Apparatus for bending an insertion section of an endoscope using a shape memory alloy
First Claim
1. A shape memory apparatus comprising:
- a probe composed of a plurality of segments coupled to one another and adapted to be moved inside a tubular member, each said segment including a shape memory element so that the probe bends as the shape memory element changes its shape;
means for inputting a target value of the bend angle for a specific segment;
means for detecting the bend angle of each said segment each time the probe is moved for a predetermined distance; and
temperature adjusting means connected to said probe, said input means, and said detecting means, said adjusting means serving to control the temperature of the shape memory element so that the detected bend angle of the shape memory element agrees with such a target angle that said inputted angle being set as the target angle for the specific segment, and said detected bend angle of each segment being set as the target angle for segment following the specific segment with respect to the moving direction.
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Accused Products
Abstract
The distal end of an insertion section of an endoscope is divided into a plurality of segments each including a pair of SMA coils which are arranged symmetrically with respect to an axis and memorize a close-winding shape. As the SMA coils recovers their memorized shape, the distal end of the insertion section is bent. The SMA coils are restored to the memorized shape when they are conductively heated by means of a current supply circuit. The current supply circuit comprises an input unit for inputting a target value of the bend angle for a leading segment, a sensor for detecting the distance of insertion of the insertion section, a detector circuit for detecting the bend angle of each segment, and means for controlling the amount of current supply so that the bend angle of the SMA coils agrees with a target angle. The inputted angle is set as the target angle for the leading segment, and the detected bend angle of each segment is set as the target angle for each succeeding segment. The set value is renewed each time the insertion distance of the insertion section attains a predetermined distance.
529 Citations
37 Claims
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1. A shape memory apparatus comprising:
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a probe composed of a plurality of segments coupled to one another and adapted to be moved inside a tubular member, each said segment including a shape memory element so that the probe bends as the shape memory element changes its shape; means for inputting a target value of the bend angle for a specific segment; means for detecting the bend angle of each said segment each time the probe is moved for a predetermined distance; and temperature adjusting means connected to said probe, said input means, and said detecting means, said adjusting means serving to control the temperature of the shape memory element so that the detected bend angle of the shape memory element agrees with such a target angle that said inputted angle being set as the target angle for the specific segment, and said detected bend angle of each segment being set as the target angle for segment following the specific segment with respect to the moving direction. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 30, 31, 32, 33, 34, 35)
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36. An endoscopic apparatus comprising:
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an endoscope body having a flexible insertion section containing an optical system for observation, the distal end of said insertion section being divided into a plurality of segments, each said segment including a shape memory element so that the segment bends as the shape memory element changes its shape; means for inputting a target value of the bend angle for a specific segment; means for detecting the distance of insertion of the insertion section; means for detecting the bend angle of each said segment; and means for heating the shape memory element by supplying a current thereto so that the bend angle of the shape memory element agrees with such a target angle that said inputted angle being set as the target angle for the specific segment, and said detected bend angle of each segment being set as the target angle for each succeeding segment and each said set value being renewed each time the insertion distance of the insertion section attains a predetermined distance. - View Dependent Claims (37)
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Specification