JP2010279688A - Endoscope remote-controlled operating system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope remote-controlled operating system, wherein a low invasive treatment is executed by enabling a physician to let an endoscope body go from his/her both hands and stay at a sitting position. <P>SOLUTION: The endoscope remote-controlled operating system 100 includes: an endoscope body 200; and an operation controller 300 to give operation instructions to the endoscope body 200. The endoscope body 200 includes: a first driving part 210 to drive an upward or downward angle handle that swings up or down the leading end of an insert 12 of a digestive tract endoscope inserted into the digestive tract of a patient for operation; a second driving part 220 to drive the upward or downward angle handle that swings the end of the insert 11 left and right; a third driving part 230 to rotate a holder 231 holding the handle 1 in order to rotate the insert 11 around its axle; and a fourth driving part 240 to horizontally move the holder 231 along a rail 241 in order to move the insert 11 forth and back. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention makes it possible to operate and control operations after the digestive tract endoscope is inserted into the digestive tract of a subject using an operation panel (operation device, operation box, etc.) placed at a remote location. The present invention relates to an endoscope remote control system.

  Currently, an oral gastrointestinal endoscope (see FIG. 1) includes a scope portion (insertion portion 11, tip portion 12) inserted into the digestive tract and a handle portion 1 having a lever for controlling the distal end of the scope in the horizontal and vertical directions. It is configured.

  The examination and treatment by the gastrointestinal endoscope is performed in a standing position from the beginning while holding the handle portion in the left hand and the scope body in the right hand.

  On the other hand, Patent Document 1 proposes that a swing operation is performed with a joystick for an industrial endoscope that closely examines the inside of a water pipe or a gas pipe.

  Further, Patent Literature 2-4 proposes an electric bending endoscope that enables a part of the endoscope operation electrically.

  In the field of laparoscopic surgery, Patent Document 5 proposes a system that enables forceps operations to be performed remotely.

JP 2002-341258 A Japanese Patent Laid-Open No. 9-10172 JP 2002-95630 A JP 2007-185355 A JP 2007-325960 A

  For the examination and treatment of the digestive tract, a normal digestive tract endoscope as shown in FIG. 1 is used. In addition, the current endoscope body is always ready for normal use in preparation for oral insertion into the gastrointestinal tract, normal observational examination, treatment, and unexpected complications (the handle portion of the gastrointestinal endoscope). To the left hand and the scope part to the right hand, while maintaining the usage in a standing position.

On the other hand, due to the trend of “minimally invasive treatment”, indications for diseases treated with oral gastrointestinal endoscopes are expanding. However, the trend of this era is increasing the number of treatment targets that are complicated and require precise and long time (2-3 hours or more). Therefore, the insertion of the endoscope to the lesion (tens of seconds) is performed in the standing position as before (because it is the most reliable), but the subsequent treatment is done by separating both hands from the endoscope, In addition, it is beneficial to enable a more complicated and precise endoscope operation than before with an operation panel (operation device, operation box, etc.).
However, since the electric bending endoscope described in Patent Documents 2-4 has only a function of swinging the scope portion as a remote operation, a complicated internal operation by remote operation with both hands away from the endoscope. It is difficult to perform endoscopic treatment in a sitting position.

  Therefore, the present invention provides an endoscope remote control system that enables minimally invasive treatment by enabling examination or treatment by a digestive tract endoscope in a sitting position with both hands separated from the endoscope body. The purpose is to provide.

  An endoscope remote control system according to the present invention includes a first drive unit that drives a mechanism that swings the distal end of an insertion portion of a digestive tract endoscope inserted into the digestive tract of a subject vertically, and the distal end of the insertion portion. A second drive unit that drives a mechanism that swings in the left-right direction, a third drive unit that rotates the insertion unit about the axis of the insertion unit, and a fourth drive unit that moves the insertion unit forward and backward And a drive control unit that instructs the first to fourth drive units of the drive unit to drive each of the drive units.

  The endoscope remote control system according to the present invention includes first to fourth drive units and an operation control unit that instructs each of the drive units to drive. The first drive part can swing the distal end of the insertion part of the digestive tract endoscope vertically, and the second drive part can swing the distal end of the insertion part horizontally. The swinging motion of the inserted portion can be freely operated by controlling the drive of the first drive portion and the second drive portion by operating the operation control portion. Further, since the third drive unit can be rotated around the axis of the insertion unit, and the fourth drive unit can be moved back and forth in the front-rear direction, the distal end of the insertion unit operated with the operator's right hand By rotating the operation control unit and controlling the driving of the third drive unit and the fourth drive unit, the operation of rotating or reciprocating can be performed while maintaining the orientation of the distal end of the insertion unit. . Thus, in the endoscope remote control system of the present invention, the movement of the insertion section can be operated by the operation control section, so that it is possible to perform treatment by a complicated endoscope operation in a sitting position.

  The first driving part is fixed to and interlocked with a vertical angle handle having a rotation shaft for swinging the distal end of the insertion part in the vertical direction, and the first rotary body is moved in one direction or the other direction. A left and right angle handle having a rotation shaft for swinging the distal end of the insertion portion in the left-right direction, the second drive portion being provided coaxially with the first rotation body. A second rotating body that is fixed and interlocked with the second rotating body, and a second rotation driving unit that rotates the second rotating body in one direction or the other direction, and the third driving unit includes the vertical angle handle and the horizontal angle A holding unit that holds and fixes the operation unit of the gastrointestinal tract endoscope provided with a handle; and an operation unit rotation unit that rotates the holding unit about the axis of the insertion unit, and the fourth drive unit. The holding part is Is mounting a rail portion which is arranged along the front-rear direction, provided with a horizontal moving unit that moves along said holding portion to said rail portion is desirable.

  The first rotary body is fixed to the vertical angle handle and interlocked, and the first rotary drive unit rotates the first rotary body in one direction or the other direction, thereby operating the vertical angle handle of the digestive tract endoscope. It is possible. Also, the left and right angle handles of the digestive tract endoscope are operated by fixing the second rotating body to the left and right angle handles and interlocking them, and rotating the second rotating body in one direction or the other direction by the second rotation drive unit. Is possible. Further, the operation part of the digestive tract endoscope is held and fixed by the holding part, and the holding part is rotated around the axis of the insertion part by the operation part rotating part, and along the front-rear direction in which the holding part is mounted. By moving the arranged rail portion by the horizontal moving portion, the operation portion can be held as it is and operated.

The driving device includes a button pressing unit for pressing each of the operation buttons provided on the operation unit of the digestive tract endoscope, and the operation control unit includes a switch for instructing the button pressing unit to press the button. It is desirable that it is provided.
The operation part of the digestive tract endoscope is provided with an air / water supply button for supplying and supplying air from the distal end of the insertion part, and an intake / aspiration button for intake and suction. The drive device is provided with a button pressing section for pressing the operation button, and the operation control section is provided with a switch for instructing the button pressing section to press the button, so that water can be supplied or supplied in the sitting position. Can absorb and inhale water.

The operation control unit is provided with an up / down operation lever, and the up / down operation lever outputs an instruction to rotate the first rotation driving unit in one direction when the head is moved in one direction, and the head It is desirable to output an instruction to rotate the first rotation drive unit in the other direction when the unit is moved in the other direction.
By moving the head of the vertical control lever in one direction or the other direction, the first rotation drive unit rotates the vertical angle handle in one direction or the other direction, and the distal end of the insertion unit moves in the vertical direction. Since the head is swung, the direction of the distal end of the insertion portion can be moved up and down with a simple operation.

The operation control unit is provided with a left / right operation lever, and the left / right operation lever outputs an instruction to rotate the second rotation drive unit in one direction when tilted in one direction, and is tilted in the other direction. It is desirable that an instruction to rotate in the other direction is output to the second rotation driving unit.
By moving the head of the left / right control lever in one direction or the other direction, the second rotation drive part rotates the left / right angle handle in one direction or the other direction, and the distal end of the insertion part moves in the left / right direction. Since the head is swung, the direction of the distal end of the insertion portion can be moved left and right with a simple operation.

The operation control unit is provided with an up / down / left / right operation lever, and the up / down / left / right operation lever rotates the first rotation drive unit to swing the tip of the insertion unit in the up / down direction when tilted in the front / rear direction. When instructing and tilting in the left-right direction, it is desirable to instruct the second rotation driving unit to rotate the tip of the insertion portion in the left-right direction.
In this way, by using the up / down operation lever and the left / right operation lever as one up / down / left / right operation lever, the swing operation of the distal end of the insertion portion can be performed with one hand.

The operation control unit is provided with a rotation operation lever, and the rotation operation lever outputs an instruction to rotate the operation unit rotation unit in one direction when the head is moved in one direction, and the head unit It is desirable to output an instruction to rotate the operation unit rotation unit in the other direction when the operation unit is moved in the other direction.
By moving the head of the rotation operation lever in one direction or the other direction, the operation unit rotation unit rotates the operation unit in one direction or the other direction, and the operation unit is rotated. The insert can be rotated about the axis by operation.

The operation control unit is provided with an advance / retreat operation lever, and the advance / retreat operation lever outputs an instruction to advance the horizontal moving unit when the head is moved in one direction, and the head is moved in the other direction. It is desirable to output an instruction to retreat to the horizontal movement unit when the device is tilted by the angle.
By moving the head of the advance / retreat operation lever in one direction or the other direction, the horizontal moving part moves the operation part forward or backward, moving the operation part forward and backward. It can be moved in the direction.

The operation control unit is provided with a shaft rotation horizontal movement lever, and the shaft rotation horizontal movement lever is configured such that when the head is moved in the left-right direction, the insertion portion is centered on the axis of the third rotation drive unit. It is desirable to instruct the rotation to be performed, and to instruct the fourth rotation drive unit to rotate the insertion unit forward and backward when the head is moved in the front-rear direction.
Thus, by using the rotation operation lever and the advance / retreat operation lever as one shaft rotation horizontal movement lever, rotation and advance / retreat about the axis of the insertion portion can be operated with one hand.

  It is desirable that an insertion portion support portion for supporting the insertion portion of the digestive tract endoscope along the front-rear direction is provided. Since the insertion part is supported along the front-rear direction by the insertion part support part, when the insertion part is sent to the subject and sent to the back of the digestive tract, the insertion part is pulled out from the subject and removed from the digestive tract. Even when the operation can be performed without bending the insertion portion, smooth feeding and withdrawal can be performed.

  In the present invention, it is possible to operate and control the operation after the endoscope that is orally inserted into the subject is inserted into the digestive tract with an operation control unit placed in a remote place. In a sitting position for a long time, it enables more precise operation than before.

It is a perspective view of an oral digestive tract endoscope. It is a perspective view of a handle storage part in the state where an angle handle control board is not mounted. It is a perspective view of a handle storage part in which one angle handle control panel is mounted. It is a perspective view of an angle handle control board. It is a perspective view of a semi-cylindrical drive part and a horizontal direction drive stand. It is a perspective view of an operation panel. It is a figure which shows a remote control panel. It is a perspective view which shows the endoscope remote control system which concerns on Embodiment 2 of this invention. It is a front view which shows the main-body part of the endoscope remote control system shown in FIG. It is a principal part enlarged view of the main-body part shown in FIG. It is a top view of the main-body part shown in FIG. It is a right view of the main-body part shown in FIG. It is a disassembled perspective view of the holding | maintenance part of a main-body part shown in FIG. 9, the 1st, 2 drive part, the 3rd drive part, and the handle | steering-wheel part of a digestive tract endoscope. It is a figure for demonstrating the structure of the operation control part of the endoscope remote control system shown in FIG. It is a perspective view which shows the endoscope remote control system which concerns on Embodiment 3 of this invention. It is a perspective view which shows the endoscope remote control system which concerns on Embodiment 4 of this invention. It is a figure for demonstrating the suspension part of the endoscope remote control system shown in FIG.

  Hereinafter, an endoscope remote control system according to an embodiment of the present invention will be described with reference to the drawings.

(Embodiment 1)
An endoscope remote operation system according to the first embodiment includes a handle storage unit 20 (see FIG. 2) that stores a handle unit 1 that is an operation unit of a digestive tract endoscope, and the handle storage unit 20 in the axial direction. A rotating semi-cylindrical drive unit 21 (see FIG. 5), a horizontal driving table 22 (see FIG. 5) that enables the handle unit 1 to move in the horizontal direction together with the semi-cylindrical drive unit 21, and these are operated. A remote control panel 23 (see FIG. 6) is provided. In the present embodiment, in the endoscope remote control system, the shutter button 8, the vertical angle fixing lever 4, and the horizontal angle fixing lever 5 shown in FIG. 1 are not used.

  The handle storage portion 20 for storing the handle portion 1 shown in FIGS. 2 and 3 functions as a holding portion, and is formed in a substantially semi-cylindrical shape obtained by cutting a cylinder along the central axis, and is formed by an arc surface facing downward. Rotate in the range of 180-270 degrees. The handle storage unit 20 is fixed by burying the endoscope handle unit 1 in a semi-cylinder. The degree of burial is a depth at which the gripping portion 9 is completely buried and the upper and lower angle handles 2 are completely raised. Further, fixing by burying is sufficiently performed using a sponge or a spring structure so as not to be interfered by the surrounding drive system while maintaining easy attachment / detachment.

  As shown in FIG. 2, in the handle storage unit 20, an air / water feed button driving device 24 that is actuated by pushing an air / water feed button 6 and an intake / suction button drive device 25 that is actuated by pushing an intake / suction button 7. With. The air / water supply button driving device 24 and the intake / suction button driving device 25 function as a button pressing unit. The air / water supply button 6 closes the air hole in the center and pushes it to supply water, and presses it without closing to supply air. The air / water feed button drive device 24 is a double drive device capable of these two operations. This water supply is operated by pressing the water supply button drive button switch 26 of the remote control panel 23 shown in FIGS. 6 and 7, and the air supply is operated by pressing the air supply button drive button switch 27. Therefore, the air / water button driving device 24 closes and presses the air hole at the center of the air / water button 6 when the water button driving button switch 26 is pressed, and the air button driving button switch 27 is pressed. When it is done, it is pressed with the air hole in the center of the air / water feed button 6 open.

  The remote operation panel 23 is provided with an intake / suction button drive button switch 46. When the intake / suction button drive button switch 46 is pressed, the intake / suction button drive device 25 presses the intake / suction button 7 to perform intake / suction from the distal end portion 12 of the insertion portion 11.

  The angle handle control panel 28 shown in FIG. 3 is sufficiently fixed to the handle storage unit 20 by a hinge mechanism or a connector mechanism so as not to be interfered by the surrounding drive system while maintaining easy attachment / detachment. Two angle handle control panels 28, one for the upper and lower angle handles 2 and the other for the left and right angle handles 3, are prepared, and the latter is superimposed on the former. These two angle handle control panels 28 are sufficiently fixed so as not to interfere with the surrounding drive system while maintaining easy attachment / detachment by a hinge mechanism or a connector mechanism (for the angle handle control panel 28 shown in FIG. 3). Shows only one).

  The angle handle control panel 28 shown in FIG. 3 includes an angle handle insertion gear 29 (first and second rotating bodies) and an angle handle insertion gear drive device 30 (first rotation drive unit and second rotation drive unit). . That is, the angle handle insertion gear 29 is fitted with the vertical handle 2 or the left and right angle handles 3, and the handles (the vertical angle handle 2 and the left and right angle handles 3) are driven in conjunction with the angle handle insertion gear drive device 30. Is done. The two handles (upper and lower angle handles 2 and left and right angle handles 3) are driven by an up / down / left / right handle drive joystick 31 of the remote control panel 23 shown in FIGS. The up / down / left / right handle drive joystick 31 is a two-axis operation joystick that outputs in the X-axis direction and the Y-axis by tilting in the front / rear direction and the left / right direction, and functions as an up / down operation lever and a left / right operation lever. The X axis output is output to the angle handle insertion gear drive device 30 of the angle handle control panel 28 for the left and right angle handle 3, and the Y axis output is the angle handle insertion gear drive of the angle handle control panel 28 for the vertical angle handle 2. It is output to the device 30.

  When the head of the up / down / left / right handle drive joystick 31 is moved forward and tilted, the tip 12 of the insertion portion 11 swings upward, and when the head of the up / down / left / right handle drive joystick 31 is moved backward and tilted, the tip 12 swings downward. Further, when the up / down / left / right handle driving joystick 31 is tilted to the right, the tip 12 swings to the right, and when the up / down / left / right handle driving joystick 31 tilts to the left, the tip 12 swings to the left.

  The angle handle insertion gear 29 is attached with a circular angle handle insertion gear buried portion 32 which is a hole, and each handle is fitted and fixed to this portion while maintaining the rotation. The angle handle insertion gear drive device 30 may be composed of a plurality of gears so as to obtain a torque necessary for driving, and a servo motor (not shown) or the like is used as driving power. Further, this servo motor or the like is monitored by an encoder so that it is continuously driven in the direction while the up / down / left / right handle driving joystick 31 is tilted, and the hand is released from the up / down / left / right handle driving joystick 31. If it does, it is fixed at that position and is not automatically returned to its original position.

  Driving the angle handle insertion gear 29 by the angle handle insertion gear drive device 30 leaves room for selection of another drive system such as driving of a pulley by a belt.

The semi-cylindrical drive unit 21 shown in FIG. 5 is in charge of rotating the endoscope scope in the axial direction. This is driven by rotating the handle storage 20 about the axis. That is, a semi-cylindrical drive gear 33 having the same central axis is fixed to the side surface of the handle storage unit 20. The semi-cylindrical drive gear 33 is interlocked by meshing with the semi-cylindrical interlocking gear 34 and is driven by the semi-cylindrical gear drive device 35 (operation unit rotating unit). Further, the semi-cylindrical gear drive device 35 may be composed of a plurality of gears so as to obtain a torque necessary for driving, and a servo motor or the like is used as driving power. Furthermore, this servo motor or the like is monitored by the encoder, and thus continues in that direction while the endoscope shaft rotation joystick 36 (third operation control unit) shown in FIGS. 6 and 7 is tilted. When the hand is released from the endoscope axis rotation joystick 36, the position is fixed at that position, and it is not automatically returned to the original position. The endoscope shaft rotation joystick 36 is a single-axis operation joystick that outputs a signal by tilting in the left-right direction, and functions as a rotation operation lever. This signal output is output to the semi-cylindrical gear drive device 35. On the other hand, the handle storage unit 20 is fixed to a semi-cylindrical drive board 39 via a semi-cylindrical center axis 37 and a semi-cylindrical center bearing 38 having the same central axis.
For example, when the head of the endoscope axis rotation joystick 36 is moved to the right, the insertion portion 11 rotates clockwise in the distal direction about the axis. Further, when the head of the joystick 36 for rotating the endoscope shaft is moved to the left, the insertion portion 11 rotates counterclockwise with the axis facing the distal end.

  Driving the semi-cylindrical interlocking gear 34 and the semi-cylindrical driving gear 33 by the semi-cylindrical gear driving device 35 leaves room for selection of another driving system, such as driving a pulley by a belt or providing a gear structure on the spherical surface itself.

5 is responsible for moving the handle storage unit 20 and the semi-cylindrical drive unit 21 in the horizontal direction. This is because the slider 40 fixed to the bottom of the semi-cylindrical drive board 39 is slid on the slider rail 41, which is a rail part, by an actuator (horizontal moving part) not shown in the direction of the double-headed arrow F in FIG. To be executed. Further, the actuator is monitored by the encoder, so that while the endoscope horizontal movement joystick 42 (fourth operation control unit) is tilted, the actuator is continuously driven in the direction, and the endoscope horizontal If the hand is released from the direction moving joystick 42, it is fixed at that position and is not automatically returned to the original position. The endoscope horizontal movement joystick 42 is a single-axis operation joystick that outputs a signal by tilting in the front-rear direction, and functions as an advancing / retracting lever. This signal output is output to the horizontal driving table 22.
For example, when the head of the endoscope horizontal direction joystick 42 is moved forward, the insertion portion 11 advances (advances). Further, when the head of the endoscope horizontal movement joystick 42 is moved backward, the insertion portion 11 is retracted.

  Driving by the actuator in the horizontal driving table 22 leaves room for selection of another driving system such as driving of a pulley by a gear or a belt.

  The handle storage unit 20, the semi-cylindrical drive unit 21, and the horizontal drive base 22 are mounted on a trolley. These mechanical parts (the handle storage unit 20, the semi-cylindrical drive unit 21, and the horizontal driving table 22) are fixed on a trolley table whose height can be adjusted according to the height of the bed on which the patient lies. It is fixed to a trolley with wheels so that the horizontal distance can be adjusted and fixed. This fixing is sufficiently performed so as not to be interfered by the drive system on the trolley. Further, the mechanical portion is appropriately covered as a minimum waterproof measure during the operation.

  The remote control panel 23 shown in FIG. 6 is a shutter button switch for pressing the shutter button 8 shown in FIG. 1 in order to interlock with peripheral devices such as an endoscope main body and its light source device in addition to the various operations described above. 43 and spare button switches 44 and 45 may be provided. The addition of the spare switch and the arrangement of the various switches on the operation panel are optional, so that they can be rearranged to the optimum positions for performing the actual procedure. The remote control panel 23 is mounted on the desk so that the operator can operate in the sitting position. Furthermore, these foot switches are arranged in the desk so that other medical devices such as high-frequency devices can be operated with the foot switches.

  As an option, in order to adjust the insertion length of the forceps 17 and 18 (see FIG. 1) inserted into the forceps hole 10 of the grip portion 9, the forceps 17 can be held and the forceps 17 can be moved by an actuator. May be. At this time, this operation is performed by providing a new joystick on the remote operation panel 23. In addition, the actuator is monitored by the encoder so that it is continuously driven in the direction while the joystick is tilted. If the hand is released from the joystick, the actuator is fixed at the original position. Will not be automatically reverted to.

  As described above, in the endoscope remote control system, the two angle handle control panels 28 (first drive unit and second drive unit) for rotating the upper and lower angle handles 2 and the left and right angle handles 3 of the digestive tract endoscope, The semicircular column drive device portion 21 (third drive portion) of the endoscope, the horizontal direction drive base 22 (fourth drive portion) for moving the insertion portion 11 (see FIG. 1) of the digestive tract endoscope forward and backward, and these are operated. Since the remote operation panel 23 (operation control unit) is provided, the movement of the insertion unit 11 can be operated by the remote operation panel 23, so that it is possible to perform treatment by a complicated endoscope operation in a sitting position. is there.

  In addition, since the operation of swinging the distal end portion 12 of the insertion portion 11 of the digestive tract endoscope up and down and left and right can be operated by the up and down left and right handle drive joystick 31, it can be easily operated with one hand. Further, by tilting the endoscope axis rotation joystick 36 in the left-right direction, the insertion portion 11 can be rotated forward or backward about the axis, and the endoscope horizontal movement joystick 42 is moved back and forth. By tilting in the direction, the insertion portion 11 can be moved forward or backward, and the insertion portion 11 can be rotated or moved while maintaining the swinging state of the distal end portion 12 by a simple operation. be able to.

Furthermore, water supply, air supply, or intake / suction can be performed by the water supply button drive button switch 26, the air supply button drive button switch 27, or the intake / suction button drive button switch 46, so Air can be supplied, and water can be taken in and taken in.
In the present embodiment, the joystick that swings the tip 12 of the operation unit 11 in the vertical direction or the horizontal direction is operated by the single vertical / horizontal handle drive joystick 31. Like the endoscope axis rotation joystick 36 and the endoscope horizontal movement joystick 42, a single axis operation joystick that outputs the X axis output and the Y axis output separately may be used.

(Embodiment 2)
An endoscope remote control system according to Embodiment 2 of the present invention will be described with reference to FIGS.
The endoscope remote operation system 100 includes a main body unit 200 that functions as a drive device, and an operation control unit 300. The main body 200 includes a first drive unit 210 that drives the vertical angle handle 2, a second drive unit 220 that drives the left and right angle handle unit 3, a third drive unit 230 that holds and rotates the handle unit 1, And a fourth drive unit 240 for advancing and retracting the handle unit 1 (see FIG. 1 for each part of the digestive tract endoscope).

The first drive unit 210 includes a first driven pulley 211, a first motor 212, a first drive pulley 213, and a first belt 214. The first driven pulley 211 functions as a first rotating body. The first motor 212, the first drive pulley 213, and the first belt 214 function as a first rotation drive unit.
The first driven pulley 211 is fixed to the upper and lower angle handle 2 by screwing to interlock the upper and lower angle handle 2. The first motor 212 is a servo motor serving as a drive source, and is arranged with the rotation shaft facing upward, and is fixed to a holding unit described later. The first drive pulley 213 is provided on the rotation shaft of the first motor 212. The first belt 214 is installed between the first driven pulley 211 and the first drive pulley 213 and has a V-shaped cross section.

The second drive unit 220 includes a second driven pulley 221, a second motor 222, a second drive pulley 223, and a belt 224. The second driven pulley 221 functions as a second rotating body. The second motor 222, the second drive pulley 223, and the second belt 224 function as a second rotation drive unit.
The second driven pulley 221 is provided coaxially with the upper and lower angle handle 2, and is fixed to the left and right angle handle 3 attached to the handle portion 1 through a hole 211a (see FIG. 13) of the first driven pulley 211 by screwing. Then, the left and right angle handles 2 are interlocked. The second motor 222 is a servo motor serving as a drive source, and is disposed adjacent to the first motor 212 with the rotation shaft facing upward, and is fixed to a holding unit described later. The second drive pulley 223 is provided on the rotation shaft of the second motor 222. The second belt 224 is provided between the second driven pulley 221 and the second drive pulley 223 and has a V-shaped cross section.

The third drive unit 230 includes a holding unit 231, a third driven pulley 232, a third drive motor 233, a third drive pulley 234, a third belt 235, and a stage unit 236. The third driven pulley 232, the third drive motor 233, the third drive pulley 234, and the third belt 235 function as an operation unit rotating unit.
As shown in FIG. 13, the holding portion 231 includes a rectangular support board 2311, a proximal end support member 2312 that supports the proximal end portion of the handle portion 1, and a distal end support member 2313 that supports the distal end portion of the handle portion 1. The central support member 2314 that supports the central portion of the handle portion 1 is formed.

A base end support member 2312, a distal end support member 2313, and a center support member 2314 are erected on the support plate 2311 by screwing from the bottom surface side.
The base end support member 2312 is provided with a through hole 2312a through which the screw member 2315 provided in the third driven pulley 232 is inserted. The screw member 2315 is in contact with the proximal end of the handle portion 1. The front end support member 2313 covers the first front end support member 2313a and the second front end support member 2313b that form a cylindrical cavity by being overlapped with each other, and the tapered front end portion of the handle portion 1. The front end support member 2313 covers the front end portion of the stage 236. And a sliding member 2313c to be inserted.
The center support member 2314 includes a first center support member 2314a and a second center support member 2314b that can be formed into a cavity having a rectangular cross section by overlapping.
The handle portion 1 is positioned between the first tip support member 2313a and the second tip support member 2313b in a separated state and between the first center support member 2314a and the second center support member 2314b, and then The members are overlapped and screwed, and the screw member 2315 provided on the third driven pulley 232 is held in contact with the proximal end of the handle portion 1.

  The third driven pulley 232 is fixed to the proximal end support member 2312 so that the rotation surface is orthogonal to the axis of the handle portion 1. The third motor 233 is a servo motor serving as a drive source, and is arranged on a stage board, which will be described later, so that the rotation axis is parallel to the axis of the handle portion 1. The third drive pulley 224 is provided on the rotation shaft of the third motor 233. The third belt 224 is provided between the third driven pulley 232 and the third drive pulley 234 and has a V-shaped cross section.

The stage unit 236 includes a stage board 2361, a proximal end holding member 2362, and a distal end holding member 2363.
The stage board 2361 is a plate-like member formed in a rectangular shape. A stage end holding member 2362 and a front end holding member 2363 are erected on the stage board 2361 by screwing from the bottom surface side. A third driven pulley 232 is rotatably attached to the proximal end holding member 2362. The tip holding member 2363 is provided with a through hole into which the sliding member 2313c of the holding portion 231 is fitted.

  The fourth drive unit 240 includes a frame unit 241, a rail unit 242, a fourth drive pulley 243, a fourth driven pulley 244, a fourth belt 245, and a fourth motor 246. The fourth drive pulley 243, the fourth driven pulley 244, the fourth belt 245, and the fourth motor 246 function as a horizontal moving unit.

  The frame portion 241 is a table in which four leg portions 2412 are provided at each corner of the rectangular frame frame 2411. The rail portion 242 is formed of two rod-shaped members and is arranged in parallel on the frame frame portion 242. While the slide member 2361a provided on the bottom surface of the stage board 2361 slides on the rail part 242, the stage part 236 moves so that the holding part 231 approaches or moves away from the subject along the rail part 242. Move horizontally.

  The fourth drive pulley 243 is provided below the frame frame 2411 and on the base end side of the rail portion 242. The fourth drive pulley 243 has a rotational surface arranged in parallel with the axis of the handle portion 1. The fourth drive pulley 243 is provided on the rotation shaft of the fourth motor 246. The fourth driven pulley 244 is provided below the frame frame 2411 and on the front end side of the rail portion 242. The rotation surface of the fourth driven pulley 244 is also arranged in parallel with the axis of the handle portion 1. The fourth belt 245 is a flat belt provided between the fourth drive pulley 243 and the fourth driven pulley 244. The fourth belt 245 is connected to the support plate 2311 by a coupling tool 2361b provided on the bottom surface of the stage plate 2361 of the stage portion 236. The fourth motor 246 is a servo motor that rotationally drives the fourth drive pulley 243.

Next, the operation control part 300 is demonstrated based on FIG. 8 and FIG.
The operation control unit 300 is connected to each motor (first to fourth motors 212, 222, 233, and 236) of the main body unit 200 through a cable (not shown) so that the operator can remotely operate the digestive tract endoscope. belongs to.
8 and 14, the operation control unit 300 includes an up / down / left / right handle drive joystick 301, a shaft rotation / horizontal movement joystick 302, a water supply button drive button switch 303, an air supply button drive button switch 304, and an intake / suction button drive button. And a switch 305.

  An up / down / left / right handle drive joystick 301 (up / down / left / right operation lever) is a two-axis operation joystick that outputs an X-axis output and a Y-axis by tilting in the front-rear direction and the left-right direction, and functions as an up-down operation lever and a left-right operation lever. Is. The X-axis output is output to the second drive motor 222 for rotationally driving the left / right angle handle 3. Further, the Y-axis output is output to the first motor 212 for rotationally driving the vertical angle handle 2.

  The axis rotation horizontal movement joystick 302 (axis rotation horizontal movement lever) is a two-axis operation joystick that outputs X-axis and Y-axis by tilting in the front-rear direction and the left-right direction, and functions as a vertical operation lever and a left-right operation lever To do. The X-axis output is output to the third drive motor 233 for rotating the handle portion 1 about the axis. Further, the Y-axis output is output to the fourth motor 246 for moving the handle 1 forward and backward.

The water supply button drive button switch 303 has the same function as the water supply button drive button switch 26 of the remote control panel 23 according to the first embodiment. The air supply button drive button switch 304 has the same function as the air supply button drive button switch 27 of the remote control panel 23 according to the first embodiment.
Although not shown in FIGS. 8 to 14 of the second embodiment, the handle portion 1 supplies water when the central air hole is closed and pressed, and supplies air when pressed without being blocked. An air / water supply button driving device 24 is provided to operate by pressing the water supply button 6 (see FIG. 2). When the water supply button drive button switch 303 is pressed, the air supply / water supply button drive 24 is instructed to be pressed in a state where the air hole of the air supply / water supply button 6 is closed. The air supply button drive button switch 304 instructs the air supply / water supply button drive device 24 to press the air supply / water supply button 6 with the air hole open.

The intake / suction button drive button switch 305 has the same function as the intake / suction button drive button switch 27 of the remote control panel 23 according to the first embodiment.
Although not shown in FIGS. 8 to 14 of the second embodiment, the handle portion 1 is provided with an intake / suction button drive device 25 that is operated by pressing the intake / suction button 7. (See FIG. 2). When the intake / suction button drive button switch 305 is pressed, the intake / suction button drive device 25 is instructed to press the intake / suction button 7.

The operation and use state of the endoscope remote control system according to the second embodiment of the present invention configured as described above will be described with reference to the drawings.
First, the surgeon inserts the insertion portion 11 of the digestive tract endoscope into the mouth of the subject and advances it to the pharynx, esophagus, and stomach. Then, the distal end portion 12 of the digestive tract endoscope reaches a predetermined position, and the treatment is started.

  When the operator wants to swing the distal end portion 12 of the insertion portion 11 in the vertical direction, the operator moves the vertical / left / right handle driving joystick 301 in the forward / backward direction. For example, if the head of the up / down / left / right handle driving joystick 301 is moved forward and tilted, the first motor 212 is notified of the Y-axis output of the up / down / left / right handle driving joystick 301. As the first drive pulley 213 rotates with the rotation of the first motor 212 in one direction, the first belt 214 rotates in one direction. By rotating the first belt 214, the first driven pulley 211 is rotated in one direction, whereby the vertical angle handle 2 is rotated in one direction. As the vertical angle handle 2 rotates in one direction, the distal end portion 12 swings upward. When the head of the up / down / left / right handle drive joystick 301 is moved backward and tilted, all the rotations from the first motor 212 are transmitted in the opposite direction so that the tip 12 is lowered. Swing in the direction.

  The vertical swinging degree of the distal end portion 12 increases in proportion to the tilting time because the first motor 212 continues to rotate while the up / down / left / right handle driving joystick 301 is tilted in any of the vertical directions. .

  Next, when the surgeon wants to swing the distal end portion 12 of the insertion portion 11 in the left-right direction, the up / down / left / right handle driving joystick 301 is tilted in the left / right direction. For example, if the head of the up / down / left / right handle driving joystick 301 is moved to the left and tilted, the X-axis output of the up / down / left / right handle driving joystick 301 is notified to the second motor 222. As the second drive pulley 223 rotates along with the rotation of the second motor 222 in one direction, the second belt 224 rotates in one direction. By rotating the second belt 224, the second driven pulley 221 rotates in one direction, thereby rotating the left and right angle handle 3 in one direction. As the left and right angle handle 3 rotates in one direction, the distal end portion 12 swings leftward. When the head of the up / down / left / right handle driving joystick 301 is moved to the right and tilted, the tip 12 is transmitted in the same order except that the rotation from the second motor 222 is in the opposite direction. Swing to the right.

  The swinging degree of the distal end portion 12 in the left-right direction increases in proportion to the tilting time because the second motor 222 continues to rotate while the up / down / left / right handle driving joystick 301 is tilted in any of the left / right directions. .

  Next, when the surgeon wants to rotate the axis of the insertion portion 11 around the axis of the insertion portion 11 while keeping the distal end portion 12 of the insertion portion 11 swinging, the axis rotation horizontal movement joystick 302 is tilted in the left-right direction. For example, if the head of the axis rotation horizontal movement joystick 302 is moved leftward and tilted, the X-axis output of the axis rotation horizontal movement joystick 302 is notified to the third motor 233. As the third drive pulley 234 rotates along with the rotation of the third motor 233 in one direction, the third belt 235 rotates in one direction. By rotating the third belt 235, the third driven pulley 234 rotates in one direction, so that the holding portion 231 rotates around the axis of the handle portion 1. As the handle portion 1 rotates, the insertion portion 11 also rotates in one direction. For example, when the head of the axis rotation horizontal movement joystick 302 is moved to the left, the insertion unit 11 rotates clockwise in the distal direction about the axis. When the head of the axis rotation horizontal movement joystick 302 is moved to the right and tilted, the tip 12 is transmitted in the same order except that the rotation from the third motor 233 is in the opposite direction. Rotate in the other direction. This direction of rotation can also be reversed.

  The degree of rotation of the distal end portion 12 increases in proportion to the tilting time because the third motor 233 continues to rotate while the shaft rotation horizontal movement joystick 302 is tilted in any of the left and right directions.

  Next, when the surgeon wants to further advance or return the insertion portion 11 while maintaining the swinging state, the operator rotates the shaft rotation horizontal movement joystick 302 in the front-rear direction. For example, if the head of the axis rotation horizontal movement joystick 302 is moved forward and tilted, the Y motor output of the axis rotation horizontal movement joystick 302 is notified to the fourth motor 246. The fourth drive pulley 243 rotates along with the rotation of the fourth motor 246 in one direction, so that the upper side moves from the base end to the tip end of the fourth belt 245 with the fourth driven pulley 244. Go around. The holding part 231 is guided by the rail part 242 from the proximal end to the distal end and moves horizontally together with the stage part 236 connected to the coupler 2361b by the rotation of the fourth belt 245. When the holding portion 231 approaches the subject, the distal end portion 12 of the insertion portion 11 advances further through the digestive tract. When the head of the axis rotation horizontal movement joystick 302 is moved backward and tilted, all the rotations from the fourth motor 246 are transmitted in the opposite direction, so that the holder 231 is covered. By moving away from the surgeon, the distal end portion 12 of the insertion portion 11 is pulled back from the digestive tract.

  The degree of advancement / retraction of the distal end portion 12 increases in proportion to the tilt time because the fourth motor 246 continues to rotate while the shaft rotation horizontal movement joystick 302 is tilted in any of the front and rear directions.

  In the description of the first drive unit 210 to the fourth drive unit 220, the operation of the digestive tract endoscope is described separately. However, the up / down / left / right handle drive joystick 301 and the axial rotation horizontal movement joystick 302 are tilted obliquely. It is also possible to perform operations on the digestive tract endoscope continuously or in combination by tilting them in combination.

  When it is desired to supply air or supply water as needed during the treatment, pressing the water supply button drive button switch 303 or pressing the air supply button drive button switch 304 will cause this depression to supply air or water. The button driving device 24 is notified. By this notification, the air / water supply button driving device 24 can press the air / water supply button 6 to supply air or water from the distal end portion 12. When suction is desired, the suction / suction button drive button switch 305 is pressed to notify the suction / suction button drive device 25 of this press. By this notification, the intake / suction button drive device 25 can press the intake / suction button 7 to suction from the distal end portion 12.

  Thus, in the endoscope remote control system 100, the first drive unit 210 that rotates the vertical angle handle 2 of the digestive tract endoscope, the second drive unit 220 that rotates the left and right angle handle 3, and the handle unit 1 are rotated. The operation control unit 300 controls the complicated movement of the insertion unit 11 by providing the third drive unit 230 to be operated, the fourth drive unit 240 for moving the handle unit 1 forward and backward, and the operation control unit 300 for operating them. Therefore, it is possible to perform treatment by a complicated endoscope operation in a sitting position.

  In addition, since the operation of swinging the distal end portion 12 of the insertion portion 11 of the digestive tract endoscope up and down and left and right can be operated by the up and down left and right handle drive joystick 301, it can be easily operated with one hand. Moreover, since the operation | movement which rotates or advances / retreats the front-end | tip part 12 of the insertion part 11 of a digestive tract endoscope can be operated with the axial rotation horizontal movement joystick 302, it can be easily operated with one hand. Therefore, the complicated movement of the tip 12 can be operated with both hands.

In addition, since the up / down / left / right tilting of the up / down / left / right handle driving joystick 301 and the up / down / left / right swinging motion of the distal end portion 12 coincide with each other, the operation method of the up / down / left / right handle driving joystick 301 is memorized. Since it is easy, reliable treatment can be performed.
Further, the tip 12 moves forward by tilting the shaft rotation horizontal movement joystick 302 forward, and the tip 12 moves backward by tilting backward, so that the operation method of the shaft rotation horizontal movement joystick 302 and the operation of the tip 12 are performed. Therefore, it is possible to perform a reliable treatment.

(Embodiment 3)
An endoscope remote control system according to Embodiment 3 of the present invention will be described with reference to FIG. In FIG. 15, the same components as those in FIG.
In the third embodiment, the method for supporting the insertion portion is a screen type.
The endoscope remote control system 101 shown in FIG. 15 is provided with an insertion portion support portion 250 that supports the insertion portion 11 along the front-rear direction in which the insertion portion 11 moves in order to suppress bending of the insertion portion 11. It has been.
In the insertion portion support portion 250, six support plates 251 formed in a rectangular shape are arranged in a row on the rail portion 242. The support plate 251 is provided with a through hole 2511 through which the insertion portion 11 is inserted at the center. The support plates 251 are each connected by a connecting rope 252. The connecting rope 252 having one end connected to the support plate 251 on the holding portion 231 side has the other end connected to the tip support member 2313 of the holding portion 231. The same surface as the slide member 2361 a provided on the bottom surface of the stage board 2361 is provided on the lower surface of the support plate 251.
The number of support plates 251 is appropriately determined according to the length of the frame portion 241.

The operation and use state of the endoscope remote control system according to the third embodiment configured as described above will be described with reference to FIG.
For example, if the surgeon tilts the shaft rotation horizontal movement joystick 302 forward, the fourth motor 246 rotates in one direction, and the fourth drive pulley 243 rotates in one direction, so that the fourth belt 245 The upper side circulates from the proximal end side to the distal end side, and the holding portion 231 moves horizontally along with the stage portion 236 from the proximal end to the distal end (see FIGS. 9 to 12).

  When the stage portion 236 moves horizontally from the base end toward the front (tip), the support plate 251 closest to the stage portion 236 is pushed and moved on the rail portion 242 to the front support plate 251 so that the front The support plate 251 is pushed. Then, as the stage portion 236 pushes the support plate 251 one after another, the entire support plate 251 moves on the rail portion 242 to the tip of the frame portion 241 while sequentially reducing the interval between the support plates 251. . Since the insertion portion 11 of the digestive tract endoscope is carried by the support plate 251 by passing through the through holes 2511 of the respective support plates 251, the insertion portion 11 sent toward the subject bends. Can be prevented.

  Next, if the surgeon tilts the shaft rotation horizontal movement joystick 302 backward, the fourth motor 246 rotates in the other direction and the fourth drive pulley 243 rotates in the other direction, so that the fourth belt 245 is rotated. The holding portion 231 moves horizontally along with the stage portion 236 from the distal end to the proximal end.

  When the stage portion 236 moves horizontally toward the rear, which is the base end side, the connecting rope 252 is pulled and the slack is eliminated. Then, the support plate 251 closest to the stage portion 236 is pulled by the connecting rope 252. Similarly, the next support plate 251 connected to the pulled support plate 251 by the connecting rope 252 is pulled backward and moved horizontally along the rail portion 242 when the connecting rope 252 is pulled and the slack is eliminated. To do. And since the support plate 251 moves one after another while interlocking with the connecting rope 252 and supporting the inserted portion 11 that is pulled back, it is possible to prevent the inserted portion 11 from being bent.

  Thus, even if the stage part 236 moves in the front-rear direction, the insertion part 11 is sent toward the subject without being bent or pulled back, so that smooth insertion and extraction are performed. Can do.

(Embodiment 4)
An endoscope remote control system according to Embodiment 4 of the present invention will be described with reference to FIGS. 16 and 17. In FIG. 16, the same components as those in FIG.
The fourth embodiment is a modification of the third embodiment, and the method for supporting the insertion portion 11 of the digestive tract endoscope is a hanging type.
In the endoscope remote control system 102 shown in FIG. 16, in order to suppress the bending of the insertion portion 11, an insertion portion support portion 260 that supports the insertion portion 11 is provided along the front-rear direction in which the insertion portion 11 moves. It has been.
This insertion portion support portion 260 includes a column plate 261 provided at both ends of the frame frame 2411, a rod-shaped beam portion 262 laid between the two column plates 261, and a ring suspended from the beam portion 262. Part 263 and a connecting rope 264 that connects each hanging part 263.
A through hole 2611 through which the insertion portion 11 is inserted is provided in the center portion of the support column plate 261 on the distal end side. The beam portion 262 is formed in a shape like a curtain rail in which a linear notch 2621 is provided along the longitudinal direction at the center of the lower surface of the square tube. The suspending portion 263 includes a substantially T-shaped or substantially disc-shaped suspending portion 2631 that moves while sliding on the inner surface of the beam portion 262, a ring portion 2622 through which the insertion portion 11 is inserted, and a suspending portion 2631. And a handle portion 2633 connected to the.
Note that the number of the hanging portions 263 is appropriately determined according to the length of the frame portion 241.
The connecting rope 264 having one end connected to the hanging portion 263 on the holding portion 231 side is connected to the tip support member 2313 of the holding portion 231 at the other end.

The operation and use state of the endoscope remote control system according to the third embodiment configured as described above will be described with reference to FIG.
For example, if the surgeon tilts the shaft rotation horizontal movement joystick 302 forward, the fourth motor 246 rotates in one direction, and the fourth drive pulley 243 rotates in one direction, so that the fourth belt 245 The upper side circulates from the proximal end side to the distal end side, and the holding portion 231 moves horizontally along with the stage portion 236 from the proximal end to the distal end (see FIGS. 9 to 12).

  By moving the stage part 236 horizontally from the base end toward the front (front end), the suspending part 263 closest to the stage part 236 is pushed, and by moving the beam part 262 to the previous suspending part 263, Push the previous hanging part 263. Then, the stage portion 236 pushes the suspension portion 263 one after another, so that all the suspension portions 263 are arranged on the rail portion 242 while sequentially reducing the interval between the suspension portions 263 to the tip of the frame portion 241. To move. Since the insertion part 11 of the digestive tract endoscope is carried by the suspension part 263 by inserting the ring 2362 of each suspension part 263, the insertion part 11 sent toward the subject bends. This can be prevented.

  Next, if the surgeon tilts the shaft rotation horizontal movement joystick 302 backward, the fourth motor 246 rotates in the other direction and the fourth drive pulley 243 rotates in the other direction, so that the fourth belt 245 is rotated. The holding portion 231 moves horizontally along with the stage portion 236 toward the proximal end.

  When the stage part 236 moves horizontally toward the rear, which is the base end side, the connecting rope 264 is pulled and the slack is eliminated. Then, the hanging part 263 closest to the stage part 236 is pulled by the connecting rope 264. The next suspended portion 263 connected by the pulled suspended portion 263 and the connecting rope 264 is similarly pulled back and along the beam portion 262 when the connecting rope 264 is pulled and the slack is eliminated. Move horizontally. And since the suspension part 263 is interlocked by the connection rope 264 one after another and moves horizontally while supporting the insertion part 11 that is pulled back, it is possible to prevent the insertion part 11 from being bent.

  Thus, even if the stage part 236 moves in the front-rear direction, the insertion part 11 is sent toward the subject without being bent or pulled back, so that smooth insertion and extraction are performed. Can do.

  As mentioned above, although embodiment of this invention has been described, this invention is not limited to the said embodiment. For example, in Embodiments 1 and 2, the top / bottom angle handle and the left / right angle handle are rotated from the outside to swing the tip 12 of the insertion portion 11. The drive unit may directly pull the wire for swinging the distal end portion 12 of the digestive tract endoscope.

  The endoscope remote control system of the present invention can be applied not only to an oral digestive tract endoscope but also to a lower digestive tract endoscope.

DESCRIPTION OF SYMBOLS 1 Handle part 2 Vertical angle handle 3 Left and right angle handle 4 Vertical angle fixed lever 5 Right and left angle fixed lever 6 Air supply / water supply button 7 Intake / suction button 8 Shutter button 9 Grip part 10 Forceps hole (channel)
DESCRIPTION OF SYMBOLS 11 Insertion part 12 Tip part 13 Forceps exit 14 Air supply / water supply nozzle 15 Objective lens 16 Light guide 17 Forceps 18 Forceps tip part 19 Light source device connection cord 20 Handle storage part 21 Semi-cylindrical drive part 22 Horizontal direction drive stand 23 Remote operation Panel 24 Air supply / water supply button drive device 25 Air intake / suction button drive device 26 Water supply button drive button switch 27 Air supply button drive button switch 28 Angle handle control panel 29 Angle handle insertion gear 30 Angle handle insertion gear drive device 31 Up / down / left / right handle Drive joystick 32 Angle handle insertion gear buried portion 33 Semi-cylindrical drive gear 34 Semi-cylindrical interlocking gear 35 Semi-cylindrical gear drive device 36 Joystick for rotating the endoscope shaft 37 Semi-cylindrical center shaft 38 Semi-cylindrical center bearing 39 Semi-cylindrical drive disc 40 Slider 41 Slider rail 42 Endoscope horizontal movement joystick 43 Shutter button switch 44, 45 Spare button 46 Intake / suction button drive button switch 100, 101, 102 Endoscope remote control system 200 Main body 210 First drive 211 First driven pulley 211a Hole 212 First motor 213 First drive pulley 214 First belt 220 Second drive unit 221 Second driven pulley 222 Second motor 223 Second drive pulley 224 Second belt 230 Third drive unit 231 Holding Part 2311 Support plate 2312 Base end support member 2312a Through hole 2313 Front end support member 2313a First front end support member 2313b Second front end support member 2313c Sliding member 2314 Central support member 2314a First central support member 2314b Second middle Center support member 2315 Screw member 232 Third driven pulley 233 Third motor 234 Third drive pulley 235 Third belt 236 Stage portion 2361 Stage plate 2361a Slide member 2361b Connector 2362 Base end holding member 2363 Tip end holding member 240 Fourth drive portion 241 frame portion 2411 frame frame 2412 leg portion 242 rail portion 243 fourth driving pulley 244 fourth driven pulley 245 fourth belt 246 fourth motor 250 insertion portion support portion 251 support plate 2511 through hole 252 connection rope 260 insertion portion support portion 261 Supporting plate 262 Beam part 2621 Notch part 263 Suspension part 2631 Suspension part 2632 Ring part 264 Connection rope 300 Operation control part 301 Up / down / left / right handle drive joystick 302 Axis rotation horizontal movement joystick Tick 303 Water supply button drive button switch 304 Air supply button drive button switch 305 Intake / suction button drive button switch

Claims (10)

A first drive unit that drives a mechanism that swings the distal end of the insertion portion of the digestive tract endoscope inserted into the digestive tract of the subject vertically, and a mechanism that drives a mechanism that swings the distal end of the insertion portion horizontally. A drive device comprising: 2 drive units; a third drive unit that rotates the insertion unit around the axis of the insertion unit; and a fourth drive unit that advances and retracts the insertion unit in the front-rear direction;
An endoscope remote operation system, comprising: an operation control unit that instructs the first to fourth drive units of the drive device to drive each. The first driving part is fixed to and interlocked with a vertical angle handle having a rotation shaft for swinging the distal end of the insertion part in the vertical direction, and the first rotary body is moved in one direction or the other direction. A first rotation drive unit that rotates
The second drive unit is provided coaxially with the first rotator, and is fixed to and interlocked with a left and right angle handle having a rotation shaft for swinging the distal end of the insertion unit in the left and right direction; and A second rotation drive unit that rotates the second rotating body in one direction or the other direction;
The third drive unit includes a holding unit that holds and fixes the operation unit of the gastrointestinal endoscope provided with the vertical angle handle and the left and right angle handle, and the holding unit is centered on an axis of the insertion unit. An operating section rotating section for rotating,
The said 4th drive part is equipped with the said holding | maintenance part, The rail part arrange | positioned along the front-back direction, The horizontal movement part which moves the said holding | maintenance part along the said rail part is provided. Endoscope remote control system. In the drive device,
The operation buttons provided in the operation part of the gastrointestinal tract endoscope are provided with a button pressing part for pressing each of the buttons.
The endoscope remote control system according to claim 1, wherein the operation control unit is provided with a switch that instructs the button pressing unit to press the button. The operation control unit is provided with a vertical operation lever,
The up / down operation lever outputs an instruction to rotate the head in one direction when the head is moved in one direction, and the first rotation when the head is moved in the other direction. The endoscope remote control system according to claim 2 or 3, wherein an instruction to rotate the drive unit in the other direction is output. The operation control unit is provided with a left and right operation lever,
The left / right operation lever outputs an instruction to rotate the head in one direction when the head is moved in one direction, and the second rotation when the head is moved in the other direction. The endoscope remote control system according to any one of claims 2 to 4, wherein an instruction to rotate the drive unit in the other direction is output. The operation control unit is provided with up / down / left / right operation levers,
The up / down / left / right control lever instructs the first rotation drive unit to rotate the tip of the insertion portion in the up / down direction when tilted in the front / rear direction, and the second rotation when tilted in the left / right direction. The endoscope remote control system according to claim 2 or 3, wherein the drive unit is instructed to rotate the tip of the insertion unit in the left-right direction. The operation control unit is provided with a rotation operation lever,
The rotation operation lever outputs an instruction to rotate the operation unit rotation unit in one direction when the head is moved in one direction, and the operation unit rotation unit when the head is moved in the other direction. The endoscope remote control system according to any one of claims 2 to 6, wherein an instruction to rotate in the other direction is output to the endoscope. The operation control unit is provided with an advance / retreat operation lever,
The advance / retreat operation lever outputs an instruction to advance the horizontal movement unit when the head is moved in one direction, and an instruction to retract the horizontal movement unit when the head is tilted in the other direction. The endoscope remote control system according to any one of claims 2 to 7, wherein: The operation control unit is provided with a shaft rotation horizontal movement lever,
The axis rotation horizontal movement lever instructs the third rotation drive unit to rotate the insertion portion around the axis when moving the head in the left-right direction, and moves the head in the front-rear direction. The endoscope remote control system according to any one of claims 2 to 6, wherein the fourth rotation drive unit is instructed to rotate to move the insertion unit back and forth.   The endoscope remote control system according to any one of claims 1 to 9, further comprising an insertion portion support portion that supports the insertion portion of the digestive tract endoscope along the front-rear direction.

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