JP2013027466A - Medical apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a medical apparatus capable of easily bending or hardly bending a tubular section, which is one part of an insertion section inserted into a tube hole, for example, by a user with determination or a suitable set, i.e. adjusting at least one part of hardness of the insertion section so as to easily insert into winding tube hole.SOLUTION: The medical apparatus 12 includes: an insertion section 24 having a bending section 34 and a tubular section 36 provided on a base end of the bending section with flexibility; bending drive mechanisms 34a, 42, 46 and 52 for bending the bending section; a power source P; a drive source M for driving by power supply from the power source; transmission sections 66, 68, and 36a in which at least one part is arranged to the tubular section to transmit a driving force from the drive source; and a hardness adjusting mechanism 60 having adjusting sections 72 and 74 for adjusting the connection between the power source and the drive source to adjust the driving force transmitting from the drive source to the transmission sections adjustable the hardness of at least one part of the tubular section.

Description

  The present invention relates to a medical device having a portion to be inserted into a tube hole.

  For example, Patent Document 1 discloses that a control circuit turns on / off four transistors and performs on / off control of a voltage applied to a motor in accordance with an operation of a bending operation switch. Further, it is disclosed that the motor is driven and controlled at a predetermined speed that can be variably set in steps by performing on / off control of the voltage applied to the motor while monitoring the rotation speed of the motor via an encoder. ing.

Japanese Patent Laid-Open No. 5-38328

  In the conventional bending control of the bending portion of the insertion portion of the endoscope using a motor, when the bending operation is stopped, a short circuit state in which the rotation shaft of the motor is braked and the rotation shaft of the motor can be freely rotated. It is fixed in one state of free state. Therefore, if the endoscope is in a free state, the bending portion can be bent when an external force is applied to the bending portion of the endoscope. If the endoscope is in a short-circuit state, the rotation shaft of the motor can be bent. Since the rotation is braked, resistance is generated with respect to the external force applied to the bending portion, and the bending portion becomes difficult to bend.

  For this reason, when using an endoscope in which the motor is short-circuited, the bending portion is difficult to bend with respect to external force, and insertion may be hindered when inserting a tortuous part, while the motor is in a free state. When an endoscope is used, the bending portion is easily bent with respect to an external force, and the bending portion is unintentionally bent when the insertion portion is pushed to the back side, so that it may be difficult to transmit the force to the distal end hard portion.

  In the present invention, for example, when an external force is applied to a tubular portion that is a part of an insertion portion that is inserted into a tube hole, the tubular portion may be easily bent or difficult to be bent by a user's judgment or an appropriate setting. An object of the present invention is to provide a medical device that can adjust the hardness of at least a part of the insertion portion and can be easily inserted into a tortuous tube hole.

The medical device according to the present invention includes a bending portion, an insertion portion provided at a proximal end portion of the bending portion, and a flexible tubular portion, a bending drive mechanism for bending the bending portion, a power source, A drive source driven by electric power supplied from the power source, a transmission portion at least partially disposed in the tubular portion and transmitting a driving force from the drive source, and a connection between the power source and the drive source And a hardness adjusting mechanism that adjusts the hardness of at least a part of the tubular portion. The adjusting portion adjusts the driving force transmitted from the driving source to the transmitting portion.
Since the medical device has a hardness adjusting mechanism capable of adjusting the hardness of at least a part of the tubular portion, the tubular portion can be easily bent or difficult to bend. That is, since this medical device can adjust the hardness of at least a part of the insertion portion, it is possible to easily insert the insertion portion into a tortuous tube hole.

  According to the present invention, for example, when a tubular portion which is a part of the insertion portion inserted into the tube hole receives an external force, the tubular portion is easily bent or difficult to be bent by a user's judgment or an appropriate setting. In other words, it is possible to provide a medical device that can adjust the hardness of at least a part of the insertion portion and can be easily inserted into a tortuous tube hole.

(A) is the schematic which shows the endoscope system (medical device) which concerns on 1st Embodiment, (B) shows the state which observed the front-end | tip hard part of the insertion part from the arrow 1B direction in FIG. 1 (A). FIG. Schematic which shows the endoscope (medical apparatus) of the endoscope system which concerns on 1st Embodiment. (A) shows the state which curved the 1st bending part when rotating the 1st drum of the operation part of the endoscope of the endoscope system concerning a 1st embodiment, and (B) is an endoscope. Schematic which shows the state which bent the 2nd bending part when rotating a pulley via the rotating shaft of the motor of the operation part of this. The state of the wire arrange | positioned between the insertion part of the endoscope of the endoscope system which concerns on 1st Embodiment, and an operation part is shown, (A) is the schematic of the state in which the 2nd bending part is straight, ( B is a schematic diagram showing a state in which the second bending portion is bent in the U direction. The schematic block diagram which shows the relationship between the drive control part of the endoscope system which concerns on 1st Embodiment, and the member controlled by drive control. The full-bridge circuit (H bridge circuit) of the endoscope system which concerns on 1st Embodiment is shown, (A) is the schematic which shows the state which rotates the rotating shaft of a motor forward, (B) reverses the rotating shaft of a motor. The schematic diagram which shows the state to rotate, (C) is the schematic diagram which shows the state which demonstrates the brake function to the rotating shaft of a motor, (D) is the schematic diagram which shows the state which rotates the rotating shaft of a motor freely. Schematic which shows the large intestine used as the object which inserts the insertion part of the endoscope of the endoscope system which concerns on 1st Embodiment. The state which inserted the insertion part of the endoscope of the endoscope system concerning a 1st embodiment into the lumen of the large intestine is shown, and (A) is in the lumen of the large intestine with the 2nd bending part being soft. FIG. 6B is a schematic diagram illustrating a state in which the second bending portion is in a soft state and the distal end hard portion is in contact with the inner wall of the large intestine, and the second bending portion is bent by receiving a reaction force from the inner wall of the large intestine. The schematic diagram which shows a state, (C) is the schematic which shows the state which made the 2nd bending part the hard state, and bent the 1st bending part to the angle exceeding 90 degree | times, (D) is the hard state of the 2nd bending part The schematic diagram which shows the state which pushed the insertion part with respect to the inner wall of a large intestine, maintaining the state which made the 1st bending part bent to the angle which exceeded 90 degree | times in the state made to be. The state which inserted the insertion part of the endoscope into the lumen of the large intestine without using the endoscope system concerning a 1st embodiment is shown, and (A) makes the 2nd bending part a hard state, and is a tip hard part. Schematic diagram showing a state of pressing the inner wall of the large intestine, (B) the second curved portion is bent by the reaction force when the second curved portion is softened and the inner wall of the large intestine is pressed by the hard tip portion Schematic shown. The modification of the full bridge circuit (H bridge circuit) of the endoscope system which concerns on 1st Embodiment. The schematic flowchart which shows the process at the time of inserting an insertion part into the inside of tube holes, such as a large intestine, using the endoscope system which concerns on the modification of 1st Embodiment. Schematic which shows the endoscope system (medical apparatus) which concerns on 2nd Embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
A first embodiment will be described with reference to FIGS. 9A and 9B are reference diagrams showing a state in which the insertion portion is inserted into the large intestine using an endoscope system different from the endoscope system 10 according to this embodiment. .

  As shown in FIG. 1A, an endoscope system (medical apparatus) 10 according to the first embodiment is detachably connected to an endoscope (medical apparatus) 12 and an endoscope 12, A light source 14 that is optically connected to the illumination optical system 30 of the endoscope 12 and supplies illumination light, and an observation optical system 28 of the endoscope 12 that is detachably connected to the endoscope 12 and controls the observation optical system. 28, a video processor 16 that processes a signal obtained from 28 and outputs a video signal, and a monitor 18 that displays an endoscopic image obtained by signal processing by the video processor 16. An image recording device (not shown) or the like can be connected to the video processor 16. Instead of the light source 14 that is separate from the endoscope 12, a small light source such as an LED is used as a part of the illumination optical system 30, and the distal end of the insertion unit 24 is hard inside the operation unit 22 described later. You may incorporate in the part 32 grade | etc.,.

The endoscope 12 is gripped by an operator and can be operated to bend a first bending portion 34 described later, and a tube hole LI (described in FIGS. 8 and 9) extending from the operation portion 22 and described later. The same sign is also given to the intestinal tract of the large intestine to be shown). 14 includes a universal cord 26 incorporating a light guide for transmitting illumination light from 14, and a connector portion 26 a provided at an end of the universal cord 26 and detachably connected to the light source 14 and the video processor 16. In other words, the operation portion 22 is provided at the proximal end portion of the insertion portion 24, and the universal cord 26 extends from the operation portion 22.
A channel through which the observation optical system (imaging means) 28 and the illumination optical system (illumination means) 30 shown in FIG. 1B and a treatment instrument (not shown) are inserted inside the operation section 22 and the insertion section 24. 32a is disposed.

  The insertion portion 24 includes a distal end hard portion 32 provided at the distal end thereof, a first bending portion 34 provided on the rear end side of the distal end hard portion 32 and capable of being bent by operation of the operation portion 22, and the first bending portion. 34, a flexible second curved portion (tubular portion) 36 provided on the rear end side of 34, and a long and flexible member formed on the rear end side of the second curved portion 36 by a soft and tubular member. And a flexible tube portion (tubular portion) 38. That is, the distal end rigid portion 32, the first bending portion 34, the second bending portion 36, and the flexible tube portion 38 are sequentially arranged from the distal end side toward the proximal end side to form the insertion portion 24.

  As described above, in the present embodiment, the insertion portion 24 of the endoscope 12 includes the first bending portion 34 close to the distal end hard portion 32 and the second bending portion (tubular portion) close to the flexible tube portion 38. 36 and two curved portions 34, 36. Among these, the first bending portion 34 functions as an active bending portion that is actively bent by the operation of the operation portion 22. The second bending portion 36 functions as a part of a hardness adjusting mechanism 60 described later. That is, the second bending portion 36 can adjust the hardness, that is, the ease of bending when receiving an external force, by the hardness adjusting mechanism 60. For this reason, the 2nd bending part 36 can also be functioned as a passive bending part, and can also be functioned as a part of flexible tube part 38, or a hard part harder than it.

The first bending portion 34 and the second bending portion 36 shown in FIG. 2 are each a bending tube (first and second bending drive mechanism) 34a, 36a formed of a plurality of known bending pieces, and the bending tubes 34a, 36a. A blade disposed on the outside of the blade and a skin disposed on the outside of the blade. For example, four angle wires (first bending drive mechanisms) 42 (U, D, R, L) corresponding to each bending direction of the first bending portion 34 are provided at the distal end of the bending tube 34a of the first bending portion 34. Is fixed. Therefore, the first bending portion 34 is defined as the first and second directions in the up / down (UP / DOWN) direction (indicated by U and D in FIG. 2), and the third and fourth directions are defined as the left and right (RIGHT / LEFT) directions ( It is possible to bend in the direction shown by R and L in FIG.
In this embodiment, the first bending portion 34 is bent in four directions, but the first bending portion 34 is defined as the first and second directions (UP / DOWN) direction (U in FIG. 2). It is also preferable to be able to bend only in the case of (indicated by D).

As shown in FIG. 2, the two angle wires 42 (U, D) for bending the first bending portion 34 in the vertical direction are wound around the first drum (first bending drive mechanism) 46 inside the operation portion 22. Has been fixed. Two angle wires 42 (R, L) for bending the first bending portion 34 in the left-right direction are wound and fixed around a second drum (first bending drive mechanism) 48 inside the operation portion 22. The first and second drums 46 and 48 are arranged on the same axis. Outside the operation unit 22, a first angle knob (first bending drive mechanism) 52 that rotates the first drum 46 and a second angle knob (first bending drive mechanism) 54 that rotates the second drum 48 are provided. Are arranged. The first and second angle knobs 52 and 54 are disposed on the same axis. The first and second drums 46 and 48 and the first and second angle knobs 52 and 54 are arranged on the same axis. When the first angle knob 52 is rotated about its axis, the first drum 46 is rotated about the same axis by the same angle as the first angle knob 52, and when the second angle knob 54 is rotated about its axis. The second drum 48 rotates about the same axis by the same angle as the second angle knob 54. The bending tube 34a, the wire 42, the first drum 46, and the first angle knob 52 form a first bending drive mechanism that bends the first bending portion 34 in the U direction and the D direction. Further, the bending tube 34a, the wire 42, the second drum 48, and the second angle knob 54 form a first bending driving mechanism that bends the first bending portion 34 in the R direction and the L direction.
In this embodiment, the position where the first bending portion 34 is straight is defined as the initial position (neutral position) of the first angle knob 52, and the position where the second bending portion 36 is straight is defined. It is defined as the initial position (neutral position) of the motor M. The rotatable angle in the U direction (plus direction) and the D direction (minus direction) of the first angle knob 52 and the bendable angle ψ in the U direction and D direction of the first and second bending portions 34 and 36 are symmetrical. Preferably there is. In particular, the rotatable angle ψ of the first angle knob 52 and the bendable angle η of the first bending portion 34 are, for example, from the state (initial state) η ₀ where the first bending portion 34 is straight in both the U direction and the D direction. It is preferably about 180 degrees. The rotatable angle of the second angle knob 54 and the bendable angle of the first bending portion 36 are each about 160 degrees, for example, from the straight state (initial state) of the first bending portion 34 in both the R direction and the L direction. Is preferred. The bendable angle (maximum bending angle) θ of the second bending portion 36 is, for example, about 120 degrees from the straight state (initial state) θ _{0 of} the second bending portion 36 in both the U direction and the D direction. Is preferred.

A knob position detection potentiometer (input amount detection unit) 56 as a detection unit (detection unit) for detecting the rotational position of the first drum 46 is attached to the first drum 46. The potentiometer 56 is disposed inside the operation unit 22. By initial setting of the potentiometer 56 in accordance with the initial position of the first angle knob 52 (the position where the first bending portion 34 is straight), the potentiometer 56 can rotate the first drum 46, that is, the first angle. The rotation position (rotation angle) ψ of the knob 52 can be detected. For this reason, the potentiometer 56 detects the bending operation amount input to the first angle knob (first bending operation input unit) 52 as the bending operation input amount. 3A, the rotation amount ψ of the first angle knob 52, that is, the rotation amount ψ of the first drum 46, the bending amount (curving angle) η in the U direction and D direction of the first bending portion 34, and Corresponds approximately. For this reason, by using the potentiometer 56, it is possible to estimate the bending state of the first bending portion 34 in the U direction and the D direction based on the rotation amount of the first angle knob 52.
Therefore, the potentiometer 56 detects that the bending angle of the first bending portion 34 exceeds a certain setting (threshold) angle (predetermined angle) when the first bending portion 34 is bent by the first bending drive mechanism. Functions as a detection unit.

As shown in FIG. 2, the endoscope 12 according to this embodiment has a hardness adjustment mechanism (hardness switching) that can switch the hardness of the second bending portion 36 from a soft state to a hard state and from the hard state to the soft state. Mechanism) 60. The hardness adjusting mechanism 60 includes a power source P, a motor M that is a driving source driven by electric power supplied from the power source P, and a pulley 66 that is a transmission unit that transmits the driving force of the motor M disposed in the motor M. And a wire 68 (U ′, D ′), which is a transmission unit that is disposed at least partially on the second bending portion 36 and transmits a driving force from the motor M via the pulley 66, and the second bending portion 36. The connection between the power supply P and the motor M is switched by switching the connection between the power supply P and the motor M to the bending tube 36a which is a hardness adjustment target portion to which the tip of the wire 68 (U ′, D ′) is connected, and the pulley 66 and the wire 68 ( A full bridge circuit (H bridge circuit) 72 which is a selection circuit (power supply selection unit) for selecting a driving force transmitted to the bending tube 36a via U ′, D ′), and a switch SW1 described later of the full bridge circuit 72. , SW2, SW3, SW4 are suitable And a switching section 74 as an adjustment unit to switch to.
The bending tube 36a, together with the pulley 66 and the wire 68, functions as a transmission unit that transmits the driving force from the motor (driving source) M. When the driving force is transmitted to the bending piece at the extreme end of the bending tube 36a, the second bending is performed. It becomes possible to curve the part 36 or to maintain the current shape. The full bridge circuit 72 and the switching unit 74 function as an adjustment unit that switches the driving force, that is, adjusts the driving force.

  The bending tube 36a provided in the second bending portion 36 has a plurality of bending pieces, and the second bending portion 36 can be bent in the same direction as the first and second directions, that is, in the vertical direction.

  In FIGS. 1 and 2, the motor M and the encoder 76 are drawn so that a part of the motor M and the encoder 76 protrudes to the outside of the operation unit 22, but it is also preferable that the motor M and the encoder 76 are arranged inside the operation unit 22. It is also preferable that the motor M and the encoder 76 are arranged not in the operation unit 22 but in the insertion unit 24.

  As shown in FIGS. 4A and 4B, the second angle wires 68 (U ′, D ′) are provided with sag 68 a, 68 b in advance. The amount of sag of the wires 68 (U ′, D ′) is such that the motor M and the pulley 66 shown in FIG. 4A are in the neutral position (the second bending portion 36 is straight) and the second bending portion 36 is moved to the U. It is preferable that the slacks 68a and 68b remain slightly in the wires 68 (U ′, D ′) even when the wire is bent to the maximum bending angle in the direction.

  Even if the bent second curved portion 36 touches the wall surface (for example, the body wall) of the tube hole LI, the wires 68 (U ′, D ′) have sufficient slack 68a, 68b, so that the slack 68a, 68b. Therefore, the second bending portion 36 can be further bent in the U direction, or the amount of bending in the U direction can be reduced, so that there is play even in a state where the second bending portion 36 is bent. 36 is not forced to bend in the opposite direction. Therefore, a large force is not applied to the inner wall of the tube hole LI. Although not shown, such a structure is preferably the same for the first bending portion 34 and the wire 42.

  As shown in FIG. 5, the operation unit 22 is provided with a full bridge circuit 72 connected to the power source P and the motor M. As shown in FIGS. 6A to 6D, the full bridge circuit 72 includes switches SW1, SW2, SW3, and SW4 made of, for example, power semiconductors. The motor M is disposed between the switches SW1 and SW2 and the switches SW3 and SW4. By controlling on / off of these switches SW1, SW2, SW3, SW4, the direction of the current flowing from the power source P to the motor M can be switched.

  As shown in FIG. 6A, when the switches SW1 and SW4 are turned on and the switches SW2 and SW3 are turned off, the rotating shaft 64 of the motor M rotates forward. As shown in FIG. 6B, when the switches SW3 and SW2 are turned on and the switches SW1 and SW4 are turned off, the rotating shaft 64 of the motor M rotates in the reverse direction. That is, the direction of the current flowing through the motor M can be controlled by switching the switches SW1, SW4 and the switches SW2, SW3 on and off, and the direction of rotation of the rotating shaft 64 of the motor M can be controlled.

As shown in FIG. 6C, when the switches SW1 and SW3 are turned on and the switches SW2 and SW4 are turned off, the motor M is short-circuited. At this time, when the rotating shaft 64 of the motor M is rotated, the motor M functions as a generator. That is, the motor M can be caused to function as a brake using the electromotive force generated by the rotation of the rotating shaft 64 of the motor M.
As shown in FIG. 6D, when all the switches SW1, SW2, SW3, and SW4 are turned off, the motor M is released in a circuit (free state), and the rotating shaft 64 of the motor M is rotated. The state with the least resistance.

A pulley 66 is disposed on the rotating shaft 64 of the motor M, and a pair of wires 68 (U ′, D ′) is wound around the pulley 66. The distal end portion of the wire 68 (U ′, D ′) is fixed to the most distal end of the bending tube 36a, that is, the most distal bending piece through the wire guide of the bending tube 36a of the second bending portion 36.
For this reason, for example, as shown in FIG. 6A, when the rotation shaft 64 of the motor M is rotated forward, the bending tube 36a of the second bending portion 36 can be bent in the U direction. On the other hand, as shown in FIG. 6B, when the rotating shaft 64 of the motor M is rotated in the reverse direction, the bending tube 36a of the second bending portion 36 can be bent in the D direction.

  When the motor M is in a free state, there is the least resistance to rotating the rotating shaft 64 of the motor M. Therefore, when an external force is applied to the second bending portion 36, the bending tube 36a rotates. Thus, the wire 68 (U ′, D ′) moves in the axial direction, and the pulley 66 around which the wire 68 (U ′, D ′) is wound rotates. That is, the rotating shaft 64 of the motor M in the state where the resistance is the least to rotate is rotated.

  When the motor M is in a short-circuit state, when an external force is applied to the second bending portion 36, the bending tube 36a of the second bending portion 36 rotates by an amount of play of the wire 68 (U ', D'). At this time, since there is resistance to rotate the rotation shaft 64 of the motor M disposed on the pulley 66, when an external force is applied to the second bending portion 36, the second bending portion 36 does not bend, or The second bending portion 36 bends extremely slowly and slowly as compared to the free state.

In this embodiment, the case where the short circuit state of the motor M shown in FIG. 6C and the free state of the rotating shaft 64 of the motor M shown in FIG.
In the case of a short-circuited state, the flexibility (ease of bending) of the second bending portion 36 may be similar to the flexibility of the first bending portion 34, or may be higher or lower than that. You may do it. This can be appropriately set by the performance of the motor M and the circuit 72 using the variable resistor VR described later in FIG. The flexibility of the second bending portion 36 is preferably lower than the flexibility of the flexible tube portion 38. That is, in the case of a short circuit state, it is preferable that the second bending portion 36 be less likely to bend than the flexible tube portion 38.
In the free state, the flexibility (ease of bending) of the second bending portion 36 is higher than the flexibility of the first bending portion 34. That is, in the free state, the second bending portion 36 is easier to bend than the first bending portion 34. The flexibility of the second bending portion 36 is preferably higher than the flexibility of the flexible tube portion 38. That is, in the free state, it is preferable that the second bending portion 36 bends more easily than the flexible tube portion 38.

  The operation unit 22 of the endoscope 12 has a push button shape that can switch the state of the motor M between the state shown in FIG. 6C (short circuit state) and the state shown in FIG. 6D (free state). A switching unit 74 is provided. For example, in this embodiment, when the operator presses the switching unit 74 with a finger, the switches SW1 and SW3 are turned on, the switches SW2 and SW4 are turned off, and the motor M is short-circuited. On the other hand, when the finger is released from the switching unit 74, the switches SW1, SW2, SW3, and SW4 are all turned off and the rotating shaft 64 of the motor M is in a free state. That is, when the surgeon continues to press the switching unit 74, the short circuit state occurs, and when the operator releases the finger from the switching unit 74 and continues to release, the free state occurs.

The operator operates the switching unit 74 of the operation unit 22 and turns off all the switches SW1, SW2, SW3, and SW4 of the full bridge circuit 72 as shown in FIG. Select a state. At this time, the rotating shaft 64 of the motor M has little resistance and rotates freely. In other words, since the rotating shaft 64 of the motor M is not braked, the bending tube 36a can be easily bent when an external force is applied to the second bending portion 36, and the pair of wires 68 (U ', D') is freely movable in the axial direction, and the pulley 66 is freely rotatable around the rotation shaft 64 of the motor M.
Therefore, when an external force is applied to the second bending portion 36, the bending tube 36a of the second bending portion 36 tends to bend, that is, deform from the state. At this time, since one of the pair of wires 68 (U ′, D ′) moves forward in the axial direction and the other moves toward the rear in the axial direction, the pulley 66 is rotated to rotate the rotating shaft of the motor M. 64 is also rotated as the pulley 66 rotates.
For this reason, when the rotating shaft 64 of the motor M is in a free state, the second bending portion 36 is easily bent. That is, when an external force is applied to the second bending portion 36, the second bending portion 36 can passively bend.
Since the surgeon usually releases the finger from the switching unit 74 and grips the operation unit 22, the motor M is in a free state.

The operator operates the switching unit 74 of the operation unit 22 to turn on the switches SW1 and SW3 of the full bridge circuit 72 and keep the switches SW2 and SW4 off as shown in FIG. 6C. The person selects the short-circuit state of the motor M. At this time, the rotation of the rotating shaft 64 of the motor M is restricted. That is, since the rotating shaft 64 of the motor M is braked, the pulley 66 is difficult to rotate around the rotating shaft 64 of the motor M, and the pair of wires 68 (U ′, D ′) It is difficult to move in the axial direction. Therefore, even when an external force is applied to the second bending portion 36, the pair of wires 68 (U ′, D ′) are difficult to move in the axial direction, so that the bending tube 36a maintains its shape. And That is, the operation of the second bending drive mechanism is restricted.
Therefore, when the motor M is in a short-circuit state, even if an external force is applied to the second bending portion 36, the bending tube 36a of the second bending portion 36 tries to maintain the current shape.
For this reason, when the rotating shaft 64 of the motor M is in a short-circuited state, the second bending portion 36 is hardly bent. That is, even when an external force is applied to the second bending portion 36, the second bending portion 36 tries to maintain its shape.

Therefore, when the rotating shaft 64 of the motor M is in a free state, the second bending portion 36 is in a soft state that can be freely and freely bent by an external force, and when in a short circuit state, the second bending portion 36 maintains its current shape. You are in a hard state to try.
In conjunction with the operation of the switching unit 74, for example, the monitor 18 preferably displays the free state / short circuit state of the motor M or the soft state / hard state of the second bending portion 36.

  The motor (second bending drive mechanism) M is provided with an encoder (rotational position detector) 76 that detects the amount of rotation (rotation angle) ω of the rotary shaft 64. As shown in FIG. 3B, if the bending angle corresponding to the rotation amount of the rotating shaft 64 of the motor M is measured in advance, for example, the current of the second bending portion 36 inside the tube hole such as the large intestine LI. The shape can be grasped.

As shown in FIG. 5, for example, inside the video processor 16, a potentiometer 56, a motor M, an encoder 76, and a drive control unit (control unit) 80 that controls the power source P of the motor M are arranged. When the power supply P and the drive control unit 80 are disposed in the video processor 16, the power supply P and the drive control unit 80 are electrically connected to the potentiometer 56, the motor M, and the encoder 76 via the universal cord 26. Is done.
The drive control unit 80 includes a CPU 82, a resistance value measurement unit (bending angle acquisition unit) 84 that measures the resistance value of the potentiometer 56, a count processing unit 86 that counts pulses of the encoder 76, and a threshold value input unit (setting unit). 88 and a storage unit 90.
The resistance value measurement unit 84, the count processing unit 86, the threshold value input unit 88, and the storage unit 90 are electrically connected to the CPU 82 and controlled. The motor M is electrically connected to the CPU 82 and controlled.
Therefore, the resistance value measuring unit 84 of the drive control unit 80 measures the resistance value of the potentiometer 56, whereby the operation amount of the first angle knob 52 in the U direction and the D direction, that is, the input amount (rotation angle) ψ is obtained. The amount of bending (curving angle) in the U direction and D direction of the first bending portion 34 can be estimated. Therefore, the resistance value measurement unit 84 of the drive control unit 80 calculates the bending amount of the first bending unit 34 that is driven to be bent by the first bending driving mechanism (the angle wire 42 and the first drum 46) (the bending amount calculating unit). It functions as a detection unit for detecting the amount. Further, the count processing unit 86 of the drive control unit 80 can process the encoder pulse count of the encoder 76 to obtain the rotational position information (rotation angle) ω of the motor M.

  In this embodiment, an absolute value of 60 degrees is set as a threshold angle for switching the hardness of the second bending section 36 with respect to a state where the bending amount (curving angle) of the first bending section 34 is straight (0 degrees). This threshold angle can be detected as an estimated bending angle by the potentiometer 56 and the resistance value measurement unit (bending angle acquisition unit) 84. This angle can be appropriately set by the threshold value input unit 88. When the absolute value exceeds 60 degrees with respect to the straight amount (0 degree) of the bending amount (bending angle) of the first bending section 34, the resistance value measuring section (curving angle acquisition section) 84 monitors the CPU 82. A signal is sent to 18, and this is displayed on the monitor 18 on which the observation image is displayed.

The distal end hard portion 32 of the insertion portion 24 of the endoscope 12 according to this embodiment is inserted from the anus AN of the large intestine LI in the body B shown in FIG. 7 into the transverse colon TC through the rectum IR, the sigmoid colon CS, and the descending colon DC. The operation when doing this will be briefly described.
The operator of the endoscope 12 grasps the operation part 22 with the left hand, grasps the insertion part 24 with the right hand, and inserts the distal end hard part 32 of the insertion part 24 from the anus AN into the rectum IR of the large intestine LI. The distal end hard portion 32 of the insertion portion 24 is directed from the rectum IR to the sigmoid colon CS.

The surgeon rotates the insertion portion 24 about its axis with the right hand, or appropriately curves the first bending portion 34 in the U direction or the D direction while operating the first angle knob 52 with the left hand, and from the rectum IR. Explore the direction of insertion into the sigmoid colon CS. Here, since the pressing of the switching portion 74 is released, the second bending portion 36 is in a soft state. For this reason, for example, when the first angle knob 52 is operated to bend the first bending portion 34, when the state shown in FIG. 8A is changed to the state shown in FIG. 8B, that is, for example, When the distal end hard portion 32 comes into contact with the inner wall of the rectum IR or the second curved portion 36 comes into contact with the inner wall of the rectum IR, an external force acts on the second curved portion 36. For this reason, the 2nd bending part 36 curves. Accordingly, in the state shown in FIG. 8B, the second bending portion 36 is bent before reaching the state shown in FIG. 9A, so that a large force is applied to the inner wall of the large intestine LI by the distal end hard portion 32. Can be prevented.
The second bending portion 36 maintains an appropriate posture by operating the first angle knob 52 to change the bending state of the first bending portion 34 or rotating the insertion portion 24 about its axis. To do. The bending direction and the bending angle of the second bending portion 36 can be displayed on, for example, the monitor 18 by the encoder 76 and the encoder pulse count processing unit 86 of the drive control unit 80, and can be easily recognized by the display.

And the switch part 74 is pressed and the 2nd bending part 36 is switched to a hard state. In this state, the second bending portion 36 is prevented from being deformed from the state by an external force such as the inner wall of the large intestine LI as much as possible.
As shown in FIG. 8C, the first bending portion 34 is bent while the second bending portion 36 is maintained in a hard state, and the distal end hard portion 32 is moved from the front side to the back side of the bending portion F. And the insertion part 24 is pushed in with a right hand, pressing the switching part 74 and maintaining the hard state of the 2nd bending part 36. FIG. At this time, as shown in FIG. 8 (D), the sigmoid colon CS line-contacted by the outer surfaces of the distal hard portion 32 and the first curved portion 34 is lifted in the direction of the arrow L, and before the bent portion F. The bending angle of the large intestine LI between the side and the back side is reduced. When the sigmoid colon CS is lifted in the direction of arrow L, the distal rigid portion 32 and the first curved portion 34 are in line contact with the inner wall of the sigmoid colon CS.
The term “line contact” as used herein refers not only to the longitudinal direction of the line, but also to a region having an appropriate extent in the direction orthogonal to the longitudinal direction, although it is smaller than the longitudinal direction. The point contact described later is not a point, but refers to a region having an appropriate spread around the point.

  At this time, since the first bending portion 34 is bent after the second bending portion 36 is hardened before the first bending portion 34 is bent, the distal end hard portion 32 is made to be bent as shown in FIG. It is possible to prevent as much as possible the amount of movement when moving from the near side of the bent portion F to the far side.

The first angle knob 52 is operated with the left hand, and the insertion portion 24 is pushed in with the right hand while gradually reducing the bending angle of the first bending portion 34. At this time, since the distal hard portion 32 and the first curved portion 34 are in line contact with the inner wall of the sigmoid colon CS, the distal hard portion 32 and the first curved portion are caused by a repulsive force generated from the inner wall of the sigmoid colon CS. 34 can be slid toward the back side.
Then, the pressing of the switching unit 74 is released. For this reason, the distal end hard portion 32 of the insertion portion 24 can be disposed in the sigmoid colon CS. Then, the insertion portion 24 is further pushed in with the right hand, and the distal end hard portion 32 of the insertion portion 24 is directed toward the descending colon DC.

Here, the descending colon DC is in a fixed position as compared with the sigmoid colon CS and the transverse colon TC.
The surgeon rotates the insertion portion 24 around its axis with the right hand, or appropriately curves the first bending portion 34 in the U direction or D direction while operating the first angle knob 52 with the left hand. Look for the direction of insertion from the CS into the descending colon DC. The switching portion 74 is pressed to place the second bending portion 36 in a hard state, and the first angle knob 52 is operated to bend the first bending portion 34 by, for example, about 90 degrees.
And the insertion part 24 hold | gripped with the right hand is pushed in, and the front-end | tip hard part 32 and the 1st curved part 34 are line-contacted to the inner wall of descending colon DC. The first angle knob 52 is operated with the left hand, and the insertion portion 24 is pushed in with the right hand while gradually reducing the bending angle of the first bending portion 34. At this time, since the distal rigid portion 32 and the first curved portion 34 are in line contact with the inner wall of the sigmoid colon CS, they can be moved backward while sliding the inner wall of the sigmoid colon CS.

The surgeon rotates the insertion portion 24 around its axis with the right hand, or appropriately curves the first bending portion 34 in the U direction or the D direction while operating the first angle knob 52 with the left hand, so that the descending colon DC The direction of insertion into the transverse colon TC is investigated. The switching portion 74 is pressed to make the second bending portion 36 in a hard state, and the first angle knob 52 is operated to bend the first bending portion 34 by about 90 degrees.
And the insertion part 24 hold | gripped with the right hand is pushed in, and the front-end | tip hard part 32 and the 1st curved part 34 are line-contacted with the inner wall of the transverse colon TC. In this state, the insertion portion 24 is pushed in slightly, and the transverse colon TC is pushed up by the first bending portion 34. That is, the transverse colon TC in line contact with the outer surfaces of the distal end hard portion 32 and the first curved portion 34 is lifted in the direction of the arrow L in FIG. The bending angle of the large intestine LI is reduced. At this time, the distal end hard portion 32 and the first bending portion 34 are in line contact with the inner wall of the transverse colon TC.
The first angle knob 52 is operated with the left hand, and the insertion portion 24 is pushed in with the right hand while gradually reducing the bending angle of the first bending portion 34. At this time, since the distal rigid portion 32 and the first curved portion 34 are in line contact with the inner wall of the transverse colon TC, the inner wall of the transverse colon TC can be slid.
Then, the pressing of the switching unit 74 is released. For this reason, the distal end hard portion 32 of the insertion portion 24 can be disposed in the transverse colon TC. Then, the insertion portion 24 is further pushed in with the right hand, and the distal end hard portion 32 of the insertion portion 24 is directed toward the ascending colon AC.

  Thus, the endoscope 12 according to this embodiment can appropriately select the hardness / softness of the second bending portion 36 of the insertion portion 24 by pressing / releasing the switching portion 74 disposed in the operation portion 22. For this reason, if the 2nd bending part 36 is a soft state, it can be made to function as a passive bending part which curves easily, for example, when external force is received from large intestine LI inner wall etc. In addition, if the second bending portion 36 is in a hard state, it can function as a rigid portion that prevents bending and maintains its shape even when external force is applied from the inner wall of the large intestine LI or the like. Therefore, for example, when inserting the insertion portion 24 into a tube hole such as the large intestine LI, the hardness / softness of the second bending portion 36 is appropriately selected to efficiently connect the distal end hard portion 32 of the insertion portion 24 to the tube. It can be inserted from the near side of the hole toward the far side. In particular, it is preferable to use the endoscope 12 according to this embodiment when inserting the insertion portion 24 into a tube hole that is easy to move because it is not fixed, such as the large intestine LI.

  As described above, in this embodiment, the insertion portion 24 has been described as having the distal end hard portion 32, the first bending portion 34, the second bending portion 36, and the flexible tube portion 38. It is also preferable to have the second curved portion 36. That is, it is also preferable that the distal end portion of the flexible tube portion 38 is formed in the same structure as the second bending portion 36 described above. Even with such a structure, the endoscope 12 according to this embodiment can obtain the same actions and effects as described above.

In this embodiment, when the motor M is short-circuited and the second bending portion 36 is hard, the switch 74 is continuously pressed. However, for example, a knock button or the like widely used for a ballpoint pen or the like. May be used. In this case, if the surgeon operates the switching unit 74 from the pressed release state (free state) to switch to the pressed state (short circuit state), the pressed state can be maintained without touching the switching unit 74, which is preferable. In addition, since the knock button widely used for the ballpoint pen or the like can be clarified as to whether it is in a pressed state or a pressed release state depending on its position, by observing the switching unit 74 of the operation unit 22, It can be easily recognized whether the second bending portion 36 is in a hard state or a soft body.
In addition, a free state / short-circuit state may be maintained by using a toggle switch, a slide switch, or the like. That is, the switch 74 according to this embodiment can use various switches.

  In this embodiment, when the switching portion 74 is pressed, the motor M is short-circuited and the second bending portion 36 is hardened, and when the pressing is released, the rotation shaft 64 of the motor M is freely rotated. It demonstrated as what makes the 2nd bending part 36 a soft state. Of course, when the switching unit 74 is pressed, the rotating shaft 64 of the motor M can be freely rotated so that the second bending portion 36 is in a soft state and the pressing of the switching unit 74 is released. M may be short-circuited to make the second bending portion 36 a hard state.

The full bridge circuit 72 is not limited to the state (see FIG. 5) provided inside the operation unit 22, but is preferably provided inside the processor 12, for example, inside the processor 16.
The motor power source P may be inside the endoscope 12 or outside. The endoscope system 10 only needs to include the motor power supply P. The case where the motor power source P is connected to the endoscope 12 includes a case where the endoscope 12 itself has the motor power source P and a case where the motor power source P is disposed outside the endoscope 12. Including.
The drive control unit 80 may be inside the endoscope 12 or outside. That is, the endoscope system 10 only needs to include the drive control unit 80. The case where the drive control unit 80 is connected to the endoscope 12 includes the case where the endoscope 12 itself has the drive control unit 80 and the case where the drive control unit 80 is disposed outside the endoscope 12. Including cases.

  As shown in FIG. 10, the variable resistor VR may be arranged in the full bridge circuit 72. By appropriately changing the resistance value of the variable resistor VR, when the motor M is short-circuited, the electromotive force when the motor M functions as a generator can be easily changed. For this reason, the ease of rotation of the rotating shaft 64 of the motor M can be changed. Therefore, when the motor M is short-circuited, the hardness of the second bending portion 36 can be freely changed by the variable resistor VR. Therefore, the full bridge circuit 72 functions as an adjustment unit (power supply adjustment unit).

  For example, the operation unit 22 is preferably provided with a resistance value changing unit formed by, for example, a slide lever or the like near the switching unit 74. If the resistance value can be continuously changed by the resistance value changing unit, the hardness of the second bending portion 36 can be continuously changed within a predetermined range, and if the resistance value can be increased or decreased at appropriate intervals, the second The hardness of the bending portion 36 can be appropriately changed within a predetermined range. For this reason, by changing the amount of resistance by adjusting the variable resistor VR, the hardness of the second bending portion 36 can be appropriately changed between the maximum hard state and the minimum hard state.

Next, a modification of the first embodiment will be described with reference to FIG.
In this modification, a case where the free state / short-circuit state of the motor M is automatically switched when the absolute value of the bending angle of the first bending section 34 exceeds 60 degrees (threshold angle) will be described.
In this modification, the control flow of the hardness adjusting mechanism 60 when the bending direction of the first bending portion 34 and the bending direction of the second bending portion 36 are the same and different will be described.

  Note that the absolute value of the bending angle of the first bending portion 34, which is a threshold for automatically switching the hard / soft state of the second bending portion 36, can be set as appropriate by the threshold input unit 88 of the drive control unit 80. is there. The absolute value is not limited to 60 degrees, and can be set as appropriate, such as 90 degrees.

As shown in FIG. 2, the motor M is provided with an encoder 76. On the other hand, the drive control unit 80 is provided with an encoder pulse count processing unit 86.
The bending angle of the first bending portion 34 can be estimated from the bending angle of the first bending portion 34 in a no-load state with respect to the rotation amount of the first angle knob 52 acquired in advance. When the absolute value of the estimated bending angle exceeds 60 degrees, the motor M is set in a short circuit state, and when the absolute value of the estimated bending angle becomes 60 degrees or less, the motor M is returned to the free state.

  As shown in FIGS. 8A and 9A, when the absolute value of the bending angle of the first bending portion 34 is 60 degrees or less, the inner wall of the large intestine LI, the distal end hard portion 32, and the first bending portion 34 are used. The contact area can be smaller than the line contact state. That is, when the absolute value of the bending angle of the first bending portion 34 is 60 degrees or less, the region from the distal end hard portion 32 to the first bending portion 34 of the insertion portion 24 and the inner wall of the large intestine LI are points rather than line contact. May be close to contact. At this time, a part of the inner wall of the large intestine LI may be pushed up like a dot rather than a line. For this reason, as shown to FIG. 8 (B), it is preferable that the 2nd bending part 36 maintains a soft state.

  On the other hand, as shown in FIGS. 8C and 8D, when the absolute value of the bending angle of the first bending portion 34 is larger than 60 degrees, the contact between the inner wall of the large intestine LI and the first bending portion 34. Since the area is increased and the second bending portion 36 is in a hard state, the inner wall of the large intestine LI can be pushed up over a wide range. That is, the intestine LI can be moved from the state shown in FIG. 8C to the state shown in FIG.

  By the way, as shown in FIG. 2, the two angle wires 68 (U ′, D ′) for bending the second bending portion 36 in the U direction and the D direction are pulleys (second bending drive mechanism) inside the operation portion 22. ) 66 and fixed. The pulley 66 includes a motor (drive unit) M and an encoder (rotation position detection unit) 76 that detects a rotation amount (rotation angle) ω (see FIG. 3B) of the motor (second bending drive mechanism) M. Has been placed. The motor M generates a driving force for bending the second bending portion 36. Therefore, the motor M, the pulley 66, the wires 68 (U ', D'), and the bending tube 36a form a second bending drive mechanism that bends the second bending portion 36.

In this modification, the processing shown in FIG. 11 is performed using the drive control unit 80, so that the SW1, SW2, SW3, and SW4 of the bridge circuit 72 are appropriately turned on / off.
It is determined whether the absolute value of the bending angle of the first bending portion 34 exceeds the threshold angle (for example, 60 degrees) input by the threshold input portion 88 (S1). This determination is made based on information obtained by the potentiometer 56 and the resistance value measuring unit 84. If the threshold angle is exceeded, it is determined whether the first bending portion 34 is bent in the U direction or the D direction (S2). This determination is also made based on information (detection information) obtained by the potentiometer 56 and the resistance value measurement unit 84.
It is determined whether the second bending portion 36 is bent in the U direction or the D direction (S3). This determination is made based on information (detection information) obtained by the encoder 76 provided in the motor M and the pulse count processing unit 86 of the encoder. For example, when the first bending portion 34 is bent in the U direction and the second bending portion 36 is bent in the D direction, the full bridge circuit 72 is set in the state shown in FIG. Is rotated forward (S4). In this way, the second bending portion 36 is actively bent so as to approach a straight state. It is determined whether or not the second bending portion 36 is in a straight state or a substantially straight state (S5). This determination is also made based on information (detection information) obtained by the encoder 76 disposed in the motor M and the pulse count processing unit 86 of the encoder.

With the second bending portion 36 straight or substantially straight, the full bridge circuit 72 is brought into the state shown in FIG. 6C, that is, SW1 and SW3 are turned on, SW2 and SW4 are turned off, and the motor M is short-circuited. In this state, the shape of the second bending portion 36 is maintained (S6).
It is determined whether or not the absolute value of the bending angle of the first bending portion 34 exceeds 60 degrees (S7). This determination is made based on information obtained by the potentiometer 56 and the resistance value measuring unit 84. If exceeding, the short-circuit state of the motor M is maintained, and if not exceeding, all of SW1, SW2, SW3, and SW4 are turned off (S8), and the process is ended.

  If the absolute value of the bending angle of the first bending portion 34 does not exceed a threshold angle (for example, 60 degrees), it is determined whether SW1, SW2, SW3, SW4 are turned off (S9). If it is off, the process is terminated, and if it is not off, it is turned off (S10).

  For example, when the first bending portion 34 is bent in the U direction and the second bending portion 36 is bent in the U direction (S3), the full bridge circuit 72 is set in the state shown in FIG. , SW1 and SW3 are turned on, SW2 and SW4 are turned off, the motor M is short-circuited, and the shape of the second bending portion 36 is maintained (S6). Subsequent processing is the same as described above.

  On the other hand, when the first bending portion 34 is smaller than − (minus) 60 degrees, the control corresponding to the case where the first bending portion is larger than + (plus) 60 degrees may be performed, and the description here is omitted. To do.

In this way, when the first bending portion 34 is bent at a predetermined angle, it automatically avoids the state shown in FIG. 9B, and the distal end hard portion 32 is easily moved to the back side of the tube hole. Can be moved.
Therefore, when the second bending portion 36 is bent in the state shown in FIG. 9B when the first bending portion 34 is in a state bent 60 degrees in the U direction shown in FIG. 9B, for example, The amount of movement when the distal end hard portion 32 tries to move the bent portion F from the near side to the far side is reduced. On the other hand, according to this modification, when the distal end hard portion 32 is moved from the near side to the far side with respect to the bent portion F, the second bending portion 36 is in a straight state or the first bending portion 34. Therefore, the distal end hard portion 32 can be easily moved from the near side of the tube hole to the far side.

  Note that S2-S5 in FIG. 11 can be omitted. When omitted in this way, when the absolute value of the bending angle of the first bending portion 34 exceeds 60 degrees, the second bending portion 36 is automatically set to a hard state regardless of the bending angle of the second bending portion 36. To do.

  Next, a second embodiment will be described with reference to FIG. This embodiment is a modification of the first embodiment including a modification, and the same members or members having the same mechanism as those described in the first embodiment including the modification are denoted by the same reference numerals as much as possible. Detailed description will be omitted.

  As shown in FIG. 12, the endoscope (medical apparatus) 12 according to this embodiment includes an operation unit 22, an insertion unit 24, a hardness adjustment mechanism 60, and a hardness variable mechanism 120.

  The hardness varying mechanism 120 includes a coil pipe 122, a wire 124 inserted through the coil pipe 122, a stopper 126 through which the wire 124 is inserted and a proximal end of the coil pipe 122 is abutted, and the inside of the flexible tube portion 38. And a distal end member 128 to which the distal end of the coil pipe 122 and the distal end of the wire 124 are fixed, and a cam mechanism (compression force changing portion) 130. The coil pipe 122 and the wire 124 are inserted through the insertion portion 24. The stopper 126 and the cam mechanism 130 are disposed in the operation unit 22. The cam mechanism 130 is disposed on the outer side of the guide groove 132 formed in the base portion 22 a of the operation portion 22, the engagement member 134 that engages with the guide groove 132, and the base portion 22 a of the operation portion 22. And a rotating ring 136 having a cam groove 136a that moves the guide ring 132 along the guide groove 132.

  When the rotating ring 136 is rotated and the engaging member 134 is moved to the distal end side of the operation portion 22, the compression of the coil pipe 122 is relaxed, and the flexible tube portion 38 of the insertion portion 24 becomes soft. On the other hand, as the rotating ring 136 is rotated and the engaging member 134 is moved to the proximal end side of the operation portion 22, the compressive force applied to the coil pipe 122 increases, and the coil pipe 122 is present in the flexible tube portion 38. The hardness of the part which becomes is in a hard state.

  A switching unit (push switch) 74 a is disposed on the proximal end side inside the operation unit 22. Although not shown, the switching unit 74a is electrically connected to the power source P and the full bridge circuit 72 as described in the first embodiment. The switching unit 74a rotates the rotating ring 136 and presses the switching unit 74a with the engaging member 134 to short-circuit the motor M and to harden the second bending unit 36. When the pressing of the switching portion 74a is released by the engaging member 134, the second bending portion 36 is brought into a soft state.

In this embodiment, the hardness of the second bending portion 36 is set to a hard state when the hardness of the flexible tube portion 38 is maximized, and the hardness of the second bending portion 36 is set to a hardness state when the hardness of the flexible tube portion 38 is minimized. Is in a soft state.
In this embodiment, a portion where the hardness is not changed is provided between the hardness of the flexible tube portion 38 and the second bending portion 36, or the second bending portion 36 and the flexible tube portion 38 may have different hardnesses. it can. For this reason, the endoscope 12 can be used with an appropriate hardness according to the insertion object of the insertion portion 24.

  In the first and second embodiments including the above-described modifications, the case where the full bridge circuit 72 is used has been described. However, by controlling the motor M or an appropriate circuit that can switch the short circuit state / free state of the motor M. You may make it produce a short circuit state and a free state.

  Although several embodiments have been specifically described so far with reference to the drawings, the present invention is not limited to the above-described embodiments, and all the embodiments performed without departing from the scope of the invention are described. Including implementation.

  DESCRIPTION OF SYMBOLS 10 ... Endoscope system, 12 ... Endoscope, 16 ... Video processor, 18 ... Monitor, 22 ... Operation part, 24 ... Insertion part, 32 ... Hard tip part, 34 ... 1st bending part, 36 ... 2nd bending 34a, 36a ... curved tube, 38 ... flexible tube, 42 ... angle wire, 46 ... first drum, 48 ... second drum, 52 ... first angle knob, 54 ... second angle knob, 56 ... knob Potentiometer for position detection, 60 ... hardness adjusting mechanism, P ... motor power supply, M ... motor, 64 ... rotating shaft, 66 ... pulley, 68 ... angle wire, 72 ... full bridge circuit, SW1, SW2, SW3, SW4 ... switch, 74 ... switching unit, 76 ... encoder, 80 ... drive control unit, 82 ... CPU, 84 ... resistance value measuring unit, 86 ... count processing unit, 88 ... threshold input unit, 90 ... storage unit, LI ... tube hole (large intestine) .

Claims (9)

An insertion portion having a bending portion and a flexible tubular portion provided at a proximal end portion of the bending portion;
A first bending drive mechanism for bending the bending portion;
A power source, a drive source driven by the power supplied from the power source, a transmission portion at least partially disposed in the tubular portion and transmitting a driving force from the drive source, and the power source and the drive source. A hardness adjusting mechanism that adjusts the connection between them and adjusts the driving force transmitted from the driving source to the transmitting portion, and is capable of adjusting the hardness of at least a part of the tubular portion. A medical device characterized by.   The medical device according to claim 1, wherein the adjustment unit includes a power supply selection unit that switches between a state in which power supply from the power source to the drive source is selectively cut off and a state in which the supply is received. .   The power supply selection unit is capable of further switching between a state in which the drive source is short-circuited and a state in which the circuit is released in a state where the supply of power from the power source to the drive source is cut off. The medical device according to claim 2.   The medical device according to claim 1, wherein the adjustment unit includes a switching unit capable of switching at least a part of the tubular portion between a soft state and a hard state harder than the soft state.   The switching unit is configured such that when at least a part of the tubular part is in the hard state, the hardness of at least a part of the tubular part can be changed within a predetermined range that is harder than the soft state. The medical device according to claim 4, wherein the medical device is characterized in that:   And further comprising a hardness varying mechanism having a coil pipe disposed inside the tubular body, a wire inserted through the coil pipe, and a compression force changing unit capable of changing a compression force of the coil pipe. The medical device according to claim 1, characterized in that: The first bending drive mechanism is provided with a detection unit capable of detecting a bending angle of the bending unit,
The adjustment unit of the hardness adjustment mechanism is a control unit that automatically adjusts the driving force transmitted from the drive source to the transmission unit based on information detected by the detection unit according to the operation of the bending drive mechanism. The medical device according to claim 1, comprising:   The control unit increases the hardness of at least a part of the tubular portion when the bending angle of the bending portion is larger than a predetermined angle compared to when the bending angle of the bending portion is smaller than the predetermined angle. The medical device according to claim 7, wherein the medical device is characterized. The hardness adjusting mechanism is
A second bending drive mechanism connected to the drive source and actively bending the tubular portion;
The medical device according to claim 1, further comprising: a control unit that controls the second bending drive mechanism.

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