Takayuki NAKAMURA,Tsuyoshi ASHIDA,Shinichi YAMAKAWA,Yasunori OHTA,Charles Alan BRANTINGHAM
申请号：
US14035530
公开号：
US20140046133A1
申请日:
2013.09.24
申请国别(地区):
US
年份:
2014
代理人:
摘要：
A self-propelling device includes a drive unit and a toroid unit supported thereabout. The toroid unit includes a track structure of a toroid shape and a roller support sleeve inside the track structure. Three belt portions are provided in the track structure with high rigidity. The drive unit includes an inner sleeve for mounting on an introducer of an endoscope, and an outer sleeve supported around the inner sleeve. An inner surface of the roller support sleeve and an outer surface of the outer sleeve extend triangularly. Drive wheels are disposed upstream and downstream of respectively flat portions of the outer sleeve. Two follower rollers are disposed on respectively each of flat portions of the roller support sleeve. The drive wheels and follower rollers nip the belt portions of the track structure to move the track structure endlessly.
