Patent ID: 9615726
Date: 2017-04-11
CPC Classifications: A61B,G02B

Claim:
1. A medical instrument, comprising: an insertion portion which is inserted into a body cavity in an insertion direction; a rotor which has substantially cylindrical shape and which is provided in an outer circumferential surface of the insertion portion and has its rotational axis arranged parallel to a longitudinal axis of the insertion portion, the longitudinal axis being in the insertion direction of the insertion portion and the rotor having a contact area for contacting an inner wall of the body cavity; and a rotary drive unit which rotates the rotor around the rotational axis, wherein rotation of the rotor around the rotational axis by the rotary drive unit causes the contact area to transmit a driving force to the inner wall of the body cavity to move the insertion portion in a direction perpendicular to the longitudinal axis of the insertion portion along the inner wall of the body cavity; the rotational axis of the rotor and the longitudinal axis of the insertion portion are offset from each other in a radial direction of the insertion portion, and a turning radius of the rotor is not more than a radius of the insertion portion.