Rotary self-propelled endoscope system
A rotary self-propelled endoscope system includes an insertion section body, an insertion section, a drive unit, a torque detection unit, and a control unit. In a distal end portion of the insertion section body, a rigid distal end portion including an image pickup apparatus is disposed. The insertion section is rotatably fit to the outside of the insertion section body, and includes a rotary tubular member having a helical portion formed by a helical concave-convex portion. The drive unit applies the rotary tubular member with axial and rotational drive force. The torque detection unit detects torque information of the rotary tubular member. On the basis of the torque information detected by the torque detection unit, the control unit compares a present value with a preset limit value for controlling the torque of the rotary tubular member, and controls the drive unit on the basis of the comparison result.
1. A rotary self-propelled endoscope system comprising:
an insertion section including a flexible insertion section body configured to be inserted into a body cavity and a rotary tubular member rotatably fit to an outside of the flexible insertion section body, the flexible insertion section body including in a distal end thereof, a rigid distal end portion including an image pickup apparatus, and the rotary tubular member including a helical portion on an outer surface thereof;
a drive unit for applying the rotary tubular member with axial and rotational drive force;
a torque detection unit for detecting torque information of the rotary tubular member;
a memory unit configured to be capable of storing a torque limit for controlling a torque of the rotary tubular member by the drive unit, the memory unit storing, as values of the torque limit, values of an insertion torque limit and a withdrawal torque limit in advance, the insertion torque limit and the withdrawal torque limit being set in accordance with an insertion amount of the insertion section into the body cavity, and the withdrawal torque limit being set to be greater than the insertion torque limit when the withdrawal torque limit and the insertion torque limit correspond to a predetermined value of the insertion amount; and
a control unit that obtains a value of the insertion torque limit as a value of the torque limit when the insertion section is to be inserted into the body cavity, obtains a value of the withdrawal torque limit as a value of the torque limit when the insertion section is to be withdrawn from the body cavity, compares the value of the torque limit with the torque information detected by the torque detection unit, and controls the drive unit based on a result of comparing the value of the torque limit with the torque information detected by the torque detection unit.
2. The rotary self-propelled endoscope system according to claim 1 , further comprising an insertion amount detection unit for detecting an insertion amount of the insertion section into the body cavity, wherein:
the memory unit stores the values of the insertion torque limit and the withdrawal torque limit in accordance with the insertion amount of the insertion section into the body cavity, and
the control unit obtains a value of the torque limit corresponding to the insertion amount detected by the insertion amount detection unit from the memory unit and compares the obtained value of the torque limit with the torque information detected by the torque detection unit.
3. The rotary self-propelled endoscope system according to claim 2 , wherein the insertion torque limit includes a reference torque limit and a plurality of torque limits preset to be larger than the reference torque limit in accordance with respective control phases and, the reference torque limit and the plurality of torque limits being set in accordance with a state of insertion of the insertion section.
4. The rotary self-propelled endoscope system according to claim 1 , wherein the memory unit is controllable by the control unit in data writing and data reading.
5. The rotary self-propelled endoscope system according to claim 1 , wherein the control unit controls the drive unit to rotate the rotary tubular member to rotate at a predetermined rotation speed.
6. The rotary self-propelled endoscope system according to claim 1 , wherein the control unit obtains a value of the insertion torque limit as a value of the torque limit from the memory unit when the rotary tubular member is rotated by the drive unit in a direction to insert the insertion section, and obtains a value of the withdrawal torque limit as a value of the torque limit when the rotary tubular member is rotated in a reverse direction to the direction to insert the insertion section.
7. The rotary self-propelled endoscope system according to claim 6 , wherein the control unit compares the torque information with the value of the torque limit and performs an anomaly determination process when a value of the torque information is greater than the value of the torque limit.
8. The rotary self-propelled endoscope system according to claim 7 , wherein the rotary tubular member is provided to extend to a proximal end of the insertion section, and the insertion torque limit is set to increase in accordance with the insertion amount.
9. The rotary self-propelled endoscope system according to claim 7 , wherein the withdrawal torque limit is set to increase in proportion to the insertion amount.