JPS63292934A - Endoscopic apparatus - Google Patents

Abstract

PURPOSE:To certainly and easily obtain the desired shape of an insert part, by providing a means for comparing the first angle signal from the first angle detection means with the second angle signal from the second angle detection means and a means for controlling a current supply heating means and applying curving operation to the corresponding part of the insert part. CONSTITUTION:For example, the state of the insert part 2 of the endoscope inserted in the intestinum crassum to is observed by a Roentogen monitor 41 and, when the insert part 2 is desired to be curved, the corresponding part of the insert part dummy 22 of an operating apparatus 12 is curved by a hand. Whereupon, the rotary pin 27 of said part is rotated and a potentiometer 28 outputs the signal corresponding to the angle of rotation of said pin 27 and an operation circuit 23 operates said angle. At the same time, the mutual angle of rotation of the adjacent nodal rings 13, 13 of the unit parts 81-8N of the insert part 2 is also detected as the electric resistance of the coil 15 made of a shape memory alloy of a resistance detection circuit 18 and an operation circuit 19 calculates an angle of rotation therefrom. A comparing circuit 21 compares both of them and a control circuit 24 controls the output of an output apparatus 17 so as to allow the angles to coincide with each other.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope device whose insertion portion can be bent.

[Prior Art] A conventional general endoscope rotates an operating knob provided on the operating section to push and pull an operating wire connected to the tip of the curved section of the insertion section. It is made to curve. However, since this general bending operation method uses an operation wire, it is difficult to provide bending sections that can bend each of the insertion sections at a plurality of locations. Therefore, with this conventional method, it is difficult to insert an endoscope into a complicatedly curved duct.

Therefore, as shown in Japanese Utility Model Application Publication No. 58-101601, a method has been proposed in which a plurality of divided members each made of a shape memory alloy are disposed in the insertion portion, and each member is electrically heated independently. There is.

[Problems to be Solved by the Invention] However, the method shown in Japanese Utility Model Application Publication No. 101601/1983 requires a plurality of electrical currents to be applied to each shape memory alloy member in order to curve the insertion portion into an arbitrary shape. Switches for electrical heating must be operated individually. Therefore, the method of independently heating each member with electricity has poor operability, and is particularly insufficient when used on the human body, since accurate and good operability is required.

The present invention has been made in view of the above-mentioned problems, and its purpose is to provide an endoscope device that can reliably take various desired shapes and that can be easily operated. It's about doing.

[Means for Solving the Problems] In order to solve the above problems, the present invention includes a member made of a shape memory alloy that bends each part in response to temperature changes in a plurality of parts of the insertion section of an endoscope. a first angle detection means for detecting respective angles at which each of the above-mentioned sections curves by applying electricity to and heating the respective members; An insertion portion dummy whose respective portions are curved is provided, a second angle detection means is provided for detecting the bending angle of each portion of the insertion portion dummy, and the first angle detection means is Means for comparing the angle signal and a second angle signal from the second angle detecting means is provided, and upon receiving the signal from the comparing means, the first angle signal from the first angle detecting means and the second angle signal are detected. The device is provided with means for controlling the energizing heating means so as to match the second angle signal from the angle detecting means and bending the corresponding portion of the insertion portion.

[Operation] When the operator curves the insertion portion dummy into a shape in which the insertion portion of the endoscope is desired to be curved, the insertion portion of the endoscope automatically deforms to follow the specified shape.

Embodiment FIGS. 1 to 6 show a first embodiment of the present invention. FIG. 1 schematically shows the system of this endoscope device. The endoscope 1 includes an insertion section 2, an operation section 3, and a light guide cable 4. A connector 6 is provided at the extending end of the light guide cable 4 to be detachably connected to the illumination light source device 5. An image guide and a light guide (not shown) are inserted into this endoscope 1. are connected to each other. In addition, the light guide is the insertion part 2,
The light guide cable 4 is inserted through the operating section 3 and the light guide cable 4, receives illumination light from a light source device connected to the connector 6 at the extending end of the light guide cable 4, and is emitted from the end of the insertion section 2 to the external observation field. It has become.

Further, the insertion section 3 of the endoscope 1 is divided into N unit parts 81 to 8N in the longitudinal direction, and each unit part 81 to 8N is divided into N unit parts 81 to 8N.
The connecting portions 8N to 8N are rotatably connected as will be described later. In other words, the insertion portion 2 as a whole can be bent in any direction. Furthermore, a cord 11 leading to an operating circuit 10 is connected to the endoscope 1.

Further, an operating device 12 is connected to this operating circuit 10.

Incidentally, the insertion section 2 of the endoscope 1 is configured as shown in FIG. That is, each unit part 81 to 8N
each has a joint shaft 13, and each joint shaft 13
are rotatably connected by a rivet shaft 14 with one degree of freedom. The orientation of the rivet shafts 14 is shifted by 90° every other time, and they are arranged so as to be alternately perpendicular to each other. therefore,
The entire insertion section 1 has two degrees of freedom. In addition, the adjacent joint shafts 13 and 13 have rivet shafts 14 to 9 extending over both of them.
A coil 15.15 as a bending drive member made of a shape memory alloy is disposed along the inner surface of the joint shaft 13.13 at intervals of 0°, and this coil 15.15
Both ends of the articulation shaft 13.13 are connected to fixing members 16.16 fixed to the inner surface of the articulation shaft 13.13. That is, the coils 15 are alternately provided at intervals of 90° in the circumferential direction. Each coil 15 also has lead wires 15a at both ends thereof.
15a is connected, and each coil 15 is individually energized through these lead wires 15a, 15a. Each pair of lead wires 15a, 15a is connected to the output device 17 of the operating circuit 10 through the cord 11. Note that the outer periphery of the insertion portion 2 is covered with an outer skin 18 made of resin.

Furthermore, the shape memory alloy forming the coil 15 forms an R phase (lambohedral phase) at low temperatures, and the coil 15
As such, it is in a state where it can easily stretch in response to external forces. Also,
When the temperature is high, phase transformation occurs in the parent phase (austenite phase), and the coil 15 is in a contracted state. When this coil 15 is heated by electricity, the relationship between the electrical resistance and temperature of this coil 15 becomes as shown in FIG. 3. That is, the above phase transformation occurs between temperatures A' and B'.

The coil 15 contracts between these temperatures A' and B'. Further, at this time, the electrical resistance of the coil 15 also changes from A to B. On the other hand, as the coil 15 contracts, the adjacent joint shafts 13.13 are pulled, so the joint shafts 13.13 rotate and curve around the rivet shaft 14 between them in accordance with the amount of contraction. The bending angle at this time and the electrical resistance value have the relationship shown in FIG. 4.

Further, the relationship between the temperature of the coil 15 and the bending angle is as shown in FIG. Therefore, if the electric resistance of each coil 15 is detected, the adjacent joint shaft 13 will be
．． The amount of curvature between the insertion portions 13 and 13 can be known, and furthermore, the curvature state of the entire insertion portion 2 can be known.

Each coil 15 is connected to each lead wire 1 in order to know this electrical resistance.
5a, 15a, or a dedicated lead wire (not shown), and is further connected to the resistance value detection circuit 18 of the operating circuit 10 via the cord 11. This resistance value detection circuit 18 individually detects the resistance of each coil 15 and transmits each detection output to a first arithmetic circuit 19. The first arithmetic circuit 19 operates on the adjacent joint shafts 13.1 of the unit parts 81 to 8N that bend and drive based on their resistance values.
3. Calculate mutual rotation angles. Each of the calculated angle signals is transmitted to the comparison circuit 21. On the other hand, an angle signal from a second arithmetic circuit 23 that calculates the bending angle of the insertion portion dummy 22, which will be described later, is input to the comparison circuit 21. This comparison circuit 21 compares the two angle signals. and,
The control circuit 24 controls the output device 17 based on the comparison result. That is, each coil 15 is energized to control the amount of heat generated so that the angular difference becomes zero.

On the other hand, the insertion section dummy 22 in the operating device 12 has curved angles 2 corresponding to the unit sections 81 to 8N in the insertion section 2 of the endoscope 1, respectively, as shown in FIGS. 1 and 6.
6, and the respective curved angles 26 are rotatably connected by rotating pins 27, respectively. The directions of rotation by the rotation pins 27 are alternately orthogonal and correspond to the rivet shaft 14 of the insertion section 2 of the endoscope 1.

Furthermore, each connecting portion has an adjacent curved angle 26.2.
A potentiometer 28 is provided to detect the mutual rotation angle of 6. Each potentiometer 28 has a gear 32 that meshes with a gear 31 attached to one rotating pin 27. The amount of rotation transmitted through these gears 31 and 32 is detected. Note that three lead wires 33 are led out from each potentiometer 28, and are connected to a power source 34, a ground 35, and the second arithmetic circuit 23 of the operation circuit 10, respectively.

Next, a method of using the above-mentioned endoscope device will be explained.

As shown in FIG. 1, the operator performs a bending operation using the operating device 12 while observing the state of the insertion section 2 of the endoscope 1 inserted into the large intestine 40 on the X-ray monitor 41, for example. That is, when it is desired to apply a curvature while pushing the insertion section 2 into the large intestine 40, the insertion section dummy 22 of the operating device 12 is used.
Curve its corresponding part in by hand. As a result, the rotation pin 27 in the curved portion of the insertion portion dummy 22 rotates, and the potentiometer 28 is operated. The potentiometer 28 inputs a signal corresponding to its rotation angle to the second arithmetic circuit 23. The second calculation circuit 23 calculates the angle.

On the other hand, at the same time, the rotation angles of the adjacent joint axes 13° 13 of the unit parts 81 to 8N of the insertion section 2 in the endoscope 1 are also detected. That is, each coil 15 is connected to the output device 17.
The coil 13 contracts when energized and rotates the adjacent joint shaft 13.13, and this rotation angle is determined by the electrical resistance of the coil 15 by the resistance detection circuit 18. The first arithmetic circuit 19 calculates the rotation angle of each part based on this detection signal. Then, each angle signal calculated by the first calculation circuit 19 and the second calculation circuit 23 is compared in a comparison circuit 21, and based on this comparison signal, the control circuit 2
4 controls the output of the output device 17 so that the angles match. That is, each coil 15 is energized to control the amount of heat generated so that the angular difference becomes zero. For this reason, the endoscope 1
The insertion portion 2 is curved into the same curved shape as the insertion portion dummy 22. Therefore, the insertion portion dummy 22 of the operating device 12 can be bent into the desired shape without having to directly bend the main body side of the endoscope 1, and unlike the case where control is performed by operating multiple operation switches. All you have to do is let it happen.

In addition, since each portion can be curved in various directions, it follows the curve, so even complex-shaped conduits such as the large intestine can be easily adapted to this shape. Therefore, the insertion section 2 of the endoscope 1
can be easily inserted. In addition, the unit part 8 of each insertion part 2
, ~8N are independent, so the tip can be inserted while the rear part can be shaped so as not to put a burden on the large intestine 40. Therefore, the pain caused to the patient can be reduced and insertion can be performed safely.

In the first embodiment, the bending angle of the insertion portion dummy 22 is detected by the potentiometer 28, but the invention is not limited to this. For example, a strain gauge may be installed between the bending pieces 26 to rotate The bending angle may be detected by the force applied to the strain gauge when the strain gauge is bent. Alternatively, detection may be performed by optical means.

Further, the structure of the operating device 12 may be the same as the structure of the insertion section 2 of the endoscope 1 shown in FIG.

That is, for example, a coil-shaped member 50 made of a shape memory alloy is arranged between each bending piece 26 of the insertion portion dummy 22, and the electrical resistance value of this member is detected to determine the bending angle. Therefore, in this case, the temperature of the shape memory alloy must be fixed at one point within the range of temperatures A' to B' in FIG. FIG. 7 shows the main part of the configuration of this modification. The bending angle 26, rotation pin 27, etc. are the same as above. A power source 51 for heating a coil-shaped member 50 made of a shape memory alloy to a constant temperature and a resistance value detection circuit 52 for detecting the electrical resistance of the member 50 are provided. The second arithmetic circuit 23 receives the detection signal detected by the resistance value detection circuit 52 and calculates the angle.

In addition, in this modified example, the principle of resistance value change occurring even if the temperature of the shape memory alloy is constant will be explained.

As mentioned above, when the shape memory alloy is at a temperature between A' and B' as shown in Figure 3, its metallographic structure consists of two phases: the parent phase (austenite phase) and the R phase (lambohedral phase). There is. By applying stress here, the parent phase changes to M phase (
phase transformation to martensitic phase). Since the M phase has a higher resistivity than the matrix phase, as shown in Figure 8, the more stress is applied, the more M phase there is and the higher the electrical resistance becomes.If the shape and temperature of the memory alloy are kept constant, The bending angle can be detected by the change in resistance value. Therefore, the structure of the insertion section 2 includes a power supply 51, a resistance value detection circuit 52, and a second
If the arithmetic circuit 23 is provided, it can be used as an operating device.

Then, this resistance value is compared with the electrical resistance value of the shape memory alloy on the side of the insertion part 2 to control the curvature of the insertion part 2.

Therefore, it is preferable that the shape memory alloy used on the insertion section 2 side of the endoscope 1 and the shape memory alloy used on the operating device 12 side have the same properties.

FIG. 9 shows a second embodiment of the invention. 1st
An embodiment of the potentiometer 28 in the operating device 12
The signal is transmitted to the operating circuit 10 using the lead wire 33, but in this embodiment, a transmitter 60 is used to transmit the signal to the operating circuit 10.
The receiver 61 is used to transmit signals wirelessly.

[Effects of the Invention] As explained above, according to the present invention, even a complex shape such as a large intestine can be easily curved into a desired shape. Therefore, the bending operability is extremely improved, and the patient's pain can be alleviated especially when used on the human body.

[Brief explanation of the drawing]

1 to 6 show a first embodiment of the present invention, in which FIG. 1 is a system diagram of the endoscope device, FIG. 2 is a side sectional view of the endoscope insertion section, and FIG. A characteristic diagram of the temperature and electrical resistance of the shape memory alloy, Fig. 4 is a characteristic diagram of the electrical resistance of the shape memory alloy and the bending angle, Fig. 5 is a characteristic diagram of the temperature and bending angle of the shape memory alloy, and Fig. 6 is a characteristic diagram of the temperature and bending angle of the shape memory alloy. The figure is a side sectional view of a part of the insertion part dummy, FIG. 7 is a schematic configuration diagram of the operating device part showing a modification of the first embodiment of the present invention, and FIG. 8 is a shape similar to that used in this modification. A characteristic diagram of the stress and electrical resistance value of the memory alloy, and FIG. 9 is a system diagram of the operating device and operating circuit of the second embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Endoscope, 2... Insertion part, 81-8N... Unit part, 10... Operating circuit, 12... Operating device,
DESCRIPTION OF SYMBOLS 13... Joint axis, 15... Coil, 17... Output device, 18... Resistance value detection circuit, 19... First arithmetic circuit, 21... Comparison circuit, 22... Insertion portion dummy, 23... second arithmetic circuit, 24... control circuit, 2
6... Curved angle, 28... Potentiometer. Applicant's representative Patent attorney Jun Tsuboi Figure 6 Figure 7 Figure 8 Figure 9

Claims (1)

[Claims] A member made of a shape memory alloy that is provided at each of a plurality of parts in the insertion portion of an endoscope and drives each part to curve in response to temperature changes, a means for heating each member by applying electricity, and a member made of the shape memory alloy. A first angle detection means detects the angle at which each part curves when each member is heated; and a part corresponding to each curved part of the insertion section, and each part is curved by the surgeon. An insertion part dummy and a second part that detects the bending angle of each part of this insertion part dummy.
angle detecting means, and a first angle detecting means from the first angle detecting means.
means for comparing the angle signal from the first angle detecting means with a second angle signal from the second angle detecting means;
and a means for controlling the energizing heating means so as to match the second angle signal from the angle detecting means and bending a corresponding portion of the insertion portion.