| 摘要 |
PROBLEM TO BE SOLVED: To provide a rotary self-traveling endoscope or the like capable of stably performing insertion without lowering driving force. SOLUTION: In the rotary self-traveling type endoscope system configured such that helical recesses and projections provided on the outer peripheral surface of a rotary cylindrical body are abutted to the body cavity inner wall of a subject to generate the driving force by rotating the rotary cylindrical body disposed on the outer peripheral side of an insertion part body and the insertion part body advances into the subject, by controlling a motor for rotating the rotary cylindrical body, the state of normally rotating the rotary cylindrical body at a prescribed rotation speed and the state of stopping the rotation of the rotary cylindrical body and releasing stored elastic energy are cyclically repeated. COPYRIGHT: (C)2007,JPO&INPIT
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