| 摘要 |
PROBLEM TO BE SOLVED: To provide an endoscope holding device detecting the load applied to the part of an endoscope inserted into a body cavity and the contact with an organ at an end of the endoscope. SOLUTION: The endoscope holding device 10 is composed of an arm to bring the distal end of the endoscope 11 to the upper part of the affected region of a patient; a first holding part disposed at the front end of the arm to be moved to the right or left in a circular arc on the flat plane around the body cavity insertion part of the endoscope 11; a second holding part disposed in the first holding part to be moved in the vertical direction in a circular arc on the vertical plane around the body cavity insertion part of the endoscope 11; and a third holding part 28 disposed in the second holding part to be moved diagonally forward/backward with the body cavity insertion part of the endoscope as a passing point. A knuckle part 55 which rotates around a horizontal axis is supported in the third holding part 28, and a holder part 58 which rotates around a vertical axis is supported in the knuckle part 55 via a ball plunger 57. The endoscope 11 is held in the holder part 58 via a tactile sensor 61. COPYRIGHT: (C)2008,JPO&INPIT
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