JP2003038422A - Electronic endoscope system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent breakage of an angle mechanism of a scope in a system using a combination of two electronic endoscopes. SOLUTION: An image signal processor 120 to which the scope 110 is connected and an image signal processor 220 to which the scope 210 is connected are connected to each other by serial communication cables 300, 301, 302. According to the data on the classification of the scope 110 read from an EEPROM 190 and the data on the classification of the scope 210 transmitted from the image signal processor 220, a limit value of a bending angle of a bent part at the tip of the insert part 110A of the scope 110 is obtained from a database. The bending angle of the bent part is computed from the rotating direction and rotating amount of each angle knob of an angle operating unit 150, and compared with the limit value. When the bending angle exceeds the limit value, a warning message is displayed on a TV monitor 400.

Description

Detailed Description of the Invention

[0001]

TECHNICAL FIELD The present invention relates to an electronic endoscope,
More specifically, it relates to a system for observing the deepest part in the body by combining two electronic endoscopes.

[0002]

2. Description of the Related Art Conventionally, various types of electronic endoscopes having different diameters of the insertion portion of the scope have been developed, and in the medical field, the insertion portion according to the shape of the organ to be observed is developed. An electronic endoscope provided is used as appropriate. The electronic endoscope has an image processing for performing light amount adjustment of illumination light radiated forward from the tip of the insertion portion, and a predetermined processing performed on an image signal obtained from an image sensor provided at the tip of the insertion portion. The processor is connected. Further, the image processor includes a display monitor for reproducing the image signal and a VCR (Video Cassette Recorder) for recording the image signal.
r) is connected.

The operating portion of the scope is provided with an angle operating unit including a pair of angle knobs for controlling the orientation of the tip of the insertion portion. An angle mechanism that bends the bending portion in a predetermined direction is configured by the operation wire that extends through the angle operation unit and the insertion portion to the bending portion at the tip of the insertion portion and the bending tube of the bending portion. That is, operating one of the angle knobs controls the bending angle of the bending portion in the up-down direction of the tip of the insertion portion, and operating the other angle knob causes a left-right direction orthogonal to the up-down direction of the bending portion of the insertion portion tip. The bending angle of the bending portion at is controlled. Therefore, by properly operating this set of angle knobs, the distal end of the insertion portion of the scope can be displaced in the direction and angle desired by the operator. By operating these angle knobs while the insertion portion of the scope is inserted into the patient's body, a wide range of observation inside the body becomes possible.

On the other hand, in recent years, the following procedure has been performed in which two electronic endoscopes having insertion portions having different diameters are used in combination. Prepare a scope with a relatively large diameter insertion portion (hereinafter, large diameter scope) and a scope with a smaller diameter insertion portion than the inner diameter of the forceps channel of the large diameter scope (hereinafter, small diameter scope). Insert the insertion part of the thin scope through the forceps channel of the scope. Then, the deepest part of the internal organ is observed by exposing the tip of the insertion part of the small-diameter scope from the opening of the forceps channel at the tip of the insertion part of the large-diameter scope.
Further, a biopsy forceps is inserted through the forceps channel of the thin scope and exposed from the distal end of the insertion of the narrow scope, so that the lesion at the deepest part is subjected to a predetermined treatment. As described above, according to the system in which the two electronic endoscopes are used in combination, it is possible to observe the deepest part of the internal organ and perform treatment such as excision of the lesion.

Even in such a system, in order to observe a wide range in the body, the above-mentioned angle knob of the large-diameter scope is inserted with the insertion portion of the small-diameter scope being inserted into the forceps channel of the large-diameter scope. By operating, the direction and angle of the tip of the insertion part are controlled.

[0006]

However, originally, the forceps channel of the scope is for inserting a treatment tool or the like, and it has not been supposed to insert a member having higher rigidity than the treatment tool. Therefore, when changing the bending angle of the tip of the insertion part of the large-diameter scope with the insertion part of the small-diameter scope inserted through the forceps channel of the large-diameter scope, depending on the bending angle of the tip of the insertion part of the large-diameter scope, The diameter scope may break the angle mechanism that controls the bending angle of the bending portion at the tip of the insertion portion of the large diameter scope.

The extent to which the tip of the insertion portion of the large-diameter scope with the small-diameter scope inserted can be bent without breaking the angle mechanism of the large-diameter scope must depend on the experience of the operator. Absent. Therefore, when operated by an inexperienced operator, the angle mechanism of the large-diameter scope is more likely to be destroyed. Further, if the large-diameter scope is destroyed by the small-diameter scope, the examination must be interrupted midway, which imposes a heavy burden on the patient.

The present invention solves the above problems and, in a system using a combination of two electronic endoscopes, prevents the destruction of the large-diameter scope due to the bending operation of the distal end of the insertion portion of the large-diameter scope. With the goal.

[0009]

An electronic endoscope system according to the present invention comprises a first bending portion angle control means for controlling a bending angle of a bending portion of a distal end of an insertion portion to be inserted into a patient's body. A first electronic endoscope having a scope and a first image signal processing unit to which the first scope is connected, a second scope, and a second image to which the second scope is connected. A second electronic endoscope having a signal processing unit and data transfer means for transmitting and receiving data between the first and second image signal processing units are provided, and are provided in the insertion portion of the first scope. An electronic endoscope for observing the insertion portion of the second scope through the forceps channel and exposing the insertion portion of the second scope through the opening of the forceps channel at the tip of the insertion portion of the first scope. A system The first scope has a bending angle detecting means for detecting a bending angle of the bending portion of the first scope, and the first electronic endoscope image signal processing unit includes the first scope type and the second scope. The bending angle information storage unit that stores the limit value of the bending angle of the bending portion of the first scope in the observation state, which is defined based on the combination of the scope types, and the bending portion that is detected by the bending angle detecting unit. If the bending angle comparison means for comparing the bending angle with the limit value stored in the angle information storage means and the comparison result that the bending angle has reached the limit value by the bending angle comparison means are notified. And a notification means for

Preferably, the first scope comprises a first storage means for storing various information regarding the type of the scope, and the second scope includes a second storing means for storing various information about the type of the scope. And storing various information relating to the type of the second scope read from the second storage means in the second image signal processing unit, by the data transfer means to the first image signal processing unit, The bending angle comparison means stores bending angle information based on various information regarding the type of the first scope read from the first storage means and various information regarding the type of the second scope transmitted by the data transfer means. Get the limit value from the means.

Preferably, the bending angle detecting means includes first and second directions along the first linear axis of the bending portion of the first scope, and a second linear axis intersecting the first linear axis. Bending angles in the third and fourth directions along the are detected, and the bending angle information storage means stores limit values for the first to fourth directions.

Alternatively, the notifying means is connected to the first image signal processing unit, and the monitor for reproducing the images photographed by the first and second scopes has a bending angle of the bending portion as a limit value. Display a message indicating that

As described above, according to the present invention, in the electronic endoscope system in which the forceps channel of the first scope is inserted into the insertion portion of the second scope for observation, the tip of the insertion portion of the first scope is used. The bending angle of the curved part of is detected,
It is compared with the limit value of the bending angle of the bending portion of the tip of the insertion portion of the first scope, which is defined based on the combination of the type of the first scope and the type of the second scope. as a result,
When the detected bending angle has reached the limit value, the fact is notified, and the operator is prevented from further bending the bending portion at the distal end of the insertion portion of the first scope. Therefore, damage to the angle mechanism of the first scope is prevented.

It is possible to notify that the bending angle of the bending portion at the distal end of the insertion portion of the first scope has reached a limit value by displaying a message on a monitor for reproducing an image taken by the scope. For example, it is economical because there is no need to add a new member as a notification means.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram of an electronic endoscope system to which an embodiment according to the present invention is applied. The electronic endoscope system according to the present embodiment is the first electronic endoscope 10.
0 and a second electronic endoscope 200. The first electronic endoscope 100 includes a first scope 110 and an image signal processor 120. The first scope 110 has an insertion section 110A, which is a flexible conduit (flexible tube), and an operation section 110B, and is detachably connected to the image signal processor 120. An image sensor 111 is provided on the distal end side of the insertion portion 110A of the first scope 110. A light guide 112 is inserted into the first scope 110, and its emission end extends to the tip of the insertion section 110A.

The system controller 121 of the image signal processor 120 is a microcomputer that controls the first electronic endoscope 100 as a whole. That is, the system controller 121 is a central processing unit (CPU),
It is composed of a program for executing various routines, a read-only memory (ROM) for storing constants and the like, and a writable / readable memory (RAM) for temporarily storing data and the like.

When the first scope 110 is connected to the image signal processor 120, the image sensor 111 is a CCD.
It is connected to the video signal processing circuit 122 of the image signal processor 120 via a driver (not shown). Also,
The incident end of the light guide 112 is optically connected to a white light source 123 such as a xenon lamp or a halogen lamp provided in the image signal processor 120. The white light source 123 is driven by the current supplied from the power supply circuit 124. A condenser lens 125, a rotary RGB color filter 126, and a diaphragm unit 127 are interposed between the white light source 123 and the light guide 112. The light emitted from the white light source 123 is the condenser lens 125.
Through the rotary RGB color filter 126. The emitted light that has passed through the rotary RGB color filter 126 is appropriately adjusted in light amount by the diaphragm unit 127 and is guided to the incident end of the light guide 112.

Further, an angle operation unit 150 for controlling the bending angle of the distal end of the insertion section 110A, which is provided in the operation section 110B of the scope 110, and the scope 110.
An EEPROM 190 provided inside is connected to the system controller 121. Angle operation unit 15
0 and the EEPROM 190 will be described later.

The rotary RGB color filter 126 is composed of a disk element and is provided with sector-shaped red filters, green filters and blue filters, respectively. The respective color filters are arranged along the circumferential direction of the disc element so that the centers in the radial direction are at an angular interval of 120 °, and the region between the filters adjacent to each other is the light shielding region. The rotary RGB color filter 126 is rotated by a drive motor (not shown) such as a servo motor or a stepping motor. The rotation frequency of the rotary RGB color filter 126 is determined according to the TV image reproduction system adopted in the first electronic endoscope 100.

As described above, the light emitted from the white light source 123 is guided to the incident end of the light guide 112 via the rotary RGB color filter 126. Therefore, the rotary RG
While the B color filter 126 makes one rotation, the red light, the green light, and the blue light are sequentially emitted from the end surface of the emission end of the light guide 112 for a predetermined time after a certain light shielding time. As a result, the object to be observed is sequentially illuminated by the red light, the green light, and the blue light via the light distribution optical system 113, and the optically observed object image of each color is an objective lens group (not shown) of the image sensor 111. The images are sequentially formed on the light receiving surface of the CCD image sensor (not shown). Image sensor 111
Photoelectrically converts an optical observation object image of each color imaged on the light receiving surface of the CCD image sensor into an analog pixel signal for one frame, and the analog pixel signal for one frame of each color corresponds to the illumination time of each color. It is sequentially read from the image sensor 111 during the next light-shielding time. The readout of the analog pixel signal from the image sensor 111 is the first
The above-mentioned CCD driver provided in the scope 110 of FIG.

The pixel signal read from the image sensor 111 is sent to the video signal processing circuit 122 via the CCD driver. The image signal processing circuit 122 subjects the sent pixel signals to predetermined image processing to generate RGB color analog video signals. The timing controller 128 outputs the timing of each processing such as A / D (analog / digital) conversion, D / A conversion, storage of image data in the memory, and reading from the memory in the video signal processing circuit 122. It is determined based on the control signal.

The second electronic endoscope 200, like the first electronic endoscope 100, has a second scope 210 and an image signal processor 220. As is apparent from FIG. 1, the scope 210 and the image signal processor 22
Each constituent element of 0 is given a code in the 200s series,
The last two digits are the corresponding first electronic endoscope 100.
It is the same as the last two digits of the code of the component of.

The outer diameter of the insertion portion 210A of the second scope 210 of the second electronic endoscope 200 is the same as that of the first electronic endoscope 1
00 is thinner than the outer diameter of the insertion portion 110A of the first scope 110, and the insertion portion 210A can pass through the forceps channel formed in the insertion portion 110A.

FIG. 2 shows the insertion portion 1 of the first scope 110.
It is a perspective view which shows the front-end | tip part of 110 A of insertion parts when 210 A of insertion parts of the 2nd scope 210 are inserted in 10A. In the first scope 110, the illumination light emitted from the emission end of the light guide 112 (see FIG. 1) is applied to the observed object via the light distribution lens 113. The reflected light from the object to be observed is guided to the image sensor 111 (see FIG. 1) via the objective lens 114.

When the insertion portion 110A is inserted into the patient's body and is observed, it is necessary to observe even a finer depth.
From the forceps port of the first scope 110 to the second scope 21
No. 0 insertion part 210A is inserted, and as shown in FIG. 2, the tip part of the insertion part 210A of the second scope 210 is exposed from the opening of the forceps channel 115 at the tip part of the insertion part 110A. The tip of the insertion portion 210A is the insertion portion 1
It has the same structure as the tip portion of 10A. That is, the illumination light emitted from the emission end of the light guide 212 (see FIG. 1) is applied to the object to be observed via the light distribution lens 213, and the reflected light from the object to be observed is imaged via the objective lens 215. It is guided to the sensor 211 (see FIG. 1).

As shown in FIG. 1, in the present embodiment,
Image signal processor 12 of the first electronic endoscope 100
0 system controller 121 and second electronic endoscope 2
The system controller 221 of the image signal processor 220 of 00 is connected by the cable 300 for serial communication. Therefore, by transferring the control command from the system controller 121 to the system controller 221 via the cable 300, the operation of the second electronic endoscope 200 can be controlled on the first electronic endoscope 100 side, By transferring the control command from the system controller 221 to the system controller 121, the operation of the first electronic endoscope 100 can be controlled on the second electronic endoscope 200 side. In the present embodiment, the side that transmits a command is called a master unit, the side that receives a command is called a slave unit, and the first or second electronic endoscope 100 or 200 controls the slave unit as a master unit. The mode is called a master mode, the mode controlled by the master as a slave is called a slave mode, and the mode in which the first and second electronic endoscopes 100 and 200 operate independently is called a stand-alone mode.

The image signal processor 120 of the first electronic endoscope 100 is provided with a connection switching unit 130 for controlling the connection with an external device. The connection switching unit 130 includes the system controller 12
1 and the video signal processing circuit 122 are connected. In the connection switching unit 130, the output destination of the video signal output from the video signal processing circuit 122 is switched based on the control signal output from the system controller 121.

Similarly, the image signal processor 220 of the second electronic endoscope 200 is provided with a connection switching unit 230 for controlling connection with an external device. A system controller 221 and a video signal processing circuit 222 are connected to the connection switching unit 230. In the connection switching unit 230, the output destination of the video signal output from the video signal processing circuit 222 is switched based on the control signal output from the system controller 221.

FIG. 3 shows the electrical connection between the connection switching unit 130 of the first electronic endoscope 100 and the connection switching unit 230 of the second electronic endoscope 200.
Connection switching unit 130 of the first electronic endoscope 100
Are first and second external output terminals 131 and 132 for outputting a video signal to an external device, and first and second external input terminals 133 and 134 to which a video signal output from the external device is input. Have.

The first switch 135 is a switch for switching the input destination of the video signal output from the first external output terminal 131, and is the system controller 121.
It operates based on the control signal of. First external output terminal 1
The input destination of the video signal output from 31 is switched to either the video signal processing circuit 122 or the first external input terminal 133 via the first switch 135.

The second switch 136 is a switch for switching the input destination of the video signal output from the second external output terminal 132, and like the first switch 135, based on the control signal of the system controller 121. Works. The input destination of the video signal output from the second external output terminal 132 is the video signal processing circuit 122 or the second external input terminal 1 via the second switch 136.
It is possible to switch to 34.

The connection switching unit 230 of the second electronic endoscope 200 has the same structure as the connection switching unit 130 described above. As is apparent from FIG. 3, the respective components of the connection switching unit 230 are denoted by reference numerals in the 200s, and the last two digits are the connection switching unit of the corresponding first electronic endoscope 100. 130
It is the same as the last two digits of the code of the component of.

In this embodiment, the first external input terminal 133 of the connection switching unit 130 and the first external output terminal 231 of the connection switching unit 230 are connected by the cable 301 for serial communication. In addition, the second external input terminal 134 of the connection switching unit 130
And the second external output terminal 2 of the connection switching unit 230
32 are connected by a cable 302 for serial communication. Further, the TV monitor 400 is connected to the first external output terminal 131 of the connection switching unit 130, and the VCR 500 is connected to the second external output terminal 132.

In the connection switching unit 130, when the first and second switches 135, 136 are switched to the video signal processing circuit 122 side, the first scope 110 of the first electronic endoscope 100 takes an image. The video is displayed on the TV monitor 400 and can be recorded by the VCR 500.

Further, in the connection switching unit 130, the first switch 135 is connected to the first external input terminal 133.
Side, the second switch 136 is switched to the second external input terminal 134 side, and in the connection switching unit 230, the first and second switches 23 are switched.
5 and 236 are switched to the video signal processing circuit 222 side, the video signal captured by the second scope 210 of the second electronic endoscope 200 and processed by the video signal processing circuit 222 is the cable 301, It is transferred to the first electronic endoscope 100 side via 302, displayed on the TV monitor 400, and can be recorded by the VCR 500.

As shown in FIG. 1, the image signal processor 120 of the first electronic endoscope 100 and the image signal processor 220 of the second electronic endoscope 200 have operation panels 140 and 240, respectively. It is provided.

FIG. 4 is a view showing a part of the operation buttons and indicators provided on the operation panel 140. The mode setting switch 141 is a switch for adjusting the amount of illumination light with which the object to be observed is adjusted and selecting a mode (light control mode) for adjusting the brightness of the screen of the TV monitor 400. In the present embodiment, the light control modes include an automatic light control mode, a manual light control mode, a remote light control mode, and a remote manual light control mode.

The automatic light control mode means the first electronic endoscope 1
00 is in the stand-alone operation described above, and the brightness of the screen of the TV monitor 400 is automatically adjusted. When the automatic light control mode is set, the system controller 121 controls the aperture unit 127 based on the luminance signal extracted from the video signal in the video signal processing circuit 122, and the light is emitted from the white light source 123 and incident on the light guide 112. The amount of white light emitted is adjusted. As a result, the brightness of the screen of the TV monitor 400 is automatically adjusted.

In the manual dimming mode, the first electronic endoscope 100 is in a stand-alone operation, and the operator operates the light amount up button 142 and the light amount down button 143 provided near the mode setting switch 141. This is a mode in which the brightness of the screen of the TV monitor 400 is adjusted. The light amount up button 142 is a button for increasing the brightness, and the light amount down button 143 is a button for decreasing the brightness. A brightness increase pulse signal is output to the system controller 121 by pressing the light amount up button 142, and a brightness decrease pulse signal is output to the system controller 121 by pressing the light amount down button 143. The system controller 121 controls the aperture unit 127 based on these pulse signals, and as a result, the TV monitor 40.
The brightness of the 0 screen is adjusted. In addition, light up button 1
42, the brightness level designated by the operation of the light amount down button 143 is displayed stepwise on a brightness level display (not shown) provided on the operation panel 140, and is recognized by the operator.

In the remote automatic light control mode and the remote manual mode, the first electronic endoscope 100 operates in the above-mentioned master mode, and the slave unit side, that is, the aperture unit 227 of the second electronic endoscope 200 is controlled. It is a mode to perform. The mode of each control is the above-mentioned automatic light control mode,
It is similar to the manual mode. In this specification, the remote automatic light control mode and the remote manual mode are collectively referred to as “remote mode”.

Each time the mode setting switch 141 is pressed, the light control mode is cyclically changed in the order of automatic light control mode, manual light control mode, remote light control mode, and remote manual light control mode. When the mode setting switch 141 is pressed while the remote manual light control mode is set, the light control mode is set to the automatic light control mode.

Below the mode setting switch 141, there are provided an indicator light 151 indicating automatic light adjustment, an indicator light 152 indicating manual light adjustment, and an indicator light 153 indicating whether or not the remote mode is set. . When the automatic light control mode is selected, the indicator light 151 is turned on in red and the indicator lights 152 and 153 are turned off. When the manual light control mode is selected, the indicator light 152 is turned on in red and the indicator lights 151 and 153 are turned off. When the remote automatic light control mode is selected, the indicator lamp 151 is turned on in red, the indicator lamp 152 is turned off, and the indicator lamp 153 is turned on in green. When the remote manual light control mode is selected, the indicator lamp 151 is turned off, the indicator lamp 152 is turned on in red, and the indicator lamp 153 is turned on in green.

Further, the operation panel 140 is provided with a still image button 161 and a copy button 162. When the still image button 161 is pressed, the image reproduced on the TV monitor 400 is stopped, and when the copy button 162 is pressed, the image being reproduced on the TV monitor 400 is recorded on the recording medium by the VCR 500.

The operation panel 240 provided in the image signal processor 220 of the second electronic endoscope 200 also has the same configuration as the above-mentioned operation panel 140. In addition, in FIG. 4, the reference numerals in the parentheses of the reference numerals given to the respective components are
The corresponding components of the operation panel 240 are shown.

When the remote dimming mode or the remote manual mode is selected by the dimming mode setting button 141 of the operation panel 140 on the first electronic endoscope 100 side, the second electronic endoscope 200 side is selected. Operation panel 24
The 0 indicator light 253 is illuminated in yellow to indicate that the second electronic endoscope 200 operates in the slave mode described above. On the contrary, the operation panel 2 on the second electronic endoscope 200 side
When the remote dimming mode or the remote manual mode is selected by the dimming mode setting button 241 of the 40, the indicator lamp 153 of the operation panel 140 on the first electronic endoscope 100 side displays the first electronic endoscope 100. Lights yellow to indicate that it is operating in slave mode.

FIG. 5 is a block diagram showing a circuit configuration for controlling the above-mentioned various buttons and indicators on the operation panel 140. SW1 is the dimming mode setting button 1
41 operates in conjunction with 41, SW2 operates in conjunction with operation of the still image button 161, SW3 operates in conjunction with operation of the copy button 162, and SW4 operates in conjunction with operation of the light amount up button 142. The switch SW5 is a switch that operates in conjunction with the operation of the light amount down button 143. Each switch is turned on when the corresponding button is operated, and a signal indicating that the button has been operated is input to the CPU 121A of the system controller 121 via the I / O port 140P.

LED1 is an indicator lamp 151, LED2 is an indicator lamp 152, and LEDs 3G and LED3Y are indicator lamps 153.
It is a semiconductor light emitting device corresponding to. LED1, LED
2, LED3G, and LED3Y are output from the CPU 121A of the system controller 121 and the I / O port 14
The light is turned on when the drive current is supplied in the forward direction based on the control signal input via 0P, and turned off when the supply of the drive current is stopped. LED3G emits green light and LED3
Y emits yellow light.

The operation buttons and indicators provided on the operation panel 240 of the second image signal processor 220 of the second electronic endoscope 200 are also controlled by the same circuit configuration.

Further, as shown in FIG.
Switch buttons 116 and 216 are provided on the operation units 0 and 210, respectively. When the switch button 116 of the scope 110 is pressed, the system controller 1
The connection switching unit 130 (see FIG.
Reference), the first and second switches 135, 13
6 is switched to the video signal processing circuit 122 side, and a control signal for supplying a current to the white light source 123 is a power supply circuit 124.
Is output to. At the same time, the system controller 121 instructs the system controller 221 to switch the first switch 235 of the connection switching unit 230 to the first external input terminal 233 and the second switch 236 to the second external input terminal 234. Control signal,
And a control signal instructing to turn off the light source 223 is transmitted. As a result, the object to be observed is illuminated by the illumination light emitted from the white light source 123, the image captured by the scope 110 is reproduced on the TV monitor 400, and VC is displayed.
It becomes possible to record on a recording medium in R500.

Similarly, when the switching button 216 of the scope 210 is pressed, the first and second switches 235 and 236 in the connection switching unit 230 are controlled by the system controller 221 to control the video signal processing circuit 22.
The control signal that is switched to the 2 side and supplies the current to the white light source 223 is output to the power supply circuit 224. At the same time, the system controller 221 to the system controller 1
21, the control signal for switching the first switch 135 of the connection switching unit 130 to the first external input terminal 133 and the second switch 136 to the second external input terminal 134, and turning off the light source 223. A control signal for instructing is transmitted. As a result, the object to be observed is illuminated with the illumination light emitted from the white light source 223, the image photographed by the scope 210 is reproduced on the TV monitor 400, and can be recorded on the recording medium in the VCR 500.

FIG. 6 shows the operation section 11 of the first scope 110.
It is a figure which shows the vicinity of 0B. The operation unit 110B is provided with the angle operation unit 150. In the operation section 110B, a forceps opening 117 is provided near the boundary with the insertion section 110A.
Is formed. Second insertion portion 2 of the second scope 210
10A is inserted from the forceps opening 117, and the forceps channel formed in the insertion portion 110A is inserted through the forceps opening 117 continuously.

FIG. 7 is an enlarged view of the angle operation unit 150. The left and right angle knobs 151 are the disc-shaped main body 1
51A and a plurality of protrusions 151B integrally formed on the peripheral edge of the main body 151A. Plural protrusions 151B
Are formed at equal intervals in the circumferential direction. The left and right angle knobs 151 are provided so as to be rotatable clockwise (direction A in FIG. 7) or counterclockwise (direction B in FIG. 7). The rotational movement of the left and right angle knobs 151 is performed by the insertion portion 110 of the first scope 110 via a pair of operation wires described later.
It is transmitted to the tip of A and the angle of the curved portion at the tip of the insertion section 110A is displaced along a predetermined linear direction. Body 151A
Left and right angle lock levers 161 are provided on the surface of the. The left and right angle lock levers 161 are shown in FIG.
When it is turned counterclockwise, the angle of the tip of the insertion portion 110A in the above-described linear direction is locked, and when it is turned clockwise, the locked state is released.

The upper and lower angle knobs 152, like the left and right angle knobs 151, have a disk-shaped main body 152A and a main body 1 as well.
A plurality of protrusions 15 integrally formed on the peripheral edge of 52A.
2B is provided so as to be rotatable clockwise or counterclockwise. The rotational movement of the upper and lower angle knobs 152 is performed by the first scope 110 via a pair of operation wires described later.
The curved portion of the distal end of the insertion portion 110A is transmitted along the other linear direction intersecting the linear direction displaced by the rotation of the left and right angle knobs 151. Below the vertical angle knob 152, a vertical angle lock lever 162 is provided. When the vertical angle lock lever 162 is rotated clockwise, the angle of the tip of the insertion portion 110A in the other linear direction described above is locked, and when it is rotated counterclockwise, the locked state is released.

In the present specification, for convenience of explanation,
The direction of the curved portion displaced by the left and right angle knobs 151 is called the left-right direction, and the direction of the curved portion displaced by the up-down angle knobs 152 is called the up-down direction. Further, when the bending portion is not bent in any direction in the left-right direction, that is, when the tip of the insertion portion 110A is at the position of 0 ° in the left-right direction, the position of the left-right angle knob 151 is set to that of the left-right angle knob 151. Called the reference position. Similarly, in the vertical direction the curved portion is not bent in any direction,
The position of the vertical angle knob 152 when the tip of the insertion portion 110A is at a position of 0 ° in the vertical direction is called the reference position of the vertical angle knob 152.

As shown in FIG. 7, the main body 151A of the left and right angle knob 151 is coaxially arranged so as to overlap the main body 152A of the vertical angle knob 152. The operator appropriately rotates the left and right and upper and lower angle knobs 151 and 152 via the protrusions 151B and 152B, whereby the insertion portion 110 of the first scope 110 is rotated.
It is possible to bend the curved portion of the tip of A in a desired direction and angle. Further, if necessary, the left and right angle lock levers 161 and the up and down angle lock levers 162
Is operated to fix the direction and angle of the tip of the insertion portion 110A.

FIG. 8 shows the left and right and upper and lower angle knobs 151 and 152 in cross section, and shows the relationship between various sensors provided on the left and right and upper and lower angle knobs 151 and 152 and the input port of the CPU 121A of the system controller 121. Shown. As shown in FIG. 8, the main shaft 151A of the left and right angle knobs 151 and the main body 152A of the up and down angle knobs 152 are respectively provided with the central shaft member 15.
1C and 152C are formed. Vertical angle knob 1
A through hole is formed in the main body 152A and the central shaft member 152C of 52, and the left and right angle knob 151 is arranged so that the central shaft member 151C is inserted through the through holes of the upper and lower angle knobs 152.

The central shaft member 15 of the left and right angle knobs 151
1C is fitted to a bearing 171 provided in the operation portion 110A of the first scope 110 near the through hole. In the vicinity of the bearing 171, a gear 172 is pivotally supported by the central shaft member 152C, and the gear 172 has a gear 173.
Are in mesh. That is, the rotational movement of the left and right angle knobs 151 is transmitted to the gear 173 via the central shaft member 151C and the gear 172. In the vicinity of the gear 173,
A left / right angle knob-encoder 174 for detecting the rotation direction and the rotation amount of the left / right angle knob 151 is provided.

The left and right angle knob-encoder 174 is
As shown in FIG. 9, it comprises a slit disk 174A that rotates together with a gear 173, and a detector 174B combined with this slit disk 174A. As shown in FIG. 10, the slit disk 174A is formed with two rows of slits (that is, an inner row and an outer row) arranged at equal intervals along the circumferential direction. In the present embodiment, the number of slits included in each row is 36, so that the slits in the inner row and the slits in the outer row are both arranged at an angular pitch of 10 °, and the phase of both arrangement pitches is It is even half a pitch (5 °).

As shown in FIG. 11, the detector 174B
Is composed of a U-shaped frame 175, and this U-shaped frame 175 is arranged so that a part of the slit disk 174A passes through between both columns thereof. The detector 174B further includes two sets of a light emitting element (176A, 177A) and a light receiving element (1
76B, 177B), and these two sets of light emitting elements (1
76A, 177A) and the light receiving element (176B, 177A)
B) is attached inside both columns of the U-shaped frame 175. That is, the light emitting element 176A and the light receiving element 176B of the first set are arranged inside both columns of the U-shaped frame 175 so as to detect the passage of the slits in the inner row of the slit disc 174A, and the light emission of the second set is emitted. The element 177A and the light receiving element 177B are arranged inside both columns of the U-shaped frame body 175 so as to detect passage of the slits in the outer row of the slit disc 174A.

As shown in FIG. 11, two sets of light emitting elements (1
76A, 177A) and the light receiving element (176B, 177A)
B) is connected to the system controller 121 via a connector (not shown) when the first scope 110 is connected to the image signal processor 120, and is operated under the control of the system controller 121. Output signals v1 and v2 are output from the light receiving elements 176B and 177B, respectively, and these output signals v1 and v2 are taken into the system controller 121 via the connector, and as shown in FIG. 8, the input port PORT_LR1 of the CPU 121A, Input to PORT_LR2. Each of the light emitting elements 176A and 177A is formed of, for example, a light emitting diode, and the light receiving element 176 is used.
Each of B and 177B comprises, for example, a photodiode.

When the slits in the inner row of the slit disk 174A pass between the light emitting element 176A and the light receiving element 176B of the first set, the light emitted from the light emitting element 176A is received by the light receiving element 176B through the slit. At this time, the output signal v1 from the light receiving element 176B becomes high level. On the other hand, the light-shielding region between two slits adjacent to each other is the light-emitting element 176A and the light-receiving element 17 of the first set
When passing between 6B, the light emitted from the light emitting element 176A is blocked by the light blocking area, and at this time, the output signal v1 from the light receiving element 176B becomes low level. Therefore, when the slit disc 174A is rotated,
The output signal v1 output from the light receiving element 176B is a signal in which a high level and a low level appear alternately. The same applies to the second set of light emitting element 177A and light receiving element 177.
As for B, the output signal v2 output from the light receiving element 177B is a signal in which a high level and a low level alternately appear as the slit disk 174A rotates.

In FIG. 12, the slit disk 174A is shown in FIG.
Is output from the light receiving elements 176B and 177B when rotated at a constant speed in the respective rotation directions indicated by arrows A and B from the position indicated by (in this case, the position detected by the detector 174B is indicated by a broken line). The changes in the output signals v1 and v2 are shown. The rotation directions indicated by the arrows A and B correspond to the rotation directions A and B of the left and right angle knobs 151 indicated by the arrows A and B in FIG. As is apparent from FIG. 12, no matter which direction the rotation of the slit disk 174A is, the phase of the output signal v1 when the level changes is π relative to the phase of the output signal v2 when the level changes. It is shifted by / 2 because the arrangement pitch of the slits in the inner row and the outer row of the slit disks 174A is shifted by a half pitch as described above. However, by detecting the level change of the output signal v2 with respect to the level change of the output signal v1, it is possible to determine in which rotation direction A or B the slit disk 174A is rotating.

More specifically, when the output signal v2 changes from the low level to the high level when the output signal v1 is at the high level, or when the output signal v1 is at the low level, the output signal v2 changes from the high level to the low level. When changing to the level, the direction of rotation of the slit disk 174A is arrow A.
The direction is indicated by. Also, when the output signal v1 changes from the high level to the low level when the output signal v2 is at the high level, or when the output signal v1 changes from the low level to the high level when the output signal v2 is at the low level. The rotation direction of the slit disk 174A is the direction indicated by the arrow A.

On the other hand, when the output signal v2 changes from the high level to the low level when the output signal v1 is at the high level, or when the output signal v1 is at the low level, the output signal v2 changes from the low level to the high level. When changed, the rotation direction of the slit disc 174A becomes the direction indicated by the arrow B. Further, when the output signal v1 changes from the low level to the high level when the output signal v2 is at the high level, or when the output signal v1 changes from the high level to the low level when the output signal v2 is at the low level. The rotation direction of the slit disk 174B is the direction indicated by the arrow B.

As described above, the output signal v1 is the input port POR of the CPU 121A of the system controller 121.
It is input to T_LR1 and the output signal v2 is the CPU 121A.
Input port PORT_LR2. Therefore, the input port PORT_LR1 (PORT_LR2)
When the falling edge or rising edge of the signal v1 (v2) input to the
By confirming the level of the signal v2 (v1) at T_LR2 (PORT_LR1), the system controller 1
Reference numeral 21 determines the direction and amount of rotation of the left and right angle knobs.

Referring again to FIG. 8, the central shaft member 152C of the upper and lower angle knobs 152 is fitted to the bearing 181 provided in the operating portion 110A of the first scope 110 at the substantially central portion. In the vicinity of the bearing 181, the gear 182 is axially supported by the central shaft member 152C, and the gear 182 is meshed with the gear 183. That is, the rotational movement of the upper and lower angle knobs 152 causes the central shaft member 152
It is transmitted to the gear 183 via C and the gear 182.
In the vicinity of the gear 183, a vertical angle knob-for detecting the rotation direction and the rotation amount of the vertical angle knob 152-
An encoder 184 is provided.

The vertical angle knob-encoder 184 is
It has the same configuration as the above-mentioned left and right angle knob-encoder 174. That is, according to the rotation of the vertical angle knob 152, the vertical angle knob-encoder 184 2
Output signals v3 and v4 are output from one light receiving element (not shown). The output signal v3 is the system controller 12
1 is input to the input port PORT_UD1 of the CPU 121A, and the output signal v4 is the input port P of the CPU 121A.
Input to ORT_UD2. Output signals v3 and v4
Based on the above, the system controller 121 determines the rotation direction and the rotation amount of the vertical angle knob 152.

A pulley 178 is rotatably supported at the end of the central shaft member of the left and right angle knobs 151. Pulley 178
V-shaped groove is formed all around the outer peripheral surface of
A pair of operation wires, which are inserted into the insertion portion 110A of the first scope 110 and extend to the tip of the insertion portion 110A and whose end portions are fixed to predetermined positions of the curved portion, are wound around the groove. The rotational movement of the left and right angle knobs 152 is transmitted to the distal end of the insertion portion via a set of operation wires, and the bending portion is bent in the left and right direction. Incidentally, in FIG. 8, in order to avoid complication of the drawing, the structure of winding a set of operation wires in the pulley 178 is omitted.

A reference position detection sensor 179 for detecting whether the left and right angle knobs 151 are at the reference position is provided near the pulley 178. For the reference position detection sensor 179, for example, a reflection type photo interrupter is used. In the pulley 178, the reference position detection sensor 17
As shown in FIG. 13, a reflecting member 178A and a non-reflecting member 178B are provided along the peripheral edge on the surface that faces 9 side. When the left and right angle knobs 151 are rotated and the curved portion at the tip of the insertion portion 110A of the first scope 110 is positioned at a position of 0 ° in the left-right direction, the pulley 17
The pulley 178 and the reference position detection sensor 179 are arranged so that the reference position detection sensor 179 senses the passage of the boundary portion between the eight reflection members 178A and the non-reflection member 178B.

When the reflecting member 178A of the pulley 178 is located in front of the light emitting element (not shown) of the reference position detecting sensor 179, the light emitted from the light emitting element is reflected by the reflecting member 17a.
8A, the reflected light is incident on the light receiving element (not shown) of the reference position detection sensor 179, and the output signal p1 of the reference position detection sensor 179 becomes high level. Further, when the non-reflecting member 178B of the pulley 178 is located in front of the light emitting element of the reference position detecting sensor 179, the emitted light of the light emitting element is not reflected by the non-reflecting member 178B and the reference position detecting sensor 179 receives light. The light emitted from the light emitting element does not enter the element, and the output signal p1 of the reference position detection sensor 179 becomes low level.

As shown in FIG. 8, the reference position detection sensor 1
The output signal p1 of 79 is sent to the CPU via a connector (not shown).
It is input to the input port PORT_LRP of 121A.
Therefore, when the system controller 121 detects the rising or falling of the edge of the signal p1 input to the input port PORT_LRP, the left and right angle knob 151 is positioned at the reference position, and the tip of the insertion portion 110A of the first scope 110 is positioned. It is determined that the bending portion is positioned at the position of 0 ° in the left-right direction.

Similarly, at the end of the central shaft member 152C of the upper and lower angle knobs 152, a pulley 188 having a V-shaped groove formed on the outer peripheral surface over the entire circumference is pivotally supported. Insert the insertion part 110A of the scope 110,
A set of operation wires, which extend to the tip of the insertion portion 110A and whose end portions are fixed to predetermined positions of the bending portion, are wound.
The rotational movement of the vertical angle knob 152 is transmitted to the distal end of the insertion section 110A via the set of operation wires, and the bending section is bent in the vertical direction.

A reference position detection sensor 189 for detecting whether the vertical angle knob 152 is at the reference position is provided near the pulley 188, and the surface of the pulley 188 facing the reference position detection sensor 189 is shown in FIG. As shown, a reflective member 188A and a non-reflective member 188B are formed. The upper and lower angle knobs 152 are rotated and the first scope 1
When the curved portion at the tip of the insertion portion 110A of 10 is positioned at a position of 0 ° in the vertical direction, passage of the pulley 188 through the boundary portion between the reflection member 188A and the non-reflection member 188B is detected by the reference position detection sensor 189. Thus, the pulley 188 and the reference position detection sensor 189 are arranged.

When the reflecting member of the pulley 188 is located in front of the light emitting element (not shown) of the reference position detecting sensor 189, the output signal p2 of the reference position detecting sensor 189 becomes high level, and the output signal p2 is in front of the light emitting element. When the non-reflective member of the pulley 188 is positioned, the reference position detection sensor 189
The output signal p2 of is at low level.

Output signal p2 of the reference position detection sensor 189
Is input to the input port PORT_UDP of the CPU 121A. Therefore, the system controller 121
When the rising or falling edge of the signal p2 input to the input port PORT_UDP is detected, the upper and lower angle knobs 152 are positioned at the reference position, and
It is determined that the curved portion of the distal end of the insertion portion 110A of the scope 110 is positioned at 0 ° in the vertical direction.

Here, the control of the bending angle of the bending portion of the distal end of the insertion portion 110A of the first scope 110 will be described with reference to FIGS. FIG. 14 is a flowchart showing a processing procedure of loop processing that is repeatedly executed during operation of the system controller 121 of the first image signal processor 120. When the system controller 121 is powered on, an initialization routine is executed in step S100. In the initial setting routine, a flag LR_POS_FLAG for indicating whether the left / right angle knob 151 is at the reference position and the up / down angle knob 152.
UD_PO for indicating whether or not is in the reference position
S_FLAG is set to "0" and initialized. When LR_POS_FLAG is set to "1", the left and right angle knobs 151 are in the reference position, and when "0" is set, the left and right angle knobs 151 are in other positions than the reference position. Show. Similarly, when "1" is set in UD_POS_FLAG, it indicates that the vertical angle knob 152 is at the reference position, and when "0" is set, the vertical angle knob 152 is located at a position other than the reference position. Indicates that

Further, the variable connect is set to "0" and initialized. A value is set in the variable connect according to the state of the endoscope connection flag. The endoscope connection flag is a flag indicating whether or not the first scope 110 is connected to the image signal processor 120. When the endoscope connection flag is set to indicate that the first scope 110 is connected to the image signal processor 120, “1” is set in the variable connect. Further, in the initialization routine, various other variables and flags used in the process described later are initialized.

Next, in step S200, a reference position detection routine for confirming whether the left and right angle knobs 151 and the up and down angle knobs 152 are positioned at the reference positions is executed, and in step S300, main processing is executed. In the main process of step S300, the rotation direction and the rotation amount of the left and right angle knobs 151 and the up and down angle knobs 152 are detected. Next, in step S400, processing for the interrupt request is executed. Step S200
The processing of steps S400 to S400 is the first image signal processor 1
It is repeatedly executed during operation of 20.

FIG. 15 is a flow chart showing the processing procedure of the reference position detection routine executed in step S200. In step S210, the value of the variable connect is checked. When the first scope 110 is connected to the image signal processor 120 and the endoscope connection flag is set, “1” is stored in the variable connect. In step S210, the variable cone
The value of ct is “1”, and the image signal processor 12
If it is confirmed that the first scope 110 is connected to 0, the process proceeds to step S220.

In step S220, a first reference position detection routine for detecting whether the up / down angle knob 152 is at the reference position is executed. FIG. 16 is a flowchart showing the processing procedure of the first reference position detection routine.
In step S222, the value of the flag UD_POS_FLAG is checked, "0" is set, and if it is confirmed that the vertical angle knob 152 is not at the reference position, the process proceeds to step S224.

In step S224, the port PORT_
A value is set in the variable base_ud based on the level of the signal p2 input to UDP (see FIG. 8). Variable b
The as_ud is “H” when the signal p2 is at a high level.
Is set, and when the level is low, "L" is set. In step S226, the value of the variable base_ud is checked, and if the value is "L", the process proceeds to step S228.

In step S228, the variable pre_ba is set.
The value of se_ud is checked. Variable pre_bas
The level of the signal p2 before the vertical angle knob 152 is positioned at the reference position is stored in e_ud.
The storage of the value in the variable pre_base_ud will be described later. In step S228, pre_base_
If it is confirmed that the value of ud is “H”, the process proceeds to step S230.

When the control proceeds to step S230,
The value of base_ud is "L" and pre_base_
This is when the value of ud is "H", that is, when the rising edge of the signal p2 is detected. That is, the reflective member 188A and the non-reflective member 188B of the pulley 188 described above.
Is detected by the reference position detection sensor 189, and the vertical angle knob 152 is rotated in the direction of arrow A (see FIG. 7) to be positioned at the reference position. Therefore,
In step S230, the flag UD_POS_FLAG is set.
Is set to "1".

If it is confirmed in step S226 that the value stored in base_ud is not "L", the flow advances to step S232 to confirm the value of pre_base_ud. In step S232, pre_base
If it is confirmed that the value of _ud is "L", the process proceeds to step S234. The case where the control proceeds to step S234 is the case where the falling edge of the signal p2 is confirmed. That is, the boundary between the reflective member 188A and the non-reflective member 188B of the pulley 188 is detected by the reference position detection sensor 189, and the vertical angle knob 152 is rotated in the arrow B direction (see FIG. 7) to be positioned at the reference position. Show. Therefore, similar to step S230, step S
At 234, UD_POS_FLAG is set to “1”.

As described above, in this routine, the rising edge of the output signal p2 of the reference position detection sensor 189,
Alternatively, when the falling edge is detected, it is determined that the vertical angle knob 152 is positioned at the reference position.

When this routine is completed, the control advances to step S240 as shown in FIG. Step S240
Then, the second reference position detection routine for detecting whether the left and right angle knobs 151 are at the reference position is executed. FIG. 17 is a flowchart showing the processing procedure of the second reference position detection routine. Similar to the first reference position detection routine, also in the second reference position detection routine, when the rising edge or the falling edge of the output signal p1 of the reference position detection sensor 179 is detected, the left and right angle knobs 151 are set to the reference position. Judge that it has been positioned.

That is, based on the level of the signal p1 input to the port PORT_LRP, the variable base_l
A value is set to r (S244), and variable base_lr
Is “L” (YES in step S246) and the value of the variable pre_base_lr is “H” (YES in step S248), L is set in step S250.
"1" is set in R_POS_FLAG. Also,
The value of the variable base_lr is “H” (step S2
If NO in 46), and the value of the variable pre_base_lr is "L" (YES in step S252), "1" is set in LR_POS_FLAG in step S254.

When the second reference position detecting routine is completed, the control advances to step S300 in FIG. In step S300, the scope 11 which is displaced by rotating the left and right angle knobs 151 and the up and down angle knobs 152.
The process of monitoring the bending angle of the bending portion of 0 is executed. FIG.
3 is a flowchart showing a processing procedure of the monitoring processing. In step S302, the rotation direction and the rotation amount of the left and right angle knobs 151 and 152 are calculated. The rotation direction and the rotation amount of the left / right angle knob 151 are executed based on the signals v1 and v2 output from the left / right angle knob-encoder 174 and input to the input ports PORT_LR1 and PORT_LR2 of the CPU 121A of the system controller 121, and the up / down angle knob is used. 15
The rotation direction and the rotation amount of 2 are output from the up / down angle knob-encoder 184, and are input ports PORT_UD1 and POR of the CPU 121A of the system controller 121.
It is executed based on the signals v3 and v4 input to T_UD2.

Based on the rotation direction and the rotation amount of the left and right and up and down angle knobs 151, 152 calculated in step S302, in step S304, the left, right, and up directions of the bending portion of the first scope 110 are calculated. The bending angle in the downward direction is calculated. Then, step S
At 306, the upward bend angle of the bend of the first scope 110 is compared to a limit value angle_u. When it is confirmed that the upward bending angle exceeds the limit value angle_u, the process proceeds to step S308, and the maximum bending angle detection flag is set so that the upward bending angle of the bending portion of the first scope 110 reaches the limit value. Set to indicate that Next, in step S310, an interrupt request is generated.

If it is confirmed in step S306 that the upward bending angle of the bending portion has not reached the limit value angle_u, the process proceeds to step S312. Step S312
Then, the bending angle in the downward direction of the bending portion is the limit value ang.
compared to le_d. The downward bending angle is the limit value an
If it is confirmed that it exceeds gle_d, the process proceeds to step S314, and the maximum bending angle detection flag is set to a state indicating that the bending angle in the downward direction of the bending portion reaches the limit value angle_d. Then step S3
Go to 10 and generate an interrupt request.

When it is confirmed in step S312 that the downward bending angle of the bending portion has not reached the limit value angle_d, the process proceeds to step S316. Step S316
Then, the bending angle in the left direction of the bending portion is the limit value ang.
It is compared with le_l. Bending angle to the left is the limit value an
If it is confirmed that it exceeds gle_l, the process proceeds to step S318, and the maximum bending angle detection flag is set to a state indicating that the bending angle of the bending portion in the left direction reaches the limit value angle_l. Then step S3
Go to 10 and generate an interrupt request.

When it is confirmed in step S316 that the bending angle of the bending portion to the left has not reached the limit value angle_l, the process proceeds to step S320. Step S320
Then, the bending angle of the curved portion in the right direction is the limit value ang.
compared to le_r. The right bending angle is the limit value an
If it is confirmed that it exceeds gle_r, the process proceeds to step S322, and the maximum bending angle detection flag is set to a state indicating that the bending angle of the bending portion in the right direction reaches the limit value angle_r. Then step S3
Go to 10 and generate an interrupt request.

When it is confirmed in step S320 that the bending angle of the bending portion in the right direction does not reach the limit value angle_r, the bending angle is still in the left-right direction and the up-down direction of the bending portion. Indicates that the limit has not been reached. Therefore, no special process is executed, and control returns to the loop process of FIG.

The limit values angle_u, angle_
The setting of the values of d, angle_l, and angle_r will be described later.

FIG. 19 is a flow chart showing an execution procedure of processing for the interrupt request executed in step S400 during the loop processing of FIG. Step S402
At, the state of the endoscope connection flag is checked.
The first scope 110 is the image signal processor 120.
, And the system controller 121 receives the output signal from the first scope 110, the endoscope connection flag is set. When it is confirmed in step S402 that the endoscope connection flag is set, the process proceeds to step S404. In step S404, the image signal processor 1
Various information such as scope specification data, scope name, and serial number are read from the EEPROM provided in the scope connected to the system controller 1,
21 is stored in the RAM. That is, in this embodiment, the EEPROM 190 provided in the first scope 110
The various information of the first scope 110 is read from and stored in the RAM in the system controller 121.

Next, in step S406, an initial setting process for detecting the reference positions of the left and right angle knobs 151 and the up and down angle knobs 152 is executed. That is,
Based on the potentials of the input signals p1 and p2 of the input ports PORT_UDP and PORT_LRP, the above-described first reference position detection routine shown in FIG. 16 and the second reference position detection routine shown in FIG.
Variable pr used in the reference position detection routine of
Values are set in e_base_ud and pre_base_lr. Further, since the state of the endoscope connection flag indicates that the scope is connected to the image signal processor 120, "1" is set to the variable connect.

In step S408, the communication connection establishment flag indicating whether or not the communication connection between the first and second electronic endoscopes 100 and 200 has been established is checked. To confirm the establishment of communication connection between both electronic endoscopes,
System controller 121 of the first electronic endoscope 100
Done in. That is, the CPU 121A of the system controller 121 checks the potential of the input status port for serial communication, which indicates the operating state of the image signal processor 220 of the second electronic endoscope 200. The second electronic endoscope 200 is powered on,
If the image signal processor 220 is activated, the potential of the input status port becomes high level, and if the power of the second electronic endoscope 200 is off and the image signal processor 220 is not activated, it becomes low level. . That is, the communication connection establishment flag is set based on the potential of the input status port.

When it is confirmed that the state of the communication connection establishment flag indicates the establishment of communication connection between the first electronic endoscope 100 and the second electronic endoscope 200, the process proceeds to step S410. move on. In step S410, in the second electronic endoscope 200, various information such as the specification data of the scope 220, the scope name, and the serial number are read from the EEPROM 290 provided in the scope 220 and taken into the system controller 221. These pieces of information are taken into the system controller 121 of the first electronic endoscope 100 via the communication cable 300 and stored in the RAM of the system controller 121.

In the system controller 121, the limit value of the bending angle of the tip of the insertion portion 100A of the first scope 110 is determined based on the combination of the first scope 110 and the second scope 210. The ROM of the system controller 121 stores a database in which the correspondence between the combination of the large-diameter scope and the small-diameter scope and the limit value of the bending angle of the tip of the insertion portion of the large-diameter scope is recorded, as shown in Table 1. Has been done.

[0100]

[Table 1]

In the system controller 121, the EEP
First scope 1 loaded from ROM 190, 290
The data of the combination corresponding to the combination of the first scopes 110 and 210 is fetched from this database on the basis of various information related to 10, 210. For example, EE
The information read from the PROM 190 is the large-diameter scope 2
, And the information read from the EEPROM 290 is the small-diameter scope B, the data 2B is selected.

Data 1A to 4C include the upper limit bending angle limit value, the lower bending angle limit value, the leftward bending angle limit value, and the rightward bending angle end of the insertion portion of the large-diameter scope. The limit value of is included. In the system controller 121, the upper limit of the bending angle is stored in angle_u, the lower limit of the bending angle is angle_d, the left limit of the bending angle is angle_l, and the right limit of the bending angle is stored in angle_r. To do. FIG. 14 described above.
It is used in the comparison processing (steps S306, S312, S316, and S320 in FIG. 18) between the bending angle of the tip of the insertion portion and the limit value, which is executed in the processing in step S300.

Each data recorded in this database is based on the result of an experiment conducted in advance by combining various types of large-diameter scopes and small-diameter scopes.

If it is confirmed in step S412 that the maximum bending angle detection flag indicates that the bending angle of the insertion tip of the first scope 110 exceeds the limit value, the process proceeds to step S414. In step S414,
Depending on the state of the maximum bending angle detection flag, a message is displayed on the TV monitor 400 to warn that the bending portion at the tip of the insertion portion 110A of the first scope 110 is further bent in the up-down direction or the left-right direction.

[0105]

As described above, according to the present invention, when the insertion portion of the small-diameter scope is inserted into the large-diameter scope, the bending angle limit of the bending portion of the distal end of the insertion portion of the large-diameter scope is manipulated. To be informed. Therefore, damage to the angle mechanism due to excessive bending of the curved portion of the large-diameter scope is prevented.

[Brief description of drawings]

FIG. 1 is a block diagram showing a system configuration of an electronic endoscope system according to the present invention.

FIG. 2 is a diagram showing a state in which a scope of a second electronic endoscope is inserted through a forceps channel of a scope of the first electronic endoscope, and a tip portion of the scope is exposed from an opening of the forceps channel.

FIG. 3 is a circuit diagram showing an electrical connection between a first electronic endoscope and a second electronic endoscope.

FIG. 4 is a diagram showing an arrangement of operation buttons and indicator lights provided on the operation panels of the first and second electronic endoscopes.

5 is a block diagram showing a circuit configuration for controlling various buttons and indicators of the operation panel of FIG.

FIG. 6 is a diagram showing the vicinity of an operation unit of the first scope.

FIG. 7 is a plan view of a left and right angle knob and an up and down angle knob that are provided in the operation portion of the first scope and that control the bending angle of the tip of the insertion portion.

FIG. 8 is a diagram showing a cross-section of left and right and upper and lower angle knobs, and a relationship between various sensors provided on the left and right and upper and lower angle knobs and an input port of a CPU of a system controller.

FIG. 9 is a diagram showing an encoder for detecting the rotation direction and the rotation amount of the left and right angle knobs.

10 is a diagram showing a slit disk of the encoder shown in FIG. 9. FIG.

FIG. 11 is a diagram schematically showing a relative relationship between a slit disk and a detector.

FIG. 12 is a timing chart of two output signals respectively output from two light receiving elements of the detector when the slit plate of the encoder is rotated bidirectionally.

FIG. 13 is a front view of a pulley around which a set of wires for controlling the bending angle of the distal end of the insertion portion of the scope is wound.

FIG. 14 is a flowchart showing a procedure of loop processing which is repeatedly executed by the image signal processing processor to which the first scope is connected.

FIG. 15 is a flowchart showing a processing procedure of a main routine for detecting a reference position of an angle knob.

FIG. 16 is a flowchart showing a processing procedure of a reference position detection routine of the up and down angle knobs.

FIG. 17 is a flowchart showing a processing procedure of a reference position detection routine for the left and right angle knobs.

FIG. 18 is a flowchart illustrating a processing procedure of a bending angle monitoring routine of the distal end of the insertion portion of the first scope.

FIG. 19 is a flowchart showing a processing procedure for an interrupt request.

[Explanation of symbols]

100 First electronic endoscope 200 Second electronic endoscope 110, 210 scope 115,215 Forceps channel 120, 220 image signal processor 121,221 system controller 130, 230 Connection switching unit 116,216 switching buttons 151 Left and right angle knob 152 Vertical angle knob 174 Left / Right Angle Knob-Encoder 179,189 Reference position detection sensor 184 Vertical Angle Knob-Encoder 400 TV monitor 500 VCR

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Claims (4)

[Claims] 1. A first scope having a bending portion angle control means for controlling a bending angle of a bending portion of a distal end of an insertion portion to be inserted into the body of a patient, and a first scope to which the first scope is connected. A second electronic endoscope having a first electronic endoscope having an image signal processing unit, a second scope, and a second image signal processing unit to which the second scope is connected; A data transfer means for transmitting and receiving data between the first and second image signal processing units, wherein the forceps channel provided in the insertion portion of the first scope has the insertion portion of the second scope. Insert it through the first
Is an electronic endoscope system for observing the distal end of the insertion portion of the second scope exposed from the opening of the forceps channel at the distal end of the insertion portion of the scope, wherein the first scope is the bending portion. Bending angle detecting means for detecting the bending angle of the first scope, and the first image signal processing unit is defined based on a combination of the type of the first scope and the type of the second scope. Bending angle information storage unit that stores a limit value of the bending angle of the bending unit of the first scope in a state, bending angle of the bending unit detected by the bending angle detection unit, and the angle information storage unit And a bending angle comparing means for comparing the bending angle with the limit value stored in, and the bending angle comparing means obtains a comparison result that the bending angle has reached the limit value. An electronic endoscope system comprising: a notifying unit for notifying that. 2. The first scope includes a first storage unit that stores various kinds of information about the type of the scope, and the second scope has a second storing unit that stores various kinds of information about the type of the scope. Storage means, and various information relating to the type of the second scope read from the second storage means in the second image signal processing unit, the first image signal processing by the data transfer means. Information about the type of the first scope, which is transmitted to the unit, and the bending angle comparison means reads from the first storage means,
2. The electronic endoscope according to claim 1, wherein the limit value is acquired from the bending angle information storage unit based on various pieces of information regarding the type of the second scope transmitted by the data transfer unit. Mirror system. 3. The bending angle detecting means includes first and second directions along a first linear axis of the bending portion of the first scope, and a second direction intersecting with the first linear axis. The bending angles in the third and fourth directions along the linear axis of No. 3 are detected, and the bending angle information storage means stores the limit values for the first to fourth directions. The electronic endoscope system according to claim 1. 4. The monitor, which is connected to the first image signal processing unit and reproduces images captured by the first and second scopes, has a bending angle of the bending portion. The electronic endoscope system according to claim 1, wherein a message indicating that the limit value has been reached is displayed.