Insertion device

摘要

An insertion device includes an idle state detector detecting an idle state in which an insertion section does not move in directions along the longitudinal axis when a rotation unit rotates in directions around the longitudinal axis, and a movement displacement calculator calculating a rotation direction and amount of the rotation unit based on a driving direction and amount of the driving member and calculating a movement displacement of the insertion section from a reference position in directions parallel to the longitudinal axis based on the rotation direction and amount of the rotation unit. The movement displacement calculator calculates the movement displacement of the insertion section so that a movement amount of the insertion section in the longitudinal directions while the idle state being detected is zero.

主权项

1. An insertion device comprising:
an insertion section extending from a proximal side toward a distal side along a longitudinal axis; a rotation unit provided on an outer peripheral side of the insertion section, and being rotatable relative to the insertion section around the longitudinal axis, the rotation unit including a spiral fin portion spirally extending around the longitudinal axis; a driving motor which is configured to be driven to generate a driving force of rotating the rotation unit; a driving force transmission which is configured to transmit the driving force generated in the driving motor to the rotation unit, the rotation unit being configured to rotate by the transmitted driving force when the fin portion is pressed toward an inner peripheral side so that a propulsive force is applied to the insertion section and the rotation unit toward the distal side or the proximal side; and a controller configured to:
determine a reference position that is a position of the insertion section serving as a reference; detect an idle state in which the propulsive force is not applied to the insertion section and the rotation unit when the rotation unit rotates around the longitudinal axis; and
calculate a rotation direction and a rotation amount of the rotation unit in accordance with a driving direction and a driving amount of the driving motor, calculate a movement displacement of the insertion section from the reference position toward the distal side and the proximal side in accordance with the rotation direction and the rotation amount of the rotation unit, and calculate the movement displacement of the insertion section from the reference position so that a movement amount of the insertion section toward the distal side and the proximal side is zero while the idle state is detected.