JP2710417B2 - Endoscope device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in an endoscope apparatus that bends a bending portion by a driving force of a motor.

[Prior art] Conventionally, by inserting an elongated insertion portion into a body cavity,
2. Description of the Related Art Endoscopes (scopes or fiberscopes) capable of diagnosing and examining internal organs and the like are widely used. In addition to being used for medical purposes, it is also used for observing and inspecting an object in a pipe of a boiler, a machine, a chemical plant, or the like, or in a machine, for industrial use.

Further, various types of endoscopes using a solid-state imaging device such as a charge-coupled device (CCD) as an imaging unit are also used.

As a bending operation means for bending a bending portion provided in the insertion portion of the endoscope in, for example, up / down / left / right, there is a bending operation knob provided in an operation portion, and the bending operation knob is rotated. Also, it has been considered to use a motor as the bending operation means.

In recent years, an endoscope using an ultrasonic motor as a driving means for a bending operation has been proposed in, for example, Japanese Patent Application Laid-Open No. 61-87530.

In the endoscope provided with the ultrasonic motor as a bending drive unit, when the bending portion is to bend, a traveling wave is generated by the ultrasonic motor, and when the bending portion is set to a free state, Driving power is supplied to the sonic motor to generate a standing wave. Further, when the driving power is not supplied, the ultrasonic motor is in the locked state, and therefore, the bending portion is in the locked state without easily changing its state.

[Problems to be Solved by the Invention] However, in the endoscope using a motor as the bending operation means described above, means for allowing the operator to recognize the state of the driving power supplied to the motor or the driving force of the motor. Is not provided. Therefore, for example, there may be a difference in consciousness between the endoscope and the operator that the bending is not performed even if the bending switch is operated to perform the bending operation.

The present invention has been made in view of the above points, and provides an endoscope apparatus that allows an operator to recognize a state of driving power supplied to a motor of an endoscope or a driving force of the motor. With the goal.

[Means for Solving the Problems] The endoscope apparatus according to the present invention is driven by an ultrasonic motor that is driven to rotate when a traveling wave is generated and is free to rotate when a standing wave is generated. In an endoscope apparatus that bends a bending portion of an endoscope, a means for detecting that a traveling wave or a standing wave is generated in the ultrasonic motor, and according to an output result of the detection means, Means for informing whether the bending section of the endoscope is performing a bending operation or a state in which the bending section is freely bent.

[Operation] When the detecting means detects that a traveling wave is generated in the ultrasonic motor, the notifying means notifies that the bending portion of the endoscope is in a bending operation state, and the ultrasonic motor is settled. When the detecting means detects that a standing wave is generated, the notifying means notifies that the bending portion of the endoscope is in a free state, and the state of the driving power supplied to the motor or the driving force of the motor. Is transmitted to the operator.

Embodiment An embodiment of the present invention will be described below with reference to the drawings.

1 to 5 relate to a first embodiment of the present invention,
1 is a block diagram showing a configuration of a circuit for detecting and notifying a driving state of an endoscope bending section, FIG. 2 is a configuration diagram of an electronic endoscope apparatus, and FIG. 3 is a cross-sectional view of a main part of an ultrasonic motor. FIG. 4 is an explanatory view of a bending portion drive mechanism, and FIG. 5 is a configuration diagram of a bending drive circuit of the endoscope bending portion.

In the electronic endoscope apparatus, as shown in FIG. 2, for example, an elongated endoscope 11 formed so as to be inserted into a body cavity, and a universal cord 14 of the endoscope 11 are connected by a connector 22. The video processor 60 includes a light source unit therein, and a monitor 63 that projects a subject such as a body cavity part based on an output signal of the video processor 60.

The endoscope 11 has an elongated insertion portion 12, a large-diameter operation portion 13 connected to the rear end of the insertion portion, and a universal cord 14 extended to the side of the operation portion 13. And a connector 22 provided at an end of the universal cord 14. The insertion section 12 includes a distal end component section 15 provided with an image sensor or the like for imaging an object, a bending section 16 that can be bent up and down / left and right and connected to a rear end of the distal end component section 15. It comprises a flexible tube portion 17 connected to the rear end of the curved portion 16. The operation unit 13 includes therein a case 25 in which a later-described bending operation device unit for bending and driving the bending unit is provided, and an air / water switch 19, a suction switch 20, and a switch unit 21. The switch unit 21 includes an upward bending switch 21a, a downward bending switch 21b, a left bending switch 21c, and a right bending switch for indicating the bending direction of the bending unit 16. 21d.

The video processor device 60, for supplying illumination light to the light guide 23 projecting from the connector 22,
The above-described light source unit 10 including a reflection plate 65 and an illumination bulb 66, and the monitor 63 which converts an image signal from an image sensor provided in the distal end component section and performs various signal processings as a video signal and outputs the image signal as a video signal. And a motor control unit 61 for controlling the bending operation device section 29 provided in the operation section 13 described later.
And a free switch 64 for freeing the bending portion 16 provided on the exterior of the video processor device 60.

As shown in FIG. 3, two sets of frames (a main frame 26 and a sub-frame 27) having a space formed at regular intervals are provided in the case 25 provided in the operation unit 13. Only one frame is shown as a frame 28) symmetrically. And this one frame
A bending operation device unit 29 for up / down bending operation is attached to 28, and a bending operation device unit (not shown) for left / right bending operation is attached to the other frame.

Since these bending operation device sections for up / down / left / right bending operation have the same configuration, only one of the bending operation device sections 29 for up / down bending operation will be described. An ultrasonic motor unit 31 is incorporated in a sub-frame 27 supported by the main frame 26. The ultrasonic motor 32 in the ultrasonic motor unit 31 has a substantially disc-shaped stator.
33 and a rotor 34 in close contact with a surface of the peripheral portion of the stator 33 facing the case 25 side, and a surface of the peripheral portion of the stator 33 located on the opposite side to the rotor 34 has a piezoelectric material.
35 is adhesively fixed. The roller 34 is fitted and fixed to the tip of the rotating shaft 36. An intermediate portion of the rotating shaft 36 is supported by a thrust bearing 37 and a first radial bearing 38. The thrust bearing 37 and the first radial bearing 38 are housed and supported in the same first bearing box 39. The first bearing box 39 is joined to the sub-frame 27 and fixed by screws 41. Further, the stator 33 is fitted on the outer periphery of the first bearing box 39, and the stator 33 is screwed to a screw 42 formed on the outer periphery of the first bearing box 39.
It is tightened and fixed by 43. That is, the stator 33 is fixed and cannot rotate.

The thrust bearing 37 is provided with a snap ring.
45 fixes the rotary shaft 36 at a fixed position on the peripheral surface thereof. The snap ring 45 has a groove 46 formed on the peripheral surface of the rotation shaft 36.
It is supported by a washer 47 fitted into the. The inner end portion of the rotating shaft 36 is connected to a second bearing box 70 mounted on the main frame 26 by a second bearing box 70.
Radial bearing 48.

On the other hand, at the outer end of the rotating shaft 36 thus supported,
The disc spring 49 is attached by caulking.
Accordingly, the rotor 34 is strongly urged in a direction in which the rotor 34 is pressed against the stator 33. In addition, between the rotor 34 and the disc spring 49, the rotor 34 is protected from scratches, and the rotor 34 is
A rubber sheet 44 is provided for preventing slippage of 36.

A rotating shaft 36 of the ultrasonic motor unit 31 has a first radial bearing 38 and a second radial bearing 38.
Transmission gear mechanism located in the middle of 48, for example, transmission gear train
50 drive gears 51 are fixed by means such as shrink fitting. The drive gear 51 meshes with the driven gear 52. Driven gear
52 is rotatably supported by a shaft 53 provided between the main frame 26 and the sub-frame 27. A washer 54 made of, for example, resin is interposed between the driven gear 52 and the subframe 27 so that the rotation is smooth. Further, between the driven gear 52 and the main frame 26, a sprocket 55 as a towing operation rotating body is supported so as to freely rotate with respect to the shaft 53,
The sprocket 55 is engaged with the driven gear 52 or is connected to the driven gear 52 by, for example, a screw (not shown) so as to rotate integrally.

Further, as shown in FIG. 4, a chain 56 is wound around the sprocket 55, and bending operation wires 58, 58 are connected to respective ends of the chain 56 via connecting pieces 57, 57. . Then, the chain 56 and the bending operation wires 58, 58
Constitutes a traction member. In addition, each bending operation wire 5
Reference numerals 8 and 58 are connected to the distal end of the bending portion 16 or the rear end of the distal end portion 15 through the insertion portion 12. When the sprocket 55 rotates, as described later, the bending operation wires 58, 58 are pushed and pulled in accordance with the rotating direction, and the bending portion 16 of the insertion section 12 is bent. As shown in FIG. 3, a partition plate 59 is provided between the transmission gear train 50 and the chain 56 to prevent the two from coming into contact with each other.

On the other hand, as shown in FIG.
Numeral 55 is arranged so as to be shifted in the longitudinal direction of the operation unit 13. The width a between the chains 56 corresponding to the outer diameter of the sprocket 55 is equal to the width of the second bearing box located within the width a.
It is larger than the outer diameter d of 70. Therefore, the second bearing box 70 is arranged between the chains 56 with a margin. Because of this, the second bearing box 70
Are not in contact with the chain 56.

FIG. 1 shows a configuration of a circuit for detecting and informing the vertical drive state of the bending portion of the endoscope bending section. Note that the configuration of a circuit that detects and notifies the bending driving state in the left-right direction is the same as that of the circuit, and a description thereof will be omitted.

The motor control unit 61, as shown in FIG.
The upward bending switch 21a, the downward bending switch 2
1b and a switch controller 67 having the free switch 64 connected to the input end, a power supply 102 for supplying drive power to the ultrasonic motor 32, a signal detector 104 for detecting the drive power, A 90-degree phase shifter 103 for controlling the phase of one drive power supplied to the ultrasonic motor. The power supply 102 is provided with a switch 121 for turning ON / OFF the driving power.The power supply via the switch 121 is connected to the electrode 100 provided on the piezoelectric body 35 of the ultrasonic motor 32 and the signal detection. It is connected to the first input terminal of the unit 104. Further, a power supply via the switch 121 is connected to a second input terminal of the signal detection unit 104 via a changeover switch 120 for controlling a rotation state and a free state of the ultrasonic motor 32, and has a 90-degree phase. It is connected to the input end of the device 103. The output terminal of the signal detection unit 104 is connected to the input terminal of the video signal processing unit 62, and the output terminal of the video signal processing unit 62 is connected to the input terminal of the monitor 63. The output terminal of the 90-degree phase shifter 103 is connected to an electrode 101 provided on the piezoelectric body 35 of the ultrasonic motor 32. The control terminal of the switch 121 is connected to a power control output terminal of the switch control unit 67, and the control terminal of the changeover switch 120 is connected to the drive control output terminal of the switch control unit 67. An upward control output terminal of the switch controller 67 is connected to an upward control terminal of the 90-degree phase shifter 103. The lower control terminal of the 90-degree phase shifter 103 is connected to the lower control output terminal of the switch controller 67.

FIG. 5 shows the configuration of a bending drive circuit for bending the endoscope bending section 16 in the vertical direction. Note that the circuit for driving to bend in the left-right direction has the same configuration, and a description thereof will be omitted.

An output terminal of the switch 21a that outputs a logic signal for bending the bending portion 16 upward is a first input terminal of the OR circuit 130, a first input terminal of the OR circuit 132, and a switch of the 90-degree phase shifter 103. It is connected to the upward control end. A switch 21b that outputs a logical signal for bending the bending portion 16 downward.
Is connected to a second input terminal of the OR circuit 130 and the OR circuit 132.
, And a lower control end of the 90-degree phase shifter 103. An output terminal of a switch 64 that outputs a logic signal for making the bending section 16 free is connected to an inverter 133.
Are connected to a third input terminal of the OR circuit 130 and to a circuit for controlling a left-right ultrasonic motor (not shown). The output terminal of the OR circuit 130 is connected to the control terminal of the switch 121 described above.
An output terminal of the OR circuit 132 is connected to a first input terminal of the AND circuit 131. An output terminal of the inverter 133 is connected to a second input terminal of the AND circuit 131. The output terminal of the AND circuit 131 is connected to the control terminal of the switch 120. The other connections are the same as those in FIG.

The operation of the thus configured electronic endoscope apparatus will be described. Although the present invention describes a case in which the bending section 16 is controlled to bend in the up-down direction, the operation of the circuit and the like in the case of controlling the bending in the left-right direction is also the same as in the present description, and thus will not be described.

The light of the illumination light bulb 66 is reflected by the reflector 65 as shown in FIG. 2 to become a light source, is applied to the incident end face of the light guide 23, is guided by the light guide 23, and forms The light is emitted to an object (not shown) from the exit end face of the light guide 23 disposed at 15. The image of the subject illuminated by the light source forms an image on a photoelectric conversion surface of an image sensor provided in the distal end component section 15 to become a photoelectric conversion signal. Is displayed on the monitor 63.

If the free switch 64 is not pressed,
The output of the free switch 64 shown in FIG. 5 is a logic signal "L". As a result, the output of the inverter 133 becomes the logic signal “H” and is applied to the second input terminal of the AND circuit 131. Therefore, the logic signal output by the AND circuit 131 is
Depends on the output signal of the OR circuit 132 connected to the input end,
The switch 120 is controlled by the output signal. That is, when the upward bending switch 21a or the downward bending switch 21b is pressed, the changeover switch 120 is turned ON.

Therefore, when the upward bending switch 21a is pressed and the output of the upward bending switch 21a becomes a logical signal “H”,
The output of the OR circuit 130 becomes a logic signal “H”, and the output of the OR circuit 132 becomes a logic signal “H”. The OR circuit 130
As a result, the switch 121 is turned on, and the drive voltage is
VoSin (ωt) is applied to the electrode 100. At the same time, as described above, the output of the AND circuit 131 becomes a logic signal “H”,
Since the changeover switch 120 is turned on, the drive voltage VoS
in (ωt) is applied to the 90-degree phase shifter 103 and the signal detection unit 104. Accordingly, the 90-degree phase shifter 103 receives the drive voltage VoSin (ωt) based on the logic signal “H” output from the upward bending switch 21a and input to the upward bending control terminal.
Is applied to the electrode 101 as a drive voltage VoSin (ωt + π / 2) by 90 degrees. That is, the drive voltage VoS is applied to the electrode 100 of the piezoelectric body 35 adhered to the stator 33 of the ultrasonic motor 32.
in (ωt) is applied, the driving voltage VoSin (ωt + π / 2) is applied to the electrode 101 of the piezoelectric body 35, and a traveling wave is generated in the stator 33. As a result, the rotor 34 rotates in a predetermined direction, the rotating shaft 36 fixed to the rotor 34 and the driving gear 51 fixed to the rotating shaft 36 are linked, and the sprocket 55 coupled to the driven gear 52 Rotates. As a result, the chain 56 wound around the sprocket 55 responds, and the curved wire 5 connected to the end of the chain 56 via the connecting piece 57 is formed.
One of 8,58 is pushed out and the other is retracted. Therefore, the bending portion 16 of the insertion portion 12 bends so that the distal end portion 15 faces upward.

When the downward bending switch 21b is pressed and the output of the downward bending switch 21b becomes a logical signal “H”, the output of the OR circuit 130 becomes a logical signal “H” and the OR circuit 132
Is a logic signal “H”. Thereby, the driving voltage VoSin (ωt) is applied to the electrode 100 from the power supply 102 in the same manner as in the case where the bending portion 16 is bent upward. At the same time, the drive voltage VoSin (ωt) is set to a 90-degree phase shifter 103 and a signal detection unit.
Applied to 104. Thereby, the 90-degree phase shifter 103 is connected to the downward bending switch 21 that is input to the downward bending control terminal.
b, the drive signal VoSin
By delaying the phase of (ωt) by 90 degrees, the driving voltage VoSin (ωt−π /
As 2), it is applied to the electrode 101. That is, the ultrasonic motor 32
The driving voltage VoSin (ωt) is applied to the electrode 100 of the piezoelectric body 35 attached to the stator 33 of the above, and the driving voltage VoSin (ωt−π / 2) is applied to the electrode 101 of the piezoelectric body 35. A traveling wave is generated in the stator 33. As a result, the rotor 34 rotates in the opposite direction to the case where the bending portion 16 is bent upward, and as described above, the chain 56 wound around the driven sprocket 55 responds, and the end of the chain 56 ends. One of the curved wires 58, 58 connected via a connecting piece 57 is pushed out and the other is pulled in. Therefore, the bending portion 16 of the insertion portion 12
Is curved so that the tip 15 is directed downward.

Further, the signal detection unit 104 detects that a traveling wave is generated in the ultrasonic motor 32 based on the drive voltage VoSin (ωt) applied to the first input terminal and the second input terminal, and outputs a detection signal. The signal is output to the video signal processing unit 62 shown in FIG. 1 through the M, for example, in the video signal, that a traveling wave is generated in the ultrasonic motor 32 in the video signal, The image signal such as a character indicating that the camera is performing a bending operation is synthesized and output, and displayed on the monitor 63.

Here, when the free switch 64 is pressed and the output of the free switch 64 becomes the logic signal “H”, the output of the inverter 133 becomes the logic signal “L” and is applied to the second input terminal of the AND circuit 131. Thus, the output signal of the AND circuit 131 becomes a logic signal “L” even if the output of the OR circuit 132 connected to the first input terminal is a logic signal “H”. That is, even if the upward bending switch 21a and the downward bending switch 21b are pressed, the changeover switch 120 is not turned on. Therefore, no drive voltage is applied to the 90-degree phase shifter 103 and the signal detection unit 104. However, the output of the OR circuit 130 is such that the output of the free switch 64 connected to the third input terminal is the logic signal “H”.
Therefore, the logic signal becomes “H”, the switch 121 is turned on, and the driving voltage VoSin (ωt) is applied to the electrode 100 from the power supply 102. That is, the drive voltage VoSin (ωt) is applied to the electrode 100 of the piezoelectric body 35 adhered to the stator 33 of the ultrasonic motor 32, the drive voltage is not applied to the electrode 101 of the piezoelectric body 35, 33 has a standing wave. As a result, the rotor 34 enters a free state, and the bending portion 16 of the insertion portion 12
It bends freely due to the external force applied to the tip portion 15.

Further, the signal detection unit 104 detects that a standing wave is generated in the ultrasonic motor 32 based on the drive voltage VoSin (ωt) applied to the first input terminal and the non-signal state of the second input terminal. The detection signal is output to the video signal processing unit 62 shown in FIG. 1 through the output terminal M. In the video signal processing unit 62, for example, a standing wave is generated in the ultrasonic motor 32 in a video signal. That is, an image signal such as a character indicating that the curved portion is in a free state is synthesized and output, and is displayed on the monitor 63.

Further, when the upward bending switch 21a, the downward bending switch 21b, and the free switch 64 are not pressed, that is, when the switch 121 and the changeover switch 120 are OFF, the piezoelectric body adhered to the stator 33 of the ultrasonic motor 32. No drive voltage is applied to the 35 electrodes 100 and the electrodes 101. As a result, the rotor 34 enters a locked state in which it does not easily rotate,
The bending portion 16 of the insertion portion 12 does not easily bend even by an external force applied to the distal end portion 15.

By the above-described operation, the signal detection unit 104 constantly monitors the drive voltage supplied to the ultrasonic motor 32, and a traveling wave or a standing wave is generated in the stator 33 of the ultrasonic motor 32, that is, By displaying the rotation state or the free state on the monitor 63, the operator can be notified and the operator can recognize the state.

FIG. 6 is a block diagram showing a configuration of a circuit for detecting and informing a vertical driving state of an endoscope bending section according to a second embodiment of the present invention. Note that the configuration of a circuit that detects and notifies the bending driving state in the left-right direction is the same as that of the circuit, and a description thereof will be omitted. The configuration of the endoscope apparatus is the second
The same reference numerals are used for circuits and the like that are the same as those in the drawing and perform the same configuration or operation as in the first embodiment.

As shown in FIG. 6, the motor control unit 61 includes a switch controller 67 having the upward bending switch 21a, the downward bending switch 21b, and the free switch 64 connected to an input terminal, A power supply 102 for supplying drive power to the ultrasonic motor 32, a signal detecting unit 104 for supplying the drive power, and a 90 degree for controlling the phase of one drive power supplied to the ultrasonic motor And a phase shifter 103. The power supply 102 has a drive power ON / OF.
A switch 121 is provided for switching the power, and a power supply via the switch 121 is connected to the electrode 100 provided on the piezoelectric body 35 of the ultrasonic motor 32 and the first input terminal of the signal detection unit 104. You. Further, the power supply via the switch 121 is
The second detection of the signal detection unit 104 via the ON contact of the changeover switch 105 for controlling the rotation state and the free state of the ultrasonic motor.
The input terminal and the input terminal of the 90-degree phase shifter 103 are connected. The output terminal of the signal detection unit 104 is a sound generation unit 1.
06 is connected to the input terminal, and the output terminal of the sound generation unit 106 is connected to the speaker 107. The output terminal of the 90-degree phase shifter 103 and the OFF contact of the switch 105 are
The ultrasonic motor 32 is connected to an electrode 101 provided on a piezoelectric body 35. The control terminal of the switch 121 is connected to the power control output terminal of the switch control unit 67, and the control terminal of the changeover switch 105 is connected to the drive control output terminal of the switch control unit 67. An upward control output terminal of the switch controller 67 is connected to an upward control terminal of the 90-degree phase shifter 103. The lower control terminal of the 90-degree phase shifter 103 is connected to the lower control output terminal of the switch controller 67.

The operation of the circuit that detects and notifies the driving state of the bending portion of the endoscope in the vertical direction will be described.

As in the first embodiment, when the upward bending switch 21a is pressed, the switch control unit 67 switches the switch 121 and the switch
And 105 are turned on. Further, the switch control circuit 67 converts the drive voltage applied to the 90-degree phase shifter 103 into
The 90-degree phase shifter 103 is controlled so as to advance the phase by 90 degrees and ignite the electrode 101 as in the first embodiment.

Further, similarly to the first embodiment, when the downward bending switch 21b is pressed, the switch control unit 67 controls the switches 121 and 105 to be turned on. Further, the switch control circuit 67 delays the drive voltage applied to the 90-degree phase shifter 103 by 90 degrees in the same manner as in the first embodiment, and
The 90-degree phase shifter 103 is controlled so that

Here, when the free switch 64 is pressed, the switch control section 67 controls the switch 121 to be ON and the changeover switch 105 to be OFF as in the first embodiment.
Thereby, the drive voltage Vo via the switch 121 of the power supply 102
Sin (ωt) is applied to the electrode 100 and the switch
The voltage is also applied to the electrode 101 via the OFF contact 105. As a result, a standing wave is generated in the stator 33, and the ultrasonic motor 32
Becomes free as in the first embodiment. Also electrodes
By applying the same drive voltage to the electrode 100 and the electrode 101, the standing wave generated in the stator 33 becomes larger than that in the first embodiment, and a smaller external force applied to the distal end portion 15 of the insertion portion 12 causes the bending portion to be bent. 16 responds freely.

The signal detection unit 104 detects that a driving voltage is being supplied to the piezoelectric body 35 so that a standing wave is generated in the stator 33, as in the first embodiment. Output to 106. Thereby, the sound generation unit 1
In step 06, the speaker 107 notifies by voice that the standing wave is generated in the ultrasonic motor 32, that is, the bending section 16 is in the free state.

In the present embodiment, the surgeon can recognize that the bending portion 16 is in the free state by being notified by voice even if he does not always monitor the monitor.

7 and 8 relate to a third embodiment of the present invention.
FIG. 8 is a block diagram showing a configuration of a fiberscope, and FIG. 8 is a block diagram showing a configuration of a circuit for detecting and notifying a driving state of the bending portion of the endoscope in a vertical direction. Note that the configuration of a circuit that detects and notifies the bending driving state in the left-right direction is the same as that of the circuit, and a description thereof will be omitted. Also, the same reference numerals are used for the same members or circuits that perform the same operations as in the first embodiment.

In this embodiment, the present invention is applied to an endoscope 11 using an image guide fiber.
Is provided with an objective lens (not shown) at the distal end component 15,
At the image forming position of the objective lens, an incident end face of an image guide fiber provided in the insertion section 12 and the operation section 13 is provided. Further, an eyepiece 108 is provided at the rear end of the operation unit 13, and an output end face of the image guide fiber is provided so as to face an eyepiece (not shown) provided in the eyepiece 108. An image of a subject in a body cavity or the like is observed with the naked eye using an eyepiece.

Further, the operation unit 13 is provided with a free switch 64 provided in the light source device 60 in the first embodiment. Further, the operator is notified that a standing wave is generated in an ultrasonic motor described later. The vibrator 112 attached to the vibrating part of the bimorph 114 protrudes from the exterior of the operation unit 13.

The light source unit 10 that supplies a light source to the endoscope 11 and the motor control unit 61 that controls the driving of the ultrasonic motor provided in the operation unit are connected by a cable 111 provided with connectors 109 and 110 at the ends, The endoscope 11 is connected to the endoscope 11 by a connector 22 of the endoscope 11 connected to the light source unit 10.

In this embodiment, means for controlling the ultrasonic motor 32 and detecting that a standing wave is generated in the ultrasonic motor are the same as those in the first embodiment, and are provided on the piezoelectric body 35 of the ultrasonic motor 32. The driving voltage applied to the electrodes 100 and 101 is detected by the signal detection unit 104, and the bimorph driving unit 113 is controlled by the detection signal. The bimorph drive unit 113 controls the bimorph 11 when a standing wave is generated in the ultrasonic motor, that is, when the bending portion 16 is in a free state.
4 is driven to vibrate, whereby the vibrating body 112 vibrates. This vibration allows the operator to recognize that the bending portion is in a free state.

In the present embodiment, the surgeon is notified by the vibration that the bending portion 16 is in the free state, so that the surgeon can recognize the bodily sensation.

In each of the embodiments, the means for detecting the drive voltage applied to the ultrasonic motor has been described. However, means for detecting the drive current flowing into the ultrasonic motor may be used.

Further, the means for notifying may be a combination of the above-described embodiments, or a display unit such as an LED may be provided on the operation unit, for example.

In an endoscope having an eyepiece, a display means such as an LED may be provided in the eyepiece, and a signal detection unit may be provided in the operation unit.

Further, the present invention can be applied not only to a traveling wave type ultrasonic motor but also to a composite transducer ultrasonic motor.

[Effects of the Invention] As described above, according to the present invention, an ultrasonic motor is used as a drive source for bending a bending portion of an endoscope, a traveling wave is generated, and the bending portion is rotationally driven to be stationary. In an endoscope apparatus that generates a wave to make a bending portion freely rotatable, the drive state of the bending ultrasonic motor of the endoscope is detected and notified, so that the endoscope is used. The operating state of the ultrasonic motor for bending can be recognized by the surgeon, and the surgeon can always grasp the driving state and perform the smooth operation.

[Brief description of the drawings]

1 to 5 relate to a first embodiment of the present invention. FIG. 1 is a block diagram showing a configuration of a circuit for detecting and informing a driving state of an endoscope bending section, and FIG. 2 is an electronic endoscope. FIG. 3 is a sectional view of a main part of an ultrasonic motor, FIG. 4 is an explanatory diagram of a bending portion driving mechanism, FIG. 5 is a configuration diagram of a bending driving circuit of an endoscope bending portion, FIG. The figure relates to a second embodiment of the present invention,
FIG. 7 is a block diagram showing a configuration of a circuit for detecting and notifying a driving state of an endoscope bending portion in a vertical direction. FIGS. 7 and 8 relate to a third embodiment of the present invention, and FIG. FIG. 8 is a block diagram showing a configuration of a circuit for detecting and informing a vertical driving state of the bending portion of the endoscope. 32 ... Ultrasonic motor 62 ... Video signal processing unit 63 ... Monitor, 104 ... Signal detector

Claims (1)

(57) [Claims] 1. An ultrasonic motor which is driven to rotate when a traveling wave is generated and is free to rotate when a standing wave is generated. In the endoscope apparatus, means for detecting that a traveling wave or a standing wave is generated in the ultrasonic motor; and, in accordance with an output result of the detection means, whether the bending section of the endoscope is performing a bending operation. Or a means for notifying whether or not it is in a freely curved state.