| abstract |
An endoscope holding apparatus capable of detecting a load applied to a site where an endoscope is inserted into a body cavity and contact of an endoscope end with an organ. An endoscope holding apparatus 10 is provided at an arm that allows a distal end of an endoscope 11 to face an affected area of a patient and a front end portion of the arm, and the endoscope 11 is a plane centering on a body cavity insertion site. A first holding part movable in the left and right direction by drawing an upper arc, and a first holding part arranged in the first holding part and moving up and down by drawing an arc on a vertical plane around the body cavity insertion site of the endoscope 2 holding parts and a third holding part 28 which is disposed in the second holding part and is movable back and forth obliquely with the body cavity insertion site of the endoscope as a passing point. The third holding part 28 supports a knuckle part 55 that rotates about a horizontal axis, and the knuckle part 55 supports a holder part 58 that rotates about a vertical axis via a ball plunger 57, The endoscope 11 is held by the holder 58 via the tactile sensor 61. [Selection] Figure 1 |