JP2557177B2 - Curvature control device - Google Patents
Curvature control deviceInfo
- Publication number
- JP2557177B2 JP2557177B2 JP5162649A JP16264993A JP2557177B2 JP 2557177 B2 JP2557177 B2 JP 2557177B2 JP 5162649 A JP5162649 A JP 5162649A JP 16264993 A JP16264993 A JP 16264993A JP 2557177 B2 JP2557177 B2 JP 2557177B2
- Authority
- JP
- Japan
- Prior art keywords
- resistance value
- shape memory
- memory alloy
- bending amount
- bending
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Instruments For Viewing The Inside Of Hollow Bodies (AREA)
- Endoscopes (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、形状回復動作をする形
状記憶合金の湾曲量を制御する湾曲量制御装置に関す
る。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending amount control device for controlling the bending amount of a shape memory alloy that performs a shape recovery operation.
【０００２】[0002]
【従来の技術】一般に、内視鏡の湾曲方式には、従来よ
り挿入部内に挿通された湾曲用ワイヤを操作部で手動に
より押引きするものが用いられてきた。最近、このワイ
ヤによる湾曲方式の問題点を解消するため挿入部内に形
状記憶合金部材を設け、この形状記憶合金部材の通電加
熱による形状回復動作を利用して挿入部を湾曲させる方
式の内視鏡が開発され、これは本件出願の出願人に係わ
る特願昭６１−２７６０８９号の先願発明として特許出
願されている。2. Description of the Related Art Generally, as a bending method of an endoscope, a bending wire inserted through an insertion portion is manually pushed and pulled by an operating portion. Recently, in order to solve the problems of the bending method using the wire, a shape memory alloy member is provided in the insertion portion, and the insertion portion is bent by utilizing the shape recovery operation of the shape memory alloy member due to electric heating. Has been developed, which has been filed as a prior invention of Japanese Patent Application No. 61-276089 relating to the applicant of the present application.
【０００３】[0003]
【発明が解決しようとする課題】前記先願発明の内視鏡
は挿入部内に設けられた形状記憶合金部材の通電加熱に
よる形状回復動作を利用して挿入部を湾曲させるもの
で、前記形状記憶合金部材を通電加熱する手段と、挿入
部の湾曲量を電気抵抗値の変化として検出する手段と、
この検出手段で検出した電気抵抗値の変化により通電加
熱手段を制御する手段とを具備する。SUMMARY OF THE INVENTION The endoscope according to the invention of the prior application is one in which the shape of the shape memory alloy member provided in the insertion portion is curved by utilizing the shape recovery operation by electric heating. Means for electrically heating the alloy member, means for detecting the amount of bending of the insertion portion as a change in electrical resistance value,
And means for controlling the electric heating means according to the change of the electric resistance value detected by the detecting means.
【０００４】しかし、前記検出手段を光源装置内に設け
るとともに通電加熱手段の通電線に接続し、この通電線
を用いて電気抵抗値の変化を検出しているので、次のよ
うな問題を生じることが判明した。すなわち、形状記憶
合金部材を通電加熱した場合、その通電線も同時に発熱
して電気抵抗値が変化するため、この通電線の電気抵抗
値の温度変化による影響を受けて形状記憶合金部材の正
確な電気抵抗値を測定することができず、このため内視
鏡挿入部の湾曲量を正確に制御することが難しくなると
いう問題が発生する。However, since the detecting means is provided in the light source device and is connected to the current-carrying wire of the current-carrying heating means, and the change in the electric resistance value is detected using the current-carrying wire, the following problems occur. It has been found. That is, when the shape memory alloy member is energized and heated, the energized wire also generates heat and changes the electrical resistance value. Since the electric resistance value cannot be measured, there arises a problem that it is difficult to accurately control the bending amount of the endoscope insertion portion.
【０００５】また、複数の形状記憶合金部材を設ける場
合、それらの通電線が増加し、繁雑になるいう問題も発
生する。Further, when a plurality of shape memory alloy members are provided, the number of current-carrying wires increases, which causes a problem of complexity.
【０００６】本発明は、通電線の発熱による電気抵抗値
変化の影響を受けずに、複数の形状記憶合金の形状回復
動作が正確に制御できるとともに、極力簡素化した構成
の湾曲量制御装置を提供することを目的とする。The present invention provides a bending amount control device which is capable of accurately controlling the shape recovery operation of a plurality of shape memory alloys without being affected by the change in electric resistance value due to heat generation of the current-carrying wire, and which has a structure as simple as possible. The purpose is to provide.
【０００７】[0007]
【課題を解決する手段および作用】本発明は、長尺な挿
入部に設けられるとともに、加熱による形状回復動作に
より前記挿入部を湾曲駆動する複数の形状記憶合金部材
と、この複数の形状記憶合金部材にそれぞれ電流を通電
して加熱する通電手段とを有する湾曲量制御装置におい
て、前記複数の形状記憶合金部材に近接して、該形状記
憶合金部材の各両端に接続されるとともにその電気抵抗
値を検出する複数の抵抗値検出手段と、この複数の抵抗
値検出手段で検出されたそれぞれの電気抵抗値が入力さ
れるとともに該電気抵抗値を１つの信号出力端より出力
させる信号出力手段と、この信号出力手段から出力され
た電気抵抗値を伝送する１つの信号線と、この信号線に
より伝送された電気抵抗値が入力されるとともに該電気
抵抗値に基づき、前記形状記憶合金部材の通電量を制御
する通電量制御手段と、を具備することを特徴とする湾
曲量制御装置である。SUMMARY OF THE INVENTION The present invention provides a long insertion.
In addition to being provided in the entry part, for shape recovery operation by heating
A plurality of shape memory alloy member to bend driving more the insertion portion, each current to the plurality of shape memory alloy member Te bending amount control device odor <br/> and a current supply means for heating by energization, the plurality Close to the shape memory alloy member of
A plurality of resistance value detection means for detecting the electric resistance value is connected to each of both ends of憶合gold member, the electrical resistance with each of the electrical resistance value detected by the plurality of resistance value detecting means is inputted a signal output means for the values output from the 1 Tsunoshin Gode force end, output from the signal output means
One signal line that transmits the electrical resistance value and this signal line
The electrical resistance value transmitted by the
Controls the energization amount of the shape memory alloy member based on the resistance value
And a power control means for
It is a music amount control device .
【０００８】また、他の本発明は、長尺な挿入部に設け
られるとともに、加熱による形状回復動作により前記挿
入部を湾曲駆動する複数の形状記憶合金部材と、この複
数の形状記憶合金部材にそれぞれ電流を通電して加熱す
る通電手段とを有する湾曲量制御装置において、前記複
数の形状記憶合金部材に近接して、該形状記憶合金部材
の各両端に接続されるとともにその電気抵抗値を検出す
る複数の抵抗値検出手段と、この複数の抵抗値検出手段
により検出された電気抵抗値に基づき、前記挿入部の湾
曲量を検出する複数の湾曲量検出手段と、前記複数の湾
曲量検出手段で検出されたそれぞれの湾曲量検出値が入
力されるとともに該湾曲量検出値を１つの信号出力端よ
り出力させる信号出力手段と、この信号出力手段から出
力された湾曲量検出値を伝送する１つの信号線と、この
信号線により伝送された湾曲量検出値が入力されるとと
もに該湾曲量検出値に基づき、前記挿入部の湾曲量を制
御する湾曲量制御手段と、を具備することを特徴とする
湾曲量制御装置である。Further, another invention is provided in an elongated insertion portion, and a plurality of shape memory alloy member to bend driving the insertion portion by shape recovery operation by heating, of the multiple <br/> number In a bending amount control device having a current-carrying means for heating each of the shape-memory alloy members by applying a current thereto, the shape-memory alloy members are provided close to the plurality of shape -memory alloy members.
Is connected to each end of the
A plurality of resistance value detecting means and the plurality of resistance value detecting means
Based on the electrical resistance value detected by the plurality of bending amount detection means for detecting the bending amount of the insertion portion, and the respective bending amount detection values detected by the plurality of bending amount detection means are input and a signal output means for the bending amount detection value outputted from the 1 Tsunoshin Gode force end, out of this signal output means
One signal line for transmitting the detected bending amount detection value, and
When the bending amount detection value transmitted by the signal line is input,
The bending amount of the insertion section is controlled based on the bending amount detection value.
Control means for controlling the amount of bending.
It is a bending amount control device .
【０００９】いずれの場合にも、複数設けられている形
状記憶合金部材の抵抗値をそれぞれ検出した信号を１つ
の信号線で伝送する。また、形状記憶合金部材を通電加
熱したとき、その形状記憶合金部材の近くで電気抵抗値
を検出するので、正確な電気抵抗値を測定でき、形状記
憶合金の形状回復動作を精度よく制御することが可能で
ある。In either case, a signal obtained by detecting the resistance value of each of the plurality of shape memory alloy members provided is transmitted by one signal line. Further, when the shape memory alloy member is electrically heated, the electric resistance value is detected in the vicinity of the shape memory alloy member, so that an accurate electric resistance value can be measured and the shape recovery operation of the shape memory alloy can be controlled accurately. Is possible.
【００１０】[0010]
【実施例】図１は本発明の一実施例を示すものである。
図１中において、１は例えば管路内に挿入してその内部
を検査するような場合に使用される工業用内視鏡を示し
ている。この内視鏡１は操作部３に挿入部４（可撓管部
５の先端に湾曲部６および先端構成部７を連結してなる
もの）と、図示省略のライトガイドを内挿したユニバー
サルコード８を連結して構成される。FIG. 1 shows an embodiment of the present invention.
In FIG. 1, reference numeral 1 denotes an industrial endoscope which is used, for example, when it is inserted into a duct to inspect the inside thereof. This endoscope 1 has a universal cord in which an operating section 3 is inserted with an insertion section 4 (a bending section 6 and a tip section 7 are connected to the tip of a flexible tube section 5) and a light guide (not shown). 8 are connected.
【００１１】前記湾曲部６は３つの関節部１９、２０、
２１で構成されている。この各関節部１９、２０、２１
内にはそれぞれ別々に湾曲機構部（形状記憶合金アクチ
ュエータ）を構成するため、形状記憶合金部材１０−
１、１０−２、１０−３をそれぞれ設けている。各形状
記憶合金部材１０−１、１０−２、１０−３は、例えば
Ｔｉ−Ｎｉ合金やＣｕ−Ｚｎ−Ａ■系合金等の形状記憶
合金（ＳＭＡ）から帯状に形成されたものである。The bending portion 6 has three joint portions 19, 20,
21. These joints 19, 20, 21
Since the bending mechanism section (shape memory alloy actuator) is separately formed in each, the shape memory alloy member 10-
1, 10-2 and 10-3 are provided respectively. Each of the shape memory alloy members 10-1, 10-2, 10-3 is formed in a strip shape from a shape memory alloy (SMA) such as a Ti-Ni alloy or a Cu-Zn-A (1) type alloy.
【００１２】そして、この各形状記憶合金部材１０−
１、１０−２、１０−３はそれぞれ湾曲部６の軸方向に
沿って設けられ、かつ予め必要な湾曲形状を記憶させて
おく。この形状記憶合金部材１０−１、１０−２、１０
−３の各両端と、内視鏡用光源装置２に内蔵された、そ
の形状記憶合金部材１０−１、１０−２、１０−３に対
応する通電回路１３−１、１３−２、１３−３とは、挿
入部４内およびユニバーサルコード８内に渡って挿通さ
れた１つの通電線１４を用いて電気的に個別化されて接
続される。Then, each shape memory alloy member 10-
Reference numerals 1, 10-2, and 10-3 are provided along the axial direction of the bending portion 6, respectively, and a required bending shape is stored in advance. The shape memory alloy members 10-1, 10-2, 10
-3 and the energizing circuits 13-1, 13-2, 13-corresponding to the shape memory alloy members 10-1, 10-2, 10-3 incorporated in the endoscope light source device 2 respectively. 3 is electrically individualized and connected by using one current-carrying wire 14 inserted through the insertion portion 4 and the universal cord 8.
【００１３】この１つの通電線１４を通じて通電回路１
３−１、１３−２、１３−３からこれに対応する形状記
憶合金部材１０−１、１０−２、１０−３に対して個別
的に通電してそれを加熱し、形状回復動作を利用して湾
曲させることにより上記湾曲部６の各関節部１９、２
０、２１ごとに個別的に湾曲させることができるように
している。The energizing circuit 1 is provided through the one energizing wire 14.
3-1, 13-2, 13-3 are individually energized to the corresponding shape memory alloy members 10-1, 10-2, 10-3 to heat them, and the shape recovery operation is used. And bending to bend the joint portions 19 and 2 of the bending portion 6.
It can be individually curved for each 0 and 21.
【００１４】上記各形状記憶合金部材１０−１、１０−
２、１０−３の両端にはそれらにそれぞれに近接して同
じく挿入部４の湾曲部６内に設けられた電気抵抗値検出
部１２−１、１２−２、１２−３が接続されている。各
電気抵抗値検出部１２−１、１２−２、１２−３の電気
抵抗値検出信号は、同じく挿入部４内、たとえば可撓管
部５内に設けたスイッチ部２３によって切換えて、１つ
のＡ／Ｄ変換部１５に送る。Ａ／Ｄ変換部１５は同じく
挿入部４内、たとえば可撓管部５内に設けられている。
そして、Ａ／Ｄ変換部１５は、電気抵抗値検出部１２−
１、１２−２、１２−３で検出した電気抵抗値の検出信
号（アナログ信号）をデジタル信号に変換する。The shape memory alloy members 10-1 and 10-
Electrical resistance value detectors 12-1, 12-2, 12-3 provided in the curved portion 6 of the insertion portion 4 are connected to both ends of 2, 10-3 in proximity to them. . The electric resistance value detection signals of the electric resistance value detection units 12-1, 12-2, 12-3 are switched by the switch unit 23 provided in the insertion unit 4 as well, for example, in the flexible tube unit 5, to obtain one electric resistance value detection signal. It is sent to the A / D converter 15. The A / D conversion unit 15 is also provided in the insertion unit 4, for example, in the flexible tube unit 5.
Then, the A / D conversion unit 15 includes the electric resistance value detection unit 12-
The detection signal (analog signal) of the electric resistance value detected at 1, 12-2, 12-3 is converted into a digital signal.
【００１５】また、このＡ／Ｄ変換部１５には上記通電
線１４とは別な抵抗値検出用リード線１６が接続され、
この抵抗値検出用リード線１６は挿入部４およびユニバ
ーサルコード８内に渡って挿通され、上述したユニバー
サルコード８が着脱自在に接続される光源装置２内に設
けた通電制御部１８に対して電気的に接続される。A resistance value detecting lead wire 16 different from the energizing wire 14 is connected to the A / D converting portion 15,
The resistance value detecting lead wire 16 is inserted through the insertion portion 4 and the universal cord 8 and electrically connected to the energization control portion 18 provided in the light source device 2 to which the universal cord 8 is detachably connected. Connected.
【００１６】各関節ごとに対応した３つの通電回路１３
−１、１３−２、１３−３は、切換え回路２４によって
個別的に通電線１４を通じて対応する形状記憶合金部材
１０−１、１０−２、１０−３に通電する。Three energizing circuits 13 corresponding to each joint
-1, 13-2, 13-3 individually energize the corresponding shape memory alloy members 10-1, 10-2, 10-3 through the energizing wire 14 by the switching circuit 24.
【００１７】そこで、切換え回路２４によって、上記通
電回路１３−１、１３−２、１３−３に接続される通電
線１４を通して３つの形状記憶合金部材１０−１、１０
−２、１０−３に対して選択的にパルス通電することに
より、その選択した形状記憶合金部材１０−１、１０−
２、１０−３を加熱する。Therefore, the three shape memory alloy members 10-1 and 10 are connected by the switching circuit 24 through the energizing wire 14 connected to the energizing circuits 13-1, 13-2 and 13-3.
-2, 10-3 by selectively energizing the pulse shape, the selected shape memory alloy members 10-1, 10-
Heat 2, 10-3.
【００１８】スイッチ部２３によって切り換えて、電気
抵抗値検出部１２−１、１２−２、１２−３の電気抵抗
値検出信号をＡ／Ｄ変換部１５に送り、一方、光源装置
２側においても、前記スイッチ部２３に連動させて切換
え回路２４により各関節に対応した通電回路１３−１、
１３−２、１３−３を選択して通電制御部１８による通
電制御を行なう。切換え回路２４によるスイッチ部２３
の切換えは挿入部４、操作部３およびユニバーサルコー
ド８の各内部に配設された切換え信号線２５を通じて信
号を伝送することにより行う。The electrical resistance value detection signals of the electrical resistance value detection sections 12-1, 12-2, 12-3 are sent to the A / D conversion section 15 by switching by the switch section 23, and also on the light source device 2 side. , The energizing circuit 13-1 corresponding to each joint by the switching circuit 24 in conjunction with the switch unit 23,
13-2 and 13-3 are selected and the energization control unit 18 performs energization control. Switch unit 23 by switching circuit 24
Is switched by transmitting a signal through a switching signal line 25 provided inside each of the insertion section 4, the operation section 3 and the universal cord 8.
【００１９】このようにすることで、挿入部４の湾曲部
６が多関節となる場合でも、Ａ／Ｄ変換部１５は、１つ
で正確な電気抵抗値信号を送ることができ、さらに、多
数の電気抵抗値検出部１２−１、１２−２、１２−３が
あっても抵抗値信号線１６が１本で済む。By doing so, even when the bending portion 6 of the insertion portion 4 has multiple joints, the A / D conversion portion 15 can send an accurate electric resistance value signal by one, and further, Even if there are many electric resistance value detection units 12-1, 12-2, 12-3, only one resistance value signal line 16 is required.
【００２０】また、電気抵抗値信号線１６とは無関係に
形状記憶合金部材１０−１、１０−２、１０−３を通電
加熱できる。つまり、電気抵抗値信号線１６には通電に
より抵抗値の変化が生ぜず、形状記憶合金部材１０−
１、１０−２、１０−３の電気抵抗値変化量を正確に計
測できるため、挿入部４（湾曲部６）の湾曲量の制御を
正確に行うことが可能となる。Further, the shape memory alloy members 10-1, 10-2, 10-3 can be electrically heated regardless of the electric resistance signal line 16. That is, the electric resistance signal line 16 does not change its resistance value due to energization, and the shape memory alloy member 10-
Since it is possible to accurately measure the amount of change in the electrical resistance values of 1, 10-2, and 10-3, it is possible to accurately control the bending amount of the insertion portion 4 (bending portion 6).
【００２１】この様な構成にすると、形状記憶合金部材
１０−１、１０−２、１０−３の電気抵抗値は通電線１
４を介することなく、形状記憶合金部材１０−１、１０
−２、１０−３の近くで測定できるので、正確に変化量
が検出できる。さらに、この抵抗値信号はＡ／Ｄ変換部
１５によりデジタル化して光源装置２内の通電制御部１
８まで送るので、内視鏡１の挿入部４やユニバーサルコ
ード８が長くなるような用途において電気抵抗値信号線
１６が長くなっても、電気抵抗値信号線１６の電気抵抗
値の影響を受けることが少なくなり、同時に外来ノイズ
（ハム等）の影響を受けにくくなる。よって、湾曲部６
内の形状記憶合金部材１０の電気抵抗値の変化量を正確
に、光源装置２内の通電制御部１８までフィードバック
できることにより、湾曲部６の湾曲量の制御を精度よく
行なうことが可能となる。With this structure, the electric resistance values of the shape memory alloy members 10-1, 10-2, and 10-3 are 1
4, the shape-memory alloy members 10-1 and 10
Since it can be measured near -2, 10-3, the amount of change can be accurately detected. Further, this resistance value signal is digitized by the A / D conversion unit 15 and the energization control unit 1 in the light source device 2
Since it is sent up to 8, even if the electric resistance value signal line 16 becomes long in the use where the insertion part 4 of the endoscope 1 or the universal cord 8 becomes long, it is affected by the electric resistance value of the electric resistance value signal line 16. It is also less susceptible to external noise (hum, etc.). Therefore, the curved portion 6
By accurately feeding back the amount of change in the electric resistance value of the shape memory alloy member 10 to the energization controller 18 in the light source device 2, it is possible to accurately control the amount of bending of the bending portion 6.
【００２２】なお、上述した実施例における形状記憶合
金部材を用いた湾曲部は、その湾曲方向が一方向である
が、例えば形状記憶合金部材を１つの関節内に複数個設
けることにより多方向の湾曲を制御する様にしてもよ
い。また、内蔵する抵抗値検出部は湾曲部に設けるよう
にしてもよい。さらに、抵抗値検出部からの信号をＡ／
Ｄ変換しているが、その信号が影響を受けない場合は、
アナログ信号のまま通電制御部へ送ってもかまわない。Although the bending portion using the shape memory alloy member in the above-mentioned embodiment has one bending direction, for example, by providing a plurality of shape memory alloy members in one joint, the bending direction can be changed in multiple directions. The bending may be controlled. Further, the built-in resistance value detecting section may be provided in the bending section. Furthermore, the signal from the resistance value detection unit is
If D conversion is performed but the signal is not affected,
The analog signal may be sent to the energization control unit as it is.
【００２３】[0023]
【発明の効果】以上説明したように本発明によれば、複
数の形状記憶合金部材を設け、これらに対応してそれぞ
れに電気抵抗値検出部を設けても、その検出信号を受け
て形状記憶合金部材を通電駆動する通電制御部が離れて
いても、信号線が１つで済み、単純化が図れるととも
に、扱え易くなる。As described above, according to the present invention, even if a plurality of shape memory alloy members are provided and the electric resistance detecting portions are provided corresponding to these, the shape memory is received in response to the detection signals. Even if the energization control unit that energizes and drives the alloy member is separated, only one signal line is required, which simplifies and facilitates handling.
【００２４】また、形状記憶合金部材を通電加熱したと
き、形状記憶合金部材の近くで電気抵抗値を検出するの
で、正確な電気抵抗値を測定でき、形状記憶合金の形状
回復動作を精度よく制御することができる。Further, when the shape memory alloy member is electrically heated, the electric resistance value is detected in the vicinity of the shape memory alloy member, so that an accurate electric resistance value can be measured and the shape recovery operation of the shape memory alloy can be controlled accurately. can do.
【図面の簡単な説明】[Brief description of drawings]
【図１】本発明の一実施例に係わる内視鏡を光源装置と
共に示した構成説明図。FIG. 1 is a structural explanatory view showing an endoscope according to an embodiment of the present invention together with a light source device.
１…内視鏡、２…光源装置、３…操作部、４…挿入部、
６…湾曲部、１０−１，１０−２，１０−３…形状記憶
合金部材、１２…抵抗値検出部、１３−１，１３−２，
１３−３…通電回路、１４…通電線、１６…電気抵抗値
信号線、１８…通電制御部、２５…切換え信号線。DESCRIPTION OF SYMBOLS 1 ... Endoscope, 2 ... Light source device, 3 ... Operation part, 4 ... Insertion part,
6 ... Bending part, 10-1, 10-2, 10-3 ... Shape memory alloy member, 12 ... Resistance value detecting part, 13-1, 13-2,
13-3 ... energizing circuit, 14 ... energizing line, 16 ... electric resistance value signal line, 18 ... energizing control section, 25 ... switching signal line.
Claims (2)
による形状回復動作により前記挿入部を湾曲駆動する複
数の形状記憶合金部材と、この複数の形状記憶合金部材
にそれぞれ電流を通電して加熱する通電手段とを有する
湾曲量制御装置において、 前記複数の形状記憶合金部材に近接して、該形状記憶合
金部材の各両端に接続されるとともにその電気抵抗値を
検出する複数の抵抗値検出手段と、この 複数の抵抗値検出手段で検出されたそれぞれの電気
抵抗値が入力されるとともに該電気抵抗値を１つの信号
出力端より出力させる信号出力手段と、この信号出力手段から出力された電気抵抗値を伝送する
１つの信号線と、 この信号線により伝送された電気抵抗値が入力されると
ともに該電気抵抗値に基づき、前記形状記憶合金部材の
通電量を制御する通電量制御手段と、 を具備することを特徴とする湾曲量制御装置。 1.It is installed in a long insertion part and heats up.
The insertion part is bent by a shape recovery operation byDuplicate
A number of shape memory alloy members,thisMultiple shape memory alloy members
Each having a current-carrying means for heating by applying a current.
Curvature control deviceIn the plurality of shape memory alloy membersClose to the shape memory
It is connected to each end of the gold member andElectrical resistance
A plurality of resistance value detecting means for detecting,this Electricity detected by multiple resistance detection means
When the resistance value is input, the electric resistance value isissue
OutSignal output from the power endoutputMeans,The electric resistance value output from this signal output means is transmitted.
One signal line, When the electric resistance value transmitted by this signal line is input
Both based on the electric resistance value of the shape memory alloy member
An energization amount control means for controlling the energization amount, A bending amount control device comprising:
による形状回復動作により前記挿入部を湾曲駆動する複
数の形状記憶合金部材と、この複数の形状記憶合金部材
にそれぞれ電流を通電して加熱する通電手段とを有する
湾曲量制御装置において、 前記複数の形状記憶合金部材に近接して、該形状記憶合
金部材の各両端に接続されるとともにその電気抵抗値を
検出する複数の抵抗値検出手段と、 この複数の抵抗値検出手段により検出された電気抵抗値
に基づき、 前記挿入部の湾曲量を検出する複数の湾曲量
検出手段と、 前記複数の湾曲量検出手段で検出されたそれぞれの湾曲
量検出値が入力されるとともに該湾曲量検出値を１つの
信号出力端より出力させる信号出力手段と、この信号出力手段から出力された湾曲量検出値を伝送す
る１つの信号線と、 この信号線により伝送された湾曲量検出値が入力される
とともに該湾曲量検出値に基づき、前記挿入部の湾曲量
を制御する湾曲量制御手段と、 を具備することを特徴とする湾曲量制御装置。 2. A heating device provided on a long insertion part.
The shape recovery operation by
A number of shape memory alloy members,thisMultiple shape memory alloy members
Each having a current-carrying means for heating by applying a current.
Curvature control deviceIn the plurality of shape memory alloy members,In close proximity, the shape memory
It is connected to each end of the gold member and
A plurality of resistance value detecting means for detecting, Electric resistance value detected by the plurality of resistance value detecting means
Based on A plurality of bending amounts for detecting the bending amount of the insertion portion
Detecting means and the respective curves detected by the plurality of bending amount detecting means
When the amount detection value is input, the bending amount detection value
BeliefIssueSignal output from the power endoutputMeans,The bending amount detection value output from this signal output means is transmitted.
One signal line, The bending amount detection value transmitted by this signal line is input.
And the bending amount of the insertion portion based on the detected bending amount
Bending amount control means for controlling A bending amount control device comprising:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5162649A JP2557177B2 (en) | 1993-06-30 | 1993-06-30 | Curvature control device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP5162649A JP2557177B2 (en) | 1993-06-30 | 1993-06-30 | Curvature control device |
Related Parent Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62254171A Division JP2575416B2 (en) | 1987-05-15 | 1987-10-08 | Shape memory alloy actuator and insert |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0646989A JPH0646989A (en) | 1994-02-22 |
| JP2557177B2 true JP2557177B2 (en) | 1996-11-27 |
Family
ID=15758641
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP5162649A Expired - Fee Related JP2557177B2 (en) | 1993-06-30 | 1993-06-30 | Curvature control device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2557177B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP3784630B2 (en) | 2000-10-06 | 2006-06-14 | 株式会社総合医科学研究所 | Mental examination method and mental function examination apparatus |
| JP4624711B2 (en) * | 2004-04-26 | 2011-02-02 | オリンパス株式会社 | Endoscope |
| JP4635179B2 (en) | 2004-09-24 | 2011-02-16 | 独立行政法人情報通信研究機構 | Cognitive ability measuring device and cognitive ability measuring method |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5825140A (en) * | 1981-08-05 | 1983-02-15 | オリンパス光学工業株式会社 | Endoscope curving apparatus by memory metal |
| JPS6226041A (en) * | 1985-07-25 | 1987-02-04 | オリンパス光学工業株式会社 | Endoscope |
-
1993
- 1993-06-30 JP JP5162649A patent/JP2557177B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPH0646989A (en) | 1994-02-22 |
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