CN100453027C - Endoscope - Google Patents

Abstract

An endoscope, comprising an insert part having a flexible curved part and a holding part formed at the base end of the insert part and held by an operator. An indication control element having both a function for performing curve indication control for the curved part and a function for performing the other indication control than the curve indication control is installed in or around the holding part.

Description

Endoscope

Technical field

The present invention relates to insert and wait the endoscope that carries out splanchnoscopy etc. in the body cavity.

Background technology

In recent years, be provided with the endoscope of lighting unit and observation unit, be widely used in medical field and industrial field at elongated insertion section front end.

Particularly have under the situation of endoscope of flexible insertion section, near the front end of insertion section, be provided with bending section, so that can insert the direction that waits observation post to expect in the crooked body, can carry out bending operation (angle operation) to bending section in the operating portion of side at one's side.

In addition, leading section built-in under the situation of fujinon electronic video endoscope of imaging apparatus, be provided with the maintained switch etc. that carries out the demonstration indication of still image at the signal processing apparatus that imaging apparatus is carried out signal processing, and on operating portion, be provided with a plurality of endoscopies switch.And operative doctor can utilize a hands of the handle part of controlling operating portion to carry out various operations.

And,,, for example have the spy of Japan to open flat 9-276214 communique as the further endoscope apparatus that has improved the existing example of operability in order change setting to distribute to the function of above-mentioned a plurality of endoscopies switch.

In the endoscope apparatus of above-mentioned communique, the keyboard that the video processor that is connected with endoscope by operation connects, carry out the function setting and the change of endoscope's switch, owing to adopt above structure, so in splanchnoscopy, it is the comparison difficulty that the user of practical operation endoscope is wanted to change.

And in existing example, in splanchnoscopy, the function selecting beyond endoscope's switch etc. also is difficult to carry out, and is convenient to further improve operability.And, bending operation (crooked indication operation) unit is configured in the maneuverable position of the hands of controlling, so that carry out this operation easily, so when the unit carried out other operations, the operability of user significantly improved utilizing this bending operation (crooked indication operation).

Summary of the invention

The present invention is exactly In view of the foregoing and proposes, and its purpose is, provides a kind of operability higher endoscope, controls the change setting etc. that user that endoscope operates can be distributed to the function of endoscope's switch.

And, in order to achieve the above object, the invention provides the higher endoscope of a kind of operability, control the user that endoscope operates and can utilize the hands of controlling to carry out various operations, and operability is identical with crooked indication operation.

Endoscope of the present invention is characterised in that this endoscope has: the insertion section that is provided with the bending section of free bend; Be located at the base end side of described insertion section, the handle part of being controlled by the operator is comprising its periphery of described handle part, the indication operating unit of the function that has both the bending indication operation of carrying out described bending section and the function of other the indication operations different with described crooked indication operation; And curved shape display processing unit, it is when having been undertaken the bending of described bending section indication operation by described indication operating unit, the curved shape display process that is used near the curved shape of the described bending section of stereo display, described curved shape display processing unit has: displacement detecting unit, its detection make the bending of described bending section the bending above-below direction of actuator and the displacement and the described crooked above-below direction of actuator and the total displacement of left and right directions used of left and right directions; The bending radius detecting unit, it is according to the relevant information of described bending section, the bending radius when detecting the curved shape that makes bending section and being approximately circular arc; Angle composition detection unit, it detects the angle composition that is equivalent to the displacement composition of described left and right directions in the described total displacement; Describe processing unit, its be used to show the described bending section corresponding with described total displacement curved shape describe handle; And rotation describes processing unit, and it makes by the described model of describing of describing to handle the described bending section that generates and rotates describing that described angle becomes to assign to show and handle.

According to said structure, the indication operating unit that is used to carry out crooked indication operation that the user of endoscope operatively disposes by processing ease, except the function of indication bending section bending, can also realize other functions, thereby not only can guarantee existing operating function but also can realize better operability.

According to the present invention, the user of endoscope except the function of indication bending section bending, can also be realized other functions by the indication operating unit that is used to carry out crooked indication operation that processing ease operatively disposes, can guarantee existing operating function, realize better operability.

Description of drawings

Fig. 1 is the overall structure figure with endoscopic system of the present invention.

Fig. 2 A is the figure that represents the data mode of the wireless mode that uses in the present invention.

Fig. 2 B is the figure that represents the data mode of wired mode of using in the present invention.

Fig. 2 C is the figure that represents the data mode of the optical communication mode that uses in the present invention.

Fig. 3 is the axonometric chart of the concrete face shaping of expression AWS unit periphery.

Fig. 4 A is the unitary axonometric chart of AWS that the state of AWS adapter has been installed in expression.

Fig. 4 B is the unitary axonometric chart of AWS that the state of AWS adapter has been installed in expression.

Fig. 5 A is the front view of the structure of expression AWS adapter.

Fig. 5 B is the left view of the structure of expression AWS adapter.

Fig. 5 C is the right view of the structure of expression AWS adapter.

Fig. 5 D is the A-A ' profile of Fig. 5 A.

Fig. 5 E is the B-B ' profile of Fig. 5 A.

Fig. 6 is the block diagram of expression endoscopic system control device and the unitary internal structure of AWS.

Fig. 7 is the figure of internal structure of the endoscope of expression embodiment 1.

Fig. 8 is the figure of the concrete face shaping etc. of expression endoscope.

The key diagram of the summary function of Fig. 9 electroconductive polymer artificial-muscle (EPAM) that to be the expression angle use with actuator with parts and variable hardness.

Figure 10 A is the figure of the structure of expression transparency pick off.

Figure 10 B is the figure of the action of expression transparency pick off.

Figure 11 is the block diagram of structure of the electrical system of expression endoscope.

Figure 12 A is the figure of the demonstration example of the endoscopic images of expression on the monitor etc.

Figure 12 B is the figure of the demonstration example of the main menu on the expression monitor.

Figure 12 C is the figure of expression to the function allocation example of the endoscope's switch on the monitor.

Figure 13 is that the flow chart that carries out control treatment is operated in expression to angle.

Figure 14 is the flow chart of expression curved shape display process.

Figure 15 is the addendum modification of expression above-below direction and left and right directions and the figure that adds up to the magnitude relationship of addendum modification.

Figure 16 is the key diagram of the bending radius etc. of the expression state that makes the bending section bending.

Figure 17 is the key diagram of the curved shape of stereodrawing bending section.

Figure 18 is the expression flow chart that control operation is carried out in operation to variable hardness.

Figure 19 is the flow chart of contents processing of endoscope's side of expression man machine interface.

Figure 20 is the flow chart of contents processing of the endoscopic system control device side of expression man machine interface.

Figure 21 is the figure of concrete face shaping etc. of the endoscope of expression embodiments of the invention 2.

Figure 22 is the figure of operating portion periphery of the endoscope of expression the 2nd variation.

Figure 23 is the figure of operating portion periphery of the endoscope of expression the 3rd variation.

Figure 24 is the figure of operating portion periphery of the endoscope of expression the 4th variation.

Figure 25 is the summary structure chart with endoscopic system of embodiments of the invention 3.

Figure 26 is the summary structure chart of the endoscope of expression embodiment 3.

Figure 27 is the integrally-built axonometric chart that expression has the endoscopic system of embodiment 3.

Figure 28 is the overall diagram of the concrete structure of expression endoscope.

Figure 29 is that expression is located at C in Figure 28 such as trace ball on the operating portion to view.

Figure 30 is the cardinal extremity of expression pipe unit is connected the structure of the contactless transport unit on the operating portion main body with freely loading and unloading in contactless mode a circuit diagram.

Figure 31 is the block diagram of structure that the electrical system of the element in the endoscope is located in expression.

Figure 32 is the block diagram of structure of electrical system of the major part of expression endoscopic system control device.

Figure 33 is the block diagram of the structure of unitary 6 electrical systems of expression AWS.

Figure 34 is the flow chart of the movement content of the unitary start up process of expression AWS.

Figure 35 is the flow chart of movement content of the start up process of expression endoscope.

Figure 36 is the flow chart of the movement content of expression shooting control treatment.

Figure 37 is the supply gas flow chart of movement content of control treatment of water of expression.

Figure 38 is the flow chart of the control treatment of expression angle operation.

Figure 39 is the setting operation of expression variable hardness and to the action specification figure of the UPD image that should operate.

Figure 40 is the appearance shape figure of the bending section when carrying out the operation of multistage angle.

The specific embodiment

Below, with reference to the description of drawings embodiments of the invention.

(embodiment 1)

With reference to Fig. 1～Figure 20 embodiments of the invention 1 are described.

As shown in Figure 1, the endoscopic system 1 with embodiments of the invention 1 has: flexible endoscope 3, and its insertion lies in the body cavity of the not shown patient on the examinating couch 2, carries out splanchnoscopy; Connect this endoscope 3, have the water of supplying gas/send/attraction unit (abbreviating the AWS unit as) 4 of supplying gas, send water and attracting function; Endoscopic system control device 5, it carries out signal processing to the imaging apparatus that is built in the endoscope 3, and the various operating units of being located in the endoscope 3 are carried out control treatment and image processing etc.; And the observation monitor 6 that utilizes liquid crystal display monitor central monitoring system etc., it shows the signal of video signal that generates by this endoscopic system control device 5.In addition, on this observation monitor 6, be provided with touch screen 33.

And this endoscopic system 1 has: image recording unit 7, and it is analyzed for example digital image signal that is generated by endoscopic system control device 5 etc.; And UPD coil unit 8, it connects AWS unit 4, when SHAPE DETECTION is built in the insertion section of endoscope 3 with coil (being designated hereinafter simply as the UPD coil), utilizes this UPD coil reception electromagnetic field etc., detect the position of each UPD coil, with the shape of the insertion section that shows endoscope 3.Under the situation of Fig. 1, UPD coil unit 8 is provided as and is embedded on examinating couch 2.And this UPD coil unit 8 is connected with AWS unit 4 by electric wire 8a.

And, in the present embodiment, on the position of end of the length direction of examinating couch 2 and its underpart, be formed with to take in and use recess, can the collecting pallet carrying with handbarrow 38.The top of carrying with handbarrow 38 at this pallet is placed with endoscope's pallet 39 of taking in endoscope 3.

And, can utilize pallet carrying to take in and sterilize or endoscope's pallet 39 of disinfectant endoscope 3, and can be accommodated in the taking in the usefulness recess of examinating couch 2 with handbarrow 38 carryings.Operative doctor takes out endoscope 3 and uses in splanchnoscopy from endoscope's pallet 39, and is accommodated in once more in this endoscope's pallet 39 after splanchnoscopy finishes and gets final product.Then, utilize the pallet carrying to take in endoscope's pallet 39 of the endoscope 3 after using, can sterilize smoothly or sterilize with handbarrow 38 carryings.

And AWS unit 4 shown in Figure 1 and endoscopic system control device 5 carry out the transmitting-receiving of information (data) in the present embodiment with wireless mode.In addition, in Fig. 1, endoscope 3 is connected with AWS unit 4 by pipe unit 19, but also can wirelessly carry out the transmitting-receiving (two-way transmission) of information (data).And, endoscopic system control device 5 also can with endoscope's 3 wireless transmitting-receivings of carrying out information (data).

Fig. 2 A～Fig. 2 C represent in the endoscopic system 1 carry out between unit, the device endoscope 3 and unit or install between 3 kinds of modes of Transmit-Receive Unit (Department of Communication Force) of data transmit-receive.

Fig. 2 A represents the data transmit-receive unit of wireless mode.The situation of carrying out data transmit-receive between AWS unit 4 and endoscopic system control device 5 is described herein.

The data that send usefulness are modulated via data sending part 12 by being built in the data communication control part 11 in the AWS unit 4, are wirelessly sent to endoscopic system control device 5 from antenna part 13.

And AWS unit 4 carries out demodulation by the data that antenna part 13 receives from endoscopic system control device 5 side wireless transmissions by data reception portion 14, and these data are sent to data communication control part 11.In the present embodiment, sending under the data conditions with wireless mode, for example according to the IEEE802.11g standard, forming the maximum data communication speed is the WLAN of 54Mbps.

Fig. 2 B represents the data transmit-receive unit of wired mode.As a specific example, the situation of carrying out data transmit-receive between endoscope 3 and AWS unit 4 is described.Utilization is built in the data communication control part 11 in the endoscope 3, passes through data sending part 12 ' from electric connector 15 wired AWS unit 4 that send to from the data that endoscope 3 sends.And 4 data that send send to data communication control part 11 to these data through electric connector 15 and data reception portion 14 ' from the AWS unit.

Fig. 2 C represents the data transmit-receive unit of optical communication mode.As a specific example, the situation of carrying out data transmit-receive between AWS unit 4 and endoscopic system control device 5 is described.Be built in the data communication control part 11 in the AWS unit 4, by the data sending part 12 that utilizes light to send and receive " and data reception portion 14 ", be connected with the optic communication bonder 16 on being located at this AWS unit 4, the optic communication bonder by endoscopic system control device 5 sides carries out the transmitting-receiving of data.And, as shown in Figure 1, the endoscope 3 of embodiment 1 by endoscope main body 18 with constitute with for example disposable (used discarded formula) pipe unit 19 that this endoscope main body 18 can freely be connected with loading and unloading.

Endoscope main body 18 has the operating portion 22 that inserts endoceliac elongated flexible insertion section 21 and be located at these 21 rear ends, insertion section, and the cardinal extremity of pipe unit 19 can be connected on this operating portion 22 with freely loading and unloading.

And, on the leading section 24 of insertion section 21, dispose camera head, its use can change charge coupled cell (the abbreviating CCD as) 25 of gain as imaging apparatus in imaging apparatus inside.

And being provided with in the rear end of leading section 24 can be with the bending section 27 of less strength bending, is located at the trace ball 69 as operating unit (indication input part) on the operating portion 22 by operation, can make bending section 27 bendings.This trace ball 69 also is used to carry out angle operation (bending operation), other the function change setting of endoscope's switch, for example the situation of the setting of angle sensitivity, gas pushing quantity etc.

And 21 many places are formed with and are provided with the variable hardness actuator 54A that can change hardness, the variable hardness portion of 54B in the insertion section, can more successfully insert operation etc.

In the present embodiment, AWS unit 4 and endoscopic system control device 5 for example by shown in Figure 6, carry out the transmitting-receiving of data by wireless Transmit-Receive Unit 77,101.And, observe monitor 6 and be connected the monitor of endoscopic system control device 5 by the monitor electric wire with on the adapter 35.

As hereinafter described, by the view data of CCD 25 shootings and the view data of the insertion section shape (UPD image) of the endoscope 3 that uses UPD coil unit 8 to detect, send to endoscopic system control device 5 together from AWS unit 4 sides, therefore endoscopic system control device 5 sends to the signal of video signal of corresponding these view data and observes monitor 6, can show endoscopic images and UPD image on its display surface.

Observe monitor 6 and utilize the monitor of high-resolution TV (HDTV) to constitute, so that can on its display surface, show multiple image simultaneously.

And, as shown in Figure 1, for example in AWS unit 4, be provided with endoscope's adapter 40.And, on this endoscope's adapter 40, can freely connect endoscope's adapter 41 of endoscope 3 with loading and unloading.

During this situation, Fig. 3 and Fig. 4 represent the face shaping of endoscope's adapter 40 of AWS unit 4 sides.And, Fig. 5 represents to be installed in the structure of the AWS adapter 42 on endoscope's adapter 40 of AWS unit 4 with freely loading and unloading, and Fig. 6 represents the internal structure of endoscope's adapter 41 of endoscope's adapter 40 of AWS unit 4 sides under the connection status and endoscope's 3 sides.

In fact shown in Fig. 4 B, be provided with the AWS adapter installation portion 40a of recess shapes in the front of AWS unit 4, AWS adapter (pipeline connection adaptor) 42 shown in Figure 5 is installed on this AWS adapter installation portion 40a, thereby form endoscope's adapter 40, in this endoscope's adapter 40, connecting endoscope's adapter 41 of endoscope's 3 sides.

On AWS adapter installation portion 40a, be provided with endoscope-use electric connector 43 and supply gas adapter 44, pinch valve 45, the inner side end of AWS adapter 42 can be installed on this AWS adapter installation portion 40a with freely loading and unloading, is connecting endoscope's adapter 41 of endoscope 3 from its outside end face side.

Fig. 5 represents the concrete condition of this AWS adapter 42.Fig. 5 A represents the front view of AWS adapter 42, and Fig. 5 B and Fig. 5 C represent the left and right sides view of AWS adapter, and Fig. 5 D and Fig. 5 E be A-A ' and the B-B ' profile of presentation graphs 5A respectively.

In the recess 42a of the front of this AWS adapter 42, be inserted with endoscope's adapter 41, during this situation, the electric connector of endoscope's adapter 41 partly is inserted in the through hole of being located in this recess 42, and is connected with endoscope-use electric connector 43 in this through hole 42b.

And, be provided with supply gas water swivel 42c and attraction joint 42d at the downside of this through hole 42b, and connect the supply gas water swivel 63 and the attraction joint 64 (with reference to Fig. 6 and Fig. 7) of endoscope's adapter 41 respectively.

In addition, the cardinal extremity face side at AWS adapter 42 is provided with the recess 42f that takes in from the outstanding pinch valve 45 of AWS adapter installation portion 40a.

Shown in Fig. 5 E, be located on the AWS adapter 42 supply gas water swivel 42c by with the internal duct branch of its connection become the aspirated joint 42e that is connected with the adapter 44 of supplying gas of AWS unit 4 and to the side outstanding send water swivel 46.And the pipeline that attracts joint 42d to form to be communicated with it is crooked and to the outstanding attraction joint 47 in side to the side, and becomes for example ramose upward safety line 47a halfway, and this safety line 47a by the pinch valve clamping halfway, its upper end open.

This safety line 47a is set to release conditions by pinch valve 45 usually forming under the situation that attracts unitary not shown suction pump to be set at operating state all the time, and under the situation that attracts to operate, pinch valve 45 is driven.And, by utilizing this pinch valve 45, be stopped thereby discharge with safety line 47a sealing, attract action.

Send on water swivel 46 and the attraction joint 47 at these, shown in Fig. 3 waits, connecting respectively and sending water tank 48 (being inserted with suction box 49b halfway) and suction pump by suction catheter 49a.The water tank that send that send water tank 48 to be connected AWS unit 4 is used on the adapter 50.In addition, the upper side at endoscope's adapter 40 of 4 fronts, AWS unit is provided with guidance panel 40a.

Below, the concrete structure of the endoscope 3 of embodiments of the invention 1 is described with reference to Fig. 7 and Fig. 8.In addition, Fig. 8 (A) represents near the operating portion of endoscope 3 from the side, the front view that Fig. 8 (B) expression is watched from the right side of Fig. 8 (A), the rearview that Fig. 8 (C) expression is watched from the left side of Fig. 8 (A), the vertical view that Fig. 8 (D) expression is watched from the top of Fig. 8 (A).And, the example of the angular range on the inclined plane of Fig. 8 (E) expression near optimal.

As summary description among Fig. 1, soft endoscope 3 is made of endoscope main body 18 and disposable (abbreviating the discarded formula of using as) pipe unit 19, endoscope main body 18 has elongated flexible insertion section 21 and is located at the operating portion 22 of these 21 rear ends, insertion section, the comprehensive adapter portion 52 of the cardinal extremity of pipe unit 19 can be connected in (pipe unit connect with) adapter portion 51 with freely loading and unloading, and this adapter portion 51 is located near the cardinal extremity (front end) of operating portion 22 of this endoscope main body 18.

End at this pipe unit 19 is provided with the above-mentioned endoscope adapter 41 that can freely be connected with AWS unit 4 with loading and unloading.

Insertion section 21 is by constituting with the lower part: the hard leading section 24 that is located at the front end of this insertion section 21; Be located at the bending section 27 of free bend of the rear end of this leading section 24; And from the rear end of this bending section 27 to the elongated flexible part (coiled pipe portion) 53 of operating portion 22.In the many places midway of this flexible part 53, specifically be that two places are provided with variable hardness with actuator 54A, 54B, these actuator utilizations are stretched by applying voltage, and can change the electroconductive polymer artificial-muscle formation such as (abbreviating EPAM as) of hardness.

The installed inside of the illuminating window on the leading section 24 of being located at insertion section 21 for example has light emitting diode (abbreviating LED as) 56 as lighting unit, the illumination light of this LED 56 forwards penetrates by being installed in the illuminating lens on this LED 56 integratedly, subjects such as illumination affected part.In addition, the light-emitting component as forming lighting unit is not limited to LED 56, also can utilize LD formation such as (laser diodes).

And, with the observation window of the adjacent setting of this illuminating window on not shown object lens are installed, disposed the CCD 25 of gain-variable function built-in at its image space, thereby formed the camera head of shooting subject.

One end connects respectively, and the holding wires that lead in the insertion section 21 LED 56 and CCD 25, slotting are located at operating portion 22 inside, and are connected with the control circuit 57 that carries out centralized Control processing (intensive control treatment).

And, in insertion section 21, disposing a plurality of UPD coils 58 with predetermined distance along its length direction, the holding wire that is connected on each UPD coil 58 is connected on the control circuit 57 by the UPD coil drive unit of being located in the operating portion 22 59.

And the circumferencial direction in the crust inboard of bending section 27 disposes the angle actuator 27a as angle element (bender element) that forms at its length direction configuration EPAM everywhere.And this angle is connected on the control circuit 57 by holding wire respectively with actuator 54A, 54B with actuator 27a and variable hardness.Control circuit 57 is for example installed electronic circuit component and is constituted on switch substrate 57a and trace ball substrate 57b.

The EPAM that Fig. 9 (A) expression angle is used with actuator 54A, 54B with actuator 27a and variable hardness.EPAM for example is equipped with electrode on the two sides of plate shape, by applying voltage, and for example can be by the contraction of Fig. 9 (B) thickness direction that is shown in, in elongated lengthwise.In addition, this EPAM shown in Fig. 9 (C), for example can with roughly square change deflection pro rata based on the electric field strength E that applies voltage.

When using with actuator 27a as angle, form filamentary form etc., extend, make opposition side to shrink by making a side, can make bending section 27 bendings, bring into play the effect identical with generic thread.And, by this elongation or contraction, can change its hardness, can utilize the hardness of this this part of changing function in actuator 54A, 54B at variable hardness.

And 21 interpolations are being led to supply gas flow pipe road 60a and attraction pipeline 61a in the insertion section, and its rear end forms the pipeline connector 51a at adapter portion 51 split sheds.And, on this pipeline connector 51a, can freely connect the pipeline connector 52a of comprehensive adapter portion 52 of the cardinal extremity of pipe unit 19 with loading and unloading.

And, the flow pipe road 60a that supplies gas is connected with the slotting flow pipe road 60b that supplies gas that leads in the pipe unit 19, attract pipeline 61a to lead to the interior attraction pipeline 61b of pipe unit 19 and be connected with inserting, and be communicated with branch in pipeline connector 52a and to the outside opening and the insertion mouth (being also referred to as forceps channel) 62 that can insert preparation implement such as pliers.This forceps channel 62 is stopped up by pliers bolt 62a when not using.

These rear ends of supplying gas flow pipe road 60b and attracting pipeline 61b form and supply gas water swivel 63 and attract joint 64 in endoscope's adapter 41.

Water swivel 63 and attraction joint 64 supply gas the water swivel 42c and the attraction joint 42d of the AWS adapter 42 shown in connection layout 4 and Fig. 5 etc. respectively supply gas.And as shown in Figure 5, in the inside of this AWS adapter 42, the water swivel 42c branch of supplying gas becomes aspirating pipeline and flow pipe road, and aspirating pipeline connects supplying gas with pump 65 of 4 inside, AWS unit by electromagnetic valve B1, and the flow pipe road connects send water tank 48.And this send water tank 48 also to connect by electromagnetic valve B2 halfway and supplies gas with pump 65.

Supplying gas is connected with AWS control unit 66 by control line (drive wire) with B2 with pump 65, electromagnetic valve B1, controls switching by this AWS control unit 66, can supply gas and send water.In addition, AWS control unit 66 is by the open and close controlling of pinch valve 45, and the action that also attracts is controlled.

And, on the operating portion 22 of endoscope main body 18, be provided with the handle part 68 that operative doctor is controlled.In the present embodiment, shown in Fig. 8 (A)～Fig. 8 (D), this handle part 68 utilizes near (side opposite with insertion section 21 sides) rear end (cardinal extremity) of operating portion 22 lateral parts, for example cylindrical shape to form.

On this handle part 68, comprising its periphery of this handle part 68, axle along the length direction of handle part 68, be provided with discharge, for example three endoscope's switch SW 1 of remote control operation (abbreviating remote manipulation as) such as maintenance, SW2, SW3, be connected to (with reference to Fig. 7) on the control circuit 57.

In addition, be located at handle part 68 (or operating portion 22) rear end (cardinal extremity) the cardinal extremity face (usually as shown in Figure 8, base end side is set to up and in splanchnoscopy and uses, so be also referred to as the upper surface) form inclined plane Sa, in the Sa of this inclined plane, be provided with endoscope's switch SW 1, SW2, SW3 the position opposition side near, be provided with trace ball 69, the function of its function that has both the bending indication operation of carrying out bending section 27 and the operated from a distance (remote manipulation) different with this bending indication operation as the indication operating unit.This trace ball 69 is waterproof constructions, can carry out angle operation (bending operation), switch to the setting of other remote manipulations etc. from the angle operation.

This trace ball 69 forms and is kept with rotating freely, and utilizes the encoder that is covered by waterproof membrane to detect the structure of its rotation amount.

More specifically, the summary structure of the periphery of trace ball 69 as shown in Figure 7.

On the Sa of the inclined plane, upper end of operating portion 22, be provided with the roughly recess of semi-spherical shape, orthogonal two places dispose for example Hall element 111a, the 111b as Magnetic Sensor around this recess, and the detection signal of each Hall element 111a, 111b inputs to control circuit 57 by trace ball substrate 57b.

And the waterproof membrane 112 watertightnesses ground that this recess is had retractility covers, and is taking in globular ball 69a from the recess outside that is covered by this waterproof membrane 112.The surface of this ball 69a forms the N utmost point and the S utmost point structure of alternate configurations two-dimensionally.

And, the user utilizes finger to make the operation of this ball 69a rotation, with the rotation while of ball 69a, the lip-deep magnetic pole of ball 69a moves, utilize Hall element 111a, 111b to detect changes of magnetic field amount at this moment, can detect the moving direction and the amount of movement of the orthogonal relatively both direction of ball 69a thus in the mode that does not contact ball 69a.

And, for example on trace ball substrate 57b, be provided with switch 113 near the recess that is covered by waterproof membrane 112 watertightnesses ground, the user carries out ball 69a is pressed into or is pressed into the operation of recess side, utilizes the ball 69a that is pressed can make the contact of switch 113 become ON or become OFF from ON from OFF.The switch detection signal of this switch 113 also is imported into control circuit 57.In addition, ball 69a disposes wind spring 114 around switch 113, and when stopping to push the operation of ball 69a, ball 69a turns back to the recess side.

In the present embodiment, one of its feature is, by the trace ball 69 that this structure is set, the user carries out the rotary manipulation of ball 69a, can carry out the operation of crooked indication to bending section 27 to any direction, and switch unit is set as hereinafter described, and this switch unit is by the ON/OFF based on the switch 113 of the operation of pushing ball 69a, switches to other functions from the operating function of bending indication and uses.

In addition, in the above description, dispose N, S magnetic pole two-dimensionally on the surface of ball 69a, rotate when mobile at ball 69a, utilize Hall element 111a, 111b to detect the changes of magnetic field of this moment, utilize the moving direction of detection ball 69a and the magnetism method of amount of movement thereof to detect thus, but also can utilize following optical mode to detect.

Surface at ball 69a for example is provided with (reflectance is lower) stain (other parts are the higher white of reflectance etc.) two-dimensionally with prescribed distance, and utilizing transparent component to form the recess waterproof membrane 112 on every side that ball 69a has been taken at two places, configuration is as for example reflective optical system that is configured in the optical pickocff of waterproof membrane 112 inboards respectively.

And, utilize each reflective optical system by transparent component to ball 69a surface irradiation light, so that can detect moving of mutually orthogonal direction, by accepting this reflected light, under the situation of ball 69a rotation, carry out the detection of orthogonal direction and the detection of amount of movement (rotation amount) optically.

In addition, also can utilize the pressure transducer of detected pressures to replace switch 113, thereby detect push operation or the pressing operation of user ball 69a.That is, utilize the output of comparator comparative pressure pick off, think during pressure more than detecting setting and carry out handover operation, thereby carry out corresponding control treatment.

And, be provided with near the hook 70 of the roughly U font that couples together near the length direction two ends of handle part 68 the rear end that will be located at this operating portion 22, shown in Fig. 8 (B), operative doctor is put into finger in order to utilize the right hand (or left hand) to control hook 70 inboards, therefore can not firmly control under the situation of handle part 68, can prevent effectively that also endoscope 3 from falling because of its gravity.

That is,,, fall so can prevent endoscope 3 because hook 70 is met the hands of its downside even when endoscope 3 will fall because of its gravity.Like this, in the present embodiment, when operative doctor can not firmly be controlled (maintenance) handle part 68, can prevent effectively that also endoscope 3 from falling because of its gravity downwards.Therefore, operative doctor carries out under the situation of various operations controlling handle part 68, owing to feasible hands of controlling of this operation or finger fatigue the time, even also the part of hands can be extend in the hook 70 if stop to control (maintenance) handle part 68, then coming off of endoscope 3 etc. can be prevented, operability can be improved.

And shown in Fig. 8 (A)～Fig. 8 (C), the both sides left and right symmetrically of trace ball 69 disposes the taps SW4 that supplies gas, suction shaft SW5 on the Sa of this inclined plane.

This trace ball 69 and endoscope's switch SW 4, SW5 also are connected on the control circuit 57.Shown in Fig. 8 (A)～Fig. 8 (D), further describe, operating portion 22 or handle part 68 are in the front view shown in Fig. 8 (B), be symmetrical shape about (as datum line) the centrage O that extends along the length direction of operating portion 22 or handle part 68, on the inclined plane Sa that is in the position on this centrage O, dispose trace ball 69.And, on symmetrical position, the both sides of this trace ball 69, dispose the taps SW4 that supplies gas, suction shaft SW5 respectively.

And the rearview of the opposition side of this front view is Fig. 8 (C), also is symmetrical shape about its centrage O in this rearview, disposes three endoscope's switch SW 1, SW2, SW3 along this centrage O at the outer surface of handle part 68.

And in the present embodiment, shown in Fig. 8 (A), inclined plane Sa forms according to the angle φ that is greater than 90 ° obtuse angle with centrage O that is parallel to handle part 68 or lateral line.In other words, inclined plane Sa form with and vertical inclined plane shape that forms the θ angle of the centrage O of handle part 68, be provided with trace ball 69 and supply gas taps SW4, suction shaft SW5 at the lower curtate side position left and right symmetrically of this inclined plane Sa.And, shown in Fig. 8 (B), can utilize the thumb manipulation trace ball 69 of the hands of controlling etc. easily.

As mentioned above, inclined plane Sa so long as relatively in obtuse angle angle φ of centrage O, promptly in 90 °～180 ° angle, can operate well, more specifically, shown in Fig. 8 (E), if in 150 ° of angles of the 120 °～angle φ 2 of angle φ 1, then can guarantee good operability.

So in the present embodiment, one of its feature is, be located at the operating unit (indication input part) of trace ball 69 grades on the operating portion 22 about the centrage O left and right symmetrically configuration of the length direction of handle part 68, operative doctor also can be operated under the situation of utilizing arbitrary handgrip of the right hand or left hand to hold well.

And, the roughly two ends that are provided with on handle part 68 length direction of this handle part 68 connect into the roughly hook 70 of U word shape, even thereby hypothesis is not fully controlled under the state of handle part 68 at operative doctor, because forefingers etc. insert hook 70 inboards, so in the time of also will falling downwards because of its weight in endoscope 3, hook 70 is subjected to the restriction of forefinger etc., has effectively to prevent the function that endoscope 3 falls.

And, in the present embodiment, near the rear end of operating portion 22, form handle part 68, the connecting portion with pipe unit 19 is set in the position than more close insertion section 21, the position of this handle part 68, so the position of centre of gravity can reduce to control handle part 68 time is from eccentricity of central axis.

Promptly, if making rear side (upper side) position of the handle part position of pipe unit 19 from example in the past extends to the side, then Ci Shi position of centre of gravity is eccentric easily because of the weight of pipe unit, but in the present embodiment, pipe unit 19 from than handle part 68 more close insertion sections 21 sides, be that extend to the side position of lower side, so can reduce the offset of position of centre of gravity, can improve operability.

And, in the endoscope 3 of present embodiment, when operators such as operative doctor (user) utilize the left hand or the right hand to control handle part 68, the inner face side that forms hook 70 contacts near the state of sidepiece of its forefinger gently, even so suppose to act as owing to position of centre of gravity off-centre makes inclined (length direction that is operating portion 22 tilts), hook 70 also can be run into hands, can limit this inclination, can guarantee good operability.

As shown in Figure 7, power line 71a and holding wire 71b from control circuit 57 extensions, by contactless transport unit 72a, the 72b that in adapter portion 51 and comprehensive adapter portion 52, forms, realize contactless the electrical connection with power line 73a and holding wire 73b in the slotting siphunculus unit 19.These power lines 73a is connected with signal terminal with the power supply that forms electric connector 74 in endoscope's adapter 41 with holding wire 73b.

And, the user is by connecting AWS unit 4 with this endoscope's adapter 41, as shown in Figure 6, power line 73a connects power subsystem 75 by the endoscope-use electric connector 43 of AWS unit 4, and holding wire 73b (by power subsystem 75) is connected with Transmit-Receive Unit 77 and AWS control unit 66 with UPD unit 76.In addition, Transmit-Receive Unit 77 is connected with the antenna part 77a that carries out wireless electric wave transmission reception.

In addition, contactless transport unit 72a, 72b are respectively a pair of coil near the structure with the transformator that forms electromagnetic coupled.That is, the end of power line 71a is connected to form the coil of contactless transport unit 72a, and the end of the opposing party's power line 73a also is connected among the contactless transport unit 72a near on the coil of described coil.

And by the alternating electromotive force that power line 73a transmits, the coil through electromagnetic coupled in contactless transport unit 72a is given power line 71a side with power delivery.

And the end of holding wire 71b is connected to form the coil of contactless transport unit 72a, and the end of the opposing party's holding wire 73b also is connected among the contactless transport unit 72a near on the coil of described coil.

Form transformator by electromagnetic coupled, signal is delivered to holding wire 73b side through paired coil from holding wire 71b side, and synchronous signal is also to transmitting in the other direction.

Like this, the endoscope 3 of present embodiment is characterised in that, endoscope main body 18 can freely be connected in contactless mode with pipe unit 19 with loading and unloading, by adopting this structure, even clean repeatedly and sterilization etc., also can prevent the influence of corrosion of producing under the situation of electric contact etc.

And, as shown in Figure 7, supplying gas flow pipe road 60a and attract that pipeline 61a's be respectively equipped with transparency pick off 143 midway, the flow pipe road 60a and attract the pipeline separately of pipeline 61a of supplying gas that makes that light transmission utilizes respectively that transparent tube forms, dirty situation of inwall that can signal piping and the fluidic transparency by pipeline inside.

Transparency pick off 143 connects control circuit 57 by holding wire.Figure 10 A and Figure 10 B represent the key diagram of effect of the cleaning horizontal detection of transparency pick off 143.

Shown in Figure 10 A, dispose reflective optical system 144 and reflecting plate 145 opposed to each other in the periphery of the flow pipe road 60a that supplies gas that utilizes transparent tube to form (attract pipeline 61a also identical), form transparency pick off 143.

And shown in Figure 10 B, the light that constitutes the light-emitting component of reflective optical system 144 penetrates to reflecting plate 145 sides, utilizes the photo detector that constitutes reflective optical system 144 accept the to be reflected reflected light of plate 145 reflections.

During this situation, in fact between reflective optical system 144 and reflecting plate 145, dispose the transmitance detection bodies 146 such as the flow pipe road 60a that supplies gas of utilizing transparent tube to form, so when transparent cleanout fluid being flow through supply gas 60a inboard, flow pipe road to clean the inwall side of the flow pipe road 60a that supplies gas, when internal face is in clean conditions, the light quantity of being accepted by the photo detector of reflective optical system 144 increases, and can detect the cleaning situation.

Therefore, utilize this function can detection by quantitative supply gas flow pipe road 60a internal face and attract the cleaning level of the internal face of pipeline 61a.

In addition, in the explanation of this situation, the effect when utilizing cleanout fluid to clean has been described, but medium at splanchnoscopy, by the detection output of reference transparency pick off 143, also can detect the dirty situation of internal face with the internal face that attracts pipeline 61a of the flow pipe road 60a that supplies gas.

Figure 11 represents to be configured in control circuit 57 grades in the operating portion 22 of endoscope main body 18 and is configured in the structure of electrical system of main composition key element of the each several part of insertion section 21.

The leading section 24 of the insertion section 21 shown in the bottom, left side in Figure 11 disposes CCD 25 and LED 56, dispose angle on the bending section 27 that is described in the drawings with actuator (being specially EPAM in the present embodiment) 27a and encoder 27c, dispose variable hardness on the flexible part 53 that is described in the drawings respectively with actuator (being specially EPAM in the present embodiment) 54 and encoder 54c.And, on this flexible part 53, dispose transparency pick off 143 and UPD coil 58.

And, on the surface of the operating portion of describing on the flexible part 53 of insertion section 21 33, dispose trace ball 69, the taps (SW4) of supplying gas, suction shaft (SW5), endoscope's switch (SW1～SW3).In addition, as hereinafter described,, distribute the function of the selection setting of angle operation and other functions by the operation of trace ball 69.

Shown in the left side of Figure 11, the control circuit 57 of these switches by the whole operation portion that almost comprises 22 inside shown in holding wire and the figure right side (still, except UPD coil drive unit 59 grades) connect, control circuit 57 carries out the driving control of these functions and signal processing etc.

Control circuit 57 has the condition managing portion 81 of the formations such as CPU of utilizing the management controlled state, and this condition managing portion 81 keeps memorizer 82 to be connected with the state of the state that keeps (storage) each several part.This state maintenance memorizer 82 has as the program of control information memory element preserves memorizer 82a, be stored in this program by rewriting and preserve routine data among memorizer 82a as control information, when change element shown in Figure 11, condition managing portion 81 (constituting its CPU) also can carry out the control (management) to structure that should be after changing.

And, this state keep memorizer 82 or at least program preserve memorizer 82a and for example utilize formations such as non-volatile flash memory of can electricity rewriting or EEPROM, can be by condition managing portion 81 data that alter the procedure simply.

For example by holding wire 71b, i.e. Transmit-Receive Unit 83 by following wired mode, change order to condition managing portion 81 router data, the routine data of rewriting after AWS unit 4 sides are sent in this order can carry out the change of routine data thus.And edition upgrading etc. are also undertaken by holding wire 71b easily.

And, keeping in the memorizer 82 at this state, the individual information that writes and maintain each endoscope's 3 inherent model information and corresponding behaviour in service as described below also can effectively utilize this information.Specifically, keep keeping for example model information of endoscope 3 (for example information of the type of CCD 25, insertion section length etc.) in the memorizer 82 at state, maintain the individual information (for example information such as service time (service time of endoscopic total or accumulative total), wash number, adjusted value, maintenance resume) because of each different endoscope 3 of the behaviour in service of splanchnoscopy etc. simultaneously, these information are in definite system acting and use when the user provides information etc.

And these information also can be edited from endoscopic system control device 5 and not shown outsides such as rinser.

Like this, keep memorizer 82 to have both the function of the ID of endoscope in the past, can share use by making state, thus the information (data) that can effectively use the ID of endoscope to have.

And, keep memorizer 82 owing to have this state, so do not need to be provided with in addition the ID of endoscope, can realize higher function than the existing ID of endoscope, can carry out more concrete rational setting, adjustment, management, processing etc.

As mentioned above, condition managing portion 81 is connected with the Transmit-Receive Unit 83 of the wired mode that communicates by wired and AWS unit 4.

And this condition managing portion 81 is by the lighting control section 84 of control illumination, and control is by the LED drive division 85 of these lighting control section 84 controls.This LED drive division 85 is making the LED 56 luminous LED driving signals as lighting unit impose on LED 56.

Luminous by this LED 56, illuminated subjects such as affected part are carried out opto-electronic conversion by on the shooting face that is installed on the not shown object lens on the observation window, images in the CCD 25 that is configured in its image space by this CCD 25.

This CCD 25 drives signal by applying CCD from the CCD drive division 86 by 81 controls of condition managing portion, and the signal charge that stores after the opto-electronic conversion is exported as image pickup signal.This image pickup signal is digital signal by A/D converter (abbreviating ADC as) 87 from analog signal conversion, inputs to condition managing portion 81 then, and digital signal (view data) is stored in the image storage 88 simultaneously.The view data of this image storage 88 is sent to the data sending part 12 ' of Transmit-Receive Unit 83.

And, be sent to AWS unit 4 sides by the holding wire 73b in the pipe unit 19 from electric connector 15.4 wireless endoscopic system control device 5 that send to from the AWS unit again.

As shown in Figure 6, the view data that sends endoscopic system control device 5 to is by Transmit-Receive Unit 101 wireless receivings, carry out Flame Image Process to generate signal of video signal by graphics processing unit 116, signal of video signal is through the system control unit 117 of whole control endoscopic system 1, export to observation monitor 6 from monitor with adapter 35, on the display surface of observing monitor 6, show endoscopic images.In addition, in Fig. 6, power subsystem 100 provides the electric power of action usefulness to Transmit-Receive Unit 101, graphics processing unit 116 and system control unit 117.

As shown in figure 11, the output signal of above-mentioned ADC 87 is sent to lightness test section 89, and the lightness information of the image that detects by lightness test section 89 is sent to condition managing portion 81.Condition managing portion 81 carries out brightness adjustment control according to this information by lighting control section 84, makes the illumination light quantity of LED 56 become suitable lightness.

And condition managing portion 81 drives the control of angle with actuator (EPAM) 27a by angle control unit 91 control actuator drive divisions 92 by this actuator drive division 92.In addition, this angle is detected by encoder 27c with the driving amount of actuator (EPAM) 27a, and controls and make the driving amount consistent with the value of corresponding indicatrix.

And condition managing portion 81 is by variable hardness control part 93 control actuator drive divisions 94, carries out driving variable hardness with actuator (EPAM) 54 control of (herein as representing one that only illustrates among 54A, the 54B) by this actuator drive division 94.In addition, this variable hardness is detected by encoder 54c with the driving amount of actuator (EPAM) 54, and controls the value that makes the driving amount become corresponding indicatrix.

And, be located at the detection signal of the transparency pick off 143 in the flexible part 53, be converted into the signal data of corresponding transparency by transparency test section 148, input to condition managing portion 81 then, condition managing portion 81 keeps the reference value of the transparency in memorizer 82 grades to compare with the state that is stored in advance, when reaching this reference value, this information is sent to endoscopic system control device 5 sides from Transmit-Receive Unit 83 through AWS unit 4, observation monitor 6 is shown reached reference value.

And, by with input to this condition managing portion 81 from the corresponding trace ball displacement detecting portion 95 of the operational ton that is located at trace ball 69 grades on the operating portion 22.

This trace ball displacement detecting portion 95 has the direction of rotation of the ball 69a that detects trace ball 69 and Hall element 111a, the 111b of rotation amount, simultaneously the ON/OFF of sense switch 113.

And the switches such as ON of the taps of supplying gas, suction shaft, endoscope's switch are pressed operation, press test section 96 by switch and detect, and the information of this detection is transfused to condition managing portion 81.

And control circuit 57 has power supply and transmits acceptance division 97 and power supply generating unit 98.Specifically power supply transmits acceptance division 97 is contactless delivery unit 51b in operating portion 22, is electric connectors 74 at the end of pipe unit 19.And the electric power that transmits by power supply generating unit 98 is converted into dc source in power supply generating unit 98.The each several part of power supply to control circuit 57 inside that generates by power supply generating unit 98 provides action needed electric power.

In endoscopic system 1, with power connection the time, on observation monitor 6, show for example various images shown in Figure 12 A with present embodiment.During this situation, except that the viewing area Ra of viewing area Ri, the viewing area Ru of UPD image, the viewing area Rf that keeps image and the angle shape of the information display area territory Rj that shows patient information etc., endoscopic images, also be provided with menu viewing area Rm, display menu on the Rm of this menu viewing area.

Menu as being presented on the Rm of menu viewing area shows the main menu shown in Figure 12 B.In this main menu, show following project, endoscope's switch, angle sensitivity, insertion section hardness, zoom, image are emphasized, gas pushing quantity, return the project of returning of the operation indication of last menu screen, and the end project that finishes the operation indication of menu.

And the user utilizes the above-below direction of trace ball 69 and the rotary manipulation of left and right directions to come mobile choice box or cursor, and for example when moving to the project of endoscope's switch, its frame chap shows, represents selecteed demonstration.

In addition, determine operation, shown in Figure 12 C, can select to set the function of distributing to five switch SW 1～SW5 of endoscope by pressing endoscope's switch (for example) SW4 that is configured in trace ball 69 both sides.

And for example when wanting the change setting gas pushing quantity, the project of selecting to set gas pushing quantity gets final product.During this situation,, can increase or reduce the indication operation of gas pushing quantity by the operation of trace ball 69.Like this, in the switch of common ON/OFF, be not easy to increase simply or reduce the indication operation of gas pushing quantity, but in the present embodiment, for example, produce the index signal that increases gas pushing quantity by making trace ball 69 upward to rotation, by making the rotation of trace ball 69 downward directions, generation reduces the index signal of gas pushing quantity, and this processing ease carries out, and can significantly improve the operability at the user.

And,, also improve or reduce the indication operation of angle sensitivity easily by the rotary manipulation of trace ball 69 to the angle sensitivity project (option) shown in Figure 12 B.In addition, when the needs image is emphasized to wait, can carry out suitable indication operation equally.

Like this, in the present embodiment, trace ball 69 has makes the function of bending section 27 to the indication operation (indication input) of desired direction bending, and can carry out the function operations different with bending operation, specifically can improve operability to operation of the switch SW 1～SW5 of the endoscope distribution function of being located at handle part 68 peripheries etc.

Promptly, in example in the past, the function that can change setting will distribute a plurality of endoscopies switch of being located at the operating portion periphery, but need be in signal processing apparatus sides such as the video processor operation that endoscope connected, so can improve the insufficient shortcoming of operability.

And, in the present embodiment, utilize the switch SW 1～SW5 of endoscope that merely carries out ON/OFF, at the indication operating function of operating (indication operation) difficulty, as described above can the operation by the indication of trace ball 69 simply realized.

Below, the effect of the endoscopic system 1 of this structure is described.

As implementing endoscopic early-stage preparations, at first the comprehensive adapter portion 52 of disposable pipe unit 19 is connected in the adapter portion 51 of operating portion 22 of endoscope main body 18.During this situation, be connected to become the state of mutually insulated and waterproof between contactless transport unit 72a, the 72b.Connect by this, finish the preparation of endoscope 3.

Then, endoscope's adapter 41 of pipe unit 19 is connected on the adapter 40 of AWS unit 4.This part is for singly touching connection, and various pipelines, power line, holding wire, light connect to be finished by disposable connecting moves.Do not need the endoscopic system as in the past, carry out being connected of the connection of various pipelines and electric connector etc. at every turn respectively.

And the user is connected UPD coil unit 8 on the AWS unit 4, endoscopic system control device 5 is connected observes on the monitor 6.In addition, as required, endoscopic system control device 5 is connected with image recording unit 7 grades, finishes the installation of endoscopic system 1 thus.

Then, connect the power supply of AWS unit 4 and endoscopic system control device 5.So the each several part in the AWS unit 4 is in operating state, power subsystem 75 is in the state that electric power can be provided to endoscope's 3 sides by power line.

During this situation, AWS unit 4 at first stops electric power being supplied with, and the starting intervalometer is confirmed to continue to provide electric power within a certain period of time after the correct inverse signal of endoscope's 3 sides.

And operative doctor inserts the insertion section 21 of this endoscope 3 in patients' the body cavity, thereby utilizes the CCD 25 of the leading section 24 of being located at insertion section 21 subjects such as endoceliac affected part of making a video recording.The view data of being made a video recording is wirelessly sent to endoscopic system control device 5 through AWS unit 4, generates signal of video signal by Flame Image Process, and the image of subject is presented on the display surface of observing monitor 6 as endoscopic images.Therefore, operative doctor is by observing this endoscopic images, and affected part etc. is diagnosed, and can use preparation implement to treat the processing of usefulness as required.

In the endoscope 3 of present embodiment, as shown in Figure 8, with respect to the centrage O of the length direction of handle part 68, left and right symmetrically be provided with have angle with the trace ball 69 of the function of indication input part, keep indicating the switch SW 1～SW3 of endoscope, the supply gas taps (SW4) and the suction shaft (SW5) of various operations indications such as operation.

Therefore, for example shown in Fig. 8 (B), utilize the right hand to control under the situation of handle part 68 of operating portion 22 at operative doctor, trace ball 69 is positioned at the maneuverable position of thumb, can operate in the supply gas taps (SW4) and the suction shaft (SW5) of its both sides left and right symmetrically configuration easily.

And endoscope's switch SW 1, SW2 lay respectively at and utilize when controlling near the position that forefinger, middle finger control respectively, and in addition, endoscope's switch SW 3 is positioned to be utilized near the position that little finger controls.

Therefore, operative doctor can utilize the right hand of controlling, and carries out various operations with good operability.

And if operative doctor is to control with left hand, the position of controlling of then controlling the outer peripheral face of handle part 68 becomes the lateral side relative with the sidepiece that utilizes the right hand to control, but the position of each finger is identical when utilizing left hand to control with respect to the indication input part.

That is, when operative doctor was controlled the handle part 68 of operating portion 22 with left hand, trace ball 69 was positioned at the maneuverable position of thumb, also may operate in the supply gas taps (SW4) and the suction shaft (SW5) of its both sides left and right symmetrically configuration.

And endoscope's switch SW 1 and SW2 lay respectively near forefinger when controlling, the position that middle finger is controlled respectively, and in addition, endoscope's switch SW 3 is positioned to be utilized near the position that little finger of toe controls.

Therefore, operative doctor can utilize the left hand of controlling to carry out various operations with good operability.

And, as mentioned above, in the present embodiment, be provided with the length direction both sides that connect handle part 68 and make the hands of controlling hook 70, so, can prevent effectively that also endoscope 3 from falling because of its weight even can not control handle part 68 securely by its inboard.

And, in the present embodiment, as shown in figure 12, also can change setting to the distribution of the function of the switch SW 1～SW5 of endoscope.Therefore, each operative doctor can change setting to the distribution of the function of the switch SW 1～SW5 of endoscope, so that the easiest splanchnoscopy that operatively carries out.

And by trace ball 69 being distributed and the different function of angle operation, the user can carry out various operations under the state that the user expects more under the state of controlling endoscope 3.

For example, in Figure 12 B, for example, can easily change gas pushing quantity by selecting the project of gas pushing quantity.Therefore, can simplify the structure of the indication of supplying gas.

Below, the processing of angle operation control is described with reference to Figure 13.After the processing of angle control began, shown in the S41, whether condition managing portion 81 carried out angle control and effectively judges set by step.

Whether in the present embodiment, whether condition managing portion 81 is pressed according to trace ball 69, shown in the S41, trace ball 69 is carried out angle control effectively judge set by step.Specifically, condition managing portion 81 can be according to the output of trace ball displacement detecting portion 95, detects based on the displacement operation of the rotary manipulation of trace ball 69 and be pressed into or pressing operation.In addition, after trace ball 69 was pressed, angle control was set as OFF.

Whether condition managing portion 81 carries out angle control and effectively judges according to the output of trace ball displacement detecting portion 95.

And, control when invalid being judged as angle, change step S45 over to, keep previous command value.On the other hand, control when effective being judged as angle, change the step S42 of back over to, condition managing portion 81 obtains its status data based on the operation of trace ball 69.And in the step S43 of back, condition managing portion 81 is according to the output of trace ball displacement detecting portion 95, further carries out whether vicissitudinous judgement of state.

During this situation, when condition managing portion 81 does not change at the state of being judged as, change step S45 over to, when the state of being judged as changes, in the step S44 of back, calculate the direction of rotation of corresponding trace ball 69, the command value of rotation amount on the contrary.

After the processing of step S44 or S45, shown in step S46, condition managing portion 81 sends to actuator drive division 92 to command value by angle control unit 91, and angle is carried out servo processing with actuator.

That is, actuator drive division 92 is according to command value, drives the angle actuator, and it is become angle state (angle of bend and bending direction) that should command value.At this moment, utilize the angle state (step S47) of encoder detection angles with actuator, actuator drive division 92 drives the angle actuator, makes the angle on target state consistency by value with the corresponding command value of this encoder detection.Like this, when reaching the angle on target state, the angle at the end control treatment.

And, in the present embodiment, shown in Figure 12 A, on the display surface of observing monitor 6, be provided with the viewing area Ra of angle shape, the angle state (case of bending) of the front of stereo display endoscope 3 in the Ra of this viewing area, thus operative doctor is grasped the angle state of the front of endoscope 3 easily.

Below, wait the processing action of angle state (case of bending) of the front of the such stereo display of explanation endoscope 3 with reference to Figure 14.

As shown in figure 13, the angle control treatment begins, angle control is set to effectively, then according to shown in the step S21 among Figure 14, condition managing portion 81 passes through actuator drive division 92, angle control unit 93 from encoder 27c, the above-below direction of reading angular usefulness actuator 27a and the displacement Δ Xud of left and right directions, the data of Δ Xrl.

And, as shown in figure 15, calculate respectively square root, thereby calculate the total displacement Δ X of angle with actuator 27a with the addition calculated value behind displacement Δ Xud and Δ Xrl square.

In the step S22 of back, condition managing portion 81 reads from state keeps memorizer 82 and the bending section data (length L, the diameter D that specifically refer to the bending section 27 of insertion section 21) of the endoscope 3 that obtains this condition managing portion 81 built-in.

And, in the step S23 of back, the 81 radius of curvature R of condition managing portion.During this situation, under the situation of bending section 27 bendings, as shown in figure 16, bending section 27 can be similar to bend to roughly circular-arc, become crooked inboard bending section 27 length L a and become the length L b of the bending section 27 in the outside, shrink Δ X in the inboard, extend Δ X in the outside from length L, become respectively along the center:

La＝L-ΔX＝θ·(R-D/2)

Lb＝L+ΔX＝θ·(R+D/2)

Watching bending radius when θ represents that bending section 27 is considered as circular arc herein, is the central angle of the circular arc of R.That is, circular-arc bending section 27 can be approximated to be that to be positioned at bending radius be that R, its central angle are on the circular arc of θ.

Condition managing portion 81 according to these relational expressions (specifically L=θ R), for example uses relational expression θ=2 Δ X/D of following central angle θ, according to following relational expression R=LD/ (2 Δ X) radius of curvature R according to shown in the step S23.

Its curved interior when Figure 16 represents to comprise bending section 27 bendings and the plane in the outside, under the situation of the case of bending of the bending section 27 of the front that shows insertion section 21, Z axle when for example being set at demonstration by the base end side bending section 27 shown in Figure 17, stereo display curved shape model.

During this situation, for example the bending of above-below direction is set at the YZ plane, makes this YZ plane corresponding to the display surface of observing monitor 6.And, be depicted in the curved shape model of describing on this YZ plane, make it by the angle φ that is equivalent to the displacement Δ Xrl composition of left and right directions around the rotation of Z axle shown in Figure 17.

In order to carry out this demonstration, in step S24 shown in Figure 14, the rotationangle that condition managing portion 81 is calculated around the Z axle.This rotationangle is

φ＝(π/2)·(1-ΔXud/(ΔXud+ΔXrl))。

In the step S25 of back, bending die is at first described by condition managing portion 81 on the YZ plane.That is, at first on the YZ plane, set the curved shape model M a that describes to utilize the dotted line among Figure 17 to represent.

And in the step S26 of back, condition managing portion 81 makes the curved shape model M a that utilizes dotted line to represent rotate rotationangle around the Z axle.That is, the curved shape model M b that stereodrawing utilizes solid line to represent is located at this curved shape model M a on the plane of Z axle rotation rotationangle.And, finish the processing that this curved shape shows.

Like this, being shown as curved shape model M b near the bending section 27 of the front of insertion section 21, thereby grasp the case of bending of the front of insertion section 21 easily, diagnose easily etc.

Below, with reference to Figure 18 the control treatment that variable hardness is operated is described.

After the control treatment of variable hardness operation began, shown in step S51, whether condition managing portion 81 carried out variable hardness control and effectively judges.

Specifically, shown in Figure 12 B, according to main menu, insertion section hardness is assigned to the switch SW 1～SW5 of endoscope, and whether effectively condition managing portion 81 carries out endoscope's switch of insertion section hardness and pressed judgement.

And condition managing portion 81 controls when invalid being judged as variable hardness, changes step S55 over to, keeps previous indicated value.And control when effective being judged as variable hardness, changing the step S52 of back over to, condition managing portion 81 obtains its status data based on the operation of trace ball 69.That is, during this situation, trace ball 69 is switched from the function of angle indication operation and as the deictic function that changes hardness, obtains its status data based on the operation of this trace ball 69 by condition managing portion 81.

During this situation, trace ball 69 is located on the maneuverable position, so the user can change the indication of hardness under the operability good state.

And in the step S53 of back, condition managing portion 81 is according to the output of trace ball displacement detecting portion 95, also carries out whether vicissitudinous judgement of state.

During this situation, when condition managing portion 81 does not change at the state of being judged as, change step S55 over to, when the state of being judged as changes, in the step S54 of back, calculate on the contrary corresponding to the direction of rotation of trace ball 69, the command value of rotation amount.

After the processing of step S54 or S55, shown in step S56, condition managing portion 81 sends to actuator drive division 94 to command value by variable hardness control part 93, and variable hardness is carried out servo processing with actuator 54A or 54B.

That is, actuator drive division 94 drives variable hardness with actuator 54A or 54B according to command value, so that reach target hardness that should command value.At this moment, utilize encoder 54c to detect the variable hardness state of variable hardness with actuator 54A or 54B, actuator drive division 94 drives variable hardness with actuator 54A or 54B, so that the value that detects by this encoder 54c reaches target hardness.

In the step S57 that carries out this servo processing, whether variable hardness control part 93 or condition managing portion 81 are undertaken at variable hardness with the judgement in the variable range of actuator 54A or 54B by actuator drive division 94, under the situation that breaks away from this variable range, finish the processing of this variable hardness control.

And, in step S57, when variable hardness with the variable range of actuator 54A or 54B in the time, in the step S58 of back, whether variable hardness control part 93 or condition managing portion 81 have reached the judgement of target hardness, when not reaching target hardness, return step S56, proceed servo processing.Like this, when reaching target hardness, finish the control treatment of variable hardness.

And UPD unit 76 detects the position of the UPD coil 58 of 21 inside, insertion section that are configured in endoscope 3 by UPD coil unit 8, calculates the inserted-shape of insertion section 21, shows that in the display frame of observing monitor 6 the insertion section shape is the UPD image.

Below, with reference to Figure 19 and Figure 20, endoscope's 3 sides of man machine interface of the remote manipulation that is used to realize the user and the contents processing of endoscopic system control device 5 sides are described.In addition, in Figure 19, Figure 20, man machine interface is abbreviated as HMI.

As shown in figure 19, after the processing of man machine interface began, condition managing portion 81 waited for that the effective switch of angle is set as OFF.That is, wait for that trace ball 69 is pressed, the effective switch of angle is set as OFF.

And, after the effective switch of angle is set as OFF, shown in the step S62 of back, condition managing portion 81 distribution GUI (graphic user interface) display messages.This GUI display message is wirelessly sent to (the control CPU) in the system control unit 117 of endoscopic system control device 5 via AWS unit 4 from endoscope 3.

Condition managing portion 81 in the step S63 of back, is in wait and finishes condition of information from the demonstration of endoscopic system control device 5 side joints receipts GUI behind distribution GUI display message.And, when condition managing portion 81 finishes message in the demonstration of failing to receive this GUI, change step S64 over to, whether meet the judgement of the condition of retry end, when not meeting the condition of retry end, return step S63, when meeting the condition of retry end, mistake finishes on the contrary.

In the processing of step S63, condition managing portion 81 shows and to change step S65 over to when finishing message whether carry out the effective switch of angle is the judgement of ON receiving.And, when condition managing portion 81 is ON at the effective switch of angle, shown in step S66, distribution GUI end.

This GUI end is identical during with the GUI display message, is wirelessly sent to endoscopic system control device 5 from endoscope 3 via AWS unit 4.And behind this GUI end of distribution, condition managing portion 81 is in the demonstration end of GUI is received in wait from endoscopic system control device 5 side joints state in the step S67 of back.And condition managing portion 81 finishes this man machine interface and handles when receiving the demonstration end of this GUI.

On the other hand, condition managing portion 81 changes step S68 over to when failing to receive the demonstration end of this GUI, whether meet the judgement of the condition of retry end, when not meeting the condition of retry end, return step S66, when meeting the condition of retry end, mistake finishes on the contrary.

And, in step S65, when the effective switch of angle is not ON, change the processing on the menu screen of step S69 side over to, in this step S69, whether the output of condition managing portion 81 by trace ball displacement detecting portion 95 has the variable quantity more than the threshold value, carries out the whether vicissitudinous judgement of state of trace ball 69.

And, shown in step S70, when condition managing portion 81 changes at the state that is judged as trace ball 69, obtain the status data (delta data) of this trace ball 69.

During this situation, the user can be on the picture of the main menu of Figure 12 B, utilizes the operation of corresponding trace ball 69 and mobile cursor, selects the function of the desired project of indication.Condition managing portion 81 also carries out the processing of display highlighting.

And shown in step S71, condition managing portion 81 sends the corresponding status data of operation of the trace ball 69 of carrying out with the user.The camera data of this status data and CCD 25 is synchronous, sends to endoscopic system control device 5 from endoscope 3 via AWS unit 4 as the bag data.After sending this status data, return the processing of step S65.

In step S69, when condition managing portion 81 did not change at the state that is judged as trace ball 69, shown in step S72, according to the detection output that switch is pressed test section 96, (whether switch SW 1～SW5) changed to judge on off state.

In this step S72, be judged as on off state when not changing, return step S65, be judged as on off state when changing on the contrary, shown in step S73, condition managing portion 81 obtains switch and presses status data, and sends the switch that is obtained press data in the step S74 of back, returns the processing of step S65.

Like this, condition managing portion 81 carries out the control of user to the operation of trace ball 69 and the switch SW 1～SW5 of endoscope etc., simultaneously according to shown in Figure 12 A etc., also carries out the user with the processing that shows from the mode of the state of visually recognizing current setting etc. easily etc.

On the other hand, as shown in figure 20, after beginning was handled in man machine interface, the CPU of the system control unit 117 of endoscopic system control device 5 was in the GUI display message is received in wait from endoscope's 3 side joints state in first step S81.This CPU waits for the GUI display message that receives wireless transmission by the Transmit-Receive Unit 101 of Fig. 6.And shown in step S82, the CPU of this system control unit 117 carries out the control treatment that GUI shows after receiving the GUI display message.That is, CPU implements to carry out the control that GUI shows to graphics processing unit 116.

After the processing that the GUI of step S82 shows, shown in step S83, the CPU distribution shows finishes message.CPU sends this demonstration by Transmit-Receive Unit 101 and finishes message.In the step S84 of back, CPU carries out having received from endoscope's 3 side joints whether the judgement of GUI end.And, CPU when receiving this GUI end, in step S85, finish processing that GUI shows after, in the step S86 of back, after distribution GUI shows end, finish this man machine interface and handle.

In step S84, CPU changes step S87 over to when not receiving the GUI end, carries out the whether vicissitudinous judgement of reception data of trace ball 69.The whether vicissitudinous judgement of the reception data of this trace ball 69, the judged result of the change of state of the trace ball 69 by accepting endoscope's 3 sides is carried out.And, when receiving data and change, shown in step S88, carry out the obtaining of status data of trace ball 69.In addition, in the step S89 of back, CPU makes cursor move the corresponding amount of movement of status data (delta data) with the trace ball of being obtained 69.And, return the processing of step S84.

And, in the processing of step S87, when the reception data that are judged as trace ball 69 did not change, CPU was according to shown in the step S90, according to the judged result of endoscope's 3 sides at sending the reception data that data received, carry out the whether vicissitudinous judgement of reception data of switch.

And when the reception data that are judged as switch changed, shown in step S91, CPU obtained switch and presses status data from the transmission information from endoscope's 3 sides.And shown in the step S91, CPU distributes to the switch of having been pressed and carries out the processing of function, returns the processing of step S84.And, in step S90, when the reception data of switch do not change, also return the processing of step S84.

Carry out the endoscope 3 of present embodiment of the endoscopic system 1 of this action according to formation, the trace ball 69 that is used to carry out crooked indication operation that user processing ease by endoscope 3 operatively disposes, except that the function of indication bending section 27 bendings, also can realize other functions, can guarantee existing operating function, realize better operability.

And, according to the endoscope 3 of present embodiment, can in operating portion 22, be separated into endoscope main body 18 and pipe unit 19 to this endoscope 3, disposable by pipe unit 19 sides are formed, can carry out cleaning, sterilization of endoscope main body 18 etc. easily.

That is, therefore the example in the past that the general wire-shaped of supplying gas flow pipe road 60a and attracting pipeline 61a to be shorter than respective tube unit 19 out and away in the endoscope main body 18 becomes one is also cleaned easily and is sterilized.

And, during this situation, in the example in the past that the general wire-shaped of respective tube unit 19 becomes one, general electric wire is provided with and bending continuously from operating portion 22, but in the present embodiment, form slight curving pipeline connector 51a in the adapter portion 51 of operating portion 22, other parts form supply gas the flow pipe road 60a and the attraction pipeline 61a of roughly linearity extension, so can carry out cleaning and processing such as sterilization and drying in the pipeline at short notice easily.Therefore, can be set at short notice and can carry out endoscopic state.

And, in the present embodiment, make endoscope main body 18 form the structure that can freely be connected, so even endoscope main body 18 is cleaned repeatedly, sterilized in contactless mode with pipe unit 19 with loading and unloading, contact poor flows in the time of also can not producing contact etc. can improve reliability.

(embodiment 2)

Below, with reference to Figure 21 embodiments of the invention 2 are described.Figure 21 represents the 3B of endoscope of embodiments of the invention 2.In addition, the state that Figure 21 (A) expression is cut near the part operating portion from the side, the front view that Figure 21 (B) expression is watched from the right side of Figure 21 (A), the vertical view that Figure 21 (C) expression is watched from the top of Figure 21 (A), the part of the 3F of endoscope of Figure 21 (D) expression variation.The 3B of endoscope of present embodiment in the endoscope 3 of embodiment 1 not signalization send the holding wire 73b of usefulness, and in operating portion 22 antenna part 121 of built-in transmitting-receiving usefulness.

And view data and the information such as trace ball 69 isochronous operating datas of having operated as operating unit by CCD 25 shootings send to AWS unit 4 sides by this antenna part 121.Other structures are identical with embodiment 1.

In the 3B of endoscope of present embodiment, be connected with the flow pipe road 60b that supplies gas in pipe unit 19 interpolations, attract pipeline 61b and power line 73a.

And, according to present embodiment, do not need to insert the holding wire 73b that leads in pipe unit 19, be suitable for disposable structure so can form.Other are identical with embodiment 1, no matter under the situation of the right-handed handle part 68 that still to be arbitrary handgrips in the use left and right sides such as left-handed hold the 3B of endoscope, all can operate with good operability.

The 3F of endoscope of Figure 21 (D) expression variation.In the 3B of endoscope of Figure 21 (A)～Figure 21 (C), hook 70 two ends up and down with (length direction) in the handle part dominated by hand 68 are connected to become ring-type, but in the 3F of this endoscope, hook 70 ' constitutes from the upper end side of handle part 68 and forms L word shape, the lower end of hook 70 ' does not connect handle part 68, and is formed with opening in the lower end of hook 70 '.

Under the situation of this variation, operating portion 22 or handle part 68 be about the centrage O left-right symmetric of its length direction, and left and right symmetrically forms the indication input part, so can guarantee the situation identical operations with embodiment 1 or embodiment 2.

And, be used to prevent the function that the 3B of endoscope that might produce falls under the situation of fully not controlling, owing to become the upper end side part of hook 70 ', so can keep the functions roughly the same with hook 70.That is, in the 3B of this endoscope, hook 70 ' form have from the rear end side of handle part 68 to the outstanding protuberance of the vertical direction of the direction of principal axis of handle part 68, so can prevent effectively that the 3B of endoscope from falling.

And hook 70 ' lower end side opening so can be hooked on this part on the endoscope-use suspension hook etc., can be used for keeping the 3F of endoscope.Like this, this variation has the action effect roughly the same with embodiment 2.

The 3C of endoscope of Figure 22 (A)～Figure 22 (C) expression the 2nd variation.The 3C of this endoscope in the 3B of endoscope of embodiment 2, the trace ball 69 that adopts operation keyboard (pad) 161 to replace as operating unit.

In addition, the side view that Figure 22 (A) expression is watched from the side of the 3C of endoscope, the front view that Figure 22 (B) expression is watched from the right side of Figure 22 (A), the vertical view that Figure 22 (C) expression is watched from the top of Figure 22 (A), Figure 22 (D) expression is when watching with the vertical direction of inclined plane Sa of Figure 22 (A), operation keyboard 161 under the configuration status of the centrage parallel with inclined plane Sa, the operation keyboard 161 ' under Figure 22 (E) expression configuration status identical with Figure 22 (D) in the variation.

The 3C of this endoscope adopts the operation keyboard 161 of circular plate shape to replace trace ball 69 in the 3B of endoscope shown in Figure 21.That is fitting operation keyboard 161 on the Sa of inclined plane.About the difference correspondence of this operation keyboard 161, left and right sides four direction everywhere, be provided with carry out up and down, switch 162a, 162b, 162c, the 162d of the operation of left and right sides four direction indication.In addition, under the situation of this operation keyboard 161, the function of the switch 113 of trace ball 69 for example can utilize following mode of operation to replace, and for example carries out two switches of rightabout operation indication, specifically is the operation that switch 162a and 162b are pressed simultaneously.

Other structures are identical with the 3B of endoscope shown in Figure 21.

And the variation as the operation keyboard 161A of the 2nd variation shown in Figure 22 (E), also can adopt the operation keyboard 161 ' of cross shape.About the difference correspondence of this operation keyboard 161 ', left and right sides four direction everywhere, also be provided with carry out up and down, switch 162a, 162b, 162c, the 162d of the operation of left and right sides four direction indication.

In addition, Figure 23 represents the 3D of endoscope of the 3rd variation.On the position of the 3D of this endoscope trace ball 69 in the inclined plane Sa of the 3B of endoscope shown in Figure 21, for example shown in Figure 23 (C), with the vertical direction of central shaft O of the 3C of endoscope on be arranged in parallel two operation keyboard 163A, 163B.

On operation keyboard 163A, be provided with switch 162a, 162b, on operation keyboard 163B, be provided with switch 162c, 162d at left and right directions at above-below direction.

Other structures are identical with the 3B of endoscope shown in Figure 21.

In the 3D of endoscope shown in Figure 23, with the direction of the central shaft O approximate vertical of the 3D of endoscope on be arranged in parallel two operation keyboard 163A, 163B, but the 3D of endoscope of the 3rd variation that also can be as shown in figure 24 is such, and two operation keyboard 163C, 163D be arranged in parallel on the direction parallel with the central shaft C of the 3D of endoscope.

In addition, illustrated in the above-described embodiments and used the situation of the endoscopic system 1 of endoscope 4, but equally also gone for other medical system.

(embodiment 3)

Below with reference to Figure 25～Figure 40 embodiments of the invention 3 are described.The purpose of present embodiment is to provide a kind of endoscope, this endoscope-use becomes simple in the physical arrangement of the change of shape that makes bending section, and, when making the change of shape of bending section, by the same operation of stipulating, can make the each same amount that only changes regulation of shape of bending section.

Before the concrete structure of explanation present embodiment, with reference to the structure of Figure 25 and Figure 26 summary description present embodiment.In addition, giving same-sign to the element identical with embodiment 1 describes.

As shown in figure 25, the endoscopic system 1B with present embodiment has: the flexible 3G of endoscope, and its insertion lies in the body cavity of the not shown patient on the examinating couch 2, carries out splanchnoscopy; Having of being connected with the 3G of this endoscope supplied gas, sent water and attract the water of supplying gas/send/attraction unit (abbreviating the AWS unit as) 4 of function; Endoscopic system control device 5, it carries out signal processing to the imaging apparatus that is built among the 3G of endoscope, and the various operating units of being located among the 3G of endoscope are carried out control treatment etc.; Utilize the observation monitor 6 of LCD monitor etc., it shows the signal of video signal that generates by this endoscopic system control device 5.

And this endoscopic system 1B has: image recording unit 7, and it is analyzed for example digital image signal that is generated by endoscopic system control device 5 etc.; And UPD coil unit 8, it connects AWS unit 4, when SHAPE DETECTION is built in the insertion section of endoscope 3 with coil (being designated hereinafter simply as the UPD coil), receive the signal of the electromagnetic field that produces by this UPD coil etc., detect the position of each UPD coil, show the shape of the insertion section of the 3G of endoscope.

And image recording unit 7 is connected with LAN 9 in the hospital that is provided with this endoscopic system 1B, can utilize each termination by this LAN 9 of wired or wireless connection, with reference to the image of being analyzed by image recording unit 7 etc.

And as shown in figure 25, AWS unit 4 and endoscopic system control device 5 carry out the transmitting-receiving of information (data) with wireless mode.In addition, in Figure 25, the 3G of endoscope is connected with AWS unit 4 by electric wire, but also can wirelessly carry out the transmitting-receiving (two-way transmission) of information (data).And endoscopic system control device 5 also can wirelessly carry out the transmitting-receiving of information with the 3G of endoscope.In addition, also can utilize the communication mode that in Fig. 2 A～Fig. 2 C, illustrates.

And Figure 26 summary is represented the structure of the 3G of endoscope of present embodiment.The 3G of this endoscope is made of endoscope main body 18 and for example disposable (the using discarded formula) pipe unit 19 that can be connected on this endoscope main body 18 with freely loading and unloading.The diameter of pipe unit 19 is thinner than general electric wire in the past, in the present embodiment only by as the flow pipe road 60b that supplies gas of two pipeline pipe arrangements, attract pipeline 61b and power line 73a and holding wire 73b to constitute (with reference to Figure 28).

Endoscope main body 18 has the operating portion 22 that inserts endoceliac flexible insertion section 21 and be located at these 21 rear ends, insertion section, and the cardinal extremity of pipe unit 19 can be connected on this operating portion 22 with freely loading and unloading.

And 21 leading section 24 disposes image unit in the insertion section, and this image unit uses can be at the inner CCD 25 of gain that changes of imaging apparatus as imaging apparatus.And, be provided with at leading section 24 and detect the touch sensor 142 that leading section 24 and endoceliac inwall etc. contact the state of (crimping).And being provided with in the rear end of leading section 24 can be with the bending section 27 of less strength bending, is located at angle/remote manipulation parts 28 on the operating portion 22 by operation, can make bending section 27 bendings.This angle/remote manipulation parts 28 also can carry out the operation of angle operation (bending operation), supply gas water and attraction etc., as to the remote manipulation of the remote control operation of endoscope's system control device 5 etc. (specifically be keep the indication operation, discharge the indication operation) etc.And, on insertion section 21, being formed with the part that can change hardness, can more successfully insert etc.

And, in insertion section 21, be provided with the horizontal test section 29 of cleaning, rinse water equality that can signal piping.

Below, more specifically describe the structure of endoscopic system 1B with reference to Figure 27.

The observation monitor 6 that utilizes formations such as LCD monitor is arranged in the side of examinating couch 2 disposed adjacent, and, disposing on the handbarrow 31 of configuration near length direction one side's of examinating couch 2 the end with can move freely: endoscopic system control device 5, AWS unit 4, image file/LAN/ electric mes/ultrasonic unit (simplify image file device, WLAN or wired lan, electric mes device, ultrasonic unit etc. describe) 32, dispose the monitor 33 ' of band touch screen at topmost.

And the upper part of patient's recumbency is embedded with UPD coil unit 8 in examinating couch 2.This UPD coil unit 8 connects AWS unit 4 by UPD electric wire 34.

In the present embodiment, AWS unit 4 and endoscopic system control device 5 for example by shown in Figure 6, carry out the transmitting-receiving of data by wireless Transmit-Receive Unit 77,101.And, as shown in figure 27, observe monitor 6 connects endoscopic system control device 5 by monitor electric wire 35 ' monitor adapter.

In addition, as shown in figure 27, endoscopic system control device 5 and observation monitor 6 have been installed Transmit-Receive Unit 101,36 respectively, send signal of video signal from endoscopic system control device 5 to observing monitor 6, can show the endoscopic images corresponding with this signal of video signal on its display surface.

As hereinafter described, view data by CCD 25 shooting sends to endoscopic system control device 5 with the view data of the insertion section shape (UPD image) of the endoscope 3 that uses 8 detections of UPD coil unit from AWS unit 4 sides, therefore endoscopic system control device 5 sends to the signal of video signal of corresponding these view data and observes monitor 6, can show endoscopic images and UPD image on its display surface.

Observe monitor 6 and utilize the monitor of high-resolution TV (HDTV) to constitute, so that can on its display surface, show multiple image simultaneously.

And, in the present embodiment, in end of the length direction of examinating couch 2 and lower position be formed with to take in and use recess, in this takes in recess, can take in the pallet carrying with handbarrow 38 with being free to slide.The top mounting of carrying with handbarrow 38 at this pallet has endoscope's pallet 39 of taking in the 3G of endoscope shown in Figure 28.

And, can utilize pallet carrying to take in and sterilize or endoscope's pallet 39 of the 3G of disinfectant endoscope, and can be accommodated in the taking in the usefulness recess of examinating couch 2 with handbarrow 38 carryings.Operative doctor takes out the 3G of endoscope and uses in splanchnoscopy from endoscope's pallet 39, and is accommodated in once more in this endoscope's pallet 39 after splanchnoscopy finishes and gets final product.Then, utilize the pallet carrying to take in the endoscope's pallet 39 of the 3G of endoscope after using, thereby can sterilize smoothly or sterilize with handbarrow 38 carryings.

And, as shown in figure 27, for example in AWS unit 4, be provided with endoscope's adapter 40.And, on this endoscope's adapter 40, can freely connect endoscope's adapter 41 of the 3G of endoscope with loading and unloading.

Below, the concrete structure of the 3G of endoscope of present embodiment is described with reference to Figure 28.

As summary description among Figure 26, the 3G of endoscope of present embodiment is made of endoscope main body 18 and disposable (abbreviating the discarded formula of using as) pipe unit 19, endoscope main body 18 has flexible insertion section 21 and is located at the operating portion 22 of its rear end, the comprehensive adapter portion 52 of the cardinal extremity of pipe unit 19 can be connected in (pipe unit connect with) adapter portion 51 with freely loading and unloading, and this adapter portion 51 is located near the cardinal extremity (front end) of operating portion 22 of this endoscope main body 18.End at this pipe unit 19 is provided with the above-mentioned endoscope adapter 41 that can be connected on the AWS unit 4 with freely loading and unloading.

Insertion section 21 is by constituting with the lower part: the hard leading section 24 that is located at the front end of this insertion section 21; Be located at the bending section 27 of free bend of the rear end of this leading section 24; From the rear end of this bending section 27 to the elongated flexible part (coiled pipe portion) 53 of operating portion 22, in the many places midway of this flexible part 53, specifically be that two places are provided with variable hardness with actuator 54A, 54B, these actuators are called as by applying that voltage stretches and can changing the electroconductive polymer artificial-muscle (abbreviating EPAM as) of hardness.

Light emitting diode (abbreviating LED as) 56 for example arranged as lighting unit in the installed inside of the illuminating window of the leading section 24 of being located at insertion section 21, the illumination light of this LED 56 forwards penetrates by the illuminating lens that is installed in integratedly on this LED 56, subjects such as illumination affected part.In addition, this LED 56 can be the LED that produces white light, also can use the R of the light of the various wavelength region may that produce red (R), green (G), blue (B) to constitute with LED with LED and B with LED, G.Be not limited to LED 56 as the light-emitting component that forms lighting unit, also can utilize LD formation such as (laser diodes).

And, with the observation window of the adjacent setting of this illuminating window on not shown object lens are installed, disposed the CCD 25 of gain-variable function built-in at its image space, form the camera head of shooting subject.CCD 25 in the present embodiment is built-in gain-variable function in CCD element self, utilize the gain-variable function easily the gain of ccd output signal to be changed to about hundred times, so under illumination light, also can obtain the less bright image of reduction of S/N based on LED 56.And LED 56 compares with the situation of lamp, and luminous efficiency is good, so near the temperature that can suppress the LED 56 rises.

One end connect respectively LED 56 and CCD 25, insert the other end lead to the holding wire in the insertion section 21, for example be located at operating portion 22 inside, and carry out centralized Control and handle the control circuit 57 of (intensive control treatment) and be connected.

And, in insertion section 21, disposing a plurality of UPD coils 58 with predetermined distance along its length direction, the holding wire that is connected with each UPD coil 58 is connected on the control circuit 57 by the UPD coil drive unit of being located in the operating portion 22 59.

And at the circumferencial direction of the crust inboard of bending section 27 everywhere, disposing the bending section shape variable mechanism that forms at its length direction configuration EPAM is angle actuator 27a.This angle is stretched by being applied in voltage with actuator 27a, can change the shape of bending section 27.

Because the aforementioned effect that angle has with actuator 27a so conduct changes the physical mechanism of the shape of bending section 27, does not need to be provided with in addition physical mechanism such as curved block, crooked silk.

Therefore, can simplify the physical mechanism of the shape that is used to change bending section 27.And angle can not only be located at everywhere described with actuator 27a, as long as be located at the crust inboard, then also can be located at everywhere more than.

In addition, the aforementioned effect that utilizes angle to have with actuator 27a, for example shown in Figure 40 when the circumferencial direction of Intradermal side is provided with angle with actuator 27a with the upper part everywhere outside, can make bending section 27 bendings by stages.In addition, in Figure 40,, make bending section seven sections bendings in 27 fens, but sweep is not limited to the part from X1 to X7 among Figure 40, and the quantity of sweep also is not limited to seven parts in the part from X1 to X7.And this angle is also passed through holding wire with actuator 27a and variable hardness respectively with actuator 54A, 54B, connects the control circuit 57 that has as the function of bending section shape control unit.

, can use with the EPAM that actuator 27a and variable hardness use in actuator 54A, 54B in angle at EPAM illustrated in fig. 9.

When using with actuator 27a as angle, form filamentary form etc., extend, make opposition side to shrink by making a side, can make bending section 27 bendings, bring into play the effect identical with generic thread.And the described effect that utilizes EPAM to have when EPAM is used actuator 27a as angle, when changing the shape of bending section, by the same operation of stipulating, can make the each same amount that only changes regulation of shape of bending section.And, by this elongation or contraction, can change its hardness, can utilize the hardness of this this part of changing function in actuator 54A, 54B at variable hardness.

And 21 interpolations are being led to supply gas flow pipe road 60a and attraction pipeline 61a in the insertion section, and its rear end forms the pipeline connector 51a at adapter portion 51 split sheds.And, in this pipeline connector 51a, can freely connect the pipeline connector 52a of comprehensive adapter portion 52 of the cardinal extremity of pipe unit 19 with loading and unloading.

And, the flow pipe road 60a that supplies gas is connected with the slotting flow pipe road 60b that supplies gas that leads in the pipe unit 19, attract pipeline 61a to lead to the interior attraction pipeline 61b of pipe unit 19 and be connected with inserting, and be communicated with branch in pipeline connector 52a and to the outside opening and the insertion mouth (being also referred to as forceps channel) 62 that can insert preparation implement such as pliers.This forceps channel 62 is stopped up by pliers bolt 62a when not using.

The rear end of the side at one's side of these supply gas flow pipe road 60b and attraction pipeline 61b forms and supplies gas water swivel 63 and attract joint 64 in endoscope's adapter 41.

Supply gas water swivel 63 and attract the joint 64 water swivel 42c and attract joint 42d of supplying gas of the AWS adapter 42 shown in the connection layout 5A etc. respectively.

And, as shown in figure 28, in the operating portion 22 of endoscope main body 18, be provided with the handle part 68 that operative doctor is controlled, comprising its periphery of this handle part 68, axle along the length direction of operating portion 22, be provided with discharge, for example three endoscope's switch SW 1 of remote control operation (abbreviating remote manipulation as) such as maintenance, SW2, SW3, be connected on the control circuit 57.

In addition, be provided with in the conduct of operating portion 22 these endoscope's switch SW 1, SW2, SW3 the position opposition side upper surface and on the inclined plane Sa that is formed slopely, be provided with the trace ball 69 of waterproof construction in the manipulable position of the hands of controlling handle part 68, this trace ball 69 is used to carry out angle operation (bending operation) and switches to the setting etc. of other remote manipulations.

And Figure 29 represents that C among Figure 28 is to view.As shown in figure 29, the both sides of trace ball 69 on the Sa of this inclined plane, two endoscope's switch SW 4, SW5 are arranged on symmetrical position on the left and right directions that becomes the length direction of operating portion 22 both sides.Endoscope's switch SW 4, SW5 have been assigned with the function of supply gas taps and suction shaft usually.

C from Figure 28 when the apparent direction side is watched the operating portion 22 of endoscope 3 under the situation as the front, the length direction of relative operating portion 22 or insertion section 21, trace ball 69 is positioned on the centrage of length direction, and two endoscope's switch SW 4, the configuration of SW5 left and right symmetricallies, and dispose three endoscope's switch SW 1, SW2, SW3 in its rear side along this centrage.

Like this, operating portion 22 has a plurality of operating units.And, in operating portion 22, various operating units such as trace ball 69 are provided with about the central shaft left and right symmetrically of its length direction, when so the handle part 68 of controlling operating portion 22 at operative doctor is operated, under the situation of utilizing left hand to control and utilizing the right hand controlling to operate, can both guarantee good operability equally.

This trace ball 69 and endoscope's switch SW 4, SW5 all are connected on the control circuit 57.Trace ball 69 and the switch SW 1～SW5 of endoscope are corresponding to the angle among Figure 26/remote manipulation parts 28.

In addition, as hereinafter described, in trace ball 69 and the switch SW 1～SW5 of endoscope, can distribute one and even a plurality of bending section shape variable operating units as operating unit.And, distribute to one and even a plurality of bending section shape variable operating units among trace ball 69 and the switch SW 1～SW5 of endoscope, by the operation of operative doctor, the angle control unit 91 as bending section shape variable operating unit is carried out indication described later.And the angle control unit 91 that receives this indication makes angle flexible with actuator 27a, thereby can change the shape of bending section 27.

And, power line 71a and holding wire 71b from these control circuit 57 extensions, by contactless transport unit 72a, the 72b that in adapter portion 51 and comprehensive adapter portion 52, forms, realize contactless electrical connection the (specifically with reference to Figure 30) with plug in power line 73a and the holding wire 73b that leads in the pipe unit 19.These power lines 73a is connected with the electric connector 74 that has power supply and signal contact in endoscope's adapter 41 with holding wire 73b.In addition, adapter portion 51 sides of contactless transport unit 72a, 72b are called for example contactless delivery unit 51b.

And, the user is connected this endoscope's adapter 41 on the AWS unit 4, thereby as shown in Figure 6, power line 73a connects power subsystem 75 by the electric connector 43 of AWS unit 4, and holding wire 73b (by power subsystem 75) is connected with Transmit-Receive Unit 77, AWS control unit 66 with UPD unit 76.In addition, Transmit-Receive Unit 77 is connected with the antenna that carries out wireless electric wave transmitting-receiving.

Figure 30 represents the structure of the contactless connecting portion of the contactless transport unit 72a of adapter portion 51 and 52 and 72b.

By the alternating electromotive force that the power line 73a that inserts in the siphunculus unit 19 provides, be provided for the first siding ring C1a that the encapsulating shell that is accommodated in adapter portion 52 is intravital, form contactless transport unit 72a from power subsystem 75.

Inboard at the encapsulating housing of adapter portion 52 disposes second siding ring C1b, form described first siding ring C1a and second siding ring C1b near and under the less state of flux leakage the transformator T1 of electromagnetic coupled.

And by this electromagnetic coupled, the alternating electromotive force that offers this coil C1a passes to second siding ring C1b effectively.This coil C1b connects the power circuit 78 in the control circuit 57, generates the direct current power that control circuit 57 sides need by power circuit 78.

Power circuit 78 is by the DC voltage of rectification after with diode D and smoothing capacitor rectification, for example by three terminal power supplys with IC 79 and level and smooth electricity consumption vessels switchover be control circuit 57 actions need DC voltage, offer control circuit 57.

And, connect the holding wire 71b of (the forming common signal transmission unit) of control circuit 57, is connected with the coil C2a that forms contactless transport unit 72b, be connected near this coil C2a and with the interior holding wire 73b in its opposed coil C2b and slotting siphunculus unit 19.That is, roughly the same with the situation of transformator T1, utilize transformator T2 based on the electromagnetic coupled of coil C2a and C2b, form contactless transport unit 72b.

Signal is delivered to holding wire 73b side through the coil C2a and the C2b of electromagnetic coupled from holding wire 71b side, and signal also transmits round about.

In the present embodiment,, utilize control circuit 57 centralized Control or manage various operating units and image unit etc.,, can cut down the quantity of inserting the electric signal line in the siphunculus unit 19 by adopting said structure as the internal structure that illustrates among Figure 31.And during function in the 3G of endoscope is located in change, the holding wire 73b in the pipe unit 19 can not do change ground and directly use.That is, holding wire 73b forms the shared signal transmission unit of the various signals of common transmission.

In addition, as shown in figure 30, Magnet M1 and M2 are with transformator T2 disposed adjacent and make different magnetic poles toward each other, when comprehensive adapter portion 52 is connected with adapter portion 51, coil C1a and C1b, coil C2a and C2b are installed into approaching mutually and state opposite each other, and can freely load and unload.In addition, also can replace Magnet M1 and M2, chimeric localized jog mutually is set in two adapter portions 51,52.

Like this, one of feature of the 3G of endoscope of present embodiment is that endoscope main body 18 can be connected with pipe unit 19 in the contactless mode with freely loading and unloading.

Figure 31 represent to be configured in the operating portion 22 of endoscope main body 18 control circuit 57 grades and with the structure of the electrical system of the main composition key element of the each several part that is configured in insertion section 21.Structure among Figure 31 illustrates in Figure 11, so omit most explanation.

In addition, condition managing portion 81 (in the present embodiment) be connected with Transmit-Receive Unit 83 that AWS unit 4 carries out wired mode of wire communication that (this Transmit-Receive Unit 83 is corresponding to Fig. 2 B, so each element is given the symbol of Fig. 2 B.But electric connector 15 is contactless transport unit 72a, 72b in operating portion 22, becomes electric connector 74 in the end of pipe unit 19).

And condition managing portion 81 drives the management of angle with actuator (EPAM) 27a by the angle control unit 91 control actuator drive divisions 92 as bending section shape variable control unit by this actuator drive division 92.In addition, this angle is detected by encoder 27c with the driving amount of actuator (EPAM) 27a, and controls and make the driving amount consistent with the value of corresponding indicatrix.And, as angle control unit 91 control of bending section shape variable control unit angle actuator 27a, by it being stretched change the shape of bending section 27 as bending section shape variable mechanism.

And condition managing portion 81 is undertaken driving the management of variable hardness with actuator 54 by this actuator drive division 94 by variable hardness control part 93 control actuator drive divisions 94.In addition, this variable hardness is detected by encoder 54c with the driving amount of actuator 54, and controls the value that makes this driving amount become corresponding indicatrix.

And, and from the corresponding operation signal of operational ton that is located at trace ball 69 grades on the operating portion 22, input to this condition managing portion 81 by trace ball displacement detecting portion 95.

And the switches such as ON of the taps of supplying gas, suction shaft, endoscope's switch are pressed operation, press test section 96 by switch and detect, and the information of this detection is transfused to condition managing portion 81.EPAM has according to because the distortion that external force forms produces the characteristic of electromotive force, also can be used as encoder to the EPAM of the opposition side that is configured in the EPAM that will drive.

And control circuit 57 has power supply and transmits acceptance division 97 and power supply generating unit 98.Specifically power supply transmits acceptance division 97 is contactless transport unit 72a in operating portion 22.And the alternating current power supply that sends power supply generating unit 98 to is converted into dc source in this power supply generating unit 98.This power supply generating unit 98 is equivalent to the power circuit 78 among Figure 30.The dc source that generates by power supply generating unit 98 provides it to move needed electric power to the each several part of control circuit 57 inside.

Figure 32 represents the internal structure of the Transmit-Receive Unit shown in Figure 6 101 and the graphics processing unit 116 of endoscopic system control device 5.

This endoscopic system control device 5 has for example Transmit-Receive Unit 101 of wireless mode.Be taken into by antenna part 13 from the data of picture signal of AWS unit 4 wireless transmissions etc., and send to data reception portion 14, after amplification, carry out demodulation process.The action of this data reception portion 14 is by 11 controls of data communication control part, and the data that received are stored in the buffer storage 102 successively.

The view data of this buffer storage 102 is sent to the image processing part 103 of the processing of carrying out view data.In this image processing part 103, except view data, also be transfused to the Word message that from the key by keyboard 104 input produces the literal generating unit 105 of Word message from buffer storage 102, can be on view data superposition Word message etc.

Image processing part 103 sends to image storage control part 106 to view data of being imported etc., by this image storage control part 106 view data etc. is stored in the image storage 107 temporarily, is recorded in simultaneously in the recording medium 158.

And, image storage control part 106 is read the view data that temporarily is stored in the image storage 107, and sending to digital encoder 108, digital encoder 108 is exported to D/A converter (abbreviating DAC as) 109 to the image format of coded image data for regulation.This DAC 109 is converted to mimic signal of video signal to the signal of video signal of numeral.This mimic signal of video signal is exported to from the image outfan through line driver 110 and is observed monitor 6, is observing the image that shows corresponding signal of video signal on the monitor 6.

And the view data that temporarily is stored in the image storage 107 also is read out and is input in the DV data generating unit 111, generates the DV data by this DV data generating unit 111, from DV data output end output DV data.

And, in this endoscopic system control device 5, be provided with image input and DV data input pin, be converted into the signal of video signal of digital signal through line receiver unit 112 ', ADC 113 ' from the signal of video signal of image input terminal input, by demodulation, and input to image storage control part 106 by digital decoder 114 '.

And the DV data that are input to the DV data input pin extract (decoding) view data by view data extracting part 115, and input to image storage control part 106.

Image storage control part 106 also is stored in the signal of video signal (view data) from image input or the input of DV data input pin in the image storage 107 temporarily, or is recorded in the recording medium 158, or exports to observation monitor 6 from the image outfan.

In the present embodiment, the 5 wireless inputs of 4 side direction endoscopic system control device are by the view data of CCD 25 shootings of endoscope 3 and the UPD view data that is generated by UPD unit 76 from the AWS unit, and endoscopic system control device 5 is converted to the signal of video signal of regulation to these view data and exports to and observe monitor 6.In addition, endoscopic system control device 5 also can receive UPD coil position data and replace the UPD view data, and generates the UPD view data in image processing part 103.

Figure 33 represents the internal structure of AWS unit 4.

Be input to the operating data of the view data of endoscope-use electric connector 43 and switch etc. from the control circuit 57 of the 3G of endoscope, be exported to the data communication control part 11 of Transmit-Receive Unit 77, and with the antenna part 13 that sends to endoscopic system control device 5 from the UPD view data of UPD unit 76 from antenna part 13.

On the other hand, be arranged on the AWS relevant informations such as operation of supply gas taps and suction shaft etc. in the operating portion 22 of the 3G of endoscope, also be sent to the water management portion 122 of supplying gas, this water management portion 122 of supplying gas is according to operated information, the action of control pump 65 and electromagnetic valve unit 124.On electromagnetic valve unit 124, connecting supply gas flow pipe road 60b, 61b by AWS adapter 42.And, on electromagnetic valve unit 124 and AWS adapter 42, be connected and sending water tank 48, and on AWS adapter 42, connecting suction box 49.

And AWS unit 4 is provided source power supply, and this source power supply sends to power supply by insulating transformer 126 and transmits efferent 127.This power supply transmits 127 of efferents and the insulating alternating current power supply of source power supply offer the endoscope 3 that is connected with this electric connector 43 from electric connector 43 power line 73a.

Above-mentioned power supply transmits efferent 127 and transmits the output control that control part 128 carries out the electric power transmission by the electric power that is connected with data communication control part 11.

In having the endoscopic system 1B of present embodiment, after energized, on observation monitor 6, show for example various images shown in Figure 12 A.

Menu as being presented on the Rm of menu viewing area shows the main menu shown in Figure 12 B.In this main menu, show following project, endoscope's switch, angle sensitivity, insertion section hardness, zoom, image are emphasized, gas pushing quantity, return the project of returning of the operation indication of last menu screen, and the end project that finishes the operation indication of menu.

And, when the operation of user by trace ball 69 grades moves choice box to choose the project of endoscope's switch, the frame of the project of this endoscope's switch is shown by chap, represent selecteed demonstration, determine operation by pressing trace ball 69 in addition, shown in Figure 12 C, can select to set the function of distributing to five switch SW 1～SW5 of endoscope.

Below, the effect of the endoscopic system 1B of this structure is described.

As implementing endoscopic early-stage preparations, at first the comprehensive adapter portion 52 of disposable pipe unit 19 sides is connected in the adapter portion 51 of operating portion 22 of endoscope main body 18.During this situation, the transformator T1, the T2 that form contactless transport unit 72a, 72b are connected to become the state of mutually insulated and waterproof by electromagnetism.Connect by this, finish the preparation of the 3G of endoscope.

Then, endoscope's adapter 41 of pipe unit 19 is connected on the adapter 43 of AWS unit 4.This part is for singly touching connection, and various pipelines, power line, holding wire, light connect to be finished by disposable connecting moves.Do not need the endoscopic system as in the past, carry out being connected of the connection of various pipelines and electric connector etc. at every turn respectively.

And the user is connected AWS unit 4 with UPD coil unit 8, endoscopic system control device 5 is connected observes on the monitor 6.And, as required, endoscopic system control device 5 is connected with image recording unit 7 grades, finish the installation of endoscopic system 1B thus.

Then, connect the power supply of AWS unit 4 and endoscopic system control device 5.So the each several parts in the AWS unit 4 are in operating state, power subsystem 75 is in the state that electric power can be provided to endoscope's 3 sides by power line 73a etc.

Action when the AWS unit 4 of this moment and endoscope's 3 startings being described with reference to Figure 34 and Figure 35.

Electric power in the power subsystem 75 of AWS unit 4 shown in Figure 33 transmit control part 128 after the beginning start up process, and as shown in figure 34, in first step S1, the state that power supply is transmitted efferent 127 is made as and stops electric power and supply with, and promptly electric power is supplied with and is made as OFF.

Then, in step S2, watchdog timer is made as ON, then according to shown in the step S3, the state that power supply is transmitted efferent 127 is made as the electric power supply condition, promptly electric power is supplied with and is made as ON.Be in the electric power supply condition by making power supply transmit efferent 127, this electric power provides alternating electromotive force through the power supply generating unit 98 of contactless transport unit 72a in the control circuit 57 of operating portion 22 again by the power line 73a in the pipe unit 19.

Then, shown in step S4, electric power transmits control part 128 and is in by the starting condition of information of the wait of the holding wire 73b in the pipe unit 19 reception from endoscope's 3 sides.And electric power transmits control part 128 when not receiving starting message, shown in step S5, carries out watchdog timer whether to the judgement of time, the time not then, return step S4, when time is up, return first step S1.

On the other hand, in step S4, when having received starting message before the time arrives, electric power transmits control part 128 according to shown in the step S6, and the time test of watchdog timer is made as OFF.And shown in step S7, distribution continues message, finishes this start up process.

On the other hand, in the control circuit 57 of endoscope 3,, provide the needed electric power of action that carries out in the control circuit 57 by providing alternating electromotive force to power supply generating unit 98, and the beginning start up process.And condition managing portion 81 shown in Figure 31 waits for that the supply voltage of power supply generating unit 98 becomes stable in first step S11.

And after the supply voltage change was stable, in the step S12 of back, condition managing portion 81 carried out the system initialization of the each several part of control circuit 57.Behind this system initialization, shown in step S13, condition managing portion 81 sends to electric power to starting message through the holding wire 73b in the pipe unit 19 again by Transmit-Receive Unit 83 and transmits control part 128.

After sending this starting message, shown in step S14, condition managing portion 81 is in wait and transmits control part 128 side joints from electric power and receive and continue condition of information, receiving when continuing message, finishes start up process.On the other hand, not receiving when continuing message, shown in step S15, condition managing portion 81 returns step S13 when not reaching the condition (for example condition of predefined number of retries) of retry end, once more distribution starting message, when reaching the retry termination condition, mistake finishes.

After above-mentioned start up process normal termination, begin based on the shooting of CCD 25, the user can by the operating unit of operating portion 22 supply gas water, attraction, angle operation, change hardness operation etc.

Use relevant representational processing such as Figure 36～Figure 38 explanation and these various operations to move.Figure 36 represent to make a video recording movement content of control treatment.

As shown in figure 36, after beginning was handled in shooting, shown in step S31, the 3G of endoscope carried out obtaining of camera data.Specifically, under the management (control) of condition managing portion 81, LED 56 is luminous, and the action of CCD drive division 86 beginning driven CCD 25, and the image pickup signal of being made a video recording by CCD 25 is converted into digital signal (camera data) by ADC 87.This camera data (view data) is stored in the image storage 88 successively, carries out obtaining of camera data.

The view data of being obtained is sent successively according to shown in the step S32.The view data of reading from image storage 88, by from Transmit-Receive Unit 83 wired AWS unit 4 that send to, Transmit-Receive Unit 77 from this AWS unit 4 is wirelessly transmitted to endoscopic system control device 5 sides again, inside at endoscopic system control device 5 is converted into signal of video signal, and is presented on the observation monitor 6.

And the camera data of ADC 87 is transfused to lightness test section 89.Shown in step S33, the meansigma methods of the brightness data that this lightness test section 89 calculates camera datas between when appropriate etc., the lightness of carrying out camera data detects.

Whether the detection data of this lightness test section 89 for example are imported in the condition managing portion 81, be the judgement (step S34) of specified lightness.And, when being specified lightness, finishing shooting and handle, the shooting that changes the back over to is handled.

On the other hand, in step S34, condition managing portion 81 shown in step S35, sends index signal (control signal) that illumination light adjust to lighting control section 84 being judged as when not being specified lightness, the throw light on adjustment of light quantity of lighting control section 84.For example, lighting control section 84 is by increasing or reduce to make the luminous drive current of LED 56 etc., the adjustment of the light quantity of throwing light on.Lighting control section 84 returns to condition managing portion 81 to this adjustment result.

Therefore, condition managing portion 81 is according to the information of adjusting the result, carries out the whether judgement (step S36) in the lightness adjusting range that can realize by lighting control section 84.And, in the time can carrying out adjusting, do not carry out the processing of step S37, and finish this shooting processing controls based on the lightness of lighting control section 84.

On the other hand, during based on the lightness adjusting range of lighting control section 84, shown in step S37, condition managing portion 81 by adjusting the gain of CCD 25, carries out the lightness adjustment of camera data to CCD drive division 86 output CCD gain adjust signals in skew.And, finish this shooting and handle.

Below, the water treatment of supplying gas of Figure 37 is described.As shown in figure 29, the both sides of the trace ball 69 of common operating portion 22 are assigned with the function of supply gas taps and suction shaft.

After the processing of the water of supplying gas began, shown in the step S38 of Figure 37, the condition managing portion 81 of control circuit 57 obtained the status data of the taps of supplying gas.

The operation of taps of supplying gas is pressed test section 96 by switch shown in Figure 31, detects its operation, and imports the information of this testing result, and condition managing portion 81 obtains the status data of the taps of supplying gas thus.

And shown in step S39, the change of state of the taps of supplying gas is judged by condition managing portion 81.In step S39, when the state that is judged as the taps of supplying gas changes, shown in step S40, condition managing portion 81 is by Transmit-Receive Unit 83, and a water management data of supplying gas that the indication of the taps of operating with the user of supplying gas is corresponding sends to AWS unit 4 sides.

The water management portion 122 of supplying gas of AWS unit 4 carries out the control action of pump 65 and electromagnetic valve unit 124 according to these water management data of supplying gas.And, finish this water treatment action of supplying gas.On the other hand, in step S32, when the state that is judged as the taps of supplying gas does not change, do not carry out the processing of step S40, and finish this water treatment action of supplying gas.In addition, attract processing roughly the same, so omit its explanation with the water treatment of supplying gas.Below, the processing of angle operation control is described with reference to Figure 38.

Control treatment when leading section 24 setting that the flow chart of Figure 38 is shown in insertion section 21 is carried out the touch sensor of contact detection.

When touch sensor is not set, carry out processing shown in Figure 13.According to shown in Figure 26 when being provided with touch sensor 124, only in steps the later processing of the servo processing of S46 with shown in Figure 13 different.Therefore, the later action of description of step S46.

In the present embodiment, condition managing portion 81 is when the angle operation control of carrying out angle is operated, in the process that begins as shown in figure 13 based on the servo processing of step S46, condition managing portion 81 is according to shown in the step S47b, be taken into the testing result of touch sensor by the touch sensor test section, carry out whether leading section 24 contacts endoceliac inwall etc. with the pressure more than the appropriateness value detection (judgement) thus.

And, condition managing portion 81 is being judged as when not contacting with the pressure more than the appropriateness value, change the step S47 of back over to, detected value according to encoder judges whether to arrive the target location corresponding with the angle command value, when not arriving the target location, return step S46, when arriving the target location, finish control treatment on the contrary to this angle operation.

On the other hand, in step S47b, condition managing portion 81 does not carry out the processing of the step S47 of back being judged as when contacting with the pressure more than the appropriateness value, finishes the control treatment to this angle operation.

Like this, under the situation of carrying out the angle operation, condition managing portion 81 makes the control treatment of bending section 27 bendings, up to arriving and the corresponding target location of command value of operating based on this angle, but when leading section 24 contacts endoceliac inwall etc. with the pressure more than the value that sets, suppress to continue crooked control.

Therefore, the user inserts in the pipeline of bending when inserting insertion section 21 in the body cavity, under the situation of carrying out the angle operation, can avoid with the contact of the pressure more than the value that sets, thus the misery that brings the patient can further be alleviated, and can insert smoothly.

In addition, also may be controlled to the detection output according to touch sensor, change is based on the hardness of variable hardness with actuator.

And, the control treatment of also carrying out variable hardness operation shown in Figure 180 in the present embodiment.And UPD unit 76 detects the position of the UPD coil 58 of 21 inside, insertion section that are configured in the 3G of endoscope by UPD coil unit 8, calculates the inserted-shape of insertion section 21, shows the insertion section shape in the display frame of observing monitor 6, is the UPD image.

Figure 39 (A)～(D) represents right side menu screen and the corresponding state of left side UPD image respectively, when the user has selected to set the hardness of variable hardness actuator 54A, 54B according to menu screen, utilize the color corresponding with the hardness that sets, show the variable hardness actuator 54A that is located at many places (is two places) in concrete example, the hardness part of 54B, thus the state of the hardness of this part of the easy identification of expression.

The show state of Figure 39 (A) expression main menu, the user selects the insertion section variable hardness under this show state.In this case, the UPD image before the insertion section variable hardness is selected, so variable hardness with interval A, the B of actuator 54A, 54B be shown as with this interval A, B beyond the as broad as long state of part.

Shown in Figure 39 (B), after having selected the insertion section variable hardness, the interval range that the variable hardness at two places is shown the hardness that to set with interval A, the B of actuator 54A, 54B, in this interval A, B,, utilize circle to represent current hardness position respectively for softer setting state is the hardness setting picture of any hardness the harder state of hardness from hardness.During this situation, utilize different demonstration colors to show respectively to hard from soft.

Therefore, corresponding UPD image is the corresponding Show Color of having set with actuator with variable hardness of hardness, and variable hardness is colored the demonstration with the part of actuator.Under the state of Figure 39 (B), be set between stiffness region near softish state, the variable hardness in the UPD image of this moment partly utilizes yellow the demonstration with interval A, the B of actuator 54A and 54B.

Figure 39 (C) is illustrated under the state of Figure 39 (B), and during near in the middle of for example variable hardness being set at the hardness of the interval B of actuator 54B hardness, the variable hardness in the UPD image of this moment utilizes green the demonstration with the interval B of actuator 54B.

And, Figure 39 (D) is illustrated under the state of Figure 39 (B) or Figure 39 (C), when for example variable hardness being set at the hardness of hard (hard value) with the hardness of the interval B of actuator 54B, the variable hardness in the UPD image of this moment utilizes blue demonstration with the interval B of actuator 54B.

By such demonstration, the user can freely set the hardness of variable hardness with actuator 54A, 54B, and the variable hardness that sets shows with the demonstration color that interval A, the B of actuator 54A, 54B partly utilizes correspondence to set hardness, so the user can discern the hardness of variable hardness with actuator 54A, 54B easily.

And, utilize UPD coil 58 to show the shape of insertion sections 21, so operative doctor carries out the insertion operation of insertion section 21 etc. easily.

Carry out the 3G of endoscope of present embodiment of the endoscopic system 1B of this action according to formation, can in operating portion 22, be separated into endoscope main body 18 and pipe unit 19 to the 3G of this endoscope, by making pipe unit 19 sides is disposable, can carry out cleaning, sterilization of endoscope main body 18 etc. easily.

That is, therefore the flow pipe road 60a and attract pipeline 61a to be shorter than the example in the past that the general wire-shaped corresponding with pipe unit 19 becomes one out and away of supplying gas in the endoscope main body 18 also cleans easily and sterilizes.

And, during this situation, in the example in the past that the general wire-shaped corresponding with pipe unit 19 becomes one, general electric wire is provided with and bending continuously from operating portion 22, but in the present embodiment, form slight curving pipeline connector 51a in the adapter portion 51 of operating portion 22, other parts form supply gas the flow pipe road 60a and the attraction pipeline 61a of roughly linearity extension, so can carry out cleaning and processing such as sterilization and drying in the pipeline at short notice easily.Therefore, can be set at short notice and can carry out endoscopic state.

And, in the present embodiment, make endoscope main body 18 form the structure that can freely be connected, so even endoscope main body 18 is cleaned repeatedly, sterilized in contactless mode with pipe unit 19 with loading and unloading, contact poor flows in the time of also can not producing contact etc. can improve reliability.

And, in the present embodiment, adopt following structure: the angle operating unit is set, the water operating unit of supplying gas, attracts operating unit, variable hardness unit, keep a plurality of operating units such as operating unit, release operation unit, and utilize the control circuits 57 intensive (concentrating) that are located in the operating portion 22 to control these operating units on operating portion 22.And the luminescence unit and the image unit of making a video recording of illumination light that usefulness is made a video recording in 57 pairs of ejaculations of this control circuit also carries out intensive control with the aforesaid operations unit.

Like this, in the present embodiment, utilization is located at control circuit 57 intensive controls in the operating portion 22 and is located at various functions in the endoscope main body 18, and also intensive control is at the various functions of the operating unit that is connected AWS unit 4 on the endoscope main body 18 and the wireless endoscopic system control device 5 that carries out information transmit-receive, so user's (specifically being operative doctor) can utilize the various operating units that are located on the operating portion 22 freely to carry out various operations, can significantly improve operability.

Especially in the present embodiment, by the control circuit 57 that carries out intensive control is set in operating portion 22, the view data that obtains by CCD 25 shooting with based on the various signal packings of operating unit etc., utilize a pair of holding wire 71b to transmit jointly, (can be reduced to two of two of holding wires that transmit signal and the power line that transmit electric power specifically so can cut down the quantity of electric signal line from this control circuit 57.And if shared each side in holding wire and the power line, integral body can be implemented as three).

Therefore, also can cut down needs to insert the quantity of leading to the holding wire in the pipe unit 19 that connects on the connecting portion of operating portion 22, and it is disposable that pipe unit 19 sides are realized.

And, insert the quantity lead to the holding wire in the pipe unit 19 by cutting down, can make pipe unit 19 thin footpathizations and easy bending easily, can improve the operability of user when operating.

In addition, wait each above-mentioned embodiment the embodiment that carries out formations such as local combination to wait and also belong to the present invention.

Utilizability on the industry

When in the insertion section of endoscope insertion body cavity, carrying out endoscopy, can utilize configuration Carry out bending indication behaviour at the maneuverable locational crooked indication operating unit of the hand of controlling Do, also can carry out other indications by the operation of this bending indication operating unit simultaneously and operate and establish The change of definite value etc.

Claims (25)

1. an endoscope is characterized in that, this endoscope has:

Be provided with the insertion section of the bending section of free bend;

Be located at the base end side of described insertion section, the handle part of controlling by the operator;

Comprising its periphery of described handle part, the indication operating unit of the function that has both the bending indication operation of carrying out described bending section and the function of other the indication operations different with described crooked indication operation; And

The curved shape display processing unit, it is used near the curved shape display process of the curved shape the described bending section of stereo display when having been undertaken the bending of described bending section indication operation by described indication operating unit,

Described curved shape display processing unit has:

Displacement detecting unit, its detection make the bending of described bending section the bending above-below direction of actuator and the displacement and the described crooked above-below direction of actuator and the total displacement of left and right directions used of left and right directions;

The bending radius detecting unit, it is according to the relevant information of described bending section, the bending radius when detecting the curved shape that makes bending section and being approximately circular arc;

Angle composition detection unit, it detects the angle composition that is equivalent to the displacement composition of described left and right directions in the described total displacement;

Describe processing unit, its be used to show the described bending section corresponding with described total displacement curved shape describe handle; And

Processing unit is described in rotation, and it makes by the described model of describing of describing to handle the described bending section that generates and rotates describing that described angle becomes to assign to show and handle.

2. endoscope according to claim 1 is characterized in that, described indication operating unit has: indicate operating unit for the bending indication operation of carrying out described bending section at the direction of different a plurality of directions; And the switching indicating member that is used for the function switching of described bending indication operation and described other indication operations.

3. endoscope according to claim 1 is characterized in that, described indication operating unit has: the ball portion that is being supported freely to rotate; And switch portion, it is used for the push operation according to this ball portion, carries out the bending indication operation of described bending section and the function of described other indication operations and switches.

4. endoscope according to claim 1 is characterized in that, described indication operating unit uses the trace ball with the ball portion that is being supported freely to rotate to constitute.

5. endoscope according to claim 1 is characterized in that, described indication operating unit is located at the cardinal extremity face of the roughly barrel that forms described handle part.

6. endoscope according to claim 1 is characterized in that, with described indication operating unit disposed adjacent at least one switch is arranged.

7. endoscope according to claim 1 is characterized in that this endoscope has controlled processing unit, and it carries out indicating the control treatment of operation according to the indication operation of described indication operating unit.

8. endoscope according to claim 3 is characterized in that, this endoscope has two direction of rotation detecting units of the direction of rotation that is used to detect described ball portion.

9. endoscope according to claim 1 is characterized in that, described indication operating unit is provided as the roughly symmetrical shape of datum line of extending with respect to the length direction along described handle part.

10. endoscope according to claim 9 is characterized in that, its periphery that comprises described handle part roughly left and right symmetrically dispose a plurality of indication operating units.

11. endoscope according to claim 5 is characterized in that, the direction of principal axis that described cardinal extremity face is described relatively handle part is the inclined plane at obtuse angle.

12. endoscope according to claim 11 is characterized in that, described crooked indication operating unit is located at and controls on the described inclined plane of the approaching position of the thumb of hands of described handle part.

13. endoscope according to claim 11 is characterized in that, described inclined plane is in the direction of principal axis of described relatively handle part is 120 °～150 ° angular range.

14. endoscope according to claim 2 is characterized in that, described direction indication operating unit is formed by the operation keyboard with trace ball or a plurality of switches.

15. endoscope according to claim 1 is characterized in that, this endoscope has connecting portion, and it is located on the described handle part or its periphery, can freely connect the slotting pipe unit that is connected with at least one pipeline with loading and unloading.

16. endoscope according to claim 3, it is characterized in that, this endoscope has controlled processing unit, this controlled processing unit is by the operation of described switch portion, the indication operation signal that generates during at described ball portion rotary manipulation is set the control treatment for the selection indication operation signal of the function that is used for described other indication operations of selection operation.

17. endoscope according to claim 1 is characterized in that, this endoscope has the indication operation detection unit of the operation that detects described indication operating unit.

18. endoscope according to claim 2 is characterized in that, this endoscope has the handover operation detecting unit of the handover operation that detects described switching indicating member.

19. endoscope according to claim 18, it is characterized in that, this endoscope has display processing unit, and this display processing unit carries out showing the information processing of selecting by described direction indication operating unit when detecting handover operation by described handover operation detecting unit.

20. endoscope according to claim 19 is characterized in that, the information processing that described demonstration is selected comprises the processing that shows the cursor that moves by described direction indication operating unit.

21. endoscope according to claim 19 is characterized in that, the information processing that described demonstration is selected comprises the function of operating other different indication operations with the described crooked indication of the operation of distributing to described direction indication operating unit.

22. endoscope according to claim 21, it is characterized in that, periphery at described direction indication operating unit is provided with switch, and this switch is used to determine the operated allocated of described direction indication operating unit is given the decision operation of the function of described other indication operations.

23. endoscope according to claim 1 is characterized in that,

Described bending section has a plurality of by applying the bending section shape variable mechanism that voltage makes the change of shape of described bending section,

Has bending section shape variable operating unit at its periphery that comprises described handle part, this bending section shape variable operating unit makes the indication of the change of shape of described bending section to controlling the bending section shape variable control unit that described bending section shape variable mechanism makes the change of shape of bending section.

24. endoscope according to claim 23 is characterized in that, is provided with switch at its periphery that comprises described handle part, this switch makes the operator distribute the function of described bending section shape variable operating unit.

25. endoscope according to claim 23 is characterized in that, described bending section shape variable mechanism is formed by the electroconductive polymer artificial-muscle.

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