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Development of balloon pressure control device for observing the complete small intestine using an ileus tube type endoscope

イレウスチューブ型小腸内視鏡を用いた小腸内全域検査のためのバルーン内圧制御装置の開発

関 健史; 長縄 明大*; 岡 潔; 佐藤 憲康*; 芳野 純治*

Seki, Takeshi; Naganawa, Akihiro*; Oka, Kiyoshi; Sato, Noriyasu*; Yoshino, Junji*

近年、ダブルバルーン内視鏡やカプセル内視鏡の開発によって、小腸内全域検査が可能になりつつある。しかしながら、小腸に癒着や閉塞がある患者に対するこれらの内視鏡の適用は困難となる。そこで著者らは、イレウスチューブと光ファイバスコープを組合せた新しい小腸内視鏡を開発した。本研究では、本内視鏡を体内から抜去する際に、チューブ先端にあるバルーンの内圧を一定値に高精度制御することにより、小腸内を隈なく観察することができるシステムを開発し、その基礎性能試験を行った結果を本論文で述べる。本研究で取り扱っている小腸の内径は、プラントや発電施設で用いられる配管の内径に近いことから、本研究で開発した制御システムを応用することにより、配管内検査保全技術へ適用できる可能性がある。

The double-balloon and capsule endoscopes are difficult to use such endoscopes in patients who suffer from intestinal obstruction and adhesion. We have developed a new endoscope that can be used in patients who suffer from these problems; the device consists of an ileus tube and an optical fiberscope (1.1 mm in diameter). When this endoscope is removed from the body at a constant speed, the entire small intestine can be observed by controlling the internal pressure of balloons of the ileus tube to sufficiently maintain the state of the bowel. In this research, we developed a device to control the internal pressure of the balloon to facilitate the observation of the entire small intestinal area. The internal pressure control device developed by us consists of an ileus tube, a medical syringe, a motor, a pressure sensor, and so on. The medical syringe is used to control the balloon's internal pressure by pushing and pulling the plunger using the motor. To realize a very accurate control performance, we incorporated a two-degrees-of-freedom control system to control the balloon internal pressure. We experimented on three aspects of the device to evaluate its performance (Reference response property, Disturbance rejection property and Maintenance of pressure level). These results suggested that it is possible to remove the ileus tube from the small intestine at a constant speed.

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