Propulsion apparatus and drive apparatus for endoscope

A propulsion apparatus for an endoscope, comprising:

• a propulsion assembly for mounting on a tip device of said endoscope, for propulsion in a body cavity;
• first and second wire devices, disposed to extend from said tip device in a proximal direction, for driving said propulsion assembly;
• first and second motors, connected with proximal ends of said first and second wire devices, respectively, for generating torque for actuating said propulsion assembly;
• a monitoring unit, actuated if a speed difference between said first and second motors becomes equal to or more than a reference speed value, for measuring an elapsed time;
• a break detector for detecting breakage of said first or second wire device if said elapsed time becomes equal to or longer than a reference time;
• and
• a controller for controlling said first and second motors in response to detection of said break detector,
• wherein said monitoring unit includes:
• a speed measuring device for measuring rotational speeds of said first and second motors;
• a combining circuit for acquiring said speed difference arithmetically;
• a first comparator for detecting said speed difference being equal to or more than said reference speed value in relation to breakage of said first wire device;
• and
• a first timer for measuring said elapsed time in response to an output of said first comparator,
• wherein said propulsion assembly includes:
• a support sleeve for receiving entry of said tip device;
• a barrel sleeve disposed around said support sleeve;
• an endless track device, disposed to extend along inner and outer surfaces of said barrel sleeve, for contacting a wall of said body cavity, and endlessly moving in an axial direction of said endoscope;
• and
• a driving mechanism, connected with said first and second wire devices, for driving said endless track device upon actuation of said first and second motors, and
• wherein the controller stops the first and second motors upon detection of a signal from the break detector.