JP2761246B2 - Endoscope device - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope apparatus having driving means for bending a bending portion of an endoscope by 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.

2. Description of the Related Art In recent years, endoscopes using a motor as a drive unit of a bending operation for bending a bending portion provided in an insertion portion of the endoscope up / down / left / right have been proposed. However, when the bending operation of the insertion section is electrified in this way, 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, there is a problem in that the insertion portion is bent more than necessary in the body cavity or the like, and the tip of the insertion portion strongly contacts the body cavity wall or the like, and in the worst case, the body cavity wall or the like is damaged.

As means for solving such problems, for example, there is a prior art proposed in Japanese Patent Application Laid-Open No. 61-87530.

[Problems to be Solved by the Invention] However, in the endoscope device using the above-described prior art, the bending is stopped in the body cavity or the like, and the bending is stopped when the distal end portion of the insertion portion strongly contacts the body cavity wall or the like. However, there still remains a problem that the danger of damaging the body cavity wall or the like cannot be avoided.

The present invention has been made in view of the above points, the insertion portion is bent in the body cavity or the like, and when the distal end portion of the insertion portion comes into strong contact with the body cavity wall or the like, there is no risk of damaging the body cavity wall or the like, It is an object of the present invention to provide an endoscope apparatus capable of performing a safe diagnosis and inspection.

Means for Solving the Problems According to the present invention, in an endoscope apparatus having a driving unit that bends a bending portion of an endoscope by a motor according to a bending operation unit, the bending unit bends the bending unit. First control means for controlling the driving means;
A bending fixing means for fixing a bending state of the control means, a means for detecting a bending resistance received from a test portion or the like, and the driving means for reducing the bending resistance when the bending resistance exceeds a predetermined value. And control means for selectively controlling the bending fixing means in preference to the second control means.

[Operation] With the configuration described above, the bending fixing means can be selectively controlled by giving priority to the second control means, and the bending fixing operation can be prioritized. In a state in which the bending fixing means does not act, by the second control means, the insertion portion is bent in a body cavity or the like, and when the tip of the insertion portion strongly contacts the body cavity wall or the like,
The bending portion is reverse-bent so that the distal end of the insertion portion does not strongly contact the body cavity wall, or the bending force is in a free state so as to release the bending state of the bending portion.

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

FIGS. 1A and 2 to 4 relate to a first embodiment of the present invention. FIG. 1A shows a block diagram showing an endoscope apparatus, and FIG. 2 shows a configuration of a bending switch control circuit. , Third
FIG. 4 shows the configuration of the contact pressure detection circuit, and FIG. 4 shows the configuration of the ultrasonic motor control circuit.

As shown in FIG. 1A, the endoscope 1 is detachably connected to a universal control device (hereinafter referred to as UCA) 2 via a connector 3.

The endoscope 1 includes an elongated, for example, flexible insertion portion 4 inserted into a body cavity or the like, a large-diameter grip portion 5 connected to a rear end of the insertion portion 4, and a grip portion. 5, a flexible universal cable 6 extending laterally from the rear end
And the connector 3 provided at the distal end of the universal cable 6. The insertion portion 4 has a rigid distal end portion 7 and a flexible bendable portion 8 provided on the rear side adjacent to the distal end portion 7. And a flexible tube portion 9.

An objective lens 32 is provided at the distal end portion 7, and a solid-state image sensor 33 is provided at an image forming position of the objective lens 32. A subject is imaged on the imaging surface of the solid-state imaging device 33 and is converted into an image signal. A signal line (not shown) is connected to the solid-state imaging device 33. The signal line is inserted through the universal cable 6 so that the image signal of the subject is transmitted to the video processor 24 in the UCA 2 via the connector 3. Has become. Further, the tip 7 has a contact pressure sensor 41 that bends the bending portion 8 upward to detect a contact pressure when the tip 7 comes into contact with a body cavity or the like.
Similarly, a contact pressure sensor 42 for detecting a downward contact pressure and a contact pressure sensor for detecting a leftward and rightward contact pressure (both not shown) are attached. Contact pressure sensor
Signal lines (not shown) are connected to 40 and 41,
These signal lines pass through the universal cable 6 and transmit each contact pressure detection signal to the contact pressure detection circuit 26 in the UCA 2 via the connector 3.

Also, a vertical bending wire 10 is provided in the grip 5.
Ultrasonic motor (hereinafter referred to as USM) 12 as a motor for pulling through a reduction gear 11 and a bending wire 1 in the left-right direction
And a USM 15 for pulling the 3 through a reduction gear 14. On the surface of the gripper 5, an air supply / water supply button, a suction button, a CO ₂ gas supply button, a forceps raising mechanism, a video processor Freeze, release and VTR start switches for control and bending switch 16 for bending direction control
And the free / lock switch (F / L
Switch 42) is provided. In addition, F / L
The switch 42 includes a switch 43 and a resistor 44 as shown in FIG.
Can be equivalently represented by a combination of

The endoscope 1 also includes a light guide fiber (not shown), an air supply / water supply tube, a treatment instrument insertion channel, and the like.

The UCA 2 also includes a lamp 17 for supplying illumination light to the endoscope 1, an air supply pump 18 for supplying air, a water supply tank 19 for storing water for water supply, and a water supply tank 19 for supplying water. A water supply pump 20, a bending switch control circuit 21 for controlling the bending switch 16, a USM control circuit 22, 23 for controlling the USM 12, 15, and an image signal obtained by the endoscope. A video processor 24 that performs signal processing, a bending angle detection circuit 25 that detects a bending angle of the bending portion 8, and a contact pressure detection circuit 26 that detects a pressure that contacts a body cavity wall are provided. The UCA 2 may be a device in which devices having different configurations are electrically and physically connected. Also, monitor 7
Is connected to the video processor 24, and the image signal subjected to various signal processings by the video processor 24 is displayed.

Further, the bending angle detection circuit 25 obtains bending angle detection information from the rotation angle sensors 30 and 31 constituted by a photoreflector or the like, and supplies the information to the video processor 24.

The contact detection circuit 26 is configured to receive contact pressure detection signals from the contact pressure sensors 40 and 41 and the left and right contact pressure sensors (not shown). The contact pressure is detected from the pressure detection signal and supplied to the USM control circuits 22 and 23 and the video processor 24. Note that the contact pressure sensors 40 and 41 are equivalent to a variable resistance as shown in FIG. 3, so that the resistance value gradually decreases as the contact pressure increases, and becomes high when there is no contact pressure. Has become.

The video processor 24 performs various signal processing such as synthesis processing on the image signal from the solid-state imaging device 33 and the signals from the bending angle detection circuit 25 and the contact pressure detection circuit 26, and performs a monitor 27
To be displayed.

By the way, the bending switch 16 is a joystick type switch, and controls the bending of the bending portion 8 in each of the up / down / left / right directions by tilting a lever 28, and the tilt angle is adjusted according to the degree of tilt. When the angle is small, the resistance value is small, and when the inclination angle is large, the resistance value is large. Also, in each of the up, down, left, and right directions, it cannot bend down (up) when it is curved up (down), and it cannot bend left (right) when it is curved right (left). It has become. Also, the combination of upper and right, upper and left, lower and right, and lower and left can be curved simultaneously. That is, it is possible to bend each halfway. The bending switch 16 is automatically returned to the neutral position by a biasing force of a spring or the like.

The bending switch 16 includes a switch 50 indicating that the lever 28 is tilted upward as shown in FIG. 2 and a variable resistor 52 indicating the tilt angle of the lever 28 upward, as shown in FIG. Switch 51 indicating that the lever 28 is tilted, a variable resistor 53 indicating the tilt angle of the lever 28 in the upward direction, a switch indicating that the left-right lever 28 (not shown) is tilted, and a lever 28 Can be equivalently expressed by a variable resistor indicating the inclination angle of

FIG. 2 shows a configuration of the bending switch control circuit 21 for controlling the bending of the bending portion 8 in the vertical direction. The configuration for controlling the bending of the bending portion 8 in the horizontal direction is the same as that in the vertical direction. It is omitted here.

The variable resistor 52 has one end connected to a constant current source via the switch 50, the other end grounded, an intermediate point connected to the positive input terminal of the comparator 54 and the positive input terminal of the comparator 56, and It is designed to be connected to a terminal. The variable resistor 53 has one end connected to a constant current source via the switch 51, the other end grounded, an intermediate point connected to the positive input terminal of the comparator 55 and the negative input terminal of the comparator 56, and It is designed to be connected to a terminal. comparator
Reference numeral 54 denotes a variable resistor 52 connected to a positive input terminal, and a comparison potential connected to a negative input terminal. The comparator 55 has a variable resistance 53 connected to a positive input terminal and a specific gravity potential connected to a negative input terminal. In the comparator 56, the variable resistor 52 is connected to the positive input terminal, and the variable resistor 53 is connected to the negative input terminal. The output terminal A of the comparator 54 and the output terminal B of the comparator 55 are connected to the first and second input terminals of the OR circuit 57. The output terminal C of the comparator 56 is an AND circuit
The first input terminal of the AND circuit 59 is connected to the first input terminal of the AND circuit 59 via the inverter 60. The output terminal of the OR circuit 57 is connected to the second terminal of the AND circuits 58 and 59.
It is connected to the input terminal and to the P terminal. The output terminal of the AND circuit 58 is connected to the Q terminal,
The output terminal of the AND circuit 59 is connected to the R terminal.

FIG. 3 shows a configuration for processing the contact pressure detection signals of the contact pressure sensors 40 and 41 attached to the upper and lower positions of the distal end portion 7 of the contact pressure detection circuit 26. The configuration for processing the contact pressure detection signal of the contact pressure sensor is the same as that in the upper and lower parts, and thus the description thereof is omitted.

The contact pressure sensor 40 has one end connected to the power supply, the other end grounded, and an intermediate point connected to the negative input terminal of the comparator 70 and the negative input terminal of the comparator 72. . The contact pressure sensor 41 has one end connected to the power supply, the other end grounded, and an intermediate point connected to the negative input terminal of the comparator 71 and the positive input terminal of the comparator 72. . The resistor 44 has one end grounded, the other end connected to the power supply via the switch 43, and the second end of the AND circuits 73 and 74 as the output end G of the switch 42.
It is connected to the input terminal. Comparator 70
The contact pressure sensor 40 is connected to the negative input terminal, and the comparison potential is connected to the positive input terminal. In the comparator 71, the contact pressure sensor 41 is connected to the negative input terminal, and the comparison potential is connected to the positive input terminal. In the comparator 56, the contact pressure sensor 40 is connected to a negative input terminal, and the contact pressure sensor 41 is connected to a positive input terminal. The output terminal D of the comparator 70 is connected to an AND circuit 73.
Is connected to the first input terminal. The output terminal E of the comparator 71 is connected to the first input terminal of the AND circuit 74. The output terminals of the AND circuits 73 and 74 are connected to the first and second input terminals of the OR circuit 75. The output terminal of OR circuit 75 is connected to AND circuits 76 and 7
7 is connected to the second input terminal and to the U terminal. The output terminal F of the comparator 72 is connected to the first input terminal of the AND circuit 76 via the inverter 78 and to the first input terminal of the AND circuit 77. The output terminal of the AND circuit 76 is connected to the V terminal, and the AND circuit 77
Are connected to the W terminal.

FIG. 4 shows a USM control circuit 22 for controlling the USM 12 in the vertical direction.
The USM control circuit 23 that controls the USM 13 in the left-right direction is the same as that in the up-down direction, and a description thereof is omitted.

The P to T terminals are connected to the terminals of the same name of the bending switch control circuit 21 shown in FIG. 2, and the U to W terminals are connected to the terminals of the same name of the contact pressure detection circuit 26 shown in FIG. I have.

The P terminal is connected to an AND circuit 8 via an inverter 81.
2,83,84 are connected to the second input terminal and to the first input terminal of the OR circuit 80. The Q terminal is connected to the control terminal K of the switch 86 and to the first input terminal of the OR circuit 85. The R terminal is connected to the control terminal L of the switch 88 and to the first input terminal of the OR circuit 87. The U terminal is connected to the first input terminal of the AND circuit 82, and the V terminal is
The W terminal is connected to the first input terminal of the AND circuit 84, and the W terminal is connected to the first input terminal of the AND circuit 84. AND circuit 82
Is connected to the control terminal M of the switch 90 and to the second input terminal of the OR circuit 80. The output terminal of the AND circuit 83 is connected to the second input terminal of the OR circuit 85, and the output terminal of the AND circuit 84 is connected to the second input terminal of the OR circuit 87. The output terminal of the OR circuit 80 is connected to the control terminal H of the switch 92. The output terminal of the OR circuit 85 is connected to the control terminal I of the switch 93, and the output terminal of the OR circuit 87 is connected to the control terminal J of the switch 94. The variable resistor 91 has one end connected to the power supply, the other end grounded, and an intermediate point connected to the input end of the frequency control circuit 89 via the switch 90. An input terminal of the frequency control circuit 89 is connected to an S terminal via a switch 86, a T terminal via a switch 88, and a switch.
It is connected to an intermediate point of a variable resistor 91 via 90. The output terminal of the frequency control circuit 89 is a sine wave generation circuit
The output terminal of the sine wave generating circuit 95 is connected to a 90 ° phase shifter 96 and a 270 ° phase shifter 97 through a switch 92.
And an input terminal of the amplifier 98.
The input terminal of the amplifier 99 is connected to a 90 ° phase shifter 96 via a switch 93.
And the output terminal of the 270 ° phase shifter 97 via the switch 94. The output terminals of the amplifiers 98 and 99 are connected to the USM12.

First, the operation of the bending switch control circuit 21 shown in FIG. 2 will be described.

When the lever 28 of the bending switch 16 is in the neutral position,
When the switches 50 and 51 are OFF, no current flows through the variable resistors 52 and 53, and the electromotive voltage is zero. Therefore, the output terminals A and B of the comparators 54 and 55 are at the logical low level (hereinafter referred to as “L”) because the voltage of the input terminals connected to the variable resistors 52 and 53 is zero. Thus, the output terminal of the OR circuit 57 becomes “L” since the input terminals connected to the comparators 54 and 55 are “L”. That is, the output terminal of the AND circuit 58 is
Since the input terminal connected to 57 is “L”, the comparator
Even if the input terminal connected to the output terminal 56 is “H” or “L”, it becomes “L”. The output terminal of the AND circuit 59 is
Since the input terminal connected to the OR circuit 57 is “L”, even if the input terminal connected to the output terminal of the inverter 60 is at a logical high level (hereinafter, referred to as “H”), it is “L”. Even “L”
Becomes

That is, when the lever 28 of the bending switch 16 is in the neutral position, the P to R terminals are at "L", and the S and T terminals are at zero potential.

Here, when the lever 28 of the bending switch 16 is tilted so that the bending portion 8 bends upward, the switch 50 is turned ON,
A current flows through the variable resistor 52. As a result, a voltage corresponding to the inclination of the lever 28 is generated at the intermediate point of the variable resistor 52. Therefore, the output terminal A of the comparator 54 becomes “H” when the voltage at the intermediate point of the variable resistor 52 gradually increases and exceeds the threshold level.

Further, as described above, since the switch 51 is not turned on at the same time as the switch 50, no current flows through the variable resistor 53, and the voltage at the intermediate point of the variable resistor 53 is zero. Therefore, the output terminal B of the comparator 55 is “L” because the voltage at the intermediate point of the variable resistor 53 is zero.

As a result, the output terminal of the OR circuit 57 is connected to the comparator 54.
Is high, the input terminal connected to the output terminal B of the comparator 55 is "H" even if the input terminal connected to the output terminal B is "L".

The output terminal C of the comparator 56 compares the voltage at the intermediate point of the variable resistor 52 connected to the positive input terminal with the voltage at the intermediate point of the variable resistor 53 connected to the negative input terminal, and compares the voltage at the output terminal C with “ H ". As a result, the output terminal of the AND circuit 58 is connected to the OR circuit.
The input terminal connected to the output terminal of the comparator 57 is “H”, and the input terminal connected to the output terminal C of the comparator 56 is also “H”. Further, the output terminal of the inverter 60 becomes “L” since the input terminal connected to the output terminal C of the comparator 56 is “H”. Therefore, the output terminal of the AND circuit 59 is “L” because the input terminal connected to the output terminal of the inverter 60 is “L” even if the input terminal connected to the output terminal of the OR circuit 57 is “H”. L ".

That is, when the lever 28 of the bending switch 16 is tilted so that the bending portion 8 is bent upward, the P terminal is “H”,
The terminal becomes "H", the R terminal becomes "L", the S terminal becomes a voltage corresponding to the inclination of the lever 28, and the T terminal becomes zero potential.

When the lever 28 of the bending switch 16 is tilted so that the bending portion 8 bends downward, the switch 51 is turned ON,
A current flows through the variable resistor 53. As a result, a voltage corresponding to the lever 28 is generated at an intermediate point of the variable resistor 53. Therefore, the output terminal B of the comparator 55 becomes "H" when the voltage at the intermediate point of the variable resistor 53 gradually increases and exceeds the threshold level.
Becomes

Further, as described above, since the switch 50 is not turned ON at the same time as the switch 51, no current flows through the variable resistor 52, and the voltage at the intermediate point of the variable resistor 52 is zero. Therefore, the output terminal A of the comparator 54 becomes “L” because the voltage at the intermediate point of the variable resistor 52 is zero.

As a result, the output terminal of the OR circuit 57 is connected to the comparator 54.
The input terminal connected to the output terminal A of the comparator 55 is “L”, but the input terminal connected to the output terminal B of the comparator 55 is “H”, so that the input terminal is “H”.

The output terminal C of the comparator 56 compares the voltage at the intermediate point of the variable resistor 52 connected to the positive input terminal with the voltage at the intermediate point of the variable resistor 53 connected to the negative input terminal, and compares the voltage at the output terminal C with “ L ". As a result, the output terminal of the inverter 60 becomes “H” because the input terminal connected to the output terminal C of the comparator 56 is “L”. Therefore, the output terminal of the AND circuit 59 is “H” because the input terminal connected to the output terminal of the OR circuit 57 is “H” and the input terminal connected to the output terminal of the inverter 60 is also “H”. Becomes The output terminal of the AND circuit 58 has the input terminal connected to the output terminal of the OR circuit 57 at “H”, but the input terminal connected to the output terminal C of the comparator 56 is at “L”. L ".

That is, if the lever 28 of the bending switch 16 is tilted so that the bending portion 8 bends downward, the P terminal becomes “H”,
The terminal becomes "L", the R terminal becomes "H", the T terminal becomes a voltage corresponding to the inclination of the lever 28, and the S terminal becomes zero potential.

Note that a switch in which the switch 50 and the switch 51 are simultaneously turned on may be used. In this case, the comparator 56 selects the higher voltage value.

Next, the operation of the contact pressure detecting circuit 26 shown in FIG. 3 will be described.

F / L switch 42 is locked (L), that is, switch 43 is OFF
, The current does not flow through the resistor 44, and the output terminal G of the F / L switch 42 becomes "L". Therefore, as for the output terminals of the AND circuits 73 and 74, the input terminals connected to the F / L switch 42 are “L”, and the input terminals connected to the comparators 70 and 71 are “H”.
, Or "L", it becomes "L".

As a result, the output terminal of the OR circuit 75 is connected to the AND circuits 73, 7
Since the input terminal connected to the output terminal of No. 4 is “L”, the output terminal becomes “L”.

Therefore, the output terminal of the AND circuit 76 is “L” even if the input terminal connected to the output terminal of the inverter 78 is “H” because the input terminal connected to the OR circuit 75 is “L”. Even if it is, it is "L". Further, the output terminal of the AND circuit 77 is “L” even if the input terminal connected to the output terminal of the comparator 72 is “H” since the input terminal connected to the OR circuit 75 is “L”.
Is "L".

That is, when the F / L switch 42 is locked (L), the voltage at the intermediate point of the contact pressure sensor 40 gradually decreases and the output terminal of the comparator 72 becomes “H”. Even if the voltage at the point gradually decreases and the output terminal of the comparator 72 becomes “H”, the terminals U to W are “L”.

Also, the F / L switch 42 is free (F), that is, the switch 4
When 3 is ON, a current flows through the resistor 44, and the output terminal G of the F / L switch 42 becomes "H".

In this state, the contact sensor attached to the upper part of the insertion portion 7
When 40 comes into contact with a target portion such as the inner wall of the body cavity, the voltage at the intermediate point of contact sensor 40 gradually decreases. This allows the comparator 70
Becomes high when the voltage at the midpoint of the contact sensor 40 exceeds the threshold level. Therefore, the output terminal of the AND circuit 73 has the input terminal connected to the output terminal D of the comparator 70 at “H”, and the input terminal connected to the output terminal G of the F / L switch 42 has “H”. Therefore, it becomes “H”.

However, the output end E of the comparator 71 is
Is high impedance and its output voltage does not exceed the threshold level, so it is "L". Therefore, the output terminal of the AND circuit 74 is “L” even if the output terminal E of the comparator 71 is “L” and the input terminal connected to the output terminal G of the F / L switch 42 is “H”. is there.

As a result, since the input terminal connected to the output terminal of the AND circuit 73 is “H” at the output terminal of the OR circuit 75, the input terminal connected to the output terminal of the AND circuit 74 is “L”. Also “H”
Becomes

The output terminal F of the comparator 72 compares the voltage at the intermediate point of the contact sensor 40 connected to the negative input terminal with the voltage at the intermediate point of the contact sensor 41 connected to the positive input terminal. H ". Therefore, the output terminal of the AND circuit 77 is “H” because the input terminal connected to the OR circuit 75 is “H” and the input terminal connected to the output terminal of the comparator 72 is “H”.
Becomes The output terminal of the inverter 78 is connected to a comparator
Since the input terminal connected to 72 is at "H", it becomes "L". Therefore, the output terminal of the AND circuit 76 is “L” because the input terminal connected to the inverter 78 is “L” even if the input terminal connected to the OR circuit 75 is “H”.

That is, the F / L switch 42 is free (F), the contact sensor 40 comes into contact with a test portion such as the inner wall of the body cavity, the voltage at the intermediate point of the contact sensor 40 gradually decreases, and the output terminal D of the comparator 70 becomes “H”. "
Then, the U terminal is “H”, the V terminal is “L”, and the W terminal is “H”.
Becomes

Further, when the contact sensor 41 attached to the lower part of the insertion section 7 comes into contact with a test portion such as the inner wall of the body cavity, the voltage at the intermediate point of the contact sensor 41 gradually decreases. Thus, the output terminal E of the comparator 71 becomes “H” when the voltage at the intermediate point of the contact sensor 41 exceeds the threshold level. Therefore, the output terminal of the AND circuit 74 has the input terminal connected to the output terminal E of the comparator 71 at “H”, and the input terminal connected to the output terminal G of the F / L switch 42 has “H”. Therefore, it becomes “H”.

However, the output terminal D of the comparator 70 is
Is high impedance and its output voltage does not exceed the threshold level, so it is "L". Therefore, the output terminal of the AND circuit 73 is “L” even if the output terminal E of the comparator 70 is “L” and the input terminal connected to the output terminal G of the F / L switch 42 is “H”. is there.

As a result, since the input terminal connected to the output terminal of the AND circuit 74 is "H", the input terminal connected to the output terminal of the AND circuit 73 is "L". Also “H”
Becomes

The output terminal F of the comparator 72 compares the voltage at the intermediate point of the contact sensor 40 connected to the negative input terminal with the voltage at the intermediate point of the contact sensor 41 connected to the positive input terminal. L ". Therefore, the output terminal of the inverter 78 is set to “H” because the input terminal connected to the comparator 72 is “L”.
Becomes As a result, the output terminal of the AND circuit 76 becomes “H” because the input terminal connected to the OR circuit 75 is “H” and the input terminal connected to the output terminal of the inverter 78 is “H”. . Further, the output terminal of the AND circuit 77 is “L” because the input terminal connected to the comparator 72 is “L” even if the input terminal connected to the OR circuit 75 is “H”.

That is, the F / L switch 42 is free (F), the contact sensor 41 comes into contact with a test portion such as the inner wall of the body cavity, the voltage at the intermediate point of the contact sensor 41 gradually decreases, and the output end E of the comparator 71 becomes “H”. "
Then, the U terminal is “H”, the V terminal is “H”, and the W terminal is “L”.
Becomes

Next, the operation of the USM control circuit 22 shown in FIG. 4 will be described.

As described above, when the lever 28 of the bending switch 16 is in the neutral position and the F / L switch is at (L), the P to R terminals and the U to W terminals are at "L". Therefore, the inverter
The output terminal 81 becomes “H” because the input terminal connected to the P terminal is “L”. However, the output terminal of the AND circuit 82 is “L” because the input terminal connected to the U terminal is “L” even if the input terminal connected to the output terminal of the inverter 81 is “H”. . The output terminal of the AND circuit 83 is “L” since the input terminal connected to the V terminal is “L” even if the input terminal connected to the output terminal of the inverter 81 is “H”. The output terminal of the AND circuit 84 is “L” since the input terminal connected to the W terminal is “L” even if the input terminal connected to the output terminal of the inverter 81 is “H”.

The output terminal of the OR circuit 80 is “L” because the input terminal connected to the P terminal is “L” and the input terminal connected to the output terminal of the AND circuit 82 is also “L”. As a result, the switch 92 is OFF because the control terminal H connected to the output terminal of the OR circuit 80 is "L". Therefore, the output of the sine wave generation circuit 95 is not input to the 90 ° phase shifter 96, the 270 ° phase shifter 97, and the amplifier 98 because the switch 92 is OFF.

The output terminal of the OR circuit 85 is “L” because the input terminal connected to the Q terminal is “L” and the input terminal connected to the output terminal of the AND circuit 83 is also “L”. Therefore, the switch 93 is OFF because the output terminal of the OR circuit 85 connected to the control terminal I is “L”. The output terminal of the OR circuit 87 has the input terminal connected to the R terminal at "L" and the input terminal connected to the output terminal of the AND circuit 84 at "L".
It is. Therefore, the switch 94 is OFF because the output terminal of the OR circuit 87 connected to the control terminal J is “L”.

Switches 86 and 88 are control terminals connected to the Q and R terminals.
The switches 90 are both OFF because K and L are “L”, and the switch 90 is OFF because the control terminal M connected to the output terminal of the AND circuit 82 is “L”. Accordingly, the input terminal of the frequency control circuit 89 is open because the switches 86, 88, and 90 are OFF.

That is, the lever 28 of the bending switch 16 is in the neutral position,
When the F / L switch is (L), the output of the sine wave generating circuit 92 is not supplied to the USM 12, and the USM 12 is in a stationary lock state so that the state is not easily broken even when an external force is applied. .

Next, when the lever 28 of the bending switch 16 is tilted so that the bending portion 8 is bent upward, the P terminal is “H”, the Q terminal is “H”, the R terminal is “L”, and the S terminal is the lever 28. Is a voltage corresponding to the gradient of Therefore, the output terminal of the inverter 81 is P
Since the input terminal connected to the terminal is at “H”, it becomes “L”.
Thus, the output terminal of the AND circuit 82 is “L” even if the input terminal connected to the U terminal is “H” because the input terminal connected to the output terminal of the inverter 81 is “L”. Even “L”
It is. The output terminal of the AND circuit 83 is connected to the inverter 81.
Since the input terminal connected to the output terminal is “L”, the input terminal connected to the V terminal is “L” regardless of whether it is “H” or “L”. Since the output end of the input terminal connected to the output end of the inverter 81 is “L”, the output end is “L” even if the input end connected to the W terminal is “H” even if it is “L”. .

Further, the output terminal of the OR circuit 80 is “H” even if the input terminal connected to the output terminal of the AND circuit 82 is “L” because the input terminal connected to the P terminal is “H”. Become. Therefore,
The switch 92 is turned ON because the control terminal H connected to the output terminal of the OR circuit 80 is “H”. Thus, the output of the sine wave generation circuit 95 is input to the 90 ° phase shifter 96, the 270 ° phase shifter 97, and the amplifier 98 because the switch 92 is ON.

Further, the output terminal of the OR circuit 85 is “H” even if the input terminal connected to the output terminal of the AND circuit 83 is “L” because the input terminal connected to the Q terminal is “H”. Become. Therefore,
The switch 93 is turned ON because the control terminal I connected to the output terminal of the OR circuit 85 is “H”. This allows a 90 ° phase shifter
The output of 96 is input to the amplifier 99 because the switch 93 is ON.

However, the output terminal of the OR circuit 87 is “L” because the input terminal connected to the R terminal is “L” and the input terminal connected to the output terminal of the AND circuit 84 is also “L”. Therefore, the switch 94 is connected to the control terminal J connected to the output terminal of the OR circuit 87.
Is "L" and is OFF. This allows the 270 ° phase shifter
The output of 97 is not input to the amplifier 99 because the switch 94 is OFF.

The switch 86 is turned on because the control terminal K connected to the Q terminal is “H”, and the switch 88 is turned off because the control terminal L connected to the R terminal is “L”. 9
0 is OFF because the output terminal of the AND circuit 82 connected to the control terminal M is "L". Therefore, the voltage of the S terminal is applied to the input terminal of the frequency control circuit 89. This allows
The frequency control circuit 89 controls the output frequency of the sine wave generation circuit 95.

Therefore, the output of the sine wave generating circuit 95 is input to the amplifier 98, the output of the 90 ° phase shifter 96 is input to the amplifier 99, and the outputs of the amplifiers 98 and 99 are provided in the grip 5 of the endoscope 1. Is input to USM12.

Note that the rotation speed of the USM 12 depends on the output frequency of the sine wave generation circuit 95, and when the inclination of the lever 28 of the bending switch 16 is small and the input voltage of the frequency control circuit 89 is low, the output frequency of the sine wave generation circuit 95 is low. High, the rotational speed of the USM 12 is low, the inclination of the lever 28 is large, and the frequency control circuit 89
The output frequency becomes USM12 as the input voltage of
And the output frequency at which the inclination of the lever 28 becomes maximum becomes slightly higher than the resonance frequency of the USM 12.

That is, when the lever 28 of the bending switch 16 is tilted so that the bending portion 8 is bent upward, the output of the sine wave generation circuit 92 is sent to the USM 12 via the amplifier 98 and the 90 ° phase shifter 96 and the amplifier 99. In addition, the USM 12 rotates at a speed corresponding to the inclination of the lever 28 so as to bend the bending portion 8 upward.

Further, while the lever 28 of the bending switch 16 is being operated, the P terminal becomes "H", so that the U-W terminals become "H" does not affect the control of the USM 12. That is, the control of the bending switch control circuit 21 has priority over the control of the contact pressure detection circuit 21.

When the lever 28 of the bending switch 16 is tilted so that the bending portion 8 is bent downward, the P terminal is “H”, the Q terminal is “L”, the R terminal is “H”, and the T terminal is The voltage is in accordance with the slope. Therefore, the output terminal of the inverter 81 is P
Since the input terminal connected to the terminal is at “H”, it becomes “L”.
Thus, the output terminal of the AND circuit 82 is “L” even if the input terminal connected to the U terminal is “H” because the input terminal connected to the output terminal of the inverter 81 is “L”. Even “L”
It is. The output terminal of the AND circuit 83 is connected to the inverter 81.
Since the input terminal connected to the output terminal is “L”, the input terminal connected to the V terminal is “L” regardless of whether it is “H” or “L”. Since the input terminal connected to the output terminal of the inverter 81 is “L”, the output terminal is “L” regardless of whether the input terminal connected to the W terminal is “H” or “L”.
It is.

Further, the output terminal of the OR circuit 80 is “H” even if the input terminal connected to the output terminal of the AND circuit 82 is “L” because the input terminal connected to the P terminal is “H”. Become. Therefore,
The switch 92 is turned ON because the control terminal H connected to the output terminal of the OR circuit 80 is “H”. Thus, the output of the sine wave generation circuit 95 is input to the 90 ° phase shifter 96, the 270 ° phase shifter 97, and the amplifier 98 because the switch 92 is ON.

Further, the output terminal of the OR circuit 87 is “H” even if the input terminal connected to the output terminal of the AND circuit 84 is “L” because the input terminal connected to the R terminal is “H”. Becomes Therefore, the switch 94 is turned ON because the control terminal I connected to the output terminal of the OR circuit 87 is at “H”. As a result, the output of the 270 ° phase shifter 97 is
Entered into 99.

However, the output terminal of the OR circuit 85 is “L” because the input terminal connected to the Q terminal is “L” and the input terminal connected to the output terminal of the AND circuit 83 is also “L”. Therefore, the switch 93 is connected to the control terminal I connected to the output terminal of the OR circuit 85.
Is "L" and is OFF. As a result, the 90 ° phase shifter 9
The output of 6 is not input to the amplifier 99 because the switch 92 is OFF.

The switch 86 is OFF because the control terminal K controlled by the Q terminal is “L”, and the switch 88 is ON because the control terminal L connected to the R terminal is “H”.
90 is OFF because the control terminal M connected to the output terminal of the AND circuit 82 is "L". Therefore, the voltage of the T terminal is applied to the input terminal of the frequency control circuit 89. This allows
The frequency control circuit 89 controls the output frequency of the sine wave generation circuit 95.

Therefore, the output of the sine wave generation circuit 95 is input to the amplifier 98, the output of the 270 ° phase shifter 97 is input to the amplifier 99, and the output of the amplifiers 98 and 99 is input to the gripper 5 of the endoscope 1. It is input to the provided USM12.

That is, when the lever 28 of the bending switch 16 is tilted so that the bending portion 8 bends downward, the output of the sine wave generating circuit 92 is sent to the USM 12 via the amplifier 98 and the 270 ° phase shifter 97 and the amplifier 99. In addition, the USM 12 rotates at a speed corresponding to the inclination of the lever 28 so as to bend the bending portion 8 downward.

When the lever 28 of the bending switch 16 is in the neutral position, the terminals P to R are at "L". In this state, when the contact pressure sensor 40 attached to the upper part of the insertion section 4 comes into contact with a test portion such as a body cavity part, the U terminal is “H”, the V terminal is “L”, and the W terminal is “H”. " Therefore, the output terminal of the inverter 81 is
Since the input terminal connected to the P terminal is at "L", it becomes "H". Accordingly, the output terminal of the AND circuit 82 becomes “H” since the input terminal connected to the U terminal is “H” and the input terminal connected to the output terminal of the inverter 81 is also “H”. Also,
The output terminal of the AND circuit 84 is “H” because the input terminal connected to the W terminal is “H”, and the input terminal connected to the output terminal of the inverter 81 is also “H”. However, the output terminal of the AND circuit 83 is “L” even if the input terminal connected to the output terminal of the inverter 81 is “H” because the input terminal connected to the V terminal is “L”. .

As a result, the switch 90 is turned ON because the control terminal M connected to the output terminal of the AND circuit 82 is "H". Also,
The switches 86 and 88 are OFF because the control terminals K and L connected to the Q and R terminals are “L”. Therefore, the voltage at the intermediate point of the semi-fixed resistor 91 is applied to the input terminal of the frequency control circuit 89. The voltage at the intermediate point of the semi-fixed resistor 91 is set to a voltage at which the USM 12 rotates slowly.

Further, the output terminal of the OR circuit 80 is “H” even if the input terminal connected to the P terminal is “L” since the input terminal connected to the AND circuit 82 is “H”. Therefore, the switch
92 indicates that the control terminal H connected to the output terminal of the OR circuit 80 is “H”.
Therefore, it is turned ON. Thus, the output of the sine wave generation circuit 95 is input to the amplifier 98, the 90 ° phase shifter 96, and the 270 ° phase shifter 97 via the switch 92.

Further, the output terminal of the OR circuit 87 is “H” even if the input terminal connected to the R terminal is “L” since the input terminal connected to the output terminal of the AND circuit 84 is “H”. Become. Therefore,
The switch 94 is turned ON because the control terminal J connected to the output terminal of the OR circuit 87 is “H”. As a result, the output of the 270 ° phase shifter 97 is input to the amplifier 99 via the switch 94.

That is, when the contact pressure sensor 40 attached to the upper part of the insertion section 4 comes into contact with a subject such as a body cavity part, the output of the sine wave generation circuit 92 is sent to the USM 12 by the amplifiers 98 and 270 ° phase shifter 97 and the amplifier. Applying via 99, the USM 12 rotates at a speed set by the semi-fixed resistor 91 so as to bend the bending portion 8 downward.

When the contact pressure sensor 41 affixed to the lower part of the insertion portion 4 comes into contact with a test portion such as a body cavity, the U terminal becomes “H”, V
The terminal becomes “H” and the W terminal becomes “L”. Therefore, the output terminal of the inverter 81 becomes “H” since the input terminal connected to the P terminal is “L”. Accordingly, the output terminal of the AND circuit 82 becomes “H” since the input terminal connected to the U terminal is “H” and the input terminal connected to the output terminal of the inverter 81 is also “H”. Further, the output terminal of the AND circuit 83 becomes “H” because the input terminal connected to the V terminal is “H” and the input terminal connected to the output terminal of the inverter 81 is also “H”. However, the output terminal of the AND circuit 84 is “L” even if the input terminal connected to the output terminal of the inverter 81 is “H” because the input terminal connected to the W terminal is “L”. .

As a result, the switch 90 is turned ON because the control terminal M connected to the output terminal of the AND circuit 82 is "H". Also,
The switches 86 and 88 are OFF because the control terminals K and L connected to the Q and R terminals are “L”. Therefore, the voltage at the intermediate point of the semi-fixed resistor 91 is applied to the input terminal of the frequency control circuit 89.

Further, the output terminal of the OR circuit 80 is “H” even if the input terminal connected to the P terminal is “L” since the input terminal connected to the AND circuit 82 is “H”. Therefore, the switch
92 indicates that the control terminal H connected to the output terminal of the OR circuit 80 is “H”.
Therefore, it is turned ON. Thus, the output of the sine wave generation circuit 95 is input to the amplifier 98, the 90 ° phase shifter 96, and the 270 ° phase shifter 97 via the switch 92.

Further, the output terminal of the OR circuit 85 is “H” even if the input terminal connected to the Q terminal is “L” because the input terminal connected to the output terminal of the AND circuit 83 is “H”. Become. Therefore,
The switch 93 is turned ON because the control terminal I connected to the output terminal of the OR circuit 87 is “H”. As a result, the output of the 90 ° phase shifter 96 is input to the amplifier 99 via the switch 93.

That is, when the contact pressure sensor 41 attached to the lower portion of the insertion section 4 comes into contact with a test portion such as a body cavity, the output of the sine wave generation circuit 92 is sent to the USM 12 through the amplifier 98 and the 90 ° phase shifter 96. Amplifier
Applying via 99, the USM 12 rotates at a speed set by the semi-fixed resistance 91 so as to bend the bending portion 8 upward.

The bending switch control circuit 21 and the contact pressure detection circuit described above
Table 1 shows the main parts of the operation of the 26 and the USM control circuit 22. In the table, "UD" is the operation direction of the bending portion 8 of the bending switch 16, "P" to "T" are the logical values or potentials of the terminals of the bending switch control circuit, and "FL" is the F / L switch 42. State, "contact"
Is the detection direction of the contact sensors 40 and 41, "U" to "W" are the logical values of the terminals of the contact pressure detection circuit, and 86, 88, 90, 92, 93 and 94 are the states of the switches of the USM control circuit 22. Yes, the zero potential of “S” and “T” and the state of the switch being OFF indicate blank, and “X” indicates that any state may be used.

In the first embodiment thus configured, the F / L switch 4
When the bending switch 16 is not operated and the bending switch 16 is not operated, the side portion of the distal end portion 7 comes into contact with a test portion such as an intra-body cavity with a predetermined pressure, and when the bending portion 8 receives a bending resistance, the bending portion 8 is bent. Is bent, and the tip 7 is moved in a direction to reduce the bending resistance.
It is possible to eliminate the possibility that the tip 7 damages the subject,
Further, when the insertion section 4 is pulled out of the subject, the distal end portion 7 can be smoothly drawn out without following the shape of the subject without operating the bending switch, so that a safe diagnosis or inspection can be performed. . Lock F / L switch 42 (L)
Alternatively, the tip 7 can be brought into contact with the portion to be examined at the discretion of the operator by operating the lever of the bending switch, and the contact pressure (curving resistance) at that time is displayed on the monitor 27. This allows the operator to make accurate decisions and operate.

FIG. 5 shows a configuration of a USM control circuit according to a second embodiment of the present invention. The configuration of the bending switch control circuit is the same as that of the first embodiment shown in FIG.

In the present embodiment, the block diagram showing the endoscope apparatus is such that the F / L switch 42 shown in FIG. 1A of the first embodiment is omitted, and the configuration of the contact pressure detection circuit is the third embodiment of the first embodiment. The state is such that the F / L switch of the contact pressure detection circuit shown in the figure is always on.

FIG. 5 shows a configuration of a USM control circuit for controlling the USM 12 in the vertical direction. The USM control circuit for controlling the USM 13 in the horizontal direction is the same as that in the vertical direction, and a description thereof will be omitted.

The P to R terminals are connected to the first input terminals of the AND circuits 101, 102, 103. U terminal is an inverter
The second input terminal of the AND circuits 101, 102, and 103 and the second input terminal of the OR circuit 106 are connected via the switch 109 and the switch 1
It is adapted to be connected to ten control terminals P. The V and W terminals are connected to the second input terminals of the OR circuits 107 and 108. An output terminal of the AND circuit 101 is connected to a first input terminal of the OR circuit 106. AND circuit 10
The second output terminal is connected to the control terminal N of the switch 104 and to the first input terminal of the OR circuit 107. The output terminal of the AND circuit 103 is connected to the control terminal 0 of the switch 105 and to the first input terminal of the OR circuit 108. The output terminal of the OR circuit 106 is connected to the control terminal H of the switch 92.
The output terminal of the OR circuit 107 is connected to the control terminal I of the switch 93, and the output terminal of the OR circuit 108 is connected to the control terminal J of the switch 94. The variable resistor 111 has one end connected to a power supply, the other end grounded, and an intermediate point connected to the frequency control circuit 98 via the switch 110. An input terminal of the frequency control circuit is connected to an S terminal via the switch 104, an R terminal via the switch 105, and an intermediate point between the variable resistor 111 via the switch 110. The output terminal of the frequency control circuit 89 is connected to a sine wave generation circuit 95.
The output terminal of the sine wave generating circuit 95 is connected to a 90 ° phase shifter 96 and a 270 ° phase shifter 97 through a switch 92.
And an input terminal of the amplifier 98.
The input terminal of the amplifier 99 is connected to a 90 ° phase shifter 96 via a switch 93.
And the output terminal of the 270 ° phase shifter 97 via the switch 94. The output terminals of the amplifiers 98 and 99 are connected to the USM12.

 The operation of the USM control circuit will be described.

When the contact sensor 40 attached to the upper part of the insertion section 4 comes into contact with a test portion such as a body cavity, the U terminal becomes "H", the V terminal becomes "L", and the W terminal becomes "H". Therefore, inverter 10
The output of 9 becomes "L" since the input terminal connected to the U terminal is "H". Therefore, regardless of whether the input terminal connected to the P terminal is “H” or “L”, the input terminal connected to the output terminal of the inverter 109 is “L”. Therefore, it becomes “L”. Regarding the output terminal of the AND circuit 102, whether the input terminal connected to the Q terminal is “H” or “L”, the input terminal connected to the output terminal of the inverter 109 is “L”. Therefore, the output terminal of the AND circuit 103 is connected to the output terminal of the inverter 109 regardless of whether the input terminal connected to the R terminal is “H” or “L”. Is “L”, so it is “L”.

The output terminal of the OR circuit 106 is set to “H” because the input terminal connected to the U terminal is “H” even if the input terminal connected to the output terminal of the AND circuit 101 is “L”. Become. As a result, the switch 92 is turned ON because the control terminal H connected to the output terminal of the OR circuit 106 is “H”.

The switch 104 is OFF because the control terminal N connected to the output terminal of the AND circuit 102 is “L”.
05 is OFF because the control terminal 0 connected to the output terminal of the AND circuit 103 is "L". However, switch 110 is
It is turned ON because the control terminal P connected to the terminal is at "H".
Therefore, the voltage at the intermediate point of the semi-fixed resistor 111 is applied to the input terminal of the frequency control circuit 89.

The output terminal of the OR circuit 108 is set to “H” because the input terminal connected to the W terminal is “H” even if the input terminal connected to the output terminal of the AND circuit 103 is “L”. Become. Therefore, the switch 94 is connected to the control terminal J connected to the OR circuit 108.
Is "H", so it is turned ON.

However, the output terminal of the OR circuit 107 is "L" because the input terminal connected to the output terminal of the AND circuit 102 is "L" and the input terminal connected to the V terminal is also "L". Therefore,
The switch 93 is turned off because the control terminal I connected to the OR circuit 107 is “L”.

That is, in the present embodiment, similarly to the first embodiment, when the contact sensor 40 attached to the upper part of the insertion section 4 comes into contact with a target portion such as a body cavity, the USM 12 includes a sine wave generation circuit 92. Are applied via the amplifiers 98 and 270 ° phase shifter 97 and the amplifier 99, and the USM 12 rotates at a speed set by the semi-fixed resistor 111 so as to bend the bending portion 8 downward.

When the U terminal is at "H", the control of the USM 12 is not affected even if the PR terminals are at "H". That is, control of the contact pressure detection circuit has priority over control of the bending switch control circuit.

Further, when the contact sensor 41 attached to the lower part of the insertion section 4 comes into contact with a test portion such as a body cavity portion, the U terminal becomes “H”, the V terminal becomes “H”, and the W terminal becomes “L”. . Therefore, the output of the inverter 109 becomes “L” since the input terminal connected to the U terminal is “H”. Therefore, the output terminal of the AND circuit 101 is “L” even if the input terminal connected to the P terminal is “H”.
However, since the input terminal connected to the output terminal of the inverter 109 is “L”, the signal is “L”. Also, AND circuit 102
, The input terminal connected to the output terminal of the inverter 109 is “L” regardless of whether the input terminal connected to the Q terminal is “H” or “L”. And AND circuit 103
, The input terminal connected to the output terminal of the inverter 109 is “L” regardless of whether the input terminal connected to the R terminal is “H” or “L”. Becomes

The output terminal of the OR circuit 106 is set to “H” because the input terminal connected to the U terminal is “H” even if the input terminal connected to the output terminal of the AND circuit 101 is “L”. Become. As a result, the switch 92 is turned ON because the control terminal H connected to the output terminal of the OR circuit 106 is “H”.

The switch 104 is OFF because the control terminal N connected to the output terminal of the AND circuit 102 is “L”.
05 is OFF because the control terminal O connected to the output terminal of the AND circuit 103 is "L". However, switch 110 is
It is turned ON because the control terminal P connected to the terminal is at "H".
Therefore, the voltage at the intermediate point of the semi-fixed resistor 111 is applied to the input terminal of the frequency control circuit 89.

The output terminal of the OR circuit 107 is set to “H” because the input terminal connected to the V terminal is “H” even if the input terminal connected to the output terminal of the AND circuit 102 is “L”. Become. Therefore, the switch 93 is connected to the control terminal I connected to the OR circuit 107.
Is "H", so it is turned ON.

However, the output terminal of the OR circuit 108 is “L” because the input terminal connected to the output terminal of the AND circuit 103 is “L” and the input terminal connected to the W terminal is also “L”. Therefore,
The switch 94 is turned off because the control terminal J connected to the OR circuit 108 is "L".

Therefore, as in the first embodiment, when the contact sensor 40 attached to the upper part of the insertion section 4 comes into contact with a test portion such as a body cavity, the output of the sine wave generation circuit 92 is supplied to the USM 12 by the amplifier 9.
The USM 12 is rotated at a speed set by the semi-fixed resistor 111 so as to bend the bending portion 8 in the upward direction by adding the phase shifter 96 and the amplifier 99 to the 8 and 90 ° phase shifter 96.

Further, when the contact sensor 40 attached to the upper portion of the insertion portion 4 and the contact sensor 41 attached to the lower portion are not in contact with a test portion such as a body cavity portion, the lever 28 of the bending switch 16 is moved to the bending portion. When the terminal 8 is tilted so as to bend upward, the P terminal is “H”, the Q terminal is “H”, the R terminal is “L”, and the U to W terminals are “L”.
, And the S terminal has a voltage corresponding to the inclination of the lever 28.
Therefore, the output terminal of the inverter 109 becomes “H” since the input terminal connected to the U terminal is “L”. As a result, the output terminal of the AND circuit 101 becomes “H” because the input terminal connected to the P terminal is “H” and the input terminal connected to the output terminal of the inverter 109 is also “H”. Further, the output terminal of the AND circuit 102 becomes “H” because the input terminal connected to the Q terminal is “H” and the input terminal connected to the output terminal of the inverter 109 is also “H”. Since the input terminal connected to the R terminal is “L”, the output terminal of 103 is “L” even if the input terminal connected to the output terminal of the inverter 109 is “H”.

Further, the output terminal of the OR circuit 106 is “H” even if the input terminal connected to the U terminal is “L” because the input terminal connected to the output terminal of the AND circuit 101 is “H”. Become. As a result, the switch 92 is turned ON because the control terminal H connected to the output terminal of the OR circuit 106 is “H”.

The switch 105 is OFF because the control terminal O connected to the output terminal of the AND circuit 103 is at “L”.
10 is OF because the control terminal P connected to the U terminal is "L".
F. However, the switch 104 is turned ON because the control terminal N connected to the output terminal of the AND circuit 102 is “H”.
Therefore, the voltage of the S terminal is applied to the input terminal of the frequency control circuit 89.

Further, the output terminal of the OR circuit 107 is “H” even if the input terminal connected to the V terminal is “L” because the input terminal connected to the output terminal of the AND circuit 102 is “H”. Become. Therefore, the switch 93 is turned ON because the control terminal I connected to the output terminal of the OR circuit 107 is “H”.

However, the output terminal of the OR circuit 108 is “L” because the input terminal connected to the AND circuit 103 is “L” and the input terminal connected to the W terminal is also “L”. Therefore, the switch
Reference numeral 94 is OFF because the control terminal J connected to the output terminal of the OR circuit 108 is "L".

That is, similarly to the first embodiment, the lever of the bending switch 16
28 is tilted so that the bending portion 8 bends upward, US
The output of the sine wave generation circuit 92 is applied to M12 via the amplifier 98 and the 90 ° phase shifter 96 and the amplifier 99.
Is rotated at a speed corresponding to the inclination of the lever 28 so as to bend upward.

When the lever 28 of the bending switch 16 is tilted so that the bending portion 8 is bent downward, the P terminal is “H”, the Q terminal is “L”, the R terminal is “H”, and the U to W terminals are “H”. L ", and the T terminal has a voltage corresponding to the inclination of the lever 28. Therefore, the output terminal of the inverter 109 becomes “H” since the input terminal connected to the U terminal is “L”. Thereby, the AND circuit 10
In the output terminal of the inverter 1, the input terminal connected to the P terminal is “H”, and the input terminal connected to the output terminal of the inverter 109 is also “H”.
Therefore, it becomes “H”. Also, the output terminal of the AND circuit 102 is “L” even if the input terminal connected to the output terminal of the inverter 109 is “H” because the input terminal connected to the Q terminal is “L”. The output terminal of the AND circuit 103 becomes “H” because the input terminal connected to the R terminal is “H” and the input terminal connected to the output terminal of the inverter 109 is also “H”.

Further, the output terminal of the OR circuit 106 is “H” even if the input terminal connected to the U terminal is “L” because the input terminal connected to the output terminal of the AND circuit 101 is “H”. Become. As a result, the switch 92 is turned ON because the control terminal H connected to the output terminal of the OR circuit 106 is “H”.

The switch 104 is OFF because the control terminal N connected to the output terminal of the AND circuit 102 is “L”.
10 is OF because the control terminal P connected to the U terminal is "L".
F. However, the switch 105 is turned ON because the control terminal O connected to the output terminal of the AND circuit 103 is at “H”.
Therefore, the voltage of the T terminal is applied to the input terminal of the frequency control circuit 89.

The output terminal of the OR circuit 107 is "L" because the input terminal connected to the output terminal of the AND circuit 102 is "L" and the input terminal connected to the V terminal is also "L". Therefore, the switch 93 is turned off because the control terminal I connected to the output terminal of the OR circuit 107 is “L”.

However, since the input terminal connected to the AND circuit 103 is “H”, the output terminal of the OR circuit 108 is “H” even if the input terminal connected to the W terminal is “L”. Therefore, the switch 94 is connected to the control terminal J connected to the output terminal of the OR circuit 108.
Is "H", so it is turned ON.

That is, similarly to the first embodiment, the lever of the bending switch 16
28 is tilted so that the bending portion 8 bends downward.
The output of the sine wave generation circuit 92 is applied to M12 via the amplifier 98 and the 270 ° phase shifter 97 and the amplifier 99.
Is rotated at a speed corresponding to the inclination of the lever 28 so as to bend downward.

The bending switch control circuit 21 and the contact pressure detection circuit described above
Table 2 shows a main part of the operation of the 26 and the USM control circuit 22. In the table, "UD" is the operation direction of the bending portion 8 of the bending switch 16, "P" to "T" are the logical values or potentials of the terminals of the bending switch control circuit, and "Contact" is the contact sensors 40 and 41. Detection direction,
“U” to “W” are logical values of the terminals of the contact pressure detection circuit,
Reference numerals 105, 110, 92, 93, and 94 denote states of the respective switches of the USM control circuit 22, and the blank potentials indicate the zero potential of "S" and "T" and the state of the switches being OFF.

In the second embodiment configured as described above, the bending switch
Even during operation of the valve 16, the side portion of the distal end portion 7 contacts a portion to be inspected, such as a body cavity, with a predetermined pressure, and when the bending resistance is received, the bending portion 8 bends. By moving the tip 7 in the decreasing direction, there is no possibility that the tip 7 may damage the target part.

FIGS. 1B, 6 and 7 relate to a third embodiment of the present invention. FIG. 1B shows a configuration of a USM control circuit, and FIG.
FIG. 6 is an operation explanatory diagram for USM driving.

FIG. 1B shows a configuration of a USM control circuit for controlling the USM in the vertical direction. The USM control circuit for controlling the USM in the horizontal direction is the same as that in the vertical direction, and therefore will not be described.

Bending ON / OFF switch (hereinafter referred to as bending switch) 20
“0” is configured such that one end is connected to the power supply, the other end is grounded via the resistor 201, and is connected to the control end of the analog switch 205. A bending direction switch (hereinafter referred to as a direction switch) 202 has one end connected to a power supply, the other end grounded via a resistor 203, and a ring counter 210.
Is connected to the control terminal x of An output terminal of a VCO (Voltage Controlled Oscillator) 204 is connected to a clock terminal a of a ring counter 210, which is a serial in / parallel out 4-bit left / right shift register, via an analog switch 205. 206). The output terminal of the mono multi 206 is a sawtooth wave generation circuit 2
07 input terminal. The sawtooth wave generation circuit 207 includes, for example, resistors R1, R2, R3, capacitors C1, C
2, a diode D1, and a transistor TR1. Speed control volume 209
One end is grounded, the other end is connected to the power supply, and the intermediate point g is connected to the positive input terminal of the comparator 208. The comparator 208 has a positive input terminal connected to the midpoint g of the speed adjustment volume 209, and a negative input terminal connected to the output terminal of the sawtooth wave generating circuit 207. The output terminals b, c, d, and e of the ring counter 210 are connected to the first input terminals of the AND circuits 211, 212, 213, and 214. The output terminal of the comparator 208 is an AND circuit 2
11, 212, 213, 214 are connected to the second input terminals. The output terminals of the AND circuits 211, 212, 213, 214 are connected to the input terminals of the switching circuit 215. The switching circuit 215 includes, for example, resistors R5 and R6, transistors TR2 and TR3, and a diode D3.
It is composed of four Darlington circuits (only one configuration is shown). The output terminal of the switching circuit 215 is connected to the primary side of the transformers 216 and 217 by a push-pull connection.
The midpoint of 16,217 is connected to the power supply. The secondary side of the transformers 216 and 217 has one end grounded, the other end connected to the USM 225 via the current probes 218 and 219, and to the first input terminals of the phase detection circuits 222 and 223. The output terminals of the power supply probes 218 and 219 are amplifier 22
0,221 input terminal. Amplifier 2
The output terminals of the phase detection circuits 222 and 223 are connected to the second input terminals of the phase detection circuits 222 and 223. Phase detection circuit 222,223
Are connected to a first input terminal and a second input terminal of the piezoelectric element drive circuit 224. The output terminal n of the piezoelectric element driving circuit 224 is connected to the piezoelectric element 250 shown in FIG. The input terminal of the feedback circuit 226 is connected to the USM 225, and the output terminal is connected to the input terminal of the VCO 204. Feedback circuit 226
Are, for example, variable resistors VR1, VR2, resistor R4, capacitor CS,
It is configured by a diode D2 and a comparator IC1.

FIG. 6 is a sectional view of a main part of the USM225, and FIG.
1 is pressed against the stator 253 by the piezoelectric element 250, and the wire 252 is locked on the circumference of the rotor 251;
Are locked by an E-ring 254, and the E-ring 254 is hung on a stator 253.

The operation of the USM control circuit thus configured will be described.

When the bending switch 200 is turned on, a current flows through the resistor 201, and the point of the resistor 201 connected to the control terminal of the analog switch 204 becomes “H”. Therefore, analog switch 205 is O
N. As a result, an output signal of the VCO 204, for example, a signal having a waveform shown in FIG. 7A is input to the clock terminal a of the ring counter 210 via the analog switch 205. The same output signal of the VCO 204 is also input to the input terminal of the mono multi 206.

When the direction switch 202 is turned ON at the same time, the resistance 203
, The point at which the resistor 203 is connected to the control terminal x of the ring counter 210 becomes “H”. As a result, the ring counter 210 determines that the control terminal x is at "H", and thus the ring counter 210 shown in FIG.
As shown in (e), the input signal of the clock terminal a is "H".
At the time of falling to "L" from "b", "b", "c", "d", "e"
"H" is sequentially shifted in this order. In addition, Mono Multi 206
Controls the saw-tooth wave generation circuit 207 in accordance with the output signal of the VCO 204 shown in FIG. 7A, and the saw-tooth wave generation circuit outputs a saw-tooth wave signal shown in FIG. 7F. As a result, as shown in FIG. 7 (g), the comparator 208 is connected between the output signal of the sawtooth wave generating circuit 207 connected to the negative input terminal and the speed control volume 209 connected to the positive input terminal. By comparing with the voltage at the point g, as shown in FIG. 7 (h), a signal which becomes "H" while the output signal of the sawtooth wave generation circuit 207 is lower than the voltage of the speed control volume 209 is output.

The output terminals of the AND circuits 211, 212, 213 and 214 are connected to the seventh
As shown in FIGS. 11 (i) to 11 (l), when the input terminal connected to the ring counter 210 is "H" and the input terminal connected to the comparator 208 is also "H", it becomes "H". That is, the mono multi 206, the sawtooth wave generation circuit 207, the comparator 208
The AND circuits 211, 212, 213, and 214 constitute a PWM (pulse width modulation) circuit.

As a result, the switching circuit 215 is connected to the transformers 216 and 2
For example, a sine wave and a Cos wave of 100 Vrms are supplied to the USM 225 via 17, and the stator 253 of the USM 225 responds to the "H" period of the output pulse of the AND circuits 211, 212, 213, 214 in the direction of bending the bending portion upward. Spin at speed. USM2
In order to drive 25 efficiently, the VCO 204 controls the feedback circuit 226 to output a signal having a frequency slightly higher than the resonance frequency of the USM 225.

When the direction switch 202 is OFF, no current flows through the resistor 203, and the control terminal x of the ring counter 210 becomes “L”. Accordingly, since the control terminal x of the ring counter 210 is “L”, “H” is sequentially shifted from the output terminals b to d in the order of e, d, c, b. The AND circuits 211, 212, 213, 21
4. The switching circuit 215 and the transformers 216, 217 operate in the same manner as when the bending portion is bent upward. But,
Since the shift of “H” at the output end of the ring counter is opposite to the upward direction, the stator 253 of the USM 225 moves the bending portion downward in the direction of “H” of the output pulses of the AND circuits 211, 212, 213 and 214. It rotates at the appropriate speed.

By the way, when the USM 225 is in a no-load state, that is, when there is no bending resistance, the phase difference between the voltage and the current of the power supplied to the USM 225 is 90 °. However, as the load increases, the phase difference between the voltage and the current decreases.

Therefore, in the present embodiment, U from the secondary side of the transformers 216 and 217
The voltage supplied to the SM225 is input to the phase detection circuits 222 and 223, the current supplied to the USM225 is detected by the current probes 218 and 219, and the phase detection circuits 222 and
Enter 23.

Thereby, the phase detection circuits 222 and 223 determine the phase difference between the voltage and the current, and for example, when the phase difference is 5 ° or less,
The USM 225 outputs a signal to the piezoelectric element drive circuit 224 assuming that it is overloaded, that is, the bending resistance is very large.

Further, the piezoelectric element drive circuit 224 includes phase detection circuits 222 and 223.
When the signal from the phase detection circuits 222 and 223 is input, the piezoelectric element 250 is driven in a direction in which the piezoelectric element 250 is contracted.

In other words, when the USM225 is in a no-load state with no bending resistance,
The piezoelectric element 250 presses the rotor 251 against the stator 253, the rotor 251 rotates together with the stator 253, pushes and pulls the wire 252, and when the USM 225 is in an overload state where the bending resistance is very large, the piezoelectric element 250 Separate 251 and stator 253,
Wire 252 enters a free state.

Note that the current probe 218, the amplifier 220, and the phase detection circuit
222, current probe 219, amplifier 221 and phase detection circuit 2
The same effect can be obtained by providing either one of 23.

This embodiment also has the same effect as the above-described second embodiment.

FIG. 8 relates to a fourth embodiment of the present invention and shows a vertical USM.
2 shows a configuration of a control circuit. The USM control circuit in the left-right direction has the same configuration and will not be described.

The switch control circuit 302 is configured such that the bending resistance detection circuit 300 and the bending switch circuit 301 are connected to the input terminal, and the output terminal is connected to the control terminal of the switch 304 and the control terminal of the switch 308. The output terminal of the sine wave generation circuit 303
90 ° phase shifter 305 and 270 ° phase shifter 3 via switch 304
06 and to the input terminal of the amplifier 307. The output terminal of the 90 ° phase shifter 305 and the output terminal of the 270 ° phase shifter 306 are connected to an amplifier 309 via a switch 308.
To be connected to the input terminal. Amplifier 307,30
The output terminal of 8 is connected to USM310.

The operation of the USM control circuit thus configured will be described.

When the bending switch is operated, the bending switch circuit 301
Outputs a signal corresponding to the bending direction to the switch control circuit 302. The switch control circuit 302 turns on the switch 304 regardless of whether the bending direction is upward or downward.
As a result, the output of the sine wave generation circuit 303 becomes 90 °
05, 270 ゜ Switch 3 at the input of phase shifter 306 and amplifier 307
Entered via 04. Also, the switch control circuit 302
If the output of the bending switch circuit 301 is a signal of upward bending, the switch 308 is switched to the 90 ° phase shifter 305 and the amplifier 309.
And if the output of the bending switch circuit 301 is a downward bending signal, the switch 308 is controlled to connect the 270 ° phase shifter 306 and the amplifier 309.

Therefore, the output of the amplifier 307 and the output of either the 90 ° phase shifter 305 or the 270 ° phase shifter 306 via the switch 308 are added to the USM 310. Thus, when the output of the amplifier 307 and the output of the 90 ° phase shifter 305 are added, the USM 310 rotates in the direction of bending the bending portion upward, and the output of the amplifier 307 and the output of the 270 ° phase shifter 306 are changed. When it is applied, it rotates in a direction to bend the bending portion downward.

However, when the bending resistance detection circuit 300 detects the bending resistance, the bending resistance detection circuit 300 outputs a signal to the switch control circuit 302. This allows the switch control circuit
The 302 controls the switch 308 to be neutral, that is, the input terminal of the amplifier 309 is opened.

Therefore, only the signal of the sine wave generation circuit 303 via the switch 304 and the amplifier 307 is applied to the USM 310. As a result, a standing wave is generated in the USM 310, and as a result, the holding torque of the USM 310 is significantly reduced.

That is, since the holding torque of USM310 is reduced,
The bending portion held by M310 is in a free state.

When the bending switch is not operated, that is,
When the switch 304 is OFF and the switch 308 is in the neutral state, and the bending resistance detection circuit 300 detects the bending resistance, the bending resistance detection circuit 300 outputs a signal to the switch control circuit 302. This allows the switch control circuit 30
2 controls the switch 304 to be turned on.

Therefore, the USM 310 receives only the signal of the sine wave generation circuit 303 via the switch 304 and the amplifier 307. As a result, a standing wave is generated in the USM 310, and as a result, the holding torque of the USM 310 is significantly reduced.

That is, since the holding torque of USM310 is reduced,
The bending portion held by M310 is in a free state.

The effect of this embodiment is the same as the effect of the second to fourth embodiments.

FIG. 9 shows a vertical bending motor control circuit according to a fifth embodiment of the present invention. Note that the left and right bending motor control circuits are the same as those in the up and down direction, and will not be described.

The bending motor control circuit includes a bending resistance detection circuit 350, a bending switch circuit 351, a motor 352, a clutch 353,
It is configured to include a gear 354 and a pulley 355.

The operation of the bending motor control circuit having such a configuration will be described.

The motor 352 stops, rotates forward, and rotates reversely according to the control signal of the bending switch control circuit 351. The rotational force of this motor 351 is transmitted to a gear 354 via a clutch 353,
Rotate 355.

However, when the bending resistance detection circuit 350 detects the bending resistance, it outputs a signal to the clutch 353. As a result, the clutch 353 stops transmitting the rotational force of the motor 351 to the gear 354. Therefore, the gear 354 and the pulley 355 are in a free state.

That is, the bending portion held by the motor 352 enters a free state.

The effect of this embodiment is the same as the effect of the second to fourth embodiments.

The means for detecting the bending resistance is not limited to the above-described embodiment, for example, as shown in FIG.
A slack removal mechanism 401 provided in the middle of a curved wire
The pressure sensor 403 attached to at least one of the stoppers 402 provided at the end of the curved wire 400
May be used.

And press contact between the USM rotor and stator (biasing force)
For example, a shape memory alloy may be used.

The motor is not limited to an ultrasonic motor, but can be applied to a stepping motor, a DC motor, an AC motor, and the like.

The present invention is also applicable to an endoscope device using an image guide.

Further, the present invention can be applied not only to an endoscope apparatus used for medical purposes but also to an endoscope apparatus used for industrial use, for example.

[Effects of the Invention] As described above, according to the present invention, the control of the bending fixing means is prioritized, and the test is actively performed in a state in which the bending section is bent and fixed by the bending operation means. By contacting the endoscope, the meandering or curved bowel can be straightened and inserted, and when the endoscope is withdrawn from the body cavity wall, the bending resistance is reduced based on the control of the second control means. The curvature can be controlled so as to be reduced, so that the insertability and the withdrawal property can be improved, which can contribute to facilitation of diagnosis.

[Brief description of the drawings]

FIGS. 1A and 2 to 4 relate to a first embodiment of the present invention. FIG. 1A is a block diagram showing an endoscope apparatus, and FIG. 2 is a circuit showing a specific configuration of a bending switch control circuit. Figure, third
FIG. 4 is a circuit diagram showing a specific configuration of a contact pressure detecting circuit, FIG. 4 is a circuit diagram showing a specific configuration of a USM control circuit, and FIG. 5 is a circuit diagram showing a second embodiment of the present invention. , FIG. 1B, FIG. 6, and FIG.
FIG. 1B is a specific configuration diagram of a USM control circuit, FIG. 6 is a sectional view of a main part of the USM, FIG. 7 is a time chart showing the operation of the USM control circuit, and FIG. FIG. 9 is a block diagram of a USM control circuit according to a fourth embodiment of the present invention, FIG. 9 is a block diagram of a bending motor control circuit according to a fifth embodiment of the present invention, and FIG. It is. DESCRIPTION OF SYMBOLS 1 ... Endoscope, 2 ... UCA 8 ... Bending part, 12 ... USM 15 ... USM, 16 ... Bending switch 21 ... Bending switch control circuit 22 ... USM control circuit 23 ... USM control circuit 26 Contact pressure detection circuit 40 Contact pressure sensor 41 Contact pressure sensor 42 F / L switch 218 Current probe 219 Current probe 220 Amplifier 221 Amplifier 222 Phase detection circuit, 223: Phase detection circuit 224: Piezoelectric element drive circuit

Claims (1)

(57) [Claims] 1. An endoscope apparatus having a driving means for bending a bending portion of an endoscope by a motor according to a bending operation means, wherein the driving means is controlled to bend the bending portion by a bending operation means. A first control unit, a bending fixing unit that fixes a bending state of the first control unit, a unit that detects a bending resistance received from an object to be measured, and the like, wherein the bending resistance exceeds a predetermined value. A second control means for controlling the driving means so as to reduce the bending resistance, and a control means for selectively controlling the bending fixing means in preference to the second control means are provided. Endoscope device.