IN-VESSEL PROPULSION DEVICE AND ENDOSCOPE INCLUDING THE SAME

摘要

PROBLEM TO BE SOLVED: To enhance degree of freedom of motions of an in-vessel propulsion device in a vessel.SOLUTION: The in-vessel propulsion device includes a tube assembly formed by assembling at least 6 tubes with each other in a braid shape and sealing a tip of each tube. A base end part of the tube on an opposite side to the sealed tip is connected with a fluid pressure source. The tube assembly is composed of a first tube group formed by tubes extended in a spiral shape in a right/handed screw direction and a second tube group formed by tubes extended in a spiral shape in a left-handed screw direction, when viewed from the tip side. By compressing the inside of at least one of the tubes and extending the one in an axial direction, the tube assembly is deformed.SELECTED DRAWING: Figure 1