JP2013061558A - Endoscope device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an endoscope device for notifying an operator of an abnormal state that has arisen in an insertion part inserted in a pipe.SOLUTION: The endoscope device comprises: an endoscope 2 that has a curve part 12 at the leading end side of an insertion part 2a, a joystick 22 for allowing an operation part 2b to curve the curve part 12, and a notification part 23; and a device body 3 that has a sensor detecting part 37 for extracting and outputting a curved state from a detection signal output from the curve part sensor 6 for detecting a curved state of the curve part 12, and a determination part 38 for making a comparison between the curved state of the curve part 12 and the operating state of the joystick 22. The curve part sensor 6 is a compound body of U-shaped carbon nanotube, obtained by shaping a carbon nanotube into a U shape. In the case where the curving state of the curve part 12 is different from the operating state of the joystick 22, the determination part 38 outputs a notification signal to the notification part 23.

Description

  The present invention relates to an endoscope apparatus including an endoscope having a curved portion in an insertion portion that is inserted into a complicatedly bent pipe or the like.

  Endoscopes are used in the medical field and the industrial field. Generally, in an endoscope having a flexible insertion portion, a bending portion is provided on the distal end side of the insertion portion so that the direction of the distal end portion of the insertion portion can be directed in an arbitrary direction. The bending portion is configured to perform a bending operation by pulling and loosening the bending wire by an operation of a bending operation instruction device provided in an operation portion provided on the proximal end side of the insertion portion.

  In an industrial endoscope, it is required to insert the insertion portion into a pipe bent in a complicated manner for 30 meters or more. In the case of a configuration in which the bending portion provided on the distal end side of the long insertion portion is bent with a bending wire, the bending portion is increased along with an increase in sliding resistance generated between the bending wire and the wire insertion coil. There is a possibility that it may be difficult to bend into a desired bent state. For this reason, in an endoscope having a long insertion portion, a fluid pressure actuator is provided at or near the curved portion of the insertion portion, and fluid such as air is supplied to the fluid pressure actuator via a fluid supply tube. The bending portion is configured to bend.

  However, when inserting a long insertion part equipped with a fluid pressure actuator into a complicatedly bent pipe, the insertion part is bent and the fluid supply tube in the insertion part is bent, making it difficult to supply fluid and bending operation. May cause trouble. For this reason, it is convenient if the bending state of the insertion portion can be known during operation.

  For example, FIG. 14 of Patent Document 1 shows a processing operation for stereoscopically displaying an angle state (curved state) on the distal end side of an endoscope. According to this endoscope, by displaying the vicinity of the bending portion on the distal end side of the insertion portion as a curved shape model, it becomes easy to grasp the bending state on the distal end side of the insertion portion. In this endoscope, a plurality of detection coils are arranged inside the insertion portion, the positions of the plurality of detection coils are detected, the insertion shape of the insertion portion is calculated, and the calculation result is displayed on the display screen of the observation monitor An image showing the shape of the insertion portion based on the is displayed.

  Further, in Patent Document 2, a bending portion-equipped flexible device that calculates the bending amount of the bending portion by detecting the strain amount of the bias member during the bending operation and displays the bending state of the bending portion on the bending amount display means. A tube device is shown.

JP 2005-287969 A Japanese Patent Laid-Open No. 10-14862

  However, since the endoscope of Patent Document 1 has a configuration in which a plurality of detection coils are arranged inside the insertion portion, the number of coils, wiring, and the like increase as the insertion portion becomes longer, and the detection device The system including the system becomes expensive. On the other hand, in the flexible tube device with a bending portion of Patent Document 2, it is difficult to detect the strain amount with high accuracy in a thin configuration like the insertion portion of the endoscope, and the strain amount is detected with high accuracy. When trying to do so, there is a possibility that the strain amount detection unit becomes large and hinders the diameter reduction of the endoscope.

  The present invention has been made in view of the above circumstances, and an object thereof is to provide an endoscope apparatus that notifies an operator of an abnormality that has occurred in an insertion portion that is inserted into a pipe.

An endoscope apparatus according to an aspect of the present invention includes a bending operation instruction device that has a bending portion on a distal end side of an elongated insertion portion and causes the operation portion provided at a proximal end portion of the insertion portion to bend the bending portion. A bending state of the bending portion is extracted from a detection signal output from an endoscope provided with a bending portion and a bending portion detection sensor that is provided in the bending portion and detects the bending state of the bending portion. The sensor detection unit that outputs the detection result, and the detection result output from the sensor detection unit and the tilt operation instruction signal output from the bending operation instruction device are compared, and the bending state of the bending unit and the bending operation instruction are compared. An apparatus main body including a determination unit that compares the operation state of the apparatus,
The bending portion bending state detection sensor includes a carbon nanotube composite, and when the bending portion has a bending state different from an operation state of the bending operation instruction device, the determination unit notifies the notification unit included in the operation unit of a notification signal. Is output.

  ADVANTAGE OF THE INVENTION According to this invention, the endoscope apparatus which notifies an operator of the abnormality which arose in the insertion part inserted in piping is realizable.

The figure explaining the endoscope apparatus comprised by the endoscope which provided multiple U-shaped carbon nanotube composite_body | complexes around the curved rubber | gum, and an apparatus main body. FIG. 1 is a block diagram illustrating the configuration of the endoscope apparatus of FIG. The figure explaining the U-shaped carbon nanotube composite_body | complex which is 1st Embodiment of the curved part sensor provided in the outer surface of the fluid pressure actuator and the curved rubber | gum. The figure explaining the curved part sensor comprised by providing the carbon nanotube complex on the outer surface of the expansion / contraction body instead of the outer surface of the curved rubber The figure explaining the curved part sensor which comprised the carbon nanotube composite body on the inner surface of the case body instead of the outer surface of the curved rubber The figure explaining the endoscope comprised by providing a U-shaped carbon nanotube composite_body | complex in a flexible tube part in addition to a curved part. FIG. 6 is a cross-sectional view taken along line Y7-Y7. The figure explaining the effect | action of the insertion part of the endoscope shown in FIG. The figure explaining the U-shaped carbon nanotube composite provided with a temperature sensor FIG. 10 to FIG. 12 are diagrams for explaining a bending portion sensor according to the second embodiment, and FIG. 10 is a diagram for explaining a tubular carbon nanotube composite. The figure explaining the tubular carbon nanotube composite_body | complex provided in the bending piece group and the bending piece group The figure explaining the flexible substrate provided in the most proximal end bending piece FIG. 13 illustrates a bending portion sensor according to a third embodiment, and illustrates a bending portion set in which an elongated carbon nanotube composite and an elongated tubular carbon nanotube composite are arranged. FIG. 14 to FIG. 15C are diagrams for explaining the bending portion sensor 6 of the fourth embodiment, and FIG. 14 includes a pair of carbon nanosheets and an anisotropic conductive sheet disposed between the carbon nanosheets. The figure explaining the bending piece group provided with two or more bending pieces The figure explaining the composition of a bending piece A circumferential development view illustrating the relationship between the first conductive portion and the second conductive portion configured in the carbon nanosheet and the front base electrode provided on the base end surface of the front base. The figure explaining the structure of the base end surface of a rear cap FIG. 16 is a diagram illustrating a bending unit sensor according to the fifth embodiment and a detection device provided in the bending unit.

Embodiments of the present invention will be described below with reference to the drawings.
As shown in FIGS. 1 and 2, the endoscope apparatus 1 according to the present embodiment includes an endoscope 2 and an apparatus body 3. The endoscope 2 is, for example, a battery-driven industrial endoscope. The endoscope 2 includes an insertion portion 2a and an operation portion 2b. The apparatus main body 3 includes a main body portion 3a and a display portion 3b.

  The insertion portion 2a has flexibility, and an operation portion 2b is continuously provided on the proximal end side of the insertion portion 2a. The insertion portion 2a is long and includes a distal end portion 11 in order from the distal end side, a bending portion 12 configured to bend in, for example, an up / down / left / right direction, and a flexible tube portion 13 having flexibility. Configured.

  An illumination optical unit that illuminates the observation region and an observation optical unit that images the illuminated observation region are provided on the distal end surface of the distal end portion 11. In this embodiment, the illumination optical unit includes a light emitting element 4 such as an LED, and the observation optical unit includes an imaging element 5 such as a CCD.

The bending portion 12 is configured by connecting a plurality of bending pieces (not shown). The bending portion 12 is provided with a bending portion bending state detection sensor (hereinafter abbreviated as a bending portion sensor) 6 corresponding to four directions of up / down / left / right. A plurality of fluid pressure actuators 7 for pulling and relaxing the bending wires 7w corresponding to the four directions are disposed in the vicinity of the bending portion 12.
A fluid supply tube (hereinafter abbreviated as a fluid tube) 8 having one end connected to each fluid pressure actuator 7 is disposed in the flexible tube portion 13.

  The operation unit 2b is configured, for example, in a substantially h shape. In the present embodiment, the operation portion 2b is provided with a grip portion 21 having an axis different from the insertion axis of the insertion portion 2a. A bending operation instruction device (hereinafter abbreviated as joystick) 22 for bending the bending portion 12 is provided on one surface of the grip portion 21 so as to protrude. Reference numeral 23 denotes a notification unit, which includes a vibrating body such as a motor or a light emitting body such as a lamp.

  The joystick 22 is configured to bend the bending portion 12 in a desired direction by a desired amount of bending by performing a tilting operation that changes the tilting direction and tilting angle. The joystick 22 outputs a tilt operation instruction signal that indicates the tilt direction and tilt angle of the bending portion 12. As shown in the drawing, when the joystick 22 is in an upright state, the bending portion 12 is configured to be in a straight state.

In the main body 3a, a camera control unit 31, a bending control unit 32, and a bending control electromagnetic valve unit 33 are provided.
The bending control electromagnetic valve unit 33 includes four electromagnetic valves, and the other ends of the fluid tubes 8 corresponding to the four bending directions extended from the fluid pressure actuators 7 are connected to the respective electromagnetic valves.

  The camera control unit 31 includes an imaging circuit 34 and an illumination circuit 35. The imaging circuit 34 is electrically connected to the imaging device 5 through a signal line. The imaging circuit 34 generates a video signal from the drive of the imaging device 5 and the image signal output from the imaging device 5, and outputs the video signal to the display unit 3b. The illumination circuit 35 is electrically connected to the light emitting element via an electric wire.

  The bending control unit 32 includes a fluid control unit 36, a sensor detection unit 37, and a determination unit 38. The fluid control unit 36 receives the tilting operation instruction signal output from the joystick 22, calculates the bending direction and the bending angle from the tilting operation instruction signal, and controls the four electromagnetic valves included in the bending control electromagnetic valve unit 33. .

  The sensor detection unit 37 receives the detection signal output from the bending unit sensor 6, extracts the bending state of the bending unit 12 from, for example, table data registered in advance in the storage unit, and outputs the detection result to the determination unit 38. Output. The detection result output from the sensor detection unit 37 is bending data including a bending direction and a bending angle.

  The determination unit 38 receives the detection result output from the sensor detection unit 37 and the bending information indicating the bending direction and the bending angle corresponding to the tilt operation instruction signal calculated by the fluid control unit 36. The determination unit 38 compares the bending information and the bending data to determine whether or not the bending state of the bending unit 12 corresponds to the tilting operation of the joystick 22.

The determination unit 38 outputs a notification signal to the notification unit 23 when the bending state of the bending unit 12 is different from the tilt operation instruction of the joystick 22. As a result, when the notification unit 23 is, for example, a vibrating body, vibration is transmitted to the operator's finger that holds the holding unit 21. In the present embodiment, when the bending state of the bending portion 12 and the tilting operation instruction of the joystick 22 match, the determination unit 38 is in a stopped state of signal output to the notification unit 23.

  When the notification unit 23 is a light emitter, the determination unit 38 outputs a warning signal to the notification unit 23 when the bending state of the bending unit 12 is different from the tilting operation of the joystick 22. Flashes light. On the other hand, when the bending state of the bending portion 12 and the tilting operation of the joystick 22 coincide with each other, a notification signal is output to the notification portion 23 so as to make the light emitter emit, for example, green light or a constant light emission state.

  Reference numeral 9 is a universal code. In the universal cord 9, an electric wire for supplying power to the light emitting element, a signal line for transmitting / receiving an image sensor drive control signal or photoelectrically converted image signal, a signal line extended from the bending portion sensor 6, and a fluid pressure actuator A fluid tube 8 extending from 7 is inserted. The universal cord 9 extends from the base end side of the operation portion 2b, and is detachably connected to the main body portion 3a via the connector 9a.

The fluid pressure actuator 7 shown in FIG. 3 includes a pipe-shaped case body 7a and an expansion / contraction body 7b accommodated in the case body 7a.
The case body 7a is flexible and is formed of a resin member such as a fluororesin or a metal pipe such as titanium having superelasticity. The case body 7a is fixed in the vicinity of the bending portion 12, in other words, at a predetermined position on the distal end side of the flexible tube portion 13.

  The expansion / contraction body 7b is composed of a flexible hollow silicon tube or the like. One end of the expansion / contraction body 7b is integrally fixed to one end of the flexible tube portion 13 (the right side in FIG. 3). A fluid tube 8 is attached to one end of the expansion / contraction body 7b, and a bending wire 7w is attached to the other end of the expansion / contraction body 7b.

  The expansion / contraction body 7b expands when air, which is a fluid, is supplied into the expansion / contraction body 7b via the fluid tube 8, and the air within the expansion / contraction body 7b is exhausted via the fluid tube 8 Shrink. Then, the bending wire 7w is pulled as the expansion / contraction body 7b expands, and the bending wire 7w is loosened as the air in the expansion / contraction body 7b is exhausted.

  In addition, by inflating or contracting the expansion / contraction body 7b, the bending wire 7w is attached to the other end side of the case body 7a instead of pulling or loosening the bending wire 7w, and the expansion / contraction body 7b is expanded or contracted. Along with this, the case body 7a may be expanded or contracted to pull or loosen the bending wire 7w.

Here, the bending portion sensor 6 according to the first embodiment will be described with reference to FIGS.
In the present embodiment, the bending portion sensor 6 is a U-shaped carbon nanotube composite (hereinafter abbreviated as U-shaped carbon) 40 in which carbon nanotubes excellent in elasticity and strength are formed in a U shape. Four U-shaped carbons 40 are integrally provided on the outer surface of the bending rubber 43 constituting the bending portion 12 at equal intervals in the circumferential direction. One end of each U-shaped carbon 40 is connected to the tip end of the first wire 41, and the other end is connected to the tip end of the second wire 42.

  In the present embodiment, for example, the U-shaped carbon 40 is formed by applying the carbon nanotube composite after masking the outer surface of the curved rubber 43, removing the mask after coating, and removing the longitudinal axis of the curved rubber 43. It is integrally formed along the direction. The outer peripheral surface side of the curved rubber 43 with which the U-shaped carbon 40 is integrated is covered with a curved portion outer tube 44 having insulation and flexibility as indicated by a broken line.

  The wires 41 and 42 are extended to the operation portion 2b through a wire insertion through hole 45h provided in advance in the insulating flexible tube portion outer tube 45 constituting the flexible tube portion 13, and thereafter the universal cord 9 is extended through the connector 9a.

  The flexible tube outer tube 45 is covered with an outer mesh tube 46. The exterior mesh tube is a protective tube provided for the purpose of protecting the flexible tube portion 13 from being crushed, and includes, for example, a mesh tube portion and an impregnation portion.

The resistance value of the U-shaped carbon 40 provided on the outer surface of the curved rubber 43 changes as the bending state of the bending portion 12 changes. That is, for example, when the operator performs a tilting operation to bend the joystick 22 upward, the distal end portion of the insertion portion faces upward. At this time, the upper U-shaped carbon 40 integrally formed in the upward direction of the bending portion 12 contracts, and the lower U-shaped carbon 40 expands.
That is, the resistance value of the upper U-shaped carbon 40 and the resistance value of the lower U-shaped carbon 40 change.

  The sensor detection unit 37 shown in FIG. 2 continuously measures the change in the resistance value of each U-shaped carbon 40 during the endoscopic work, calculates the resistance value, and the bending portion 12 corresponding to the resistance value. The bending data indicating the bending direction and the bending angle is extracted from the table data registered in the storage unit in advance.

In the above-described endoscope, the bending portion 12 is configured to bend in four directions of up / down / left / right, but the bending portion 12 may be configured to bend in two directions of up / down.
The operation of the endoscope apparatus 1 configured as described above will be described.

  An operator arranges the long insertion portion 2a in the vicinity of the pipe inlet when inspecting a complicatedly bent pipe or the like. Then, the operator displays the endoscopic image in the pipe on the screen of the display unit 3b, performs the tilting operation of the joystick 22, and directs the distal end part 11 in the pipe depth direction to perform the insertion work of the insertion part 2a. .

  When the operator performs the tilting operation of the joystick 22, by any chance, a part of the insertion part 2a arranged near the pipe entrance is bent or crushed, or a part of the insertion part 2a in the pipe Is bent, the fluid tube 8 is deformed, and the supply of fluid to the fluid pressure actuator 7 is reduced or stopped. As a result, the bending portion 12 is in a bending state different from the tilting operation of the joystick 22 or in a state where the bending operation cannot be performed.

  During the operation, the determination unit 38 compares the bending information corresponding to the tilt operation instruction signal from the joystick 22 and the bending data extracted by the sensor detection unit 37 corresponding to the resistance value that changes as each U-shaped carbon 40 expands and contracts. Then, it is determined whether or not the bending angle of the bending portion 12 corresponds to the tilt operation instruction of the joystick 22.

  When the determination unit 38 determines that the bending angle of the bending unit 12 is different from the tilt operation instruction of the joystick 22, the determination unit 38 outputs a notification signal to the notification unit 23. As a result, the operator feels the vibration of the notification unit 23 that is a vibrating body with his / her finger, determines that an abnormality such as a part of the insertion unit 2a being bent occurs, and stops the insertion operation. Then, the operation of pulling back the insertion portion 2a is performed, or the state of the insertion portion 2a disposed in the vicinity of the pipe inlet is confirmed to solve the problem.

  Thus, in the present embodiment, the U-shaped carbon 40 made of carbon nanotubes excellent in elasticity and strength is adapted to the bending direction on the outer surface of the bending rubber 43 constituting the bending portion 12 so as to correspond to the bending direction. By arranging a plurality of the curved portions, the bending state of the bending portion 12 can be detected with high accuracy.

Further, during the endoscopic work, the determination unit 38 outputs the bending angle of the bending unit 12 extracted based on the resistance value of each U-shaped carbon 40 output from the sensor detection unit 37 and the fluid control unit 36. The curve information corresponding to the tilt operation instruction of the joystick 22 is constantly compared. As a result, when it is determined that the bending angle of the bending portion 12 is different from the tilting operation instruction of the joystick 22, the operator is instantly notified through the notification portion 23 that an abnormality such as crushing has occurred in the insertion portion 2a. can do.
If there is no abnormality but the bending portion does not bend as expected despite the bending operation, it can be determined that there is an obstacle that prevents the bending.

  In the embodiment described above, the leading end of the first wiring 41 is connected to one end of the U-shaped carbon 40 and the leading end of the second wiring 42 is connected to the other end. However, instead of connecting the tip ends of the wires 41 and 42 to one end and the other end of the U-shaped carbon 40, a flexible substrate having two wires is prepared, and the tip of each wire is connected to one end of the U-shaped carbon 40 and You may make it the structure connected to the other end.

  According to this configuration, the flexible substrate is inserted and arranged between the flexible tube outer tube 45 and the outer mesh tube 46, and the wiring insertion through hole 45h of the flexible tube outer tube 45 is unnecessary. Therefore, simplification and assembly of the outer tube 45 for the flexible tube portion can be achieved.

  Further, in the above-described embodiment, the bending portion sensor 6 is configured by masking the outer surface of the bending rubber 43 and integrally providing the U-shaped carbon 40 at equal intervals in the circumferential direction of the outer surface. However, the work of masking the outer surface of the curved rubber 43 and integrally providing the U-shaped carbon 40 is complicated.

  The expansion / contraction body 7b shown in FIG. 4 includes a carbon nanotube composite layer 7c formed by applying a carbon nanotube composite to the entire outer surface or adhering a conductive adhesive mixed with the carbon nanotube composite. ing.

The distal ends of the wirings 41 and 42 are respectively connected to the case body 7a via wiring insertion holes (not shown) provided in the insulating first connection port body 7d fixed to the base end opening of the case body 7a. It is introduced in and electrically connected to connecting portions 7f and 7g disposed at the end of the expansion / contraction body 7b.
The connecting portions 7f and 7g are insulating pipe members, and conductive portions (not shown) for connecting the wirings 41 and 42 are provided on the outer surface. The conductive portion and the carbon nanotube composite layer 7c are in an electrically connected state. Reference numeral 7e denotes an insulating second connection port body, which is fixed to the plug body opening of the case body 7a.

  According to this configuration, compared to the work of providing a plurality of U-shaped carbons 40 on the outer surface of the curved rubber 43, the curved portion sensor can be obtained by easily providing the carbon nanotube composite layer 7c on the outer surface of the expansion / contraction body 7b. Can do. As a result, workability can be improved.

  Further, during the endoscope operation, the change in the resistance value of the carbon nanotube composite layer 7c provided on the outer surface of each expansion / contraction body 7b is continuously measured, and the bending direction of the bending portion 12 corresponding to the resistance value is measured. Since the bending angle is registered in the storage unit in advance, it is extracted from the table data and is output to the determination unit 38, whereby the same operations and effects as those of the above-described embodiment can be obtained.

As described above, the bending wire 7w is attached to the other end side of the case body 7a, and along with the expansion or contraction of the expansion / contraction body 7b, the case body 7a is expanded or contracted to pull or loosen the bending wire 7w. In this case, as shown in FIG. 5, the carbon nanotube composite layer 7c is provided on the entire inner surface of the case body 7a that is expanded or contracted. And the front-end | tip part of the 1st wiring 41 is inserted in the case body 7a via the 2nd connection port body 7e, and the front-end | tip part of the 2nd wiring 42 is inserted in the case body 7a via the 1st connection port body 7d. Then, the carbon nanotube composite layer 7c is connected to a predetermined position. Thereby, the same operation and effect as the embodiment shown in FIG. 4 can be obtained.

In the embodiment described above, the U-shaped carbon 40 is provided only on the curved portion 12. However, the U-shaped carbon 40 may be provided in the bending portion 12 and the flexible tube portion 13.
6 to 8 relate to an endoscope in which a U-shaped carbon nanotube composite is provided in a flexible tube portion, and FIG. 6 illustrates a case in which the U-shaped carbon nanotube composite is provided in a flexible tube portion in addition to a curved portion. FIG. 7 is a sectional view taken along the line Y7-Y7 in FIG. 6, and FIG. 8 is a diagram for explaining the operation of the insertion portion of the endoscope shown in FIG.

  As shown in FIG. 6, in the endoscope 2A of the present embodiment, in addition to the bending portion 12, the flexible tube portion U-shaped carbon 40A corresponding to the four directions of up, down, left and right in the vicinity of the bending portion 12 of the flexible tube portion 13. Is provided. The flexible tube portion U-shaped carbon 40A is an insertion portion shape detection sensor, and is provided on the surface of the resin outer layer constituting the flexible tube portion outer tube 45 as shown in FIGS.

  In the present embodiment, the sensor detection unit 37 detects the resistance value of the flexible tube U-shaped carbon 40 </ b> A in addition to the extraction of the bending angle corresponding to the resistance value of the U-shaped carbon 40 during the endoscope operation. The change is measured, the insertion shape of the flexible tube portion 13 corresponding to the resistance value is extracted from the table data registered in the storage unit in advance, and the flexible tube bending data is output to the determination unit 38.

Therefore, in this embodiment, in addition to the bending information output from the fluid control unit 36 and the bending data output from the determination unit 38, the flexible tube unit bending data output from the determination unit 38 is included in the determination unit 38. Is entered.
The determination unit 38 compares the bending information, the bending data of the bending unit 12, and the flexible tube bending data. Then, it is determined whether or not the bending state of the bending portion 12 corresponds to the tilting operation of the joystick 22, and whether or not the flexible tube portion 13 is bending following the bending operation of the bending portion 12. judge.

  For example, as shown in FIG. 8, when the insertion portion 2 a passes through the pipe 50 constituted by the first straight pipe 51, the elbow pipe 52, and the second straight pipe 53, the bending portion 12 is The straight pipe 51 is in a straight state. Then, when entering the elbow tube 52 from the first straight tube 51, the bending operation is appropriately performed from the straight state by the operator's joystick operation, and the bending operation is also performed in the elbow tube 52 through the vortex. When the elbow tube 52 enters the second straight tube 53, the elbow tube 52 is bent so as to change from the bent state to the straight state, and is guided to the second straight tube 53 and proceeds.

  Then, the flexible tube portion 13 passing through the pipe 50 is in a straight state in the same manner as the bending portion 12 while moving into the first straight tube 51. Then, when entering the elbow pipe 52 from the first straight pipe 51, the straight state changes from the straight state to the curved state as in the bending portion 12, and the curved state is maintained while passing through the elbow pipe 52. When entering the second straight pipe 53 from the elbow pipe 52, the bent state gradually changes from the curved state to the straight state like the bending portion 12 and is guided to the second straight pipe 53. That is, the insertion shape of the flexible tube portion 13 changes following the bending state of the bending portion 12.

  However, when the distal end portion 11 abuts on the first straight tube 51 and the bending portion 12 abuts on the connecting portion 54 and cannot move forward as shown in the figure, the operator pushes the insertion portion 2a into the back. When an insertion operation that advances in the direction is performed, the bending state of the flexible tube portion 13 is changed so as to be further bent. At this time, the determination unit 38 determines that the change in the insertion shape of the flexible tube unit 13 does not follow the bending operation of the bending unit 12 and outputs a notification signal to the notification unit 23.

  The notification signal output from the determination unit 38 is a second notification signal different from the notification signal output when the bending state of the bending unit 12 is different from the tilt operation instruction of the joystick 22, and is a vibration that is the notification unit 23. The body is vibrated at predetermined intervals. As a result, the operator holding the grip portion 21 determines that the flexible tube portion 13 has not moved forward following the bending portion 12, stops the insertion work, and then pulls back the insertion portion 2a, etc. To solve the problem.

  In this way, by arranging the U-shaped carbon 40 in the bending portion 12 and the flexible tube portion U-shaped carbon 40A in the flexible tube portion 13, in addition to detecting the bending state of the bending portion 12, the flexible tube It is possible to improve the insertion workability of the insertion portion 2a by detecting a change in the insertion shape of the portion 13.

In addition, when an insertion part is elongate, you may make it provide several flexible tube part U-shaped carbon 40A in a flexible tube part longitudinal direction by the predetermined space | interval.
Further, instead of providing the flexible tube portion U-shaped carbon 40 </ b> A in the flexible tube portion 13 as shown in FIG. 9, a flexible tube portion U-shaped carbon 40 </ b> B with a temperature sensor 47 may be provided.

  In this configuration, when the insertion shape change of the flexible tube portion 13 is changed, the sensor detection unit 37 changes the resistance value of the U-shaped carbon 40 and changes the ease of heat transfer on the surface. The surface temperature of the flexible tube portion U-shaped carbon 40B slightly changes. The temperature sensor 47 detects this temperature change.

As a result, in the same way as described above, in addition to detecting the bending state of the bending portion 12, it is possible to detect the insertion shape change of the flexible tube portion 13 and improve the insertion workability of the insertion portion 2a. Reference numeral 47 a in the figure is a signal line extending from the temperature sensor 47.
Furthermore, when the insertion portion 2a comes into contact with, for example, piping during the insertion operation, heat is transmitted from the contact portion, and the surface temperature changes. When the insertion portion 2a comes into strong contact with the pipe, heat from the contact portion is easily transmitted. For example, the temperature is lowered due to escape of heat. By detecting this temperature, the surface state may be detected.
In addition, it is not a method of providing U-shaped carbon 40 on the surface of the insertion part, but the temperature of the surface is detected by providing a temperature sensor on the carbon nanocomposite (carbon nano) or composite (composed of carbon nano and resin). Then, the connection of the piping may be determined.

The bending part sensor 6 of 2nd Embodiment is demonstrated with reference to FIGS. 10-12.
In the present embodiment, the bending portion sensor 6 includes a tubular carbon nanotube composite (hereinafter abbreviated as tubular carbon) 60 in which carbon nanotubes are formed in a columnar shape as shown in FIG. The first electrode 61 and the annular second electrode 62 provided on the base end face side are configured. The tubular carbon 60, the first electrode 61, and the second electrode 62 each have a wire hole 63 through which the bending wire 7w is inserted, and a first electric wire hole 64 through which the first electric wire (see reference numeral 65 in FIG. 11) is inserted. And are provided.
The tip of the first electric wire 65 is electrically connected within the first electric wire hole 64 of the first electrode 61, for example. The tip of the second electric wire 66 is electrically connected, for example, within the second electric wire connecting portion 67 of the second electrode 62.

  As shown in FIG. 11, the tubular carbon 60 is composed of, for example, a most proximal end bending piece 71 r and a most proximal end bending piece of a bending piece set 70 configured by connecting n bending pieces 71 constituting the bending portion 12. It is arranged between the (n-1) -th bending piece 71p arranged on one tip side of 71r. In this arrangement state, the distance between the first electrode 61 and the base end surface of the (n-1) -th bending piece 71p and between the second electrode 62 and the front end face of the most proximal-end bending piece 71r are determined in advance. A gap is formed.

  As shown in FIG. 12, a flexible substrate 75 is provided on the outer peripheral surface of the most proximal bending piece 71r. The flexible substrate 75 includes a substrate main body 76 covering the outer peripheral surface of the most proximal end bending piece 71r, an extending portion 77 extending from the proximal end side of the substrate main body 76, and a predetermined interval on the distal end side of the substrate main body 76. It is configured to include four protruding portions 78 provided so as to protrude. One surface of each protruding portion 78 is configured as a contact portion 79 that is electrically connected to the second electrode 62. Then, in the projection 78, the wire hole 63 through which the bending wire 7 w is inserted and the first wire hole 64 through which the first electric wire 65 is inserted, like the tubular carbon 60, the first electrode 61, and the second electrode 62. And a second wire hole 68 through which the second wire 66 is inserted.

  Further, although not shown in the drawing, the proximal end bending piece 71r is inserted with the wire hole 63 through which the bending wire 7w is inserted, the first electric wire hole 64 through which the first electric wire 65 is inserted, and the second electric wire 66. A second electric wire hole 68 is provided. The distal end of the bending wire 7w is connected and fixed to the most advanced bending piece (not shown). The other bending pieces 71 except the most advanced bending piece are provided with wire holes 63 through which the bending wire 7w is inserted.

  In the present embodiment, the sensor detection unit 37 detects a resistance value that changes as each tubular carbon 60 is contracted, and provides the determination unit 38 with bending data including a bending direction and a bending angle corresponding to the resistance value. Output.

An operation of the endoscope including the tubular carbon 60 configured as described above will be described.
In this embodiment, when the operator performs the tilting operation of the joystick 22 to bend the bending portion 12 upward, for example, the bending piece set 70 gradually moves upward as the bending wire 7w is pulled and loosened. It curves.

  Then, the first electrode 61 and the (n−1) th electrode provided on the tubular carbon 60 corresponding to the upward direction of the bending disposed between the most proximal bending piece 71r and the (n−1) th bending piece 71p. While making contact with the base end face of the bending piece 71p, the second electrode 62 and the contact portion 79 of the flexible substrate 75 provided on the most base end bending piece 71r are in electrical contact. On the other hand, the tubular carbon 60 other than the upper direction, that is, between the first electrode 61 of the tubular carbon 60 corresponding to the lower left and right direction and the base end surface of the (n-1) th bending piece 71p, or the second electrode 62, A gap formed between the distal end surface of the most proximal bending piece 71r is expanded.

  That is, as the bending piece set 70 is gradually bent upward, the second electrode 62 and the contact portion 79 of the flexible substrate 75 provided on the most proximal bending piece 71r are in electrical contact with each other. The detection unit 37 detects the resistance value of the tubular carbon 60 corresponding to the upward direction of the curve, and the curve data is output to the determination unit 38.

By continuing the tilting operation of the joystick 22 by the operator, the bending piece set 70 is further bent upward. Then, the tubular carbon 60 corresponding to the upward bending direction disposed between the most proximal end bending piece 71r and the (n-1) th bending piece 71p is crushed as the bending portion 12 is bent. To go.

On the other hand, between the first electrode 61 of the tubular carbon 60 and the proximal end surface of the (n-1) th bending piece 71p corresponding to the lower left and right directions, or the distal end surface of the second electrode 62 and the most proximal bending piece 71r, respectively. The gap formed between the two is further expanded. As a result, the sensor detection unit 37 detects only the change in the resistance value of the tubular carbon 60 corresponding to the bending direction, and outputs the bending data corresponding to the resistance value to the determination unit 38.

  The determination unit 38 compares the bending information corresponding to the tilt operation instruction signal from the joystick 22 and the bending data output from the sensor detection unit 37 as in the first embodiment, and the bending angle of the bending unit 12 is determined. It is determined whether or not an instruction to tilt the joystick 22 is supported.

  Thus, by arranging a plurality of tubular carbons 60 made of carbon nanotubes excellent in elasticity between the predetermined bending pieces of the bending piece set 70 constituting the bending portion 12 so as to correspond to the bending direction, The bending state of the bending portion 12 can be detected with high accuracy.

  In the present embodiment, the tubular carbon 60 is composed of the most proximal end bending piece 71 of the bending piece set 70 and the (n-1) th bending piece 71p arranged on the one distal end side of the most proximal end bending piece 71. It is supposed to be placed between. However, the arrangement position of the tubular carbon 60 is not limited to the position between the most proximal bending piece 71 and the (n-1) th bending piece 71p, and is more distal than the (n-1) th bending piece 71p. It may be between the bending pieces arrange | positioned. Further, in addition to the most proximal end bending piece 71 and the (n-1) th bending piece 71p, the tubular carbon 60 may be disposed between other bending pieces.

The bending portion sensor 6 of the third embodiment will be described with reference to FIG.
In the present embodiment, the bending portion sensor 6 is a traction portion 80 shown in FIG. 13, and is an elongated carbon nanotube composite (hereinafter abbreviated as elongated carbon) 81 formed in an elongated pipe shape, and a longitudinal axis of the elongated carbon 81. A flexible and conductive metal inner rod 82 is inserted into the through hole 81h so as to be able to advance and retreat. The elongated carbon 81 is made of carbon nanotubes excellent in elasticity and strength.

  The inner rod 82 includes a large-diameter portion 83 that abuts the distal end surface 81p of the elongated carbon 81 at the distal end portion. An insulating coat (not shown) is applied to the entire surface of the inner rod 82, and an inner rod electrode 84 is provided on the proximal end side of the inner rod 82. On the other hand, a carbon electrode 85 is provided on the base end side of the elongated carbon 81.

  In the present embodiment, four elongated carbons 81 and four inner rods 82 are prepared corresponding to the four bending directions of the bending portion 12. Each of the bending pieces 87 constituting the bending piece set 86 is formed with four sensor insertion holes 87h respectively corresponding to the four bending directions. The elongated carbon 81 is inserted and arranged in a predetermined state in each sensor insertion hole 87h. The large-diameter portion 83 of the inner rod 82 is disposed in contact with the distal end surface 87fp of the most advanced bending piece 87f.

  The first wiring 88 is connected to the carbon electrode 85 of the elongated carbon 81, and the second wiring 89 is connected to the inner rod electrode 84 of the inner rod 82. Each bending piece 87 is made of insulating resin or metal, and in the case of metal, an insulating sheet (not shown) is provided on the entire surface.

The operation of the endoscope provided with the elongated carbon 81 and the inner rod 82 configured as described above in the bending piece set 86 will be described.
In the present embodiment, when the operator performs the tilting operation of the joystick 22 to bend the bending portion 12 upward, for example, the inner rod 82 corresponding to the bending direction is pulled. Then, the bending portion 12 gradually curves upward together with the elongated carbon 81 through which the inner rod 82 is inserted. At this time, the downward elongated carbon 81 facing upward is also curved against the elastic force of the inner rod 82.

  When the elongated carbon 81 corresponding to the upward direction and the downward direction is curved, the resistance value of each elongated carbon 81 starts to change. The sensor detection unit 37 continuously measures the resistance value of the elongated carbon 81 that changes by bending through the wirings 88 and 89.

By continuing the tilting operation of the joystick 22 by the operator, the bending portion 12 is bent further upward along with the elongated carbon 81. As a result, the sensor detection unit 37 detects a change in the resistance value of the tubular carbon 60 in the bending direction and the tubular carbon 60 facing the bending direction, and outputs the bending data corresponding to the resistance value to the determination unit 38. The unit 38 compares the bending information corresponding to the tilting operation instruction signal from the joystick 22 and the bending data output from the sensor detection unit 37 as in the first embodiment, and the bending angle of the bending unit 12 is determined. It is determined whether or not an instruction to tilt the joystick 22 is supported.

  In this manner, the elongated carbon 81 is inserted and disposed in the sensor insertion hole 87 h formed in each bending piece 87 constituting the bending piece set 86, the inner rod 82 is pulled, and the elongated carbon 81 is bent to be elongated. By measuring the changing resistance value of the carbon 81 with the sensor detection unit 37, it is possible to detect the bending state of the bending unit 12 in the same manner as described above and obtain the same action and effect.

The bending portion sensor 6 according to the fourth embodiment will be described with reference to FIGS. 14 to 15C.
A bending piece set 90 shown in FIG. 14 is the bending portion sensor 6 and includes a front base 91 and a rear base 92, and a plurality of bending pieces 93 disposed between the front base 91 and the rear base 92. Has been. In the present embodiment, the front cap 91 and the rear cap 92 are made of insulating resin, and an insulating coat is applied to the outer peripheral surfaces of the plurality of bending pieces 93.

As shown in FIG. 15A, the bending piece 93 is configured by integrating a pair of carbon nanosheets 94 and an anisotropic conductive sheet 95 disposed between the carbon nanosheets 94. The carbon nanosheets 94f and 94r are provided with, for example, eight conductive portions 94a and insulating portions 94b alternately in a radial pattern. A bending wire hole 94h through which the bending wire 7w is inserted is formed in the insulating portion 94b along the axial direction. That is, a pair of conductive portions 94a1 and 94a2 are arranged with one bending wire 7w interposed therebetween.
The curved wire hole 94 h is also formed in the front base 91, the rear base 92, and the anisotropic conductive sheet 95.
The anisotropic conductive sheet 95 is formed such that a current flows from the front base 91 direction toward the rear base 92 direction.

As shown in FIG. 15B, a front cap electrode 91a that electrically connects a pair of conductive portions 94a disposed across the bending wire 7w on the base end surface of the front cap 91 faces each pair of conductive portions 94a. Four are formed.
On the other hand, as shown in FIG. 15C, the rear cap 92 is formed with base end surfaces of a pair of rear cap electrodes 92a1 and 92a2 provided with a bending wire hole 94h inserted through the bending wire 7w. The front end surface of the first rear cap electrode 92a1 faces the first conductive portion 94a1 of the bending piece 93, and the front end surface of the second rear base electrode 92a2 faces the second conductive portion 94a2 of the bending piece 93. ing.

A first wiring 96a is connected to each first rear base electrode 92a1, and a second wiring 96b is connected to each second rear base electrode 92a2.
In the present embodiment, the determination unit 38 determines the bending information corresponding to the tilt operation instruction signal from the joystick 22 and the current value that changes as the resistance value of the carbon nanosheet 94 changes as the bending piece 93 is compressed during the work. Is compared with the curve data extracted by the sensor detection unit 37 corresponding to.

The operation of the endoscope provided with the bending piece set 90 configured as described above will be described.
In the present embodiment, when the operator performs an operation of tilting the joystick 22 and performs an operation of bending the bending portion 12, for example, upward, the bending wire 7 w corresponding to the bending direction is pulled to configure the bending piece set 90. The upper direction of each bending piece 93 is compressed, and the bending portion 12 is gradually bent upward.

  At this time, the anisotropic conductive sheet 95 constituting the bending piece 93 is compressed, and the distal end side carbon nanosheet 94f and the proximal end side carbon nanosheet 94r become conductive. As a result, the first wiring 96a corresponding to the curved upward direction, the first rear cap electrode 92a1 of the rear cap 92, the first conductive portion 94a1 of the bending piece 93, the front base electrode 91a, the bending piece 93, the second conductive portion 94a2, the rear The second rear cap electrode 92 a 2 of the base 92 and the second wiring 96 b are electrically connected, and a current flows through the sensor detection unit 37. As a result, detection of the current value by the sensor detection unit 37 is started, and the bending data is output to the determination unit 38.

  When the anisotropic conductive sheet 95 is compressed and the distal end side carbon nanosheet 94f and the proximal end side carbon nanosheet 94r are in a conductive state, the first conductive portions 94a1 other than the upward direction of each bending piece 93 and the second conductive layer The parts 94a2 are not electrically connected.

By continuing the tilting operation of the joystick 22 by the operator, the bending portion 12 is further bent upward and the bending piece 93 is further compressed. As a result, the sensor detection unit 37 detects a change in the value of the current flowing in the bending piece set 90 and outputs the bending data corresponding to the current value to the determination unit 38. The determination unit 38 is the first embodiment described above. Similarly, the bending information corresponding to the tilting operation instruction signal from the joystick 22 is compared with the bending data output from the sensor detection unit 37, and the bending angle of the bending part 12 corresponds to the tilting operation instruction of the joystick 22. It is determined whether or not.

  Thus, each bending piece 93 constituting the bending piece set 90 is constituted by a pair of carbon nanosheets 94f and 94r and an anisotropic conductive sheet 95 disposed between the carbon nanosheets 94. As a result, when the bending portion 12 is bent, a change in the current value flowing in the pair of conductive portions 94a1 and 94a2 corresponding to the bending direction disposed with the bending wire 7w corresponding to the bending direction interposed therebetween is detected by the sensor detection portion 37. By measuring at, the same action and effect can be obtained by detecting the bending state of the bending portion 12 as described above.

The bending portion sensor 6 of the fifth embodiment will be described with reference to FIG.
In the present embodiment, the bending portion sensor 6 is a bending portion bending state detection device (hereinafter abbreviated as a detection device) 100 provided on the outer peripheral surface side of the bending portion 12 as shown in FIG.

The detection device 100 includes a first spiral tube 101, a second spiral tube 102, four temperature sensors 103 corresponding to the bending direction, and a tip conductive member 104.
The first spiral tube 101 is a thin plate member in which a thin and long thin plate 105 made of, for example, phosphor bronze that forms a lower layer and a flexible substrate 106 that includes a plurality of long and thin wires 107 that form an upper layer are integrated. It is constituted by.
The plurality of wirings 107 are arranged at predetermined intervals in a direction orthogonal to the longitudinal axis of the flexible substrate 106.

The second spiral tube 102 is disposed in substantially contact with the spiral space formed by the first spiral tube 101. The second spiral tube 102 is formed by integrating a pair of elongated disk-shaped carbon nanosheets 108 and an elongated anisotropic conductive sheet 109 disposed between the distal-side carbon nanosheet 108f and the proximal-side carbon nanosheet 108r. It is comprised by the elongate sheet made into.
The anisotropic conductive sheet 109 is formed so that a current flows from the direction of the distal end portion 11 toward the flexible tube portion 13 in a state where the anisotropic conductive sheet 109 is disposed in the bending portion 12.

  The temperature sensor 103 is provided on the surface of the flexible substrate 106 of the first spiral tube 101. Reference numeral 103 a is a signal line extending from the temperature sensor 103. The signal lines 103 a extending from the temperature sensor 103 are, for example, collected together and inserted between the flexible tube outer tube 45 and the outer mesh tube 46.

  The tip conductive member 104 is an annular member made of a conductive member, and constitutes the tip of the detection device 100. In the present embodiment, a connecting wire 111 extending from the apparatus main body 3 is connected to the tip conductive member 104. Further, the distal end portion of the first spiral tube 101 is integrally fixed to a predetermined position of the distal end conductive member 104 via an insulating member.

  In the present embodiment, the sensor detection unit 37 extracts the bending shape of the bending unit 12 from the table data registered in advance in the storage unit based on the surface temperature of the first spiral tube 101 measured by the temperature sensor 103. To the determination unit 38.

The operation of the detection apparatus 100 configured as described above will be described.
In this embodiment, when the operator performs an operation of tilting the joystick 22 to bend the bending portion 12, for example, upward, the bending wire 7 w corresponding to the bending direction is pulled, and the bending portion 12 gradually moves. It curves upward.

  At this time, with the bending operation of the bending portion 12, the proximal end surface of the distal end conductive member 104 of the detection device 100 provided in the bending portion 12 and the distal end surface of the first spiral tube 101 come into close contact with each other, and the first spiral The space | interval of the spiral part space corresponding to the curved upward direction of the pipe | tube 101 is narrowed.

  As a result, the second spiral tube 102 is compressed by the first spiral tube 101, and the wires 107 of the flexible substrate 106 corresponding to the curved upward direction of the first spiral tube 101 are connected to the tip side carbon nanosheet 108 f of the second spiral tube 102, The plurality of wirings 107 arranged in the upward curve direction generate heat by being electrically connected via the anisotropic conductive sheet 109 and the base end side carbon nanosheet 108r. The heat generation of the wiring 107 is detected by the temperature sensor 103 corresponding to the upward curve direction. The sensor detection unit 37 extracts the curve data from the temperature of the wiring 107 and outputs it to the determination unit 38.

  Note that as the bending angle of the bending portion 12 increases, the distal-side carbon nanosheet 108f and the proximal-side carbon nanosheet 108r are compressed, the resistance increases, and the temperature rises. Further, since the space of the spiral portion space other than the upward direction of the first spiral tube 101 is expanded, the wiring 107 other than the upward direction of the first spiral tube 101 is not electrically connected.

  The determination unit 38 compares the bending information corresponding to the tilt operation instruction signal from the joystick 22 and the bending data output from the sensor detection unit 37 as in the above-described embodiment, and the bending angle of the bending unit 12 is determined as the joystick. It is determined whether or not it corresponds to 22 tilting operation instructions.

As described above, the first spiral tube 101 having the flexible substrate 106 provided with the plurality of wirings 107 in the bending portion 12, the second spiral tube 102 having the carbon nanosheets 108 f and 108 r and the anisotropic conductive sheet 109, and the temperature sensor 103. The detection device 100 configured to include is arranged. According to this configuration, when the bending portion 12 is in a bending state, the wirings 107 of the flexible substrate 106 corresponding to the bending direction pass through the carbon nanosheets 108f and 108r and the anisotropic conductive sheet 109 of the second spiral tube 102. Connected and generates heat.
Then, by outputting the temperature detected by the temperature sensor 103 to the sensor detection unit 37, the bending state of the bending unit 12 can be detected in the same manner as described above, and the same operation and effect can be obtained.

  The present invention is not limited to the above-described embodiments, and various modifications can be made without departing from the spirit of the invention.

DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2, 2A ... Endoscope 2a ... Insertion part 2b ... Operation part 3 ... Apparatus main body
3a ... Main body 3b ... Display unit 4 ... Light emitting element 5 ... Imaging element 6 ... Bending part sensor 7 ... Fluid pressure actuator 7a ... Case body 7b ... Expansion / contraction body
7c: Carbon nanotube composite layer 7d: 1st connection port 7e: 2nd connection port 7f ... Connection part 7w ... Curved wire 8 ... Fluid tube 9 ... Universal cord 9a ... Connector 11 ... Tip part 12 ... Curved part 13 ... Flexible tube portion 21 ... Grasping portion 22 ... Joystick 23 ... Notification portion 31 ... Camera control portion 32 ... Bending control portion 33 ... Bending control electromagnetic valve unit 34 ... Imaging circuit 35 ... Lighting circuit
36 ... Fluid control unit 37 ... Sensor detection unit 38 ... Determination unit 40 ... U-shaped carbon 40A, 40B ... Flexible tube U-shaped carbon 41 ... First wiring 42 ... Second wiring
DESCRIPTION OF SYMBOLS 43 ... Curve rubber | gum 44 ... Outer tube for bending parts 45 ... Flexible tube part outer tube 45h ... Through hole for wiring insertion 46 ... Outer mesh pipe 47 ... Temperature sensor 47a ... Signal line 50 ... Pipe 51 ... First straight pipe 52 Elbow tube 53... Second straight tube 54... Connecting portion 60. Tubular carbon 61 .. first electrode 62.
63 ... Wire hole 64 ... First electric wire hole 65 ... First electric wire 66 ... Second electric wire 67 ... Second electric wire connection portion 68 ... Second electric wire hole 70 ... Bending piece set 71 ... Most proximal bending piece 71p ... (N-1) bending piece 71r ... most proximal end bending piece 75 ... flexible substrate 76 ... substrate body 77 ... extension part 78 ... projection part 79 ... contact part 80 ... traction part 81 ... elongated carbon 81h ... longitudinal axis through hole 81p ... tip face 82 ... inner rod
83 ... Large diameter portion 84 ... Inner rod electrode 85 ... Carbon electrode 86 ... Bending piece set 87 ... Bending piece 87f ... Cutting edge bending piece 87fp ... Tip end face 87h ... Sensor insertion hole 88 ... First wiring 89 ... Second wiring 90 ... Bending piece set 91 ... Front cap 91a ... Front cap electrode 92 ... Rear base 92a1 ... First rear base electrode 92a2 ... Second rear base electrode 93 ... Bending piece 94 ... Carbon nanosheet 94a ... Conducting portion 94a1 ... First conductive portion
94a2 ... second conductive portion 94b ... insulating portion 94f ... tip-side carbon nanosheet 94h ... curved wire hole 94r ... proximal-side carbon nanosheet
95 ... Anisotropic conductive sheet 96a ... 1st wiring 96b ... 2nd wiring 100 ... Detection apparatus 101 ... 1st spiral tube 102 ... 2nd spiral tube 103 ... Temperature sensor 103a ... Signal wire 104 ... Tip conductive member 105 ... Thin plate 106 ... Flexible substrate 107 ... Wiring 108 ... Carbon nanosheet 108f ... Tip side carbon nanosheet
108r ... proximal end side carbon nanosheet 109 ... anisotropic conductive sheet 111 ... connecting wire

Claims (14)

An endoscope having a bending portion on the distal end side of the elongated insertion portion, and a bending operation instruction device for causing the bending portion to bend and operate on an operation portion provided at a proximal end portion of the insertion portion, and a notification portion;
A sensor detection unit that extracts a bending state of the bending part from a detection signal that is provided in the bending part and outputs a detection signal output from a bending state detection sensor that detects the bending state of the bending part; and A determination unit that compares the detection result output from the sensor detection unit with the tilt operation instruction signal output from the bending operation instruction device and compares the bending state of the bending unit and the operation state of the bending operation instruction device; An apparatus main body comprising:
The bending portion bending state detection sensor includes a carbon nanotube composite,
The endoscope apparatus according to claim 1, wherein the determination unit outputs a notification signal to a notification unit included in the operation unit when a bending state of the bending unit is different from an operation state of the bending operation instruction device.   A bending portion bending state detection sensor including the carbon nanotube composite is provided on the outer surface of the bending rubber constituting the bending portion along the longitudinal axis and in a circumferential direction corresponding to the bending direction of the bending portion. The endoscope apparatus according to claim 1, wherein a plurality of them are provided at equal intervals.   The curved portion bending state detection sensor including the carbon nanotube composite is subjected to mask treatment on the outer surface of the curved rubber, and then the carbon nanotube composite is applied, and after the coating, the mask is removed to remove the curved rubber. The endoscope apparatus according to claim 2, wherein the endoscope apparatus is integrally provided on an outer surface. The bending portion bending state detection sensor provided on the outer surface of the bending rubber is U-shaped having a bending portion on the distal end side of the insertion portion,
The ends of the wires are connected to the ends of the U-shaped bending portion bending state detection sensor,
The wiring is formed through a wiring insertion through hole formed in an insulating flexible tube portion outer tube constituting a flexible tube portion having flexibility provided on the proximal end side of the bending portion. The endoscope apparatus according to claim 2, wherein the endoscope apparatus is extended to an operation unit.   An outer tube for a bending portion having insulating properties and flexibility is coated on an outer peripheral surface side of the bending rubber, in which a bending portion detection sensor including a carbon nanotube composite is integrally formed on an outer surface. The endoscope apparatus according to claim 2 or 3.   A wiring of a flexible substrate is connected to the bending portion bending state detection sensor including the carbon nanotube composite, and the flexible substrate is disposed between the outer tube for the flexible tube portion and the outer mesh tube covering the outer tube for the flexible tube portion. The endoscope apparatus according to claim 2, wherein the endoscope apparatus extends through the operation unit. In an endoscope that pulls and relaxes a bending wire for bending the bending portion by a fluid pressure actuator,
The fluid pressure actuator includes a pipe-shaped case body and an expansion / contraction body accommodated in the case body, and a carbon nanotube composite layer is provided on an entire outer surface of the expansion / contraction body. The endoscope apparatus according to Item 1. In the configuration in which the bending wire is pulled or relaxed by expanding or contracting the case body of the fluid pressure actuator as the expansion / contraction body expands or contracts,
The endoscope apparatus according to claim 7, wherein the carbon nanotube composite layer is provided on the entire inner surface of the case body. In the configuration comprising a flexible tube portion having flexibility on the proximal end side of the bending portion,
On the surface of the outer layer made of resin of the outer tube for the flexible tube portion constituting the flexible tube portion, along the longitudinal axis of the flexible tube portion and in the circumferential direction corresponding to the bending direction of the bending portion 2. The endoscope apparatus according to claim 1, further comprising a flexible tube portion bending state detection sensor including a plurality of carbon nanotube composites at equal intervals.   The endoscope apparatus according to claim 9, wherein a temperature sensor is provided in the flexible tube portion bending state detection sensor. The curved portion bending state detection sensor including the carbon nanotube composite is provided on a tubular carbon nanotube composite in which carbon nanotubes are formed in a columnar shape, an annular first electrode provided on a distal end surface side, and a proximal end surface side. An annular second electrode, and
The bending portion bending state detection sensor is provided by inserting a bending wire between adjacent bending pieces of a bending piece set configured by connecting a plurality of bending pieces constituting the bending portion. The endoscope apparatus according to claim 1. The bending state detection sensor including the carbon nanotube composite includes an elongated carbon nanotube composite in which carbon nanotubes are formed in an elongated pipe shape, and a flexible and conductive material that is inserted into a longitudinal axis through-hole of the elongated carbon so as to freely advance and retract. And a metal inner rod having the property,
2. The bending portion bending state detection sensor is arranged in a sensor insertion hole formed corresponding to a bending direction in a plurality of bending pieces included in a bending piece set constituting the bending portion. The endoscope apparatus described in 1. The curved portion bending state detection sensor including the carbon nanotube composite includes a front base constituting the distal end side of the insertion portion, a rear base constituting the proximal end side of the insertion portion, the front base and the rear base. And a plurality of bending pieces arranged between,
The bending piece is arranged between a pair of carbon nanosheets formed by alternately providing a plurality of conductive portions and a plurality of insulating portions radially, and a current flows from the distal end side to the proximal end side. An anisotropic conductive sheet configured to flow toward the
The front cap has an insulating property, and a front cap electrode that electrically connects a pair of conductive portions provided between the insulating portions having a bent wire hole through which each bent wire is inserted in the base end surface. With
The endoscope apparatus according to claim 1, wherein the rear base includes an insulating property and includes a pair of rear base electrodes sandwiching each curved wire hole through which the curved wire is inserted. The bending portion bending state detection sensor including the carbon nanotube composite is a bending portion bending state detection device provided on the outer peripheral surface side of the bending portion of the insertion portion,
The bending portion bending state detection device includes:
A thin plate member in which a slender metal thin plate having a spring property constituting the lower layer and a flexible substrate in which a plurality of elongated wires constituting the upper layer are arranged at predetermined intervals in a direction perpendicular to the longitudinal axis A first spiral tube composed of:
A pair of elongated disk-shaped carbon nanosheets and an anisotropic conductive sheet that is disposed between one carbon nanosheet and the other carbon nanosheet and flows in a predetermined direction are integrated. A second spiral tube composed of the elongated sheet,
A plurality of temperature sensors provided on the surface of the flexible substrate constituting the first spiral tube corresponding to the bending direction;
A tip conductive member formed of a conductive member and fixed integrally with the tip of the first spiral tube and an insulating member, and connected to a connection line extending from the apparatus main body;
The endoscope apparatus according to claim 1, further comprising:

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