Insertion device

An insertion device includes a first rotating member, and a second rotating member coaxially arranged with a rotational axis of the first rotating member and rotating about the rotational axis to bend a bending section. The insertion device includes a moving member arranged inside the first rotating member and the second rotating member along the rotational axis and being movable between a state where an electrical driving force is transmitted to the second rotating member and a state where the electrical driving force is not transmitted to the second rotating member.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a Continuation application of PCT Application No. PCT/JP2014/052625, filed Feb. 5, 2014 and based upon and claiming the benefit of priority from prior Japanese Patent Application No. 2013-020726, filed Feb. 5, 2013, the entire contents of which are incorporated herein by reference.

BACKGROUND OF THE INVENTION

1. Field of the Invention

The present invention relates to an insertion device wherein a bending section is provided in an inserting section, and the bending section is bendable in first bending directions perpendicular to a longitudinal axis and in second bending directions perpendicular to a longitudinal axis and the first bending directions.

2. Description of the Related Art

International Publication No. 2012/074013 discloses an endoscope which is an insertion device, wherein a bending section is provided to an inserting section, and the bending section is bendable in bending LR directions (first bending directions) perpendicular to a longitudinal axis and in bending UD directions (second bending directions) perpendicular to a longitudinal axis and the first bending directions. In this endoscope, a bending operation knob which acts as a manual bending operating section is coupled to a held section casing of a held section, the held section being provided to the proximal end side of an inserting section. Furthermore, a bending operation dial which acts as an electric bending operating section is coupled to the held section casing.

In this endoscope, a motor which acts as a driving member is driven by inputting an electric bending operation with the bending operation dial. Upon driving the motor, an electrical driving force from the motor is transmitted to a first rotating member which is a sprocket, etc. provided inside the held section casing, and the first rotating member rotates. Thus, one of first linear portions, such as bending wires, etc. which are extended inside the inserting section, is pulled, and the bending section is bent toward one of the bending LR directions. Furthermore, upon inputting a manual bending operation at the bending operation knob, a manual driving force from the bending operation knob is transmitted to a second rotating member, such as a sprocket, etc. provided inside the held section casing, and the second rotating member rotates. Thus, one of second linear portions, such as bending wires, etc. which are extended inside the inserting section, is pulled, and the bending section is bent toward one of the bending UD directions.

BRIEF SUMMARY OF THE INVENTION

An insertion device includes that: an inserting section which is extended along a longitudinal axis; a bending section which is provided to the inserting section, and which is bendable in first bending directions and in second bending directions which are different from the first bending directions; a first rotating member which is configured to rotate to bend the bending section toward one of the first bending directions; a driving member which is configured to generate an electrical driving force upon being supplied with an electric power; an actuating unit which is configured to be actuated upon transmitting the electrical driving force generated in the driving member to the actuating unit; a second rotating member which is coaxially arranged with a rotational axis of the first rotating member, and which is configured to rotate about the rotational axis to bend the bending section toward one of the second bending directions; and a moving member which is arranged inside the first rotating member and the second rotating member along the rotational axis, and which is movable between a state where the electrical driving force is transmitted to the second rotating member while the moving member is connected to the actuating unit and a state where the electrical driving force is not transmitted to the second rotating member while the moving member is not connected to the actuating unit.

DETAILED DESCRIPTION OF THE INVENTION

The first embodiment of the present invention will be explained with reference toFIG. 1toFIG. 7.FIG. 1shows an endoscope1as an insertion device.FIG. 2shows a system in which the endoscope1is adopted. The endoscope1has a longitudinal axis C as shown inFIG. 1. One of directions parallel to the longitudinal axis C is defined as a distal direction (indicated by the arrow C1inFIG. 1), and the other of the directions parallel to the longitudinal axis C is defined as a proximal direction (indicated by the arrow C2inFIG. 1).

As shown inFIGS. 1 and 2, the endoscope1includes an elongated inserting section2extended along the longitudinal axis C, and a held section3provided to the proximal direction side of the inserting section2. The inserting section2includes a distal rigid section5, a bending section6provided to the proximal direction side with respect to the distal rigid section5, and a flexible tube section7provided to the proximal direction side of the bending section6. The bending section6is bendable in first bending directions (i.e., the directions indicated by the arrows L and R inFIG. 1) perpendicular to the longitudinal axis C. Furthermore, the bending section6is bendable in second bending directions (i.e., the directions indicated by the arrows U and D inFIG. 1) perpendicular to the longitudinal axis C and the first bending directions. In the present embodiment, the first bending directions are the bending LR directions, and the second bending directions are the bending UD directions. The flexible tube section7is elongated and flexible.

The held section3includes a held section casing8as an exterior. One end of a universal cord10is coupled to the held section3. A scope connector11is provided to the other end of the universal cord10. As shown inFIG. 2, the universal cord10is coupled to peripheral units, such as an image processing unit12, a light source unit13, a controlling unit15, etc., via the scope connector11. The image processing unit12is electrically connected to a display section17of a monitor, etc.

The distal rigid section5of the inserting section2is provided with an imaging element19, such as CCD, etc. One end of an imaging cable21is connected to the imaging element19. The other end of the imaging cable21is coupled to the image processing unit12via the scope connector11and the imaging cable pass through the inside of the held section casing8and the inside of the universal cord10. In the inside of the inserting section2, a light guide23configured to guide a light to be irradiated on an object is extended along the longitudinal axis C. The light guide23is connected to one end of a light guide tube25via the scope connector11and pass through the inside of the held section case8and the inside of the universal cord10. The other end of the light guide tube25is connected to the light source unit13.

FIG. 3shows the exterior of the held section3, andFIGS. 4 and 5show the internal configuration of the held section casing8. As shown inFIGS. 2, 4, and 5, in the inside of the held section case8, an LR sprocket (a first rotating member)31and a UD sprocket (a second rotating member)32are provided (housed). The LR sprocket31and the UD sprocket32are rotatable about a rotational axis R which is perpendicular to the longitudinal axis C, and the LR sprocket31and the UD sprocket32are coaxial with respect to each other. The proximal ends of a pair of LR bending wires (first linear portions)33A and33B are connected to the LR sprocket31via an LR chain35. The proximal ends of a pair of UD bending wires (second linear portions)37A and37B are connected to the UD sprocket32via a UD chain39.

As shown inFIG. 2, the LR bending wires33A and33B are extended along the longitudinal axis C inside of the inserting section2. The distal ends of the LR bending wires33A and33B are connected to a distal portion of the bending section6. The LR sprocket (the first rotating member)31rotates about the rotational axis R so as to pull one of the LR bending wires33A and33B. For example, as the LR bending wire33A is pulled, the bending section6is bent toward a bending Left direction (the direction indicated by the arrow L inFIG. 1), and as the LR bending wire33B is pulled, the bending section6is bent in a bending Right direction (the direction indicated by the arrow R inFIG. 1). Thus, in the present embodiment, the bending section6is bent toward one of the bending LR directions, i.e., the first bending directions, when one of the LR bending wires (the first linear portions)33A,33B is pulled.

The UD bending wires37A and37B are extended along the longitudinal axis C inside of the inserting section2. The distal ends of the UD bending wires37A and37B are connected to the distal portion of the bending section6. The UR sprocket (the second rotating member)32rotates about the rotational axis R so as to pull one of the UD bending wires37A or37B. For example, as the UD bending wire37A is pulled, the bending section6is bent toward a bending Up direction (the direction indicated by the arrow U inFIG. 1), and as the UD bending wire37B is pulled, the bending section6is bent in a bending Down direction (the direction indicated by the arrow D inFIG. 1). Thus, in the present embodiment, the bending section6is bent toward one of the bending UD directions, i.e., the second bending directions, when one of the UD bending wires (the second linear portions)37A,37B is pulled.

Herein, as shown inFIG. 3, in the held section3, one of the directions perpendicular to the longitudinal axis C and the rotational axis R is defined as a first perpendicular direction (indicated by the arrow N1inFIG. 3), and the direction opposite to the first perpendicular direction is defined as a second perpendicular direction (indicated by the arrow N2inFIG. 3). Also, a direction rotated 90 degrees from the first perpendicular direction toward a counterclockwise direction around the longitudinal axis C viewed from the proximal direction (the direction indicated by the arrow C2inFIG. 3) is defined as a third perpendicular direction (indicated by the arrow N3inFIG. 3), and the opposite direction to the third perpendicular direction is defined as a fourth perpendicular direction (indicated by the arrow N4inFIG. 3). The third perpendicular direction and the fourth perpendicular direction are parallel to the rotational axis R. For example, the first and second perpendicular directions are parallel to the bending UD directions (the second bending directions) of the bending section6when the inserting section2is in a perfectly straight condition. For example, the third and fourth perpendicular directions are parallel to the bending LR directions (the first bending directions) of the bending section6when the inserting section2is in the perfectly straight condition.

The held section casing8includes a first exterior surface portion41facing toward the second perpendicular direction, and a second exterior surface portion42facing toward the third perpendicular direction. The held section casing8includes a third exterior surface portion43facing in the first perpendicular direction, and a fourth exterior surface portion45facing toward the fourth perpendicular direction. One end of the universal cord10is connected to the fourth external surface portion45and is extended from the fourth exterior surface portion45toward the first perpendicular direction.

A LR bending operation dial (electric bending operation section)47is provided to the first exterior surface portion41. The LR bending operation dial47is rotatably coupled to the held section casing8about the rotational axis P with respect to the held section casing8. The rotational axis P of the LR bending operation dial47is approximately parallel to the longitudinal axis C. The LR bending operation dial47rotates to input a LR electrical bending operation (electrical bending operation) for bending the bending section6in the bending LR directions.

As shown inFIG. 2, a potentiometer48is provided as a detecting section inside of the held section casing8. One end of an electrical signal line51is connected to the potentiometer48. The electrical signal line51is extended through the inside of the held section casing8and the inside of the universal cord10. The control unit15is connected to the scope connector11via a wiring cable52. Furthermore, the control unit15includes a driving control section53. The other end of the electrical signal line51is connected to the driving control section53and the electrical signal line51is extended from the scope connector11through the inside of the wiring cable52. The potentiometer48detects a rotation of the LR bending operation dial47so as to detect an input of the LR electrical bending operation by the LR bending operation dial47. Then, an electrical signal based on the detection result is sent to the driving control section53via the electrical signal line51.

An electric motor55as a driving member is provided inside the scope connector11. The electric motor55is connected to the drive control unit53via the electric wiring57. Upon inputting the LR electrical bending operation (electrical bending operation) in the LR bending operation dial (electric bending operation section), the driving control section53supplies an electric power to the electric motor55based on the detection result at the potentiometer48. Upon being supplied with the electric power, the electric motor55is driven, and an electrical driving force is generated.

An actuating unit60is provided inside of the held section casing8. A driving shaft59connects the actuating unit60to the electric motor55. The driving shaft59is extended inside the universal cord10. Upon driving the electric motor55, an electrical driving force is transmitted to the actuating unit60via the driving shaft59. The actuating unit60is actuated upon transmitting the electrical driving force.

FIG. 6shows the configuration of the actuating unit60. As shown inFIGS. 4 to 6, a plate-shaped member61is fixed to the held section casing8inside the held section casing8. A frame member62is fixed to the plate-like member61. The actuating unit60includes a bevel gear63to which the driving shaft59is connected. The universal cord10, in which the driving shaft59is internally extended, extends from the held section3toward the first perpendicular direction (upward direction perpendicular to the pages illustratingFIGS. 4 and 5, i.e., the direction indicated by the arrow N1inFIG. 6). For this reason, the bevel gear63receives the electrical driving force from the first perpendicular direction via the driving shaft59. Thus, in the present embodiment, the bevel gear63acts as a driving force receiving portion configured to receive the electrical driving force from the first perpendicular direction. Upon receiving the electrical driving force, the bevel gear63rotates.

The actuating unit60includes a relay gear65. The relay gear65is attached to the plate-shaped member61in a manner such that the relay gear65is housed inside the frame member62. A pillar-shaped member67couples the bevel gear63to the relay gear65. Upon the rotation of the bevel gear63, the electrical driving force is transmitted to the relay gear65via the pillar-like member67, and the relay gear65pivots.

The actuating unit60includes a spur gear69that engages the relay gear65. The spur gear69is coaxial with the LR sprocket31and the UD sprocket32, and is rotatable about the rotational axis R. Upon the rotation of the relay gear69, the electrical driving force is transmitted to the spur gear69, and the spur gear69pivots.

A shaft member71is fixed to the frame member62inside the held section casing8. Since the frame member62is fixed to the held section casing8, the shaft member71is fixed to the held section casing8. The shaft member71is coaxial with the LR sprocket31and the UD sprocket32, and it is extended along the rotational axis R up to an outside of the held section casing8with penetrating the spur gear69, the LR sprocket31and the UD sprocket32. Accordingly, the spur gear69, the LR sprocket31, and the UD sprocket32are placed so as to cover an outer peripheral portion of the shaft member71.

A cylindrical case72is fixed to the plate-shaped member61inside the held section casing8. Since the plate-like member61is fixed to the held section casing8, the cylindrical case72is fixed to the held section casing8. The cylindrical case72is extended along the rotational axis R up to the outside of the held section casing8. The LR sprocket31and the UD sprocket32are housed inside the cylindrical case72.

A LR mantle73placed between the shaft member71and the cylindrical case72is extended along the rotational axis R up to the outside of the held section casing8. The LR mantle73is attached to the LR sprocket31rotatably about the rotational axis R integrally with the LR sprocket (the first rotating member)31. The LR toe73is movable with respect to the shaft member71and the LR sprocket31along the rotational axis R. In other words, the LR mantle73is a moving portion that is movable along the rotational axis R with respect to the LR sprocket31.

A switching pin75which acts as a switch operation inputting section is fixed to the LR mantle73at the outside of the held section casing8. A groove78is formed in the LR toe73. The switching pin75is inserted in the groove78, and the groove78and the switching pin75are engaged, thereby fixing the switching pin75to the LR mantle73. Since the switching pin75is fixed to the LR mantle73, an input of the switching operation by the switching pin75causes an operation force that results from the switching operation to be transmitted from a switching pin75to the LR mantle73, which is a moving portion. As a result, the LR mantle73moves along the rotational axis R, and the connection state of the LR mantle73to the spur gear69of the actuating unit60is switched.

Upon switching the connection state of the LR mantle73to the actuating unit60, the transmission state of the electrical driving force between the actuating unit60and the LR mantle73is switched, and the transmission state of the electrical driving force to the LR sprocket31is switched. Thus, the switching pin75and the LR mantle73, which acts as a moving portion, both act as a connection switching section configured to switch the connection state of the LR mantle (moving portion)73to the actuating unit60, and also act as a transmission switching section configured to switch the transmission state of the electrical driving force between the actuating unit60and the LR sprocket (the first rotating member)31. The transmission state of the electrical driving force is switched to a transmittable state where an electrical driving force can be transmitted from the actuating unit60to the LR sprocket31(the state illustrated inFIG. 4), or to a non-transmittable state where an electrical driving force cannot be transmitted from the actuating unit60to the LR sprocket31(the state illustrated inFIG. 5). Thus, the LR mantle73, which acts as the moving portion, moves when switching between the transmittable state and the non-transmittable state.

As shown inFIG. 4, in the transmittable state, the LR mantle73is connected to the spur gear69of the actuating unit60. For this reason, the electrical driving force is transmitted to the LR mantle73upon the rotation of the spur gear69, and the LR mantle73and the LR sprocket31integrally rotate about the rotational axis R.

On the other hand, as shown inFIG. 5, in the non-transmittable state, the LR mantle73is not connected to the spur gear69of the actuating unit60. For this reason, an electrical driving force is not transmitted to the LR mantle73even when the spur gear69rotates, and therefore, the LR mantle73and the LR sprocket31do not rotate. Thus, under the non-transmittable state, the LR sprocket (the first rotational member)31does not rotate by the electrical driving force.

Under the non-transmittable state, an LR bending operation knob (a first manual bending operation section)77is detachably attached to the LR mantle (moving portion)73via the switching pin75. The LR bending operation knob77is attached to the LR mantle73at the outside of the held section casing8, thereby coupling the LR bending operation knob77to the held section casing8. The LR bending operation knob77is coaxial with the LR mantle73when the LR bending operation knob77is attached to the LR mantle73, and the knob77is rotatable about the rotational axis R integral with the LR mantle73. Furthermore, while being coupled to the LR toe73, the LR bending operation knob77is placed on the second exterior surface portion42.

Under the non-transmittable state, the LR bending operation knob77is rotated to input an LR manual bending operation (a first manual bending operation) for bending the bending section6in the bending LR directions. Therefore, a first manual driving force is generated, and the first manual driving force is transmitted to the LR sprocket31via the switching pin75and the LR mantle73. Upon transmitting the first manual driving force to the LR sprocket31, the LR sprocket (first rotating member)31rotates integrally with the LR mantle (moving portion)73. As previously mentioned, even under the non-transmittable state where no electrical driving force is transmitted from the actuating unit60to the LR sprocket31, the first manual driving force generated by the input of the LR manual bending operation at the LR bending operation knob77is transmitted to the LR sprocket31. For this reason, the LR sprocket31rotates by the first manual driving force.

It should be noted that, under the transmittable state, a cap79, instead of the LR bending operation knob77, is attached to the LR mantle73. The cap79is detachably attached to the LR mantle73at the outside of the held section casing8.

A UD mantle81located between the LR mantle73and the cylindrical case72is extended along the rotational axis R up to the outside of the held section casing8. One end of the UD mantle81is coupled to the UP sprocket (second rotating member)32, and the UD toe81is fixed to the UD sprocket32. For this reason, the UD mantle81is rotatable about the rotational axis R integral with the UD sprocket32.

At the exterior of the held section casing8, a UD bending operation knob (second manual bending operation section)83is attached to the other end of the UD mantle81, and the UD bending operation knob83is coupled to the held section casing8. The UD bending operation knob83is fixed to the UD toe81, and is rotatable about the rotational axis R integral with the UD mantle81and the UD sprocket32. The UD bending operation knob83is placed on the second exterior surface portion42. The shaft member71and the LR mantle73are extended with penetrating the UD bending operation knob83.

Upon rotating the UD bending operation knob83, a second UD manual bending operation (second manual bending operation) for bending the bending section6in the bending UD directions is input. Thus, a second manual driving force is generated, and the second manual driving force is transmitted to the UD sprocket32via the UD mantle81. Upon transmitting of a second manual driving force to the UD sprocket32, the UD sprocket (second rotating member)32rotates integrally with the UD mantle81.

Next, the function and advantageous effects of the endoscope1according to the present embodiment are explained. When bending the bending section6toward one of the bending UD directions which are second bending directions, the UD bending operation knob83is rotated to input a UD manual bending operation (second manual bending operation). Thus, the second manual driving force is transmitted to the UD sprocket (second rotating member)32via the UD mantle81, and the UD sprocket32rotates around the rotational axis R. Upon the rotation of the UD sprocket32, one of the UD bending wires37A or37B is pulled, and the bending6is bent toward the bending Up direction or the bending Down direction.

In the endoscope1, in a normal case where no malfunctions occur at the electric motor55which is a driving member, the LR mantle (moving portion)73is connected to the spur gear69of the actuating unit60. For this reason, the endoscope1is then in the transmittable state where an electrical driving force from the electric motor55is transmitted from the actuating unit60to the LR sprocket (first rotating member)31.

In the normal state where no malfunction occurs at the electric motor55, the LR bending operation dial (electric bending operation section)47is rotated to input the LR electrical bending operation (electrical bending operation). Then, the driving control section53supplies electric power to the electric motor55based on the detection result at the potentiometer48. Upon being supplied with electric power, the electric motor55is driven, and an electrical driving force is generated. Then, upon transmitting the electrical driving force to the actuating unit60, the actuating unit60is actuated.

In the transmittable state, the electrical driving force can be transmitted from the actuating unit60to the LR sprocket31. For this reason, the LR sprocket31rotates about the rotational axis R upon actuating the actuating unit6. As the LR sprocket31rotates, one of the LR bending wires33A or33B is pulled, and the bending6is bent toward the bending Right direction or the bending Left direction.

When any malfunctions occur at the electric motor55, the LR mantle (moving portion)73is moved from the transmittable state along the rotational axis R by the switching operation at the switching pin75. As a result, the LR mantle73is not connected to the spur gear69of the actuating unit60, and is in the non-transmittable state where no electric moving force is transmitted from the actuating unit60to the LR sprocket31. At this time, even when the LR electrical bending operation is input at the LR bending operation dial47, and the actuating unit60is actuated, the LR sprocket31does not rotate by the electrical driving force.

Furthermore, under the non-transmittable state, the cap79is removed from the LR toe73, and the LR bending operation knob (first manual bending operation section)77is detachably attached to the LR mantle73. At this time, upon rotating the LR bending operation77, the LR manual bending operation (first manual bending operation) is input. As a result, a manual driving force is transmitted to the LR sprocket (first rotating member)73via the LR mantle73, and the LR sprocket31rotates about the rotational axis R. As the LR sprocket31rotates, one of the LR bending wires33A or33B is pulled, and the bending6is bent toward the bending Right direction or the bending Left direction.

As previously mentioned, when any malfunction occurs at the electric motor55which is a driving member, the endoscope1is switched into the non-transmittable state where no electrical driving force is transmitted from the actuating unit60to the LR sprocket31. For this reason, it is possible to eliminate the influence of malfunctions on the bend of the bending section6.

Moreover, under the non-transmittable state, an LR bending operation knob77is attached to the LR mantle73. Upon input of the LR manual bending operation at the LR bending operation knob77, a manual driving force is transmitted to the LR sprocket31, and the LR sprocket31rotates about the rotational axis R. By the rotation of the LR sprocket31, the bending6is bent toward one of the bending LR directions (first bending directions). Accordingly, it is possible to bend the bending section6appropriately without driving the electric motor55, even when any malfunction occurs at the electric motor55.

Furthermore, at the endoscope1, in order to realize the switching of the state of transmission of the electrical driving force from the actuating unit60to the LR sprocket31, the LR mantle73is enabled to move along the rotational axis R with respect to the LR sprocket31, and the switching pin75is provided to the LR mantle73. In other words, the switching of the state of transmission of the electrical driving force can be realized without making the configuration of the interior of the held section casing8complicated.

At the endoscope1, as the LR bending operation knob77is detachably attached to the movable LR mantle73, it is possible to input the LR manual bending operation (first manual bending operation) under the non-transmittable state. In other words, it is possible to input the LR manual bending operation under the non-transmittable state without making the configuration of the held section3complicated.

FIG. 7shows the held section3held by an operator with their left hand. As shown inFIG. 7, while the held section3is being held, the palm G is touching the third exterior surface portion43facing toward the first perpendicular direction (indicated by the arrow N1inFIG. 7). Also, at the fourth exterior surface portion45facing toward the fourth perpendicular direction (indicated by the arrow N4inFIG. 7), the index finger F2, the middle finger F3, the ring finger F4and the little finger F5are extended from the first perpendicular direction toward the second perpendicular direction (indicated by the arrow N2inFIG. 7).

Accordingly, it becomes easier for the operator to hold the held section3by configuring the actuating unit60to receive an electrical driving force from the first perpendicular direction. Furthermore, it becomes easier for the operator to input the LR electrical bending operation by the LR bending operation dial47with the index finger F2or the middle finger F3while holding the held section3by arranging the LR bending operation dial47on the first exterior surface portion41which faces toward the second perpendicular direction. Furthermore, as the LR bending operation knob77and the UD bending operation knob83are placed on the second exterior surface portion42facing toward the third perpendicular direction (indicated by the arrow N3inFIG. 7), it becomes easier for the operator to input the LR manual bending operation by the LR bending operation knob77with the thumb F1, and to input the UD manual bending operation by the UD bending operation knob83with the thumb, while holding the held section3.

In the aforementioned embodiment, the connection of the LR mantle73, which is coaxial with the rotational axis R, to the actuating unit60is switched in order to switch between the transmittable state and the non-transmittable state; however, the way of switching between the states is not limited thereto. For example, as a modification, a spur gear (not shown) may be provided to the actuating unit60and a gear section (not shown) provided to the LR sprocket31, so that the engagement of the spur gear of the actuating unit60and the gear section of the LR sprocket31can be changed. In this case, when the spur gear of the actuating unit60and the gear section of the LR sprocket31are engaged, the endoscope will be in the transmittable state. When the spur gear is moved from the transmittable state and the spur gear does not engage the gear section of the LR sprocket31, the endoscope will be in the non-transmittable state.

Furthermore, in the aforementioned embodiment, an electric bending operation section for inputting the LR electrical bending operation is the LR bending operation dial47; however, it is not limited thereto. For example, the electric bending operation section may be an LR bending operation lever.

Furthermore, in the aforementioned embodiment, a configuration of switching the state of transmitting an electrical driving force to the LR sprocket31when bending the bending section6in the bending LR directions is described; however, such a configuration is not limited thereto. For example, when bending the bending section6in the bending UD directions, an electrical driving force can be generated at a driving member (not shown), and the state of transmitting the electrical driving force to the UD sprocket32can be switched. Furthermore, in the aforementioned embodiment, the electric motor55, which is a driving member, is provided in the scope connector11; however, the location to place the driving member is not limited thereto. For example, an electric driving member may be detachably attached to the held section3.

Furthermore, in the aforementioned embodiment, the endoscope1was explained; however, the embodiment can be realized in a different device. For example, the aforementioned configuration can be applied to a manipulator having an inserting section in which a bending section is provided, the bending section being bendable in the first bending directions perpendicular to the longitudinal axis and bendable in the second bending directions perpendicular to the first bending direction. In other words, the previously-mentioned configuration may be applied to an insertion device, such as the endoscope1, etc.

Thus, in an insertion device, such as the endoscope1, the actuating unit60, which is actuated by an electrical driving force generated by a driving member (55), should be provided inside the held section casing8. Furthermore, a transmission switching section (75) configured to switch the states of transmission of the electrical driving force from a driving member (55) between the actuating unit60and a first rotating member (31) should be provided. The transmission switching section (75) should switch between the non-transmittable state where no electrical driving force is transmitted from the actuating unit60to a first rotating member (31) and the transmittable state where the electrical driving force is transmitted from the actuating unit60to a first rotating member (31) to rotate the first rotating member (31).