificial sheet 132 to, for example, an aneurysm of a blood vessel 150. However, the artificial sheet 132 and the protein thread 135, which are consumable materials, can be obtained in vivo, and there is no need for external supplies. Therefore, it can function in vivo for a long period of time. The energy source is also the same as the above example.

FIGS. 29 to 31 show another type of medical in-body robot. That is, this medical in-body robot has a plurality of separated microrobot parts 151, 15.
It consists of 2,153. Each micro robot part 151,1
52 and 153 have running legs 15 as described above on their outer surfaces.
4 are respectively provided, and by driving these traveling legs 154, they can travel independently within the lumen. The traveling legs 154 are, for example, bristles attached obliquely to a piezoelectric element arranged annularly around the outer periphery of the microrobot main body, and can be moved forward or backward according to the vibration pattern of the piezoelectric element.

Alternatively, the above-mentioned running leg system may be used.

Further, each microrobot section 151.152153 is provided with a receiving device 155 for telemetry transmission and a drive circuit 156 for the running legs 154. Furthermore, the first
The microrobot section 151 includes an illumination means 157 including an LED, an observation means 1601 including an objective lens 158, an image sensor 159, etc., a transmitting device 161, and a guiding device 16.
2 are included. The imaging signal converted by the imaging device 159 is transmitted to a receiving device outside the body by a transmitting device 161. Further, the guidance device 162 is used for the subsequent microrobot section 1.
52 and 153, a guidance signal is sent, for example, by emitting radio waves.

The second microrobot unit 152 includes a storage chamber 164 in which a manipulator 163 for biological treatment is stored in a manner that allows the manipulator 163 to be freely drawn out.
, a drive motor 165 that operates the manipulator 163
, an opening/closing cover 1 that covers the opening of the storage chamber 164 so as to be openable and closable.
68 mag is incorporated. A power source 169 and the like are incorporated in the third microrobot section 153. Furthermore, these micro robot parts 151, 152, 153
Normally, they move independently within the body cavity in response to a wireless signal from an external control means, but as shown in FIG. 30, they can be connected and integrated (combined) with each other.

Then, energy and signals can be exchanged.

An example of a specific means for this purpose is shown in FIG. That is, each diagonal coupling end face has an electromagnet 171 divided into three parts.
are attached, each with the polarity opposite to its counterpart. Therefore, positional deviation does not occur during docking. Further, on the front coupling end surface, there is an electrical signal transmission connector 172, an LED 17B, and a power connector 17.
4 are provided protrudingly, and corresponding recessed connectors 175, 176, and 177 are provided on the rear coupling end surface. The electrical signal transmission connector 172 connects the drive circuits to each other. The power supply connectors 174 are adapted to connect the power supplies to each other. Further, a light receiving element 178 is provided in the recessed connector 176, and these LEDs 17
3 and the light receiving element 178, the front microrobot part 1
When the rear microrobot parts 152 and 153 come close to each other by the guidance signals 51 and 152, their axes are aligned with each other for accurate positioning.

Thus, when these are used, each of the microrobot parts 151, 152, 153 exits through the channel 182 of the endoscope 181 to the entrance of a target body cavity 183, such as a bile duct. Then, the first microrobot section 151 is sent out into the target body cavity 183 by remote control, and is allowed to self-propel to be inserted and advanced.

Here, the diseased area is diagnosed and the next microrobot unit 152 suitable for treatment is sent. Furthermore, if the treatment is likely to take a long time, a microrobot unit 153 equipped with a large capacity power source is sent.

Note that FIGS. 32 and 33 show other types of microrobot sections. The microrobot section shown in FIG. 32 has a configuration in which an ultrasonic transducer 194 and a drive motor 195 used for purposes such as observation and running are added. A microrobot section 196 shown in FIG. 33 is equipped with an injection needle 197, and a microrobot section 198 connected thereto is equipped with a drug tank 199.

[Effects of the Invention] As explained above, the endoscope of the present invention is suitable for use in a microgravity space or a zero gravity space, and facilitates and minimizes invasiveness of inspection, and expands the inspection range.

[Brief explanation of drawings]

1 to 3 show a first embodiment of the present invention, FIG. 1 is a schematic perspective view of the endoscope, FIG. 2 is a block diagram showing its configuration, and FIG. 3 is a drive This is a time chart of the time. FIG. 4 is a schematic perspective view of an endoscope according to a second embodiment of the present invention, and FIG. 5 is a block diagram showing its configuration. FIG. 6 is a schematic perspective view of an endoscope according to a third embodiment of the present invention, and FIG. 7 is a block diagram showing its configuration. FIG. 8 is a schematic perspective view of an endoscope according to a fourth embodiment of the present invention, and FIG. 9 is a block diagram showing its configuration. 10 to 13 show a fifth embodiment of the present invention, in which FIG. 10 is a view seen from the side in the state of use, FIG. 11 is an explanatory diagram of the operation of the running legs, and FIG. 12 is FIG. 13 is a plan view of the running leg, and FIG. 13 is a sectional view of the running leg. 14 to 16 show modified examples of the running legs, FIG. 14 is a perspective view showing the operation of the running legs, and FIG. 15 is a perspective view showing the operation of the running legs.
The figure is a plan view of the running leg, and FIG. 16 is a sectional view of the running leg. 17 to 19 are cross-sectional views of other running legs. FIG. 20 is a schematic perspective view showing another example in use. FIG. 21 is a schematic perspective view showing a usage state of still another example. FIG. 22 is a schematic perspective view showing a usage state of still another example. Figure 23 is a perspective view of a medical microrobot;
24 to 25 are block diagrams thereof. FIG. 26 is a block diagram showing another modification. Second
FIG. 7 is a perspective view of another medical microrobot, and FIG. 28 is a block diagram thereof. FIGS. 29 and 30 are perspective views of other medical microrobots, FIG. 31 is an enlarged perspective view of its end face, and FIGS. 32 and 33 are perspective views of other modified robots. be. 1... Main body, 2... Objective lens, 11... LED
. 12... Nozzle, 14... Tank, 15... Receiving section, 21... Piezoelectric element, 25... Fan, 26...
Motor, 38... nozzle.

Claims (1)

[Claims] a capsule-shaped main body, an observation means provided on the main body, a first means provided on the main body for selectively generating inertia forces in different directions, and generation of inertia forces by the first means; a second means for switching the direction of the inertial force; a third means for receiving a signal for controlling the second means; and telemetry transmission of the signal to the third means and the image signal from the observation means. an endoscope, characterized in that the endoscope is used with the main body floating in a microgravity space or a zero gravity space.