JP2000126120A - Electrically bent endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an electrically-bent endoscope that can be adjusted in response to angling down, that is, even if the bending condition or a load condition of an insertion portion changes, and that can be controlled in accordance with a bending command. SOLUTION: An angle wire 35 and a coil sheath 45 that guides the angle wire are arranged in an insertion portion 1 furnished with a bending mechanism 36. An electric motor 47 that controls the bending mechanism by drawing the angle wire, a bending switch 52 to input a control position of the electric motor, and a rotary encoder 51 that detects the position controlled by the electric motor are provided, and an angle wire displacement sensor section 61 that detects a displacement of the angle wire is provided in the insertion portion, thereby comparing the output of the rotary encoder 51 and a displacement output by the angle wire displacement sensor section, and bending the bending mechanism with the electric motor to a desired value input with the bending switch 52.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an electric bending endoscope in which a bending tube portion of an insertion section is driven to bend by an actuator such as an electric motor.

[0002]

2. Description of the Related Art Conventionally, a bending tube portion of an insertion portion is driven by a driving force of an electric motor for the purpose of reducing the complexity of an operator performing the operation of bending the bending tube portion and improving the operability of the bending operation. 2. Description of the Related Art An electric bending endoscope that is bent has been proposed. Generally, an electric bending endoscope has an angle wire disposed in an insertion portion, and a pulley on which the angle wire is hung is driven to rotate by an electric motor to pull the angle wire, thereby bending the bending tube portion. I have. Further, a rotary encoder is attached to a shaft portion of the electric motor, a bending angle is detected based on an output signal of the rotary encoder, and an operation of the electric motor is controlled so as to bend the bending tube portion to a predetermined bending angle. It has become.

[0003]

The angle at which the bending tube bends in the above-described conventional bending method is determined by the amount of pulling movement of the angle wire disposed in the insertion portion. However, the angle wire is inserted into the coil sheath arranged in the long insertion portion and is guided to the tip of the curved tube portion.When the angle wire is pulled, the angle wire slides on the inner surface of the coil sheath and moves. receive.
In particular, when the coil sheath is bent, the angle wire strongly contacts the inner surface of the coil sheath and slidably contacts, so that a larger frictional force is received.

In general, if the insertion portion bends, the coil sheath also bends, and the shape of the coil sheath changes according to the shape of the insertion portion. Therefore, when the endoscope is used, the coil sheath together with the insertion portion bends into various complicated shapes, and the frictional force received by the angle wire slidingly contacting the end changes according to the shape. As described above, the tension that is gradually changed according to the change in the frictional force is applied to the angle wire, so that the elongation changes to some extent and the positional relationship with the coil sheath also changes. On the other hand, a large compressive force is applied to the coil sheath as a reaction of the tension applied to the angle wire, and it is inevitable that a certain degree of compressive deformation or distortion actually occurs. Further, when bending the bending tube portion also depending on the degree of external load applied to the insertion portion, the traction force to be applied to the angle wire changes, and the tension of the angle wire,
The frictional force and the compressive force on the coil sheath also vary.

As described above, when the bending tube is bent, the amount of bending operation by the angle wire is reduced due to the frictional force applied to the angle wire from the coil sheath, and the amount of bending is smaller than the original amount of bending. This causes a so-called angle-down phenomenon. As a result, the bending angle of the bending tube portion, which is the output value with respect to the input value to the electric motor, does not always follow, and the bending angle may vary depending on the degree of bending of the insertion portion.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problem, and an object of the present invention is to make adjustments corresponding to a so-called angle-down even if the bending degree of the insertion portion or the load condition changes, and to perform a bending operation command. It is an object of the present invention to provide an electric bending endoscope that can perform a bending operation accurately corresponding to the above.

[0007]

According to a first aspect of the present invention, there is provided an insertion section having a bending tube section provided with a bending mechanism, an angle wire inserted into the insertion section, and bending the bending mechanism. A guide member for guiding the angle wire in the insertion portion, an actuator for pulling the angle wire, operating the bending mechanism to bend the bending tube portion, and position input means for inputting an operation position by the actuator; An actuator position detecting means for detecting a position operated by the actuator, a bending tube state detecting means provided near the bending mechanism, a detecting means for detecting an output of the bending tube state detecting means,
A control device for comparing an output of the actuator position detecting means with an output of the detecting means, and controlling an operation amount by the actuator so as to bend the bending tube portion to a target position input by the position input means. An endoscope characterized in that:

According to a second aspect of the present invention, there is provided an insertion section having a bending tube section provided with a bending mechanism, an angle wire inserted through the insertion section and operating the bending mechanism to bend, and guiding the angle wire in the insertion section. A guide member, an actuator for pulling the angle wire, operating the bending mechanism to bend the bending tube portion, position input means for inputting an operation position by the actuator, and detecting a position operated by the actuator Actuator position detecting means, an angle wire displacement sensor unit provided in the insertion portion, for detecting the displacement of the angle wire, and an angle wire for detecting a displacement amount of the angle wire based on a detection signal of the angle wire displacement sensor unit Displacement sensor output detection unit and output of the actuator position detection means A control device for comparing an output of the angle wire displacement sensor output detection unit and controlling an operation amount by the actuator so as to bend the bending tube portion to a target value input by the position input means. Endoscope.

According to a third aspect of the present invention, there is provided an insertion portion having a bending tube portion provided with a bending mechanism, an angle wire inserted through the insertion portion to bend the bending mechanism, and guiding the angle wire in the insertion portion. A guide member, a position input means for giving a position command value to the bending mechanism, an actuator for operating the bending mechanism by pulling the angle wire, and distortion detection provided on the bending mechanism and its surroundings. A mechanism, a sensor output detecting unit for detecting an output of the strain detecting mechanism, and comparing and calculating information from the position input unit with information from the actuator position detecting unit and the sensor output detecting unit to control the position of the actuator. An endoscope comprising:

[0010]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 4 show a first embodiment, and FIG. 1 is an explanatory view schematically showing a configuration of an electric bending endoscope. In FIG. 1, reference numeral 1 denotes an insertion portion of an electronic flexible endoscope, and an operation portion 2 is connected to a proximal end near the hand of the insertion portion 1.

The insertion portion 1 has a thin and long flexible tube portion 11, a flexible tube portion 12 connected to the distal end of the flexible tube portion 11, and a flexible tube portion 12 connected to the distal end of the curved tube portion 12. It is constituted by a hard tip 13.

As shown in FIG. 2, the flexible tube portion 11 is configured by fitting a blade tube 16 to a spiral tube 15 and covering an outer skin 17 thereon. The spiral tube 15 is formed by spirally winding a band-shaped metal plate into a cylindrical shape, and the blade tube 16 is formed by braiding a number of metal wires into a cylindrical shape.

As shown in FIG. 2, the bending tube portion 12 has a plurality of bending pieces 21 arranged in the longitudinal direction of the insertion portion 1, and the adjacent bending pieces 21 are rotated by a rivet-shaped shaft pin 22. By freely connecting, a tube material 23 for a curved tube is formed which can be bent as a whole.
A cylindrical blade 24 is fitted on the outer periphery of the outer cover 3, and the outer periphery is covered with an outer skin 25. The direction in which each bending piece 21 bends depends on the position where the shaft pin 22 is provided. In this case, the shaft pins 22 are alternately arranged at the right and left positions and the up and down positions or as appropriate to move the bending tube core 23 up and down as a whole.・ It can be bent to the left and right. The bending tube core 23 constitutes a bending mechanism 36 that bends in a direction to be pulled by an angle wire 35 described later.

The other bending pieces 2 except for the bending piece (not shown) positioned at the forefront and the bending piece 21 positioned at the rearmost end.
A ring-shaped wire guide 37 for individually inserting and guiding the respective angle wires 35 so as to be able to advance and retreat is provided at a position corresponding to the angle wires 35 arranged vertically and horizontally on the inner surface of the base 1, for example. It is attached by. The tip of each angle wire 35 is fixed to the leading end bending piece or the main body member of the tip portion 13 by brazing or the like.

When one of the angle wires 35 is selected and pulled, the bending tube portion 12 can be bent in the direction of the selected angle wire 35.

The flexible tube portion 11 and the curved tube portion 1 of the insertion portion 1
2 are connected by a metal connecting pipe 41. The stacking tip portion of the spiral tube 15 and the blade tube 16 in the flexible tube portion 11 is fitted into the rear end of the connection tube 41 and fixed by brazing or the like. The rear end of the bending piece 21 located at the end of the bending pipe core member 23 of the bending pipe portion 12 is fitted over the outer periphery of the distal end of the connection pipe 41 and fixed by brazing or screwing. The rear end portion of the blade 24 and the outer skin 25 of the curved tube portion 12 reaches the outer peripheral portion of the connection tube 41 beyond the bending piece 21 located at the rearmost end, and is fitted on the outer periphery of the connection tube 41 and brazed. And so on. Outer skin 17 of flexible tube 11 and curved tube 1
The outer skin 25 is abutted, and the yarn 42 is tightly wound around the outer periphery of the abutted end portion and fastened, and an adhesive 43 is applied to the outer periphery of the wound portion to make the abutted portion liquid-tight. Sealing. And such a flexible tube portion 11
The connecting portion between the and the curved tube portion 12 is usually a portion 44 of a relatively hard region.

Each angle wire 35 is connected to the flexible tube 11
Inside, each guide sheath is individually inserted and guided into the operation unit 2. The guide sheath includes, for example, a coil sheath 45 formed by tightly winding a coil wire made of stainless steel (SUS) in a coil shape, and each angle wire 35 is individually inserted into each coil sheath 45. . Coil sheath 45
Is fixedly attached to the inner surface of the connection pipe 41 by brazing. The rear end side of the coil sheath 45 is the insertion portion 1
Is arranged in a free state in the flexible tube 11 and is guided into the operation unit 2 together with other built-in components.

On the other hand, as shown in FIG. 1, a pulley 46 wound with wires connected to upper and lower angle wires 35 at both ends, and a left and right angle wire 35 at both ends are provided in the operation unit 2. And a pulley (not shown) wound with a wire connected to the pulley. The pulley 46 is an electric motor 4
7, it can be rotated forward and backward freely. The electric motor 47 is driven by a motor drive unit 49 controlled by a control device 48. The pulley 46 is rotated by the electric motor 47 to constitute an actuator that bends the bending tube section 12 via the angle wire 35.

The operating position of the actuator is detected by an actuator position detecting means. The actuator position detecting means here is constituted by a rotary encoder 51 attached to a shaft portion of the electric motor 47, and detects a bending angle of the bending mechanism 36 based on an output signal of the rotary encoder 51. I have. The control device 48 controls the amount of bending operation by the actuator based on the position detection signal of the actuator position detecting means, and bends the bending tube portion 12 to a predetermined bending angle.

That is, as shown in FIG. 3, an output signal from the rotary encoder 51 is input to a comparing section 57 as a first feedback amount through a first feedback circuit section 56, and an operation signal output from the comparing section 57 is output. The electric motor 47 is driven by the PID control circuit 58 to bend the bending tube portion 12 to a predetermined bending angle.

A pad-type bending switch 52 is provided on the outer surface of the operation unit 2 as position input means.
The pad type bending switch 52 is used to specify the vertical and horizontal bending directions and to give a command for the amount of bending operation. Bending switch 5 is used to specify the vertical and horizontal bending directions
The selection of the operation buttons 52a, 52b, 52c, and 52d is performed, and the command of the bending operation amount is given by the operation buttons 52a, 52b.
b, 52c, and 52d are specified by the pressing time and the number of pressings. Further, a plurality of operation buttons may be provided as the position input means instead of the pad type bending switch 52, or another method such as a joystick switch may be used.

Next, means for detecting the displacement of the angle wire 35 will be described. The angle wire displacement detecting means includes an angle wire displacement sensor 61 provided in the insertion section 1 and an angle wire displacement sensor output detecting section 62 provided in the operation section 2, and is obtained by the angle wire displacement sensor output detecting section 62. The displacement signal is sent to the controller 48 via the interface 63 as shown in FIG.
As shown in FIG. 3, the second feedback amount is input to the comparison unit 57 through the second feedback circuit unit 59.

The angle wire displacement sensor 61 is provided with a coil sheath 45 for inserting and guiding the angle wire 35.
It is configured to be incorporated in the part. The coil sheath 45 is made of stainless steel, tungsten,
The angle wire 35 is made of a magnetic or non-magnetic material having low magnetic permeability such as titanium or beryllium-copper alloy.
Are also made of the same magnetic and non-magnetic materials having low magnetic permeability. Then, as shown in FIG. 2, a part of the coil wire in the vicinity of the distal end of the coil sheath 45 is removed, and the removed portion is formed of a thin magnetic material such as stainless steel and a non-magnetic material having a low magnetic permeability. Is inserted. The pipe 65 is arranged coaxially with the coil sheath 45. The front and rear ends of the pipe 65 are respectively attached to the coil strands of the coil sheath 45, and together with the coil sheath 45, constitute an integral guide sheath, and do not hinder the movement of the angle wire 35. This pipe 6
5 is also formed of a magnetic material and a non-magnetic material having a low magnetic permeability as described above. Further, since the pipe 65 is formed to be thin, it can be bent. Therefore, as in the case of the coil sheath 45, the flexibility as a whole is not impaired.

The outer diameter of the pipe 65 is the coil sheath 45
Is smaller than the outside diameter of the part. A sensor coil 66 is wound around the outer periphery of the pipe 65. Sensor coil 6
6 is wound in a state in which it is electrically insulated from the pipe 65. At this time, the outer peripheral side of the sensor coil 66 may be coated with an insulating material or the like to be covered.

The angle wire displacement sensor 61 has flexibility like other parts of the coil sheath 45,
In order not to impair the flexibility of the flexible tube 11, the flexible tube 1
1 and the curved tube portion 12 can be formed longer than the hard region portion 44 in the connection portion.
The number of turns of the sensor coil 66 can be increased. Further, for the same reason, it is also possible to dispose the flexible tube portion 11 in an intermediate halfway area.

Lead wires 67 are led out from both ends of the sensor coil 66, and the lead wires 67 pass through the flexible tube 11 of the insertion section 1 and are installed in the angle wire displacement sensor output detection section 62 installed in the operation section 2. It is connected to the.

As shown in FIG. 4, the angle wire displacement sensor output detector 62 includes an AC power supply 68 for applying an AC voltage to the sensor coil 66,
A resonance capacitor 69 connected in series with the sensor coil 66, and an AC voltmeter 70 for detecting a change in voltage between both ends of the sensor coil 66, and an inductance detecting means for detecting a change in inductance of the sensor coil 66 by a change in voltage. Make up.

The angle wire 35 is, as described above,
For example, it is formed of a magnetic material having a low magnetic permeability and a non-magnetic material such as tungsten, titanium, and beryllium-copper alloy. A portion 71 is provided. In the case where the magnetic portion 71 is provided, it is desired that the outer periphery of the angle wire 35 is not thickened. Therefore, a small-diameter peripheral portion 72 is formed over a fixed length of the angle wire 35 in the wire axial direction. 72
Is provided by providing a magnetic material on the outer periphery.

The following is a specific method for providing the magnetic member 71. That is, one formed by winding a linear or ribbon-shaped magnetic material, one coated with a magnetic material, one deposited with a magnetic material, one coated with a pipe-shaped magnetic material, and one in which the angle wire 35 twists a plurality of strands. The magnetic member 7
There is a type in which a magnetic material is used for all or a part of the wires corresponding to the portion where 1 is to be provided.

The area where the magnetic body 71 is provided on the angle wire 35 must be an area that electromagnetically affects the sensor coil 66. In this case, the axial length of the magnetic body 71 and the sensor coil 66 is substantially the same. When the angle wire 35 is in the neutral position (when the bending tube section 12 is in a straight state), the rear half (or the front half) of the magnetic body section 71 is set to be located in the sensor coil 66. I do. Also, when in the neutral position, the voltage across the circuit of the sensor coil 66 and the capacitor 69 is set to the smallest value, that is, the impedance value of the sensor coil 66 and the capacitor 69 is set to the smallest value. ing.

Then, as the angle wire 35 is pulled by the operation of the actuator, the magnetic permeability changes when the magnetic body 71 moves inside the sensor coil 66, so that the inductance of the sensor coil 66 changes. ,
The voltage at both ends of the sensor coil 66 changes and is detected as an output of the angle wire displacement sensor output detection unit 62. This output value indicates the amount of displacement of the angle wire 35. Then, the control device 48 compares the detected output of the wire displacement sensor output detection section 62 with the output of the actuator position detection means (rotary encoder 51), and generates an operation signal to the actuator (electric motor 47). .

Next, a specific operation of the control system will be described. When one of the operation buttons 52a, 52b, 52c, 52d of the pad type bending switch 52 is selected and pressed, a command to bend in that direction is issued to the control device 4.
8 is input. Then, the electric motor 47 rotates the pulley 46 in the rotation direction, pulls the angle wire 35, and bends the bending tube portion 12 in a desired direction. At this time, the electric motor 47 is servo-controlled.

The instruction signal is input to the comparing section 57 of the control device 48, and the detection information of the rotary encoder 51 as the position detecting means is fed back to the comparing section 57 through the first feedback circuit section 56. Then, the electric motor 47 is driven by the PID operation until the difference from the target value given by the position input means becomes zero.

On the other hand, when the angle wire 35 is pulled to bend the bending tube portion 12, the angle wire 35 moves in the coil sheath 45. Then, the displacement amount of the angle wire 35 is detected by the sensor coil 66, and the detection signal is input to the comparison unit 57 as a second feedback amount through the second feedback circuit unit 59. At this time, the first feedback amount and the second feedback amount
Is compared with the feedback amount. If there is a difference between the two, the operation signal output from the comparing unit 57 is corrected.
That is, the angle wire displacement sensor output detection unit 62 detects the displacement of the angle wire 35 based on the signal of the sensor coil 66, and the comparison unit 57 compares the displacement of the angle wire 35 with the target value given by the position input unit based on the detection signal. An operation signal for driving the electric motor 47 is generated by the difference,
Drive further.

When the endoscope is used, the coil sheath 45 also bends into various complicated shapes following the bending of the insertion portion 1, and the frictional force received by the angle wire 35 inserted therethrough increases depending on the situation. Change. Also,
A large compressive force is applied to the coil sheath 45 as a reaction of the tension at that time, and the coil sheath 45 is compressed and deformed to some extent.

Further, when the bending tube portion 12 is bent, the traction force to be applied to the angle wire 35 also changes depending on the degree of external load applied to the insertion portion 1, so that the frictional force and the compressive force on the coil sheath 45 also change. I do.
As described above, a so-called angle-down phenomenon occurs in which the bending angle of the bending tube portion 12 becomes smaller than the original bending amount due to such various causes. This angle-down phenomenon is particularly remarkable in an endoscope in which the insertion portion 1 is long.

However, in this embodiment, the angle wire displacement sensor 61 detects a change in inductance of the sensor coil 66 in accordance with the amount of displacement of the angle wire 35, and
From this value, the amount of displacement of the angle wire 35 is detected. Then, the detected value is applied to the comparison section 57 through the second feedback circuit section 59, and the operation signal output from the comparison section 57 is controlled. That is, the electric motor 47 can be further operated by the difference from the target value given by the position input means, and the angle down can be avoided. According to the above-described control, in the present embodiment, the bending mechanism can perform the bending operation with high accuracy up to the given input value.

According to the above-described first embodiment, since the angle wire displacement sensor section 61 is provided in the insertion section 1, even if the shape of the insertion section 1 changes, the control for eliminating the so-called angle down can be surely performed. Can be done. Also,
Since the angle wire displacement sensor section 61 is installed near the curved tube section 12, it is possible to detect the displacement of the angle wire 35 after being affected by the bending of the flexible tube section 11, etc. Accurate adjustment corresponding to

When the angle wire displacement sensor 61 is incorporated in a part of the coil sheath 45, the angle wire displacement sensor 61 is configured to have flexibility, so that the flexibility is not impaired as a part of the coil sheath 45. , Can be incorporated and used as a coil sheath 45 similar to the conventional one.

In particular, since the angle wire displacement sensor 61 is provided in a region including the rigid region 44 of the connection portion between the flexible tube portion 11 and the curved tube portion 12, the angle wire displacement sensor portion 61 is provided. Hardening due to the installation of the sensor portion 61 can be minimized, and the hard length in the insertion portion 1 does not increase. Further, since the angle wire displacement sensor 61 is incorporated as a part of a guide sheath for guiding the insertion of the angle wire 35 without increasing the diameter, the layout design of other built-in components is not hindered, Ensure diameter.

The present invention is not limited to the first embodiment described above. In the above embodiment, the bending switch 52, the control device 48, and the like are installed in the operation unit 2,
The position input means and the control device may be incorporated in an external device outside the endoscope main body, and a transmission system for signals or the like may be configured using a universal code or the like of the endoscope. Further, a sprocket may be provided instead of the pulley 46 for pulling the left and right angle wires 35. In this case, a chain in which the upper and lower angle wires 35 are connected to both ends is wound around a sprocket. Further, other position input means such as a joystick switch may be used instead of the pad type bending switch. In the above embodiment, the electric motor 47 is used as a driving means for pulling the angle wire 35.
Is used, but another actuator may be used.

The position where the angle wire displacement sensor section 61 is installed may be inside the curved tube section 12. In this case, the flexible tube 1 is used as a guide for the angle wire.
Although the coil sheath 45 installed in 1 cannot be used, other angle wire guide members will be used.

FIGS. 5 and 6 show the second embodiment. The same components as those in the first embodiment are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 5, a distal end portion 13 connected to the distal end of the curved tube portion 12 is provided with a distortion detecting mechanism 100 as a curved tube portion state detecting means. This distortion detection mechanism 1
In the case of No. 00, the strain generator 101 has a ring-shaped thin plate-like body substantially equal to the outer diameter of the distal end portion 13, and four angle wires 35 are provided on the inner periphery of the strain generator 101. The tongue-shaped protruding pieces 102 are provided at four locations corresponding to the above.

Each projecting piece 102 has a through hole 103
Are drilled, and these through holes 103
5 are inserted and fixed. Further, a strain gauge 10 is provided on the strain generator 101 corresponding to each protruding piece 102.
4 is fixed, and the amount of distortion of the protruding piece 102 at which a bending moment is generated by the pulling of the angle wire 35, that is, the tension of the angle wire 35 is detected.

Further, as shown in FIG.
The output of 0 is input to the control device 48 via the sensor output detection unit 105. An instruction to bend is input to the control device 48 from position input means such as a joystick switch. Then, the electric motor 47 rotates the pulley 46 in the rotation direction, pulls the angle wire 35, and bends the bending tube portion 12 in a desired direction. At this time, the electric motor 47 is servo-controlled.

The instruction signal is input to the comparing section 57 of the control device 48, and the detection information of the rotary encoder 51 as the position detecting means is fed back to the comparing section 57 through the first feedback circuit section 56. Then, the electric motor 47 is driven by the PID operation until the difference from the target value given by the position input means becomes zero.

On the other hand, when the bending wire portion 12 is bent by pulling the angle wire 35, a tension is applied to the angle wire 35, and the tension is detected by the strain gauge 104. The signal is input to the comparison unit 57 as the second feedback amount via the input signal 105. At this time, the first feedback amount and the second feedback amount are compared, and if there is a difference between them, the operation signal output from the comparing unit 57 is corrected. That is, the sensor output detection unit 105 detects the tension of the angle wire 35 based on the detection signal of the strain gauge 104, converts the tension information twice into position information by integrating the tension information twice, and the comparison unit 57 detects the detection. Based on the signal, an operation signal for driving the electric motor 47 is generated by a difference from a target value given by the position input means, and the electric motor 47 is further driven.

At this time, when the bending tube portion 12 is bent depending on the degree of external load applied to the insertion portion 1, the traction force to be applied to the angle wire 35 changes. fluctuate. As described above, the so-called angle-down phenomenon in which the bending angle of the bending tube portion 12 becomes smaller than the original bending amount due to such various causes is caused as described above. Wire 3
5 is detected, and the detected value is used as the sensor output detection unit 10.
5 to control the operation signal that is added to the comparison unit 57 and output from the comparison unit 57. That is, the electric motor 47 can be further operated by the difference from the target value given by the position input means, and the angle down can be avoided.

FIG. 7 shows a third embodiment, in which the same components as those in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 7, a distortion detecting mechanism 106 is provided at the distal end portion 13 connected to the distal end of the curved tube portion 12 as a curved tube portion state detecting means. This distortion detection mechanism 1
More specifically, the mounting holes 107 are provided on the outer peripheral portion of the distal end portion 13 in the axial direction corresponding to the four angle wires 35.
Are drilled. A pair of fixing rings 108a and 108b are provided in the mounting hole 107 so as to be separated in the axial direction, and a strain generator 109 formed of a thin cylindrical body is provided between the fixing rings 108a and 108b.

An angle wire 35 penetrates inside the fixing rings 108a and 108b and the strain generator 109, and the tip of the angle wire 35 is fixed to the fixing ring 108a.
It is fixed to. Further, a strain gauge 104 is fixed to an outer peripheral portion of the strain generator 109, and tension is applied to the strain generator 109 by pulling the angle wire 35 so that the strain generator 1
When 09 is compressed in the axial direction to generate strain, strain gauge 1
04 detects the amount of distortion, that is, the tension of the angle wire 35. The output of the distortion detection mechanism 106 is
As in the second embodiment, the data is input to the control device 48 via the sensor output detection unit 105.

FIGS. 8A and 8B show a modification of the third embodiment, and FIG. 8A shows a strain gauge 10 of the third embodiment.
The strain generator 109 itself is replaced with the piezoelectric element 110 instead of 4. When tension is applied to the strain generator 109 due to the pulling of the angle wire 35 and the strain generator 109 is compressed in the axial direction to generate strain in the strain generator 109, The piezoelectric element 110 generates a voltage and can detect the tension of the angle wire 35.

FIG. 8B shows a structure in which a pair of electrode plates 111a and 111b are provided at both ends of the strain generator 109. When tension is applied to the strain generator 109 by the pulling of the angle wire 35 and the strain is compressed in the axial direction and strain is generated in the strain generator 109, the distance between the pair of electrode plates 111a and 111b changes. The voltage changes, and the tension of the angle wire 35 can be detected based on the change in the voltage.

FIG. 9 shows a fourth embodiment, in which the same components as those in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 9, a substantially U-shaped notch 112 is provided at a portion corresponding to each angle wire 35 of the distal bending piece 21 a constituting the bending tube portion 12, and a tongue piece surrounded by the notch 112 is provided. The head portion 113b is formed on the wire connection portion 113 with a neck portion 113a. The distal end of the angle wire 35 is connected to the head 113b of the wire connecting portion 113, and the neck 11
A strain gauge 114 is attached to 3a.

Accordingly, tension is applied to the wire connecting portion 113 by pulling the angle wire 35, and the neck portion 113 is pulled.
When distortion occurs in a, the distortion gauge 114 can detect the amount of distortion, that is, the tension of the angle wire 35.

FIG. 10 shows the fifth embodiment. The same components as those in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 10, a connecting tube 115 is provided at a connecting portion between the flexible tube portion 11 and the curved tube portion 12, and a small diameter portion 115 a is provided at an intermediate portion of the connecting tube 115 in the axial direction. . Opening windows 116 are provided on the peripheral wall of the small diameter portion 115a so as to correspond to the respective angle wires 35, and the strain generating members 117 are formed on the small diameter portion 115a by the opening windows 116.
Is formed.

A strain gauge 118 is attached near the opening window 116 of the strain generator 117.

Therefore, any one of the angle wires 3
5 is pulled, a compressive force is applied to the strain generator 117 near the angle wire 35, and when the strain generator 117 bends to generate strain, the strain gauge 118 reduces the amount of strain, that is, the tension of the angle wire 35. Can be detected.

FIG. 11 shows a sixth embodiment. The same components as those in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 11, a cylindrical strain generator 119 is provided at a connection portion between the flexible tube portion 11 and the bending tube portion 12, and a distal end side of the strain generating body 119, that is, the bending tube portion 1 is provided.
A small diameter portion 119a is provided on the second side. Distortion generating portions 120 are provided on the peripheral wall on the distal end side of the small diameter portion 119a so as to correspond to the respective angle wires 35. A strain gauge 121 is attached to an outer surface of the strain generating section 120.

Therefore, any one of the angle wires 3
5 is pulled, the angle wire 35 comes into contact with the inner surface of the strain generating portion 120 near the angle wire 35,
When a pressing force is applied to the strain generating section 120 by the angle wire 35 and the strain generating section 120 bends to generate strain, the strain gauge 121 can detect the amount of strain, that is, the tension of the angle wire 35.

FIG. 12 shows a seventh embodiment, in which the same components as those in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 12, first to fourth electrodes 122 a to 122 divided into four parts in the circumferential direction corresponding to each angle wire 35 are provided at a connection part between the flexible tube part 11 and the bent tube part 12.
First and second cylindrical electrode plates 123, 1 having 22d
24 are provided.

The first and second electrode plates 123, 124 are provided with flange portions 123a, 124a facing each other, and between the two flange portions 123a, 124a, there are first to fourth flanges 123a, 124a.
A strain generator 125 having a space 125a is interposed corresponding to the electrodes 122a to 122d.

Therefore, any one of the angle wires 3
When the wire 5 is pulled, the space 125a of the strain generator 125 near the angle wire 35 is compressed, the distance between the first and second electrode plates 123 and 124 changes, and the capacitance type voltage is reduced. It changes, and the tension of the angle wire 35 can be detected from the change in the voltage.

FIG. 13 shows the eighth embodiment, in which the same components as those in the first and second embodiments are denoted by the same reference numerals and description thereof is omitted. As shown in FIG. 13, a guide ring 126 for guiding the angle wire 35 is provided behind the wire guide 37 of the bending piece 21 immediately before the final bending piece constituting the bending tube portion 12. Inside the guide ring 126, a pair of electrode plates 127a,
127b is provided, and a strain generator 128 is interposed between the two electrode plates 127a and 127b.

Therefore, any one of the angle wires 3
5, the strain generator 128 near the angle wire 35 is compressed, and the first and second electrode plates 127 are pulled.
The capacitance-type voltage changes due to a change in the distance between a and 127b, and the tension in the angle wire 35 can be detected based on the change in the voltage.

FIGS. 14A and 14B show a modification of the eighth embodiment. FIG. 14A shows a piezoelectric element in which the strain generator 128 itself is used instead of the strain generator 128 of the eighth embodiment. 129
When the strain generator 128 is compressed by the pulling of the angle wire 35 and the strain is generated in the strain generator 128, the piezoelectric element 129 generates a voltage and the tension of the angle wire 35 can be detected. .

FIG. 14B shows a distortion generator 130 interposed between the inner surface of the bending piece 21 and the angle wire 35, and a distortion gauge 131 attached to the distortion generator 130.
When the strain generator 130 is compressed by the pulling of the angle wire 35 and the strain is generated in the strain generator 130, the strain gauge 131 detects the amount of the strain and the tension of the angle wire 35 can be detected.

FIG. 15 shows the ninth embodiment. The same components as those in the first and second embodiments are designated by the same reference numerals and the description is omitted. As shown in FIG. 15, a coil-shaped strain gauge 132 is directly fixed to each of the angle wires 35 located on the distal end side of the curved tube portion 12, and any one of the angle wires 35 is pulled, and tension is applied to the angle wire 35. When a strain is generated due to the stress, the strain gauge 132 can detect the amount of the strain, so that the tension of the angle wire 35 can be detected.

FIGS. 16A and 16B show a modification of the ninth embodiment. FIG. 16A shows a state in which the angle wire 35 is cut in the middle and both angle wires 35 are connected to the wire connecting member 13.
3, a flat wire 134 as a strain generator is connected to the flat wire 134, and a strain gauge 135 is attached to the flat wire 134. When the angle wire 35 is pulled, tension is applied to the flat wire 134 as a strain generator, When the 135 detects the distortion, the angle wire 35 is detected.
Can be detected.

FIG. 16 (b) is a diagram in which the middle of the angle wire 35 is cut off, the two angle wires 35 are connected by a plate-shaped strain generator 136, and a strain gauge 137 is attached to the strain generator 136. Yes, angle wire 35
The tension is applied to the strain generator 136 by the pulling of the wire, and the strain gauge 137 detects the strain.
5 can be detected.

FIG. 17 shows a modification of the control system of the endoscope shown in FIG. 6, which has a haptic feedback function. When the bending wire 12 is bent by pulling the angle wire 35, tension is applied to the angle wire 35, and the tension is detected by the strain gauge 104, and this detection signal is transmitted to the second feedback through the sensor output detection unit 105. The amount is input to the comparison unit 57 of the control device 48. The first feedback amount and the second feedback amount are compared, and if there is a difference between them, the operation signal output from the comparing unit 57 is corrected.

That is, the sensor output detection unit 105 detects the tension of the angle wire 35 based on the detection signal of the strain gauge 104, integrates the tension information twice, converts it into position information, and converts the information into the position information. Generates an operation signal for driving the electric motor 47 by the difference from the target value given by the position input means based on the detection signal, and further drives the electric motor 47.

Further, the detection signal from the sensor output detection unit 105 is supplied to a second control unit 140 for applying a resistive load to a joystick switch or the like as a position input unit.
Is also entered. The second control device 140 includes an electric motor 141 connected to a joystick switch by a mechanical joint. The instruction signal is input to the comparison unit 142 of the second control device 140, and is input from the sensor output detection unit 105 to the comparison unit 142.

The second control device 140 is provided with a second rotary encoder 143, and the detection information of the second rotary encoder 143 is fed back to the comparison unit 142 through the second feedback circuit unit 144, and Electric motor 14 for position input means
A resistance load is given by 1 so that the operator can understand with a sense.

FIG. 18 shows a modification of the control system of the endoscope shown in FIG. 3, which is provided with a force feedback function. By directly inputting the wire displacement information from the angle wire displacement sensor output detection unit 62 to the comparison unit 142 of the second control device 140, a resistance load is applied to the position input unit by the electric motor 141, and the operator can feel the sense. I understand.

According to the above description, at least the following items and items obtained by arbitrarily combining those items can be obtained. <Supplementary notes> An insertion portion having a bending tube portion provided with a bending mechanism, an angle wire inserted through the insertion portion and bending the bending mechanism, a guide member for guiding the angle wire in the insertion portion, and the angle wire An actuator for operating the bending mechanism to bend the bending tube portion, a position input unit for inputting an operation position by the actuator, an actuator position detection unit for detecting a position operated by the actuator, A bending tube state detecting means provided in the vicinity of the bending mechanism; a detecting means for detecting an output of the bending tube state detecting means; an output of the actuator position detecting means and an output of the detecting means; Operation by the actuator so as to bend the bending tube portion to the target position input by the input means An endoscope, characterized by comprising a control device for controlling.

2. An insertion portion having a bending tube portion provided with a bending mechanism, an angle wire inserted through the insertion portion and bending the bending mechanism, a guide member for guiding the angle wire in the insertion portion, and the angle wire An actuator for operating the bending mechanism to bend the bending tube portion, a position input unit for inputting an operation position by the actuator, an actuator position detection unit for detecting a position operated by the actuator, An angle wire displacement sensor unit provided in the insertion unit, for detecting the displacement of the angle wire, an angle wire displacement sensor output detection unit for detecting the amount of displacement of the angle wire by a detection signal of the angle wire displacement sensor unit, Output of actuator position detecting means and displacement of the angle wire A controller that compares the outputs of the sensor output detectors and controls the amount of operation by the actuator so as to bend the bending tube section to the target value input by the position input means. mirror.

3. An insertion portion having a bending tube portion provided with a bending mechanism, an angle wire inserted through the insertion portion and bending the bending mechanism, a guide member for guiding the angle wire in the insertion portion, and the bending mechanism A position input means for giving a position command value to the actuator, an actuator for operating the bending mechanism by pulling the angle wire, a distortion detecting mechanism provided in the bending mechanism and its surroundings, and A sensor output detection unit for detecting an output; and a control device for comparing and calculating information from the position input unit with information from the actuator position detection unit and the sensor output detection unit to control the position of the actuator. An endoscope characterized by the following.

4. The angle wire is non-magnetic (a magnetic material and a non-magnetic material having a low magnetic permeability), and the guide member is a non-magnetic (a magnetic material and a non-magnetic material having a low magnetic permeability) through which the angle wire is inserted. The angle wire displacement sensor section is incorporated in a part of the coil sheath, and a sensor coil provided in a spiral shape through which the angle wire passes, and is provided on an outer periphery near the sensor coil located in a part of the angle wire. The angle wire displacement sensor output detection unit is configured to change the magnetic permeability in the sensor coil in accordance with the amount of the magnetic material portion entering and exiting the sensor coil, thereby forming the sensor coil. Inductance detecting means for detecting the amount of change in the inductance of the sensor, and an output detected by the inductance detecting means. The endoscope according to paragraph 2, characterized in that consists of an interface unit for transmitting the control information to the control device.

5. The angle wire displacement sensor section,
3. The endoscope according to claim 2, wherein the endoscope is installed at a position close to a curved tube section of the insertion section.

6. 5. The method according to claim 2, wherein at least a part of the angle wire displacement sensor unit is installed so as to enter into a connecting portion connecting the curved tube portion and the flexible tube portion of the insertion portion. Endoscope.

7. The angle wire displacement sensor section,
The endoscope according to claim 2 or 4, wherein the endoscope is provided at an intermediate portion of the flexible tube portion of the insertion portion.

8. 5. The endoscope according to claim 4, wherein the magnetic member is formed by winding a magnetic member having a linear shape or a ribbon shape around an outer periphery near the sensor coil as a part of the angle wire.

9. The endoscope according to claim 4, wherein the magnetic body is formed by coating a magnetic body with a part of the angle wire on an outer periphery near the sensor coil.

10. 5. The endoscope according to claim 4, wherein the magnetic body is formed by depositing a magnetic body on a part of the angle wire on an outer periphery near the sensor coil.

11. 5. The endoscope according to claim 4, wherein the magnetic body portion is a part of the angle wire, and a pipe-shaped magnetic body is put on an outer periphery near the sensor coil.

12. 5. The endoscope according to claim 4, wherein the magnetic part is provided with another stranded magnetic part on the outer periphery of a part of the angle wire, the outer diameter of which is reduced. mirror.

13. The endoscope according to claim 4, wherein the angle wire is made of tungsten.

14. The endoscope according to claim 4, wherein the angle wire is made of titanium.

15. The endoscope according to claim 4, wherein the angle wire is made of a beryllium-copper alloy.

16. The endoscope according to claim 4, wherein the coil sheath is made of tungsten.

17. The endoscope according to claim 4, wherein the coil sheath is made of titanium.

18. The coil sheath is beryllium-
The endoscope according to claim 4, wherein the endoscope is made of a copper alloy.

19. The endoscope according to claim 4, wherein the actuator is an electric motor, and the position detecting means is a rotary encoder provided coaxially with the electric motor.

20. 4. The endoscope according to claim 3, wherein the angle wire tension sensor section comprises a strain detecting means provided near the bending mechanism.

21. The strain detecting mechanism is located on the distal end side of the angle wire, and includes a strain generator and a strain gauge attached to a surface of the strain generator.
The endoscope according to the item.

22. 4. The endoscope according to claim 3, wherein the strain detection mechanism is located on a distal end side of the angle wire, and is made of a piezoelectric element that is a strain generator.

23. The strain detecting mechanism is located on the distal end side of the angle wire, and includes a strain generator and a strain gauge attached to a surface of the strain generator.
The endoscope according to the item.

24. 4. The strain detecting mechanism according to claim 3, wherein the strain detecting mechanism is located on a distal end side of the angle wire, and includes a strain generator and an opposing electrode plate disposed so as to sandwich the strain generator. Endoscope.

25. The distortion detecting mechanism is located at a junction between the first bending piece on the distal end side of the bending tube and the distal end side of the angle wire, and is notched so as to generate a desired distortion. 4. The endoscope according to claim 3, comprising a first bending piece as a strain generator and a strain gauge attached to the surface of the strain generator.

26. The distortion detection mechanism is located at a junction between the proximal end side of the bending tube portion and the flexible tube portion, and a strain generator,
4. The endoscope according to claim 3, comprising a strain gauge attached to the surface of the strain generator.

27. The distortion detection mechanism is located at a junction between the proximal end side of the bending tube portion and the flexible tube portion, and a strain generator,
4. The endoscope according to claim 3, comprising opposing electrode plates arranged so as to sandwich the strain generator.

28. 4. The strain detecting mechanism according to claim 3, wherein the strain detecting mechanism is located at the angle wire portion in the bending portion, and includes a strain generator and an opposing electrode plate disposed so as to sandwich the strain generator. Endoscope.

29. 4. The endoscope according to claim 3, wherein the strain detection mechanism is located at the angle wire portion in the bending portion, and includes a piezoelectric element that is a strain generator.

30. 4. The endoscope according to claim 3, wherein the strain detection mechanism is located at the angle wire portion in the bending portion, and includes a strain generator and a strain gauge attached to a surface of the strain generator. .

31. 4. The endoscope according to claim 3, wherein the strain detection mechanism comprises a linear strain gauge which is positioned as a part of the angle wire and spirally wound around the angle wire.

32. The strain detection mechanism is located as a part of the angle wire, and in series in the axial direction of the angle wire, a strain generator joined by a wire connecting member, and a strain gauge attached to the strain generator surface 4. The endoscope according to claim 3, wherein the endoscope comprises:

[0107]

As described above, according to the present invention, even if the degree of bending or the load condition of the insertion portion changes, an adjustment corresponding to a so-called angle-down is performed, and a bending operation accurately corresponding to a bending operation command is performed. It can be carried out.

[Brief description of the drawings]

FIG. 1 is an explanatory view schematically showing a configuration of an endoscope according to a first embodiment of the present invention.

FIG. 2 is a vertical cross-sectional view showing the vicinity of a connection between a flexible tube and a curved tube in the insertion section of the endoscope according to the embodiment.

FIG. 3 is an explanatory diagram of a control system of the endoscope according to the embodiment;

FIG. 4 is an explanatory diagram of a sensor coil and an angle wire displacement sensor output detection unit in the endoscope of the embodiment.

5A and 5B show a configuration of an endoscope according to a second embodiment of the present invention, wherein FIG. 5A is a half sectional view of an insertion portion, and FIG. 5B is a sectional view taken along line AA.

FIG. 6 is an explanatory diagram of a control system of the endoscope according to the embodiment;

7A and 7B show a configuration of an endoscope according to a third embodiment of the present invention, wherein FIG. 7A is a half sectional view of an insertion section, and FIG. 7B is an enlarged sectional view of section B.

8A and 8B show a modified example of the endoscope according to the third embodiment of the present invention, and FIGS. 8A and 8B are enlarged sectional views of a portion B in FIG.

9A and 9B show a configuration of an endoscope according to a fourth embodiment of the present invention, wherein FIG. 9A is a half-sectional view of an insertion portion, and FIG. 9B is an enlarged side view of a portion C.

FIGS. 10A and 10B show a configuration of an endoscope according to a fifth embodiment of the present invention, wherein FIG. 10A is a half sectional view of an insertion portion, and FIG. 10B is an enlarged side view of a portion D.

11A and 11B show a configuration of an endoscope according to a sixth embodiment of the present invention, wherein FIG. 11A is a longitudinal side view of an insertion portion, and FIG. 11B is a front view and a half-sectional view of a strain generator.

12A and 12B show a configuration of an endoscope according to a seventh embodiment of the present invention, wherein FIG. 12A is a longitudinal side view of an insertion portion, and FIG.
Sectional drawing which follows the line, (c) is sectional drawing which follows the FF line.

13A and 13B show a configuration of an endoscope according to an eighth embodiment of the present invention, wherein FIG. 13A is a longitudinal sectional side view of an insertion section, and FIG. 13B is an enlarged sectional view of a G section.

FIGS. 14A and 14B show a modified example of the endoscope according to the eighth embodiment of the present invention, wherein FIGS. 14A and 14B are enlarged cross-sectional views of a portion G in FIG.

15A and 15B show a configuration of an endoscope according to a ninth embodiment of the present invention, wherein FIG. 15A is a longitudinal sectional side view of an insertion portion, and FIG. 15B is an enlarged cross-sectional view of a portion H.

FIGS. 16A and 16B show a modification of the endoscope according to the ninth embodiment of the present invention, and FIGS. 16A and 16B are enlarged cross-sectional views of a portion H in FIG.

FIG. 17 is an explanatory diagram of a control system of an endoscope showing a modification of the second embodiment of the present invention.

FIG. 18 is an explanatory diagram of a control system of the endoscope showing a modification of the first embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Insertion part 2 ... Operation part 11 ... Flexible tube part 12 ... Bending tube part 13 ... Tip part 35 ... Angle wire 36 ... Bending mechanism 47 ... Electric motor 48 ... Control device 61 ... Angle wire displacement sensor part 62 ... Angle wire Displacement sensor output detection unit 100: strain detection mechanism 105: sensor output detection unit

Claims (3)

[Claims] 1. An insertion section having a bending tube section provided with a bending mechanism, an angle wire inserted through the insertion section to bend the bending mechanism, and a guide member for guiding the angle wire in the insertion section. An actuator for pulling the angle wire and operating the bending mechanism to bend the bending tube portion; position input means for inputting an operation position by the actuator; an actuator position for detecting a position operated by the actuator Detecting means; bending tube state detecting means provided near the bending mechanism; detecting means for detecting the output of the bending tube state detecting means; output of the actuator position detecting means and output of the detecting means. The actuation is performed so that the bending tube section is bent to the target position input by the position input means. An endoscope, characterized by comprising a controller for controlling the operation amount by the mediator, a. 2. An insertion section having a bending tube section provided with a bending mechanism, an angle wire inserted through the insertion section to bend the bending mechanism, and a guide member for guiding the angle wire in the insertion section. An actuator for pulling the angle wire and operating the bending mechanism to bend the bending tube portion; position input means for inputting an operation position by the actuator; an actuator position for detecting a position operated by the actuator Detecting means, an angle wire displacement sensor section provided in the insertion section, for detecting displacement of the angle wire, and an angle wire displacement sensor output for detecting a displacement amount of the angle wire based on a detection signal of the angle wire displacement sensor section. A detecting unit, an output of the actuator position detecting means, and A control device that compares the output of the single wire displacement sensor output detection unit and controls an operation amount by the actuator so as to bend the bending tube unit to a target value input by the position input unit. Endoscope. 3. An insertion section having a bending tube section provided with a bending mechanism; an angle wire inserted through the insertion section to operate the bending mechanism; and a guide member for guiding the angle wire in the insertion section. Position input means for giving a position command value to the bending mechanism, an actuator that operates the bending mechanism by pulling the angle wire, a distortion detection mechanism provided in the bending mechanism and its surroundings, A sensor output detection unit for detecting an output of the distortion detection mechanism; a control device for comparing and calculating information from the position input unit with information from the actuator position detection unit and the sensor output detection unit to control the position of the actuator An endoscope comprising: