Patent ID: 8177709
Filing Date: 2012-05-15
Classification: A61B

Abstract:
1. A rotary self-propelled endoscope system comprising: a flexible insertion section body which includes, in a distal end portion thereof, a rigid distal end portion including an image pickup apparatus, and which is inserted into a body cavity; an insertion section rotatably fit to the outside of the insertion section body and including a rotary tubular member having a helical portion formed by a helical concave-convex portion; a drive unit for applying the rotary tubular member with axial and rotational drive force; a torque detection unit for detecting torque information of the rotary tubular member; a memory unit in which a limit value for controlling a preset torque of the rotary tubular member is changeably stored; and a control unit for comparing, on the basis of the torque information detected by the torque detection unit, a present value with the limit value obtained from the memory unit, and controlling the drive unit on the basis of the result of the comparison, the control unit changing and setting the limit value of the change amount in accordance with the change amount of the torque, and compares the set limit value with the change amount of the torque, wherein: the torque information being a change amount of the torque which is a difference between a torque value stored in the memory unit and a presently retrieved torque value detected by the torque detection unit.