JP2710419B2 - 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 an 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, for example, a motor provided in an operation unit as the bending operation means.

However, when the bending operation of the insertion section is motorized in this manner, the bending state of the insertion section and the magnitude of the load at that time during the bending operation cannot be easily recognized as a hand feeling. For this reason, the insertion portion is bent more than necessary in a body cavity or the like,
There has been a problem that the distal end of the insertion portion comes into strong contact with the body cavity wall and the like, and in the worst case, the body cavity wall and the like may be damaged.

Therefore, Japanese Utility Model Publication No. Sho 57-24330 discloses a pressure display device in which a pressure detecting element is provided at the distal end side of the insertion portion of an endoscope to detect a contact pressure and to strongly contact a body cavity wall or the like by the contact pressure. For example, means for notifying an operator by lighting of an LED or the like or an alarm sound provided in the system has been proposed.

Japanese Patent Application Laid-Open No. 63-95026 proposes a means for displaying a simulated image of the insertion section on a monitor screen of an electronic endoscope apparatus and notifying an operator of the state of the insertion section.

[Problems to be Solved by the Invention] However, for example, when an LED or the like is lit, there is a risk that the operator may overlook the alarm, and there is a problem that the alarm sound is erroneously recognized as an alarm sound of another device.

Further, when a simulated image is displayed on the monitor screen, there is a problem that another screen cannot be displayed due to the simulated image or the display of the other screen becomes small.

The present invention has been made in view of the above points, and has a configuration in which an insertion portion is bent in a body cavity or the like, and when the tip of the insertion portion makes strong contact with a body cavity wall or the like, the endoscope operator is notified of the situation without fail. It is an object of the present invention to provide an endoscope device that can perform the operation.

[Means for Solving the Problems] According to the present invention, in an endoscope that performs bending operation of a bending portion by a driving force of a motor, a detection device that detects a bending resistance of the bending portion is provided, and a detection signal of the detection device is vibrated. Is provided in the bending switch, and the amplitude of the vibration is changed according to the bending resistance.

[Operation] With the above-described configuration, when the insertion portion is bent in the body cavity and the tip of the insertion portion comes into contact with a body cavity wall or the like, the detection means detects the bending resistance of the bending portion, and the detection signal of the detection means vibrates. To announce. In this case,
By changing the amplitude of the vibration according to the bending resistance, the endoscope operator can recognize the state of the distal end of the insertion section.

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

1 and 2 relate to a first embodiment of the present invention. FIG. 1 is a configuration diagram of an endoscope apparatus, and FIG. 2 is an explanatory view of means for informing a bending resistance.

In the electronic endoscope device, as shown in FIG. 1, for example, an endoscope 1 formed to be elongated so as to be inserted into a body cavity, and a universal cord 4 of the endoscope 1 are connected by a connector 5. The light source device 6 includes a light source device 6 provided with a video processor 18 to be described later, and a monitor 7 that projects a subject such as a body cavity part based on an output signal of the video processor 18.

The endoscope 1 includes an elongated insertion portion 2, a large-diameter operation portion 3 continuously provided at a rear end of the insertion portion, and a universal cord 4 extended to the side of the operation portion 3. And a connector 5 provided at an end of the universal cord 4. The insertion section 2 includes a pressure detecting element 11 that detects a contact pressure, a light emitting end face of a light guide (not shown), and a distal end forming section 8 in which an imaging element that captures an image of a subject is disposed.
It is composed of a bending portion 9 which can be bent up and down / left and right, which is connected to the rear end of the distal end portion 8, and a flexible tube portion 10 which is connected to the rear end of the bending portion 9. ing.

A motor (not shown) for bending and driving the bending section 9 is provided in the operation section 3, and an air / water switch 12;
A suction switch 13 and a bending switch 14 that outputs a control signal for controlling the motor and that includes a bimorph described below are provided.

The light guide is provided in the insertion section 2, the operation section 3, and the universal cord 4, and an incident end face protrudes from the connector 5.

The light source device 6 includes a light source unit (not shown) which is provided in the endoscope 1 and supplies illumination light to a light guide (not shown) projecting from the connector 5. , A bending resistance detection circuit 16 that processes a pressure signal from the pressure detection element 11, and a bending switch 14.
Drive circuit for driving the bimorph installed inside
And a video processor 18 for converting an image pickup signal from the image pickup device provided in the distal end component 8 and performing various signal processings and outputting the image signal to the monitor 7 as a video signal.

As shown in FIG. 2, the bending switch 14 has a substantially circular concave portion formed in the operation portion 3 and a comb-shaped electrode formed at the bottom of the concave portion at 90 ° intervals on the same circumference. 20 is fixed by bonding or the like, a conductive rubber 21 is disposed on the substrate 20, and a pad 27 described later is fixed on the conductive rubber 21 by a fixing bolt 24 disposed on the pad 27. The nut 25 and the conductive rubber 21 are fixed to the operation unit 3 by a force that does not make the conductive state.

The pad 27 has a substantially disk-shaped lower pad 23 located on the concave side and an upper pad located on the exterior side of the operation unit 3.
It consists of 26.

The above-described fixing bolt 24 is disposed substantially at the center of the lower pad 23, and the protrusions 22 are provided at 90-degree intervals on the side of the conductive rubber 21 at positions on the above-mentioned comb-shaped electrodes.

The upper pad 26 has a space between the upper pad 26 and the lower pad 27, and a hole 32 is formed in a portion of the upper pad 26 located on the exterior side of the operation unit 3. A rubber cover 34 is sealed on the outer side of the third. Further, in a space between the pad 26 and the above-mentioned lower pad 27, a bimorph 28 described below, whose one end is embedded in a side surface of the pad 26, is provided.

The bimorph 28 has a piezoelectric body 29 adhered to both sides of a substantially plate-shaped elastic plate 30, one end of the elastic plate 30 is embedded in the pad 26, and the other end of the elastic plate 30 is pin-inserted into the hole 32. 31 is erected, and the other end vibrates as shown by the arrow with one end embedded in the pad 26 as a fulcrum.

The upper pad 26 of the pad 27 and the exterior of the operation unit 3 are bridged by a rubber cover 33.

The bending switch 14 and the operation unit 3 are made watertight by the rubber cover 33 and the rubber cover 34.

The operation of the electronic endoscope thus configured will be described.

In the electronic endoscope device, as shown in FIG. 1, by connecting the endoscope 1 to the light source device 6 with the connector 5, the light source unit (not shown) faces the incident end face of the light guide (not shown), The bending motor drive circuit 15, the bending resistance detection circuit 16, the bimorph drive circuit 17, and the video processor 18 are connected to the endoscope 1.

Further, by turning on the power to the light source device 6, irradiation light from the light source unit is supplied to the incident end face of the light guide, and this illumination light is guided through the light guide, and is emitted from the emission end face of the distal end portion 8. It is applied to the body cavity. The image of the subject irradiated with the illumination light is formed on a photoelectric conversion surface of a solid-state imaging device (not shown) by an objective lens (not shown) provided at the distal end portion 8, becomes a photoelectric conversion signal, and is input to the video processor 18, The video signal is converted by the video processor 18 and various kinds of signal processing are performed on the monitor 7.

When the bending portion 9 is to be bent, the upper pad 26 of the bending switch 14 is pressed in a predetermined direction by the abdomen of the finger 35 as shown in FIG. Press 21. As a result, the resistance of the conductive rubber 21 changes in response to the pressing, and the change in the resistance is transmitted to the bending motor drive circuit 15 via the comb-shaped electrodes formed on the substrate 20. The bending motor drive circuit 15 determines a bending direction of the bending portion 9 by a comb-shaped electrode having a changed resistance value, and determines a driving speed by a resistance value, and drives a bending motor (not shown). By the operation of the bending motor, the bending section 9 bends in a predetermined direction, and turns the tip 8 in a predetermined direction.

Here, when the distal end portion 8 comes into contact with a test portion such as a body cavity wall, the pressure detection element 11 outputs the contact pressure to the bending resistance detection circuit 16 as an electric signal such as a change in resistance value or an electromotive force. The bending resistance detection circuit 16 outputs a control signal to the bimorph drive circuit 17 when it determines that the electric signal is equal to or higher than a predetermined contact pressure, for example, a contact pressure arbitrarily set by the operator, based on the electric signal. With this control signal,
The eye morph drive circuit 17 outputs a drive signal to the bimorph. With this drive signal, the bimorph 28
Vibration occurs with one end embedded in 26 as a fulcrum, and the pin 31 responds to the vibration and stimulates the abdomen of the operator's finger 35 via the rubber cover 34.

By the above-described operation, when the distal end portion 8 of the endoscope 1 comes into contact with a test portion such as a body cavity wall and the contact pressure becomes a predetermined value or more, the operator operates the bending switch 14 to change the situation. There is an effect that it can be recognized.

FIG. 3 is an explanatory view of means for informing bending resistance according to the second embodiment of the present invention. Note that the electronic endoscope apparatus according to the present embodiment is the same as that of the first embodiment, and the members and the like having the same configuration or operation as those of the first embodiment are denoted by the same reference numerals and description thereof is omitted.

As shown in FIG. 3, the lower pad 41 of the bending switch 14 in this embodiment is formed in a substantially disk shape.
The protrusion 22 is provided on the conductive rubber 21 side.
Further, the lower pad 41 is formed with a rod-like projection 42 at a substantially center so as to project on a surface in the same direction as the projection 22. By changing the diameter and length of the rod-shaped projection 42, the stroke (inclination at the time of pressing) of the bending switch 14 can be changed. Further, the fixing bolt 40 is formed so as to have a concave portion so that the upper portion is engaged with the rod-shaped protrusion 42, and is disposed substantially at the center of the substrate 20.

Further, the rubber cover 43 is attached to the upper pad 26, the lower pad 41, the conductive rubber 21 and the substrate 20 described above,
Is formed so as to be folded back to the side opposite to the conductive rubber 21 on the outer periphery of.

The bending switch 14 configured as described above includes a fixing bolt
The operation part 3 is fixed to the recess of the operation part 3 by the nut 40 and the nut 25. Further, the rubber cover 43 is also fixed by being sandwiched between the substrate 20 and the exterior of the operation unit 3.

The end of the rubber cover 43 is connected to the conductive rubber on the outer periphery of the substrate 20.
After fixing to the opposite side from 21 by gluing etc., fix the fixing bolt 40
And the nut 25 may be fixed to the recess of the operation unit 3.

The operation of this embodiment is the same as that of the first embodiment, and the upper pad 26, the lower pad 41, the conductive rubber 21
By integrally forming the substrate 20 and the rubber cover 43, the rubber cover 43 acts as a packing between the bending switch 14 and the operation unit 3, and has an effect of improving watertightness.

 Other effects are similar to those of the first embodiment.

FIG. 4 is a configuration diagram of an electronic endoscope apparatus according to a third embodiment of the present invention. Note that members having the same configuration or operation as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

The light source device 50 in the present embodiment has a configuration in which a curved remote controller 51 can be connected to the light source device 6 in the first embodiment.

The bending remote controller 51 is provided with the above-described bending switch 14, a connection cord 52 is extended, and a connector 53 is provided at an end of the connection cord 52.

The curved remote controller 51 is connected to a light source device 50 by a connector 53.
To the bending motor drive circuit 15 and the bimorph drive circuit 17 provided in the light source device 50.

The bending switch 14 provided on the bending remote controller 51
May be the one described in the second embodiment.

The operation of this embodiment is the same as that of the above-described embodiment.

That is, when the distal end portion 8 of the endoscope 1 comes into contact with a portion to be examined such as a body cavity wall and the contact pressure becomes equal to or higher than a predetermined value, the operator can also use the bending switch 14 provided on the bending remote controller. The effect is that the situation can be recognized.

 Other effects are similar to those of the above-described embodiment.

5 to 7 relate to a fourth embodiment of the present invention, FIG. 5 is a configuration diagram of an endoscope apparatus, FIG. 6 is an explanatory view of a means for detecting a bending resistance, and FIG. 7 is a bending resistance. FIG. 4 is an explanatory diagram of means for notifying the user. Note that members having the same configuration or operation as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 5, the endoscope device includes, for example, an endoscope 60 which is an elongated fiberscope which can be inserted into a body cavity, and a universal cord 64 of the endoscope 60.
A light source device 66 described below, which is connected by the connector 63,
A bending motor drive device 68 described later connected by a connection cable 67 extended to the connector 65 is provided.

The endoscope 60 includes an elongated insertion section 61, a large-diameter operation section 3 connected to the rear end of the insertion section 61, and an eyepiece section 63 provided at the rear end of the operation section 3. A universal cord 64 extending to the side of the operation unit 3, a connector 65 provided at an end of the universal cord 64,
And a connection cable 67 extending to the side of.

The insertion portion 61 has a distal end portion 62 on which the light emitting end surface of the light guide described above and an incident end surface of the image guide, which will be described later, and a curved portion 9 connected to the rear end of the distal end portion, A flexible tube portion 10 is provided at the rear end of the curved portion 9.

The light guide is provided inside the insertion portion 61, the operation portion 3, and the universal cord 64, and the incident end face protrudes from the connector 65.

The image guide is provided in the insertion section 61 and the operation section 3, and the emission end face faces an eyepiece lens (not shown) provided in the eyepiece section 63.

The light source device 66 includes a light source unit (not shown) that is provided in the endoscope 60 and supplies illumination light to a light guide (not shown) protruding from the connector 65, a bending resistance detection circuit 16, A stacked actuator driving circuit 69 for driving the stacked actuator provided in the switch 14 is provided.

The bending motor driving device 68 is provided with a bending motor driving circuit that drives the bending motor in accordance with a control signal of the bending switch 14.

As shown in FIG. 6, the bending portion 9 has a bending wire 72 fixed to a pulley 71 fitted and fixed to a shaft of a motor 70.
By pushing and pulling, it bends up / down / left / right.

For example, near the pulley 71 of the bending wire 72, a stress detection element 73 for detecting the stress of the bending wire 72 is provided, and a signal end of the stress detection element 73 is connected to a bending resistance detection circuit.
Connected to 16.

As shown in FIG. 7, the lower pad 80 of the bending switch 14 in this embodiment is formed in a substantially disk shape.
The protrusion 22 is provided on the conductive rubber 21 side.
Further, on the lower pad 80, a rod-shaped protrusion 42 is formed substantially at the center so as to protrude on a surface in the same direction as the protrusion 22.
One end of 82 is fixed by, for example, an adhesive, and a support portion 83 is formed near the laminated actuator 82 of the lower pad 80.

Further, the upper pad 81 has a space between the upper pad 81 and the lower pad 80, and a hole 32 is formed in a portion of the upper pad 81 located on the exterior side of the operation unit 13, and further supports the lower pad 80. A support portion 84 is formed to face the portion 83.

One end of the elastic plate 30 is fixed to the other end of the stacked actuator 82 by, for example, adhesive, and a pin is attached to the other end of the elastic plate 30.
31 are erected.

Further, the rubber cover 43 is attached to the upper pad 81, the lower pad 80, the conductive rubber 21 and the substrate 20 described above,
Is formed so as to be folded back to the side opposite to the conductive rubber 21 on the outer periphery of.

The bending switch 14 configured as described above includes a fixing bolt
The operation part 3 is fixed to the recess of the operation part 3 by the nut 40 and the nut 25. Further, the rubber cover 43 is also fixed by being sandwiched between the substrate 20 and the exterior of the operation unit 3.

The operation of the thus configured endoscope apparatus will be described.

The illuminating light from the light source unit is guided by the light guide, and is radiated from the emission end face of the distal end portion 62 to a body cavity or the like. The image of the subject irradiated with this illumination light is
An image is formed on the incident end face of the image guide by an objective lens (not shown) provided at the distal end portion 62, the image guide is guided, and the eyepiece 63 is disposed to face the emission end face of the image guide. It is observed with the naked eye or the like by an eyepiece (not shown).

When the bending section 9 is to be bent, by operating the bending switch 14, drive power is supplied from the bending motor driving device to the motor 70 shown in FIG. 6, and the motor 70 rotates. The pulley 71 rotates in response to the rotation of the motor 70, and pushes and pulls the bending wire 72 fixed to the pulley 70 to cause the bending portion 9 to bend vertically and horizontally. The bending wire 73 generates an electric signal such as a change in resistance value or an electromotive force and is input to the bending resistance detection circuit 16.

Here, when the distal end portion 62 comes into contact with the body cavity wall or the like, the stress applied to the bending wire 72, that is, the bending resistance increases, and the bending resistance detection circuit 16 performs a predetermined bending resistance, for example, a bending arbitrarily set by the operator. When it is determined that the bending resistance is equal to or larger than the resistance, a control signal is output to the laminated actuator driving circuit 69 shown in FIG. With this control signal, the stacked actuator drive circuit 69 outputs a drive signal to the stacked actuator 82. With this drive signal, the stacked actuator 82 vibrates, the pin 31 responds to the vibration by the elastic plate 30 supported by the support portions 83 and 84, and stimulates the abdomen of the operator's finger via the rubber cover 43. .

In the present embodiment, there is an effect that the present invention can be applied to an endoscope in which it is difficult to dispose a pressure detecting element at the distal end portion 62.

 Other effects are similar to those of the above-described embodiment.

FIG. 8 is an explanatory view of means for informing the bending resistance according to the fifth embodiment of the present invention. Note that members having the same configuration or operation as those of the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 8, the lower pad 90 of the bending switch 14 in this embodiment is formed in a substantially disk shape.
The protrusion 22 is provided on the conductive rubber 21 side.
Further, on the lower pad 90, a rod-shaped protrusion 42 is formed substantially at the center so as to protrude in a surface in the same direction as the protrusion 22. One end is provided.

The upper pad 91 has a space between the upper pad 91 and the lower pad 90, and a hole 32 is formed in a portion of the upper pad 90 which is located on the exterior side of the operation unit 13 and faces the laminated actuator 82.
Are drilled.

One end of the pin 31 is fixed to the other end of the laminated actuator 82 by, for example, bonding.

Further, the rubber cover 43 is attached to the upper pad 81, the lower pad 80, the conductive rubber 21 and the substrate 20 described above,
Is formed so as to be folded back to the side opposite to the conductive rubber 21 on the outer periphery of.

The upper pad 91 and the lower pad 90 may be formed as a single pad, a recess may be formed in the pad, and the stacked actuator 82 may be provided in the recess.

In this embodiment, there is an effect that the vibration of the stacked actuator 82 can be directly stimulated on the abdomen of the operator's finger via the rubber cover 43.

 Other effects are similar to those of the above-described embodiment.

The shape of the curved switch is not limited to a circle, but may be a cross, a polygon, or the like.

Further, the means for stimulating the operator by vibration may change the amplitude of the vibration according to the contact pressure or the bending resistance.

When the pressure detecting element is used as a means for detecting the bending resistance, the pressure detecting element may be used as one of the members forming the endoscope distal end portion, and the pressure detecting element may be used as an endoscope. It may be provided on the entire circumference of the outer periphery of the tip component.

In the case of an ultrasonic motor, the means for detecting the bending resistance may be a means for detecting the phase difference between the voltage and the current of the driving power.

Further, the means for detecting the bending resistance may be a means for providing, for example, a photoreflector on a pulley or the like, and comparing and detecting the driving power and the amount of rotation of the pulley by arithmetic processing.

The notification means may be used in combination with an external display device or an alarm device.

[Effects of the Invention] As described above, according to the present invention, the operator of the endoscope can reliably recognize that the distal end of the endoscope has come into contact with a subject to be examined, such as a body cavity wall, and can safely operate the endoscope. There is an effect that observation, inspection, and the like can be performed.

[Brief description of the drawings]

1 and 2 relate to a first embodiment of the present invention.
FIG. 2 is a diagram showing the configuration of the endoscope apparatus, FIG. 2 is an explanatory diagram of a means for informing bending resistance, FIG. 3 is a diagram relating to a second embodiment of the present invention, and FIG. The figure shows the third embodiment of the present invention.
5 to 7 relate to a fourth embodiment of the present invention, FIG. 5 is a structural view of the endoscope apparatus, and FIG. 6 is a bending resistance. FIG. 7 is an explanatory view of a means for notifying the bending resistance, and FIG. 8 is an explanatory view of a means for notifying the bending resistance according to the fifth embodiment of the present invention. 1 ... Endoscope, 11 ... Pressure detecting element 14 ... Bending switch 16 ... Bending resistance detecting circuit 17 ... Bimorph drive circuit

Claims (1)

(57) [Claims] 1. An endoscope for bending a bending portion by a driving force of a motor, comprising: detecting means for detecting a bending resistance of the bending portion; and a bending switch for notifying a detection signal of the detecting means by vibration. An endoscope apparatus, wherein the vibration amplitude is changed according to the bending resistance.