Flexible tube insertion apparatus having vibration actuator for reducing insertion force of endoscope insertion member
A flexible tube insertion apparatus includes an insertion section inserted into a tube and a detection unit that detects states of the insertion section. The flexible tube insertion apparatus includes one or more vibrators that are arranged in the insertion section, generate vibration, and vibrate the insertion section by the generated vibration and a controller that calculates a magnitude of an external force applied to the insertion section from the tube based on the states of the insertion section detected by the detection unit, computes a resonance frequency of the vibration relative to the magnitude of the external force, and controls the vibrators in such a manner that the vibrators vibrate at the resonance frequency.
1. A flexible tube insertion apparatus comprising:
an insertion section configured to be inserted into a tubular body;
one or more detection sensors each configured to detect one or more states of the insertion section;
one or more vibration actuators that are arranged in the insertion section, the one or more vibration actuators each being configured to generate vibration to vibrate the insertion section by the generated vibration; and
a controller configured to:
calculate a magnitude of an external force applied to the insertion section from the tubular body based on the one or more states of the insertion section detected by the one or more detection sensors,
compute a resonance frequency of the vibration relative to the magnitude of the external force, and
control the one or more vibration actuators to vibrate at the resonance frequency.
2. The flexible tube insertion apparatus according to claim 1 , wherein the one or more states of the insertion section comprises one or more of a bending radius of the insertion section, a bending strain of the insertion section, and a pressure applied to the insertion section, which are included in the states of the insertion section.
3. The flexible tube insertion apparatus according to claim 2 , wherein
when the one or more detection sensors detect the bending radius of the insertion section,
the controller calculates the magnitude of the external force upon determining that the bending radius is smaller than a preset threshold value.
4. The flexible tube insertion apparatus according to claim 2 , wherein
when the one or more detection sensors detect the pressure applied to the insertion section,
the controller calculates the magnitude of the external force upon determining that the pressure is greater than a preset threshold value.
5. The flexible tube insertion apparatus according to claim 2 , wherein
when the one or more detection sensors detect the bending strain of the insertion section,
the controller calculates the magnitude of the external force upon determining that the bending strain is greater than a preset threshold value.
6. The flexible tube insertion apparatus according to claim 1 , wherein the controller computes the resonance frequency corresponding to the magnitude of the external force upon determining that the external force is greater than a preset threshold value.
7. The flexible tube insertion apparatus according to claim 1 , herein
the insertion section includes an active bendable portion that actively bends in response to an operation of an operation section coupled to the insertion section, and
the one or more vibration actuators are arranged adjacent to the active bendable portion.
8. The flexible tube insertion apparatus according to claim 7 , wherein
the insertion section further comprises an interposed section interposed between the active bendable portion and the operation section,
the interposed section includes a distal end portion coupled to a proximal end portion of the active bendable portion, and
the one or more vibration actuators are arranged at the distal end portion of the interposed section.
9. The flexible tube insertion apparatus according to claim 8 , wherein the interposed section is a passive bendable portion.
10. The flexible tube insertion apparatus according to claim 1 , wherein the one or more vibration actuators comprise two or more vibration actuators, two of the two or more vibration actuators being arranged apart from each other along an axial direction of the insertion section.
11. The flexible tube insertion apparatus according to claim 1 , wherein
the insertion section is partitioned into a plurality of segments spaced apart from one another along an axial direction, and
each of the plurality of segments includes one of the one or more vibration actuators and one of the one or more detection sensors.
12. The flexible tube insertion apparatus according to claim 1 , wherein each of the one or more vibration actuators comprise a motor and a weight attached to the motor in an eccentric state.
13. The flexible tube insertion apparatus according to claim 1 , wherein each of the one or more vibration actuators comprise a voice coil motor.
14. The flexible tube insertion apparatus according to claim 1 , wherein each of the one or more vibration actuators comprise a vibrating body having a piezoelectric element.