JPS5822024A - Endoscope using solid photographing element - Google Patents
Endoscope using solid photographing elementInfo
- Publication number
- JPS5822024A JPS5822024A JP56120512A JP12051281A JPS5822024A JP S5822024 A JPS5822024 A JP S5822024A JP 56120512 A JP56120512 A JP 56120512A JP 12051281 A JP12051281 A JP 12051281A JP S5822024 A JPS5822024 A JP S5822024A
- Authority
- JP
- Japan
- Prior art keywords
- observation head
- observation
- head
- self
- endoscope
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Landscapes
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Abstract
(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.
Description
【発明の詳細な説明】
本発−は、囲体撮像素子を用いた内視鏡の改良Ｋｌｌす
る。DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an improvement of an endoscope using a surrounding body imaging device.
従来より、光学的ファイバーを用匹た内視鏡が知られて
いるが、良好な画像を得ろ為には、ファイバーの鎗素数
を増やさなければならず、ファイバーの太さが゛太ぐな
ってしまい、ファイバーはかな参の剛性を持つ仁ととな
り、又、―げろとファイバーを損傷する恐れもあり、細
部や一新部に挿入するＩＩＫは、高ｒｅ挿入技術を必要
とし、挿入しにくいという欠点があっ九。峙に生体内に
挿入する場合は患者に大変な苦痛を与えると共に危険を
も伴うものであり九。Endoscopes that use optical fibers have been known for some time, but in order to obtain good images, it is necessary to increase the number of primes in the fibers, which increases the thickness of the fibers. IIK, which is inserted into small areas or renovated areas, requires high-res insertion technology and is difficult to insert. There are nine drawbacks. When inserted into a living body, it causes great pain to the patient and is also dangerous.
上記欠点を鱗決する為に１固体操像素子を観察ヘッド内
に設けて骸観察ヘッドと外部装置とを電気的にリード線
で接続する構成とすることが考えられる。しかしながら
、係る場合において、電気的り−ドーでは、剛性不足の
為、目的部位にうｔ〈観察ヘッドを挿入することができ
ないという欠点が６つえ。In order to solve the above-mentioned drawbacks, it is conceivable to provide a solid-state image element in the observation head and to connect the carcass observation head and an external device electrically with a lead wire. However, in such cases, electric re-doping has six disadvantages: it is not possible to insert the observation head into the target area due to insufficient rigidity.
本発明は、こＯ橡な点に鑑み、園体操像素子を用い丸角
視鏡において、固体撮像素子を内蔵した観察ヘッドをカ
プセル瀝にし、該ヘッドに自走装置を設け、観察ヘッド
が自走し、目的部位Ｋ１１１遍できるような構成とし九
ことを特徴とするものでがら鋭−する。In view of this problem, the present invention uses a round-angle endoscope using an image element, in which the observation head with a built-in solid-state image sensor is encapsulated, and the head is provided with a self-propelled device, so that the observation head can move automatically. It is structured so that it can be run over the target area K111, and it is characterized by nine features, and it is sharp.
嬉Ｉ閣は、観察ヘッドにキャタピラによる自走装置を般
けえ内視鏡の概略図である。観察ヘッド／には、搬像レ
ンズコ、固体撮像素子Ｊ１照明用ランプ参、キャタピラ
駆動機構４が配されている。This is a schematic diagram of an endoscope with a self-propelled device using caterpillars in the observation head. An image carrier lens, a solid-state image sensor J1 illumination lamp, and a caterpillar drive mechanism 4 are arranged in the observation head.
中ヤタビラ纒動機構４は、外部よりの遠隔装作により作
動停止されるモータＭによりウオームギア７が囮動畜れ
、ギアｔを介してギアｔが回動され、ギアｆＫｆｇ軸に
回着される中ヤタビラ駆動輪が回動し、キャタぜう／Ｊ
が駆動される。観察ヘッドと外部装置（図示せず）との
間の挿入＠ｊ内内部は、照明用ランプ点灯用リード線、
撮像信号伝達用リード−、モータ駆動用リード線が配さ
れている＠ Ｌ挿入部！内部には必要に応じ送気孔、送
水孔、鉗子導入孔等を設けることもでき、必要な処置を
行うことができる構成とすることもで龜る。In the middle Yatabira threading mechanism 4, the worm gear 7 is moved by the motor M which is stopped by a remote control from the outside, and the gear t is rotated via the gear t, and is rotated on the gear fKfg shaft. The middle Yatabira drive wheel rotates and starts to move/J
is driven. Inside the insertion between the observation head and the external device (not shown) are lead wires for lighting the illumination lamp,
@ L insertion part where the imaging signal transmission lead and motor drive lead wire are arranged! If necessary, an air supply hole, a water supply hole, a forceps introduction hole, etc. can be provided inside, and the structure can be configured to perform necessary treatment.
又、第１図に示すように、送気孔、送水孔、鉗子導入孔
等が設けられ九旭置具付管／Ｊを構成し、挿入部Ｉをフ
ィックスずイルとして案内する構造とすること−でき、
観察ヘッドｌが目的部位に違し患部を確譚した後に、旭
置臭付管を案内するようにすることにより、患者にあま
り蕾痛を与えることなく、確実に目的部位まで魁置具を
挿入で龜ゐものである。In addition, as shown in Fig. 1, an air supply hole, a water supply hole, a forceps introduction hole, etc. are provided to constitute a tube with a nine-way fixture/J, and the structure is such that the insertion portion I is guided as a fixed tube. I can do it,
After the observation head l has been positioned at the target site and the affected area has been confirmed, the tube with the Asahi position is guided, thereby ensuring that the device is inserted to the target site without causing too much pain to the patient. It's a big deal.
第Ｊｉ［ｌは、周知の形状記憶合金を用いて榔威し九自
ｊＩ！装置を設けた内視鏡の実施例を示し走間である。No. 1 is made using a well-known shape memory alloy. This figure shows an example of an endoscope equipped with the device.
第１図（１）は、観察ヘッドに設けられ友形状側Ｉｉ図
、第３図Φ）は前記足が伸び良状態を示す概略＠面図、
第１図（Ｃ）は、第１図（→に示した状態の概略正面図
である。FIG. 1 (1) is a view of the friend-shaped side Ii provided on the observation head, FIG.
FIG. 1(C) is a schematic front view of the state shown in FIG. 1 (→).
観察ヘッドｌ内部には、撮像レンズコ、固体撮―素子Ｊ
１照明用ランプ参及び形状記憶合金でで九足Ｌ２〜Ｌ、
に熱を加える為のヒータＨ１〜Ｈ４が設けられている。Inside the observation head L, there is an imaging lens and a solid-state sensor J.
1.9 pairs of lighting lamps and shape memory alloy L2~L,
Heaters H1 to H4 are provided to apply heat to.
該ヘッド前端には、前方Ｏ状態を検知するセンサー８１
そして、１１１面には側方の状態を検知するセンｆ−８
□〜８４が設けられている。前記センサーにはＰＥＴ圧
力センサー畳を用いることができ、センサーは少なくと
も前１１１に／ケ所、側面に夢ケ所設けるようにする。A sensor 81 is installed at the front end of the head to detect the front O state.
And on the 111th side there is a sensor F-8 that detects the side condition.
□ to 84 are provided. A PET pressure sensor tatami mat can be used as the sensor, and the sensor is provided at least at the front 111 and at the side.
又前記観察ヘッドｌ＠向には、ヘッドを走行させる為の
形状記憶合金でできた足り、〜Ｌ４が設けられており、
前記足Ｌ −Ｌ はヒータＨ２〜Ｈ４４
が作動し熱が加えられある温度になると、＃ＩＪ図―）
に示されている橡に縮んだ状態からＩＩＪＩＩ（ｂ）に
示されるように伸びる。本走行装置は第＃図にブロック
線図を示し九制御機構により、制御され、作動する。以
下に上記実施例の作動状態について説明する。観察ヘッ
ドｌが５１１図のような直進部にある時には、ヘッド先
端のセンナ−８，は圧力を検知しないが、側面のセンサ
ー８□〜Ｓ４は、壁面より圧力を検知する。前記センサ
ーよりの信号は、制御器／参に伝達され、制御器ｌ参は
、前記信号に１自、ヘッドは人方肉に直進すればよいこ
とを判断し、ヒータＨ８〜Ｈ４をすべて作動し足り、〜
Ｌ４がすべて伸びて、観察ヘッドｌはム方肉に直進する
。次に観察ヘッドノが嬉４図に示したよりな一折部にあ
る時には、前方のセンサーＳ、及び側面のセンサー８１
、Ｓ３．８４は圧力を検知するが、側面のセンナ−８，
は圧力を検知しない。該信号が制御器ｌ参に伝達される
と制御器ｌ夢は、観察ヘッドｌがＢ方向へ進めばよい仁
とを判断し、と−タＨ８のみを作動し足Ｌ１が伸びて、
観察ヘッド／ｌＢ方向へ進める。冑、制御ＩＩｌ参は、
ヒータが作動したことを検知した後、ヒータの作動を停
止し、と−一の温度が下が′）九ことを検知した後、上
記した走行動作を繰返し行わさせることによ抄観察ヘッ
ド／”ｄ自′走し、ｉｉ部位に刺違する。Further, in the direction of the observation head l@, there is provided a support made of a shape memory alloy, ~L4, for moving the head,
When the heaters H2 to H44 are activated and heat is applied to the leg L-L to a certain temperature, #IJ diagram -)
It expands from the contracted state shown in IIJII(b). This traveling device is controlled and operated by a control mechanism whose block diagram is shown in FIG. The operating state of the above embodiment will be explained below. When the observation head 1 is in the straight forward position as shown in Fig. 511, the sensor 8 at the tip of the head does not detect pressure, but the sensors 8□ to S4 on the sides detect pressure from the wall surface. The signal from the sensor is transmitted to the controller/controller, and the controller judges that the head should move straight to the human meat in response to the signal, and operates all heaters H8 to H4. Enough, ~
L4 is fully extended, and the observation head 1 moves straight to the bulge. Next, when the observation head is in the straight corner shown in Figure 4, the front sensor S and the side sensor 81
, S3.84 detects pressure, but side sensor 8,
does not detect pressure. When this signal is transmitted to the controller 1, the controller 1 determines that the observation head 1 should move in the direction B, operates only the controller H8, and extends the leg L1.
Advance the observation head in the direction of 1B. The helmet, control IIl reference is,
After detecting that the heater has been activated, the heater is stopped, and after detecting that the temperature has dropped, the paper observation head is repeatedly operated as described above. d'runs on its own and inserts into site ii.
本実施例では、観察ヘッド内にモータ、ギア等の動力部
材、動力伝達部材を設ける必要がなく、ヒータのみを観
察ヘッド内に設ければよいので、自走装置を簡単な構成
で作成することができ、観察ヘッドを小製化することが
で龜る。又センサーを設け、観察ヘッドの走行方向の制
御も、ヒータを遥択的に作動させるという簡単な構成に
よって行うことがで亀、−折した部位にもｌＪ＆にしか
も確実に観察ヘッドを挿入できる。In this embodiment, there is no need to provide a power member such as a motor or a gear, or a power transmission member in the observation head, and only a heater needs to be provided in the observation head, so the self-propelled device can be created with a simple configuration. This makes it easier to downsize the observation head. In addition, by providing a sensor and controlling the running direction of the observation head with a simple configuration in which the heater is selectively activated, the observation head can be inserted precisely and reliably even into a broken part.
冑、本実施例においても挿入部！をフィックスザイルと
して魁置具付管を案内する構成にすることがで自ること
は言うまでもない。The helmet is also the insertion part in this example! Needless to say, it is possible to use the structure as a fixed rope to guide the pipe with the fitting.
１１１７ａｌｌは、形状記憶合金を用いて自走装置を構
成した他の実施例を示した図である。本実施例では、走
行部材ｌ！を観察ヘッドｉ＊ｍに摺動自在に設け、ヘッ
ド内部の端部に形状記憶合金１４を接続し、形状記憶合
金１４の他端は、観察ヘッドＩ内に設けられた外部の制
御器（図示せず）により制御されるヒータ１７に固定さ
れている。本実施例の動作状態を説明すると、ヒータ７
７が作動しておらず、ｓＷＬが低い時には、ｔｓ７図（
ａ）に示すように形状記憶合金／４は縮入でお妙、走行
部材／ｊは観察ヘッドｌ内に引龜入れられている。ヒー
タが作動し、ある温直に達すると、ｔｓ７図φ）に示す
ように、形状記憶合金／４は伸び、走行部材ｌ！は観察
ヘッドｌの外に押し出され、走行部材ｌ！の先端が走行
部位のｌ１ｌｉＫ幽た炒、観察へラドｌは前進する。陶
、本実施例にお−ても、観察ヘッドにセンサーを設け、
と−夕を制御することにより、観察ヘッドの走行方向の
制御を行うことかで龜る。1117all is a diagram showing another example in which a self-propelled device is constructed using a shape memory alloy. In this embodiment, the traveling member l! is slidably provided in the observation head i*m, the shape memory alloy 14 is connected to the end inside the head, and the other end of the shape memory alloy 14 is connected to an external controller (see Fig. (not shown). To explain the operating state of this embodiment, the heater 7
7 is not operating and sWL is low, ts7 diagram (
As shown in a), the shape memory alloy /4 is compressed and the running member /j is inserted into the observation head l. When the heater is activated and reaches a certain temperature, the shape memory alloy /4 expands, as shown in ts7 diagram φ), and the running member l! is pushed out of the observation head l, and the traveling member l! The tip of the moving part is l1liK, and the radar l moves forward to observe. Also, in this example, a sensor is provided in the observation head,
By controlling the direction of movement of the observation head, it becomes difficult to control the direction of movement of the observation head.
第ｔＳも、形状記憶合金を用いて自走装置を構成し九他
の実施例を示した図である。No. tS is also a diagram showing nine other embodiments in which a self-propelled device is constructed using a shape memory alloy.
本実施例は、観察ヘッドｌの外側に観察ヘッド案内部材
４を設け、前記観察ヘッドｌと観察ヘッド案内部材４は
形状記憶合金ｌデで嬢絖されて−る。観察ヘッド後部に
は形状記憶合金でで自た阻止部材コＩが設けられてｉる
。観察ヘッド内部にはヒータコ＃、ＪＪが設けられ、外
部名制御ｉ”（図示せず）Ｋより制御され、作動する。In this embodiment, an observation head guide member 4 is provided outside the observation head 1, and the observation head 1 and the observation head guide member 4 are made of a shape memory alloy. A blocking member I made of a shape memory alloy is provided at the rear of the observation head. Heaters # and JJ are provided inside the observation head, and are controlled and operated by an external control (not shown) K.
ヒータコ０は、観察ヘッドｌと観察ヘッド案内部材４を
接続する形状記憶合金を作動する為のヒータ、ヒータコ
コは、阻止部材Ｊ／を作動する為Ｏヒータである。以下
、本実施例の動作状態を説明すると、と−タＪ＃、ＪＪ
が作動していない時には、形状記憶合金ｉｔ％阻止部材
Ｊ／は縮んでおり、第を閣（荀に示すように観察ヘッド
／Ｆｉ観察ヘッド案内部Ｈｔｔ中に収納されている。こ
の状態において先ずヒータココが作動され、阻止部材Ｊ
／が伸び、走行部位ｌｌ１１ｉＫ幽接し、観察ヘッドｌ
の後退を阻止する。次に、ヒータＪ０が作動し、形状記
憶合金／ｌが伸びて観察ヘッド案内部材ｉｔを前に押し
進める（第１図−）Ｋ示した状態）。この後、ヒータコ
０の作動が停止され、阻止部材４を縮め、ヒータＪ０の
作動が停止し、形状記憶合金ｌが縮み、観察ヘッドＩは
観察ヘッド案内部材４の中に収納されるように前進すゐ
。上記の動作を繰り返し、観察ヘッドＩは、目的部位ま
で自走し到達する。The heater coco 0 is a heater for operating the shape memory alloy that connects the observation head l and the observation head guide member 4, and the heater coco is an O heater for operating the blocking member J/. The operating state of this embodiment will be explained below.
When it is not operating, the shape memory alloy it% blocking member J/ is contracted and is housed in the observation head/Fi observation head guide Htt as shown in the figure. The heater coco is activated and the blocking member J
/ extends, the traveling part ll11iK tangentially touches, and the observation head l
prevent the retreat of Next, the heater J0 is activated, and the shape memory alloy /l expands to push the observation head guide member it forward (the state shown in FIG. 1-)K). After that, the operation of the heater J0 is stopped, the blocking member 4 is retracted, the operation of the heater J0 is stopped, the shape memory alloy I is retracted, and the observation head I moves forward so as to be housed in the observation head guide member 4. Wow. By repeating the above operations, the observation head I moves on its own and reaches the target site.
本発明は、以上述べたように、固体撮像素子を内蔵し九
観察ヘッドをカプセル蓋とし、該ヘッドに自走装置を設
けて構成されてｉるので、極細部、曲折部であっても目
的部位に観察ヘッドを害鳥にしかも確実に挿入できるも
のである。As described above, the present invention has a built-in solid-state imaging device, a capsule lid as the observation head, and a self-propelled device on the head, so that even the smallest details and curved parts can be used for the purpose. The observation head can be inserted into the site of the harmful bird without fail.
第１図は、観察ヘッドＫｄＰヤタビラによる１走俵置を
設けた内視鏡の概略図％１１Ｊ図は、挿入部をフィック
スザイルとして送気孔、送水孔、鉗子導入孔等を用は九
処置具付管を案内する構成とし丸内視鐘の概略図、第３
図（峠、Φ）、（Ｃ）は、形状記憶合金を用いた足によ
り構成された自走装置を設は喪内視鏡の概略図、第参図
は、第３図に示した内視−の自走装置を制御機構のブ四
ツク線図、第ｊＥ％１ｓ４図は、第３図に示した内視鏡
の作動状態を説−する図、第７図（１）、（ｂ）は、形
状記憶合金を用いて自走装置を構成した他の実施例を示
す概略図、１ｇｔ図（ａ）、（ｂ）も形状記憶合金を用
いて自走値数を構成した他の夾施例を示す概略図である
。
ｌ・・・観察ヘッド、λ・・・撮像レンズ、′Ｊ・・・
固体撮像素子、参・・・照明用ランプ、！・・・挿入部
、Ｌｌ・・キャタピラ、／Ｊ・・・処置具付管、Ｌ、〜
Ｌ４・・・形状記憶合金でで龜た足、Ｈ２〜Ｈ４・・・
ヒータ、８゜〜８４・・・センナ、ｌ参・・・制御器、
ｌｊ・・・走行部材、１４・・・形状記憶合金、／７・
・・ヒータ、／１−・観察ヘッド案内部材、／Ｆ−・形
状記憶合金、ＪＦ−−・ヒータ、Ｊ／・・・形状記憶合
金でできた阻止部材、Ｊコ・・・ヒータ。
特許出願人 富士写真フィルム株式会社第１図
２
第４図
第３図（０）
第５図
第６図
ＳりFigure 1 is a schematic diagram of an endoscope equipped with a one-stroke position using the KdP Yatabira observation head. Schematic diagram of the Marunouchi Sight Bell with a structure that guides the attached pipe, No. 3
Figures (Touge, Φ) and (C) are schematic diagrams of a mourning endoscope equipped with a self-propelled device composed of legs made of shape memory alloy, and the reference figure is a schematic diagram of the endoscope shown in Figure 3. Figure 7 (1), (b) is a block diagram of the control mechanism of the self-propelled device shown in -. is a schematic diagram showing another example of a self-propelled device constructed using a shape memory alloy, 1gt diagrams (a) and (b) also show other embodiments in which a self-propelled device was constructed using a shape memory alloy. FIG. 2 is a schematic diagram illustrating an example. l... Observation head, λ... Imaging lens, 'J...
Solid-state image sensor, etc...Lamp for lighting,! ...Insertion part, Ll...Caterpillar, /J...Tube with treatment tool, L, ~
L4... legs made of shape memory alloy, H2~H4...
Heater, 8° to 84... Senna, l reference... Controller,
lj... Running member, 14... Shape memory alloy, /7.
...Heater, /1--Observation head guide member, /F--Shape memory alloy, JF--Heater, J/... Blocking member made of shape memory alloy, J co--Heater. Patent applicant Fuji Photo Film Co., Ltd. Figure 1 2 Figure 4 Figure 3 (0) Figure 5 Figure 6 S
Claims (1)
竜ル履ＫＬ、該観察ヘッドに自走装置を設は九ことを４
１黴とする一体操像素子を用いた円視跪。 （２） 一体撮像素子を内蔵した観察ヘッド管カブ竜
ルＩＩＫＬ、、該Ｉｌ！察ヘッドに自走装置を設け、更
に観察ヘッドと外Ｓ＊置を接続すゐ挿入部をフイツタス
ずイルとして、送気孔、送水孔、紺子導入孔岬を設けえ
躯置具付管を案内し、−入す為ことができるように構成
されていることを４１１黴とする一体操像素子を用い九
内視−６ （８１ＩＩ体俸像素子を内蔵し大綱察ヘッドをカブ竜ル
腫にし、皺観察ヘッドに自走装置及びセンナを験け、前
記センサによ）ヘッド前方及び側方の状ｌＩが楡畑畜れ
、前記−ｊＩ！装置が制御されるようＫ１１Ｎされてい
ることを４Ｉ徽とする閣体操像素子をＭいた内視−０ （４）前記−＊＊＊置がキャタピラ駆動１１１１１によ
〕構成されて〜いることを特徴とする特許請求の範囲第
１項、ｇＪ項及び＃ＩＪ項記載の固体撮■嵩子を用いた
内視鏡。 （＆） 前記１走装置が形状記憶合金管用ｉてＷ威さ
れていることを特徴とする特許請求の範囲第１項、ｌＩ
Ｊ項及び第Ｊ項記鳴の固体Ｉｉ律素子を用いた内視鏡。[Scope of Claims] (1) The II body imaging element is circularly imaged, the nine observation heads are mounted on a Kabu Ryuru KL, and the self-propelled device is installed on the observation heads.
Cycloscopic kneeling using a single motion image element with one mold. (2) Observation head tube turntable IIKL with built-in integrated image sensor,, II! The observation head is equipped with a self-propelled device, and the insertion part that connects the observation head and the external S* position is a fitting pipe, and an air supply hole, water supply hole, and navy blue introduction hole cape are provided to guide the pipe with the body fixture. It is constructed so that it can be inserted into the body using an image element with a 411 type. , test the self-propelled device and Senna on the wrinkle observation head, and the state of the front and side of the head is determined by the sensor, and the -jI! 4) An internal view of the image element in the cabinet with the device being controlled by K11N (4) That the above-mentioned position is constituted by a caterpillar drive 11111. An endoscope using a solid-state imaging device as described in Claims 1, gJ, and #IJ. (&) Claim 1, 1I, characterized in that the one-stroke device is made of a shape-memory alloy tube.
An endoscope using a solid-state Ii element with J-term and J-term memorization.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56120512A JPS5822024A (en) | 1981-07-31 | 1981-07-31 | Endoscope using solid photographing element |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP56120512A JPS5822024A (en) | 1981-07-31 | 1981-07-31 | Endoscope using solid photographing element |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS5822024A true JPS5822024A (en) | 1983-02-09 |
| JPH0260326B2 JPH0260326B2 (en) | 1990-12-17 |
Family
ID=14788045
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP56120512A Granted JPS5822024A (en) | 1981-07-31 | 1981-07-31 | Endoscope using solid photographing element |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS5822024A (en) |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5038457A (en) * | 1988-04-27 | 1991-08-13 | Shin Meiwa Industry Co., Ltd. | Harness producing apparatus |
| JP2005111273A (en) * | 2003-10-08 | 2005-04-28 | Siemens Ag | Endoscopy apparatus, and image forming method for endoscopy apparatus |
| JP2006212431A (en) * | 2005-02-01 | 2006-08-17 | Invendo Medical Gmbh | Endoscope |
| JP2012143300A (en) * | 2011-01-07 | 2012-08-02 | Fujifilm Corp | Insertion assistance implement for endoscope and endoscope |
| JP2012191979A (en) * | 2011-03-15 | 2012-10-11 | Fujifilm Corp | Endoscope insertion aid |
| JP2012191977A (en) * | 2011-03-15 | 2012-10-11 | Fujifilm Corp | Self-propelled device for endoscope |
| JP2012191980A (en) * | 2011-03-15 | 2012-10-11 | Fujifilm Corp | Endoscope mounting fixture |
| JP2013505058A (en) * | 2009-09-17 | 2013-02-14 | 富士フイルム株式会社 | Propulsion device with a function of actively changing the size |
| JP2021526661A (en) * | 2018-04-30 | 2021-10-07 | ゼネラル・エレクトリック・カンパニイ | Technology for controlling non-destructive inspection devices via probe drivers |
| JP2021529585A (en) * | 2018-06-29 | 2021-11-04 | ミラキ イノベーション シンク タンク エルエルシー | A small, in-body controllable medical device that uses machine learning and artificial intelligence |
Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| ITPI20040008A1 (en) * | 2004-02-17 | 2004-05-17 | Dino Accoto | ROBOTIC CAPSULE FOR INTRA-BODY BIOMEDICAL APPLICATIONS |
| US20100113874A1 (en) * | 2007-04-04 | 2010-05-06 | Marco Quirini | Teleoperated endoscopic capsule |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49329U (en) * | 1972-04-05 | 1974-01-05 | ||
| JPS49114940A (en) * | 1973-03-05 | 1974-11-01 | ||
| JPS5016762U (en) * | 1973-06-09 | 1975-02-22 | ||
| JPS50141187A (en) * | 1974-03-01 | 1975-11-13 | ||
| JPS53116827A (en) * | 1977-03-22 | 1978-10-12 | Hattori Norikazu | Large intestine camera |
| JPS5478883A (en) * | 1977-12-07 | 1979-06-23 | Hattori Norikazu | Large intestine fiberscope |
| JPS5554195U (en) * | 1978-10-06 | 1980-04-12 | ||
| US4207872A (en) * | 1977-12-16 | 1980-06-17 | Northwestern University | Device and method for advancing an endoscope through a body passage |
| JPS5588733A (en) * | 1978-12-26 | 1980-07-04 | Olympus Optical Co | Endoscope |
-
1981
- 1981-07-31 JP JP56120512A patent/JPS5822024A/en active Granted
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS49329U (en) * | 1972-04-05 | 1974-01-05 | ||
| JPS49114940A (en) * | 1973-03-05 | 1974-11-01 | ||
| JPS5016762U (en) * | 1973-06-09 | 1975-02-22 | ||
| JPS50141187A (en) * | 1974-03-01 | 1975-11-13 | ||
| JPS53116827A (en) * | 1977-03-22 | 1978-10-12 | Hattori Norikazu | Large intestine camera |
| JPS5478883A (en) * | 1977-12-07 | 1979-06-23 | Hattori Norikazu | Large intestine fiberscope |
| US4207872A (en) * | 1977-12-16 | 1980-06-17 | Northwestern University | Device and method for advancing an endoscope through a body passage |
| JPS5554195U (en) * | 1978-10-06 | 1980-04-12 | ||
| JPS5588733A (en) * | 1978-12-26 | 1980-07-04 | Olympus Optical Co | Endoscope |
Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5038457A (en) * | 1988-04-27 | 1991-08-13 | Shin Meiwa Industry Co., Ltd. | Harness producing apparatus |
| JP2005111273A (en) * | 2003-10-08 | 2005-04-28 | Siemens Ag | Endoscopy apparatus, and image forming method for endoscopy apparatus |
| JP2006212431A (en) * | 2005-02-01 | 2006-08-17 | Invendo Medical Gmbh | Endoscope |
| JP2013505058A (en) * | 2009-09-17 | 2013-02-14 | 富士フイルム株式会社 | Propulsion device with a function of actively changing the size |
| JP2012143300A (en) * | 2011-01-07 | 2012-08-02 | Fujifilm Corp | Insertion assistance implement for endoscope and endoscope |
| JP2012191979A (en) * | 2011-03-15 | 2012-10-11 | Fujifilm Corp | Endoscope insertion aid |
| JP2012191977A (en) * | 2011-03-15 | 2012-10-11 | Fujifilm Corp | Self-propelled device for endoscope |
| JP2012191980A (en) * | 2011-03-15 | 2012-10-11 | Fujifilm Corp | Endoscope mounting fixture |
| JP2021526661A (en) * | 2018-04-30 | 2021-10-07 | ゼネラル・エレクトリック・カンパニイ | Technology for controlling non-destructive inspection devices via probe drivers |
| JP2021529585A (en) * | 2018-06-29 | 2021-11-04 | ミラキ イノベーション シンク タンク エルエルシー | A small, in-body controllable medical device that uses machine learning and artificial intelligence |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0260326B2 (en) | 1990-12-17 |
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