JP3030131B2 - Endoscope 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 apparatus provided with an electric driving means for driving a bending portion to bend.

[0002]

2. Description of the Related Art In the medical field, endoscopes capable of observing a deep part of a body cavity or the like by inserting into a body cavity or the like and performing a medical treatment or the like by using a treatment tool as necessary are used. It has become widely used. Also, in the industrial field, endoscopes are widely used for inspection inside a jet engine or inside a plant. This endoscope is formed in a flexible insertion portion so that it can be inserted into a bent body cavity, and by operation on the hand side,
A bending portion that can be bent is provided.

[0003] An electric bending type endoscope which is provided with an electric drive means for the bending portion so that the bending portion can be easily bent, and which can be bent in a desired direction by operating a switch or the like on the hand side. Has also been proposed.

Some of such electric bending type endoscopes include a bending portion which can be bent in multiple directions (for example, up, down, left, and right directions). As a bending operation means for performing the bending operation in the four directions, an operation switch such as a joystick for giving a two-dimensional instruction may be used. By using this joystick, the bending portion can be bent in four directions or a combination thereof in accordance with the instruction value of the switch.

[0005]

However, in an endoscope using a joystick as a bending operation switch as described above, conventionally, when bending is performed in a combined direction of up and down and left and right, it is difficult to move the joystick in the up and down direction and the left and right directions. The driving unit is operated by performing the same control in both directions. For this reason, when there is a difference between the indicated values in the up-down direction and the left-right direction, there is a problem that the bending portion does not bend smoothly. That is,
When the indicated values in the two directions are the same and the drive means operates in the same manner, the curved portion smoothly curves in the target direction, but the indicated value in the first direction is large and the indicated value in the second direction is small. However, there is a problem that since the driving unit largely operates in the first direction but only slightly operates in the second direction, the driving unit is curved while fluctuating in the second direction.

In particular, in the case of a joystick type bending operation switch, it is difficult for an operator to operate linearly and smoothly when operating up to a target instruction value, so that the bending portion is wavy according to the operation of the joystick. There is a problem that a bending operation is performed. If the curved portion undulates, the image of the portion to be detected, which is being picked up at the distal end portion, is blurred, and the image becomes difficult to see. That is, since the bending portion does not perform the intended operation in response to the operation of the operator, the operability is not good.

SUMMARY OF THE INVENTION The present invention has been made in view of these circumstances, and enables a bending portion to smoothly bend in response to a two-dimensional bending instruction operation, thereby improving the operability of a bending operation switch. It is an object of the present invention to provide an endoscope apparatus capable of performing the following.

[0008]

An endoscope apparatus according to the present invention includes a bending portion provided in an insertion portion and capable of bending in multiple directions, bending driving means for driving the bending portion, and bending of the bending portion. A bending angle detecting means for detecting an angle, a bending operation instructing means for two-dimensionally instructing a bending operation of the bending portion, and a drive control of the bending driving means. When there is a difference in the bending instruction amount in each dimension, a bending control unit that performs drive control to perform a bending operation with different control in each dimension is provided.

[0009]

The bending operation instructing means instructs the bending operation of the bending portion provided in the insertion portion in a two-dimensional manner. The bending section is driven by the bending drive section to perform a bending operation, and the bending angle at this time is detected by the bending angle detection section. The bending control means is
When there is a difference in the bending instruction amount in each dimension of the bending operation instruction means, the driving of the bending driving means is controlled so that the bending operation is performed by different control in each dimension.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 4 relate to a first embodiment of the present invention. FIG. 1 is a perspective view showing an external appearance of an endoscope device, FIG. 2 is a configuration diagram showing a specific configuration of the endoscope device, and FIG. FIG. 4 is a flowchart for explaining the operation of the control means, and FIG. 4 is an explanatory diagram showing the operation of the bending section in response to the instruction value of the bending operation switch.

As shown in FIG. 1, an endoscope apparatus 1 according to a first embodiment supplies an electronic endoscope (hereinafter, referred to as an electronic scope) 2 having a built-in image pickup means to supply illumination light to the electronic scope 2. Light source device 3, a video processor (hereinafter, referred to as VP) 4 for performing signal processing, a motor control unit (hereinafter, referred to as MCU) 5 for controlling the bending driving means of the electronic scope 2, and an output from the VP 4. And a monitor 6 such as a CRT for displaying standard video signals.

The electronic scope 2 has an elongated and flexible insertion portion 7 that can be inserted into a body cavity or the like, and a wide grip portion (operation portion) connected to the rear end of the insertion portion 7. 8
And a universal cable 9 extending from the side of the grip portion 8. The connector 11 attached to the end of the universal cable 9 can be detachably connected to the light source device 3. .

The insertion portion 7 includes a hard distal end portion 12, a bendable bending portion 13, and a flexible flexible tube portion 1 from the distal end side.
It consists of four. The connector 11 can be detachably connected to the VP 4 via the connection cable 15. Connectors 15a and 15b are provided at both ends of the connection cable 15, respectively.
4 can be connected. This VP4 is connection code 1
6 and is detachably connected to the MCU 5. That is,
Connectors 16a are provided at both ends of the connection cord 16, respectively.
And 16b are provided, respectively, VP4 and MCU5
It is designed to be detachably connectable to.

A remote control unit (hereinafter abbreviated as a remote controller) 17 can be detachably connected to the MCU 5 via a connector 18a provided at an end of a remote control cable 18. Note that the video output of the VP 4 is input to the monitor 6 via the connection cable 19.

The connector 1 of the universal cable 9
By connecting 1 to the light source device 3, white light of a lamp (not shown) in the light source device 3 is applied to the end face of the light guide. The illumination light transmitted by the light guide is emitted forward from the end face of the insertion portion 7 on the distal end portion 12 side, and illuminates a subject (not shown) in front.

The illuminated subject is, as shown in FIG.
An image is formed on a CCD 24 as a solid-state imaging device arranged on the focal plane by an objective lens 23 provided at the distal end portion 12, and photoelectrically converted by the CCD 24. This CC
The image signal photoelectrically converted by D24 is amplified by an amplifier 25, and then input to a video processing circuit 26 in the VP 4, where the video processing circuit 26 performs signal processing to generate a standard video signal. The subject image is displayed on the display screen.

The bending portion 13 which is formed adjacent to the rear end of the front end portion 12 so as to be able to freely bend has a large number of bending pieces (not shown).
The upper and lower bending wires 27 and the left and right bending wires 28 are fixed to the leading end of a bending piece or the like. These bending wires 27 and 28 are inserted through the bending portion 13 and the flexible tube portion 14, and the rear ends are wound around pulleys 29 and 31 in the grip portion 8, respectively.

The pulleys 29 and 31 are, for example, shafts 32 of DC motors 32 and 33 as bending driving means.
a and 33a, respectively, and by the rotation of these DC motors 32 and 33, the pulleys 29 and 31 are also rotated. By the rotation of the pulleys 29 and 31, one of the bending wires 27 and 28 is The towing is relaxed on the other side, and the bending portion 13 is bent toward the towed side.

Rotary encoders 34 and 35 are attached to shafts of the respective bending drive DC motors 32 and 33 which protrude on the side opposite to the pulleys 29 and 31.
By detecting the rotation amounts of the DC motors 32 and 33, the bending angle of the bending portion 13 can be detected.

The operating section 8 is provided with a bending switch section 36 and a switch unit section 37. The bending switch section 36 includes an up / down bending switch 38 and a left / right bending switch 39.

On the other hand, the switch unit 37 includes a speed setting switch 41 for setting a bending speed, and a bending section 1.
An angle vibration (AV) ON / OFF switch 42 for vibrating 3 in a small angle range, an AV setting switch 43 for setting a vibration angle range, an AV cycle setting switch 44 for setting a vibration cycle, and an AV for setting a vibration mode. A mode setting switch 45 and a straight switch 46 for setting the bending portion 13 to a straight state are provided.

Each switch signal of the bending switch section 36 and the switch unit section 37 is input to a control circuit 48 via an input / output interface (I / O) 51 in the MCU 5. As shown in FIG. 2, the contacts on the I / O 51 side of the switches 38, 39, 41 to 46 are each pulled up to the power supply terminal by a resistor.
When turned ON, an ON signal of "0" is output.

The control circuit 48 includes, for example, a C (not shown).
It comprises a PU, a ROM, a RAM, etc., and controls the forward / reverse rotation of the motor 32 via the I / O 51 and the driver 52, that is, controls the I / O 51 and the driver 54, as a bending control means. Through motor 3
3 is controlled, that is, right / left bending is controlled. Drive currents for driving the motors 32 and 33 are detected by current detection circuits 57 and 58 via current probes 55 and 56, respectively.
9 to the control circuit 48. This control circuit 4
Under the control of 8, for example, the driver 52 supplies the motor 32 with a positive power in the case of the upward bending and a negative power in the case of the downward bending. The supplied power is detected by a current probe 55, converted into a current value by a current detection circuit 57, A / D-converted, and then output to a control circuit 48.

The rotary encoders 34, 35
Are connected to bending angle detection circuits 40 and 50, respectively, so that the output values of the rotary encoders 34 and 35 are converted into bending angles and output to the control circuit 48. The rotary encoders 34 and 35 and the bending angle detection circuits 40 and 50 constitute a bending angle detecting unit.

The output of the control circuit 48 is input to a control circuit 61 in the VP 4, and the control circuit 61 controls the video process circuit 26. For example, when a freeze switch (not shown) is operated, an operation signal of the freeze switch is input to the control circuit 61 in the VP 4 via the control circuit 48, and the control circuit 61 writes the frame memory in the video process circuit 26. In a prohibited state, a still image is displayed on the monitor 6. Further, the control circuit 48 outputs information indicating the bending control state to the video process circuit 26 via the control circuit 61, and displays the information in, for example, a corner of the display screen of the monitor 6, so that the operator can control the current bending control. The state can be known.

The remote controller 17 includes a bending switch section 36a as a bending operation instruction means and a switch unit section 3.
7a. The bending switch portion 36a is formed by joysticks 64 and 65 for performing a bending operation in four directions. The joysticks 64 and 65 (equivalently shown by two potentiometers in FIG. 2) tilt the operation bar upward or downward, left or right, and so on.
Potentiometer (64, 65) corresponding to the inclination angle
Changes, and the potential divided by the resistance value becomes A / D
It is input to the control circuit 48 via the converter 59. In the example of FIG. 2, the operation signal instructing the upward (up) or right (right) bending is indicated on the high potential side, and the operation of instructing the downward (down) or left (left) bending is indicated on the low potential side. Signal.

On the other hand, the switch unit section 37a has the same switches as the switches provided on the switch unit section 37 of the grip section 8, that is, the speed setting switch 41a, the AV ON / OFF switch 42a, and the AV switch.
Setting switch 43a, AV cycle setting switch 44a, A
V mode setting switch 45a, straight switch 46
a, and a priority switch 66 is additionally provided. In FIG. 2, the fact that the switches 41a to 46a and 66 are pulled up is indicated by, for example, the symbol ▽.

When the priority switch 66 is turned on, the operation means on the remote controller 17, that is, the settings of the various switches 41a to 46a and the setting of the bending switch section 36a have priority over the setting of the operation means on the electronic scope 2 side. The control circuit 48 controls the various switches 41 on the remote controller 17 side.
The control corresponding to the setting of (46) and the bending operation (operation related to) set by the bending switch unit 36a is performed. When the priority switch 66 is turned off, the operation means on the electronic scope 2 side, that is, (various switches 41 to 46)
The switch unit 37 (consisting of the up-down bending switch 38 and the left-right bending switch 39) has a priority over the operation means on the remote controller 17 side.

Next, the operation of this embodiment will be described.
In the connected state as shown in FIG. 1, a power switch (not shown) is turned on to turn on the power and bring it into a use state. Here, the bending operation when the priority switch 66 is turned on and the operation means on the remote controller 17 side, that is, the bending switch section 36a (joystick type operation switch) is selected will be described. The vertical direction is UD, the horizontal direction is RL, the upward and right directions are plus, and the downward and left directions are minus. The surgeon inclines the bending switch portion 36a and operates it to a desired position to bend the bending portion 13.
For example, 210 ° upward, 90 ° downward, 1 ° to the right
In the case of an endoscope that bends up to 00 ° and 100 ° to the left, −90 ° to 210 ° in the UD direction and −10 ° in the RL direction.
The bending operation is performed in the range of 0 ° to 100 °.

At this time, the control circuit 48 controls the driving means as shown in the flowchart of FIG. First, in step S1 (hereinafter, the steps are omitted and simply described as S1), the indication value JS of the bending switch unit 36a in the UD direction is set.
Read UD. In step S2, the instruction value JSRL in the RL direction is read. Next, in S3, the output value of the bending angle detection circuit 40, that is, the detection value WKUD of the bending angle in the UD direction is read. In step S4, a bending angle detection value WKRL in the RL direction, which is an output value of the bending angle detection circuit 50, is read. And in S5,
The difference (JSUD-WKUD) between the instruction value of the bending switch in the UD direction and the bending angle detection value is calculated, and this value is referred to as “UD”.
And In S6, the difference (JSRL-WKRL) between the instruction value of the bending switch in the RL direction and the detected bending angle (JSRL-WKRL) is calculated, and this value is set to "RL".

Then, in S7, UD-RL is calculated.
Branch according to the result value. Here, UD-RL> 30
゜ That is, the bending amount in the UD direction is 3 times the bending amount in the RL direction.
If it is greater than 0 °, the process proceeds to S8, instructs the driver 52 to bend in the UD direction, and drives the motor 32. If UD-RL <−30 ° , proceed to S9,
The driver 54 is instructed to bend in the RL direction, and the motor 33 is driven. On the other hand, if | UD-RL | ≦ 30 °, that is, if the difference between the amount of bending in the UD direction and the amount of bending in the RL direction is within 30 °, the process proceeds to S10 , and in the UD and RL directions according to the instruction value of the bending switch unit 36a. The driver 52 and 54 are instructed to bend. By repeating the above operation, as shown in FIG.
As indicated by the arrow line with respect to the indicated value X of 6a, the bending portion 13 first bends in the U direction and then bends in the 45 ° direction toward X.

As described above, when the difference between the indicated values of the bending operation switch is large, the larger indicated value is prioritized, so that the bending portion can be smoothly bent to the target position without waving. it can. Therefore, since the bending portion smoothly moves to the target position in response to the operation of the operator, the operability of the bending operation switch can be improved.

It should be noted that in FIG.
Although the operation a is started from the origin, the operation is not limited to this, and the same applies to a case where the operation is started from an arbitrary position and operated to a target position.

The following three examples are given as modified examples of the operation of the bending control means as described above. FIG. 5 is a flowchart showing a first modification. In a first modification,
First, in S11 and S12, similarly to the first embodiment, the difference UD between the instruction value of the bending switch in the UD direction and the detected bending angle value,
And the difference RL between the instruction value of the bending switch and the detected bending angle in the RL direction. Then, in S13, UD ≧ RL
It is determined whether or not. If UD is equal to or larger than RL, the process proceeds to S14, and the driver 52 is instructed to bend in the UD direction. On the other hand, if RL is larger than UD, the process proceeds to S15, where R
The driver 54 is instructed to bend in the L direction. By repeating the above operation, the bending portion 13 performs a bending operation as shown in FIG. That is, the bending switch unit 3
As indicated by an arrow line with respect to the indicated value X of 6a, the curve is initially curved in the U direction and UD = RL, and UD = RL = 0
The bending operation is repeated alternately in the UD and RL directions until ゜.

In this way, by giving priority to the larger one of the indication values of the bending operation switch in the UD direction and the RL direction, the bending portion is smoothly bent to the target position as in the first embodiment. Can be done.

FIG. 6 is a flowchart showing a second modification. In the second modification, first, in S21 and S22, the first
UD and RL are obtained in the same manner as in the embodiment. And S23
It is determined whether or not UD ≧ RL. If UD ≧ RL, proceed to S24, instruct to bend in the UD direction, determine whether or not UD = 0 in S25, and repeat this, thereby bending in the UD direction until JSUD and WKUD match. Let it. Thereafter, in S26, an instruction to bend in the RL direction is issued, and in S27, it is determined whether or not RL = 0, and this is repeated to bend in the RL direction, and the bending switch unit 36a
To the indicated value. On the other hand, if UD <RL, in S28 and S29, an instruction is made to bend in the RL direction until JSRL and WKRL match, and then S30 and S29
Instruct the user to bend in the UD direction at 31 and perform the bending operation up to the instruction value of the bending switch unit 36a. As a result, as shown in FIG.
As indicated by an arrow line with respect to the designated value X of 6a, the subject first bends to the designated value in the U direction, and then bends in the R direction toward X.

As described above, by giving priority to the direction in which the indication value of the bending operation switch is large, bending first, and then bending in the other direction, the bending portion can be smoothly moved to the target position as in the first embodiment. Can be curved up.

FIGS. 7 and 8 show a third modification. The third modified example is an example in which the drive speed of the bending section 13 is controlled according to the magnitude of the instruction value of the bending operation switch. The motor drive circuits in the drivers 52 and 54 for driving the motors 32 and 33 are configured as shown in FIG. Here, only the UD direction will be described for simplicity. The motor drive circuit 52a has open collector output inverters 81, 82, 83 and 84, and the output terminals of these inverters 81 to 84 are transistors 85 and 8 respectively.
6,87,88. The terminals A and B of the inverters 81 to 84 are connected to the I terminal, respectively.
It is connected to the control circuit 48 via / O51. A high-level (hereinafter “H”) or low-level (hereinafter “L”) control signal is input to the terminals A and B, respectively. A so-called H-bridge circuit is constituted by the inverters 81 to 84 and the transistors 85 to 88, and supplies a current to the motor 32 to drive the motor 32. Note that V volts is supplied to the power supply.

When "H" is input to the terminal A and "L" is input to the terminal B, a current flows so that the motor 32 rotates in the up direction. When "H" is input to B, a current flows so as to rotate in the down direction. The control circuit 48 controls the input levels of the terminals A and B to control the bending portion 1.
3 is bent. By controlling the power supply voltage V, the bending speed is set to, for example, three stages of a high SPD (H), a middle SPD (M), and a low SPD (L). Here, for example, V = 12 volts for SPD (H), V = 9 volts for SPD (M), and SPD (L)
Is set to V = 6 volts.

The control of the bending operation is performed as shown in the flowchart of FIG. First, in S41 and S42, the first
UD and RL are obtained in the same manner as in the embodiment. And S43
Then, branch processing is performed according to the difference between UD and RL. Here, when UD-RL> 50 °, the flow proceeds to S44, where the bending speed of the SPD (H) is set in the UD direction and the bending speed of the SPD (L) is set in the RL direction. When UD-RL> 30 °, the process proceeds to S45, where the UD direction is SPD (H) and the RL direction is SPD (M).
Is set. When | UD-RL | ≦ 30 °, the flow proceeds to S46, where the bending speed of the SPD (H) in the UD direction and the bending speed of the SPD (H) in the RL direction are set. UD-RL <-
When the angle is 30 °, the process proceeds to S47, where the UD direction is SPD (M),
The bending speed of the SPD (H) is set in the RL direction. UD
When −RL <−50 °, the process proceeds to S48, and the UD direction is SP.
In the D (L) and RL directions, the bending speed of the SPD (H) is set. Thus, after the bending speed is set according to the difference in the operation amount of the bending operation switch in each direction, the terminal A,
A control signal is input to B, and the bending operation is performed to a target position.

As described above, by controlling the bending speed in accordance with the difference in the operation amount of the bending operation switch in each direction, the bending portion can be smoothly bent to the target position as in the first embodiment. .

FIG. 9 is a configuration diagram showing a specific configuration of an endoscope apparatus according to a second embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In the second embodiment, the bending drive DC motors 32 and 33 and the rotary encoders 34 and 35 are provided in the MCU 5, and the shaft 32a
The transmission gears 71 and 72 attached to the transmission gears 33 and 33a transmit driving force to transmission gears 75 and 76 provided in the connector of the electronic scope 2. These transmission gears 75 and 76 are connected to pulleys 29 and 31 via shafts 73 and 74, respectively. The pulley 2
Curved wires 27 and 2 wound around 9 and 31, respectively
8 is a universal cord 9, a gripper 8, a flexible tube 1
4. It is fixed to the distal end portion 12 through the inside of the curved portion 13.

In this embodiment, as shown in FIG. 4, the second remote controller 77 is provided so as to be detachably connected to the MCU 5 like the other remote controller 17 (hereinafter, referred to as a first remote controller). I have. This second remote control 77
The switch unit 37b having the same function as the switch unit 37 provided on the grip unit 8 and the joysticks 64a and 65a similar to the joysticks 64 and 65 of the first remote controller 17 use the bending switch unit 36b.
Is formed, and the output of the switch unit 37b is I / O
The output from the joysticks 64 a and 65 a is input to the control circuit 48 via the A / D converter 59.

In this embodiment, for example, the electronic scope 2 has the grip portion 8, but may have a structure without the grip portion. (In the case of a structure not having the same, the flexible tube portion 14 is extended, and a connector having transmission gears 75 and 76 is attached to the rear end thereof.) The first remote controller 17 is the first embodiment. Similarly, a priority switch 66 is provided.

In the second embodiment configured as described above,
By operating the bending switch unit of the remote controller selected by the priority switch 66, the driving unit is controlled in accordance with the difference in the operation amount of the bending operation switch in each direction as in the first embodiment or the modified example, and the bending unit is controlled. 13 smoothly curves to the target position. The effect of the second embodiment is similar to that of the first embodiment.

FIG. 10 is a configuration diagram showing a specific configuration of the endoscope apparatus according to the third embodiment of the present invention. The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.
The endoscope apparatus of the third embodiment has an automatic insertion function. In the third embodiment, the bending switch unit 36 provided on the grip unit 8 includes a joystick 64c for up / down bending and a joystick 65c for left / right bending. Gripper 8
Is provided with a priority switch 66. In this embodiment, the remote controller 17
Switch section 36a and switch unit section 37a
Are multiplexed by the signal multiplexing circuit 91,
The data is input to an interface (I / F) 92 in the MCU 5. After being restored to the original state by the I / F 92, the signal is input to the control circuit 48.

A bending direction detecting circuit 93 is provided in the VP 4 so that the output of the video processing circuit 26 is input. The direction of the darkest dark part in the output image of the video process circuit 26 is detected by the bending direction detecting circuit 93, and a signal indicating the position direction of the dark part is generated by the MCU.
5 to the control circuit 48 via the I / O 51. The control circuit 48 outputs a control signal for controlling the operation of the drivers 52 and 54 so as to bend the bending portion 13 in the direction of the dark portion based on the signal indicating the position direction of the dark portion, and drives the motors 32 and 33 to rotate. , And the bending angle is controlled so that, for example, the position of the dark part is located near the center of the image.

Further, although not shown in FIG. 5, in this embodiment, there is provided a motor for driving the pulley which comes into contact with the outer peripheral surface of the insertion portion 7, and the control circuit 48 controls the rotational operation of this motor via a driver. In the automatic insertion (auto insertion) mode, control is performed so that the position of the dark portion is located near the center of the image, and the motor is rotated so that the insertion portion 7 can be automatically inserted. It is.

A mode selection switch 94 for switching between an automatic insertion mode for performing automatic insertion and a manual insertion mode for performing manual insertion is provided in, for example, the switch unit 37.

It should be noted that the bending direction detecting circuit 93 is V in FIG.
Although provided in P4, it may be separate.

In the third embodiment configured as described above,
When the manual insertion mode is selected by the mode selection switch 94, by operating the bending switch unit selected by the priority switch 66, the amount of operation of the bending operation switch in each direction as in the first embodiment or the modification. The driving means is controlled according to the difference between the two, and the bending portion 13 bends smoothly to the target position. The effect of the third embodiment is similar to that of the first embodiment.

By the way, the bending speed can be controlled in accordance with the magnitude of the change in the instruction value of the bending operation switch.
In particular, in an endoscope device using a joystick or the like, the bending operation is controlled so that the bending angle matches the instruction value of the switch, but the bending operation is not controlled by the operator's unintended movement of the switch. There was a problem of following up. For example, the bending operation switch may slightly move from the position where it is stopped, and there is a problem in that if the bending portion follows the bending operation switch, the distal end portion moves finely. In addition, when the bending angle is finely adjusted, the operation is easier when the bending operation is performed slowly. On the other hand, when the bending portion is largely moved, the operability is improved when the bending operation is performed quickly. Therefore, by setting the bending speed according to the magnitude of the change in the instruction value of the bending operation switch,
The operability of the switch can be improved. The operation of this bending speed control is shown in the flowchart of FIG. For simplicity, only the UD direction will be described.

First, in step S51, as in the first embodiment, the difference U between the indicated value of the bending switch in the UD direction and the detected bending angle is calculated.
Find D. Then, in S52, a branching process is performed according to the size of the UD. Here, for example, the bending speed SP is set to four stages of 1 to 4. S53 when UD> 70 °
And SP = 4 (Max) is set. 70 ゜ ≧ U
If D> 60 °, the process proceeds to S54, and SP = 3 is set. When 60 ° ≧ UD> 50 °, the process proceeds to S55, where SP =
2 is set. When UD ≦ 50 °, the process proceeds to S56, and S
P = 1 is set. In this manner, the bending speed is set so that the larger the operation amount of the bending operation switch is, the lower the speed is, the smaller the operation amount is, and the bending operation is performed to the target position. This makes it possible to quickly move the bending portion and make a delicate movement in accordance with a change in the instruction value of the bending operation switch.

Further, the angle vibration can be controlled by using the bending operation control as described above. When the angle vibration is performed in a state where the bending portion is bent, the bending wire vibrates finely with tension applied thereto, so that there is a problem that the bending angle is returned to a smaller load (straight direction). For this reason, there is a possibility that an excessive load is applied to the test site and the test site is damaged. Therefore, by performing angle vibration control based on the instruction value of the bending operation switch and the actual bending angle detection value, safety can be ensured and operability can be improved.

FIG. 12 shows a first example of the angle vibration control as described above. For simplicity, only the UD direction will be described. First, in S61, "0" is substituted for a flag FDIR in the control direction as an initial setting. And S
At 62 and S63, the instruction value JSUD of the bending operation switch and the bending angle detection value WKUD are read. Next, in S64, it is determined whether or not the AV switch is pressed to enter the angle vibration mode. In the normal bending mode, the process proceeds to S65. In S65, S66, and S67, the switch instruction value JSUD and the bending angle are determined. Bending is directed in the up or down direction according to the magnitude of the detection value WKUD, and a normal bending operation is performed.

On the other hand, if the mode is the angle vibration mode, the process proceeds to S68, where the flag FDIR is determined. FDIR
Is "0", the up direction is instructed in S69, and it is determined in S70 whether or not WKUD-JSUD ≧ 30 °. Here, if the determination is false, the next step S71 is skipped, and the process returns to S62. If true, "1" is substituted for FDIR in S71, and the process returns to S62. In this way, WK
It is curved in the upward direction until UD-JSUD ≧ 30 °. When FDIR is "1" in S68, a down direction is instructed in S72, and then in S73, WKUD-JSUD≤-.
It is determined whether it is 30 degrees or not. Here, if false, the next step S74 is skipped and the process returns to S62. If true, "0" is substituted for FDIR in S74, and the process returns to S62. In this way, it is curved in the down direction until WKUD-JSUD ≦ -30 °. By repeating the above operation, the angle vibration operation is performed within a range of ± 30 ° around the value of JSUD. The width of the vibration can be changed by changing the angle value at the time of determination in S70 and S73.

As described above, according to the present embodiment, the angle vibration can be controlled so as to vibrate in a desired range with respect to the instruction value of the bending operation switch, and safety can be ensured and operability can be improved. .

Next, a second example of the angle vibration control will be described with reference to FIG. 7, FIG. 13, and FIG.
In this example, the driver for driving the bending motor is shown in FIG.
This is an example in which the motor drive circuit 52a shown in FIG.
In the motor drive circuit 52a, a pulse P1 or P2 as shown in FIG.
By inputting (1 inverted output), the motor 32 can be driven to repeat forward and reverse rotations. As a result, the bending portion performs an angle vibration operation. FIG. 14 shows the angle vibration control operation of this example.

First, in steps S81 and S82, J is performed in the same manner as in the first example.
Read SUD and WKUD. Then, in S83, it is determined whether the mode is the angle vibration mode. If the mode is the normal bending mode, the process proceeds to S84, and the magnitude of WKUD and JSUD is determined. If WKUD <JSUD, "H" is input to terminal A and "L" is input to terminal B in S85, and the terminal is bent in the up direction. If WKUD = JSUD, "L" is input to terminal A and "L" to terminal B in S86, and the bending stops. If WKUD> JSUD, "L" is applied to terminal A in S87,
“H” is input to the terminal B, and the terminal B is bent in the down direction.
Thus, a normal bending operation is performed.

On the other hand, if the mode is the angle vibration mode, the process proceeds to S88, where the difference between WKUD and JSUD is determined. Here, when WKUD-JSUD> 30 °, “L” is input to the terminal A and “H” is input to the terminal B in S89, and the terminal is bent in the down direction. When WKUD-JSUD <-30 ゜,
In S90, "H" is input to the terminal A and "L" is input to the terminal B, and the terminal is bent in the upward direction. When | WKUD−JSUD | ≦ 30 °, the pulse P1 is applied to the terminal A and the pulse P is applied to the terminal B in S91.
2 is input, and the angle vibration operation is performed. Thus, the indication value JSUD of the bending operation switch is set.
If the difference between the angle and the detected bending angle WKUD is within 30 °, P
The angled vibration of the curved portion occurs at a pulse width of 1 (P2). From this state, if the range of the angle vibration gradually deviates from the indicated value of the bending operation switch by 30 degrees or more due to an external force, the bending is performed in a direction to correct it.

As described above, according to the present embodiment, the angle vibration can be controlled so as to correct the bending angle when it deviates by more than a predetermined range from the indicated value of the bending operation switch. Performance can be improved.

In the flowchart of FIG.
Steps S84 to S87 during the normal bending operation can be changed to prevent the micro vibration of the tip. If the instruction value of the bending operation switch and the actual bending angle correspond completely one-to-one, the bending operation will be performed even for the delicate movement of the switch. is there. Thus, for example, in the determination of S84, |
When WKUD-JSUD | <5 °, the flow proceeds to S86 to stop the bending. When WKUD-JSUD ≧ 5 °, the flow proceeds to S87 to bend in the down direction. When WKUD-JSUD ≦ -5 °, the flow proceeds to S85. To bend in the up direction. That is, an error range of 5 ° is provided between the instruction value of the bending operation switch and the actual bending angle. By doing so, it is possible to prevent vibration of the distal end portion that is not intended by the operator.

Further, as shown in FIG. 15, the bending angle of the bending portion with respect to the instruction value of the bending operation switch can be set. The bending operation switch outputs, for example, an output voltage as shown in FIG.
The output value is 0 to 5 volts in a full stroke from the maximum in the up direction (for example, 210 °) to the maximum in the down direction (for example, −210 °). Thus, it is possible to give an instruction to bend up to 210 ° in both the UD and RL directions. Here, the maximum angle 210 ° of the indicated value is set to be equal to or greater than the maximum bending angle of the endoscope that is most greatly bent among the connected endoscopes. On the other hand, the actual bending angle of the bending portion with respect to the instruction value of the bending operation switch is
For example, the control is performed as shown in FIG. Here, an example of an endoscope that bends up to 210 ° in the up direction and −90 ° in the down direction is shown. Therefore, in the up direction, the instruction value of the bending operation switch and the bending angle of the bending portion correspond one-to-one, and the bending operation is performed according to the operation of the switch, but the down direction corresponds to -90 ° in the one-to-one direction. However, even if the value is set to a value lower than that, the bending operation is not performed. With this configuration, even if the bending operation switch is operated to be equal to or larger than the maximum bending angle of the endoscope, it is possible to prevent the bending portion from being forcibly bent and the bending portion from being abnormal. At this time, the operability is good because the instruction value of the bending operation switch and the actual bending angle of the bending portion correspond one-to-one in the bending range of the endoscope.

It should be noted that the present invention is not limited to the above-described one, and various modifications can be made. For example, the first
In the embodiment, the priority switch 66 is provided in each of the switch units 37 and 37a, for example, the switch unit 37 on the side operated later in time.
Alternatively, priority may be given to the 37a side. In addition, the present invention can be applied to a case having three or more bending operation units.

For example, in the first embodiment, an AC motor, a stepping motor, an ultrasonic motor, or the like may be used instead of the DC motors 32 and 33. Further, instead of the rotary encoders 34 and 35, potentiometers may be used.

Further, instead of the joysticks 64 and 65, a two-dimensional indicator such as a trackball or a mouse, or a joypad (physical quantity such as electric resistance changes according to a moving distance, or changes according to pressure) Etc.). Further, the present invention can be applied to a device that simultaneously operates two one-dimensional switches two-dimensionally.

[0068]

As described above, according to the present invention, 2
There is an effect that the bending section can be smoothly bent in response to the dimensional bending instruction operation, and the operability of the bending operation switch can be improved.

[Brief description of the drawings]

FIG. 1 is a perspective view showing an appearance of an endoscope apparatus.

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

FIG. 3 is a flowchart illustrating an operation of a bending control unit according to the first embodiment of the present invention.

FIG. 4 is an explanatory diagram illustrating an operation of a bending section with respect to an instruction value of a bending operation switch.

FIG. 5 is a flowchart illustrating an operation of a bending control unit according to a first modification;

FIG. 6 is a flowchart illustrating an operation of a bending control unit according to a second modification.

FIG. 7 is a circuit diagram showing a configuration of a motor drive circuit according to a third modification.

FIG. 8 is a flowchart illustrating an operation of a bending control unit according to a third modification;

FIG. 9 is a configuration diagram showing a specific configuration of an endoscope apparatus according to a second embodiment of the present invention.

FIG. 10 is a configuration diagram showing a specific configuration of an endoscope apparatus according to a third embodiment of the present invention.

FIG. 11 is a flowchart illustrating an example of bending speed control according to the operation amount of a bending operation switch.

FIG. 12 is a flowchart illustrating a first example of angle vibration control.

13 is a waveform chart showing a control signal at the time of an angle vibration operation in the motor drive circuit of FIG. 7;

FIG. 14 is a flowchart showing a second example of angle vibration control.

FIG. 15 is an explanatory diagram showing a bending angle of a bending portion with respect to an instruction value of a bending operation switch.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2 ... Electronic scope 4 ... VP (video processor) 5 ... MCU (Motor control unit) 6 ... Monitor 7 ... Insertion part 8 ... Grip part 13 ... Bending part 17 ... Remote control 27, 28 ... Bending wire 32 33, Motor 34, 35 Rotary encoder 36, 36a Curved switch unit 37, 37a Switch unit unit 42 AV (angle vibration) switch 40, 50 Curved angle detection circuit 48 Control circuit 64, 65 Joystick 66 … Priority switch

Claims (1)

(57) [Claims] A bending portion provided in the insertion portion and capable of bending in multiple directions; a bending driving device for driving the bending portion to bend; a bending angle detecting device for detecting a bending angle of the bending portion; Bending operation instructing means for two-dimensionally instructing the bending operation, and drive control of the bending driving means, and when there is a difference in the bending instruction amount in each dimension of the bending operation instructing means, An endoscope apparatus comprising: a bending control unit that performs drive control so as to perform a bending operation with different control in the dimension of (1).