Continuous robot control system, control method of continuous robot, and storage medium
US-2024326236-A1 · Oct 3, 2024 · US
US9895051B2 · US · B2
| Field | Value |
|---|---|
| Publication number | US-9895051-B2 |
| Application number | US-201615362942-A |
| Country | US |
| Kind code | B2 |
| Filing date | Nov 29, 2016 |
| Priority date | Dec 24, 2014 |
| Publication date | Feb 20, 2018 |
| Grant date | Feb 20, 2018 |
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Official abstract text for this publication.
An assist tool attachable to an insertion section of an insertion apparatus includes a tube including a longitudinal axis. The tube is provided with a lumen through which the insertion section is insertable. The tool includes a connecting mechanism. The connecting mechanism receives a drive force and is rotated together with the tube with respect to the insertion section inserted through the lumen. The tool includes a locking mechanism provided on a more distal end side than the connecting mechanism in the tube. The locking mechanism includes a convex portion or a concave portion engaged with the insertion section to restrict movement of the tube along the longitudinal axis with respect to the insertion section. Furthermore, an insertion apparatus to which the tool is attached and an introduction apparatus including them is provided.
Opening claim text (preview).
What is claimed is: 1. An assist tool attachable to an insertion section of an insertion apparatus, the assist tool comprising: a tube including a distal end portion and a proximal end portion, the tube including a longitudinal axis extending from the distal end portion to the proximal end portion, the tube being provided with a lumen through which the insertion section is insertable; a connecting mechanism provided in the tube to rotatably attach the tube to the insertion section, the connecting mechanism receiving a drive force and being rotated integrally with the tube with respect to the insertion section inserted through the lumen; a locking mechanism provided in the tube, the locking mechanism being positioned distally relative to the connecting mechanism, the locking mechanism including one of a convex portion and a concave portion to be engaged with an other of the convex portion and the concave portion arranged on the insertion section to restrict movement of the tube along the longitudinal axis with respect to the insertion section; and first and second bearing surfaces arranged distally and proximally, respectively, to the one of the convex portion and the concave portion of the locking mechanism, the first and second bearing surfaces engaging corresponding first and second bearing surfaces arranged on the insertion section. 2. The assist tool according to claim 1 , wherein tube having an internal circumferential surface forming the lumen, the internal circumferential surface having a shape corresponding to a shape of an external circumferential surface of the insertion section such that the internal circumferential surface is slidable relative to the external circumferential surface when the tube is attached to the insertion section. 3. The assist tool according to claim 2 , wherein at least a portion of the internal circumferential surface of the tube is fitted onto the external circumferential surface of the insertion section proximally to a portion of the connecting mechanism in which the drive force is received. 4. The assist tool according to claim 1 , wherein the locking mechanism includes the convex portion and the convex portion comprises at least one pawl protruding from the lumen of the tube in an internal diameter direction. 5. The assist tool according to claim 4 , wherein an internal circumferential surface of the at least one pawl has a convex shape for engagement with a concave shape of the external circumferential surface of the insertion section, and the internal circumferential surface is slidably fitted onto the external circumferential surface when the tube is attached to the insertion section. 6. The assist tool according to claim 1 , wherein the locking mechanism includes an annular member formed to slide in a direction of the longitudinal axis, the annular member being configured to move between; a locked position in which the annular member is engaged with the one of the convex portion and the concave portion to restrict movement of the one of the convex portion and the concave portion outward in a radial direction of the tube, and an unlocked position in which the annular member is not engaged with the one of the convex portion and the concave portion. 7. An insertion apparatus for use with the assist tool according to claim 1 , the insertion apparatus comprising: the other of the concave portion the convex portion arranged an external circumferential surface of the insertion section and fitted with the one of the convex portion and the concave portion of the locking mechanism such that the one of the convex portion and the concave portion of the locking mechanism moves along the external circumferential surface of the insertion section with rotation of the tube; and the corresponding first and second bearing surfaces arranged on the external circumferential surface of the insertion section. 8. An insertion apparatus for use with the assist tool according to claim 1 , the insertion apparatus comprising: a roller provided inside the insertion section and rotated by transmission of the drive force; and a cover covering the roller to form a protruding portion on an external surface of the cover, the cover being configured to maintain an inside of the insertion section watertight against an external environment, wherein the protruding portion is configured to engage the connecting mechanism and transfer the drive force to the connecting mechanism to rotate the connecting mechanism and the tube with respect to the insertion section. 9. An introduction apparatus comprising: the assist tool according to claim 1 ; the insertion apparatus including the other of the concave portion the convex portion arranged an external circumferential surface of the insertion section, the other of the concave portion and the convex portion of the insertion apparatus being slidably engaged with the one of the convex portion and the concave portion of the locking mechanism such that the one of the convex portion and the concave portion of the locking mechanism moves along the external circumferential surface of the insertion section with rotation of the tube; and the corresponding first and second bearing surfaces arranged on the external circumferential surface of the insertion section. 10. An insertion apparatus for use with the assist tool according to claim 1 , the insertion apparatus comprising: an internal gear that is rotated and driven to transmit the drive force to the connecting mechanism; and a base member including a bearing portion fitted on an external circumference of an proximal end portion of the internal gear and serving as a bearing of the internal gear.
Flexible endoscopes · CPC title
with illuminating arrangements · CPC title
Insertion part of the endoscope body (A61B1/0055 takes precedence) · CPC title
Connection or coupling means · CPC title
Guiding arrangements therefore · CPC title
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