Patent ID: 7104953
Filing Date: 2006-09-12
Classification: A61B

Abstract:
1. An endoscope system comprising: an image sensing device at a distal end of an insertion portion to be inserted into a tubular cavity under examination; a bending portion behind said image sensing device; a hydropneumatic actuator for bending said bending portion with hydropneumatic pressure, said hydropneumatic actuator comprising a multi lumen tube including first and second opposed pressurization chambers; first and second syringes which are respectively connected to said opposed first and second pressurization chambers for supplying fluid to the respective pressurization chambers of the hydropneumatic actuator and for compressing the fluid, and which comprise first and second pistons which move in said first and second syringes, respectively; an actuator for driving said syringe; a control unit for controlling said actuator; and an operating portion for operating a controlled variable of said control unit; and means for changing the controlled variable in accordance with a load; wherein said bending portion bends in an opposite direction with respect to one of the pressurization chambers when the one of said pressurization chambers is pressurized; wherein the actuator which drives the syringe comprises a motor for driving said first and second pistons such that when one piston is driven the other is driven in an opposite direction; and wherein said first and second syringes are arranged in line opposite directions, said first and second pistons are connected to each other through a coupling member, and said motor causes said coupling member to move within said syringes.