JP2962516B2 - Endoscope device - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an endoscope apparatus with improved insertion operability.

[Prior art] Conventionally, by inserting an elongated insertion portion into a body cavity,
2. Description of the Related Art Endoscopes (also called 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.

The endoscope includes, for example, an elongated and flexible insertion portion, and a large-diameter grip portion connected to the rear end of the insertion portion. The insertion portion has a rigid distal end portion, a curved portion that can be bent up and down / left and right, for example, continuously connected to the rear end of the distal end portion, and a flexible portion that is continuously connected to the rear end of the curved portion. And a flexible tube portion.

As the outer cover member of the bending portion, for example, a bending rubber made of a member such as rubber is used.

[Problem to be Solved by the Invention] However, there is a problem in that when the curved rubber comes into strong contact with an object to be inspected, for example, a body cavity wall, contact resistance increases and it becomes difficult to insert an insertion portion.

Therefore, the present applicant has filed a Japanese Patent Application No. 1-230235 filed earlier.
An endoscope apparatus provided with a means for slightly vibrating the insertion section in the issue is proposed.

Recently, an endoscope apparatus has been proposed in which a mechanism for bending the bending portion is driven by a driving unit such as a motor. In such an endoscope apparatus, if a means for slightly vibrating the insertion section by a motor or the like is newly provided separately from the bending motor, there is a problem that the endoscope apparatus becomes large and heavy.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides an endoscope apparatus capable of easily inserting an insertion portion even if contact resistance increases without increasing the size and weight. It is intended to be.

[Means for Solving the Problems] An endoscope apparatus according to the present invention includes a bending section provided on an insertion section, and a driving unit for driving the bending section to bend. A means for finely vibrating at least a part of the insertion portion using a driving means is provided.

[Operation] In the present invention, the bending portion is driven to bend by the driving means, and at least a part of the insertion portion is slightly vibrated by using the driving means.

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

1 to 19 relate to a first embodiment of the present invention, FIG. 1 is a block diagram showing a configuration of an endoscope apparatus, FIG. 2 is an explanatory view showing an appearance of the endoscope apparatus, FIG. FIG. 4 is a block diagram showing a configuration of a bending / advancing / rotating control circuit. FIG. 4 is a timing chart for explaining the operation of the endoscope apparatus during a normal bending operation. FIG. FIG. 6 is a timing chart for explaining the operation of the endoscope apparatus when the bending operation is not performed, FIG. 6 is a timing chart for explaining the operation of the endoscope apparatus when the bending operation is performed in the same direction minute vibration mode, and FIG. Is a timing chart for explaining the operation of the endoscope apparatus in the perpendicular slight vibration mode, FIG. 8 is a timing chart for explaining the operation of the endoscope apparatus during the turning motion, and FIG. And the operation of the endoscope device during bending micro-vibration The timing chart for,
FIG. 10 is a timing chart for explaining the operation of the endoscope apparatus when the condition of the rotational micro-vibration is changed, and FIG. 11 illustrates the operation of the endoscope apparatus during the forward / backward micro-vibration and the bending micro-vibration operation. FIG. 12 is a timing chart for explaining the operation of the endoscope apparatus when the condition of the advance / retreat fine vibration is changed, FIG. 13 is an explanatory view showing vertical fine vibration, FIG. The figure is an explanatory view showing micro-vibration in the left-right direction.
FIG. 15 is an explanatory diagram showing a clockwise turning motion, FIG. 16 is an explanatory diagram showing a counterclockwise turning motion, FIG. 17 is an explanatory diagram showing advance / retreat fine vibration, and FIG. 18 is an explanatory diagram showing a rotational fine vibration. FIG. 19 is an explanatory view showing a part of the mode display section of the monitor.

As shown in FIGS. 1 and 2, the endoscope apparatus includes an endoscope 1, a control device 16 to which the endoscope 12 is connected, and a monitor 40 to which the control device 16 is connected. Have.

The endoscope 1 has an elongated and flexible insertion portion 2,
A large-diameter operation portion 6 connected to the rear end of the insertion portion 2, and a universal cable extending from a side portion of the operation portion 6
It has 14 and. At the end of the universal cable 14, a connector detachably connected to the control device 16.
15 are provided. The insertion section 2 includes a flexible section 43 connected to the operation section 6, a bendable bending section 7 connected to the distal end of the flexible section 43, and a distal end connected to the distal end of the bending section 7. And part 3. In addition, this insertion portion 2
At the base side, a forward / backward roller 23 for sandwiching the insertion section 2 to advance and retreat, and a rotating roller for sandwiching and rotating the insertion section 2
23 and are attached.

The distal end portion 3 is provided with an observation window 5a, an illumination window 41a, and an air supply / water supply port (not shown). In the observation window 5a,
An objective lens 5 is provided, and a solid-state imaging device 4 is provided at an image forming position of the objective lens 5. The signal line connected to the solid-state imaging device 4 is inserted through the insertion section 2, the operation section 6, and the universal cable 14, and is connected to the connector 15. A light distribution lens 41 is mounted on the illumination window 41a, and a light guide 42 is continuously provided at the rear end of the light distribution lens 41. The light guide 42 is inserted through the insertion section 2, the operation section 6, and the universal cable 14, and the incident end is connected to the light guide pipe 26 provided in the connector 15. Further, an air supply / water supply tube is connected to the air supply / water supply port, and the air supply / water supply tube is inserted through the insertion section 2, the operation section 6, and the universal cable 14, and is provided with an air supply pipe 27 provided in the connector 15. It is connected to the.

Further, a contact pressure sensor 19a is provided on an outer peripheral portion of the bending portion 7.
Is provided. The signal line connected to the contact pressure sensor 19a includes the insertion unit 2, the operation unit 6, and the universal cable.
It is inserted through 14 and connected to the connector 15.

The operating section 6 is provided with a joystick 8 for performing a bending operation of the bending section 7, a joystick 9 for performing an advancing / retracting / rotating operation of the insertion section 2, and switches 10 and 11, which will be described later.

Further, in the operation section 6, bending drive motors 12a and 12b are provided. The bending drive motors 12 (representing 12a and 12b) each have a bending wire 13 inserted into the insertion section 2, and a distal end of the bending wire 13 is fixed to a distal end of the bending section 7. ing. The bending wire 13 is pushed and pulled by rotating the bending drive motor 12, so that the bending portion 7 is bent in the vertical and horizontal directions. Further, the bending drive motor 12 includes:
An encoder 18a is attached. This encoder 1
The signal line connected to 8a is inserted through the insertion section 2, the operation section 6, and the universal cable 14, and is connected to the connector 15.

In the control device 16, a video processor (hereinafter referred to as VP) connected to the solid-state imaging device 4 via the connector 15 is provided.
It is written. ) 17, a bending angle detection circuit 18 connected to the encoder 18a via the connector 15, a bending resistance detection circuit 19 connected to the contact pressure sensor 19a via the connector 15, and a bending / forward / backward / rotation control circuit 20. , A lamp 21 and a pump 22 are built in.

The VP 17 processes the output signal of the solid-state imaging device 4 as a video signal and outputs the video signal to the monitor 40. Then, a subject image is displayed on the monitor 40. Further, the bending angle detection circuit 18 detects the bending angle of the bending portion 7 based on the output of the encoder 18a, and can display the bending angle on the monitor 40 via the VP17. The information on the bending angle from the bending angle detecting circuit 18 is also sent to the bending / advancing / rotating / rotation control circuit 20. Further, the bending resistance detection circuit 19 detects the bending resistance from the output from the contact pressure sensor 19a provided in the bending section 7, and can display the bending resistance on the monitor 40 via the VP17. I have. Further, the information of the bending resistance from the bending resistance detection circuit 19 is also sent to the bending / advance / revolution / rotation control circuit 20. The lamp 21 is provided with a light guide pipe 26.
Illumination light is made to enter the entrance end of the light guide 42 in the inside. Further, the pump 22 is connected to the air supply pipe.
It is designed to supply air to 27.

As shown in FIG. 3, the bending / forward / backward / rotation control circuit
Reference numeral 20 denotes the bending drive motors 12a and 12b and an advance / retreat motor 23a for driving an advance / retreat roller 23 attached to the insertion portion 2.
And a rotation motor 24a for driving the rotation roller 24 attached to the insertion section 2. As shown in FIG. 2, a switch 25 described later is provided on the outer wall of the control device 16. As shown in FIG. 3, the joysticks 8, 9 and switches 10, 11, 25 are connected to the bending / forward / backward / rotation control circuit 20, and the bending / forward / backward / rotation control circuit 20 is connected to the joystick 8 ,
9, Monitor the operation status of switches 10, 11, 25 via VP17 4
It can be displayed as 0.

As shown in FIG. 3, the bending / forward / backward / rotation control circuit
20 is the joystick 8,9, switches 10,11,25,
A control circuit 28 for inputting information from the bending angle detection circuit 18 and the bending resistance detection circuit 19, drivers 32a, 32b, 32c, 32d for driving the motors 12a, 12b, 23a, 24a, and information from the control circuit 28 Speed control circuits 29a to 29d for controlling the drivers 32a, 32b, 32c, 32d based on
a to 30d and free / lock circuits 31a to 31d.

As shown in FIG. 1, the switch 10 includes a bending micro-vibration on / off switch 10a, an advance / retreat micro-vibration on / off switch 10b, and a rotary micro-vibration on / off switch 10c. The switch 1 includes a bending free / lock switch 11a and an advance / retreat free / lock switch 11b.
And a rotation free / lock switch 11c. Further, the switch 25 is a bending micro vibration switch.
25a and bending / forward / backward / rotation / rotation setting changeover switch 25b
, An angle designation switch 25c, a speed designation switch 25d,
It consists of an all-free switch 25e.

The angle designation switch 25c has, for example, a narrow angle (N),
The angle or the length of the micro-vibration can be designated in three stages of the medium angle (M) and the wide angle (W). The speed designation switch 25d is capable of designating the speed of micro-vibration in three stages, for example, low speed (L), medium speed (M), and high speed (H).

The joysticks 8, 9 output information on the direction of the tilt and the degree of the tilt by tilting the lever up, down, left, and right, and this information is input to the control circuit.

Next, the operation of the present embodiment will be described. In the endoscope apparatus of the present embodiment, each operation of bending, advance / retreat, and rotation,
Various operations can be performed by combining the fine vibrations of the forward and backward movements and the rotation, and the following typical operations will be described in order with reference to FIGS. 4 to 12.

(I) Operation during normal bending operation (FIG. 4) (II) Operation during non-bending operation in the same-direction fine vibration mode (FIG. 4)
(III) (III) Operation at the time of bending operation in the same direction micro vibration mode (No. 6)
Figure) (IV) Operation in right-angle direction micro vibration mode (Fig. 7) (V) Operation in swing motion, forward / backward fine vibration, and rotary fine vibration (Fig. 8)
(Figure) (VI) Operation of rotational micro-vibration and bending micro-vibration (Fig. 9) (VII) Operation when the condition of rotational micro-vibration is changed (Fig. 10)
(Fig.) (VIII) Operation of forward and backward fine vibration and bending fine vibration (Fig. 11) (IX) Operation when conditions of forward and backward fine vibration are changed (Fig. 12) In Fig. 4, (a) and ( b) shows the operation of the joysticks 8 and 9, respectively. (C) to (e) are speed control circuits 2 for the bending drive motor 12a.
9a, the operation of the rotation direction instruction circuit 30a and the free / lock circuit 31a, and similarly, (f) to (h) show the operation of the circuits 29b, 30b, 31b for the bending drive motor 12b, and (i) (K) shows the operation of the circuits 29c, 30c, 31c for the forward / backward motor 23a, and (l) to (n) show the rotation motor 24a.
The operation of the circuits 29d, 30d, 31d for use.

5 to 12, (a) to (c) show the operation of switches 10a to 10c, respectively.
(D) and (e) show the operation of the joysticks 8 and 9, respectively, and (f) to (h) show the switches 25a and 25, respectively.
The operation of c, 25d is shown. (I) and (j) show the operation of the speed control circuit 29a and the rotation direction instruction circuit 30a for the bending drive motor 12a. Similarly, (k) and (l) show the circuit 29b for the bending drive motor 12b. , 30b, and (m)
And (n) show the operation of the circuits 29c and 30c for the forward / backward motor 23a, and (o) and (p) show the operation of the circuits 29d and 30d for the rotary motor 24a.

First, with reference to FIG. 4, (I) an operation during a normal bending operation will be described.

As shown in FIG. 4A, when the joystick 8 is operated upward (hereinafter, referred to as U), a voltage corresponding to the degree of the inclination is sent from the control circuit 28 to the speed control circuit 29a. The speed control circuit 29a outputs a pulse having a frequency corresponding to the voltage value, as shown in FIG. That is, a low frequency pulse is output when the voltage is low, and a high frequency pulse is output when the voltage is high. Then, the motor
12a rotates in the U direction at a progressively higher speed. The motors 12a, 12b, 23a and 24a are stepping motors. The rotation direction instruction circuit 30a outputs a High level (hereinafter, referred to as H) when the joystick 8 is operated downward (hereinafter, referred to as D), and outputs a Low level (hereinafter, referred to as "H") otherwise. L is used for signals, L means Low level, and when used for directions, L means left). As shown in (d), the rotation direction instructing circuit 30a performs normal rotation when the output is low and reverses when the output is high.
Control. The free / lock circuit 31a is provided with a curved free / lock switch 11a or an all-free switch 2
L is output when the bending free is instructed by 5e, and H is output otherwise. This free / lock circuit 31
As shown in (e), the motor 12a is controlled so that when the output is H, it is locked and when it is L, it is free.

As shown in (a) and (c) to (h), D,
The same applies to each of the right (hereinafter referred to as R) and left (hereinafter referred to as L) directions, and the description thereof is omitted.

Next, when the joystick 9 is operated in the forward (in the figure, indicated as Push) direction, as shown in (i), a voltage corresponding to the degree of inclination is sent from the control circuit 28 to the speed control circuit 29c, The motor 23a rotates forward, and the insertion portion 2 is extended by the advance / retreat roller 23. As shown in (j), the rotation direction instruction circuit 30c becomes H when the joystick 9 is operated in the pulling (in the figure, referred to as Pull) direction,
Otherwise, it is L. Note that, as shown in (b) and (i) to (k), the same applies to the pulling operation, and a description thereof will be omitted.

Next, when the joystick 9 is operated in the R-rotation direction, as shown in (l), a voltage corresponding to the inclination is sent from the control circuit 28 to the speed control circuit 29d, and the motor 24a rotates forward. The insertion portion is rotated clockwise by the rotation roller 24. In addition, as shown in FIG.
d becomes H when the joystick 9 is operated in the L-rotation direction, and becomes L otherwise. Note that, as shown in (b) and (l) to (n), the same applies to the operation in the L-rotational direction, so the description is omitted.

When both of the free / lock switches 11a, 11b and 11c are operated, the free / lock circuits 31a to 31d output L, and the motors 12a, 12b, 23a and 24a become free. The same applies to the case where the all-free switch 25e is turned on.

The bending micro-vibration mode changeover switch 25a is a switch for switching between the micro-vibration direction and the turning motion direction. Each time the switch is pressed, the micro-vibration in the same direction as the bending direction (hereinafter referred to as the same-direction micro-vibration) and the bending direction The micro vibration in the direction perpendicular to the direction (hereinafter, referred to as the micro vibration in the right direction), the turning clockwise rotation, and the turning motion left rotation are cyclically switched. Also,
Each time the bending / advancing / retracting / rotating / turning setting changeover switch 25b is pressed, the fine vibration angle and the fine vibration speed in each state can be set. For example, when it is desired to set the angle and speed of the rotation micro-vibration, the switch 25b is pressed twice to set the rotation, and then the speed designation switch 25d and the angle designation switch 25
When c is pressed, fine rotation vibration is performed at a desired speed and angle. The switch 25b is configured to switch cyclically in the order of bending, moving forward and backward, rotating, and turning.

Next, with reference to FIG. 5, (II) the operation when the bending operation is not performed in the same-direction minute vibration mode will be described.

As shown in FIG. 5 (a), the bending micro-vibration switch 10a
Is turned on, the bending portion 7 vibrates (reciprocates) under the conditions set by the switches 25a, 25c, and 25d. That is,
As shown in (f), the setting of the switch 25a is the same-direction minute vibration mode, the speed setting by the switch 25a is low as shown in (g), and the angle by the switch 25d as shown in (h). When the setting of is a narrow angle, (j)
As shown in (1), the rotation direction indicating circuit 30a for the UD motor 12a alternately outputs H and L sequentially, and as shown in (i), the speed control circuit 29a uses a pulse width corresponding to the speed set value of the switch 25c. Output pulse. Therefore, the motor 12a repeats forward and reverse rotations, and the bending portion 7 slightly vibrates in the UD direction. Also,
When the speed setting by the switch 25c is high as shown in (g), the speed control circuit 29 is set as shown in (i).
The pulse width of the output pulse a becomes short, and the bending portion 7 slightly vibrates at a high speed. Also, when the angle setting is wide angle,
The bending portion 7 vibrates greatly.

In the present embodiment, the bending angle is set at the output frequency of the rotation direction instruction circuit 30a as shown in (j). However, the rotation angle of the motor 12a is detected based on the output of the encoder 18a, and the bending angle is set. May be controlled.

Further, when the mode is set to the right-angle minute vibration mode by the switch 25a, when the switch 10a is turned on, the RL motor 12b operates, and the bending portion 7 vibrates slightly in the RL direction.

In the above description, the switch 10a is operated when the joystick 8 is not operated.

Next, (III) the operation of the bending operation in the same-direction minute vibration mode will be described with reference to FIG. That is, a case where the switch 10a is pressed while operating the joystick 8 will be described. In order to simplify the explanation, the operation of the joystick 8 is only on / off (that is, the degree of inclination of the joystick 8 is not considered), the speed of the micro-vibration is low, and the angle of the micro-vibration is a narrow angle. Similarly to the operation when the joystick 8 is not operated, the speed (high speed / low speed, etc.) and the angle (wide angle / narrow angle, etc.) can be set by the switches 25c, 25d.

As shown in FIG. 6 (f), when the same-direction minute vibration mode is set, the switch 10a is turned on, and
When the joystick 8 is operated in the direction, the rotation direction instruction circuit 30a alternately outputs H and L as shown in (j), but L is longer than H. That is, driving is performed longer in the U direction than in the D direction. At this time, the speed control circuit 29a outputs a pulse corresponding to the designated speed as shown in (i). Therefore, the bending portion 7 bends in the U direction while slightly vibrating in the UD direction.

When the joystick 8 is turned off, the bending portion 7 slightly vibrates in the UD direction.

When the joystick 8 is operated to the D side, the rotation direction instructing circuit 30a outputs H, and the speed control circuit 2
9a outputs a pulse corresponding to the designated speed, so the bending portion 7
Is curved to the D side. At this time, when the switch 10a is turned on, a pulse whose H is longer than L is output from the rotation direction instruction circuit 30a, and a pulse corresponding to the designated speed is output from the speed control circuit 29a. Therefore, the bending portion 7
It bends in the D direction while slightly vibrating in the UD direction.

Similarly, when the joystick 8 is operated in the R direction, the bending portion bends in the R direction while slightly vibrating in the RL direction,
When the joystick 8 is operated in the L direction, the bending portion
It bends in the L direction while slightly vibrating in the RL direction.

Next, the operation in the case of the (IV) perpendicular vibration mode is described with reference to FIG.

Here also, for simplicity of explanation, the operation of the joystick 8 is only on / off, the speed of the fine vibration is low, and the angle of the fine vibration is a narrow angle.

As shown in FIGS. 7 (a) and 7 (d), when the switch 10a is operated without operating the joystick 8, the bending portion 7 slightly vibrates in the RL direction as described above.

In this state, when the joystick 8 is operated in the U direction, the bending portion 7 slightly vibrates in the RL direction as shown in (k) and (l), and as shown in (i) and (j). U
Curve in the direction. Similarly, when the joystick 8 is operated in the D direction, the bending portion 7 slightly vibrates in the RL direction while
Curve in the direction.

When the joystick 8 is operated in the L direction,
The bending portion 7 bends in the L direction as shown in (k) and (l) while slightly vibrating in the UD direction as shown in (i) and (j). Similarly, when the joystick 8 is operated in the R direction, the bending portion 7 bends in the R direction while slightly vibrating in the UD direction.

In the above description, the operation in only one direction of U, D, R, and L has been described. However, one of UD and one of RL may be operated together. Is curved between the two directions operated while micro-vibrating in both directions of UD and RL.

Next, the operation of (V) turning motion, forward / backward fine vibration, and rotational fine vibration will be described with reference to FIG.

Here, the case where the switch 25a is set to the turning motion right rotation mode or the turning motion left rotation mode as shown in (f) will be described, but the forward / backward / rotation will also be described.

As shown in (a), when the switch 10a is turned on,
As shown in (i) and (k), the speed control circuit 29a,
29b outputs a pulse corresponding to the speed set by the switch 25c. At this time, as shown in (j) and (l), the rotation direction instruction circuits 30a and 30b output pulses whose phases are shifted by 90 degrees. It should be noted that the clockwise or counterclockwise rotation is determined by the setting of the switch 25a.
The phase of the output pulse a is 90 degrees ahead of the phase of the output pulse of the rotation direction instruction circuit 30b, and vice versa. As a result, the bending portion 7 performs a clockwise or counterclockwise turning motion. This turning motion is also one form of the micro-vibration (reciprocating motion) in the present invention. Because the turning movement is UD
This is because the linear fine vibration in the direction and the linear fine vibration in the RL direction are combined. Therefore, the rotation direction indicating circuits 30a, 30
By appropriately setting the phase difference between the output pulses b, an elliptical turning motion is also possible.

During this turning movement, the joystick 8 is moved to, for example, R
When the switch 30b is operated in the direction, the H output of the switch 30b becomes shorter than the L output, whereby the bending portion 7 bends in the R direction while making a turning motion. Similarly, in the other directions, the bending portion 7 bends while turning in accordance with the operation direction of the joystick 8, but the description is omitted.

Next, the forward / backward rotation fine vibration will be described. The forward / backward speed / angle (length) and the rotational speed / angle can be set by the switch 25b in the forward / backward or rotation mode and the switches 25c and 25d. In the example of FIG. 8, all are set to the low speed and narrow angle mode.

(B) and (c) as shown in FIG.
When the rotary vibration switch 10c is off, the joystick 9 is operated in the forward (Push) and R-rotation directions as shown in (e) (that is, in the oblique direction between the R-rotation directions of the push direction). Then, the rotation direction indicating circuits 30c and 30d output L as shown in (n) and (p), and the speed control circuits 29c and 29d output low speed pulses as shown in (m) and (o). Is output. Therefore, the insertion section 2 advances while rotating to the right.

When the advance / retreat fine vibration switch 10 and the rotary fine vibration switch 10c are turned on as shown in (b) and (c), (n)
And (p), the rotation direction indicating circuits 30c and 30d
Output pulse in narrow angle mode. Then, as shown in (m) and (o), the speed control circuits 29c and 29d output pulses in the low speed mode. Therefore, the insertion portion 2 moves forward and backward finely (slightly advances and retreats) while rotating finely (slightly rotating).

Next, when the joystick 9 is operated in the pulling and R-rotational directions during the rotation fine vibration and the forward / backward vibration operation, the speed control circuits 29c and 29d output pulses at a low speed, and the rotation direction instruction circuit 30c, 30d outputs a pulse having a long H output and a long L output. Therefore, the insertion portion 2 rotates R while slightly vibrating, and retreats while moving forward and backward finely.

Also, when the joystick 9 is operated in the forward (Push) and L-rotational directions during the rotation fine vibration and the forward / backward fine vibration operation, similarly, the insertion portion 2 rotates L while performing the fine rotation vibration,
In addition, it advances while moving forward and backward finely.

The bending micro-vibration, the rotation micro-vibration, and the vibration micro-vibration have been described above. However, it goes without saying that these operations can be performed in combination. Needless to say, a bending operation can be performed during each fine vibration operation.

Next, the operation of (VI) fine vibration of rotation and fine vibration of bending will be described with reference to FIG. For the sake of simplicity, in the same-direction fine vibration mode as shown in FIG.
As shown in (g) and (h), an example is shown in which both the rotation micro-vibration and the bending micro-vibration have a narrow angle and a low speed.

(A) and (c) as shown in FIG.
When 10a and the rotary micro vibration switch 10c are turned on,
As shown in (j) and (p), the rotation direction indicating circuits 30a and 30d
Outputs a pulse in the narrow angle mode, and the speed control circuits 29a and 29d output a pulse in the low speed mode as shown in (i) and (o). Therefore, the insertion portion 2 performs fine vibration while bending while vibrating finely. When the switch 10a or the switch 10c is operated alone, as described above, the bending micro-vibration or the rotation micro-vibration is performed independently.

Next, when the joystick 8 is operated in the U direction as shown in (d) with the bending micro-vibration switch 10a and the rotary micro-vibration switch 10c turned on, the rotation direction instructing circuit as shown in (j). 30a outputs a pulse whose L output is longer than the H output. Others are the same as when the joystick 8 is not operated. Therefore, the insertion portion 2 bends in the U direction while performing fine rotation vibration and fine vibration. Similarly, when the joystick 8 is operated in the D, R, and L directions, the insertion unit 2 performs D, R, and
Curves in the L direction.

Next, with reference to FIG. 10, the operation when the condition of (VII) fine rotation vibration is changed will be described.

When the rotary micro-vibration switch 10c is turned on as shown in (c) in the narrow angle, low speed mode as shown in (g) and (h), the rotation direction instructing circuit 30d becomes the narrow angle as shown in (p). A pulse is output in the mode, and as shown in (o), the speed control circuit 29d outputs a pulse in the low speed mode.
Therefore, the insertion portion 2 performs fine rotation vibration at a narrow angle and at a low speed. Here, when the switch 25d is operated to switch to the high-speed mode, as shown in FIG.
Outputs pulses in high-speed mode. That is, the frequency of the pulse increases. Thereby, the insertion portion 2 has a narrow angle,
Performs fine vibration at high speed.

Further, when the switch 25c is operated to switch to the wide angle mode, the rotation direction instruction circuit 30d outputs a pulse in the wide angle mode as shown in (p). That is, the frequency of the pulse decreases. As a result, the insertion section 2 performs fine rotation vibration at a wide angle and at a high speed. Further, when the switch 25d is operated to switch to the low speed mode, the speed control circuit 29d outputs a pulse in the low speed mode as shown in (o).
Thereby, the insertion portion 2 performs fine rotation vibration at a wide angle and at a low speed.

Next, with reference to FIG. 11, a description will be given of (VII) the operation of the forward / backward fine vibration and the bending fine vibration. For the sake of simplicity, in the same-direction fine vibration mode as shown in FIG.
As shown in (g) and (h), both forward and backward fine vibrations and curved fine vibrations have narrow angles and low speeds.

(A) and (b), as shown in FIG.
When 10a and the forward / backward fine vibration switch 10b are turned on,
As shown in (j) and (n), the rotation direction indicating circuits 30a and 30c
Outputs pulses in the narrow angle mode, and the speed control circuits 29a and 29c output pulses in the low speed mode as shown in (i) and (m). Therefore, the insertion portion 2 slightly vibrates while moving forward and backward. When the switch 10a or the switch 10b is operated alone, as described above, the bending micro-vibration or the advance / retreat micro-vibration is performed independently.

Next, when the joystick 8 is operated in the U direction as shown in (d) with the bending micro-vibration switch 10a and the advance / retreat micro-vibration switch 10b turned on, the rotation direction instruction circuit is shown in (j). 30a outputs a pulse whose L output is longer than the H output. Others are the same as when the joystick 8 is not operated. Accordingly, the insertion portion 2 bends in the U direction while performing the fine vibration of the forward and backward movements and the fine vibration of the bending. Similarly, when the joystick 8 is operated in the D, R, and L directions, the insertion unit 2 performs the D, R, and
Curves in the L direction.

Next, with reference to FIG. 12, (IX) the operation when the condition of the advance / retreat fine vibration is changed will be described.

In the narrow angle, low speed mode as shown in (g) and (h), when the advance / retreat fine vibration switch 10b is turned on as shown in (b), the rotation direction instruction circuit 30c is turned to the narrow angle as shown in (n). A pulse is output in the mode, and as shown in (m), the speed control circuit 29c outputs a pulse in the low speed mode.
Therefore, the insertion portion 2 performs fine vibration of reciprocation at a narrow angle (short distance) and at a low speed. Here, when the switch 25d is operated to switch to the speed mode, the speed control circuit 29c outputs a pulse in the high speed mode as shown in (m). That is,
The pulse frequency increases. As a result, the insertion section 2 performs fine reciprocating vibration at a narrow angle (short distance) and at a high speed.

Further, when the switch 25c is operated to switch to the wide angle mode, the rotation direction instruction circuit 30c outputs a pulse in the wide angle mode as shown in (n). That is, the frequency of the pulse decreases. As a result, the insertion section 2 performs fine vibration of the reciprocating motion at a wide angle (long distance) and at a high speed. In addition, switch 25d
Is operated to switch to the low speed mode, the speed control circuit 29c outputs a pulse in the low speed mode as shown in FIG. Thereby, the insertion portion 2 can be wide angle (long distance),
Performs forward and backward fine vibration at low speed.

FIGS. 13 to 18 show the states of the micro-vibration in the UD direction, the micro-vibration in the RL direction, the clockwise rotation of the turning motion, the clockwise rotation of the turning motion, the forward / backward fine vibration, and the fine vibration of the rotation, respectively. I have.

FIG. 19 shows a part of the mode display section of the screen of the monitor 40. That is, the mode display section displays the insertion section length of the insertion section 2, the rotation angle of the insertion section 2, and the bending section 7.
And the bending resistance of the bending portion 7 are displayed. Also,
On / off of the forward / backward fine vibration, rotation fine vibration, bending fine vibration, and bending fine vibration mode (same direction fine vibration, right direction fine vibration, turning motion left rotation, turning motion right rotation) are displayed in this mode display section. Is displayed. Further, the mode display unit displays the speed (for example, three stages of L, M, and H), the length or the angle (for example, three stages of N, M, and W) of each microvibration.

Further, when the output of the bending resistance detecting circuit 19 exceeds a predetermined dangerous value, a warning is issued and the operation of each of the fine vibrations of bending, advance / retreat, and rotation is stopped.

As described above, according to this embodiment, by slightly vibrating the insertion section 2, the contact resistance of the insertion section 2 is reduced, and the insertability is improved. Further, when the bending micro-vibration is performed, the portion behind the bending portion 7, that is, the tip side portion of the flexible portion 43 also vibrates slightly, and the contact resistance of this portion is also reduced.

In addition, the state of the micro-vibration can be appropriately selected and operated in accordance with the state of the part to be inspected, the part to be inserted, or the like, so that, for example, the bending part 7 can be It is possible to reduce the contact resistance of the insertion portion 2 including the insertion portion, and it is possible to further improve the insertability.

In addition, since the angle (length) and direction of each micro-vibration can be appropriately selected, the optimal micro-vibration condition can be selected according to the size and shape of the lumen as the inserted portion. Further, since the speed of each micro-vibration can be appropriately selected, the speed according to the case can be appropriately selected.

Also, for the bending micro-vibration, the direction of the micro-vibration is
The direction can be switched to the same direction or the direction perpendicular to the bending direction, and the right rotation and the left rotation of the swivel motion can be switched appropriately, so that the optimal mode can be selected according to the state of the lumen. it can.

In addition, since the micro-vibration can be turned on / off by the switches 10a to 10c, the micro-vibration that may cause perforation can be turned off, for example, in a diverticulum portion of the body wall, which is very safe. In addition, when inserting while observing the state of the inside of the subject in detail, by turning off the micro vibration, an easy-to-view image without blurring or noise is obtained.

In addition, since the bending microvibration is performed using the motors 12a and 12b for driving the bending, there is no need to newly provide a motor for performing the microvibration separately from the bending motor, and the endoscope becomes larger and heavier. I will not do it.

In addition, since the insertion / retraction fine vibration and the rotation fine vibration of the insertion portion 2 are possible, even when it is difficult to perform the bending fine vibration or when the bending fine vibration has no effect, the forward / backward fine vibration or the rotation fine vibration is not generated. By doing so, it is possible to reduce the contact resistance of the insertion section 2 and improve the insertability.

Further, in the perpendicular micro-vibration mode of the bending micro-vibration, the bending can be surely continued even when the bending is stopped during the bending. That is, when the bending is stopped in the middle of the bending, since a tension acts on the bending portion 7 in the direction opposite to the bending direction, a large starting torque is required when the bending is restarted. Therefore, in such a case, bending may be difficult. However, by slightly vibrating the bending portion 7 in a direction perpendicular to the bending direction, bending can be easily performed at the time of restarting bending.

In addition, since the bending portion 7 can be bent while performing various types of micro-vibration, it becomes possible to insert the micro-vibration along the bending lumen while performing micro-vibration. be able to.

Further, since one or both of the forward and backward and rotation of the insertion section 2 can be operated by the joystick 9, the operability is very good.

In addition, one of various fine vibrations, that is, one of curved fine vibration (same vibration in the same direction, fine vibration in the perpendicular direction, right rotation of the turning motion, left rotation of the turning motion), forward / backward fine vibration of the insertion portion, and rotation fine vibration of the insertion portion. Since the operation can be performed in combination of two or more, it is possible to select the optimal micro-vibration according to the state of the lumen.

Also, if a slight vibration is applied to the insertion portion 2 when the insertion portion 2 has drawn a loop, a force to straighten the insertion portion 2 acts, so that the loop can be easily released.

It should be noted that each micro-vibration may be a micro-vibration (reciprocating motion) at least once or more. The micro-vibration angle is 1 to 1
180 degrees, the length of fine vibration during forward / backward fine vibration is 1-5 cm, the fine vibration speed excluding forward / backward fine vibration is 1-90 degrees / second, and the fine vibration speed during forward / backward fine vibration is 1-50 mm / second. Is preferable, but may be changed as appropriate according to the judgment of the operator.

Also, if the micro-vibration is set to an extremely fast speed or an extremely large angle, the field of view and the angle of view of the endoscope become extremely difficult to see.
This can be improved by making the display intermittent.

Further, as shown in FIG. 19, when the micro-vibration mode and the like are displayed on the same screen as the observation image, the state of the micro-vibration can be checked at a glance, so that the operability is very good.

The speed of the fine vibration may be gradually changed from a low speed to a high speed, or the angle of the fine vibration may be gradually changed from a narrow angle to a wide angle. Further, the direction of the bending micro-vibration may be switched from the vertical direction to the horizontal direction, or from the rightward rotation to the leftward rotation of the turning motion, and the like.

When the micro vibration switch is turned off, the insertion portion 2
May return to the state before the micro-vibration.

FIGS. 20 and 21 relate to the second embodiment of the present invention.
The figure is a block diagram showing the configuration of the endoscope apparatus, and FIG. 21 is an explanatory diagram showing the appearance of the endoscope apparatus.

The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 21, the endoscope apparatus according to the present embodiment includes an endoscope 1, a light source to which the endoscope 1 is connected, and a bending / advancing / rotating / rotating control apparatus 50; VP17 and
The monitor 40 includes a monitor 40 connected to the VP 17 and an advance / retreat / rotation device 53 attached to the insertion section 2 of the endoscope 1.

The endoscope 1 according to the present embodiment is not provided with an operation unit, but is provided with a connector 15 directly at the base of the insertion unit 2. As shown in FIG. 20, the connectors 15 are provided with motors 12a and 12b. The connector 15 is connected to a light source and a bending / advancing / rotating / rotating control device 50. This device 50 is the same as that of the first embodiment.
It includes a forward / backward / rotation control circuit 20, a bending angle detection circuit 18, a bending resistance detection circuit 19, a lamp 21, a pump 22, and a switch 25. That is, the device 50 has a configuration obtained by removing the VP 17 from the control device 16 of the first embodiment. The device
VP17 is connected to 50. Further, the device 50 includes a bending operation unit 51 and a forward / backward / rotation operation unit 52,
These are connected via connection cables 55 and 56, respectively. The bending operation section 51 is provided with a joystick 8 and a switch 10, and the forward / backward / rotation operation section 52 is provided.
Is provided with a joystick 9 and a switch 11.

The insertion / removal / rotation / rotation device 53 is attached to the insertion section 2. The reciprocating / rotating device 53 includes a reciprocating roller 23, a motor 23a, a rotating roller 24, and a motor 24a of the first embodiment.
Is provided. The advance / retreat / rotation device 53 is connected to the device 50 via a connection cable 54.

The connector provided on the connection cable between the devices is detachable.

According to the present embodiment, since the motors 12a and 12b are provided in the connector 15, it is not necessary to provide an operation unit in the middle of the insertion unit 2. Further, it is not necessary to hold a heavy operation unit including a motor and the like, and it is sufficient to hold the light operation units 51 and 52, so that the operation is easy.

Further, when the reciprocating / rotating device 53 is not provided, only the bending operation can be performed. At this time, for example, the user holds the operation unit 51 in the left hand and operates the insertion unit 2 in the right hand.

Further, since the operation units 51 and 52 can be operated with both hands while holding the operation units 51 and 52 with one hand, the operability is very good. For example, by holding the bending operation unit 51 with the left hand and operating the reciprocating / rotating operation unit 52 with the right hand, the role shared by each hand during manual operation, that is, the left hand operates the bending operation knob, the right hand Is close to the role of the insertion / retraction and rotation (twisting) of the insertion portion, so that the operation can be performed without confusion.

In addition, when there is no advance / retreat / rotation device 53, only the bending can be motorized. Of course, bending micro-vibration is also possible.

Other configurations, operations and effects are the same as those of the first embodiment.

FIGS. 22 and 23 relate to the third embodiment of the present invention.
The figure is a block diagram showing the configuration of the endoscope apparatus, and FIG. 23 is an explanatory diagram showing the appearance of the endoscope apparatus.

The same members as those in the first or second embodiment are denoted by the same reference numerals, and description thereof will be omitted.

As shown in FIG. 23, the endoscope apparatus of the present embodiment is connected to the endoscope 1, the bending device 65, the light source device 72, and the VP17 to which the endoscope 1 is connected, and to the VP17. It has a monitor 40 and an advancing / retracting / rotating device 53 attached to the insertion section 2.

The endoscope 1 according to the present embodiment does not include an operation unit as in the second embodiment, and a connector 15 is provided directly at the base of the insertion unit 2. As shown in FIG. 22, transmission gears 61 and 62 are provided in the connector 15, and pulleys 63 and 64 are attached to rotating shafts of the transmission gears 61 and 62, respectively. The bending wires 13 are attached to the pulleys 63 and 64, respectively. Meanwhile, the bending device 65
The motors 68, 69, transmission gears 66, 67 attached to the output shafts of the motors 68, 69, and a control circuit 70 for controlling the motors 68, 69 are provided therein. When the connector 15 is connected to the bending device 65, the gears 61 and 62 in the connector 15 mesh with the gears 66 and 67 in the bending device 65, respectively. The bending device 65 has a second
A bending operation unit 51 similar to that of the embodiment is connected. The control circuit 70 controls the motors 68 and 69 in accordance with the operation of the bending operation section 51, and performs control relating to bending (including bending fine vibration) in the first embodiment.

The connector 15 is connected to a light source device via a connection cable 71.
Connected to 72. The light source device 72 includes an air supply pump 73, a water supply pump 74, a suction pump 74, and a lamp 76. Further, a foot switch 77 is connected to the light source device 72, and air supply, water supply, and suction are performed by stepping on the pedals 78, 79, and 80 provided on the foot switch 77, respectively. .

Further, a connector 71a on the light source device 72 side of the cable 71
Extends from the connection cable 81, and the connection cable 81
Connected to VP17.

The forward / backward / rotation operation unit 52 similar to that of the second embodiment is connected to the forward / backward / rotation device 53. The reciprocating / rotating device 53 includes a display unit 83 while incorporating a control circuit 82 therein. The control circuit 82 controls the forward / backward motor 23a and the rotary motor 24a in accordance with the operation of the forward / backward / circuit operation unit 52, and performs control relating to forward / backward and rotation including forward / backward fine vibration and rotary fine vibration in the first embodiment. It has become. In addition, the display section 83 displays the insertion section length of the insertion section 2, the rotation angle of the insertion section 2, ON / OFF of the advance / retreat fine vibration, speed (L, M, H) of the advance / retreat fine vibration, and length of the advance / retreat fine vibration (N, M, W), ON / OFF of micro-vibration, speed of micro-vibration (L, M, H) and angle of micro-vibration (N, M, W) are displayed .

On the other hand, on the monitor 40, the bending angle, the bending resistance, the on / off of the bending fine vibration, the speed of the bending fine vibration (L, M, H), and the angle of the bending fine vibration (N, M, W) are displayed. It has become.

In this embodiment, since the foot switch 77 is provided, the air switch, the water supply, and the suction can be controlled by the foot switch 77 even if the operation units 51 and 52 are gripped by both hands.

In the case where only the reciprocating / rotating device 53 is provided, it is possible to make the reciprocating / rotating electric motorized and to perform the reciprocating fine vibration and the rotational fine vibration with respect to a normal manually curved endoscope.

According to the present embodiment, since the bending device 65 and the reciprocating / rotating device 53 are separate units, either one or a combination of both can be used as necessary.

Further, since the bending motors 12a and 12b are not present in the endoscope main body, it is possible to reduce the weight and cost of the endoscope.

In other respects, the configuration, operation, and effects are the same as those of the first or second embodiment.

FIGS. 24 and 25 relate to a fourth embodiment of the present invention.
The figure is a block diagram showing the configuration of the endoscope apparatus, and FIG. 25 is an explanatory diagram showing the appearance of the endoscope apparatus.

The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

In the endoscope apparatus of the present embodiment, the insertion section 2 is guided to the insertion opening of the subject by the flexible cylindrical guide 90. The base of the guide 90 is connected to a central control device 91. In the control device 91, there are provided two rails 92, 92 parallel to the longitudinal direction of the insertion section 2, and a base 93 guided by the rails 92, advance and retreat. On the base 93, a rotating drum 94 is provided. The bending / light source / VP device 95 is rotatably held by the drum 94.

The bending / light source / VP device 95 is a bending device according to the third embodiment.
65, the light source device 72 and the VP17 are put together.
The connector 15 has a built-in transmission gear as in the third case, and is detachable from the device 95.

A control box 96 is detachably connected to the device 95. This control box 96 contains
UDRL bending button 97 in each direction and insertion section advance / retreat button
98 and a bending / forward / backward / rotational micro vibration control switch 99 are provided.

The guide 90 has a cylindrical shape and can be divided into two parts.

In the present embodiment, the operation when the bending button 97 is pressed is the same as that of the third embodiment, and a description thereof will be omitted. Advance / retreat
When the advance / retreat switch of the rotary button 98 is pressed, the base
93 moves back and forth along the rail 92. At this time, since the guide 90 is provided, the insertion portion 2 is not loosened. When the rotation switch of the advance / reverse / rotation button 98 is pressed, the drum 94 rotates, and accordingly, the entire apparatus 95 and the insertion section 2 are inserted.
Rotates.

The operations of the bending micro-vibration, the advance / retreat micro-vibration, and the rotation micro-vibration are the same as those in the first to third embodiments, and therefore the description thereof is omitted.

According to the present embodiment, since the endoscope and the device for driving the endoscope are integrated, handling becomes easy. Further, since the guide 90 is provided, the insertion section 2 does not become loose.

Further, since the operation of the control box 96 is of a push button type, it can be operated with one finger.

Other configurations, operations and effects are the same as those of the first or third embodiment.

FIGS. 26 to 28 relate to a fifth embodiment of the present invention.
FIG. 26 is a block diagram showing the configuration of the endoscope apparatus, FIG. 27 is a timing chart for explaining the operation of this embodiment, FIG.
FIG. 28 is an explanatory diagram showing the appearance of the endoscope apparatus.

The same members as those in the first embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 26, the endoscope apparatus according to the present embodiment includes an insertion portion 2 and a bending control light source device 10 to which the insertion portion 2 is connected.
0 and the monitor 40 connected to the bending control light source device 100
And an advance / retreat roller 23 attached to the insertion section 2.

As shown in FIGS. 26 and 28, the endoscope 1 according to the present embodiment does not include the operation unit similarly to the second embodiment, and the connector 15 is provided directly at the base of the insertion unit 2. Have been. Further, the bending drive motor 12 is connected to the bending control light source device 100.
The motor 12 is provided with a bending wire 123 inserted into the insertion section 2. Further, a motor driver 101 for driving the motor 12 is built in the bending control light source device 100. Further, a lamp 21 and a pump 22 are provided in the bending control light source device 100.

Further, the motor driver 1 is provided separately from the device 100.
And a motor driver 102 that is controlled by the control box 103 and controls a motor that drives the advance / retreat roller 23.
Are provided. The control box 103 is provided with a joystick 8, a forward switch 104 and a backward switch 105. The joystick 8
A direction in which the UDRL is bent is instructed to the motor driver 101.

Next, the operation of this embodiment will be described with reference to FIG.

As shown in FIG. 27 (a), the control box 10
Control box when 3 hex switch 104 is turned on
103 instructs the motor driver 101 to perform a slight bending vibration. Thereby, as shown in FIG. 27 (c), the motor 12 driven by the motor driver 101 alternately repeats the rotation in the U direction and the rotation in the D direction to enter the bending micro vibration mode. The control box 103 instructs the motor driver 102 to rotate the advance / retreat roller 23 in the advance direction. In this way, the bending portion 7 slightly vibrates when the insertion portion 2 advances.

On the other hand, as shown in FIG. 27B, when the retreat switch 105 is turned on, the control box 103 instructs the motor driver 102 to rotate the advance / retreat roller 23 in the retreat direction. Does not instruct micro vibration. As a result, when the insertion section 2 moves backward, the bending section 7 does not vibrate slightly. Note that the bending portion 7 is also used when the insertion portion 2 is retracted.
May be slightly vibrated.

In the present embodiment, the field of view is stationary at the time of normal operation where the insertion section is not advanced because micro vibration is not performed. Therefore, the subject can be reliably observed, and the eyes are not tired.

Further, since the micro-vibration is automatically turned on when the insertion section 2 is advanced, the operation is easy because the surgeon does not need to turn on the switch for turning on / off the micro-vibration. Although not shown, the micro-vibration can be turned off during the operation of moving the insertion portion by a switch.

Note that the fine vibration is not limited to the bending fine vibration, but may be an advance / retreat fine vibration or a rotary fine vibration, or may be a combination of these fine vibrations. Further, the fine vibration may be performed at the time of the bending operation or the rotation operation, not at the time of the insertion portion advancing operation. These operations and the microvibrations may be appropriately combined.

FIGS. 29 and 30 relate to the sixth embodiment of the present invention.
The figure is an explanatory view showing the configuration of the endoscope apparatus, and FIG. 30 is an explanatory view showing the appearance of the endoscope apparatus.

The endoscope apparatus according to the present embodiment includes an endoscope 1 and the endoscope 1.
A control device 117 is connected to the control device 117, a monitor 40 is connected to the control device 117, and an advance / retreat device 112 and a rotation device 113 attached to the insertion section 2 of the endoscope 1.

The endoscope 1 includes an insertion section 2, an operation section 111 connected to a rear end of the insertion section 2, a universal cable 14 connected to a rear end of the operation section 111, and a universal cable 14. And a connector 15 provided at the end of the connector.
A joystick 114 is connected to the operation unit 111. As in the first embodiment, a bending drive motor 12 is provided in the operation unit 111. The joystick 114 is configured to instruct the motor 12 to bend. The control circuit 117 includes a VP 17, a lamp 21, and a pump 22.

Further, an advance / retreat switch 115 and a rotation switch 116 are connected to the advance / retreat device 112 and the rotation device 113, respectively, and the switches 115 and 116 are respectively connected to the advance / retreat device 112 and the rotation device 113.
Instructs to move forward and backward, and to rotate.

The operation unit 111, the forward / backward device 112, and the rotating device 113 are provided with portions related to the bending / forward / backward control and rotation control of the bending / forward / backward / rotation control circuit 20 in the first embodiment, respectively. By operating a switch (not shown), a fine bending vibration, a fine moving forward / backward vibration, and a fine rotating vibration can be respectively performed.

As described above, in the present embodiment, the devices for driving and controlling each of the bending, moving forward and backward, and rotating are separate bodies. Therefore, these devices can be selected and used as needed, which is efficient.

Other configurations, operations and effects are the same as those of the first embodiment.

FIG. 31 is an explanatory diagram showing a configuration of an endoscope apparatus according to a seventh embodiment of the present invention.

The appearance of the endoscope apparatus of this embodiment is substantially the same as that of the sixth embodiment, except that one central control joystick 120 is provided instead of the joystick 114 and the switches 115 and 116 in the sixth embodiment.

An operation unit 121 is provided instead of the operation unit 111 in the sixth embodiment. The operation portion 121 has a concave portion 122 in which a wire guide 123 is provided in parallel with the longitudinal direction of the insertion portion 2. This wire guide 123
Is a cylindrical member having a slit, in which a slider is provided.
124 is provided so as to slide forward and backward. The bending wire 13 is attached to the slider 124. The protrusion 124a formed on the slider 124 projects from the slit of the wire guide 123. The recess 1
The motor unit 125 is fitted into the 22. In this motor unit 125, a rotatable guide 127 formed with a male screw is provided in parallel with the longitudinal direction of the insertion section 2. A concave member 126 is screwed into the guide 127. The guide 127 is rotated by a motor 128, and an encoder 129 is attached to the motor 128. And the motor 1
By rotating the guide 127 by 28, the concave member 126 moves forward and backward. When the motor unit 125 is fitted into the concave portion 122 of the operation section 121, the concave portion 126a of the concave material 126 is fitted into the convex portion 124a of the slider 124.

The operation unit 121, the forward / backward device 112, and the rotary device 113 are provided with portions related to the bending control, forward / backward control, and rotation control, respectively, of the bending / forward / backward / rotation control circuit 20 in the first embodiment. These are configured to perform bending control, forward / backward control, and rotation control by operating the central control joystick 120, respectively.

The position of the concave member 126 is recognized by the encoder 129, and based on the information on the position, a control circuit provided in the operation unit 121 controls the bending and fine vibration control such as a fine vibration angle. Is performed.

Other configurations, operations and effects are the same as those of the first or sixth embodiment.

Hereinafter, the eighth to tenth embodiments shown in FIGS. 32 to 34 detect the contact pressure of the bending portion 7, that is, the bending resistance,
This is an example in which the micro-vibration is automatically performed when the bending resistance is equal to or more than a predetermined value. 32A to 34, (a) shows an output of the bending resistance detecting circuit 19,
(B) to (d) show the operation of the switches 10a to 10c, respectively, and (e) and (f) show the joystick 8,
9 shows the operation, and (g) to (i) show the operation of the switches 25a, 25c, and 25D, respectively. (J) and (k)
Shows the operation of the speed control circuit 29a and the rotation direction instruction circuit 30a for the bending drive motor 12a, and similarly, (l) and (m) show the operation of the circuits 29b and 30b for the bending drive motor 12b, and (n) ) And (o) are circuits 29 for the forward / backward motor 23a.
(p) and (q) show the operation of the circuits 29d and 30d for the rotation motor 24a.

FIG. 32 is a timing chart for explaining the operation of the endoscope apparatus according to the eighth embodiment of the present invention.

The present embodiment is an example in which the bending micro-vibration is performed when the bending resistance is equal to or more than a predetermined value.

 The configuration of this embodiment is substantially the same as that of the first embodiment.

In this embodiment, the output of the bending resistance detecting circuit 19 shown in FIGS. 1 and 3 is input to the control circuit 28 in the bending / forward / backward / rotation control circuit 20. When the output of the bending resistance detection circuit 19 is equal to or more than a predetermined value, the control circuit 28 controls the bending speed control circuits 29a and 29b and the rotation direction instruction circuits 30a and 30b to cause the bending micro-vibration. It has become.

For the sake of simplicity, in FIG. 32, the micro-vibration is set at a narrow angle and at a low speed as shown in (h) and (i) in the same-direction micro-vibration mode as shown in (g). Here is an example.

As shown in FIGS. 32 (a) and 32 (e), when the output of the bending resistance detecting circuit 19 exceeds a predetermined value when the joystick 8 is not operated, as shown in FIG. Outputs a pulse in the narrow angle mode, and (j)
As shown in the figure, the speed control circuit 29a outputs a pulse in the low speed mode. Therefore, the bending portion 7 can be formed at a narrow angle and at a low speed.
Performs fine bending vibration in the UD direction.

On the other hand, operating the joystick 8 in the R direction, for example,
If the output of the bending resistance detection circuit 19 is less than the predetermined value,
As shown in (l) and (m), a normal speed control circuit
29d, the bending direction 7 is set to R
Curve in the direction. However, as shown in (l), the bending speed is faster than the speed during bending vibration. Other U, D,
The same applies when bending in the L direction.

Next, the joystick 8 is operated, for example, in the R direction,
When the output of the bending resistance detection circuit 19 becomes equal to or more than a predetermined value, the rotation direction instruction circuit 30b outputs a pulse in the narrow angle mode as shown in (m), and the speed control circuit 29b as shown in (l). Outputs pulses in low-speed mode. Therefore, the bending portion 7 performs fine bending vibration in the RL direction at a narrow angle and at a low speed. Bending resistance detection circuit 1 during bending operation in other U, D, L directions
The same applies to the case where the output of No. 9 exceeds a predetermined value.

Further, as shown in (a) and (f), when the operation of moving forward / backward or rotating is performed by the joystick 9 and the output of the bending resistance detection circuit 19 becomes a predetermined value or more, (j), (j),
As shown in (k) and (n) to (q), the bending portion 7 slightly vibrates in the UD direction independently of the reciprocating or rotating operation.

It is needless to say that when the mode is set to the right-angle fine vibration mode, when the output of the bending resistance detection circuit 19 is equal to or more than a predetermined value, the fine bending vibration is performed in the direction perpendicular to the bending operation direction.

Further, instead of the control circuit 28 determining whether the output of the bending resistance detection circuit 19 is equal to or more than a predetermined value, the bending resistance detection circuit 19 outputs H when the bending resistance is equal to or more than the predetermined value, and At other times, L may be output.

As described above, according to the present embodiment, when the bending resistance of the bending portion 7 becomes equal to or more than the predetermined value, the bending micro-vibration is automatically performed and the contact resistance is reduced, so that the insertability is further improved.

Other configurations, operations and effects are the same as those of the first embodiment.

FIG. 33 is a timing chart for explaining the operation of the endoscope apparatus according to the ninth embodiment of the present invention.

The present embodiment is an example in which fine rotation vibration is performed when the bending resistance is equal to or more than a predetermined value.

 The configuration of this embodiment is substantially the same as that of the first embodiment.

In this embodiment, as in the eighth embodiment, FIGS.
The output of the bending resistance detecting circuit 19 shown in the figure is input to a control circuit 28 in the bending / forward / backward / rotation control circuit 20. When the output of the bending resistance detection circuit 19 is equal to or more than a predetermined value, the control circuit 28 controls the speed control circuit 29d for rotation and the rotation direction instruction circuit 30d to perform fine rotation vibration. In order to simplify the explanation, FIG. 33 shows (h),
(I) shows an example in which the micro-vibration is set to a narrow angle and a low speed.

As shown in FIG. 33 (a), when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the rotation direction instruction circuit 30d outputs a pulse in the narrow angle mode as shown in (q), and (p)
As shown in (2), the speed control circuit 29d outputs a pulse in the low speed mode. Therefore, the insertion portion 2 performs fine rotation vibration at a narrow angle and at a low speed.

In addition, as shown in (e) and (f), the joystick
When the bending or forward / backward operation is performed by 8, 9 and the output of the bending resistance detecting circuit 19 exceeds a predetermined value, as shown in (j) to (q), independent of the bending or forward / backward operation. , The insertion part 2 vibrates slightly.

On the other hand, as shown in (f), when the rotation operation is performed by the joystick 9 and the output of the bending resistance detection circuit 19 becomes equal to or more than a predetermined value, the normal rotation is not performed and the fine rotation vibration is performed.

As described above, according to the present embodiment, when the bending resistance of the bending portion 7 becomes equal to or more than the predetermined value, the micro-vibration is automatically performed and the contact resistance is reduced, so that the insertability is further improved.

Other configurations, operations and effects are the same as those of the first or eighth embodiment.

FIG. 34 is a timing chart for explaining the operation of the endoscope apparatus according to the tenth embodiment of the present invention.

The present embodiment is an example in which the forward / backward fine vibration is performed when the bending resistance is equal to or more than a predetermined value.

 The configuration of this embodiment is substantially the same as that of the first embodiment.

In this embodiment, as in the eighth embodiment, FIGS.
The output of the bending resistance detecting circuit 19 shown in the figure is input to a control circuit 28 in the bending / forward / backward / rotation control circuit 20. When the output of the bending resistance detection circuit 19 is equal to or more than a predetermined value, the control circuit 28 controls the speed control circuit 29c for forward / backward movement and the rotation direction instruction circuit 30c to perform forward / backward fine vibration. I have.

For the sake of simplicity, FIG.
(I) shows an example in which the micro-vibration is set to a narrow angle and a low speed.

As shown in FIG. 34 (a), when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the rotation direction instruction circuit 30c outputs a pulse in the narrow angle mode as shown in (o), and (n)
As shown in (2), the speed control circuit 29c outputs a pulse in the low speed mode. Therefore, the insertion portion 2 performs fine vibration of the reciprocating motion at a narrow angle and at a low speed.

In addition, as shown in (e) and (f), the joystick
If the operation of bending or rotation is performed by 8, 9 and the output of the bending resistance detecting circuit 19 exceeds a predetermined value, the bending is performed as shown in (j) and (k), (n) to (q). Alternatively, the insertion portion 2 moves and retreats slightly, independent of the rotation operation.

On the other hand, as shown in (f), when the push operation is performed by the joystick 9 and the output of the bending resistance detection circuit 19 exceeds a predetermined value, as shown in (o), the rotation direction instruction circuit is provided. 30c outputs a pulse whose L is longer than that of H. As a result, the insertion portion 2 moves while moving forward and backward finely.

As described above, according to the present embodiment, when the bending resistance of the bending portion 7 becomes equal to or more than the predetermined value, the advance / retreat fine vibration is automatically performed and the contact resistance is reduced, so that the insertability is further improved.

Other configurations, operations and effects are the same as those of the first or eighth embodiment.

Hereinafter, the eleventh to fourteenth embodiments shown in FIG. 35 to FIG. 39 are examples in which micro-vibration is automatically performed at the time of bending, moving forward or backward, or rotating operation. In FIGS. 36 to 39, (a) to (c) denote switches 10a to 1 respectively.
0c shows the operation, (d) and (e) show the operation of the joysticks 8 and 9, respectively, and (f) to (h) show the operation of the switches 25a, 25c and 25d, respectively. (I) and (j) show the speed control circuit 29a for the bending drive motor 12a.
And the operation of the rotation direction instruction circuit 30a.
(K) and (l) are circuits 29b and 30b for the bending drive motor 12b.
(M) and (n) show the forward / backward motor 23a.
And (p) show the operation of the circuits 29d and 30d for the rotation motor 24a.

FIGS. 35 and 36 relate to the eleventh embodiment of the present invention.
The figure is an explanatory view showing the main part of the control device, and FIG. 36 is a timing chart for explaining the operation of the endoscope device.

The present embodiment is an example in which fine rotation vibration is performed during a bending operation.

As shown in FIG. 35, in the present embodiment, the switch 25 of the control device 16 in the first embodiment is provided with a bending follow rotation microvibration mode setting switch 25f in addition to the switches 25a to 25e. When the mode is set to the bending follow rotation fine vibration mode by the switch 25f, the rotation fine vibration is performed at the time of the bending operation under the control of the control circuit 28 in the bending / forward / backward / rotation control circuit 20. Other configurations are the same as those of the first embodiment.

Next, the operation of this embodiment will be described with reference to FIG.

For the sake of simplicity, FIG.
25f is set to the bending follow rotation micro vibration mode, (g),
(H) shows an example in which the micro-vibration is set to a narrow angle and a low speed.

When a bending operation is performed by the joystick 8 as shown in FIG. 36 (d), a normal bending operation is performed as shown in (i) to (l), and a rotation direction instruction circuit as shown in (p). 30d outputs a pulse in the narrow angle mode, and as shown in (o), the speed control circuit 29d outputs a pulse in the low speed mode. Accordingly, during the bending operation of the bending portion 7, the insertion portion 23 performs fine rotation vibration at a narrow angle and at a low speed.

As described above, according to the present embodiment, in the bending operation example of the bending portion 7, the rotational micro vibration is automatically performed and the contact resistance is reduced, so that the insertability is further improved.

 Other functions and effects are the same as those of the first embodiment.

FIG. 37 is a timing chart for explaining the operation of the endoscope apparatus according to the twelfth embodiment of the present invention.

This embodiment is an example in which the advance / retreat fine vibration is performed at the time of the advance / retreat operation.

In the configuration of the present embodiment, the switch 25f in FIG.
The configuration is similar to that of the first or eleventh embodiment except that a forward / backward movement forward / backward fine vibration mode setting switch is set.

In this embodiment, when the mode is set to the forward / backward follow-back / backward fine vibration mode by the switch 35f, the forward / backward fine vibration is performed at the time of forward / backward operation under the control of the control circuit 28 in the bending / forward / backward / rotation control circuit 20. ing.

When the forward / backward operation is performed by the joystick 9 as shown in FIG. 37 (e), as shown in FIG. 37 (m), the speed control circuit 29c causes a pulse corresponding to the mode set by the switch 25d as shown in FIG. 37 (h). Is output. Also,
As shown in (n), when the joystick 9 is operated in the forward direction, the rotation direction instruction circuit 30c outputs a pulse longer in L than in H, and outputs the pulse when the joystick 9 is operated in the pulling direction. Outputs a pulse in which H is longer than L. Note that the frequency of the output pulse of the rotation direction instruction circuit 30c changes according to the mode set by the switch 25c as shown in (g). As a result, at the time of the forward / backward operation, the insertion section 2 moves backward while vibrating slightly.

As described above, according to the present embodiment, when the insertion portion 2 is moved forward and backward, fine movement of the insertion and retraction is automatically performed and the contact resistance is reduced, so that the insertability is further improved.

Other configurations, operations and effects are the same as those of the first embodiment.

FIG. 38 is a timing chart for explaining the operation of the endoscope apparatus according to the thirteenth embodiment of the present invention.

The present embodiment is an example in which forward / backward fine vibration is performed during a rotation operation.

In the configuration of the present embodiment, the switch 25f in FIG.
The configuration is similar to that of the first or eleventh embodiment except that a rotation following forward / backward fine vibration mode setting switch is set.

In the present embodiment, when the mode is set to the rotation following forward / backward fine vibration mode by the switch 35f, the forward / backward fine vibration is performed during the rotation operation by the control of the control circuit 28 in the bending / forward / backward / rotation control circuit 20. ing.

When a rotation operation is performed by the joystick 9 as shown in FIG. 38 (e), normal rotation is performed as shown in (o) and (p), and as shown in (m), the speed control circuit 29c (H), a pulse corresponding to the mode set by the switch 25d is output. Also,
As shown in (n), the rotation direction instruction circuit 30c outputs a pulse having a frequency corresponding to the mode set by the switch 25c as shown in (g). Thus, during the rotation operation, the insertion portion 2 rotates while moving forward and backward finely.

As described above, according to the present embodiment, when the insertion section 2 is rotated, the advance / retreat fine vibration is automatically performed and the contact resistance is reduced, so that the insertability is further improved.

Other configurations, operations and effects are the same as those of the first embodiment.

FIG. 39 is a timing chart for explaining the operation of the endoscope apparatus according to the fourteenth embodiment of the present invention.

The present embodiment is an example in which the advance / retreat fine vibration is performed during the bending operation.

In the configuration of the present embodiment, the switch 25f in FIG.
A bending follow-up / retreat micro-vibration mode setting switch is set, and the other configuration is the same as that of the first or eleventh embodiment.

In the present embodiment, when the mode is set to the bending follow forward / backward fine vibration mode by the switch 35f, the backward fine vibration is performed during the bending operation by the control of the control circuit 28 in the bending / forward / backward / rotation control circuit 20. ing.

For the sake of simplicity, FIG. 39 shows an example in which the same-direction minute vibration mode is set as shown in FIG.

When a bending operation is performed with the joystick 9 as shown in FIG. 39 (d), normal bending is performed as shown in (i) to (l), and as shown in (m), the speed control circuit 29c is (H), a pulse corresponding to the mode set by the switch 25d is output. Also, as shown in (n), the rotation direction instruction circuit 30c
As shown in (g), a pulse having a frequency corresponding to the mode set by the switch 25c is output. This allows
During the bending operation, the insertion section 2 bends while slightly vibrating forward and backward.

As described above, according to the present embodiment, at the time of the bending operation of the insertion section 2, the advance / retreat fine vibration is automatically performed and the contact resistance is reduced, so that the insertability is further improved.

Other configurations, operations and effects are the same as those of the first embodiment.

Note that, other than the combinations shown in the eleventh to fourteenth embodiments, the bending, moving forward / backward, or rotating minute vibration may be automatically performed at the time of bending, moving forward / backward, or rotating operation.

FIG. 40 is a circuit diagram showing a motor and its control circuit according to a fifteenth embodiment of the present invention.

This embodiment uses a direct current (DC) motor 131 instead of a stepping motor as the bending motors 12a and 12b, the forward / backward motor 32a, and the rotary motor 24a in the first to fourteenth embodiments.

One input terminal of the DC motor 131 is connected to a movable contact 132a of a stop / forward / reverse switch 132, and the other input terminal is grounded. The first fixed contact 132b of the three fixed contacts of the switch 132 is connected to the positive electrode of the variable voltage DC power supply 133, and the negative electrode of the electrode 133 is grounded. The second fixed contact 132c of the changeover switch 132 is grounded via a free / lock changeover switch 134. Further, a third fixed contact 132d of the changeover switch 132 is connected to a negative electrode of the voltage variable DC power supply 135, and a positive electrode of the power supply 138 is grounded.

The changeover switch 132 is switched by the rotation direction instruction circuits 30a to 30d shown in FIG. 3, and the DC motor 131 rotates forward or reverse by selecting the fixed setting 132b or 132d, and by selecting the fixed contact 132c. DC motor 13
1 stops. The voltages of the power supplies 133 and 135 are controlled by speed control circuits 29a to 29d. That is, by increasing or decreasing the voltage of the power supplies 133 and 135, the DC motor 1
31 speed changes. The free / lock switch 134 is switched by the free / lock switches 31a to 31d. That is, when the fixed contact 132c of the switch 132 is selected, when the free / lock switch 134 is turned on, the DC motor 131 is locked by the back electromotive force, and when the switch 134 is turned off, the DC motor 131 becomes free. .

Other configurations, operations and effects are the same as those of the first to fourteenth embodiments.

FIGS. 41 to 43 relate to a sixteenth embodiment of the present invention.
FIG. 41 is an explanatory view showing a configuration of a main part of the endoscope apparatus, and FIG.
FIG. 43 is a circuit diagram showing a drive system of a DC motor, and FIG. 43 is an explanatory diagram showing a distal end portion of an insertion section of an endoscope in a modified example of the embodiment.

The endoscope 1 in the present embodiment is similar to the first embodiment,
Insertion section 2, operation section 6, universal cord 14, and connector 15
And the connector 15 is connected to a bending device 65 similar to that of the third embodiment. Then, similarly to the third embodiment, the transmission gears 61 and 62, the pulley 63,
A pull wire 63 is provided on each of the pulleys 63, 64.
3 is installed.

Further, in the insertion section 2 of the endoscope 1 in the present embodiment,
A treatment tool channel (not shown) is provided, and a treatment tool raising table 141 for raising the distal end side of the treatment tool inserted into the treatment tool channel is provided in the distal end portion 3. The distal end of the treatment instrument raising wire 142 for rotating the treatment table raising table 141 is fixed to the treatment tool raising table 141. The treatment instrument raising wire 142 is inserted through the insertion section 2, and a rear end portion thereof is connected to a rack gear 143 provided in the operation section 6.
Attached to. A pinion 145 attached to an output shaft of a DC motor 144 provided in the operation unit 6 meshes with the rack gear 143.

The operation unit 6 includes a joystick 8 for bending operation,
A treatment instrument raising switch 147 is provided.

Next, the configuration of the drive system of the DC motor 144 will be described with reference to FIG.

One input terminal of the DC motor 144 is a movable contact 15 of the relay 151.
1a, and the other input terminal is connected to the movable contact 152 of the relay 152.
Connected to a. A power supply voltage (+12 V) is applied to one fixed contact 151b, 152b of each of the relays 151, 152, and the other fixed contact 151c, 152c is grounded. Further, one end of the electromagnetic coil 151d of the relay 151 is connected to the fixed contact 147a of the treatment instrument raising switch 147 and connected to the cathode of the diode 153, and the other end is grounded and connected to the anode of the diode 153. ing.
Similarly, one end of the electromagnetic coil 152d of the relay 152 is connected to the fixed contact 147b of the treatment instrument raising switch 147n and to the cathode of the diode 154, and the other end is grounded and connected to the anode of the diode 154. Have been. Another fixed contact 1 of the treatment instrument raising switch 147
Nothing is connected to 47c. A power supply voltage (+5 V) is applied to the movable contact 147d of the treatment instrument raising switch 147.

 Next, the operation of the present embodiment will be described.

The movable contact 147d of the treatment instrument raising switch 147 is fixed to the fixed contact 147.
When connected to a, a current flows through the electromagnetic coil 151d of the relay 151, the movable contact 15a and the fixed contact 151b are connected, and no current flows through the electromagnetic coil 152d of the relay 152, and the movable contact 152a and the fixed contact
152c is connected. Therefore, the power supply voltage is applied to one input terminal of the DC motor 144, and the other input terminal is grounded. Conversely, the movable contact 147d of the treatment instrument raising switch 147 is fixed to the fixed contact 1.
When connected to 47b, the movable contact 151a of the relay 151 and the fixed contact
151c is connected, the movable contact 152a of the relay 152 and the fixed contact 1
52b is connected, one input terminal of the DC motor 144 is grounded, and the power supply voltage is applied to the other input terminal. Thus, the movable contact 147d of the treatment instrument raising switch 147 is changed to the fixed contacts 147b, 14
By selectively connecting to one of the
Rotates forward or reverse. In addition, the treatment instrument raising switch 147
Is connected to the fixed contact 147c, the DC motor
144 stops. In this way, the treatment instrument raising wire 142
Is pushed and pulled, and the processing tool lifting table 141 is rotated.

As described above, in the present embodiment, the bending motors 68 and 69 are provided in the bending device 65 outside the endoscope 1, and the treatment instrument raising motor 144 is provided in the operation unit 6. Accordingly, the operation of raising the treatment tool can be motorized while preventing the response of the treatment tool from rising, and the bending motors 68 and 69 can be connected to the endoscope 1.
By providing it outside, upsizing of the operation unit 6 can be prevented.

FIG. 43 shows a modification of the present embodiment, in which the focus adjustment of the objective lens system is motorized. As shown in this figure, an objective lens system 161 is provided in the distal end portion 3, and at least a part of the lens 161a of the objective lens system 161 is
It is held by a lens barrel 162 movable in the optical axis direction. The focus can be adjusted by moving the lens 1612a in the optical axis direction. At the image forming position of the objective lens system 161, a tip surface of an image guide 163 or a solid-state imaging device is provided. In the lens barrel 162,
The tip of the focusing wire 164 is fixed. The focus adjustment wire 164 is inserted into the insertion section 2 and the rear end is connected to a rack gear provided in the operation section 6 shown in FIG.
Attached to 143. Other configurations are the same as those in the case of raising the treatment tool shown in FIGS. 41 and 42. In addition,
The switch 147 in FIGS. 41 and 42 is a focus adjustment switch.

In this modification, by operating the switch 147, the motor 144 rotates forward, backward, or stops, thereby moving the lens 161a in the optical axis direction to enable focus adjustment.

According to this modification, the focus adjustment operation can be motorized while preventing the response of the focus adjustment from deteriorating. Further, by providing the motors 68 and 69 for bending outside the endoscope 1, the operation unit 6 Enlargement can be prevented.

Other configurations, operations, and effects of the present embodiment and its modifications are the same as those of the third embodiment. However, reciprocating / rotating device
Means for moving the insertion section 2 forward and backward, such as 53, is not necessarily required.

The present invention is not limited to an electronic endoscope provided with a solid-state imaging device at the distal end of the insertion section, but transmits an object image formed by an objective lens to the base side of the insertion section by an image guide. Can be applied to an endoscope of a type in which the image is visually observed by an eyepiece or an image is taken by an image pickup means.

[Effects of the Invention] As described above, according to the present invention, the means for slightly vibrating at least a part of the insertion section using the driving means for bending and driving the bending section of the insertion section is provided. There is an effect that the insertion part can be easily inserted even if the contact resistance of the insertion part increases without increasing the size and weight of the mirror device.

[Brief description of the drawings]

1 to 19 relate to a first embodiment of the present invention.
FIG. 2 is a block diagram showing the configuration of the endoscope apparatus, FIG. 2 is an explanatory view showing the appearance of the endoscope apparatus, FIG. 3 is a block diagram showing the configuration of a bending / advancing / rotating control circuit, and FIG. FIG. 5 is a timing chart for explaining the operation of the endoscope apparatus at the time of normal bending operation, FIG. 5 is a timing chart for explaining the operation of the endoscope apparatus at the time of non-bending operation in the same direction fine vibration mode, FIG. 6 is a timing chart for explaining the operation of the endoscope apparatus at the time of bending operation in the same direction minute vibration mode, and FIG.
FIG. 8 is a timing chart for explaining the operation of the endoscope apparatus in the right-angle slight vibration mode, FIG. 8 is a timing chart for explaining the operation of the endoscope apparatus during the turning motion, and FIG. FIG. 9 is a timing chart for explaining the operation of the endoscope apparatus at the time of vibration and bending slight vibration operation,
FIG. 10 is a timing chart for explaining the operation of the endoscope apparatus when the condition of the rotational micro-vibration is changed, and FIG. 11 illustrates the operation of the endoscope apparatus at the time of the advance / retreat micro-vibration and the bending micro-vibration operation. FIG. 12 is a timing chart for explaining the operation of the endoscope apparatus when the conditions of the advance / retreat fine vibration are changed, and FIG. 13 is an explanatory diagram showing vertical fine vibration, FIG. Is an explanatory view showing micro vibration in the left-right direction, FIG.
FIG. 16 is an explanatory diagram showing a clockwise turning motion, FIG. 16 is an explanatory diagram showing a leftward turning motion, FIG. 17 is an explanatory diagram showing advance / retreat fine vibration, FIG. 18 is an explanatory diagram showing a rotary fine vibration, FIG. 19 is an explanatory view showing a part of a mode display section of a monitor, FIGS. 20 and 21 relate to a second embodiment of the present invention, and FIG. 20 is a block diagram showing a configuration of an endoscope apparatus; FIG. 21 is an explanatory view showing the appearance of the endoscope apparatus, FIGS. 22 and 23 relate to a third embodiment of the present invention, FIG. 22 is a block diagram showing the configuration of the endoscope apparatus, FIG.
FIG. 24 is an explanatory view showing the appearance of the endoscope apparatus, FIGS. 24 and 25 relate to a fourth embodiment of the present invention, FIG. 24 is a block diagram showing the configuration of the endoscope apparatus, and FIG. FIGS. 26 to 28 relate to a fifth embodiment of the present invention, and FIG. 26 is a block diagram showing the configuration of the endoscope apparatus, FIG.
FIG. 28 is a timing chart for explaining the operation of the present embodiment, FIG. 28 is an explanatory view showing the appearance of the endoscope apparatus, and FIGS. 29 and 30 relate to the sixth embodiment of the present invention. FIG. 30 is an explanatory view showing the configuration of the endoscope apparatus, FIG. 30 is an explanatory view showing the appearance of the endoscope apparatus, and FIG. 31 is an explanatory view showing the configuration of the endoscope apparatus according to the seventh embodiment of the present invention. FIG. 32 is a timing chart for explaining the operation of the endoscope apparatus according to the eighth embodiment of the present invention;
FIG. 33 is a timing chart for explaining the operation of the endoscope apparatus according to the ninth embodiment of the present invention, and FIG.
FIGS. 35 and 36 relate to an eleventh embodiment of the present invention, and FIG. 35 is an explanatory diagram showing a main part of a control device. FIG. 36 is a timing chart for explaining the operation of the endoscope apparatus,
FIG. 37 is a timing chart for explaining the operation of the endoscope apparatus according to the twelfth embodiment of the present invention, and FIG. 38 is a timing chart for explaining the operation of the endoscope apparatus according to the thirteenth embodiment of the present invention. Chart, FIG. 39 is a timing chart for explaining the operation of the endoscope apparatus in the fourteenth embodiment of the present invention, FIG. 40 is a circuit diagram showing a motor and its control circuit in the fifteenth embodiment of the present invention, 41 to 43 relate to a sixteenth embodiment of the present invention, FIG. 41 is an explanatory diagram showing a configuration of a main part of an endoscope device, FIG. 42 is a circuit diagram showing a drive system of a DC motor, FIG. 43 is an explanatory view showing a distal end portion of an insertion section of an endoscope in a modification of the present embodiment. DESCRIPTION OF SYMBOLS 1 ... Endoscope, 2 ... Insertion part 6 ... Operation part, 7 ... Bending part 8, 9 ... Joystick 10, 11, 25 ... Switch 12a, 12b ... Bending drive motor 16 ... Control device 20 ... Bending / Advancing / Rotating / Rotating control circuit 23 ... Advancing / retracting roller, 23a ... Advancing / retracting motor 24 ... Rotating roller, 24a ... Rotating motor 29a to 29d ... Speed control circuit 30a to 30d ... Rotation direction instruction circuit

Claims (1)

(57) [Claims] 1. A bendable bending portion provided on an insertion portion,
An endoscope apparatus comprising: a drive unit for bending and driving the bending unit; and an endoscope provided with a unit for finely vibrating at least a part of the insertion unit using the drive unit. apparatus.