JP2017148406A - Endoscope - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an endoscope which ensures all of the washability, disinfection performance, operation stability, and high-speed responsivity.SOLUTION: The endoscope comprises: an insertion section having a distal end and a proximal end; a distal end body provided on a distal end side of the insertion section; a first receiving chamber provided in the distal end body; a rising stage rotatably carried by a rotation shaft provided in the first receiving chamber; a coil located apart from the rising stage in an axial direction of the rotation shaft in the distal end body, and shaped fitting a rotation track of the rising stage rotating in the distal end body; a magnet provided on the rising stage; and a current supply unit which supplies a drive current to the coil to constitute an actuator for generating a drive force between the coil and the magnet, and causes the rising stage to rotate by the actuator.SELECTED DRAWING: Figure 2

Description

  The present invention relates to an endoscope provided with an upright stand that changes the direction in which a treatment instrument is led out on the distal end side of an insertion portion.

  In an endoscope, various treatment tools are introduced from a treatment tool introduction port provided in an operation unit, and the treatment tool is led out from a treatment tool outlet port opened at a distal end portion of an insertion unit and used for treatment. ing. For example, a treatment tool such as a guide wire or a contrast tube is used for a duodenoscope, a treatment tool such as a puncture needle is used for an ultrasonic endoscope, and a treatment tool such as forceps or a snare is used for other direct endoscopes and perspective mirrors. used. Such a treatment tool needs to change the derivation direction at the distal end portion in order to treat a desired position in the subject. For this reason, the stand part is provided with the stand which changes the derivation | leading-out direction of a treatment tool. Further, the endoscope is provided with a treatment instrument standing mechanism that displaces the posture of the stand between the standing position and the lying position.

  As a treatment instrument standing mechanism, a wire pulling type (open type) mechanism in which the tip of a pulling wire is directly attached to a stand is known. In this mechanism, the base end of the pulling wire is connected to an operation lever provided in the operation unit, and the pulling wire is pushed and pulled by the operation lever to rotate the stand up around the rotation axis. The posture of the stand is changed between.

  In addition, as another treatment instrument raising mechanism, a lever type (closed type) in which an upright stand accommodating chamber for accommodating an upright stand and a lever accommodating chamber for accommodating a lever are disposed adjacent to each other through a partition wall at the distal end portion of the insertion portion. ) Mechanism is known. In this lever-type mechanism, a holding hole for holding the rotating shaft is provided in the partition wall, the lever and the stand are connected by the rotating shaft, and an operation wire is attached to the lever. In addition, a seal member (packing or the like) is disposed between the holding hole and the rotating shaft to ensure the airtightness of the lever accommodating chamber. Then, by pushing and pulling the operation wire with the operation lever provided in the operation unit, the stand is rotated around the rotation axis, and the posture of the stand is displaced between the standing position and the lying position.

  Such a lever-type treatment instrument stand-up mechanism is more cleanable and disinfectable than the wire pull-type treatment tool stand-up mechanism, but the clearance between the rotary shaft and the lever accommodating chamber, and the area around the seal member Cleaning and disinfection still takes time. For this reason, it is desired to develop a treatment instrument standing mechanism that further improves detergency and disinfection.

  Therefore, in the endoscope described in Patent Document 1, the first permanent magnet is attached to the stand, and the second permanent magnet is attached to the distal end of the operation wire that is advanced and retracted from the proximal end side of the insertion portion. It seals in the front-end | tip part of an insertion part. And in the endoscope of patent documents 1, the 1st permanent magnet and the 2nd permanent magnet are arranged oppositely on both sides of a partition. Accordingly, when the second permanent magnet is moved by the advancement / retraction of the operation wire, the first permanent magnet moves following the second permanent magnet by the magnetic force. For this reason, the posture of the stand can be displaced between the standing position and the lying position without penetrating the rotating shaft through the partition wall between the first permanent magnet and the second permanent magnet.

  Moreover, in the endoscope described in Patent Document 2, an ultrasonic motor is configured by a stator or the like provided in an arc shape on the inner surface of the upright storage chamber, and the posture of the upright is set to the upright position and the fall by this ultrasonic motor. Displace between positions. Also in the endoscope described in Patent Document 2, the posture of the stand can be displaced between the standing position and the lying position without penetrating the rotating shaft through the partition wall. Further, the posture of the stand can be displaced without providing an operation wire as described in Patent Document 1.

JP 2007-135881 A Japanese Utility Model Publication No. 64-43902

  By the way, in the endoscope of patent document 1, since the attitude | position of a stand is displaced using the attractive force by the magnetic force between a 1st permanent magnet and a 2nd permanent magnet, elastic force (elastic restoring force) When a treatment tool with a high resistance is used, the first permanent magnet and the upright stand may fall off from the second permanent magnet, which causes a problem in operation stability.

  In addition, although the ultrasonic motor used in the endoscope described in Patent Document 2 generally has a high torque, it is generally driven at a low speed in order to prevent a reduction in life due to wear. It is. For this reason, in the endoscope of patent document 2 using an ultrasonic motor, there is a possibility that the responsiveness of the posture displacement of the standing base with respect to the operation of the operator may be deteriorated.

  The present invention has been made in view of such circumstances, and an object of the present invention is to provide an endoscope that ensures all of cleanability, disinfection, operational stability, and high-speed response.

  An endoscope for achieving the object of the present invention includes an insertion portion having a distal end and a proximal end, a distal end portion main body provided on the distal end side of the insertion portion, and a first storage chamber provided in the distal end portion main body. And a stand that is rotatably held by a rotation shaft provided in the first storage chamber, and is provided at a position in the tip body that is separated from the stand in the axial direction of the shaft. A coil having a shape along the rotation trajectory of the rotating stand, a magnet provided on the stand, and an actuator that generates a driving force between the coil and the magnet by supplying a driving current to the coil. A current supply unit that rotates the stand by the actuator.

  According to this endoscope, it is possible to reduce the number of places where cleaning and disinfection is performed compared to an endoscope having a conventional lever-type treatment instrument standing mechanism, and regardless of the magnitude of the elasticity of the treatment instrument. In addition to being able to operate stably, the responsiveness to the operator's operation is also improved.

  An endoscope for achieving the object of the present invention includes an insertion portion having a distal end and a proximal end, a distal end portion main body provided on the distal end side of the insertion portion, and a first storage chamber provided in the distal end portion main body. And a stand that is rotatably held by a rotary shaft provided in the first storage chamber, the stand being at least partially formed of a magnet, and the rotary shaft from the stand within the tip body. A coil having a shape along the rotation trajectory of a stand that is provided in the axial direction and rotating within the tip body, a driving current is supplied to the coil, and a driving force is generated between the coil and the magnet. And an electric current supply unit that rotates the stand by the actuator.

  According to this endoscope, it is possible to reduce the number of places where cleaning and disinfection is performed compared to an endoscope having a conventional lever-type treatment instrument standing mechanism, and regardless of the magnitude of the elasticity of the treatment instrument. In addition to being able to operate stably, the responsiveness to the operator's operation is also improved. Moreover, space saving of a 1st storage chamber can be achieved.

  In the endoscope according to another aspect of the present invention, the coil is provided in the first storage chamber. Thereby, since a coil can be arrange | positioned in the vicinity of a magnet, sufficient magnetic field can be made to act on a magnet from a coil, without making the electric current value of the drive current supplied to a coil high.

  The endoscope which concerns on the other aspect of this invention is provided in the position away from the 1st storage chamber in the axial direction in the front-end | tip part main body, and is provided with the airtight 2nd storage chamber which accommodates a coil. This eliminates the need for coil cleaning and disinfection, and thus improves the cleaning and disinfection of the endoscope.

  In the endoscope according to another aspect of the present invention, an operation unit having an operation member is provided on the proximal end side of the insertion unit, and the current supply unit supplies the coil in accordance with the operation of the operation member. The drive current is adjusted to control the rotation of the stand by the actuator. Thereby, a stand can be rotated according to operation of an operation member.

  The endoscope which concerns on the other aspect of this invention is provided with the stand rotation position detection part which detects the rotation position of a stand, and an electric current supply part supplies to a coil based on the detection result of a stand rotation position detection part. The drive current is adjusted, and the upright is rotated to the rotation position corresponding to the operation of the operation member. Thereby, the stand can be rotated to the rotation position corresponding to the operation of the operation member regardless of the magnitude of the elastic force of the treatment instrument.

  An endoscope according to another aspect of the present invention includes an operation position detection unit that detects an operation position of the operation member, and the current supply unit detects a drive current supplied to the coil and is detected by the operation position detection unit. The stand is rotated to the rotation position of the stand corresponding to the operation position of the operating member. Thereby, the stand can be rotated to the rotation position corresponding to the operation position of the operation member regardless of the magnitude of the elastic force of the treatment instrument.

  In the endoscope according to another aspect of the present invention, the operation unit includes an operation load applying unit that applies an operation load to the operation of the operation member. As a result, it is possible to prevent the operational feeling of the operating member from becoming light and making it difficult to adjust the rotational position of the stand by the operating member.

  An endoscope according to another aspect of the present invention includes a current value detection unit that detects a current value of a drive current consumed by the actuator, and the operation load applying unit is configured to operate the operation load based on a detection result of the current value detection unit. Control the size of. As a result, the magnitude of the operation load of the operation member can be changed in accordance with the magnitude of the elastic force of the treatment instrument, and therefore, an operation equivalent to that of a conventional endoscope that uses an operation wire to rotate a stand. A feeling can be given to the surgeon.

  In the endoscope according to another aspect of the present invention, the upright stand is held in the first housing chamber so as to be freely displaceable in the axial direction, and is provided in the distal end portion main body. The urging member that urges in the direction toward the wall of the first storage chamber away from the first storage chamber is provided, and the erection base urges the urging member when the supply of the drive current from the current supply unit to the coil is stopped. When the supply of the drive current is started by being pressed against the wall portion by, the attraction force generated between the coil and the magnet moves away from the wall portion against the urging force of the urging member. Thereby, when the operation member is not operated, the posture of the stand can be maintained without supplying the drive current to the actuator, so that power saving can be achieved.

  In the endoscope according to another aspect of the present invention, the current supply unit stops the supply of the drive current to the coil when the operation member is stationary. Thereby, power saving can be achieved.

  In the endoscope according to another aspect of the present invention, the distal end body is provided with a cooling unit for cooling the actuator. Thereby, the heat generation of the actuator can be reduced.

  The endoscope of the present invention can ensure all of cleanability, disinfection, operational stability, and high-speed response.

It is a side view which shows the whole structure of the endoscope for side views. It is an external appearance perspective view of the front-end | tip part of the state which removed the cap. FIG. 3 is an external perspective view of a tip portion viewed from a direction different from FIG. 2. It is a disassembled perspective view of the front-end | tip part of the state which removed the cap. (A) is a front view of a front-end | tip part main body, (B) is sectional drawing which follows the 5B-5B line in (A), (C) is sectional drawing which follows the 5C-5C line in (A). It is. It is the schematic of the coil accommodated in the coil accommodating part. It is a disassembled perspective view of a stand. (A) is a front view of the stand in the lying position, (B) is a sectional view taken along line 8B-8B in (A). (A) is a front view of the stand in an upright position, (B) is sectional drawing which follows the 9B-9B line in (A). It is the schematic which showed the structure which concerns on rotation operation of the stand in an endoscope. It is a functional block diagram of endoscope CPU. It is explanatory drawing for demonstrating determination of the target rotational position of a stand by the electric current supply part. It is explanatory drawing for demonstrating adjustment of the drive current by a current supply part. It is explanatory drawing for demonstrating an example of the operation load provision control by an operation load provision control part. It is a flowchart which shows the flow of rotation control of a stand, and provision control of the operation load of an operation lever. (A) is a front view of the front-end | tip part main body of other Embodiment 1, (B) is sectional drawing which follows the 16B-16B line | wire in FIG. 16 (A). It is a front view of the front-end | tip part main body of other Embodiment 2. It is explanatory drawing for demonstrating the attitude | position displacement state and attitude | position maintenance state of an upright stand in the front-end | tip part main body of other Embodiment 3. It is a front view of the front-end | tip part main body which is a modification of other Embodiment 3. It is a front view of the front-end | tip part main body of other Embodiment 4.

  Hereinafter, an endoscope according to the present invention will be described with reference to the accompanying drawings. FIG. 1 is a side view showing an overall configuration of an endoscope 10 for side view.

<Overall configuration of endoscope>
As shown in FIG. 1, the endoscope 10 includes an insertion portion 12 that is inserted into the body of a subject. An operation portion 14 is connected to the proximal end side of the insertion portion 12. A universal cord 16 is connected to the operation unit 14. The endoscope 10 is connected via a universal cord 16 to a processor 17 (see FIG. 10) that is an image processing device, a light source device (not shown), and an air / water supply device.

<Composition of insertion part>
The insertion portion 12 has a distal end and a proximal end, and has a configuration in which a distal end portion 18, a bending portion 20, and a flexible portion 22 are connected from the distal end side toward the proximal end side (the operation portion 14 side). . Inside the insertion portion 12, a treatment instrument insertion channel 24 that guides the treatment instrument 23 to the distal end portion 18, a light guide (not shown) that guides illumination light supplied from a light source device (not shown) to the distal end portion 18, and Various cables or tubes including a signal cable connected to the processor 17 and an air / water supply tube (not shown) that guides air and water supplied from an air / water supply device (not shown) to the tip 18 are inserted. Yes.

  The distal end portion 18 includes a distal end portion main body 26 provided on the distal end side of the insertion portion 12, and a cap 27 that is attached to the distal end portion main body 26 and covers the distal end portion main body 26. The distal end body 26 has an imaging unit (not shown) that images the inside of the subject, an illumination unit (not shown) that illuminates the inside of the subject, and a mechanism that changes the direction in which the treatment instrument 23 is led out.

  The cap 27 has a substantially cylindrical shape whose tip side is sealed, and is detachably attached to the tip portion main body 26. An opening window (not shown) is formed on the outer peripheral surface of the cap 27. Through this opening window, the treatment instrument 23 can be sent to the outside (inside the subject), and the inside of the subject can be imaged and illuminated.

  The bending portion 20 includes a structure body in which angle rings (not shown) are connected to each other so as to be rotatable. The outer periphery of the structure body is covered with a mesh body knitted with a metal wire, and further covered with a rubber outer skin. It has a broken structure. A plurality of wires (not shown) are extended from the two angle knobs 28 of the operation unit 14 to the bending portion 20, and the distal ends of these wires are fixed to the distal ends of the angle rings constituting the bending portion 20. ing. Accordingly, the bending portion 20 is bent vertically and horizontally by the rotation operation of each angle knob 28.

<Configuration of the soft part>
The flexible part 22 has a spiral tube formed by spirally winding a thin metal strip having elasticity. The outer surface of the spiral tube is covered with a cylindrical net knitted with a metal wire, and the outer peripheral surface of the net is covered with a resin outer skin.

<Configuration of operation unit>
The operation unit 14 includes the above-described two angle knobs 28 that perform a bending operation on the bending unit 20 and an operation lever 30 that performs an operation to change the direction in which the treatment instrument 23 is derived from the distal end 18 (corresponding to the operation member of the present invention). ), An air / water supply button 32 for ejecting air and water from an air / water supply nozzle (not shown) provided at the tip 18, and a body fluid such as blood from a suction port (not shown) provided at the tip 18. And a suction button 34 for sucking the water is provided at a predetermined position.

  The operation unit 14 is provided with a treatment instrument introduction port 36 for introducing various treatment instruments 23. The treatment instrument 23 introduced into the treatment instrument introduction port 36 passes through the treatment instrument insertion channel 24 and is led out from the distal end portion body 26 to the outside.

<Configuration of tip>
FIG. 2 is an external perspective view of the distal end portion 18 with the cap 27 removed. FIG. 3 is an external perspective view of the tip 18 viewed from a direction different from that in FIG. FIG. 4 is an exploded perspective view of the tip 18 with the cap 27 removed.

  As shown in FIGS. 2 to 4, the tip end body 26 is formed of a metal material having corrosion resistance. The tip body 26 is integrally formed with a base 45 connected to the bending portion 20 and a first wall 46 and a second wall 48 that protrude from the base 45 toward the tip and face each other. It is a structure.

  An optical system housing chamber (not shown) is airtightly formed inside the second wall portion 48. Inside the optical system accommodation chamber (not shown), the above-described illumination unit and imaging unit (not shown) are provided. Further, an illumination window 62 and an observation window 64 (not shown in FIG. 4 and subsequent figures) are provided on the upper surface of the second wall portion 48.

  The illumination unit (not shown) includes an illumination lens (not shown) installed inside the illumination window 62, and a light guide (not shown) arranged so that the tip of the illumination lens faces the illumination lens. The light guide is inserted through the insertion portion 12, and the base end thereof is connected to the light source device (not shown). Thereby, the irradiation light from the light source device is transmitted through the light guide and is irradiated to the outside from the illumination window 62.

  The photographing unit (not shown) includes a photographing optical system (not shown) disposed inside the observation window 64 and an image sensor (not shown). The image sensor may be either a CMOS (complementary metal oxide semiconductor) type or a CCD (charge coupled device) type. The image sensor is connected to the processor 17 (see FIG. 10) via a signal cable inserted through the insertion portion 12 and the universal cord 16. An imaging signal in the subject obtained by the imaging unit is output by the processor 17 via a signal cable. The processor 17 performs image processing on the imaging signal in the subject to generate a captured image, and outputs the captured image to a monitor (not shown) connected to the processor 17.

  In addition, although illustration is abbreviate | omitted, the front-end | tip part main body 26 is provided with the air / water supply nozzle (not shown) directed to the observation window 64. The air / water supply nozzle is connected to the above-described air / water supply device (not shown) via an air / water supply tube (not shown) inserted into the insertion portion 12. By operating the air / water supply button 32 (see FIG. 1) of the operation unit 14, compressed air or water is jetted from the air / water supply nozzle toward the observation window 64, and the observation window 64 is cleaned.

  The first wall portion 46, the second wall portion 48, and the base 45 form an upright stand accommodating chamber 44 that accommodates the upright stand 50 (corresponding to the first accommodating chamber of the present invention). The stand support chamber 44 is a slit-like space extending in the vertical direction in the figure. A treatment instrument outlet 38 for leading the treatment instrument 23 to the outside is formed on the upper surface side of the upright storage chamber 44.

  In the upright stand accommodating chamber 44, the distal end of the treatment instrument insertion channel 24 (see FIG. 1) connected to the base 45 is opened. Further, the proximal end of the treatment instrument insertion channel 24 is connected to the treatment instrument introduction port 36 through the insertion portion 12. As a result, when the treatment tool 23 is inserted from the treatment tool introduction port 36 into the treatment tool insertion channel 24, the treatment tool 23 is guided through the treatment tool insertion channel 24 into the upright storage chamber 44.

  In the stand support chamber 44, a stand 50, a coil 53, and a magnet 54 are provided.

  The upright 50 changes the direction of the treatment tool 23 guided into the upright stand accommodation chamber 44 and allows the treatment tool 23 to be led out from the treatment tool outlet 38 on the side of the distal end body 26. The stand 50 is rotatably held between the standing position and the lying position by a rotating shaft 52 (see FIG. 4) provided in the stand receiving chamber 44.

  The rotating shaft 52 is pivotally supported by bearing holes 55 formed on opposing surfaces of the first wall portion 46 and the second wall portion 48, respectively. Since these bearing holes 55 are non-through holes, the rotating shaft 52 does not penetrate to the outside of the first wall portion 46 and the second wall portion 48 (on the side opposite to the upright stand accommodating chamber 44). Therefore, liquid such as blood or water that has entered the upright storage chamber 44 does not leak out of the upright storage chamber 44 through the bearing hole 55. Further, it is not necessary to arrange a seal member such as an O-ring in the bearing hole 55. The rotating shaft 52 is attached to the proximal end side of the stand 50.

  The coil 53 and the magnet 54 constitute a direct drive motor 57, that is, an actuator that generates a driving force therebetween, and the direct drive motor 57 moves the stand 50 between the standing position and the lying position. Rotate. Hereinafter, the direct drive motor 57 is simply abbreviated as the DD motor 57.

  5A is a front view of the tip body 26, FIG. 5B is a cross-sectional view taken along line 5B-5B in FIG. 5A, and FIG. 5C is FIG. It is sectional drawing which follows the 5C-5C line | wire in the inside.

  As shown in FIG. 4 and FIGS. 5A to 5C, a predetermined distance from the bearing hole 55 is formed on the side surface of the first wall portion 46 on the side of the upright stand accommodating chamber 44 with the bearing hole 55 as a center. An arc-shaped step region 68 is formed by forming the portion one step lower in an arc shape (including a substantially arc shape, the same applies hereinafter). In addition, the base 45 is formed with a notch 69 in which a portion facing the step region 68 is notched toward the base end side. The stepped region 68 and the notch 69 form an arcuate coil housing portion 70 that houses the coil 53 in the upright stand housing chamber 44.

  The coil housing portion 70 has a shape along the rotation trajectory of the stand 50 that rotates between the standing position and the lying position about the rotation shaft 52 (bearing hole 55). The width of the coil housing portion 70 (the length in the axial direction of the rotating shaft 52) is formed to a length corresponding to the sum of the thickness of the coil 53 and the thickness of the magnet 54. The coil 53 is accommodated and fixed in the coil accommodating portion 70. As a result, the coil 53 is fixed in the stand support chamber 44 at a position away from the stand 50 in the axial direction of the rotary shaft 52.

  A through hole 73 through which a power cable 72 (see FIG. 10) for supplying a drive current to the coil 53 is inserted is opened in the notch 69 formed in the base 45. The power cable 72 in the coil housing part 70 and the connecting portion between the power cable 72 and the coil 53 are sealed.

  FIG. 6 is a schematic view of the coil 53 accommodated in the coil accommodating portion 70. As shown in FIG. 6, a plurality of coils 53 a constituting a so-called stator of the DD motor 57 are arranged in the coil 53 along an arc shape along the coil housing portion 70. Accordingly, the coil 53 has an arc shape along the rotation trajectory of the stand 50 that rotates about the rotation shaft 52 as in the coil housing portion 70. The coil 53 is not limited to the one shown in the figure, and various shapes that can be used for the DD motor 57 are used.

  Moreover, the liquid-tightness around the coil 53 accommodated in the coil accommodating part 70 is ensured by apply | coating a sealing agent (not shown).

  FIG. 7 is an exploded perspective view of the stand 50. As shown in FIG. 7 and FIGS. 3 and 4 described above, a so-called rotor of the DD motor 57 is formed at a position facing the coil 53 on the surface side facing the first wall portion 46 of the stand 50. An arc-shaped magnet 54 is fixed.

  The magnet 54 is disposed in the coil accommodating portion 70 so as to face the coil 53, and rotates around the rotation shaft 52 as the stand 50 rotates, that is, moves along the coil 53 (FIGS. 8 and 9). reference). As the magnet 54, for example, various structures including a structure in which a plurality of permanent magnets are arranged along the coil 53 may be adopted. In addition, the shape of the magnet 54 is not limited to an arc shape, and is not particularly limited as long as the magnet 54 can move along the coil 53 as the stand 50 rotates.

  FIG. 8A is a front view of the stand 50 in the lying position (bottom dead center), and FIG. 8B is a cross-sectional view taken along line 8B-8B in FIG. 8A. 9A is a front view of the stand 50 in the standing position (top dead center), and FIG. 9B is a cross-sectional view taken along line 9B-9B in FIG. 9A.

  As shown in FIGS. 8A and 8B and FIGS. 9A and 9B, by supplying a drive current (pulse signal) to the coil 53, the magnetic interaction between the coil 53 and the magnet 54 is caused. Rotational torque can be applied to the stand 50 through the magnet 54. That is, the DD motor 57 can be configured between the coil 53 and the magnet 54. Then, by controlling the drive current supplied to the coil 53, the DD motor 57 changes the posture of the stand 50 from the lying position shown in FIGS. 8A and 8B and FIGS. 9A and 9B. It can be displaced (rotated) between the standing positions shown in FIG.

  Inside the optical system accommodation chamber (not shown) of the second wall portion 48 is a table rotation position detection sensor 75 (corresponding to the stand rotation position detection unit of the present invention) that detects the rotation position (rotation angle) of the stand 50. ) Is provided. As this base rotation position detection sensor 75, for example, a magnetic proximity sensor that detects the position of the magnet 54 fixed to the stand 50 is used. Since the stand 50 and the magnet 54 rotate integrally, the rotational position of the stand 50 can be detected by detecting the position of the magnet 54.

  The table rotation position detection sensor 75 is not limited to a magnetic proximity sensor. For example, when the table rotation position detection sensor 75 is provided on a wall surface of the second wall portion 48 facing the upright table storage chamber 44, a contact type sensor is used. Various displacement sensors such as a displacement sensor can be used.

  Further, the table rotation position detection sensor 75 may be provided on the first wall 46 side (for example, in the vicinity of the coil 53) instead of being provided on the second wall 48 side. Here, in order to sufficiently secure the rotational torque of the DD motor 57, it is necessary to ensure the sizes of the coil 53 and the magnet 54. Therefore, the table rotational position detection sensor 75 is provided on the second wall as in the present embodiment. It is preferably provided on the side of the portion 48.

  The detection result of the rotation position of the stand 50 by the table rotation position detection sensor 75 is output to an endoscope CPU (Central Processing Unit) 80 via a signal cable 77 inserted through the insertion portion 12 and the like (see FIG. 10). ).

<Configuration related to the rotation operation of the stand>
FIG. 10 is a schematic diagram illustrating a configuration related to the rotation operation of the upright stand 50 in the endoscope 10. As shown in FIG. 10, an endoscope CPU 80 for controlling the operation of each part of the endoscope 10 is provided in the connection connector 16 a of the universal cord 16 connected to the processor 17. Note that the position of the endoscope CPU 80 in the endoscope 10 is not particularly limited, and may be provided in the operation unit 14, for example.

  A rotation operation mechanism 82 that rotates the stand 50 is provided in the operation unit 14. The rotation operation mechanism 82 includes a first rotation gear 84 to which the operation lever 30 is coupled and can rotate within a certain angle range, a second rotation gear 85 that meshes with the first rotation gear 84, and the rotation of the second rotation gear 85. A motor 86 connected to the shaft and an encoder 87 provided on the second rotation gear 85 are included.

  The motor 86 corresponds to the operation load applying unit of the present invention, and applies resistance to the rotation of the second rotating gear 85 under the control of the endoscope CPU 80. As a result, resistance is applied to the rotation of the first rotation gear 84 via the second rotation gear 85, so that an operation load can be applied to the rotation operation of the operation lever 30. If the force required to operate the operation lever 30 is small, the operation feeling of the operation lever 30 becomes light, and it is difficult for the operator to adjust the rotation position (rotation angle) of the stand 50. For this reason, by giving an appropriate operation load (torque) to the rotation operation of the operation lever 30 by the motor 86, it is possible to give the operator a feeling of operation (finger load at the time of operation).

  The encoder 87 constitutes a part of the operation position detection unit of the present invention, and is, for example, a rotary encoder that detects the rotation angle of the second rotation gear 85. The encoder 87 outputs the detection result of the rotation angle of the second rotation gear 85 to the endoscope CPU 80. Since the gear ratio of the gear train 88 constituted by the first rotation gear 84 and the second rotation gear 85 is known, the rotation position (rotation angle) of the operation lever 30 from the rotation angle of the second rotation gear 85, that is, the present invention. The operation position can be detected. A variable resistor may be provided instead of the encoder 87, and the rotation angle of the second rotation gear 85 may be detected by this variable resistor.

  A power cable 72 connected to the coil 53 of the DD motor 57 and a signal cable 77 connected to the table rotation position detection sensor 75 are inserted through the insertion portion 12 and the universal cord 16 and connected to the endoscope CPU 80. Has been.

  The endoscope CPU 80 transmits and receives various signals to and from the processor CPU 90 provided in the processor 17. Further, the endoscope CPU 80 receives a drive current from a power source 92 in the processor 17 under the control of the processor CPU 90 and supplies the drive current to each part of the endoscope 10. The endoscope CPU 80 adjusts the drive current supplied to the coil 53 of the DD motor 57 and rotates the stand 50 by the DD motor 57 when the operation stand 30 rotates the stand 50. .

  The endoscope CPU 80 controls the magnitude of the operation load applied to the rotation operation of the operation lever 30 by driving the motor 86 when the operation lever 30 is rotated by the operation lever 30. .

<Function of endoscope CPU>
FIG. 11 is a functional block diagram of the endoscope CPU 80. As shown in FIG. 11, the endoscope CPU 80 functions as a lever rotation position detection unit 100, a current supply unit 102, a current value detection unit 104, and an operation load application control unit 106.

  The lever rotation position detection unit 100 functions as the operation position detection unit of the present invention together with the encoder 87 described above. The lever rotation position detection unit 100 detects the rotation position of the operation lever 30 (operation of the present invention) based on the detection result of the rotation angle of the second rotation gear 85 input from the encoder 87 and the known gear ratio of the gear train 88. (Corresponding to the position). Then, the lever rotation position detection unit 100 outputs the detection result of the rotation position of the operation lever 30 to the current supply unit 102.

  When the rotation operation of the operation lever 30 is detected by the lever rotation position detection unit 100, the current supply unit 102 supplies the drive current supplied from the power source 92 to the DD motor 57 (coil 53), and the DD motor 57 Then, the stand 50 is rotated to the target rotation position corresponding to the rotation operation of the operation lever 30.

  FIG. 12 is an explanatory diagram for explaining determination of the target rotational position of the stand 50 by the current supply unit 102. As shown in FIG. 12, a one-to-one relationship is established between the rotation position of the operation lever 30 and the target rotation position that is the target rotation position for rotating the stand 50. Therefore, the current supply unit 102 determines the target rotation position of the stand 50 based on the rotation position detection result of the operation lever 30 input from the lever rotation position detection unit 100. The target rotation position is updated as needed with the displacement of the rotation position of the operation lever 30 while the rotation operation of the operation lever 30 is continued. In the figure, the target rotational position of the stand 50 is linearly changed according to the change of the rotational position of the operation lever 30, but the target rotational position may be nonlinearly changed.

  The current supply unit 102 supplies the drive current to the DD motor 57 so that the stand 50 is rotated to the target rotation position based on the rotation position result of the stand 50 input from the table rotation position detection sensor 75. Adjust.

  FIG. 13 is an explanatory diagram for explaining adjustment of the drive current by the current supply unit 102. As shown in FIG. 13, when the stand 50 is rotated from the lying position in the initial state 200 to the target rotation position, the current value of the required drive current differs depending on the type of the treatment instrument 23 derived from the distal end body 26. .

  Specifically, as shown in the first rotation state 201, when the treatment instrument 23 having a low elasticity (elastic restoring force) that can be easily bent is derived from the distal end portion body 26, Even if the current value of the supplied drive current is small, the upright 50 can be rotated from the lying position to the target rotation position.

  On the other hand, as shown in the second rotation state 202, when the elasticity of the treatment instrument 23 led out from the distal end portion body 26 is higher than that of the treatment instrument 23 in the first rotation state 201, the first rotation state Even if the drive current having the same current value as that is supplied to the DD motor 57, the stand 50 cannot be rotated from the lying position to the target rotation position (indicated by a dotted line in the figure). In this case, it is necessary to increase the current value of the drive current supplied to the DD motor 57. For this reason, it is necessary to increase / decrease the current value of the drive current supplied from the current supply unit 102 to the DD motor 57 in accordance with the magnitude (hardness / softness) of the elastic force of the treatment instrument 23 derived from the distal end portion body 26. is there.

  Therefore, the current supply unit 102 adjusts (increases / decreases) the drive current supplied to the DD motor 57 based on the detection result of the rotation position of the stand 50 by the table rotation position detection sensor 75, so Regardless of the magnitude of the force, the stand 50 is rotated to the target rotation position.

  Returning to FIG. 11, the current value detection unit 104 detects the current value of the drive current supplied from the current supply unit 102 to the DD motor 57 (coil 53), so that the current of the drive current consumed by the DD motor 57. The value is detected and the detection result is output to the operation load application control unit 106. The current value of the drive current consumed by the DD motor 57 increases or decreases according to the magnitude of the elastic force of the treatment instrument 23 as described above.

  The operation load application control unit 106 controls the motor 86 based on the detection result of the current value of the drive current input from the current value detection unit 104, thereby providing an operation load applied to the rotation operation of the operation lever 30 ( Hereinafter, the magnitude of “the operation load of the operation lever 30” is simply controlled.

  FIG. 14 is an explanatory diagram for describing an example of operation load application control by the operation load application control unit 106. As shown in FIG. 14, the operation load application control unit 106 stores in advance the relationship between the current value of the drive current consumed by the DD motor 57 and the magnitude of the operation load of the operation lever 30.

  Specifically, the relationship between the current value of the drive current and the magnitude of the operation load so that the magnitude of the operation load of the operation lever 30 increases as the current value of the drive current consumed by the DD motor 57 increases. Is set. That is, a relationship is set such that the magnitude of the operation load on the operation lever 30 increases as the elasticity of the treatment instrument 23 increases. Here, the relationship between the current value of the drive current and the magnitude of the operation load is not limited to the linear relationship as shown in the figure, and may be nonlinear.

  Note that when the stand 50 is rotated in the direction from the standing position toward the lying position, the elastic force of the treatment tool 23 acts on the stand 50, so that the DD motor 57 does not depend on the type of the treatment tool 23. The current value of the drive current consumed is greatly reduced. For this reason, the operation load application control unit 106 controls the motor 86 so that the size of the operation load of the operation lever 30 decreases as the current value of the drive current decreases.

<Operation of endoscope>
Next, the operation of the endoscope 10 configured as described above, particularly the rotation control of the stand 50 and the operation load application control of the operation lever 30 will be described with reference to FIG. FIG. 15 is a flowchart showing the flow of the rotation control of the stand 50 and the operation load application control of the operation lever 30.

  When the treatment instrument 23 is led out from the distal end body 26 and the upright 50 is in the lying position, when the operator performs a rotation operation of the operation lever 30 (step S1), the operation lever 30 is moved according to the rotation operation. The rotation is started (step S2).

  And according to rotation of the operation lever 30, the 1st rotation gear 84 is rotated, and the 2nd rotation gear 85 meshing with this is also rotated. Accordingly, the rotation angle of the second rotation gear 85 is detected by the encoder 87, and the detection result of the rotation angle is input from the encoder 87 to the lever rotation position detection unit 100 of the endoscope CPU 80. Next, the lever rotation position detection unit 100 detects the rotation position of the operation lever 30 based on the detection result of the rotation angle of the second rotation gear 85 and the known gear ratio of the gear train 88, and The rotation position detection result is output to the current supply unit 102 (step S3).

  The current supply unit 102 that has received the input of the rotation position detection result of the operation lever 30 determines the target rotation position of the stand 50 based on the rotation position detection result (step S4). Next, the current supply unit 102 supplies the drive current supplied from the power source 92 to the DD motor 57 (coil 53) (step S5).

  The DD motor 57 receives the drive current from the current supply unit 102 and rotates the stand 50 from the lying position toward the target rotation position (step S6). The table rotation position detection sensor 75 detects the rotation position of the stand 50 and outputs the rotation position detection result of the stand 50 to the current supply unit 102 (step S7).

  The current supply unit 102 supplies the drive current to the DD motor 57 so that the stand 50 is rotated to the target rotation position based on the rotation position result of the stand 50 input from the table rotation position detection sensor 75. Is adjusted (step S8).

  For example, when the elastic force of the treatment instrument 23 led out from the distal end main body 26 is high and the stand 50 does not rotate to the target rotation position, the current supply unit 102 until the stand 50 reaches the target rotation position. The drive current supplied to the DD motor 57 is increased. Thereby, when the operator rotates the operation lever 30, it is prevented that the stand 50 does not rotate to the target rotation position corresponding to the rotation position of the operation lever 30.

  On the other hand, when the elasticity of the treatment instrument 23 led out from the distal end portion body 26 is low and the upright 50 is rotating at a constant speed or more toward the target rotation position, the current supply unit 102 is connected to the DD motor 57. The drive current supplied to is appropriately reduced.

  In this way, the current supply unit 102 adjusts the drive current supplied to the DD motor 57 based on the rotation position result of the stand 50 from the stand rotation position detection sensor 75 until the stand 50 reaches the target rotation position. Perform (step S9). Thereby, the stand 50 can be reliably rotated to the target rotation position corresponding to the rotation position of the operation lever 30 regardless of the magnitude of the elastic force of the treatment instrument 23.

  On the other hand, in parallel with the processing from step S3 to step S9, the current value detection unit 104 detects the current value of the drive current consumed by the DD motor 57, and controls the detection result of the current value of the drive current as the operation load application control. It outputs to the part 106 (step S10).

  The operation load application control unit 106 that has received the detection result of the current value of the drive current determines the size of the operation load of the operation lever 30 so that the operation load of the determined size is applied to the operation lever 30. The motor 86 is controlled (step S11).

  For example, when the elastic force of the treatment instrument 23 is high and the current value of the drive current consumed by the DD motor 57 increases, the motor 86 operates the operation load application control unit so that the operation load of the operation lever 30 increases. 106.

  On the other hand, when the elastic force of the treatment instrument 23 is low and the current value of the drive current consumed by the DD motor 57 decreases, the motor 86 controls the operation load so that the operation load of the operation lever 30 is appropriately reduced. Controlled by the unit 106. Note that when the stand 50 is rotated from the standing position toward the lying position, the elastic force of the treatment instrument 23 acts on the stand 50, so that the current value of the drive current consumed by the DD motor 57 is greatly increased. Accordingly, the magnitude of the operation load on the operation lever 30 is reduced accordingly.

  Thus, in this embodiment, since an appropriate operation load is applied to the rotation operation of the operation lever 30, it is possible to prevent the operation feeling of the operation lever 30 from being reduced, and the stand 50 by the operation lever 30 is prevented. The rotational position can be adjusted without any problem.

  In addition, since the magnitude of the operation load of the operation lever 30 can be changed according to the magnitude of the elastic force of the treatment instrument 23, for example, although the elasticity of the treatment instrument 23 is high, the operational feeling of the operation lever 30 becomes light. Such a shift in operational feeling is prevented, and an operational feeling equivalent to that of a conventional endoscope that rotates the stand 50 using an operating wire can be given to the operator. Furthermore, it is possible to prevent the treatment tool 23 having a particularly high elasticity from being bent suddenly to give a burden to the treatment tool 23 or to damage the inside of the subject.

  Hereinafter, when the rotation operation of the operation lever 30 is continued, the processing from step S1 to step S11 is repeatedly executed (step S12).

<Effect of this embodiment>
As described above, in the endoscope 10 of the present embodiment, the DD motor 57 is configured by the coil 53 provided in the upright stand accommodating chamber 44 and the magnet 54 provided in the upright stand 50. Unlike the case where the stand 50 is rotated by simply using the attractive force generated by the magnetic force between the two permanent magnets to rotate the stand 50, the operational stability regardless of the magnitude of the elastic force of the treatment instrument 23. Can be secured. Moreover, unlike the case where the stand 50 is rotated using an ultrasonic motor, high-speed responsiveness to the operator's operation can be ensured. Further, when the distal end portion 18 of the endoscope 10 is cleaned and disinfected, it is only necessary to perform the cleaning and disinfecting in the upright storage chamber 44, and the position to be cleaned and disinfected as compared with a conventional lever-type treatment instrument standing mechanism. Therefore, detergency and disinfection are also ensured. As a result, all of cleanability, disinfection, operational stability, and high-speed response can be ensured.

  Hereinafter, other embodiments 1 to 4 of the tip body 26 of the above embodiment will be described. The other embodiments 1 to 4 may be appropriately combined. In addition, since the other embodiments 1 to 4 have basically the same configuration as the above embodiment, the same reference numerals are given to the same functions or configurations as those of the above embodiment, and the description thereof is omitted.

<Other embodiment 1>
FIG. 16A is a front view of the tip portion main body 26A of the other embodiment 1, and FIG. 16B is a cross-sectional view taken along the line 16B-16B in FIG. In the embodiment described above, the magnet 54 is separately provided on the stand 50, but in the other embodiment 1, as shown in FIGS. 16A and 16B, the stand 50A at least partly formed of a magnet is provided. The rotating shaft 52 is held in the upright stand accommodating chamber 44A. Here, “at least a part is formed of a magnet” includes that at least a part of the stand 50A formed of a magnetic material is magnetized (magnetized).

  And if a drive current is supplied to the coil 53 similarly to the said embodiment, DD motor 57A will be comprised between the coil 53 and the stand 50A (magnet). With this DD motor 57A, the stand 50A can be rotated between the lying position and the standing position as in the above embodiment.

  Thus, by using the stand 50A at least partly formed of a magnet, it is not necessary to separately provide the magnet 54 as in the above embodiment, and the space for the stand support chamber 44A can be saved. As a result, the tip end body 26A can be made smaller than the above embodiment.

<Other embodiment 2>
FIG. 17 is a front view of the distal end portion main body 26B of the second embodiment. In the embodiment described above, the coil 53 is accommodated in the coil accommodating portion 70 in the upright stand accommodating chamber 44. However, as shown in FIG. 17, in the second embodiment, the coil 53 is accommodated in the first wall portion 46B of the distal end portion body 26B. The coil 53 is accommodated.

  In the first wall portion 46B, there is an airtight coil housing chamber 110 (corresponding to the second housing chamber of the present invention) that houses the coil 53 at a position away from the stand housing chamber 44 in the axial direction of the rotary shaft 52. Is formed. The coil 53 is housed in the coil housing chamber 110. Unlike the stator of the ultrasonic motor described in Patent Document 2, the coil 53 of the DD motor 57 does not need to be in direct contact with the stand 50 or the like, and can be accommodated in the coil accommodating chamber 110. . In this case, in order to prevent the first wall portion 46B from acting as a magnet when the current flows through the coil 53, the first wall portion 46B is prevented from affecting the magnet 54 of the stand 50. It is preferable that it is made of a non-magnetic material.

  Since the DD motor 57 is configured between the coil 53 and the magnet 54 by supplying a drive current to the coil 53 as in the above embodiment, the posture of the stand 50 can be displaced by the DD motor 57. .

  When the coil 53 is provided in the coil housing chamber 110 (in the first wall portion 46B), the strength of the magnetic field that acts on the magnet 54 from the coil 53 is reduced, so that the drive current supplied to the coil 53 is increased. It is necessary to let In other words, in the above embodiment, since the coil 53 is provided in the upright stand accommodating chamber 44, the coil 53 needs to be cleaned and disinfected, but the drive current can be reduced as compared with the second embodiment.

  Thus, when the coil 53 is housed in the airtight coil housing chamber 110 outside the upright stand housing chamber 44, unlike the above-described embodiment, the coil 53 is not required to be cleaned and disinfected. Detergency and disinfection can be improved as compared to the above embodiment.

<Other embodiment 3>
In the above embodiment, the stand 50 is rotated between the lying position and the standing position by the DD motor 57. However, in order to maintain the stand 50 in the standing posture, the drive current is supplied to the coil 53. Need to continue. On the other hand, in the third embodiment, even when the supply of the drive current to the coil 53 is stopped, the posture of the stand 50 can be maintained.

  FIG. 18 is an explanatory diagram for explaining the posture displacement state 114A and the posture maintenance state 114B of the stand 50 in the distal end portion main body 26C of the third embodiment. As shown in FIG. 18, in the distal end portion main body 26 </ b> C of the third embodiment, the bearing hole that pivotally supports the rotating shaft 52 of the stand 50 on the mutually opposing surfaces of the first wall portion 46 and the second wall portion 48. 115, 116 are formed. Further, the upright stand accommodating chamber 44 </ b> C (corresponding to the first accommodating chamber of the present invention) formed between the first wall portion 46 and the second wall portion 48 is located in the axial direction of the rotating shaft 52 rather than the upright stand 50. It is formed long.

  The bearing hole 115 formed in the first wall portion 46 and the bearing hole 116 formed in the second wall portion 48 are formed to be longer in the axial direction than the rotating shaft 52 protruding to the side of the stand 50. Has been. Thereby, the stand 50 is held in the stand storage chamber 44 </ b> C so as to be displaceable in the axial direction of the rotary shaft 52.

  Further, the inner diameter of the bearing hole 115 is formed longer than the diameter of the rotating shaft 52. A compression coil spring 118 corresponding to the biasing member of the present invention is provided in the bearing hole 115.

  The compression coil spring 118 urges the stand 50 in the direction B away from the coil 53 and toward the wall portion (wall surface of the second wall portion 48) of the stand support chamber 44 </ b> C in the axial direction of the rotating shaft 52. Thus, when the supply of drive current from the current supply unit 102 to the DD motor 57 (coil 53) is stopped, the upright 50 is pressed against the wall of the upright storage chamber 44C by the urging force of the compression coil spring 118, The stand 50 is locked to the wall of the stand storage chamber 44C. As a result, the stand 50 is in the posture maintenance state 114B.

  On the other hand, when the supply of drive current from the current supply unit 102 to the DD motor 57 is started, the upright 50 is against the urging force of the compression coil spring 118 due to the magnetic attraction generated between the coil 53 and the magnet 54. It is urged in the direction A away from the wall of the upright stand accommodating chamber 44C. Thereby, the lock of the stand 50 is released, and the posture of the stand 50 can be displaced by the DD motor 57 constituted by the coil 53 and the magnet 54. As a result, the upright 50 is in the posture displacement state 114A.

  In the third embodiment, the current supply unit 102 (see FIG. 11) is based on the rotation position detection result of the operation lever 30 by the lever rotation position detection unit 100, and in the stationary state where the operation lever 30 is not rotating, the DD motor 57 ( The drive current supply to the coil 53) is stopped. The current supply unit 102 starts supplying drive current to the DD motor 57 in the operation state in which the rotation of the operation lever 30 is started based on the rotation position detection result of the operation lever 30. Thereby, the stand 50 can be switched between the posture displacement state 114A and the posture maintenance state 114B.

  As described above, in the third embodiment, even when the supply of the drive current to the DD motor 57 (coil 53) is stopped, the upright 50 is applied to the wall of the upright storage chamber 44C by the biasing force of the compression coil spring 118. It can be pressed and locked. As a result, when the operation lever 30 is not operated, the posture of the stand 50 can be maintained without supplying drive current to the DD motor 57, so that power saving can be achieved compared to the above embodiment.

  FIG. 19 is a front view of a tip end body 26C1 that is a modification of the third embodiment. As shown in FIG. 19, in the third embodiment, the upright 50 is biased by the compression coil spring 118 in the above-described direction B. For example, the leaf spring 120 provided on the wall surface of the first wall portion 46 (this The stand 50 may be urged in the direction B using an urging member of the invention. In the tip end body 26 </ b> C <b> 1, the inner diameter of the bearing hole 115 is formed to match the diameter of the rotating shaft 52.

  Further, the urging member that urges the stand 50 in the B direction described above is not limited to the compression coil spring 118 and the plate spring 120, and various urging members can be used.

<Other embodiment 4>
FIG. 20 is a front view of the distal end portion body 26D of the other embodiment 4. In the above embodiment, in order to rotate the stand 50, it is necessary to supply a drive current to the coil 53. When the drive current is continuously supplied to the coil 53, the DD motor 57 (coil 53) generates heat. Further, when the treatment tool 23 having a high elasticity such as the large-diameter treatment tool 23 is used, a high torque is required to rotate the stand 50 from the lying position to the standing position, and the coil Since the drive current consumed by 53 increases, the DD motor 57 may further generate heat.

  Therefore, a cooling unit 125 that cools the DD motor 57 (particularly, the coil 53) is provided in the tip end body 26D of the other embodiment 4. The cooling part 125 is, for example, a water jacket (cooling water passage) provided in the first wall part 46. The cooling unit 125 cools the DD motor 57 via the first wall 46 by circulating cooling water in the first wall 46. The cooling water may be circulated by, for example, an air / water supply device (not shown).

  As described above, in the fourth embodiment, since the DD motor 57 can be cooled by the cooling unit 125, heat generation of the DD motor 57 can be reduced. Note that the type and arrangement of the cooling unit 125 are not particularly limited as long as the DD motor 57 can be cooled.

<Others>
In the above embodiment, the operation lever 30 that is rotated by the operator is described as an example of the operation member for rotating the upright 50. However, instead of the operation lever 30, a slider-type operation member or the like is used. Various operation members may be used.

  In the above embodiment, the description has been given by taking as an example the DD motor that generates the driving force between the coil and the magnet and rotates the stand. However, the driving force is generated between the coil and the magnet to stand up. Various actuators capable of rotating the table may be used.

  In the above embodiment, the side endoscope is described as an example. However, various types such as an ultrasonic endoscope and a direct endoscope that include an upright table that adjusts the leading direction of the treatment tool at the distal end portion of the insertion portion. The present invention can be applied to an endoscope.

DESCRIPTION OF SYMBOLS 10 Endoscope 12 Insertion part 14 Operation part 16 Universal cord 16a Connection connector 17 Processor 18 Tip part 20 Bending part 22 Flexible part 23 Treatment tool 24 Treatment tool insertion channel 26 Tip part main body 26A Tip part main body 26B Tip part main body 26C Tip part Main body 26C1 Tip portion main body 26D Tip portion main body 27 Cap 28 Angle knob 30 Operation lever 32 Air / water supply button 34 Suction button 36 Treatment tool introduction port 38 Treatment tool outlet port 44 Standing table storage chamber 44A Standing table storage chamber 44C Standing table storage chamber 45 Base 46 First wall portion 46B First wall portion 48 Second wall portion 50 Standing table 50A Standing table 52 Rotating shaft 53 Coil 53a Coil 54 Magnet 55 Bearing hole 57 Direct drive motor (DD motor)
57A Direct drive motor (DD motor)
62 Illumination window 64 Observation window 68 Step region 69 Notch portion 70 Coil housing portion 72 Power cable 73 Through hole 75 Stand rotational position detection sensor 77 Signal cable 80 Endoscope CPU
82 rotation operation mechanism 84 first rotation gear 85 second rotation gear 86 motor 87 encoder 88 gear train 90 processor CPU
92 Power supply 100 Lever rotation position detection unit 102 Current supply unit 104 Current value detection unit 106 Operation load application control unit 110 Coil storage chamber 114A Posture displacement state 114B Posture maintenance state 115 Bearing hole 116 Bearing hole 118 Compression coil spring 120 Plate spring 125 Cooling unit 200 Initial state 201 First rotation state 202 Second rotation state S1 to S11 Action of endoscope

Claims (12)

An insertion portion having a distal end and a proximal end;
A distal end portion body provided on the distal end side of the insertion portion;
A first storage chamber provided in the tip body;
A stand that is rotatably held by a rotation shaft provided in the first storage chamber;
A coil provided in a position away from the stand in the axial direction of the rotation shaft in the tip body, and having a shape along a rotation trajectory of the stand that rotates in the tip body;
A magnet provided on the stand,
An actuator for supplying a driving current to the coil to generate a driving force between the coil and the magnet, and a current supply unit for rotating the stand by the actuator;
An endoscope comprising: An insertion portion having a distal end and a proximal end;
A distal end portion body provided on the distal end side of the insertion portion;
A first storage chamber provided in the tip body;
An upright stand that is rotatably held by a rotation shaft provided in the first storage chamber, wherein the upright stand is at least partially formed of a magnet;
A coil provided in a position away from the stand in the axial direction of the rotation shaft in the tip body, and having a shape along a rotation trajectory of the stand that rotates in the tip body;
An actuator for supplying a driving current to the coil to generate a driving force between the coil and the magnet, and a current supply unit for rotating the stand by the actuator;
An endoscope comprising:   The endoscope according to claim 1, wherein the coil is provided in the first accommodation chamber.   The endoscope according to claim 1, further comprising an airtight second storage chamber that is provided in a position away from the first storage chamber in the axial direction in the distal end portion main body, and stores the coil. An operation portion having an operation member is provided on the proximal end side of the insertion portion,
The said electric current supply part adjusts the said drive current supplied to the said coil according to operation of the said operation member, and controls rotation of the said stand by the said actuator. Endoscope. An upright stand rotation position detection unit for detecting the rotation position of the upright stand;
The current supply unit adjusts the drive current supplied to the coil based on a detection result of the upright stand rotation position detection unit, and rotates the upright stand to the rotation position according to the operation of the operation member. Item 5. The endoscope according to Item 5. An operation position detector for detecting an operation position of the operation member;
The current supply unit adjusts the drive current supplied to the coil, and rotates the stand up to a rotation position of the stand corresponding to the operation position of the operation member detected by the operation position detection unit. Item 5. The endoscope according to Item 5 or 6.   The endoscope according to claim 5, wherein the operation unit includes an operation load applying unit that applies an operation load to the operation of the operation member. A current value detection unit for detecting a current value of the drive current consumed by the actuator;
The endoscope according to claim 8, wherein the operation load applying unit controls the size of the operation load based on a detection result of the current value detection unit. The stand is held in the first storage chamber so as to be displaceable in the axial direction,
A biasing member that is provided on the tip body, and biases the stand in a direction toward the wall of the first storage chamber away from the coil in the axial direction;
When the supply of the drive current from the current supply unit to the coil is stopped, the stand is pressed and locked against the wall by the biasing member, and the drive current is supplied. The endoscope according to any one of claims 5 to 9, wherein when the operation is started, the wall portion is separated from the wall portion against the biasing force of the biasing member by an attractive force generated between the coil and the magnet. .   The endoscope according to claim 10, wherein the current supply unit stops supplying the drive current to the coil when the operation member is in a stationary state.   The endoscope according to any one of claims 1 to 11, wherein a cooling unit that cools the actuator is provided in the distal end body.

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