| 摘要 |
The self-propelled colonoscope (1) is self-inserted into a colon by driving endless belts (17) mounted on the outside of the bending section (15) of the insertion tube (9). The cross section of the endless belt (17) is a substantially circle and a rack gear teeth having a cross section of circle are formed on the outside of the endless belts (17). And, a recess having a cross section of semi-circle and pinion gear teeth which are corresponded to the shape of the endless belt and the rack gear teeth. Since the endless belt (17) has across section of circle so as to have equal bending ability in all radial direction, the endless belt (17) can easily bend in all direction. So, on the insertion of the insertion tube (9) into the colon, the endless belt (17) can be easily followed the motion of the insertion tube (9).
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