JP3007691B2 - Endoscope bending operation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope bending operation device for operating a bending portion at the distal end of an insertion portion of an endoscope by a driving device.

[0002]

2. Description of the Related Art Recently, an electric motor has been incorporated into an endoscope operating section, and by using the power of this electric motor, a traction member for bending operation is towed, and the bending section in the insertion section is remotely operated. Such an endoscope has been proposed.

For example, Japanese Patent Application Laid-Open No. 61-122519 discloses a device in which a pulse motor is provided in an operation section, and a wire drum (pulley) is rotationally driven by the pulse motor to wind up a curving operation wire. Have been. According to this electric bending operation device, the operability is remarkably improved as compared with the conventional manual operation device.

[0004] In addition, since the drive source of the electric endoscope as described above requires a high torque to bend the curved portion, for example, in German Patent No. 2504663,
An endoscope in which a motor is combined with a power transmission mechanism such as a gear having a large reduction ratio has been proposed.

However, in an endoscope combined with this power transmission mechanism, a power transmission mechanism with a large reduction ratio is used even when the curved portion presses the inside of a body cavity when the insertion portion is inserted into or removed from a human body or the like. Because of the adoption, the curved portion is not bent by a weak external force (free state), and there is a risk of damaging the body cavity.

Therefore, for example, Japanese Patent Application Laid-Open No. 61-10612
Japanese Patent Application Laid-Open No. 5 (1999) -2005 discloses a device in which an electromagnetic clutch is provided in the axial direction of a motor and housed in an endoscope operation unit to realize a free state.

However, in this method, since a heavy electromagnetic clutch is housed in the endoscope operating section, the weight of the endoscope increases and a space for the electromagnetic clutch is required.

For this reason, Japanese Patent Application Laid-Open No. 53-39685 discloses an endoscope in which a clutch mechanism is incorporated in a power transmission mechanism instead of a motor section.

That is, one of the two gears of the transmission gear train, which are connected in the axial direction, constituting the power transmission mechanism is mechanically moved in the axial direction to release the connection, and the endoscope bends. Section is set in a free state.

[0010]

Even in the endoscope in which the clutch mechanism is incorporated in the above-described power transmission mechanism, extra space for the movement is required for moving the gears in the axial direction. There is a disadvantage that the endoscope becomes large, the weight increases, and the operability deteriorates. Further, in order to mechanically move the gears in the axial direction, for example, a link mechanism or the like is required, so that the device becomes complicated, and thus the endoscope becomes large. Furthermore, when disengaging power by moving the connected gears in the axial direction, the connecting part receives a force in the direction of rotation of the gears. The endoscope is required to have a large rigidity, which also causes an increase in the size and weight of the endoscope.

The present invention has been made in view of the above circumstances, and can realize a free state with a small size, light weight, and a simple structure in an endoscope using a motor or the like as a driving source for a bending operation. An object of the present invention is to provide an endoscope bending operation device.

[0012]

In order to achieve the above object, an endoscope bending operation device according to the present invention includes a bending operation driving unit housed in an endoscope operation unit and a driving force from the bending operation driving unit. Power transmission means for transmitting the power transmission means, the output end of the power transmission means, by being rotated about the axis, tow operation means for operating the bending portion of the endoscope with a towing member,
The input end of the traction operation means, the output end of the power transmission means and the input of the traction operation means, which are arranged in parallel with the output end of the power transmission means in the radial direction of the rotation shaft of the traction operation means. A coupling means is provided in parallel with the end in the radial direction of the rotation shaft of the traction operation means, and is capable of coupling and separating the output end and the input end.

[0013]

In the above construction, when the output end of the power transmission means and the input end of the traction operation means are connected by the connection means acting in the axial direction, the bending operation drive means accommodated in the endoscope operation section. Is transmitted to the traction operation means via the power transmission means, and the traction member causes the curved portion of the endoscope to be curved.

Further, when the output end of the power transmission means and the input end of the traction operation means are separated by the coupling means acting in the axial direction, the power by the bending operation drive means is transmitted to the traction operation means. At the same time, the power transmission means is disconnected from the traction operation means, and the curved portion of the endoscope can be moved by an external force.

[0015]

Embodiments of the present invention will be described below with reference to the drawings.

1 to 4 show a first embodiment of the present invention. FIG. 1 is a sectional view of a main part of a bending operation device, FIG. 2 is a schematic diagram of an entire configuration of an endoscope device, FIG. 3 is a sectional view of the engaging portion, and FIG. 4 is a front view of the curved portion pulling portion.

(Configuration) In FIG. 2, reference numeral 1 denotes an electronic endoscope. The electronic endoscope 1 includes an insertion section 2, an operation section 3, and a universal cord 4 for a light guide.

The insertion portion 2 includes a distal end portion 5, a curved portion 6, and a flexible tube 7.

The operation unit 3 further includes an air / water switch button 8, a suction switch button 9, a free / lock switch button 10,
And a curved switch section 11 and the like. Also,
As will be described later, the bending switch section 11 includes an upward switch button 11a for performing a bending operation on the bending section 6,
It comprises a downward switch button 11b, a left switch button 11c, and a right switch button 11d.

Further, a connector 12 for connecting to the illumination light source device 13 is attached to the extending end of the light guide universal cord 4.

A motor control unit 14 and a video signal processing unit 15 are provided in the main body of the illumination light source device 13. When the connector 12 of the endoscope 1 is connected to the illumination light source device 13, The endoscope 1 is automatically connected to the endoscope 1. The image signal processed by the video signal processing unit 15 is
The data is transmitted to the monitor 16.

Next, in the bending operation device, two sets, one for the up and down bending operation and the other for the left and right bending operation, are symmetrically arranged in the case 17 of the operation section 3 of the endoscope 1. Since the configuration is the same, only the one for the up and down bending operation will be described here.

That is, as shown in FIG. 1, a main frame 18 having a space therebetween at a predetermined interval and a sub-frame 1 are provided in a case 17 of the operation section 3.
9 are arranged, and this frame 2
A bending operation device section 21 for up and down bending operation is assembled in 0. A bending operation device (not shown) for right and left bending operation is mounted on the other frame (not shown).

The main frame 18 has an ultrasonic motor unit 22 as an example of a bending operation driving means.
The ultrasonic motor unit 22
A drive gear 27 of a transmission gear mechanism as an example of a power transmission means is fixed to the rotating shaft 23 at an intermediate position between the main frame 18 and the ultrasonic motor unit 22 by shrink fitting or the like. The driven gear 27 is meshed with a driven gear 28 of a transmission gear mechanism as an example of power transmission means.

The driven gear 28 is supported by a shaft 29 provided between the main frame 18 and the sub-frame 19 so as to be freely rotatable. A resin washer 30, for example, is interposed between them so that smooth rotation can be obtained.

A sprocket 31 is supported between the driven gear 28 and the main frame 18 so as to freely rotate with respect to the shaft 29.

The driven gear 28 and the sprocket 31 are engaged with each other at an output end 33 located at the rotation center of the driven gear 28 and an input end 31a located at the rotation center of the sprocket 31. Not fixed.

The output end 33 side of the rotation center of the driven gear 28 comprises a thick shaft holding portion 32 and a thin output end 33, as shown in FIG. Four stacked piezoelectric bodies 34 as an example of the means
Are placed on the same plane perpendicular to the shaft 29 and at the same angle around the shaft 29,
And the output end 33 is arranged in such a direction as to push out.

Further, the laminated piezoelectric body 34 has external electrodes 35 and 36 at positions separated from each other in the axial direction of the shaft 29, respectively.
Brush 3 which is a conductor disposed in the holes 37 and 38 of FIG.
9 and 40 via springs 41 and 42 which are also conductors.

The brushes 39, 40 are pressed by the springs 41, 42 against conductor rings 43, 44 provided on the shaft 29, respectively, to form slip rings, and , 44
Are conducting wires 45 and 46 passing through the shaft 29.
Are connected from the back surface by solder or the like. The driven gear 28 and the shaft 29 are made of a non-conductive material having sufficient strength such as reinforced plastic.

In this way, the external electrodes 35 and 36 of the laminated piezoelectric body 34 and the conductors 45 and 46 are electrically connected, and the conductors 45 and 46 are connected to the free /
Connected to lock switch button 10.

The curved part free / lock mechanism 51 is constituted by the above components.

In this embodiment, the external electrodes 35 and 36 of the four laminated piezoelectric members 34 as an example of the coupling means are provided.
Are arranged so as to be spaced apart from each other in the axial direction of the shaft 29, but the number of the laminated piezoelectric bodies 34 may be four or more, for example, one to three, or five or more. Also, regarding the arrangement of the laminated piezoelectric body 34, the external electrode 3
The positions of 5 and 36 do not have to be positions separated in the axial direction of the shaft 29. However, in this case, it is necessary to perform wiring from the external electrodes 35, 36 to the springs 41, 42.

On the other hand, as shown in FIG. 4, a chain 47 is attached to the sprocket 31 as an example of the towing operation means.
A bending operation wire 49 is connected to each end of the chain 47 via a connecting piece 48. The chain 47, the connecting piece 48 and the bending operation wire 49 constitute a traction member.

Each of the bending operation wires 49 is connected to the distal end of the bending portion 6 or the rear end of the distal end portion 5 through the insertion portion 2, depending on the rotation direction of the sprocket 31. Each of the bending operation wires 49 is pulled and relaxed, so that the bending portion 6 of the insertion portion 2 can be bent. In addition, the bending operation wire 49
However, even if an external force is applied via the curved portion 6, the gear ratio of the transmission gear mechanism from the ultrasonic motor unit 22 to the driven gear 28 is large, so that the gear ratio does not return unless a large external force is applied. .

As shown in FIG. 1, a partition plate 50 for preventing contact between the transmission gear mechanism and the chain 47 is provided.

Further, in this embodiment, the ultrasonic motor unit 22 is used as an example of the bending operation driving means. However, other driving means, such as a pulse motor, a DC motor, and an AC motor, are used.
A motor or the like may be used.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

First, to insert the insertion section 2 of the endoscope 1 into a body cavity or the like, the free / lock switch button 10 is turned off.

In this state, the driven gear 28 and the sprocket 31, which are supported by the shaft 29 so as to be freely rotatable, are not connected to each other.
Is in a so-called free state in which it can be freely bent by an external force, so that the insertion portion 2 can be easily inserted into a body cavity or the like.

Next, when the insertion portion 2 is inserted into a body cavity or the like to bend the curved portion 6, the free / lock switch button 10 is pressed to turn the free / lock switch button 10 on. I do.

For this reason, a voltage is applied to the external electrode 35 of the laminated piezoelectric body 34 from a power source (not shown) via the lead wire 45, the ring 43, the brush 39, and the spring 41 via the free / lock switch button 10. Therefore, the laminated piezoelectric body 34 extends in a direction to push and spread the shaft holding portion 32 and the output end 33 of the driven gear 28. That is, the laminated piezoelectric body 34 is provided with the thick shaft holding portion 32.
The output end 33 is pushed by the input end 31a of the sprocket 31 because the output end 33 is thinner than the output end 33, and as a result, the driven gear 28 and the sprocket 31 are connected and locked. .

In this locked state, as described above, even if an external force is applied to the bending operation wire 49 via the bending portion 6, the transmission gear from the ultrasonic motor unit 22 to the driven gear 28 is not used. Since the gear ratio of the mechanism is large, the curved portion 6 does not deform from its original shape unless a large external force is applied.

In order to perform the bending operation on the bending portion 6, for example, when bending upward, the upward switch button 11a is pressed. Then, the ultrasonic motor unit 2
2 is driven, the drive gear 27 rotates, and the driven gear 2
8 is rotated, the output terminal 33 and the input terminal 31a are rotated.
The sprocket 31 is rotated via.

For this reason, the chain 47 is moved,
The bending operation wire 49 is pulled and relaxed via the connecting piece 48, and as a result, the bending portion 6 is bent upward.

Further, it is possible to perform downward, leftward, and rightward bending operations on the same principle.

Next, to remove the insertion section 2 from the body cavity or the like, press the free / lock switch button 10 and
Set to OFF state.

In this state, as in the case where the insertion portion 2 is inserted, since no voltage is applied to the multilayer piezoelectric body 34, the multilayer piezoelectric body 34 contracts, The curved portion 6 is in a free state, and the insertion portion 2 can be safely removed. As described above, since the free / lock mechanism using the frictional force allows the curved portion 6 to deform when a strong force is applied to the curved portion 6, the safety is greatly improved. It has become.
In addition, responsiveness is good because a laminated piezoelectric body is used as the coupling means.

Second Embodiment FIGS. 5 to 9 show a second embodiment of the present invention. FIG. 5 is a schematic diagram of the entire configuration of an endoscope apparatus, and FIG. 7, FIG. 7 is an explanatory view of wiring of the laminated piezoelectric body, FIG. 8 is an explanatory view of arrangement of the laminated piezoelectric body, and FIG. 9 is a front view of a curved portion pulling section.

The second embodiment is different from the first embodiment in that one multilayer piezoelectric body is used as a coupling means, and the arrangement of the multilayer piezoelectric body and the way of wiring are greatly changed. different.

(Structure) In FIG. 5, an endoscope 61, which is shown in its entirety, includes an insertion portion 62, an operation portion 63, and a universal cord 6 for a light guide.
4, the insertion portion 62 includes a distal end configuration portion 65, a curved portion 66, and a flexible tube portion 67.

The operation section 63 is provided with an air / water switch button 68, a suction switch button 69, a lever-shaped free / lock switch 70, a bending operation joystick 71, an eyepiece 72, and the like.

Further, a connector 73 for connecting to the illumination light source device 74 is attached to the extending end of the light guide universal cord 64.

Further, a motor control unit 75 is provided in the main body of the illumination light source device 74. The motor control unit 75 is provided when the connector 73 of the endoscope 61 is connected to the illumination light source device 74. It is automatically connected to the mirror 61 side.

FIGS. 6 and 7 show the endoscope 61.
3 shows the structure of the bending operation device incorporated in the operation unit 63 of FIG. Here, the structure from the motor (not shown) as an example of the bending operation driving means to the driven gear 76 as an example of the power transmission means is the same as that of the first embodiment described above, and thus will be omitted.

The power transmission means up to the driven gear 76 does not move unless a large external force is applied because the gear ratio is large as in the first embodiment. Here, the driven gear 76 is supported by a cantilever shaft 78 fixed to the sub-frame 77 so as to be freely rotatable. The shaft 78 is hollow as shown in FIG.
The supporting portion of the driven gear 76 has a non-conductive material 2 which is also hollow.
50 is inserted and fixed. And this non-conductive material 25
0 is embedded with conductive rings 95 and 96 to be described later, and these are connected to conducting wires 97 and 98 from the back surface by soldering or the like, respectively.

Here, between the driven gear 76 and the sub-frame 77, the rotation is smoothed.
For example, a resin washer 79 is interposed. A sprocket 82 as an example of a traction operation means is provided between the driven gear 76 and the main frame 80 so as to freely rotate with respect to the cantilever shaft 81.
Is supported.

The driven gear 76 and the sprocket 82 are engaged with each other at an output end 83 located at the rotation center of the driven gear 76 and an input end 82a located at the rotation center of the sprocket 82. Not fixed.

As shown in FIG. 8, the output end 83 of the rotation center of the driven gear 76 is connected to the two output ends 83 by one laminated piezoelectric element 8 as an example of a coupling means.
4 are arranged so as to be sandwiched.

Further, the laminated piezoelectric body 84 has external electrodes 85 and 86, to which lead wires 87 and 88 are connected by soldering or the like, respectively, and holes formed in the driven gear 76 are provided. 89, 90, brushes 91, 92, which are conductors, are provided with springs 93, 9, which are also conductors.
4 are connected. In addition, the brushes 91 and 9
2 is the non-conductor 25 by the springs 93 and 94.
It is pressed by the conductor rings 95 and 96 provided on the upper side of the coil, respectively, to form a slip ring.

As described above, the rings 95 and 96 are connected to the conducting wires 97 and 98 passing through the shaft 78 and the non-conductive body 250 by soldering or the like from the back surface. Here, the driven gear 76 is made of a non-conductive material having sufficient strength such as reinforced plastic. Thus, the external electrodes 85 and 86 of the multilayer piezoelectric body 84
And the conducting wires 97 and 98 are electrically connected. And the above-mentioned conducting wires 97 and 98 are connected to the free / lock switch 7.
Connected to 0. Curved part free due to the above parts /
A lock mechanism 99 is configured.

On the other hand, as shown in FIG. 9, a chain 100 is supported on chain guides 101, 101 such as idlers, and is wound around the sprocket 82 at an angle to the extension of the operation section. Thus, the chain 1
By arranging 00 at an angle, a switch having a large internal volume, such as the bending operation joystick 71, can be arranged. At each end of this chain 100,
Similarly to the first embodiment, the distal end of the curved portion 66 or the rear end of the distal end portion 65 is connected to the distal end of the curved portion 66 through the insertion portion 62 via a connecting piece and a bending operation wire (both not shown).

When the sprocket 82 rotates, the bending operation wire is pulled and relaxed according to the direction of rotation, so that the bending portion 66 of the insertion portion 62 is bent. As shown in FIG. 6, a partition plate 55 for preventing contact between the transmission gear mechanism and the chain 100 is provided.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

First, to insert the insertion portion 62 of the endoscope 61 into a body cavity or the like, set the free / lock switch 70 to “F”.
To

In this state, the driven gear 76 supported on the cantilever shaft 78 so as to freely rotate.
Since the sprocket 82 supported by the cantilever shaft 81 so as to be freely rotatable is not connected to each other, the curved portion 66 can be freely curved by an external force.
In the so-called free state, the insertion portion 62
Can be easily inserted into a body cavity or the like.

Next, when the insertion portion 62 is inserted into a body cavity or the like to bend the curved portion 66, the free / lock switch 70 is set to "L".

For this reason, as in the first embodiment, a voltage is applied from a power supply unit (not shown) to the multilayer piezoelectric body 8, and this multilayer piezoelectric body 84 pushes out the output end 83 of the driven gear 76. As a result, the driven gear 76 and the sprocket 82 are connected via the output end 83 and the input end 82a to be in a locked state.

In this locked state, as described above, even if an external force is applied to the curved operation wire (not shown) via the curved portion 66, the transmission gear mechanism from the motor (not shown) to the driven gear 76 is used. Since the gear ratio is large, the curved portion 66 is not deformed from its original shape unless a large external force is applied.

In order to perform the bending operation on the bending portion 66, for example, in the case of bending upward, the bending operation joystick 71 is inclined in the U direction. Then, a motor (not shown) is driven, a drive gear (not shown) is rotated, the driven gear 76 is rotated, and the sprocket 82 is rotated via the output end 83 and the input end 82a.

For this reason, the chain 100 moves and pulls and relaxes the bending operation wire (not shown) via the connecting piece (not shown), thereby bending the bending portion 66 upward.

Further, downward, leftward, and rightward bending operations can be performed on the same principle.

Next, in order to remove the insertion portion 62 from the body cavity or the like, the free / lock switch 70 is pressed.
Set to "F".

In this state, as in the case where the insertion portion 62 is inserted, since no voltage is applied to the multilayer piezoelectric member 84, the multilayer piezoelectric member 84 contracts, The curved portion 66 is in a free state, and the insertion portion 62 can be safely removed.

As described above, since the number of the laminated piezoelectric bodies can be reduced to one, the workability of assembling the endoscope 61 can be improved, and the shaft 78 can be made of metal, so that sufficient strength can be provided.

Further, by arranging the chain at an angle, a switch such as a curved operation joystick 71 having a large internal volume can be attached, and operability can be improved.

Third Embodiment FIG. 10 is a sectional view of a main part of a bending operation device according to a third embodiment.

The third embodiment differs from the second embodiment in that the wiring structure of the laminated piezoelectric element as an example of the coupling means is changed.

(Structure) In this embodiment, the structure from the motor (not shown) as an example of the bending operation driving means to the driven gear as an example of the power transmission means is the same as that of the second embodiment, and is omitted. I do.

First, as shown in FIG. 10, the driven gear 102 having a shaft 102a at the center of rotation is supported so as to freely rotate in a hole 104 provided in the sub-frame 103.

A washer 105 made of, for example, resin is interposed between the shaft-driven driven gear 102 and the sub-frame 103 so that the rotation is smooth. The sprocket 1 as an example of a traction operation means is provided between the main frame 106 and the main frame 106 so that the sprocket 1 can freely rotate with respect to a cantilever shaft 107 which is coaxial with the rotation axis of the driven gear 102.
08 is supported. The driven gear with shaft 102 and the sprocket 108 are engaged with each other via the output end 109 of the driven gear with shaft 102 and the input end 108a of the sprocket 108, as in the second embodiment. But not fixed.

Further, the output end 1 of the shaft driven gear 102
09, the two output terminals 1 as in the second embodiment.
09, one laminated piezoelectric body 1 as an example of a coupling means
10 are arranged so as to be sandwiched. Further, the laminated piezoelectric body 110 has external electrodes 111 and 112,
Conductors 113 and 114 are respectively connected to these by solder or the like, and these conductors 113 and 114 are inserted through the shaft driven gear 102 so that the shaft driven gear 102
Conductor rings 115 and 116 provided at a portion of the shaft 102a portion protruding outward from the sub-frame 103.
Are connected from the back surface by solder or the like.

The holes 118, 119 of the fixing member 117
The conductive brushes 120, 121 provided therein are pressed by the conductive rings 115, 116 provided on the shaft 102a of the shaft driven gear 102 by the conductive springs 122, 123, respectively. ing. Also,
The other ends of the springs 122 and 123 are respectively connected to the conductor 12.
4 and 125 are connected.

Here, the driven gear with shaft 102 and the fixed member 117 are made of a non-conductive material having sufficient strength such as reinforced plastic. As described above, the external electrodes 111 and 112 of the multilayer piezoelectric body 110 and the conductive wire 12
4 and 125 are electrically connected.

Although the laminated piezoelectric body 110 is installed on the side of the driven gear with shaft 102 here, the manner of engagement between the driven gear with shaft 102 and the sprocket 108 is reversed, ie, Output end 109 of driven gear 102
However, if the configuration is such that the input end 108a of the sprocket 108 is included, it is sufficiently possible to install the laminated piezoelectric body 110 in the sprocket 108.
In this case, the material of the sprocket 108 is a non-conductive material having sufficient strength such as reinforced plastic.

The other components are the same as in the second embodiment, and will not be described.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

As in the second embodiment, first, to insert an insertion portion (not shown) of an endoscope (not shown) into a body cavity or the like, set the free / lock switch (not shown) to "F".
To

In this state, no voltage is applied to the laminated piezoelectric element 110, and as a result, the driven gear with shaft 102 and the sprocket 108 are not connected, and the insertion portion (not shown)
Is in a free state, and this insertion portion (not shown) can be easily inserted into a body cavity or the like.

Next, in order to insert the insertion portion (not shown) into a body cavity or the like to bend the bending portion (not shown), the free / lock switch (not shown) is set to "L". Therefore, a voltage is applied to the laminated piezoelectric body 110, the driven gear with shaft 102 and the sprocket 108 are connected, the insertion portion (not shown) is locked, and furthermore, a bending operation can be performed.

Next, in order to remove the insertion section (not shown) from the body cavity or the like, the free / lock switch (not shown) is inserted in the same manner as when the insertion section (not shown) is inserted into the body cavity or the like. ) To “F”.

In the third embodiment, the multilayer piezoelectric body 1
Since the slip ring to be wired to 10 can be installed outside, it is possible to improve the assembling workability.

Fourth Embodiment FIGS. 11 to 15 show a fourth embodiment of the present invention. FIG. 11 is a sectional view of a main part of a bending operation device, FIG. 12 is a front view of a connecting portion of a connecting member, and FIG. Is a front view of a driven gear connecting portion, FIG. 14 is an explanatory view of a free state, and FIG. 15 is an explanatory view of a locked state.

The fourth embodiment differs from the third embodiment in that a cam is used instead of a laminated piezoelectric material as an example of the coupling means.

(Structure) In this embodiment, the structure from the motor (not shown) as an example of the bending operation driving means to the driven gear 126 as an example of the power transmission means is the same as that of the third embodiment. Omit.

As shown in FIG. 11, a case 128 of the endoscope operation section (not shown) is provided with a free / lock knob 127 as a switch for realizing a free state and a locked state. / The lock knob 127 is provided between the compression coil spring 1 and the case 128.
29, a hole 130 formed in the case 128 is formed.
It is supported so that it can rotate freely inside.

A free end of the free / lock knob 127 is engaged with a shaft end 137 of a cam 133 with a shaft as an example of a coupling means, which is inserted into a driven gear 126 on the side of the main frame 251 on the same axis. The member 131 is fixed.

The connecting member 131 and the shaft end 137
Has a spline shape as shown in FIGS. A sprocket 136 as an example of a traction operation means is provided between the driven gear 126 and the main frame 251 so that the driven gear 126 can freely rotate with respect to a cantilever shaft 135 located coaxially with the driven gear 126. Is supported.

The driven gear 126 and the sprocket 136 are engaged with each other via the output end 134 of the driven gear 126 and the input end 136a of the sprocket 136, but are not fixed.

The output end 134 of the driven gear 126
On the side, as shown in FIGS. 14 and 15, between the two thin output ends 134, the cam portion of the cam 133 with a shaft is formed by the cam ridge of the cam. It is arranged so that it can be expanded in the shaft radial direction.

In this embodiment, the compression coil spring 129 is sandwiched between the free / lock knob 127 and the case 128. The free / lock knob 127 is provided in the space between the case 128 and the driven gear 126. The side of the main frame 251 of the case 128 may be connected with a tension coil spring or the like. The connection member 13
The shape of the connecting portion between the shaft 1 and the shaft end 137 is not limited to a spline, and may be, for example, a polygon or an oval, or may be a meshing clutch. Further, the connection member 13
1 and the shaft end 137 need not be coaxial, and a gear transmission mechanism may be used.

The other components are the same as in the third embodiment, and will not be described.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

First, in order to insert an insertion portion (not shown) of an endoscope (not shown) into a body cavity or the like, the insertion is performed with the free / lock knob 127 kept at “F”.

That is, in this state, the state shown in FIG. 14 is established. Since the driven gear 126 and the sprocket 136 are not connected to each other and are in a free state, the insertion portion (not shown) can be easily inserted into the body cavity. It can be inserted inside or the like.

Next, in order to insert the insertion portion (not shown) into a body cavity or the like to perform a bending operation on a bending portion (not shown),
From the above-mentioned free state, the above-mentioned free / lock knob 127
The connecting member 131 is connected to the shaft end 13 of the shafted cam 133.
After being pushed into engagement with No. 7, it rotates to the “L” side.

Then, as shown in FIG. 15, the cam ridge of the cam with shaft 133 pushes the thin output end 134, and this output end 134 is pressed by the input end 136a of the sprocket 136, Thus, the driven gear 1
The sprocket 136 and the sprocket 136 are connected to each other to be in a locked state, so that a bending operation can be performed.

Next, in order to remove the insertion portion (not shown) from the inside of the body cavity or the like, a reverse operation to the case where the above-mentioned bending portion (not shown) is bent is performed, and the operation is performed after the free state. .

When the hand is released from the free / lock knob 127, the connection between the connecting member 131 and the shaft end 137 is released by the compression coil spring 129.
The free / lock knob 127 is connected to the driven gear 126
Will not rotate with. As described above, according to the present embodiment, since the mechanical mechanism does not use electricity, the wiring is drawn from the free / lock power supply (not shown) of the light source (not shown) to the inside of the endoscope. Is unnecessary, the structure is simple, and the number of parts is small, so that it can be manufactured at low cost. Further, since the compression coil spring 129 is provided between the free / lock knob 127 and the case 128, the free / lock knob 127 is used when rotating a curved portion (not shown).
In order to prevent the rotation of the connecting member 131, the free / lock knob 127 is pulled up to remove the connection between the connecting member 131 and the shaft end 137, so that the safety is improved.

Fifth Embodiment FIG. 16 is a sectional view of a main part of a bending operation device according to a fifth embodiment.

The fifth embodiment differs from the fourth embodiment in that the connecting member 131 and the shaft end 137 of the cam 133 with a shaft in the fourth embodiment are tapered and the coupling method is changed. different.

(Structure) As shown in FIG. 16, the structure from the motor (not shown) as an example of the bending operation driving means to the driven gear 155 as an example of the power transmission means is the same as that of the fourth embodiment. I omit it because there is.

As shown in FIG. 16, a free / lock knob 156 is provided on a case 157 of the endoscope operation section (not shown) as a switch for realizing a free state and a locked state. / The lock knob 156 is located between the compression coil spring 1 and the case 157.
58, a hole 159 formed in the case 157
It is supported so that it can rotate freely inside.

A connecting member 162 is fixed to the free end of the free / lock knob 156, and is provided coaxially with the free / lock knob 156 in a downward direction. Shaft-equipped cam 160 as an example of a coupling means communicated with the center of 155
Is engaged with the shaft end 161. The connecting member 16
2 and the shaft end 161 are not fixed.

The shaft end 161 has a male tapered shape, and the connecting member 162 has a female tapered shape. Further, a screw hole is cut in the center of the free / lock knob 156, and a screw 163 is inserted through the connecting member 162. A lever 290 is fixed to the screw 163 at a portion exposed outside the free / lock knob 156. Further, between the driven gear 155 and the main frame 164, a cantilever shaft 16 coaxially located with the driven gear 155 is provided.
A sprocket 166 as a traction operation means is supported so as to be freely rotatable with respect to 5. The driven gear 155 and the sprocket 166 are engaged with each other, but are not fixed.

The other components are the same as in the fourth embodiment, and will not be described.

In this embodiment, the connecting member 162 and the shaft end 161 are connected using a taper. However, a magnet is fixed to the connecting member 162 or the shaft end 161 and the other end is attached to the magnet. The members may be fixed and connected.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

The connection between the connecting member 162 and the shaft end 161
Except for the separation, the fourth embodiment is the same as the fourth embodiment, and will not be described. Lever 2
When the free / lock knob 156 is pushed in after confirming that the screw 90 is not screwed, the connecting member 16 at the end thereof is pushed.
2 and the shaft end 161 are female and male tapers,
Easy connection by friction. When separating the connecting member 162 and the shaft end 161, first, the lever 290 is screwed downward. Then, the upper part of the shaft end 161 is the screw 1
63, the connecting member 162 and the shaft end 16
1 separates.

As described above, the free state and the locked state are realized and the bending operation of the endoscope (not shown) is performed as in the fourth embodiment.

Sixth Embodiment FIGS. 17 and 18 show a sixth embodiment of the present invention.
7 is a sectional view of a main part of the bending operation device, and FIG. 18 is an explanatory view of the structure of the actuator.

The sixth embodiment differs from the third embodiment in that an MH actuator is used instead of a laminated piezoelectric element as an example of the coupling means.

(Structure) The structure of the present embodiment is exactly the same as that of the third embodiment except for the MH actuator 149 as an example of the coupling means, and the description is omitted.

As shown in FIG. 17, one MH actuator 149 pushes the output end 150 of the driven gear 152 as an example of power transmission means toward the input end 154a of a sprocket 154 as an example of traction operation means. It is arranged in a spreading direction.

Further, the MH actuator 149 is
As shown in FIG. 18, it is composed of one Peltier element 200, two MHs (compound of metal and hydrogen) 260, and two pistons 153. Here, conductive wires 201 and 202 are connected to both ends of the Peltier device 200.

In this embodiment, one MH actuator 149 is fixed to the driven gear 152 in a direction in which the output end 150 is pushed out. However, the number of MH actuators 149 is not limited to one and may be two. Or more, and the arrangement surface may be any position as long as the output end 150 is pushed and spread.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

In this embodiment, the MH actuator 14
Except for Example 9, the configuration is exactly the same as that of the third embodiment.
Description of the operation of the overlapping part will be omitted.

When the free / lock switch (not shown) is set to “F”, a driven gear 152 as an example of power transmission means and a sprocket 154 as traction operation means
Are engaged with each other but are not connected to each other, so that a motor and a curved portion (both not shown) as an example of the curved operation driving means connected to these are in a free state.

Next, when the free / lock switch (not shown) is set to “L”, a voltage is applied from the power supply unit (not shown) to the Peltier element 200 inside the MH actuator 149 from the lead wire 201 side. Then, the Peltier element 200 inside the MH actuator 149 generates heat, and the heat separates the MH 260 into hydrogen and metal, and the hydrogen pushes out the piston 153. Then, the piston portion 153 is connected to the thin driven gear 15.
The output end 150 of the second sprocket 154 is pushed out, and the output end 150 is pressed by the input end 154a of the sprocket 154, whereby the driven gear 152 and the sprocket 154 are connected and locked.

When the free / lock switch (not shown) is set to “F”, the power supply unit (not shown) applies a reverse voltage (lead 20) to the Peltier element 200.
From the second side). Then, the Peltier device 200
Absorbs heat (cools), thereby causing the above MH260
Since the hydrogen is absorbed by the gas and the hydrogen pressure disappears, the piston 153 stops pressing the thin output end 150.
The driven gear 152 and the sprocket 154
Is disconnected, and the curved portion (not shown) is in a free state.

{Seventh Embodiment} FIGS. 19 and 20 show a seventh embodiment of the present invention.
9 is a sectional view of a main part of the bending operation device, and FIG.

The seventh embodiment differs from the third embodiment in that, as an example of the coupling means, the laminated piezoelectric material is changed to a structure using a spring-shaped shape memory alloy and a projecting member.

(Structure) As shown in FIGS. 19 and 20, the coupling means according to the present embodiment is different from the laminated piezoelectric body 110 as an example of the coupling means in the third embodiment in that one spring-shaped shape memory is used. Alloy 20
3 and two protruding members 204, and furthermore, an engaging portion of a sprocket 207 as an example of a traction operation means and a driven gear 205 as an example of a power transmission means, and a rotating shaft of the driven gear. One vertical side hole 208 is provided, and the sprocket 207 has eight holes 2 in the radial direction.
12 are disposed at the same angle on the same plane as the horizontal hole 208 to form an output end and an input end.

The shape memory alloy 203 is inserted into the center of the lateral hole 208 of the driven gear 205 and is fixed in a direction to press the sprocket 207. In addition, at both ends of the shape memory alloy 203,
09 and 210 are fixed with solder or the like, and the protruding members 204 and 204 are fixed to both ends of the shape memory alloy 203.

In this embodiment, the shape memory alloy 20
3 is one, but may be two or more.
The inside may be in any direction as long as the sprocket 207 is pressed.

The other components are the same as in the third embodiment, and will not be described.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

In this embodiment, except for the structure of the connecting means,
Since the configuration is exactly the same as that of the third embodiment, the description of the operation of the overlapping portions will be omitted.

When the free / lock switch (not shown) is set to “F”, the driven gear 205 as an example of the power transmission means and the sprocket 207 as the traction operation means
Are engaged with each other but are not connected to each other, so that a motor and a curved portion (both not shown) as an example of the curved operation driving means connected to these are in a free state.

Next, when the free / lock switch (not shown) is set to “L”, a voltage is applied from the power supply unit (not shown) to the shape memory alloy 203 via the conducting wire 209. Then, the shape memory alloy 203 generates heat, and the protruding member 204 extending in the longitudinal direction and fixed to the distal end is pressed by the shape memory alloy 203. As a result, the projecting member 204 is inserted into the hole 212 provided in the sprocket 207. Therefore, the driven gear 205 and the sprocket 212 are connected, and the curved portion (not shown) is locked. Since the lateral hole 208 holds the shape memory alloy 203 and the projecting member 204, the shape memory alloy 203 is not twisted, and the driven gear 205 and the sprocket 207 do not move.

Next, when the free / lock switch (not shown) is set to “F”, no voltage is applied to the shape memory alloy 203 from a power supply unit (not shown), the temperature drops, and the shape memory alloy 203 is turned off. Because of the contraction, the projecting member 204 comes out of the hole 212, the connection between the driven gear 205 and the sprocket 207 is released, and the curved portion (not shown) is in a free state.
Even when the projecting member 204 cannot be inserted into the hole 212, the projecting member 204 can be inserted into the hole 212 by rotating the sprocket 207.

<< Eighth Embodiment >> FIGS. 21 to 23 show an eighth embodiment of the present invention. FIG. 21 is a schematic diagram of the entire configuration of an endoscope apparatus, FIG. FIG. 23 is an explanatory view of the structure of the coupling means.

The eighth embodiment is different from the fourth embodiment in that a piston using a fluid as a working medium is used as an example of the coupling means.

(Structure) In FIG. 21, an endoscope 171 includes an insertion portion 172, an operation portion 173, and a universal cord 17 for a light guide.
4 and the insertion portion 172 is provided
5, a curved portion 176, and a flexible tube 177. Further, the operation unit 173 includes an air / water switch button 178, a suction switch button 179, a lever-shaped free / lock switch 180, a bending operation joystick 18 and the like.
1, an eyepiece 182, and the like. Further, a connector 183 for connecting to the illumination light source device 184 is attached to the extension end of the light guide universal cord 174.

In the main body of the illumination light source device 184,
A motor control unit 185 and an oil supply unit 186 are provided, and when the connector 183 of the endoscope 171 is connected to the illumination light source device 184, the endoscope 1
The connection is automatically made to the 71 side.
The oil supply unit 186 may be separate from the illumination light source device 184.

FIG. 22 shows the operation section 17 of the endoscope 171.
3 shows the structure of the bending operation device incorporated in the third embodiment. The structure from a motor (not shown) as an example of the bending operation driving means to a driven gear 140 as an example of the power transmission means is as follows.
The description is omitted because it is the same as the second embodiment.

As shown in FIG. 22, the hollow shaft 1
38 is inserted into and fixed to the sub-frame 139, and is fixed to the O-ring receiver 141 between the sub-frame 139 and the driven gear 140. Well, this O-ring receiver 1
41 has an O-ring 142 inside, and the driven gear 1
A hollow shaft 144 inserted and fixed to the support 40 is supported. That is, the rotation of the driven gear 140 prevents the shaft 138 inserted and fixed to the sub-frame 139 from rotating even when the shaft 144 rotates. The other end of the shaft 138 is connected to the oil supply unit 186.

FIG. 23 is a view showing the structure of the coupling means, and shows the path of oil used as a working medium from the oil supply unit 186 to the piston 147 as an example of the coupling means. The hydraulic pump 284 provided in the oil supply unit 186 is
Check valve 280 in 6, 6 relief valve 28 for discharge pressure adjustment
1. Connected to a piston 147 in the endoscope 171 through an electromagnetic valve 282. Here, the relief valve 28
1 is connected to the oil tank 283 of the hydraulic pump 284. Further, the solenoid valve 282 is also connected to the endoscope 17.
The free / lock switch 18 in the first case 285
Connected to be operated by 0.

The structure near the piston 147 is as follows.
As shown in FIG. 22, between the driven gear 140 and the main frame 143, the traction operation means is provided so as to be freely rotatable with respect to a cantilever shaft 148 located coaxially with the driven gear 140. An example sprocket 145 is supported. The driven gear 140 and the sprocket 145 are engaged with each other but are not fixed.

The piston 147, which is hydraulically actuated, is provided between the two thin-walled output ends 146 and 146 at the engagement portion of the driven gear 140 with the sprocket 145, as in the fourth embodiment. The output ends 146 and 146 are arranged in a direction in which the output ends 146 and 146 are pushed in the radial direction.
The opening of 47 is connected to the opening of the shaft 144. In this embodiment, the O-ring receiver 141 is
Although disposed between the sub-frame 139 and the driven gear 140, the disposed position may be different, for example, between the sub-frame 139 and the case 285. Further, a fluid other than oil, for example, water or air may be used as the working medium.

The other components are the same as in the fourth embodiment, and will not be described.

(Operation) Next, the operation of the embodiment having the above configuration will be described.

First, when the free / lock switch 180 is set to “F”, the driven gear 140 and the sprocket 45
Are engaged with each other but are not connected, so that the motor (not shown) and the curved portion 176 respectively connected to these are in a free state.

Next, the free / lock switch 180
To “L”. Then, the hydraulic pump 284 starts discharging oil. In addition, the solenoid valve 282 is opened, so that the shaft 138, the shaft 1
44, oil flows into the piston 147 and the piston 1
47 presses and spreads the thin output end 146. Therefore, the output end 146 is pressed by the input end 145a of the sprocket 145, the driven gear 140 and the sprocket 145 are connected, and the curved portion 176 is locked. The piston 147 is connected to the output end 146.
After the pressure is expanded, the relief valve 281 detects the discharge pressure and returns the excessive discharge oil to the hydraulic tank 283, so that the oil path is not damaged by the hydraulic pressure.

The free / lock switch 180
Is set to “F”, the hydraulic pump
7 is stopped, and as a result, the piston 14
7 does not spread the thin output end 146, the connection between the driven gear 140 and the sprocket 145 is released, and the curved portion 176 becomes free.

[0157]

As described above, according to the present invention, an endoscope using a motor or the like as a driving source for a bending operation can realize a free state from a locked state with a small and light weight and a simple structure. Can be.

Therefore, the operability of the endoscope can be improved and the size of the endoscope can be reduced.

[Brief description of the drawings]

FIG. 1 is a sectional view of a main part of a bending operation device according to a first embodiment of the present invention.

FIG. 2 is a schematic diagram of the entire configuration of the endoscope apparatus according to the first embodiment of the present invention.

FIG. 3 is a sectional view of an engaging portion according to the first embodiment of the present invention.

FIG. 4 is a front view of a curved portion traction portion according to the first embodiment of the present invention.

FIG. 5 is a schematic diagram of the entire configuration of an endoscope apparatus according to a second embodiment of the present invention.

FIG. 6 is a sectional view of a main part of a bending operation device according to a second embodiment of the present invention.

FIG. 7 is an explanatory diagram of wiring of a multilayer piezoelectric body according to a second embodiment of the present invention.

FIG. 8 is an explanatory view of an arrangement of a multilayer piezoelectric body according to a second embodiment of the present invention.

FIG. 9 is a front view of a curved portion traction portion according to a second embodiment of the present invention.

FIG. 10 is a sectional view of a main part of a bending operation device according to a third embodiment of the present invention.

FIG. 11 is a sectional view of a main part of a bending operation device according to a fourth embodiment of the present invention.

FIG. 12 is a front view of a connecting part of a connecting member according to a fourth embodiment of the present invention;

FIG. 13 is a front view of a driven gear connecting portion according to a fourth embodiment of the present invention.

FIG. 14 is an explanatory diagram of a free state according to a fourth embodiment of the present invention.

FIG. 15 is an explanatory view of a locked state according to a fourth embodiment of the present invention.

FIG. 16 is a sectional view of a main part of a bending operation device according to a fifth embodiment of the present invention.

FIG. 17 is a sectional view of a main part of a bending operation device according to a sixth embodiment of the present invention.

FIG. 18 is an explanatory view of an actuator structure according to a sixth embodiment of the present invention.

FIG. 19 is a sectional view of a main part of a bending operation device according to a seventh embodiment of the present invention.

FIG. 20 is an explanatory sectional view of a coupling means according to a seventh embodiment of the present invention.

FIG. 21 is a schematic diagram of an overall configuration of an endoscope apparatus according to an eighth embodiment of the present invention.

FIG. 22 is a sectional view of a main part of a bending operation device according to an eighth embodiment of the present invention.

FIG. 23 is an explanatory view showing a structure of a connecting means according to an eighth embodiment of the present invention.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Endoscope 3 Endoscope operation part 6 Curved part 22 Curved operation drive means 27 Power transmission means 28 Power transmission means 31 Traction operation means 31a Input end 33 Output end 34 Coupling means 47 Traction member 48 Traction member 49 Traction member

Claims (1)

(57) [Claims] 1. A bending operation driving means housed in an endoscope operation unit; a power transmission means for transmitting a turning power from the bending operation driving means; an output end of the power transmission means; By being moved, a pulling operation means for bending the bending portion of the endoscope with a pulling member, and being disposed in parallel with the output end of the power transmission means in a radial direction of a rotation shaft of the pulling operation means. The input end of the towing operation means, the output end of the power transmission means and the input end of the towing operation means are arranged in parallel in a radial direction of a rotating shaft of the towing operation means, and the output end and the An endoscope bending operation device, comprising: coupling means for coupling and separating the input end and the input end.