JP2019000352A - Endoscope control device, endoscope system and program - Google Patents

Abstract

To provide an endoscope control device capable of performing an operation instruction of functions which are different and used in endoscope examination, in a seamless manner.SOLUTION: A smartphone 3 as an endoscope control device detects rotation around a prescribed shaft of a housing 3a gripped by a user or movement in a prescribed direction of the housing 3a, and based on the detected rotation or movement, determines presence of a first movement and second movement, and when the first movement is present, sends a first execution instruction of a first operation allocated to the first movement, and when the second movement is present, sends a second execution instruction of a second operation allocated to the second movement, to an endoscope device 2.SELECTED DRAWING: Figure 8

Description

  The present invention relates to an endoscope control device, an endoscope system, and a program.

  Conventionally, endoscopes have been widely used in industrial and medical fields. The endoscope has an elongated insertion portion and an operation portion. The operation unit has knobs, buttons, and the like that are operated by the user to instruct execution of various functions of the endoscope.

  The user inserts the insertion portion into the examination target, performs a bending operation on the bending portion, displays an endoscopic image of the examination site on the monitor, obtains an image of a desired site, and performs endoscopy. The user performs endoscopy while performing many operations such as a bending operation, an imaging instruction, a centering operation of the bending portion, and an imaging instruction.

  Furthermore, among various operations, one operation can be executed in two modes, and the user may perform an inspection while switching modes. For example, with respect to the bending operation, there are two bending operation modes of a coarse operation normal mode and a fine operation fine mode. When the user wants to perform the bending operation delicately, setting the fine mode makes the bending operation fine. be able to.

Furthermore, since the endoscope apparatus has a plurality of functions, the user may want to operate a specific function during the endoscopic examination. For example, an instruction to complete a certain parameter setting operation, an instruction to lock a bending operation, an imaging instruction during an examination, and the like are given during execution of another function.
The user can also instruct the endoscope apparatus to execute a function using a touch panel device and a remote controller provided in the endoscope apparatus.

  Japanese Patent Laid-Open No. 4-263830 also proposes an endoscope apparatus in which the bending speed is changed in accordance with the depth of operation of a switch provided separately.

JP-A-4-263830

  However, when a user wants to execute a desired function, the user must instruct the execution of the function on a touch panel or the like. For example, when changing the bending operation mode, the user cannot operate the bending operation mode after the change unless the user operates the touch panel or the like to give an operation change instruction for the bending operation mode. .

  That is, in order to perform operations for different functions, it is necessary to perform a switching operation such as temporarily suspending the operation and operating the touch panel, etc., and the user switches from operating a certain function to operating a different function. Changes cannot be made seamlessly.

  In the endoscope apparatus proposed in Japanese Laid-Open Patent Publication No. 4-263830, a switch for changing the bending speed must be provided separately, and the user must perform complicated switch operations.

  Therefore, an object of the present invention is to provide an endoscope control device, an endoscope system, and a program that can seamlessly perform operation instructions of different functions used for endoscopy.

  An endoscope control apparatus according to an aspect of the present invention includes a motion detection unit that detects rotation of a housing held by a user around a predetermined axis or movement of the housing in a predetermined direction, and the motion detection There is an operation determination unit that determines presence / absence of the first operation and presence / absence of the second operation based on the rotation or movement detected by the unit, and the first operation determined by the operation determination unit. The first operation instruction assigned to the first action is assigned to the first action, and the second action determined by the action determination unit is assigned to the second action. And an instruction transmission unit that transmits a second execution instruction of the second operation to the endoscope apparatus.

  An endoscope system according to an aspect of the present invention is an endoscope system including an endoscope apparatus and an endoscope control apparatus, and the endoscope control apparatus is a predetermined casing of a casing that is gripped by a user. A motion detection unit that detects rotation around the axis or movement of the housing in a predetermined direction, and presence / absence of the first motion based on the rotation or movement detected by the motion detection unit and An operation determination unit that determines the presence or absence of the second operation, and a first execution instruction of the first operation assigned to the first operation when there is the first operation determined by the operation determination unit When there is the second action determined by the action determination unit, the instruction transmission for transmitting the second execution instruction of the second operation assigned to the second action to the endoscope apparatus And the endoscope device includes the first controller from the endoscope control device. Perform the first operation in response to the execution instruction, it executes the second operation in response to the second execution instruction from the endoscope control device.

  The program according to one aspect of the present invention includes a motion detection function that detects rotation of a housing held by a user around a predetermined axis or movement of the housing in a predetermined direction, and the motion detection function. When there is an operation determination function for determining the presence or absence of the first operation and the presence or absence of the second operation based on the detected rotation or movement, and the first operation determined by the operation determination function Indicates the first execution instruction of the first operation assigned to the first action, and the second action assigned to the second action when there is the second action determined by the action determination unit. Causing the computer to execute an instruction transmission function of transmitting a second execution instruction of the second operation to the endoscope apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, the endoscope control apparatus, endoscope system, and program which can perform seamlessly the operation instruction of the different function used for endoscopy can be provided.

1 is a configuration diagram showing a configuration of an endoscope system 1 according to a first embodiment of the present invention. It is a figure which shows the example of the display screen for bending operation concerning the 1st Embodiment of this invention. It is a perspective view of a smart phone grasped by a user's hand concerning a 1st embodiment of the present invention. It is the perspective view seen from the slanting lower part of the smart phone 3 which shows the operation | movement which rotates the smart phone 3 around the axis | shaft of the axis | shaft O concerning the 1st Embodiment of this invention. It is the perspective view seen from diagonally left of the smart phone 3 which shows the operation | movement which rotates the smart phone 3 around the axis | shaft of the axis | shaft PO concerning the 1st Embodiment of this invention. It is the perspective view seen from the front of the smart phone 3 which shows the operation | movement which moves the smart phone 3 in parallel with the axis | shaft PO concerning the 1st Embodiment of this invention. It is the perspective view seen from the front of the smart phone 3 which shows the operation | movement which moves the smart phone 3 in parallel with the axis | shaft O concerning the 1st Embodiment of this invention. It is a flowchart which shows the example of the flow of operation | movement of the endoscope application in the smart phone 3 concerning the 1st Embodiment of this invention. It is a flowchart which shows the example of the flow of operation | movement of the endoscope application in the smart phone 3 concerning the 1st Embodiment of this invention. It is a figure which shows the operation | movement for bending operations and the flow of operation | movement of the smart phone 3 and the endoscope apparatus 2 concerning the 1st Embodiment of this invention. Operation in the normal mode in the left-right direction (M1: left-right bending operation in the normal mode) and fine-mode operation in the left-right direction (M3: bending in the left-right direction in the fine mode) according to the first embodiment of the present invention It is a graph which shows the example of priority control in case operation | movement competes. It is a graph which shows the other example of the priority control in case the normal mode operation | movement (M1) of the left-right direction and the fine mode operation | movement (M3) in the left-right direction compete according to the first embodiment of the present invention. . It is a block diagram of the endoscope system 1A which performs an endoscopic examination using the automatic insertion apparatus which inserts the insertion part 4 automatically in a test object concerning the 2nd Embodiment of this invention. It is a block diagram of the endoscope system 1B which performs endoscopy using the twist apparatus which twists the insertion part 4 around the axis | shaft of the insertion part 4 concerning the 2nd Embodiment of this invention. It is a block diagram of the endoscope system 1C which performs an endoscopic inspection using the turning tool used at the time of the test | inspection of the jet engine of an aircraft concerning the 2nd Embodiment of this invention.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
FIG. 1 is a configuration diagram showing a configuration of an endoscope system 1 according to the present embodiment. The endoscope system 1 includes an endoscope apparatus 2 and a smartphone 3 as an endoscope control apparatus. The endoscope apparatus 2 includes an elongated insertion portion 4 and a main body device 5 to which a proximal end portion of the insertion portion 4 is connected. An optical adapter 6 can be attached to the distal end portion of the insertion portion 4.

  In the following description, the endoscope control device is the smartphone 3, but in this case, the smartphone 3 is an endoscope control device that controls the endoscope device 2 by installing a predetermined application program. Become. Note that the endoscope control device may be a tablet terminal or the like instead of the smartphone 3.

An imaging element 11 is provided at the distal end portion 4 a of the insertion portion 4. The image sensor 11 is a CCD image sensor, a CMOS image sensor, or the like.
Further, a light guide 12 and four bending wires 13 are inserted through the insertion portion 4. The proximal end surface of the light guide 12 is connected to the light source in the main body device 5, and the distal end surface of the light guide 12 is disposed at the distal end portion of the insertion portion 4.

  The imaging element 11 receives light from the inspection object that has entered the observation window of the optical adapter 6 mounted on the distal end portion 4 a of the insertion portion 4 via the lens 6 a in the optical adapter 6. The image sensor 11 photoelectrically converts an image to be inspected received on the imaging surface and outputs an imaging signal to the control unit 21.

The light emitted from the front end surface of the light guide 12 is emitted as illumination light from the illumination window of the optical adapter 6 through the lens 6b in the optical adapter 6.
A bending portion 4b is provided at the proximal end of the distal end portion 4a. The bending portion 4b has a bending mechanism 14 in which a plurality of bending pieces are continuously provided. The bending mechanism 14 is connected to the tips of four bending wires 13.

  Two pulleys 15 a and 15 b are disposed at the proximal end portion of the insertion portion 4. One bending wire for bending in the vertical direction is hung on one pulley 15a and inserted into the insertion portion 4 as two bending wires 13 extending from the pulley 15a. Similarly, one bending wire for bending in the left-right direction is hung on one pulley 15b and inserted into the insertion portion 4 as two bending wires 13 extending from the pulley 15b.

The main unit 5 includes a control unit 21, a memory 22, an imaging drive circuit 23, an illumination circuit 24, a bending drive circuit 25, a bending drive unit 26, and an external interface (hereinafter abbreviated as an external I / F) 27. A liquid crystal display device (hereinafter referred to as LCD) 28, and a touch panel 29.
In the present embodiment, the horizontal and vertical directions in the bending operation of the bending portion 4b refer to the horizontal and vertical directions of the endoscopic image displayed on the LCD 28.

The control unit 21 includes a central processing unit (hereinafter referred to as CPU) 21a, a ROM 21b, and a RAM 21c. When the CPU 21a reads out and executes a program from the ROM 21b or the memory 22 according to the function instructed by the user, the control unit 21 operates each part of the endoscope apparatus 2 to realize the function instructed by the user. .
The control unit 21 includes an image processing unit that processes an imaging signal from the imaging element 11 to generate an endoscopic image.

The memory 22 is a rewritable and nonvolatile storage device such as a flash memory or a hard disk device. The memory 22 stores a program, data, and the like for the operation of the endoscope apparatus 2 and also records an endoscopic image to be examined.
The image data of the endoscopic image may be recorded on a removable memory card (not shown) or the like.

The imaging drive circuit 23 outputs a drive signal to the image sensor 11 under the control of the control unit 21, receives an image signal from the image sensor 11, and outputs it to the control unit 21.
The illumination circuit 24 includes a light emitting element such as a light emitting diode (LED) and a drive circuit that supplies a drive signal to the light emitting element under the control of the control unit 21. The light emitted from the light emitting element is emitted from the illumination circuit 24 and enters the base end face of the light guide 12. The light incident on the light guide 12 is emitted from the distal end surface of the light guide 12, and the light is emitted as illumination light through the lens 6b of the optical adapter 6 to illuminate the inspection object. Reflected light from the inspection object irradiated with illumination light enters the image sensor 11.

The bending drive circuit 25 includes a bending drive circuit 25a for bending in the vertical direction and a bending drive circuit 25b for bending in the left-right direction.
The bending drive unit 26 includes a motor 26a for bending in the vertical direction and a motor 26b for bending in the horizontal direction. The rotation shaft of the motor 26a is connected to the rotation shaft of the pulley 15a via a reduction gear or the like, and the pulley 15a rotates by driving the motor 26a. The rotation shaft of the motor 26b is connected to the rotation shaft of the pulley 15b via a reduction gear or the like, and the pulley 15b rotates by driving the motor 26b.

  The bending drive circuit 25 operates under the control of the control unit 21, the bending drive circuit 25a drives the motor 26a based on the up / down direction bending control signal, and the bending drive circuit 25b based on the left / right direction bending control signal. To drive the motor 26b. As a result, when the pulley 15a rotates and one of the two bending wires 13 is pulled and the other is relaxed, the bending mechanism 14 bends the bending portion 4b in the vertical direction, and the pulley 15b rotates and 2 When one of the bending wires 13 is pulled and the other is relaxed, the bending mechanism 14 bends the bending portion 4b in the left-right direction.

  The external I / F 27 is a circuit that receives a signal from the smartphone 3 that is an endoscope control apparatus. Here, the external I / F 27 is an interface circuit for wireless communication with the smartphone 3, for example, WIFI communication.

  The LCD 28 is a display device, and a touch panel 29 is fixed on the display screen of the LCD 28. The LCD 28 and the touch panel 29 constitute an operation panel device. The user can view the endoscopic image in the examination target displayed on the LCD 28 and input an operation command to the endoscope apparatus 2 by touching an operation button or the like displayed on the display screen. can do.

Although not shown here, the endoscope apparatus 2 is connected to an operation unit such as a remote controller, and the user may operate the remote controller to input an operation command to the endoscope apparatus 2. it can.
Therefore, the control part 21 can receive the command signal for function execution not only from the smart phone 3, but from the touch panel 29 and a remote control.

  The smartphone 3 includes a control unit 31, a memory 32, an LCD 33, a touch panel 34, a sensor unit 35, an external I / F 36, an imaging unit 37, a microphone 38, and operation buttons 39.

  The control unit 31 includes a CPU 31a, a ROM 31b, and a RAM 31c. When the CPU 31a reads out and executes a program from the ROM 31b or the memory 32, the control unit 31 operates each unit of the smartphone 3 and realizes a function instructed by the user.

  The memory 32 is a rewritable and nonvolatile storage device such as a flash memory or a hard disk device. The memory 32 also stores application programs downloaded via a network such as the Internet.

Here, an endoscope application program (hereinafter referred to as an endoscope application) 32 a for operating the endoscope apparatus 2 is stored in the memory 32. The user can give an operation instruction to the endoscope apparatus 2 using the smartphone 3 by causing the smartphone 3 to execute the endoscope application 32a.
The endoscope application is a non-temporary storage medium that is stored in a computer-readable memory 32, and is a program that causes a smartphone 3 that is a computer to execute a detection function, a determination function, and an instruction transmission function described later.

  The LCD 33 is a display device, and a touch panel 34 is fixed on the display screen of the LCD 33. The LCD 33 and the touch panel 34 constitute an operation panel device. The user can view an image displayed on the LCD 33 and can input an operation command to the smartphone 3 by touching an operation button or the like displayed on the display screen.

  The sensor unit 35 includes a gyro sensor and a gravitational acceleration sensor in order to detect the posture of the smartphone 3 and a change in the posture. The gyro sensor and the gravitational acceleration sensor detect rotation around the predetermined axis and movement in space of the housing 3a (FIG. 2) of the smartphone 3. The sensor unit 35 outputs three acceleration signals and gravitational acceleration signals in the x, y, and z axis directions orthogonal to each other. As will be described later, a change in the posture of the smartphone 3 is detected based on the output signal of the sensor unit 35.

The external I / F 36 is an interface circuit for wireless communication, for example, for WIFI communication.
The external I / F 36 may be a wired interface. For example, the endoscope apparatus 2 and the smartphone 3 may be connected by a cable so that the smartphone 3 can communicate with the endoscope apparatus 2.

The imaging unit 37 includes two cameras 37a and 37b. The camera 37a is a front camera, and the camera 37b is a rear camera.
The microphone 38 is a call microphone.

The smartphone 3 also has a speaker (not shown) for calling.
Furthermore, the smartphone 3 has a home button 46 and other buttons (not shown).

  Since the smartphone 3 can download and install the application program as described above, the endoscope application 32a can be downloaded from the Internet or the like and stored in the memory 32. The endoscope application 32a is an application program for communicating with the endoscope apparatus 2 and operating the endoscope apparatus 2. When the user installs the endoscope application 32 a and activates the endoscope application, the user can perform various operations such as a bending operation by touching a predetermined button displayed on the LCD 33.

  The endoscope apparatus 2 has many functions. For example, the bending operation is an operation frequently performed during an endoscopic examination, and the endoscope application has a function of the bending operation. Therefore, the user can perform the bending operation of the bending portion 4b using the endoscope application 32a.

Although the endoscope application has other functions, the bending function will be described here. FIG. 2 is a diagram illustrating an example of a display screen for a bending operation.
When the endoscope application is activated, an endoscope image to be inspected obtained by communicating with the endoscope device 2 and picked up by the image sensor 11 is displayed on the display screen 41 of the LCD 33 of the smartphone 3. Obtained from the device 2 and displayed in the live image display area 42. Therefore, the user can view a live endoscope image with the smartphone 3. The endoscopic image displayed in the live image display area 42 is a live moving image generated in the control unit 21 based on an imaging signal obtained by imaging with the imaging element 11.

  Further, on the display screen 41 of the LCD 33, a bending operation button (Bend) 43, a bending lock button (Lock) 44, and a reference position reset button (Reset) 45 relating to the bending operation are also displayed.

  When the user touches the bending operation button 43 on the display screen 41, the endoscope application transmits a bending command as described later in accordance with the turning operation and the moving operation of the smartphone 3 by the user.

  When the user touches the bending lock button 44 on the display screen 41, the endoscope application outputs and instructs a bending lock command to the control unit 21 so that the bending state of the bending portion 4b at that time is maintained. When the control unit 21 receives the bending lock command, the control unit 21 determines the bending control signal to lock the bending unit 4b, so that the bending unit 4b enters the bending lock state. For example, when the user touches the bending lock button 44, the image of the bending lock button 44 is inverted, so that the user can recognize that the bending lock state is in effect. When the user touches the bend lock button 44 again in the bend lock state, the endoscope application outputs a bend lock release command to the control unit 21 and instructs the control unit 21 so that the control unit 21 returns to the normal bend control and bends. The curved lock state of the portion 4b is released.

  When the user touches the reference position reset button 45 on the display screen 41, the endoscope application executes a reference position reset process using the current posture of the smartphone 3 as a reference position for the bending operation.

  Specifically, the inclination of the axis O in the longitudinal axis direction passing through the center point (for example, the center of gravity) C of the rectangular parallelepiped smartphone 3 and the axis PO orthogonal to the axis O and passing through the center point C is determined by the sensor unit 35. As the reference posture calculated based on the output signal, the reference posture information is temporarily stored in the RAM of the control unit 31 or the like.

  The smartphone 3 has a home button 46 near the lower side of the display screen of the LCD 33. When the home button 46 is pressed, a route menu screen is displayed on the LCD 33.

  The user can perform the bending operation of the bending portion 4b of the insertion portion 4 by rotating around a predetermined axis or moving in a predetermined direction while holding the smartphone 3 by hand.

FIG. 3 is a perspective view of the smartphone held by the user's hand. The user can basically perform two movements while holding the smartphone 3 with one hand H.
One is a rotation operation, and the other is a movement operation.

  In the turning operation, as shown by the dotted arrow YC, the smartphone 3 is rotated about the longitudinal axis O passing through the center C of the housing 3a of the smartphone 3, and the dotted arrow TC is shown. There is an operation of rotating the smartphone 3 around the axis PO orthogonal to the axis O in the longitudinal axis direction passing through the center C of the housing 3a of the smartphone 3.

For the movement operation, as indicated by the dotted arrow TD, the movement of the smartphone 3 parallel to the axis O of the smartphone 3 and the axis PO passing through the center C of the smartphone 3 as indicated by the dotted arrow YD. There is an operation of moving the smartphone 3.
For example, the user performs an endoscopic examination while holding the smartphone 3 with the left hand while operating the insertion unit 4 with the right hand.

  The user rotates the smartphone 3 around the axis O as indicated by the dotted arrow YC in FIG. 3 and rotates the smartphone 3 around the axis PO as indicated by the dotted arrow TC in FIG. 3, translating the smartphone 3 parallel to the axis PO as indicated by the dotted arrow YD in FIG. 3, and translating the smartphone 3 parallel to the axis O as indicated by the dotted arrow TD in FIG. 3. These four actions can be assigned to different operations.

This will be described more specifically.
FIG. 4 is a perspective view of the smartphone 3 viewed from obliquely below, showing the operation of rotating the smartphone 3 about the axis O. This is an operation of rotating the smartphone 3 around the axis O. In FIG. 4, a solid line shows the attitude | position of the smart phone 3 of a reference position, and a dashed-dotted line shows the attitude | position of the smart phone 3 after rotation. The same applies to FIGS.

FIG. 5 is a perspective view of the smartphone 3 as viewed from an oblique left side showing an operation of rotating the smartphone 3 about the axis PO. This is an operation of rotating the smartphone 3 around the axis PO.
FIG. 6 is a perspective view seen from the front of the smartphone 3 showing the operation of moving the smartphone 3 parallel to the axis PO. This is an operation of moving the smartphone 3 parallel to the axis PO.

FIG. 7 is a perspective view seen from the front of the smartphone 3 showing the operation of moving the smartphone 3 parallel to the axis O. FIG. This is an operation of moving the smartphone 3 parallel to the axis O.
The above four operations are assigned to various operation instructions for the endoscope apparatus 2.

For example, four operations can be assigned to four bending operation instructions of the bending portion 4b.
The bending operation is an operation that is frequently performed during endoscopy, and generally has two operation modes, a normal mode and a fine mode. The normal mode is an operation mode in which the bending portion 4b is bent with a predetermined bending amount in accordance with an instruction from the user, and the fine mode is a bending portion 4b having an amount smaller than the bending amount in the normal mode in accordance with an instruction from the user. Is an operation mode in which the curve is finely curved. That is, the user can roughly perform the bending operation in the normal mode and can precisely perform the bending operation in the fine mode.

For example, the user normally performs the examination by setting the operation mode of the bending operation to the normal mode, but when the user wants to observe a part in detail at the center of the endoscopic image, the operation of the bending operation is performed. By setting the mode to the fine mode, the bending portion 4b is bent finely, and the part to be observed can be accurately positioned at the center of the screen. Conventionally, the user has to perform a switching operation of the operation mode of the bending operation in this manner by pressing a predetermined operation button.
However, in the present embodiment, the user can issue a bending operation instruction in the normal mode and a bending operation instruction in the fine mode without performing an operation for switching the operation mode of the bending operation.

  For example, the operation of rotating the smartphone 3 shown in FIG. 4 about the axis O corresponds to the left / right bending operation instruction in the normal mode, and the smartphone 3 shown in FIG. 5 is rotated about the axis PO. 6 corresponds to the up / down bending operation instruction in the normal mode, and the operation of moving the smartphone 3 shown in FIG. 6 parallel to the axis PO corresponds to the left / right bending operation instruction in the fine mode. The operation of moving the smartphone 3 shown in FIG. 7 in parallel with the axis O can correspond to the bending operation instruction in the vertical direction in the fine mode.

By properly using these four operations, the user can seamlessly instruct the bending operation in the normal mode and the fine mode of the bending portion 4b.
Note that all four operations are not used, and the operation in FIG. 5 is assigned to the bending operation in the vertical direction of the bending portion 4b, and the operation in FIG. 6 is assigned to the bending operation in the horizontal direction of the bending portion 4b. Good.

  4 and 5 may be assigned to the bending operation of the bending portion 4b, the operation of FIG. 6 may be assigned to the bending lock operation, and the operation of FIG. 7 may be assigned to the bending lock releasing operation. .

  The above is an example in which four operations are assigned to four bending operation instructions. However, as described above, the endoscope apparatus 2 has many functions, and the operation instructions for executing each function are used. The four operations described above can be assigned.

  For example, the operation of FIG. 5 may be assigned to the setting value up / down operation in the brightness adjustment of the endoscope apparatus 2, and the operation of FIG. 6 or 7 may be assigned to the brightness determination instruction.

Furthermore, when the endoscope apparatus 2 has a measurement function, some of the various operations include operations related to the measurement function. Therefore, the four operations described above are performed as a 2D / 3D switching operation, a measurement pointer moving operation, and an optical operation. You may make it allocate to zoom operation etc. in a system.
(Function)
Next, the operation of the endoscope system using the above-described plurality of operations will be described.

FIG. 8 is a flowchart illustrating an example of the operation flow of the endoscope application in the smartphone 3. FIG. 8 shows a partial flow of processing of the endoscope application.
Hereinafter, an example in which two of the four operations described above are assigned to two operation instructions will be described.

The control unit 31 performs a reference position reset process when a reference position reset is instructed by the user (step (hereinafter abbreviated as S) 1).
When the endoscope application is activated, a button for instructing a reference position reset is displayed on a menu screen (not shown). The user can instruct execution of the reference position reset process by touching the button. The control unit 31 acquires an output signal from the sensor unit 35 and sets reference position information.

  For example, based on the output signal of the sensor unit 35, the control unit 31 sets the axis passing through the center point C of the housing 3a of the smartphone 3 and perpendicular to the display screen of the LCD 33 as the Z axis, and the longitudinal axis direction of the housing 3a. The axis O is set as the Y axis, and the above-described axis PO is set as the X axis. By the reference position reset process, the posture of the smartphone 3 when the reference position reset button is touched becomes the reference posture, and the X axis, the Y axis, and the Z axis in the reference posture are determined.

  Here, the reference position setting process is triggered by the operation of the reference position reset button by the user, but the other may be used as a trigger. For example, when the control unit 31 monitors the output signal of the sensor unit 35 and detects that the posture of the smartphone 3 has not changed for a predetermined time or more, the reference position setting process is executed using the detection as a trigger. May be.

After the reference position reset process, the control unit 31 determines whether the first operation is greater than the second operation based on the output signal of the sensor unit 35 (S2). When the user moves the smartphone 3, even if one of the two actions is attempted, the other action may occur. Judgment.
Note that the determination process of S2 is not necessary when performing two operations simultaneously and instructing execution of two operations. For example, one of the operations in FIGS. 4 to 7 is assigned to the brightness adjustment operation, and the other operation is assigned to the backlight brightness adjustment operation of the LCD 28, and these two operations are simultaneously performed. In such a case, the determination process in S2 is not necessary.

After the reference position reset process, the control unit 31 periodically executes the processes from S2 to S6. For example, the control part 31 performs the process below S2 every several tens of milliseconds.
Therefore, the first operation and the second operation are determined depending on whether or not the magnitude of the first action is larger than the magnitude of the second action. The processing of S2 to S6 executed by the control unit 31 constitutes an operation detection unit that detects rotation of the casing 3a held by the user around a predetermined axis or movement of the casing 3a in a predetermined direction. At the same time, an operation determination unit that determines the presence or absence of the first operation and the presence or absence of the second operation based on the detected rotation or movement is configured.

  When the magnitude of the first action is larger than the magnitude of the second action (S2: YES), the control unit 31 determines whether or not the magnitude of the first action is equal to or greater than a predetermined threshold value TH1. (S3). The determination of whether the magnitude of the first action is greater than or equal to the threshold value TH1 is to prevent an erroneous first operation instruction from being output. When the magnitude of the first action is greater than or equal to the predetermined threshold TH1 (S3: YES), the control unit 31 outputs an execution instruction for the first operation corresponding to the first action (S4).

  For example, when the user performs the operation of FIG. 5 for adjusting the brightness of the endoscope apparatus 2 and the magnitude of the operation is less than a predetermined threshold, the control unit 31 clearly sets the Assuming that the operation 1 is not performed, the execution instruction of the first operation is not performed. However, when the magnitude of the operation is equal to or greater than the predetermined threshold value TH1, the control unit 31 outputs an instruction to execute the first operation, assuming that the user has clearly performed the first operation (S4).

When the magnitude of the first action is not larger than the magnitude of the second action (S2: NO), the control unit 31 determines whether or not the magnitude of the second action is equal to or greater than a predetermined threshold value TH2. (S5). The determination of whether the magnitude of the second action is greater than or equal to the threshold value TH2 is to prevent an erroneous second operation instruction from being output. When the magnitude of the second action is greater than or equal to the predetermined threshold TH2 (S5: YES), the control unit 31 outputs an execution instruction for the second operation corresponding to the second action (S6).
As described above, in S3, it is determined that the first operation has occurred when the rotation amount of the rotation is equal to or greater than the first threshold value TH1, and in S5, the movement amount is determined to be the second threshold value TH2. When it is above, it is determined that the second operation has been performed.

In S <b> 5 and S <b> 6, an execution instruction command signal is transmitted from the external I / F 36 to the endoscope apparatus 2.
For example, if the first operation is the operation illustrated in FIG. 5 and the second operation is the operation illustrated in FIG. 6, the user uses these two operations to determine the brightness of the endoscope apparatus 2. When the setting value up / down operation instruction is performed by the operation shown in FIG. 5 and the brightness determination operation instruction is performed by the operation shown in FIG. 6, the two operation instructions in the brightness adjustment can be seamlessly performed. .
Therefore, when the processes of S4 and S6 have the first action determined by S2, S3 and S5, the first execution instruction of the first operation assigned to the first action is given as the second action. When there is an operation, an instruction transmission unit is configured to transmit the second execution instruction of the second operation assigned to the second operation to the endoscope apparatus 2.
The command signals of the first execution instruction and the second execution instruction include information on the operation amount corresponding to the rotation amount of the rotation, and the second execution instruction includes the operation amount corresponding to the movement amount of the movement. Contains information.
The endoscope apparatus 2 executes a first operation in response to a first execution instruction from the smartphone 3 and executes a second operation in response to a second execution instruction from the smartphone 3.

Next, more specific seamless operation instructions will be described. Hereinafter, the bending operation using the four operations described above will be described.
FIG. 9 is a flowchart illustrating an example of the operation flow of the endoscope application in the smartphone 3. FIG. 9 shows a partial flow of processing of the endoscope application.

In the following description, two of the four operations described above correspond to the first operation instruction, and the other two operations correspond to the second operation instruction. The first operation is a normal mode bending operation, and the second operation is a fine mode bending operation.
First, the user can perform a rotation operation and a movement operation in the endoscope application by performing these operations after executing the reference position reset process.

The user holds the smartphone 3 in an easy-to-operate state during the inspection. In this state, when the user touches the reference position reset button (Reset) 45, the reference position reset process can be executed.
Therefore, the control unit 31 determines whether or not the reference position reset is instructed (S11).

When the endoscope application is activated, a button for instructing a reference position reset is displayed on a menu screen (not shown). The user can instruct execution of the reference position reset process by touching the button.
When the reference position reset button 45 is touched (S11: YES), the control unit 31 acquires an output signal from the sensor unit 35 (S12) and sets reference position information (S13).

  For example, based on the output signal of the sensor unit 35, the control unit 31 sets the axis passing through the center point C of the housing of the smartphone 3 and perpendicular to the display screen of the LCD 33 as the Z axis, and the axis O in the longitudinal direction as The Y axis is set, and the axis PO is set as the X axis. In general, the Z-axis is in the direction of gravitational acceleration, but the direction is perpendicular to the display screen of the LCD 33 by resetting the reference position.

The X axis and the Y axis can also be set in various directions, but here are the axis PO and the axis O, respectively.
As described above, by the reference position reset process, the posture of the smartphone 3 when the reference position reset button 45 is touched becomes the reference posture, and the X axis, the Y axis, and the Z axis in the reference posture are determined.

  After S13, the control unit 31 notifies the user that the reference position reset process has been completed (S14). The reset completion notification is made by displaying a message indicating completion on the LCD 33, causing a predetermined lamp or LED element to emit light, or outputting a predetermined sound. After S14, the process returns to S11.

  If the reference position reset button is not touched (S11: NO), the control unit 31 determines whether or not the reference position has been reset (S15). The control unit 31 can determine whether or not the reference position has been reset based on the presence / absence of the execution record of the reference position reset process.

If the reference position has not been reset (S15: NO), the process returns to S11.
If the reference position has been reset (S15: YES), the control unit 31 determines whether or not one of two predetermined operations (the normal mode and the fine mode) has occurred based on the output signal of the sensor unit 35. (S16). That is, the process of S16 constitutes an operation detection unit that detects rotation of the casing 3a held by the user around a predetermined axis or movement of the casing 3a in a predetermined direction.

  When it is determined that one of the two predetermined operations has occurred (S16: YES), the control unit 31 determines whether the operation performed by the user is the first of the two operations. (S17). That is, the process of S17 constitutes an operation determination unit that determines the presence / absence of the first operation and the presence / absence of the second operation based on the rotation or movement detected in S16.

  Whether or not there is a first action is determined by whether or not the magnitude of the first action is equal to or greater than a predetermined threshold value TH1. As described above, when the magnitude of the turning motion is equal to or greater than the predetermined threshold value TH1, it is determined that the first motion has occurred, and when the magnitude of the moving motion is equal to or greater than the predetermined threshold value TH2, the second motion is determined. It is determined that there was.

  When the operation shown in FIG. 4 or the operation shown in FIG. 5 is detected, it is determined that the first operation has occurred. When the operation shown in FIG. 6 or the operation shown in FIG. 7 is detected, there is a second operation. It is determined that

When it is determined that both the first operation and the second operation have been performed, it is determined that there has been a larger operation.
Furthermore, as described above, when the first operation and the second operation are allowed to be performed simultaneously, that is, when the process of S2 is unnecessary, it is determined that both the first and second operations have been performed.
If it is determined that there is a first action (S17: YES), the control unit 31 calculates an operation amount corresponding to the magnitude of the first action from the output signal of the sensor unit 35 (S18). The manipulated variable information is output to the external I / F 36 and transmitted to the endoscope apparatus 2 (S19).

  In S18, the rotation angle in the operation shown in FIG. 4 or the operation shown in FIG. 5 is calculated from the output signal of the sensor unit 35, and the bending angle in the vertical or horizontal direction of the bending portion 4b is calculated from the calculated rotation angle. A target value is calculated.

  When the second operation is performed (S17: NO), the control unit 31 calculates the operation amount of the second operation from the output signal of the sensor unit 35 (S20), and uses the information of the calculated operation amount as the external I / F36 to the endoscope apparatus 2 (S21).

In S20, the movement amount in the operation shown in FIG. 6 or the operation shown in FIG. Is calculated.
Therefore, when it is determined in S17 that the process of S19 and S21 has the first action, the first execution instruction of the first bending operation assigned to the first action is given. When it is determined that there is an operation, an instruction transmission unit is configured to transmit a second execution instruction of the second bending operation assigned to the second operation to the endoscope apparatus 2.

  When it is determined that there is no one of the two predetermined operations (S16: NO), and after S19 and S21, the control unit 31 determines whether or not a bending lock instruction is issued (S22). The user touches the bending lock button (Lock) 44 with a finger (S22: YES), thereby giving an instruction for bending locking to the endoscope apparatus 2, that is, transmitting (S23).

  When receiving the instruction to lock the bending, the endoscope apparatus 2 stops the operation of the bending mechanism 14 and holds the bending portion 4b in the bending state at that time. That is, the control unit 21 does not output a bending control signal to the bending drive circuit 25.

  After transmitting the instruction for bending lock, the control unit 31 determines whether or not there is an instruction to release the bending lock (S24). For example, when the user touches the bend lock button 44 in the bend lock state (S24: YES), the control unit 31 transmits a bend lock release instruction (S25).

If the bending lock button 44 is not touched (S24: NO), the processing is not performed. After S25, the process returns to S11.
Note that after S25, the process may return to S16 as indicated by a dotted line.

The control unit 31 periodically executes the processes from S16 to S25. For example, the control part 31 performs the process below S2 every several tens of milliseconds.
Furthermore, there is a case where a bending centering instruction for the bending portion 4b is given. The bending centering is an operation to make the bending portion 4b not bent, that is, straight. The user can give a bending centering instruction by operating a button (not shown). When the bending centering instruction is issued, the smartphone 3 transmits a command signal for the bending centering operation instruction to the endoscope apparatus 2.

FIG. 10 is a diagram illustrating a flow of operations for the bending operation and operations of the smartphone 3 and the endoscope apparatus 2.
In FIG. 10, the state change detection unit and the bending amount calculation unit are included in the smartphone 3, and the bending control unit and the bending drive unit are included in the endoscope apparatus 2. The processes of S16 and S17 in FIG. 9 constitute a state change detection unit of the smartphone 3. The processes of S19 and S21 constitute a bending amount calculation unit of the smartphone 3. The control unit 21 in FIG. 1 constitutes a bending control unit, and the bending drive circuit 25 constitutes a bending drive unit.

  The user holds the smartphone 3 in an easy-to-operate state during the inspection. As described above, when the user touches the reference position reset button (Reset) 45 in this state, the smartphone 3 executes a reference position reset process for bending the posture at that time from the output signal of the sensor unit 35. (A1). In A1, the processes of S12 to S14 in FIG. 9 are executed.

  Thereafter, the state change detection unit of the control unit 31 acquires the output signal of the sensor unit 35 at a predetermined cycle, and determines whether or not there is a predetermined operation. For example, when the state change detection unit of the control unit 31 detects a turning operation (CS1) around the axis O as shown in FIG. 4 as a bending operation, it outputs a detection signal to the bending amount calculation unit (P1). The bending amount calculation unit calculates a bending target value according to the magnitude of the motion detected by the state change detection unit (P2).

  When the smartphone 3 is rotated to the right around the axis O, a predetermined bending amount, that is, a bending angle is calculated according to the inclination angle. For example, when the smartphone rotates 45 degrees to the right, the front visual field direction of the distal end portion 4a is directed to a predetermined right angle of 45 degrees with respect to the central axis direction of the insertion section 4 (that is, the insertion direction). A curvature target value is calculated.

The smartphone 3 transmits the calculated curvature target value to the endoscope 2 wirelessly via the external I / F 36.
The control unit 21 calculates a bending control value to the bending target value received from the smartphone 3 so that the bending unit 4b is bent, and outputs the calculated bending control value to the bending drive circuit 25 (EP1).

  Since the control unit 21 monitors the rotation amounts of the pulleys 15a and 15b, the bending control is performed so that the bending portion 4b has the bending angle of the bending target value from the received bending target value and the rotation amounts of the pulleys 15a and 15b. Calculate the value.

  The bending drive circuit 25 outputs a bending control signal corresponding to the received bending control value to the bending driving unit 26, and the corresponding motors 26a and 26b of the bending driving unit 26 are driven, so that the bending unit 4b has the bending target. Curve to the value's curve angle.

After that, the control unit 31 periodically acquires the output signal of the sensor unit 35 and detects which operation of FIGS. 4 to 7 has been performed.
Therefore, after performing the rotation operation in the left-right direction in the normal mode of FIG. 4 described above, when the user performs an operation of moving the smartphone 3 as shown in FIG. 6 in parallel with the axis PO, the predetermined operation CS2 is performed. Detected (P3). The control unit 31 calculates a bending target value according to the operation CS2 (P4) and transmits it to the endoscope apparatus 2. The endoscope apparatus 2 calculates a bending control amount corresponding to the received bending target value (EP2), and outputs it to the bending drive unit.

Therefore, the user can seamlessly issue the fine mode operation instruction after the normal mode operation instruction.
Similarly, after that, when a predetermined motion CS3 is detected (P5), the control unit 31 calculates a curvature target value corresponding to the motion CS3 (P5) and transmits it to the endoscope apparatus 2. The endoscope apparatus 2 calculates a bending control amount according to the received bending target value (EP3), and outputs it to the bending drive unit. If the operation CS3 is the operation shown in FIG. 5, the user can seamlessly issue the normal mode operation instruction in the vertical direction after the fine mode operation instruction in the horizontal direction.

  In the above-described example, the smartphone 3 calculates the bending target value, and the bending control value is obtained by calculation in the endoscope apparatus 2, but in the endoscope apparatus 2, the bending target value is calculated. The bending control value may be calculated. That is, the smartphone 3 determines whether or not there is an operation, transmits the operation amount (rotation angle, movement amount) to the endoscope device 2, and the control unit 21 of the endoscope device 2 calculates the curvature target value. Then, the bending control value may be calculated.

  Furthermore, in the above-described example, the bending control value is obtained by calculation in the endoscope apparatus 2, but the bending control value is calculated in addition to the bending target value in the smartphone 3, and the endoscope apparatus 2 is calculated. You may make it transmit to.

In that case, the smartphone 3 periodically acquires information on the rotation angles of the pulleys 15a and 15b from the endoscope apparatus 2, and calculates a bending control value based on the acquired information on the rotation angles of the pulleys 15a and 15b. And transmitted to the endoscope apparatus 2.
Further, when there are two or more operations, control for adjusting the competition may be performed.

  FIG. 11 shows priority when the operation in the normal mode in the left / right direction (M1: the bending operation in the left / right direction in the normal mode) competes with the operation in the fine mode in the left / right direction (M3: the bending operation in the left / right direction in the fine mode). It is a graph which shows the example of control.

  In FIG. 11, the circled graph is the operation (M1) of FIG. 4, and shows the amount of movement (rotation angle) AP in the left-right direction in the normal mode. The vertical axis represents the amount of movement, and the horizontal axis represents time (seconds). The star graph is the operation (M3) of FIG. 6, and shows the amount of movement (movement amount) AP in the left-right direction in the normal mode.

11 shows that when the operation (M1) shown in FIG. 4 is greater than or equal to the predetermined threshold TH1, even if the operation shown in FIG. 6 is greater than or equal to the predetermined threshold TH2, the operation (normal mode) shown in FIG. 7 shows priority over the operation (fine mode) shown in FIG.
Therefore, when the rotation amount of the rotation is greater than or equal to the first threshold value TH1, the control unit 31 determines that the first operation has occurred, and does not determine that the second operation has occurred. Has priority over the second operation.

FIG. 12 is a graph showing another example of priority control when the normal mode operation (M1) in the left-right direction competes with the fine mode operation (M3) in the left-right direction.
In FIG. 12, the circled graph is the operation (M1) of FIG. 4, and shows the amount of movement (rotation angle) AP in the left-right direction in the normal mode. The vertical axis represents the amount of movement, and the horizontal axis represents time (seconds). The star graph is the operation (M3) of FIG. 6, and shows the amount of movement (movement amount) AP in the left-right direction in the normal mode.

12 shows that when the operation (M3) shown in FIG. 6 is greater than or equal to the predetermined threshold TH2, even if the operation (M1) shown in FIG. 4 is greater than or equal to the predetermined threshold TH1, the operation (fine mode) shown in FIG. ) Has priority over the operation (normal mode) shown in FIG.
Therefore, when the movement amount of the movement is equal to or greater than the second threshold value TH2, the control unit 31 determines that the second operation has occurred and does not determine that the first operation has occurred. , Which has priority over the first operation.
By using priority control as shown in FIG. 11 or FIG. 12 for the operation determination, smoother operation switching is possible.

  As described above, when the four operations correspond to the four operation instructions of the bending operation and the control unit 31 detects that any of the operations in FIGS. 4 to 7 is performed, the bending corresponding to the operation is performed. A target value is calculated and transmitted to the endoscope apparatus 2. Therefore, the user can seamlessly perform a desired bending operation instruction only by performing a turning operation or a movement operation corresponding to a desired operation mode on the smartphone 3 without performing a bending mode switching operation. .

  As described above, since the endoscope apparatus 2 has many functions, by assigning operations for instructing the execution of these functions to the four operations described above, the user can select the endoscope apparatus 2. 2 can be performed seamlessly.

Therefore, according to the above-described embodiment, it is possible to provide an endoscope control device, an endoscope system, and a program that can seamlessly perform operation instructions of different functions used for endoscopy.
Accordingly, the switching operation for changing the operation as in the conventional case is not necessary, and the operability of the endoscope control apparatus is improved.

(Second Embodiment)
In the first embodiment, the smartphone 3 that is an endoscope control device performs an operation on the endoscope device 2, but in this embodiment, the smartphone 3 that is an endoscope control device is an endoscope. Perform operations related to external equipment used in conjunction with inspection. As an external device, an automatic insertion device, a twisting device, and a turning tool will be described as examples.

  In addition, since the endoscope apparatus 2 and the smart phone 3 of this Embodiment have the structure similar to the endoscope apparatus 2 and the smart phone 3 of 1st Embodiment, description is abbreviate | omitted about the same component. Only different components will be described.

  FIG. 13 is a configuration diagram of an endoscope system 1A that performs an endoscopic inspection using an automatic insertion device that automatically inserts the insertion portion 4 into an inspection target. The endoscope apparatus 2 illustrated in FIG. 13 also includes the bending mechanism 14 of the insertion unit 4, the light guide 12, and the like, but is omitted here.

  The endoscope apparatus 2 is connected to an automatic insertion device 51 that is an external device by a cable 52. The endoscope apparatus 2 has an external I / F 53 connected to a cable 52 for transmitting a signal to the automatic insertion apparatus 51.

  The automatic insertion device 51 holds the insertion portion 4 so that the insertion portion 4 is sandwiched by a plurality of rollers 54. The plurality of rollers 54 are driven by one or a plurality of roller driving units 55 incorporating a motor.

The roller drive unit 55 is driven by a drive signal from the insertion control device 56.
The insertion control device 56 has a control board, communicates with the endoscope device 2, and outputs a drive signal to the roller drive unit 55 based on a control signal from the endoscope device 2.

  For example, by assigning the operation of FIG. 4 to the insertion instruction as the operation of the smartphone 3 and assigning the operation of FIG. 5 to the drawer instruction, the user can perform an insertion operation and a drawer operation of the insertion unit 4 on the automatic insertion device 51. Can be instructed.

  In addition, as the operation mode of the insertion operation, two modes of the normal mode and the fine mode are provided, and the operation of FIG. 5 can be divided into the operation of the normal mode in which the insertion operation is executed with a predetermined operation, and the operation of FIG. You may make it allocate to the operation | movement of the fine mode which performs insertion operation | movement at a slower speed than the operation | movement of normal mode.

  Furthermore, if the bending operation of the bending part 4b demonstrated in 1st Embodiment is allocated to the bending operation of an up-down and left-right direction by the operation | movement of FIG. 6 and the operation | movement of FIG. The bending operation of the bending portion 4b and the insertion operation instruction of the automatic insertion device 51 based on the operation of FIG. 4 can be performed seamlessly.

  FIG. 14 is a configuration diagram of an endoscope system 1B that performs endoscopy using a twisting device that twists the insertion portion 4 about the axis of the insertion portion 4. The endoscope apparatus 2 shown in FIG. 14 also includes the bending mechanism 14 of the insertion unit 4, the light guide 12, and the like, but is omitted here.

The endoscope apparatus 2 is connected to a twisting device 61 that is an external device by a cable 62. The twisting device 61 is provided at the base of the insertion portion 4.
The endoscope apparatus 2 has an external I / F 63 connected to a cable 62 for transmitting a signal to the twisting apparatus 61.

The twisting device 61 includes a clamping member 64 that clamps the insertion portion 4 with a plurality of rollers (not shown). The plurality of rollers are driven by a roller driving unit 65 incorporating a motor.
The roller drive unit 65 is driven by a drive signal from the torsion control device 66.

The torsion control device 66 has a control board, communicates with the endoscope device 2, and outputs a drive signal to the roller drive unit 65 based on a control signal from the endoscope device 2.
For example, by assigning the operation of FIG. 4 to the torsion instruction as the operation of the smartphone 3, the user can instruct the torsion device 61 to rotate around the axis of the insertion unit 4, that is, torsion operation. The user rotates the smartphone 3 to the right to rotate the insertion unit 4 by a predetermined amount clockwise in the insertion direction, and to the left to move the insertion unit 4 in the insertion direction. It can be rotated counterclockwise by a predetermined amount. For example, the rotation angle in the operation of FIG. 4 is assigned to the rotation angle around the axis of the insertion portion 4. Therefore, when the smartphone 3 is rotated in the operation of FIG. 4, the value of the rotation target amount corresponding to the rotated angle is transmitted to the endoscope apparatus 2. The endoscope apparatus 2 calculates a rotation control amount according to the received rotation target amount, and transmits a control signal according to the rotation control amount to the torsion control device 66.

  Further, as the operation mode of the torsional operation, two modes of the normal mode and the fine mode are provided, and the operation of FIG. 4 can be divided into the operation of the normal mode in which the torsional operation is executed with a predetermined operation, and the operation of FIG. You may make it allocate to operation | movement of the fine mode which performs twisting operation | movement at a slower speed than operation | movement of normal mode.

  Moreover, if the bending operation of the bending part 4b demonstrated in 1st Embodiment assigns the bending operation of an up-down and left-right direction by the operation | movement of FIG. 6 and the operation | movement of FIG. 7, the user will utilize the smart phone 3, The bending operation instruction of the bending portion 4b and the twisting operation instruction of the twisting device 61 based on the operation of FIG. 4 can be seamlessly performed.

  FIG. 15 is a configuration diagram of an endoscope system 1C that performs an endoscopic inspection using a turning tool used at the time of inspection of an aircraft jet engine. The endoscope apparatus 2 shown in FIG. 15 also includes the bending mechanism 14 of the insertion unit 4, the light guide 12, and the like, but is omitted here.

  The endoscope apparatus 2 is connected to a turning tool 71 that is an external device and a cable 72. The endoscope apparatus 2 has an external I / F 73 connected to a cable 72 for transmitting a signal to the turning tool 71.

  The turning tool 71 is a device that outputs a rotation control signal for rotating the rotation shaft to the engine body when inspecting a plurality of blades of the engine 74. Endoscopic images of a plurality of blades by rotating the rotation shaft of the engine 74 in a state where the blades are positioned in the imaging direction of the insertion portion 4 inserted from an access point provided in the engine casing. Can be obtained. When the turning tool 71 outputs a rotation control signal to the engine 74, the engine 74 rotates.

For example, by assigning the operation of FIG. 4 to the rotation instruction of the engine as the operation of the smartphone 3, the user can instruct the turning tool 71 to rotate the engine 74. By rotating to the right, the engine 74 rotates by a predetermined amount around the rotation axis in a predetermined direction, and by turning to the left, the engine 74 has the above-mentioned predetermined direction around the rotation axis. It rotates by a predetermined amount in the opposite direction.
In addition, the operation mode of the turning tool is provided with two modes, a normal mode and a fine mode. The operation of FIG. 4 can be divided into the operation of the normal mode in which the engine is rotated at a predetermined speed, and the operation of FIG. You may make it allocate to the operation | movement of the fine mode which rotates an engine at a slower speed than the operation | movement of a mode.

  Moreover, if the bending operation of the bending part 4b demonstrated in 1st Embodiment assigns the bending operation of an up-down and left-right direction by the operation | movement of FIG. 6 and the operation | movement of FIG. 7, the user will utilize the smart phone 3, The bending operation of the bending portion 4b and the rotation instruction of the engine 74 of the turning tool 71 based on the operation of FIG. 4 can be performed seamlessly.

  Therefore, according to the above-described embodiment, it is possible to provide an endoscope control device, an endoscope device, and a program capable of seamlessly operating an external device used for endoscopy.

  In the above-described example, an instruction for insertion or rotation is given as an operation of the external device, but a stop instruction for stopping insertion or an instruction for stopping rotation is also assigned as one of the operations in the smartphone 3. Also good.

  Furthermore, also in the present embodiment, the smartphone 3 may acquire information on the external device via the endoscope device 2, and the smartphone 3 may execute part of the processing of the external device.

  In the example described above, the smartphone 3 that is the endoscope control device controls an external device of the automatic insertion device, the twisting device, or the turning tool, but the two or more external devices are different. You may make it control using operation | movement.

  For example, when the automatic insertion device and the twisting device are used at the same time, in the smartphone 3, for example, the operation of FIG. 4 is assigned to the operation control of the twisting device, and the operation of FIG. 5 is assigned to the operation control of the automatic insertion device. Good.

  Therefore, according to the two embodiments described above, it is possible to provide an endoscope control apparatus, an endoscope system, and a program that can seamlessly perform operation instructions for different functions used for endoscopy. .

  Accordingly, the switching operation for changing the operation as in the conventional case is not necessary, and the operability of the endoscope control apparatus is improved.

  In the above-described two embodiments, the example in which the smartphone 3 is used as the endoscope control device has been described. However, the above-described sensor unit 35 is provided on the remote controller connected to the endoscope device 2, and the control unit 21 may calculate the presence / absence of the first operation and the second operation and the operation amount.

Furthermore, in the two embodiments described above, each operation instruction to the endoscope apparatus or the external device is performed based on the operation on the smartphone 3, but a part of the operation instructions is performed on the touch panel 34. Also good. For example, the first operation may be assigned to the horizontal bending operation in the normal mode, the second operation may be assigned to the vertical bending operation in the normal mode, and the fine mode operation may be performed by the touch panel 34.
Further, some operations may be performed by a switch different from the touch panel 34, voice input, or the like.

  The program for executing the operations described above is recorded or stored as a computer program product in its entirety or in part on a portable medium such as a flexible disk or CD-ROM or a storage medium such as a hard disk. Yes. The program is read by a computer, and all or part of the operation is executed. Alternatively, all or part of the program can be distributed or provided via a communication network. The user downloads the program via the communication network and installs it on the computer or installs it from the recording medium to the computer, thereby easily realizing the endoscope control apparatus and endoscope system of the present invention. be able to.

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

1, 1A, 1B, 1C Endoscope system, 2 Endoscope device, 3 Smartphone, 3a Housing, 4 Insertion part, 4a Tip part, 4b Bending part, 5 Main body apparatus, 6 Optical adapter, 6a, 6b Lens, DESCRIPTION OF SYMBOLS 11 Image sensor, 12 Light guide, 13 Bending wire, 14 Bending mechanism, 15a, 15b Pulley, 21 Control part, 22 Memory, 23 Imaging drive circuit, 24 Illumination circuit, 25, 25a, 25b Bending drive circuit, 26 Bending drive part 26a, 26b Motor, 27 External interface, 28 Liquid crystal display device, 29 Touch panel, 31 Control unit, 32 Memory, 32a Endoscope application, 33 Liquid crystal display device, 34 Touch panel, 35 Sensor unit, 36 External interface, 37 Imaging unit , 37a, 37b Camera, 38 Microphone, 39 Operation buttons 41 display screen, 42 live image display area, 43 bending operation button, 44 bending lock button, 45 reference position reset button, 46 home button, 51 automatic insertion device, 52 cable, 53 external interface, 54 rollers, 55 roller drive unit, 56 Insertion control device 61 Torsion device 62 Cable 63 External interface 64 Holding member 65 Roller drive 66 Control device 71 Turning tool 72 Cable 73 External interface 74 Engine

Claims (9)

An operation detection unit that detects rotation of a casing held by a user around a predetermined axis or movement of the casing in a predetermined direction;
An operation determination unit that determines the presence or absence of the first operation and the presence or absence of the second operation based on the rotation or the movement detected by the operation detection unit;
When there is the first action determined by the action determination unit, the first execution instruction of the first operation assigned to the first action is determined by the action determination unit. An instruction transmission unit that transmits a second execution instruction of the second operation assigned to the second operation to the endoscope device when the operation is performed;
An endoscope control apparatus having   The operation determination unit determines that the first operation has occurred when the rotation amount of the rotation is equal to or greater than a first threshold value, and the movement amount of the movement is equal to or greater than a second threshold value. The endoscope control apparatus according to claim 1, wherein it is determined that the second operation has occurred.   The first execution instruction includes information on a first operation amount corresponding to the rotation amount of the rotation, and the second execution instruction is information on a second operation amount corresponding to the movement amount of the movement. The endoscope control apparatus according to claim 2, comprising:   3. The operation determination unit according to claim 2, wherein when the rotation amount of the rotation is equal to or greater than the first threshold, the operation determination unit determines that the first operation has occurred and does not determine that the second operation has occurred. Endoscope control device.   The operation determination unit according to claim 2, wherein when the movement amount of the movement is equal to or greater than the second threshold, the operation determination unit determines that the second operation has occurred and does not determine that the first operation has occurred. Endoscope control device.   The endoscope control apparatus according to claim 1, wherein the first operation and the second operation are operations on the endoscope apparatus.   The endoscope control apparatus according to claim 1, wherein the first operation is an operation on the endoscope apparatus, and the second operation is an operation related to an apparatus used together with the endoscope apparatus. An endoscope system including an endoscope device and an endoscope control device,
The endoscope control device
An operation detection unit that detects rotation of a casing held by a user around a predetermined axis or movement of the casing in a predetermined direction;
An operation determination unit that determines the presence or absence of the first operation and the presence or absence of the second operation based on the rotation or the movement detected by the operation detection unit;
When there is the first action determined by the action determination unit, the first execution instruction of the first operation assigned to the first action is determined by the action determination unit. An instruction transmission unit that transmits a second execution instruction of the second operation assigned to the second operation to the endoscope apparatus when
Have
The endoscope apparatus executes the first operation according to the first execution instruction from the endoscope control apparatus, and according to the second execution instruction from the endoscope control apparatus. An endoscope system that executes the second operation. An operation detection function for detecting rotation of a casing held by a user around a predetermined axis or movement of the casing in a predetermined direction;
An operation determination function for determining the presence / absence of a first operation and the presence / absence of a second operation based on the rotation or the movement detected by the operation detection function;
When there is the first action determined by the action determination function, the first execution instruction of the first operation assigned to the first action is determined by the action determination unit. An instruction transmission function for transmitting a second execution instruction of the second operation assigned to the second operation to the endoscope apparatus when the operation is performed;
A program that causes a computer to execute.

Images