JP3017769B2 - Endoscope device - Google Patents

Description

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

[Prior art] Conventionally, by inserting an elongated insertion portion into a body cavity,
2. Description of the Related Art Endoscopes (scopes or fiberscopes) capable of diagnosing and examining internal organs and the like are widely used. In addition to medical use, it is used for observing and inspecting objects in pipes of boilers, machines, chemical plants and the like, or in machines and the like in 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.

2. Description of the Related Art In recent years, endoscopes using a motor as a drive unit of a bending operation for bending a bending portion provided in an insertion portion of the endoscope up / down / left / right have been proposed.

However, for example, when inserting the insertion section of a medical endoscope through a large curved angle in the large intestine, for example, through a splenic curved part, simply pushing in the insertion section causes the distal end side of the inserting section to remove the body cavity wall of the splenic curved part It is just pushing and difficult to insert. Further, the distal end side of the insertion portion may be pushed back to the body cavity wall.

In order to advance the insertion section in the above-described situation, it is necessary to set the bending angle of the bending section to a substantially straight state and at the same time perform an operation of pushing the insertion section, which requires a skill.

As means for solving such a problem, for example, the present applicant uses an outer skin having elasticity in the bending portion as shown in Japanese Patent Application Laid-Open No. 63-252128, and utilizes the elastic force of the outer skin to form the bending portion. It is proposed that the angle of curvature be made substantially straight.

[Problems to be Solved by the Invention] However, in an endoscope using a motor as a driving means for bending the bending portion, when the lever of the bending switch is set to the neutral position, the bending portion is bent in a predetermined direction. It is said that the lever must be operated to bend the bending portion in a direction opposite to the bending direction in order to set the bending angle to, for example, a predetermined angle that becomes a substantially straight state in order to act to be fixed in a state. The problem remained.

Further, in the endoscope using the motor as described above, when a momentary switch is used as the bending switch, the operator cannot easily recognize the bending angle of the bending portion, and displays the bending angle. Even if it has a curved angle display means, it is necessary to instantaneously determine, for example, a bending direction for bringing the curved portion into a substantially straight state from the curved angle displayed on the curved angle display means, which requires skill. There is a problem.

The present invention has been made in view of the above points, and also in an endoscope using a motor as a driving unit for bending a bending portion, an endoscope apparatus which can easily set the bending portion to a bending angle that is, for example, a substantially straight state. It is intended to provide.

[Means for Solving the Problems] An endoscope apparatus according to the present invention has an endoscope that includes a driving unit that bends a bending portion of an endoscope by a motor, and a bending angle detection unit that detects a bending angle of the bending portion. In the mirror device, first control means for controlling the bending portion to a desired bending angle, and second control for controlling the bending portion to a predetermined bending angle by controlling the activation of the first control means. Means is provided.

[Operation] With the above-described configuration, the first control unit is activated and controlled by, for example, the second control unit using a switch, so that the bending portion of the endoscope has a predetermined bending angle in, for example, a substantially straight state. .

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

1 to 3 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 a block diagram showing a configuration of a control circuit of a vibration wave motor, and FIG.
FIGS. (A) and (B) are explanatory views of an insertion portion inserted into a splenic flexion site.

As shown in FIG. 1, the endoscope apparatus has an elongated endoscope 1 formed so as to be inserted into a body cavity, for example, and a universal cord 6 of the endoscope 1 connected by a connector 3. The control device (hereinafter, referred to as UCA) 2 includes a monitor 27 for projecting a subject such as a body cavity part by an output signal of a video processor 24 provided in the UCA 2.

The endoscope 1 includes, for example, an elongated and flexible insertion portion 4,
A large-diameter grip portion 5 connected to the rear end of the insertion portion 4, a flexible universal cable 6 extending to the side of the grip portion 5, and an end portion of the universal cable 6. And the connector 3 provided. The insertion part 4
Is a rigid distal end component 7 provided with an imaging element for capturing an image of a subject, a bending portion 8 connected to the rear end of the distal end component 7 and capable of bending up and down / left and right; 8 and a flexible tube portion 9 connected to the rear end.

An objective lens 32 is provided at the distal end forming section 7, and a solid-state image sensor 33 is provided at an image forming position of the objective lens 32. The solid-state imaging device 33 is connected to a signal line (not shown) provided in the endoscope 1, and the signal line is connected to the video processor 24 provided in the UCA 2 via the connector 3. It has become. Further, a contact pressure sensor (not shown) for bending the bending portion 8 and detecting a contact pressure when the distal end portion 7 comes into contact with a body cavity or the like is provided in the distal end portion 7. A signal line (not shown) provided in the endoscope 1 is connected to the contact pressure sensor, and the signal line is connected to a contact pressure detection circuit 26 provided in the UCA 2 via the connector 3. It has become.

A vibration wave motor (hereinafter referred to as USM) 1 serving as a motor driven by, for example, an ultrasonic drive signal for pulling a vertical bending wire 10 through a reduction gear 11 is provided on the grip portion 5.
2 and a USM 15 for pulling the bending wire 13 in the left-right direction via the reduction gear 14 are provided therein. Further, the grip 5
Are provided internally with rotation angle sensors 30 and 31 constituted by photoreflectors and the like. The rotation angle sensors 30 and 31 are connected to signal lines (not shown) provided in the universal cable 6. This signal line is connected via connector 3 to UCA2
Is connected to a bending angle detection circuit 25 provided therein. A bending switch 16 for controlling the bending direction of the bending portion 8 and a switch 29 for setting the bending portion 8 to a bending angle in a substantially straight state are provided on the exterior of the grip portion 5, for example.
An air supply / water supply button, a suction button, a CO ₂ gas air supply button, a forceps raising mechanism, a freeze for controlling a video processor, a release, and a switch for starting a VTR are provided. A signal line (not shown) provided in the universal cable 6 is connected to the bending switch 16, and this signal line is connected to a bending switch control circuit 21 provided in the UCA 2 via the connector 3. It has become. A signal line (not shown) provided in the universal cable 6 is connected to the switch 29.
This signal line is the USM installed in UCA2 via connector 3.
The control circuits 22 and 23 are connected.

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

The UCA 2 includes a lamp 17 for supplying illumination light to the light guide fiber, an air supply pump 18 for supplying air to the air supply / water supply tube, and a water supply pump for supplying water to the air supply / water supply tube. 20, a water supply tank 19 for storing, for example, water which is a fluid for water supply, and the bending switch 16
A bending switch control circuit 21 for controlling the USM1
USM control circuits 22 and 23 for controlling 2, 15 and a video processor 24 for converting the imaging signal of the solid-state imaging device 33 and performing various signal processing and outputting the same to the monitor 27 as a video signal. A bending angle detection circuit 25 for detecting a bending angle of the bending portion 8; and a contact pressure detection circuit 26 for processing a signal of the contact pressure sensor. In addition, UCA2
May be devices in which devices of different configurations are electrically and physically connected.

The bending switch control circuit 21 has the bending switch 16 connected to the input terminal and the output terminal connected to the USM control circuit 2 as described above.
Connected to 2,23.

As described above, the bending angle detection circuit 25 has the rotation angle sensors 30, 31 connected to the input terminals, and the output terminals connected to the USM control circuits 22, 2.
3 and a video processor 24.

As described above, the contact pressure detection circuit 26 has a contact pressure sensor (not shown) connected to an input terminal and an output terminal connected to the video processor 24.

An output terminal of the USM control circuit 22 is connected to the USM 12 via a signal line (not shown) provided in the universal cable 6 via a connector 3, and an output terminal of the USM control circuit 23 is connected via the connector 3. The USM1 is connected to a signal line (not shown) provided in the universal cable 6.
5 is to be connected.

The bending switch 16 has a joystick type shape, and a switch for controlling a bending direction of the bending portion 8 by tilting a lever 28 up / down / left / right, for example, and a resistance switch according to the degree of tilt of the lever 28. And a variable resistor whose value changes. The switch for controlling the bending direction includes a switch whose bending direction is upward and downward, and a switch whose bending direction is right and left. Further, the up and down switches and the right and left switches can be operated simultaneously. The bending switch 16 returns the lever 28 to the neutral position by the urging force of a spring or the like.

FIG. 2 shows a specific circuit configuration of the USM control circuit 22 for controlling the USM 12. The USM control circuit 23 that controls the USM 15 has the same configuration and operation as the USM control circuit 22, and a description thereof will be omitted. Note that the case where the bending instruction direction is upward is “U”, and the case where the bending instruction direction is downward is “D”. In the USM control circuit 23, upper is right, lower is left, U
R, D L, USM12 USM15, reduction gear 11 reduction gear 1
4. The bending wire 10 is to be read as the bending wire 13.

The bending switch 16 can be equivalently represented by switches 32, 33, 34 and variable resistors 35, 36. This switch 3
Reference numeral 2 denotes a transfer end (hereinafter referred to as a T end) connected to one end of a constant current circuit 37, a U end connected to one end of a variable resistor 35, and a D end connected to one end of a variable resistor 36. The other end of the constant current circuit 37 is grounded. The variable resistor 35
Is grounded, and the middle point is connected to the U speed setting input terminal of the comparison circuit 38. The other end of the variable resistor 36 is grounded, and the middle point is connected to the speed setting input terminal of the comparison circuit D. The ground terminal of the comparison circuit 37 is grounded. The switch 33 has a T terminal connected to the output terminal (+6 V) of the power supply circuit 39 and a U terminal and a D terminal connected to a first input terminal of the OR circuit 49. The switch 34 has a T terminal connected to the output terminal (+6 V) of the power supply circuit 39, a U terminal not connected, and a D terminal connected to a first input terminal of the OR circuit 48. The switch
When the lever 28 of the bending switch 16 is in the neutral position, the T ends of 32, 33, 34 are not connected to the U end and the D end. The switches 32, 33 and 34
Is designed such that the T end is simultaneously connected to the U end or the D end.

The USM 12 is provided with an encoder 44 for detecting the rotation speed of the USM 12, and an output terminal of the encoder 44 is connected to a speed detection input terminal of the comparison circuit 38. One end of the USM 12 is connected to a first input terminal of the feedback circuit 43.

The output terminal of the comparison circuit 38 is connected to the instruction input terminal of the drive amplitude instruction circuit 45. The output terminal of the drive amplitude instructing circuit 45 is connected to the feedback circuit 4 via a switch 51b.
3 is connected to the second input terminal.

A first input terminal of the feedback circuit 43 is a variable resistor
Through R ₁ is grounded. The middle point of the variable resistor R ₁ is connected to the anode of the diode D, the cathode of the diode D is is connected to the inverting input of the operational amplifier 431 is connected to one end of a capacitor C ₁ and a resistor R ₂ . The other end of the capacitor C ₁ and resistor R ₂ is grounded. A second input terminal of the feedback circuit 43 is connected to a non-inverting input terminal of the operational amplifier 431.

The output terminal of the feedback circuit 43, that is, the operational amplifier
The output terminal of 431 is connected to the control input terminal of the pulse oscillation circuit 42, and the output terminal of this pulse oscillation circuit 42 is connected to the clock terminal a of the ring counter 41 via the switch 51a. Further, the pulse oscillation circuit 42, power supply terminal connected to the output terminal of the power supply circuit 39 (+ 6V), the capacitor C ₃ and a variable resistor R ₃ connected to the pulse oscillation circuit 42 is grounded.

The ring counter 41 has a serial in / out 4
A bit left / right shift register.
Shift direction control terminal b of the is connected to the output terminal of the power supply circuit 39 via the resistor R ₄ (+ 6V), is grounded via the switch 52. This ring counter 41 has an output terminal c.
To are connected to the input terminals of the switching circuit 40, and the power supply terminal is connected to the output terminal (+ 6V) of the power supply circuit 39.

The switching circuit 40 includes, for example, four Darlington-connected transistors and the like, and the output terminals of the switching circuit 40 are connected to both ends of the primary side of the transformer 46 and both ends of the primary side of the transformer 47, respectively.

In the transformers 46 and 47, the middle point of the primary side is the power supply circuit 3
9 are connected to the output terminal (+12 V), one end of the secondary side of the transformers 46 and 47 is connected to the electrode of the USM 12, and the other end of the secondary side is grounded.

The control terminals of the switches 51a and 51b are connected to the OR circuit 49.
Connected to the output end of the The OR circuit 49 has a first input terminal connected to the U terminal and the D terminal of the switch 33 as described above, and a second input terminal connected to a control output terminal of a straight return control circuit 50 described later.

The control terminal of the switch 52 is connected to the output terminal of the OR circuit 48. The OR circuit 48 has a first input terminal connected to the D terminal of the switch 34 as described above, and a second input terminal connected to a D bending control output terminal of a straight return control circuit 50 described later.

The straight return control circuit 50 has an input terminal connected to the S terminal and an input terminal connected to the P terminal. The S terminal is connected to the switch 29, and the P terminal is connected to the bending angle detection circuit 25. The straight return control circuit 50 has a D-curve control output terminal connected to the second input terminal of the OR circuit 48 as described above, and a control output terminal connected to the straight return control terminal of the drive amplitude instructing circuit 45, as described above. And the second input terminal of the OR circuit 49.

The input terminal of the power supply circuit 39 is connected to a power supply (+12 V) via a fuse 53. Input terminal of the power supply circuit 39 further is connected to the input terminal of the constant voltage element 391 through the output terminal (+ 12V) and a resistor R _10, the electrolytic capacitor C
Grounded via ₁₀ . The constant voltage element 391 has an output terminal grounded via the electrolytic capacitor ₁₁ , is connected to the output terminal (+ 6V), and has a ground terminal grounded.

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

The light source of the lamp 17 installed in the UCA 2 is guided by a light guide (not shown), and is inspected from the light emitting end face of the light guide provided in the distal end component 7 of the endoscope 1 shown in FIG. Irradiated to parts and the like. The image of the subject illuminated by this light source,
An image is formed on the imaging surface of the solid-state imaging device 33 by the objective lens 32.

A drive signal is supplied from the video processor 24 to the solid-state imaging device 33, the image of the subject formed on the imaging surface is photoelectrically converted by the drive signal, and the imaging signal is transmitted to the UCA 24 by an imaging signal line (not shown). The data is input to an internal video processor 24.

The video processor 24 converts the imaging signal into a video signal, and at the same time, combines the bending angle of the bending angle detection circuit 25 and the contact pressure of the contact pressure detection circuit 26 into a video signal and outputs the video signal to the monitor 27.

That is, the image of the subject, the bending angle, and the contact pressure are displayed on the monitor 27.

When bending the bending portion 8 upward, a bending switch
The 16 levers 28 are operated in a predetermined direction.

As a result, the T terminal and the U terminal of the switch 32 are connected, and a current of, for example, 1 mA flows from the constant current circuit 37 to the variable resistor 35,
A voltage corresponding to the inclination of the lever 28 (hereinafter, referred to as a speed setting voltage) is generated at the middle point of the variable resistor 35, and this speed setting voltage is applied to the U speed setting input terminal of the comparison circuit 38.

Further, the encoder 44 performs F / V conversion for converting the rotation speed of the USM 12 into a voltage proportional to the rotation speed, and the speed voltage which is the voltage of the converted rotation speed is input to the speed detection input of the comparison circuit 38. Applied to the edge.

The comparing circuit 38 compares the above-mentioned speed setting voltage with the above-mentioned speed voltage. When the speed voltage is lower than the speed setting voltage, a control signal for increasing the speed is output to the drive amplitude instructing circuit 45, and when the speed voltage is higher than the speed setting voltage, A control signal for reducing the speed is output to the drive amplitude instruction circuit 45.

At the same time, the T terminal and the U terminal of the switch 33 are connected, the output (+ 6V) of the power supply circuit 39 is applied to the first input terminal of the OR circuit 49, and the output terminal of the OR circuit 49 becomes a logic signal "H". , The switch 51a and the switch 51b are turned ON.

The drive amplitude instruction circuit 45 outputs a drive amplitude instruction signal to the feedback circuit 43 via the switch 51b according to a control signal input from the comparison circuit 38 to the instruction input terminal.

The feedback circuit 43 includes the drive amplitude instruction circuit.
The frequency control signal is output to the pulse oscillation circuit 42 from the drive amplitude instruction signal 45 and the feedback signal from the USM 12.

When the USM 12 is stationary, the pulse oscillation circuit 42 oscillates at a frequency four times the activation frequency. When the frequency control signal is input, the pulse oscillation circuit 42 is controlled by the frequency control signal and driven. Oscillates four times the frequency. The clock signal four times the starting frequency or the driving frequency is input to the clock terminal a of the ring counter 41 via the switch 51a.

The D terminal of the switch 34 is not connected to the T terminal, and the logical signal of the first input terminal of the OR circuit 48 is "L". Further, since the switch 29 is not depressed, the straight return control circuit 50 has the logic signal at the D-curve control output terminal at “L”, whereby the second input terminal of the OR circuit 48 has the logic signal at “L”. ". That is, the logical signal at the output terminal of the OR circuit 48 is “L”, and the switch 52 is OFF.

Therefore, the ring counter 41
OFF, that is, since the logical signal of the shift direction control terminal b is “H”, the logical signals of the output terminals cf are output to the output terminals f, e, d,
The signals are sequentially switched in the order of c to “H”, and the logic signals are applied to the switching circuits 40, respectively.

The switching circuit 40 grounds both ends of the primary sides of the transformers 46 and 47, for example, sequentially in accordance with the logic signal of the ring counter 41 described above.

Thereby, for example, 1 is provided on the secondary side of the transformers 46 and 47.
A sine wave voltage of 00 Vrms is generated and supplied to the USM 12 as a drive voltage.

This drive voltage delays or advances the phase angle of the voltage supplied to one electrode by 90 degrees with respect to the phase angle of the voltage supplied to one electrode by the ring counter 41.

The USM 12 is rotated by the driving voltage, and the driving force of the USM 12 is transmitted to the reduction gear 11. Then, the reduction gear 11 pulls the bending wire 10 to bend the bending portion 8 upward.

When bending the bending portion 8 downward, the lever 28 of the bending switch 16 is operated in a predetermined direction.

Thereby, the T end and the D end of the switch 32 are connected,
For example, a current of 1 mA flows from the constant current circuit 37 to the variable resistor 36, and a speed setting voltage corresponding to the inclination of the lever 28 is generated at the middle point of the variable resistor 36. Applied to the edge.

At the same time, the T terminal and the D terminal of the switch 33 are connected, the output (+ 6V) of the power supply circuit 39 is applied to the first input terminal of the OR circuit 49, and the output terminal of the OR circuit 49 outputs the logic signal "H". Becomes
The switches 51a and 51b are turned ON.

Further, the T terminal and the D terminal of the switch 34 are connected, the output (+ 6V) of the power supply circuit 39 is applied to the first input terminal of the OR circuit 48, and the output terminal of the OR circuit 48 outputs the logic signal "H". And the switch 52 is turned ON.

This allows the ring counter 41 to switch
ON, that is, since the logical signal of the shift direction control terminal b is “L”, the logical signals of the output terminals cf are output to the output terminals c, d, e, f, for example.
, And the logic signal is set to “H”, and this logic signal is applied to the switching circuit 40.

Then, the USM 12 is rotated by the driving voltage as described above, and the driving force of the USM 12 is transmitted to the reduction gear 11. Then, the reduction gear 11 pulls the bending wire 10 and curves the bending portion 8 downward.

The operation of the other components is the same as that of the case where the bending portion 8 is bent upward, and thus the description is omitted.

Here, the insertion section 4 is inserted into, for example, the large intestine, and as shown in FIG.
When the surgeon reaches the splenic flexure 62, which is the connection point between the and the transverse colon 63, the operator depresses the switch 29 while pushing the insertion portion 4.

The straight return control circuit 50 detects that the switch 29 has been pressed by the S terminal, and sets the logic signal at the control output terminal to “H”. Further, the straight return control circuit 50 obtains the bending direction of the bending portion 8 from the bending angle detection circuit 25 through the P terminal. If the bending direction is upward, the straight return control circuit 50 sets the logic signals at the control output terminal and the D bending control output terminal to “H”. As a result, the OR circuits 48 and 49
Of the second input terminal and the straight return control terminal of the drive amplitude instructing circuit 45 become "H". Therefore, the logic signal at the output terminal of the OR circuit 48 becomes "H", and the switch 52 turns ON as described above, and the logic signal at the output terminal of the OR circuit 49 also becomes "H", and the switch 51a as described above. And the switch 51b is turned ON. At the same time, the drive amplitude instructing circuit 45 outputs a drive amplitude instructing signal that maximizes the amplitude of the driving voltage to the feedback circuit 43 via the switch 51b according to the logical signal of the straight return control terminal. The feedback circuit 43 outputs the frequency control signal to the pulse oscillation circuit 42 as described above,
Outputs a clock signal to the clock terminal a of the ring counter via the switch 51a as described above. Since the switch 52 is ON, the ring counter 41 outputs a logic signal to the switching circuit 40 so that the bending portion 8 is bent downward as described above.

The straight return control circuit 50 sets the logic signal at the control output terminal to “H” when the bending direction of the bending portion 8 obtained from the bending angle detection circuit 25 by the P terminal is downward.

The operations of the OR circuit 49 and the drive amplitude instructing circuit 45 are the same as those in the case where the bending direction of the bending portion 8 is the upward direction. Since the switch 52 is OFF in the ring counter 41, as described above, A logic signal is output so that the bending portion 8 is bent upward.

That is, when the switch 29 is pressed, the bending portion 8 quickly bends downward or upward, and becomes a substantially straight state with a bending angle of zero degree as shown in FIG. 3 (B). In addition, when the bending state of the bending portion 8 cannot be grasped, the switch 29 can be pressed to bring the bending portion 8 into a substantially straight state, thereby improving the operability.

FIG. 4 relates to a second embodiment of the present invention, and is an explanatory view when a distal end portion of an endoscope is inserted into a spleen bending portion. The endoscope apparatus is the same as the first embodiment except for the switch 29, and the S terminals of the USM control circuits 22 and 23 are connected to a contact pressure sensor described later. Are denoted by the same reference numerals and description thereof is omitted.

As shown in FIG. 4, the insertion section 4 of the endoscope 1 according to the present embodiment includes a distal end component 7, a curved portion 8 connected to the rear end of the distal end component 7, and a curved portion 8. And a flexible tube portion 9 connected to the rear end.

A contact pressure sensor 66 is affixed to a circumferential surface substantially at the center of the bending portion 8 in the longitudinal direction. A signal line (not shown) is connected to the contact pressure sensor 66, and the straight return control circuit 50
S terminal.

With this configuration, the insertion section 4 is inserted into, for example, the large intestine, and as shown in FIG. 4, the distal end side of the insertion section 4 is a spleen which is a connection point between the descending colon section 61 and the transverse colon section 63. When reaching the curved portion 62, the operator presses the insertion portion 4 so that the contact pressure sensor 66 comes into contact with the body cavity wall. The straight return control circuit 50 controls the bending portion 8 to be in a substantially straight state when the contact pressure of the contact pressure sensor 66 reaches a predetermined pressure, as in the first embodiment.

That is, there is an effect that the bending portion 8 is in a straight state and can easily pass through the spleen bending portion 62.

Other configurations, operations and effects are the same as those of the above-described embodiment.

In the first and second embodiments, the bending portion 8 is used.
May be curved in a predetermined direction instead of being in a substantially straight state, and the predetermined direction may be set.

5 and 6 relate to the third embodiment of the present invention. FIG. 5 is an explanatory diagram showing the configuration of the endoscope device, and FIG. 6 is an explanatory diagram showing the configuration of the endoscope device. Note that the same components as those in the above-described embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 5, the endoscope apparatus according to the present embodiment includes an endoscope 1 that is a fiberscope, a light source device 161 that supplies a light source to the endoscope 1, An AWS unit 162 that controls air supply, water supply, and suction, which will be described later, and a bending control device 163 that controls a motor for driving a bending described below, which is provided in the endoscope 1, are provided. .

The endoscope 1 includes an elongated insertion portion 4, a large-diameter operation portion 5 connected to the rear end of the insertion portion 4, and a connection portion connected to the operation portion 5. To observe the eyepiece 151
And a universal cord 6 extending from a side of the operation unit 5 and a connector 3 provided at an end of the universal cord 6.

The insertion section 4 includes a distal end configuration section 7, a bending section 8, and a flexible tube section 9.

The operation unit 5 includes an air supply switch 152 that supplies air to a target portion or the like by the endoscope 1, a water supply switch 153 that supplies water to the target portion or the like by the endoscope 1, A suction switch 154 for sucking a fluid from a test portion or the like by the mirror 1,
A bending speed setting switch 155 for setting the bending speed of the bending portion 8; and a function switch 156 for performing, for example, one function of a switch for setting various functions provided on the bending control device 163, which will be described later, at hand. A bending switch 157 which is a neutral momentary switch for controlling the bending of the bending portion 8 in the vertical direction, and a bending switch 158 which is a neutral momentary switch for controlling the bending of the bending portion 8 in the left and right direction. I have.

The connector 3 is detachably connected to the light source device 3, and relay cords 164 and 165 are detachably connected to side portions, for example.

The relay cord 164 connects the endoscope 1 and the AWS unit 162, and the relay cord 165 connects the endoscope 1 and the bending control device 163.

The AWS unit 162 is provided with a pump for air supply, water supply, and suction (not shown), and a control valve (not shown) corresponding to the pump.

The AWS unit 162 is provided with the operation unit 5 of the endoscope 1.
The air supply switch 152 provided in the water supply switch 1
53 and the suction switch 154.

The air supply switch 152, the water supply switch 153, and the suction switch 154 control a pump (not shown) and a control valve of the AWS unit 162 to operate the air supply / water supply / suction function.

The housing (exterior) of the bending control device 163 includes a speed display unit 171 that displays the bending speed of the bending unit 8, a bending angle display unit 172 that displays the bending angle, and a drive power to a motor described later. A bending resistance display section 173 for displaying the bending resistance of the bending section 8, a switch section 175 for setting various functions for driving the bending section 8, a power switch 176, and a switch for displaying the state of the switch section 175. A status display unit (hereinafter, referred to as a SW status display unit) 174 is provided.

A speed indicator 171 that indicates that the bending portion 8 is bending at a low speed (L);
The display unit 171b indicates that the bending unit 8 is bending at a normal speed (M), and the display unit 171c indicates that the bending unit 8 is bending at a high speed (H). It has become so. The indicators 171a to 171c are, for example, LEDs.

Each time the bending speed setting switch 155 of the endoscope 1 is depressed, the driving power (voltage / current) to the bending driving section described later changes, and the bending speed of the bending section 8 is, for example, low (L), usually (M) and high-speed (H) are sequentially and repeatedly switched, and this state is displayed on the indicators 171a to 171c of the display unit 171.

The bending angle display section 172 includes a bending angle display 172a for displaying the vertical bending angle of the bending section 8 and a bending angle display 172b for displaying the horizontal bending angle.
The bending angle indicators 172a and 172b are constituted by, for example, multiple rows of LEDs, and one of the LEDs is turned on to display the bending angle.

The bending resistance display unit 173 displays a bending resistance received by the distal end component unit 7 from above and below.
And a bending resistance display 173b for displaying the bending resistance received by the distal end component 7 from the left and right directions. The bending resistance indicators 173a and 173b are configured by, for example, multiple rows of LEDs, and a plurality of these LEDs are turned on in a bar shape to display the bending resistance.

The switch unit 175 includes a free-engagement switch 175a for setting the bending portion 8 in a free state, and the bending portion 8
A micro-vibration switch 175b for micro-vibrating, a mode changeover switch 175c for switching a mode of the micro-vibration of the bending portion 8 to, for example, the UD direction and the RL direction, and The straight balance switch 175d for the 163 to recognize and the model setting switch 17 for setting the endoscope model when the endoscope is replaced
5e and a straight return switch 175f for bringing the bending portion 8 into a substantially straight state.

When the bending switches 157 and 158 are not operated,
Each time the free engage switch 175a is pressed, it switches between a free state in which a later-described bending drive unit can freely rotate and an engage state in which it becomes difficult to rotate. For example, when a DC motor is used for the bending drive unit, the drive power application end of the DC motor is opened when in a free state and short-circuited when in an engaged state.

The micro vibration switch 175b is turned ON / OFF each time it is pressed
Is repeated, and in the case of ON, the bending portion 8 bends, for example, by 10 degrees in the vertical / horizontal directions from the current bending direction, for example. That is, a micro vibration is made.

Each time the mode change switch 175c is pressed, the direction of the above-described minute vibration is switched between a vertical direction and a horizontal direction.

The straight balance switch 175d causes the bending control device 163 to recognize the current bending angle of the bending portion 8 as a straight state. Normally, when the endoscope is replaced, for example, the operator visually checks the straight state and operates the straight balance switch 175d, but when the insertion portion 4 is inserted into a complicatedly bent portion, the insertion is performed. In order to keep track of the insertion direction of the portion 4, the bending state of the bending portion 8 at that time can be stored.

Each time the model setting switch 175e is pressed, the maximum value of the driving power suitable for the endoscope connected to the bending control device 163 is set.

When the straight return switch 175f is pressed, the bending portion 8 bends in a substantially straight state set by the straight balance switch 175d or in a predetermined bending direction.

The SW state display unit 174 is a display that lights when the free engagement switch 175a is in a free state, for example.
174a, an indicator 174b that lights up when the micro vibration switch 175b is ON, for example, and an indicator 174c that lights up when the mode changeover switch 175c selects, for example, a turning motion.
And a display 174d that lights when the straight balance switch is pressed, for example, and a display that lights when the model setting switch 175e is pressed, for example.
174e and a display 174e that is lit when the straight return switch 175f is pressed, for example. The indicators 174a to 174f include, for example, LE
D is used.

As described above, the function switch 156 provided on the operation unit 5 of the endoscope 1 functions in parallel with one of the switches of the switch unit 175.

As shown in FIG. 6, the electrical configuration of the endoscope apparatus includes a bending wire 10 that bends the bending portion 8 in a vertical direction.
And a pulley 184a to which the bending wire 10 is locked, and a gear 181a composed of a plurality of pulleys 184a fixed to the shaft,
A motor 182a, which is, for example, a DC motor for rotating the pulley 184a via the gear 181a, an encoder 183a for detecting the rotating direction and speed of the motor 182a, and a bending wire for bending the bending portion 8 in the left-right direction. 13, a pulley 184b to which the bending wire 13 is fixed, a gear 181b composed of a plurality of the pulleys 184b, and a DC motor that rotates the pulley 184b via the gear 181b. A motor 182b, an encoder 183b for detecting the rotation direction and speed of the motor 182b, the switch unit 175, a signal from the switch unit 175, and the encoders 183a and 183b.
A bending control circuit 170 that performs bending control by a signal from
The speed display unit 171, the SW state display unit 174, a display control circuit 176 that performs display control of the speed display unit 171 and the SW state display unit 174 by a signal from the bending control circuit 170, and the bending angle. Displays 172a and 172b, and a display control circuit 179a that controls the bending angle display 172a based on signals from the bending control circuit 170 and the encoder 183a.
A display control circuit 179b for controlling the bending angle display 172b based on signals from the bending control circuit 170 and the encoder 183b, and power for supplying drive power to the motor 182a based on a control signal from the bending control circuit 170. Supply circuit 177a
And the motor 1 according to a control signal of the bending control circuit 170.
A power supply circuit 177b for supplying drive power to the motor 82b, the bending resistance display 173a, and the power supply circuit 177a detecting a bending resistance that the bending portion 8 receives from the vertical direction from the power supplied to the motor 182a. A display control circuit 178a for controlling the bending resistance display 173a, and the bending resistance display 173b,
A display control circuit 178b that detects the bending resistance received by the bending portion 8 from the left and right directions from the power supplied by the power supply circuit 177b to the motor 182b and controls the bending resistance display 173b.
It is composed of The gear 181a, the motor 182a, and the encoder 183a form a vertical bending drive unit 180a, and the gear 181b, the motor 182b, and the encoder 183b form a horizontal bending drive unit 180b.

The bending drive units 180a and 180b are provided, for example, in the operation unit 5.

The bending control circuit 170 has an input terminal connected to the switch unit 175.
Connected to the encoders 183a and 183b, the output terminal of which is the input terminal of the display control circuit 176, and the power supply circuits 177a and 177
7b and a first input terminal of the display control circuits 179a and 179b.

The encoder 183a is connected to a second input terminal of the display control circuit 179a, and the encoder 183b is connected to a second input terminal of the display control circuit 179b.

The output terminal of the display control circuit 179a is connected to the bending angle indicator 17
2a, the output terminal of the display control circuit 179b is connected to the curved angle display 172b.

The power supply circuit 177a has a drive output end
2a, and a power output terminal is connected to an input terminal of the display control circuit 178a. The power supply circuit 177b has a drive output terminal connected to the motor 182b and a power amount output terminal connected to an input terminal of the display control circuit 178b.

The output terminal of the display control circuit 178a is the curved resistance display.
The output terminal of the display control circuit 178b is connected to the curved resistance display 173b.

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

When the bending control circuit 170 detects that the straight return switch 175f has been pressed from the switch unit 175, the vertical and horizontal bending angles of the bending unit 8 detected by the encoders 183a and 183b and the straight balance switch 175d are set. For example, a comparison is made with a predetermined bending angle that is substantially straight, and a control signal is output to the power supply circuits 177a and 177b so that the bending portion 8 has the predetermined bending angle described above.

As a result, the motors 182a and 182b
The rotation is performed by the driving power supplied from the a and 177b, and the rotation is transmitted to the pulleys 184a and 184b via the gears 181a and 181b.

Therefore, the pulleys 184a and 184b rotate, and the bending wires 10 and 13 fixed to the pulleys 184a and 184b are pulled, and the bending portions 8 are bent so as to have a predetermined bending angle that is substantially straight, for example. I do.

When the function of the straight return switch 175f is assigned to the function switch 156 provided on the operation unit 5, the same operation is performed by pressing the function switch 156.

That is, the bending portion 8 can be set to a predetermined bending angle set in advance by the straight balance switch 175d. For example, when the insertion portion 4 is inserted into a complicatedly bent portion, the current bending is performed by the straight balance switch 175d. Even when the bending direction of the portion 8 is stored, and thereafter the bending is performed in each direction, the subsequent insertion is possible without losing the insertion direction of the insertion portion 4 by the straight return switch 175f. There is an effect that operability is improved.

Other configurations, operations and effects are the same as those of the above-described embodiment.

FIG. 7 is an explanatory diagram showing a configuration of an endoscope apparatus according to a fourth embodiment of the present invention. Note that the same components as those in the above-described embodiment are denoted by the same reference numerals and description thereof is omitted.

The endoscope apparatus according to the present embodiment includes an insertion portion 4 and the insertion portion 4.
An endoscope 1 comprising a large-diameter connector 3 connected to a rear end of the endoscope 1; a bending control device 163 having a video processor to which the connector 3 of the endoscope 1 is detachably connected;
The light source device 161, the AWS unit 162, and the monitor 27 are configured.

The bending control device 163 includes a video processor (not shown), a bending control circuit (not shown), a motor 185 that performs a vertical bending drive 6 of the bending portion 8, and a gear fixed to a drive shaft of the motor 185. 187, a motor 186 for driving the bending portion 8 to bend in the left-right direction, and a gear 188 fixed to a drive shaft of the motor 185 are provided therein.

A bending direction storage switch 193 that stores a bending direction of the bending portion 8 is provided on a housing (exterior) of the bending control device 163;
A bending direction return switch 19 for returning the storage unit 8 to the bending direction stored by the bending direction storage switch 193.
4, a switch unit (not shown), and a SW state display unit (not shown) are provided.

The connector 3 has a gear 189 that engages with the gear 187.
And a pulley 191 disposed on the gear 189 and the gear 18
A gear 190 that engages with the gear 8 and a pulley 192 disposed on the gear 190 are provided inside. The pulley 191 is connected with the bending wire 10, and the pulley 192 is connected with the bending wire 13.
Is locked.

The connector 3 further has one end of a light guide cable 195 connected to the light source device 161, one end of a relay cable 164 connected to the AWS unit, and a connector 197 described later detachably connected thereto. ing.

The other end of the light guide cable 195 is connected to the light source device 1
The other end of the relay cable 164 is detachably connected to the AWS unit 162.

A cable 196 extends from the operation unit 5, and the connector 197 is provided at an end of the cable 196.

The operation unit 5 includes an air supply switch, a water supply switch, a suction switch, a bending speed setting switch, a function switch, a bending switch, and the like (not shown).

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

By pressing the bending direction storage switch 193, the current bending direction of the bending section 8 is stored in a bending control circuit (not shown).

Here, for example, when the bending portion 8 is bent up / down / left / right in order to confirm the insertion direction of the insertion portion 4, and thereafter, the bending portion 8 is returned to a bending direction other than the above-described bending / up / down bending. Then, the bending direction return switch 194 is pressed.

The bending control circuit (not shown) controls and drives the motors 185 and 186 to rotate in order to return the bending portion 8 as described above.

Thus, the rotation of the motors 185 and 186 causes the motor 1 to rotate.
Gears 187, 188 fixed to the drive shafts of 85, 186 are interlocked, and gears 189, 190 engaged with the gears 187, 188 rotate.

By the rotation of the gears 189, 190, the pulleys 191 and 192 disposed on the gears 189 and 190 are interlocked and pull the bending wires 10 and 13.

Therefore, the bending section 8 returns to the bending direction stored by the bending direction storage switch 193.

That is, the straight balance switch and the straight return switch can be used only with the function of setting the bending portion 8 to a substantially straight state, and a predetermined bending angle is set by the bending direction storage switch 193 and the bending direction return switch 194. The operability is improved by storing the bending directions independently of each other.

Other configurations, operations and effects are the same as those of the above-described embodiment.

FIG. 8 is an explanatory diagram of a bending control method according to a fifth embodiment of the present invention. Note that the endoscope apparatus is the same as the above-described embodiment, and only the control method will be described.

In the present embodiment, when bending the bending portion in a predetermined bending direction, instead of instantaneously bending in the predetermined bending direction,
It is designed to be curved gradually.

The present embodiment starts from step (hereinafter, referred to as S) 100, and in S101, it is determined whether a straight return switch or a bending direction return switch (hereinafter, collectively referred to as a return switch) is pressed. .

If it is determined in S101 that the return switch has not been pressed (NO), the processing of the present embodiment is terminated in S109, and if it is determined that the return switch has been pressed (YES), the encoder determines in S102 that the return switch has been pressed. Read the value of the bending angle.

Next, it is determined whether or not the value of the bending angle read in S103 is a predetermined bending angle.

If it is determined in S103 that the bending angle is the predetermined bending angle (YES), the processing of the present embodiment is terminated in S109, and if it is determined that the bending angle is not the predetermined bending angle (NO), the bending motor is determined in S104. Is supplied with drive power.

Thereafter, in S105, the value of the bending angle by the encoder is read.

Next, it is determined whether or not the value of the bending angle read in S106 has reached the bending angle of one step of gradually bending.

If it is determined in S106 that the angle is not the one-step bending angle (NO), the processing from S105 is repeated, and the bending of the bending portion is continued.

If it is determined in step S106 that the angle of curvature is one step (YES), the supply of the driving power supplied in step S104 is stopped in step S107, and the process is interrupted for a predetermined time in step S108. Repeat the process from S101,
It gradually reaches a predetermined bending angle.

The bending angle in one step described above is set to be equal to or less than the width of the predetermined bending angle.

Note that the power supply is performed instantaneously in S104, and if the determination in S106 is determined to be not the one-step bending angle (NO), the processing from S104 is repeated. You may make it approach a bending angle.

That is, for example, when the bending portion has a predetermined bending angle in a substantially straight state, by gradually bending, the predetermined bending angle can be obtained while checking the state of the subject, and safety is required. Therefore, there is an effect that the safety can be ensured.

Other configurations, operations and effects are the same as those of the above-described embodiment.

By the way, when the bending portion of the endoscope is bent so that the distal end portion makes strong contact with a portion to be inspected such as a body cavity wall, it is better for the operator to recognize the situation. Therefore, as shown in FIGS. 9 and 10, a contact pressure sensor 70 is provided at the distal end component, and the contact pressure detected by the contact pressure sensor 70 is detected by the resistance detection circuit 81 as a bending resistance. Then, the comparison circuit 82 compares the detection signal from the resistance detection circuit 81 with a predetermined value, and outputs a control signal to the control circuit 83 when it is determined that the comparison result exceeds the predetermined value. Thus, the control circuit 83
Outputs a control signal to the electromagnetic switching valve driving circuit 84 and the electromagnetic valve driving circuit 85, and the electromagnetic switching valve driving circuit 84 drives the electromagnetic switching valve 77 to switch to the water supply bypass passage 74 side, and the electromagnetic valve driving circuit 85 closes the solenoid valve 78. Further, by the air supply from the air supply source 79, for example, water, which is a fluid contained in the water supply tank 80, is pressurized, and the water is supplied from the water supply pipe 71 through the electromagnetic switching valve 77 and the water supply bypass path 74. It is injected into the observation window 86. Thus, the surgeon can recognize that the above-described bending resistance is large while the subject is being observed. Reference numeral 72 denotes an air supply passage for air supply, reference numeral 73 denotes a check valve for preventing backflow of water supply from the air supply passage 72, and reference numeral 75.
Reference numeral denotes an air supply / water supply valve for the operator to perform normal air supply / water supply, and reference numeral 76 denotes an O-ring for airtightness of the air supply / water supply valve 75.

In addition, the water supply bypass path 74 may be provided to the leading end component, and water may be jetted to the front in the longitudinal direction of the leading end component.

Further, the above-described recognition means may be used in an endoscope using a motor to cause an operator to recognize that the motor has malfunctioned, as shown in FIG. 11 and FIG. More specifically, by operating an operation switch 96 provided in the operation unit 94, the drive control circuit 100 provided in the drive control unit 95 controls the drive of the motor 97, and the bending direction detection circuit 101 detects the bending direction. Output the signal shown. The motor 97 has a curved portion
A pulley 98 for bending the 92 is provided.
At 98, a potentiometer 99 is provided. The potentiometer signal from the potentiometer 99 is input to the bending angle detection circuit 102 as a bending angle signal. The bending direction detection circuit 101 and the bending angle detection circuit 102 output the input signal to the determination circuit 103 as a comparable signal. In the determination circuit 103, the signals of the bending direction detection circuit 101 and the bending angle detection circuit 102 are determined, and when the operator's recognition and the bending direction are different, that is, when the motor 97 malfunctions, the control circuit described above is used. A control signal may be output to 83 to inject the fluid, for example, water, into the above-described observation window.

Further, in an endoscope using a motor, the surgeon cannot easily know the bending angle of the bending portion. Therefore, FIG. 13 and FIG.
As shown in FIG. 14, the motor drive control circuit 100 is controlled by the operation switch 96, the motor 97 is driven by the motor drive control circuit 100, and the bending angle by the potentiometer described above is detected by the bending angle detection circuit 102. Bending angle detection circuit 1
The control circuit 104 controls the electromagnetic servo valve drive circuit 105 in accordance with the signal from 02. The electromagnetic servo valve driving circuit 105 controls the opening of the electromagnetic servo valve 106 so as to change according to the bending angle.
Air supply from an air supply source (not shown) through the opening 106 may be ejected from the ejection hole 107 provided in the operation unit via the air supply conduit 72 so that the operator can recognize the bending angle. Reference numeral 71 denotes a water supply conduit for water supply, reference numeral 73 denotes a check valve for preventing backflow of water supply from the air supply conduit 72, and reference numeral 75 denotes a normal air supply / water supply by an operator. Air supply and water supply valve for

In an endoscope using USM as a motor,
When the bending resistance increases, an overcurrent flows through the USM. As shown in FIGS. 15 and 16, this overcurrent is detected by a resistor R connected to one input terminal of the detector 113, and a comparison voltage source connected to the other input terminal of the detector 113. The detector 113 outputs a detection signal to the audio frequency signal generation circuit 115 and the control circuit 114 when the current value exceeds a predetermined current value. The audio signal generation circuit
115 outputs an audible signal of, for example, 1.5 KHz, which is a signal of a frequency in the audible range, to one end of the adder 117. Further, the other end of the adder 117 is connected to an output terminal of a VCO (voltage controlled oscillator) 119 that drives and controls the rotation of the USM 112. The adder 117 superimposes the audible signal from the audible frequency signal generation circuit 115 on the driving power from the VCO 119 and supplies the audible signal to the piezoelectric body of the USM 112. As a result, an alarm sound is emitted from the piezoelectric body of the USM 112. The control circuit 114 drives the motor 111 and controls the clutch 110 to be connected. Therefore, the driving force of the motor 111 is transmitted to the gear 10 via the clutch 110.
Rotate 9 The joystick return member 108 is linked with the rotation of the gear 109, and the joystick 106, which is an operation switch, is returned to the neutral position. The position of the joystick 106 is detected by a stick angle detection circuit 116 from an output signal of a potentiometer 107 provided on the joystick return member 108, and is output to the control circuit 114.
The VCO 119 is controlled by a feedback control circuit 118 that detects a feedback signal from one end of the USM 112.

Further, as described above, in an endoscope using a USM as a motor, if the bending resistance increases, an overcurrent flows through the USM. As shown in FIG.
The current detection circuit 121 detects the current probe 120 provided on one of the drive signal lines connected to the electrodes, and the drive signal line. The detected result is displayed on a monitor (not shown) by the CRT display circuit 122. ing.

Further, as described above, in an endoscope using a USM as a motor, if the bending resistance increases, an overcurrent flows through the USM. As shown in FIGS. 18 and 19, the overcurrent is supplied to one of the drive signal lines connected to the electrodes of the USM11 by a resistor r.
, One input terminal of the detection circuit 123 is connected, and the other input terminal of the detection circuit 123 is grounded. This detection circuit 123
An overcurrent of the USM 112 is detected, and a detection signal is output to the LED driver 124 and the energizing circuit 126. This allows the LED driver 12
4 turns on the LED 125 inside the joystick 106,
The energizing circuit 126 drives the electromagnetic coil 127. The joystick 106 is lifted upward by the electromagnetic coil 127, and the LED 124 is also turned on as described above, so that the operator can recognize that the bending resistance has increased. The joystick 106 is normally pushed down by a coil spring 128, and the electromagnetic coil 127 is held at a fixed position by a spring 129.

[Effects of the Invention] As described above, according to the present invention, the operator of the endoscope can set the bending portion to a predetermined bending angle that is, for example, a substantially straight state without requiring skill, and the insertion can be performed. This has the effect of being easy and of improving operability.

[Brief description of the drawings]

1 to 3 relate to a first embodiment of the present invention. FIG. 1 is a block diagram showing a configuration of an endoscope apparatus, and FIG. 2 is a block diagram showing a configuration of a control circuit of an ultrasonic motor. 3 (A) and 3 (B) are explanatory views of an insertion portion inserted into a splenic flexure, and FIG. 4 is related to the second embodiment of the present invention. 5 and 6 relate to the third embodiment of the present invention. FIG. 5 is an explanatory view showing the configuration of the endoscope apparatus, and FIG. 6 is the configuration of the endoscope apparatus. FIG. 7 is an explanatory diagram showing a configuration of an endoscope apparatus according to a fourth embodiment of the present invention. FIG. 8 is an explanatory diagram of a bending control method according to a fifth embodiment of the present invention. 9 to 19 are explanatory diagrams of means for notifying the operator of the state of the endoscope. 1 endoscope, 8 bending section 12 USM, 15 USM 22 USM control circuit 23 USM control circuit 29 switch

──────────────────────────────────────────────────続 き Continued on the front page (72) Inventor Toshiyuki Takara 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside O-Limpus Optical Industry Co., Ltd. (72) Inventor Masahito Goto 2-34-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Inventor Akira Suzuki 2-43-2 Hatagaya, Shibuya-ku, Tokyo Inside the Olympus Optical Co., Ltd. (72) Saka Takebata 2-43-2 Hatagaya, Shibuya-ku, Tokyo No. O-Limpus Optical Industry Co., Ltd. (72) Inventor Yoshinao Daiaki 2-43-2 Hatagaya, Shibuya-ku, Tokyo In-Olympus Optical Industry Co., Ltd. (72) Koichi Yoshimitsu 2-43-2, Hatagaya, Shibuya-ku, Tokyo No. O Olympus Optical Co., Ltd. (72) Inventor Yoshiyasu Aoki 2-43-2 Hatagaya, Shibuya-ku, Tokyo (56) References JP-A-1-148232 (JP, A) (58) Fields investigated (Int. Cl. ⁷ , DB name) A61B 1/00-1/32

Claims (1)

(57) [Claims] 1. An endoscope apparatus comprising: driving means for bending a bending portion of an endoscope by a motor; and bending angle detection means for detecting a bending angle of the bending portion, wherein the bending portion has a desired bending angle. And a second control means for controlling the activation of the first control means so as to control the bending portion to a predetermined bending angle. Endoscope device.