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WO2009034799A1 - 自走式ケーブル装置及びケーブルの自走方法 - Google Patents

自走式ケーブル装置及びケーブルの自走方法 Download PDF

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Publication number
WO2009034799A1
WO2009034799A1 PCT/JP2008/064307 JP2008064307W WO2009034799A1 WO 2009034799 A1 WO2009034799 A1 WO 2009034799A1 JP 2008064307 W JP2008064307 W JP 2008064307W WO 2009034799 A1 WO2009034799 A1 WO 2009034799A1
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WO
WIPO (PCT)
Prior art keywords
cable
self
propelled
shaken
driving force
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.)
Ceased
Application number
PCT/JP2008/064307
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English (en)
French (fr)
Inventor
Satoshi Tadokoro
Masashi Konyo
Satoshi Saga
Kazunari Hatazaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Tohoku University NUC
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Tohoku University NUC
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Filing date
Publication date
Application filed by Tohoku University NUC filed Critical Tohoku University NUC
Publication of WO2009034799A1 publication Critical patent/WO2009034799A1/ja
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/00156—Holding or positioning arrangements using self propulsion

Landscapes

  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Surgery (AREA)
  • Biomedical Technology (AREA)
  • Medical Informatics (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Radiology & Medical Imaging (AREA)
  • Biophysics (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • Public Health (AREA)
  • Veterinary Medicine (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)
  • Endoscopes (AREA)
  • Toys (AREA)

Abstract

　曲げ剛性が比較的小さく細長のケーブルの自走において、方向転換機能および障害乗り越え機能を向上させる。 　ケーブル１の少なくとも先端領域６に所定の曲げ形状６aを設け、振動により加振されて所定方向の推進力を得る推進装置をケーブル１の外部に配設する。そして電動モータ３とてこクランク機構４とにより構成される加振装置により、ケーブル１を加振し、推進装置１１の推進力でケーブル１を推進させる。またケーブル１を軸方向に回動して、曲げ形状の向きを変え、ケーブル１先端の進行方向を転換する。
PCT/JP2008/064307 2007-09-12 2008-08-08 自走式ケーブル装置及びケーブルの自走方法 Ceased WO2009034799A1 (ja)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2007-237332 2007-09-12
JP2007237332A JP5294239B2 (ja) 2007-09-12 2007-09-12 自走式ケーブル装置

Publications (1)

Publication Number Publication Date
WO2009034799A1 true WO2009034799A1 (ja) 2009-03-19

Family

ID=40451809

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2008/064307 Ceased WO2009034799A1 (ja) 2007-09-12 2008-08-08 自走式ケーブル装置及びケーブルの自走方法

Country Status (2)

Country Link
JP (1) JP5294239B2 (ja)
WO (1) WO2009034799A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3053543A1 (de) * 2015-02-09 2016-08-10 BIOTRONIK SE & Co. KG Vorrichtung mit oberflächenstruktur zur einbringung in den menschlichen oder tierischen körper

Families Citing this family (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010145649A (ja) * 2008-12-17 2010-07-01 Olympus Corp ガイドチューブ、ガイドチューブ装置および内視鏡システム
JP5878846B2 (ja) * 2012-08-23 2016-03-08 日立Ｇｅニュークリア・エナジー株式会社 狭隘部進入調査装置
JP6043203B2 (ja) * 2013-02-15 2016-12-14 株式会社東芝 管内移動装置
JP6339409B2 (ja) * 2014-05-20 2018-06-06 株式会社日立アドバンストシステムズ 管内自走装置および配管検査装置
GB201703056D0 (en) 2017-02-24 2017-04-12 King S College London Soft locomotive device for endoscopy with adaptive anchoring
JP6929737B2 (ja) * 2017-08-22 2021-09-01 株式会社東芝 イメージスコープ
WO2021152756A1 (ja) * 2020-01-30 2021-08-05 三菱重工業株式会社 非破壊検査装置および非破壊検査方法

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
MASASHI KONYO,ET AL.: "Senmo Shindo ni yotte Kudo suru Nodo Scopecamera no Kaihatsu", DAI 12 KAI ROBOTICS SYMPOSIA YOKOSHU, 15 March 2007 (2007-03-15), pages 460 - 465 *

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
EP3053543A1 (de) * 2015-02-09 2016-08-10 BIOTRONIK SE & Co. KG Vorrichtung mit oberflächenstruktur zur einbringung in den menschlichen oder tierischen körper

Also Published As

Publication number Publication date
JP2009066167A (ja) 2009-04-02
JP5294239B2 (ja) 2013-09-18

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