JP3092997B2 - Endoscope - 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 in which a curved portion at the distal end of an insertion portion of an endoscope is operated by a drive device such as a motor.

[0002]

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

[0003] As an electric endoscope provided with such a driving device, for example, Japanese Patent Application Laid-Open No. 53-39685 discloses a power transmission mechanism composed of gears for transmitting power from a motor and a clutch mechanism. The clutch mechanism realizes a free state in which the curved portion can be freely bent by an external force with respect to a locked state in which a gear is meshed to bend the curved portion. .

That is, one of two axially connected gears in a transmission gear train constituting a power transmission mechanism is mechanically moved in the axial direction to release the connection, and an endoscope bending portion is formed. It is to be in a free state.

However, since the gears constituting the transmission gear train are meshed and separated by moving in the axial direction, the teeth of the gears cannot be smoothly meshed when actually meshing after separation. This causes a problem that the locked state for transmitting the power from the motor cannot be reliably realized.

[0006] Also, when the meshing gears are separated from each other, particularly when a large load is applied to the teeth of the gears, the friction of the tooth surfaces of the meshed gears is large, so that the gears are separated. There is a problem that power is required and operability is deteriorated.

Therefore, in order to solve these problems, one of the meshing gears of the transmission gear train constituting the power transmission mechanism is meshed with the meshing point in a direction substantially normal to the pitch circle, and is freely separated. An endoscope provided with a clutch mechanism is conceivable.

[0008]

However, in the endoscope provided with the clutch mechanism capable of being engaged and disengaged in the normal direction, when an external load is applied when the bending portion of the endoscope is bent, the transmission gear train is not provided. Since the force acts in the direction in which the gears are separated from each other, the movable gears in the transmission gear train are separated from each other, which may cause a state in which the bending operation cannot be performed.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and realizes a secure lock state and a free state with a small, lightweight and simple structure in an endoscope using a motor or the like as a drive source for a bending operation. It is another object of the present invention to provide an endoscope that can perform a reliable bending operation even when an external load is applied during the bending.

[0010]

In order to achieve the above object, an endoscope according to the present invention comprises a traction operating means for operating a curved portion provided in an insertion portion, and a motive power from a curved operating drive means. a power transmitting means capable of transmitting to the means, the curvature
Interposed between the music operation drive means and the power transmission means,
The power of the music operation drive means is intermittently transmitted to the power transmission means.
Reaching clutch means, this clutch means and power transmission means
Lock means for maintaining a connection state with the step .

[0011]

In the above configuration, first, when the insertion section of the endoscope is inserted into a body cavity or the like to perform a bending operation, the power transmission means is connected by the clutch means. At the same time as the connecting operation of the clutch means, the lock means also operates so as to maintain the connected state of the clutch means.

Then, the bending operation driving means is driven, and the power from the bending operation driving means is transmitted to the traction operation means via the power transmission means.

Then, the curved portion provided in the endoscope insertion portion bends according to the power from the curving operation driving means.

Since the power transmission means is kept connected by the lock means, the power transmission means is not disconnected even if a load is applied to the curved portion from outside.

Next, in the case where the endoscope insertion portion is removed from the body cavity or the like, in order to make the curved portion freely bendable by external force, the power transmission means is provided by the clutch means. In the cutting state, the transmission of power from the bending operation drive unit is released. At the same time as the disconnection operation of the clutch means, the lock means is also released.

[0016]

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

First Embodiment FIGS. 1 to 5 show a first embodiment of the present invention. FIG. 1 is a schematic plan view showing a position of a driving device in a bending operation portion in a locked state, and FIG. 2 is an endoscope. FIG. 3 is a sectional view taken along line III-III of FIG. 1,
FIG. 4 is a schematic plan view showing the position of the driving device in the bending operation unit in the free state, and FIG.

In FIG. 2, reference numeral 1 denotes an electronic endoscope device. The electronic endoscope device 1 includes an electronic endoscope 2 and a light source device 3 for supplying illumination light to the electronic endoscope 2. A video processor 4 for performing signal processing on the electronic endoscope 2, a monitor 5 for inputting a video signal output from the video processor 4 and displaying a subject image, and an insertion unit 7 for the electronic endoscope 2. And a curving motor control device 6 for controlling the curving of the curving portion 16 provided in the motor.

The electronic endoscope 2 has an elongated insertion section 7 which can be inserted into a subject, a large-diameter operation section 8 connected to the rear end of the insertion section 7, The universal cord 9 includes a universal cord 9 extending from the side of the operation unit 8, and a connector 10 provided at an end of the universal cord 9 and detachably connected to the light source device 3. From the side of the connector 10, a video processor cord 11
And a motor control device cord 13 are extended.
The end of the video processor cord 11 has a connector 12 detachably connected to the video processor 4.
A connector 14 is provided at an end of the motor control device cord 13 so as to be detachably connected to the motor control device 6.

Further, the insertion section 7 of the electronic endoscope 2 is
A rigid tip component 15, a curved portion 16 continuously provided at a rear end of the tip component 15, and capable of curving in up, down, left, and right directions, and a compound direction thereof, and a rear end of the curved portion 16. The flexible tube portion 17 is connected to the operating portion 8 at a rear end thereof.

The operation section 8 includes an air supply / water supply button 18, a suction button 19, a bending operation switch section 20 for performing a bending operation, and a clutch for setting the bending section 16 in a free state or a locked state. An F / L lever 22 constituting the means is provided. Air supply and water supply button 1
8, air or water is supplied from an air supply or water supply port (not shown) provided in the distal end configuration portion 15, and the electronic endoscope 2 is operated by operating the suction button 19. Suction is performed through a suction channel (not shown) provided inside. The bending operation switch unit 20 is of a joystick type having a lever 21.
By operating the device 1 two-dimensionally, the curved portion 16 can be curved in a desired direction. By operating the F / L lever 22, the curved portion 16 can be set in a free state or a locked state.

The distal end portion 15 is provided with an illumination window and an observation window (not shown). An emission end face of a light guide (not shown) is arranged inside the illumination window. The light guide is inserted through the insertion section 7, the operation section 8, and the universal cord 9, and the incident end is connected to the connector 10. A light source (not shown) is provided in the light source device 3 to which the connector 10 is connected. Illumination light emitted from the light source is incident on an incident end face of the light guide, and passes through the light guide to the illumination window. Irradiated on the part to be inspected.

Although not shown, an objective optical system and a solid-state image pickup device, for example, a CCD arranged at an image forming position of the objective optical system are provided inside the observation window. A signal line (not shown) connected to the CCD includes an insertion section 7, an operation section 8, a universal cord 9, and a connector 1.
0, is inserted through the cord 11 and is connected to the connector 12.

The video processor 4 to which the connector 12 is connected is provided with a video signal processing circuit (not shown), and an input terminal of the video signal processing circuit is connected to the connector 1.
2 is connected to a receptacle (not shown) connected to the monitor 5 and the output terminal of the video signal processing circuit is connected to the monitor 5.
It is connected to the. The CCD is driven by the video signal processing circuit, and an image of a subject such as a test portion formed on the photoelectric conversion surface of the CCD is photoelectrically converted by the objective optical system, and the image signal is processed as an image signal. Input to the circuit. The image signal is converted into a video signal by the video signal processing circuit, and an image of a portion to be inspected or the like is projected on the monitor 5 by the video signal.

A space 33 is defined inside the operation section 8 by a main frame A31 and a main frame B32. In the space 33, the main frame A3 is formed.
A shaft 34 is vertically fixed from 1 to the main frame B32. In addition, the shaft 34 is rotatable around the shaft 34, and is vertically (UD)
Driven gear 35 for direction bending and as power transmission means
And the sprocket 36 are provided so as to rotate integrally.

Further, the sprocket 36 has a UD
A chain 25 for direction bending is wound, and this chain 2
A curved wire (not shown) is connected to an end of the wire 5 via a wire connecting member (not shown), and the other end of the curved wire is connected to the distal end component 15. .

The gears and sprockets (not shown) as power transmission means for bending in the left-right (RL) direction are also provided by the UD.
Arranged in the same configuration as the direction bending gear 35 and the sprocket 36, an RL direction bending chain (not shown) is wound around the RL direction bending sprocket, and a bending wire (not shown) is provided. The curved wire is connected via a wire connecting member (not shown), and the other end of the curved wire is connected to the distal end constituting portion 15.

Further, a motor frame 37 is provided on a surface of the main frame A31 facing the main frame B32, and a UD angle motor 38 and an RL angle motor 38 serving as a bending operation driving means are provided on the motor frame 37. Numerals 39 are fixed side by side so that the respective rotating shafts extend downwardly through holes drilled in the motor frame 37.

More specifically, for the UD direction curve, the rotating shaft 40 of the UD angle motor 38 is
A drive gear 41 as a power transmission means is inserted into a hole formed in the motor frame 37 so as to face the space 33, and is engaged with the gear 35 at a distal end portion of the rotating shaft 40. Is provided. The above R
The L-angle motor 39 is also provided with the same configuration.

At both ends inside the motor frame 37, substantially parallel to a line connecting the axis center of the rotating shaft 40 of the UD angle motor 38 and the axis center of the shaft 34,
A guide rail A42 that penetrates through the motor frame 37 and guides the sliding movement of the motor frame 37.
And one end of each of the guide rails A42 and B43 is fixed to the main frame A31 by fixing members 44 and 45. , 47 are formed.

Guide rail A42, guide rail B
Coil springs 48 and 49 are interposed between the spring retaining portions 46 and 47 and the motor frame 37 on the outer circumference of the motor 43, and the motor frame 37 is fixed by the coil springs 48 and 49 to the fixed member. The drive gear 41 which is urged in the directions of 44 and 45 is urged in a direction in which it engages with the gear 35.

Further, a flat portion 50a and a movable slope portion 5 are provided on the end surfaces of the motor frame 37 on the fixing members 44 and 45 side.
0b is formed in a notch.

On the main frame A31,
The F / F is inserted through the casing 54 of the operation unit 8.
An F / L lever shaft 53 connected to the L lever 22 is rotatably held. In the middle of the F / L lever shaft 53, the cam plate 51
7 is extended and fixed toward the cam groove 50 formed in the base member 7. Further, the lower side of the cam plate 51 (the cam groove 50 side)
Is provided with a cam pin 52 for pressing the cam groove 50.

That is, the clutch means of this embodiment rotates the F / L lever shaft 53 by rotating the F / L lever 22, moves the cam plate 51, and moves the cam pin 52. The motor frame 37 is moved to act on the cam groove 50, and the motor frame 37 is moved to the guide rail A.
42, and is configured to slide along the guide rail B43.

On the other hand, on the motor frame 37, a hook shaft 56 for rotatably supporting a hook 57 constituting a locking means is vertically provided. On the main frame A31, the drive gear 41 is provided. And the gear 3
At a position where the lock shaft 5 meshes with the lock shaft 5, a lock shaft 58 that can hook the hook 57 is vertically provided.

[0036] Above the hooks 57 of the hook shaft 56, coil spring 59 torsion hook and is inserted, one arm 59 of the coil spring 59 torsion for the hook
a is hooked on the lock shaft 58, and the other arm 59 b is hooked on a hook spring shaft 62 suspended from the upper surface of the hook 57, and
Is constantly urged in a direction away from the locking shaft 58. The hook 57 has the hook 5
7 to prevent the rotation of the RL angle motor 3
9 is provided with a protruding portion that can be brought into contact with the side surface.

A cam torsion coil spring 63 is inserted above the cam plate 51 of the F / L lever shaft 53. One arm 63a of the cam torsion coil spring 63 is mounted on the cam plate 51. And the other arm 63b
Is hooked on a spring shaft 65 vertically provided on the upper surface of the main frame A31, and constantly urges the cam plate 51 in a direction of pressing the hook 57.

The urging force of the hook torsion coil spring 59 is set to be weaker than that of the cam torsion coil spring 63. When the hook 57 comes into contact with the cam plate 51, the hook 57 is It is pressed by the cam plate 51 and locked on the locking shaft 58.

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

When the surgeon inserts the insertion portion 7 of the electronic endoscope 2 into a body cavity or the like and, for example, curves the curved portion 16 in the vertical direction, first, the F / L lever 22 is locked (L). The cam pins 52 of the cam plate 51 are connected to the motor frame 37.
The drive frame 41 and the driven gear fixed to the rotating shaft 40 of the UD angle motor 38 by positioning the motor frame 37 on the fixing members 44 and 45 side with the flat portion 50a of the cam groove 50 formed in 35 are engaged. At this time, the drive gear and the driven gear for bending in the left-right (RL) direction (not shown) are also meshed.

At the same time as the above operation, the cam plate 51
Pushes and rotates the hook 57, and the hook 57 is hooked on the locking shaft 58 to be in a locked state.

The UD angle motor 38 is driven by tilting the lever 21 of the bending operation switch section 20 in the designated direction, and the UD angle motor 3
The drive gear 41 fixed to the rotating shaft 40 rotates. The rotation of the drive gear 41 is transmitted to the driven gear 35 and the sprocket 36 fixed to the driven gear 35, and the chain 25 wound around the sprocket 36 moves, and a wire connecting member (not shown) and a curved wire Is pulled and relaxed to bend the curved portion 16 in the vertical direction.

Similarly, when the bending portion 16 is bent in the left-right direction, the lever 2 of the bending operation switch portion 20 is similarly bent.
1 is tilted in the designated direction to drive the RL angle motor 39. Since the operation of the components in the RL direction is the same as that in the UD direction, only the UD direction will be described.

When the power is transmitted from the drive gear 41 to the driven gear 35, even if an external force for separating the engagement between the drive gear 41 and the driven gear 35 is generated, the hook 57 is not locked. Shaft 5
8, the motor frame 37 does not move, and the meshing state between the drive gear 41 and the driven gear 35 can be reliably maintained.

Next, when removing the insertion section 7 of the electronic endoscope 2 from a body cavity or the like, the F / L lever 22 is turned to the free (F) state, and the F / L lever 22 is turned off. F /
The cam plate 51 is rotated via the L lever shaft 53, and the cam pins 52 of the cam plate 51 are moved along the moving slope 50b of the cam groove 50 formed in the motor frame 37. Then, along with the movement of the cam pin 52, the motor frame 37 is moved by the guide rail A4.
2. The fixing members 44, 4 along the guide rail B43.
5 is slid in a direction away from the drive gear 5, and as a result, the engagement between the drive gear 41 and the driven gear 35 is disconnected.

At the same time as the above operation, the cam plate 51
Is separated from the hook 57, and the urging force of the torsion coil spring 59 for hook rotates the hook 57 and separates from the locking shaft 58.

Here, the cam pins 52 are connected to the cam grooves 5.
0 of the coil spring 4
The urging forces of 8, 49 act stronger than the urging force of the torsion coil spring 63 for the cam, so that the cam pin 52 does not come off the moving slope 50b of the cam groove 50.

For this reason, the sprocket 36 fixed to the driven gear 35 is rotatable by an external force applied to the curved portion 16, and a sprocket (not shown) for bending in the left-right direction is similarly attached to the curved portion 16. The external force makes the robot rotatable, so that it is in a free state. By setting this free state, the insertion section 7 is removed from the body cavity or the like.

As described above, the clutch mechanism is configured such that one of the meshing gears of the transmission gear train constituting the power transmission mechanism meshes with and can be separated from the meshing point in a direction substantially normal to the pitch circle. By providing a lock mechanism that maintains the connected state of the mechanism, it realizes a secure lock state and a free state with a small, lightweight and simple structure, and ensures a reliable bending operation even when a load is applied from outside during bending. It is possible to do.

Although the present embodiment has been described as an embodiment applied to an electronic endoscope, it is not limited to an electronic endoscope.
Other endoscopes, such as a fiberscope, may be used.

{Second Embodiment} FIG. 6 is a schematic plan view showing the position of a driving device in a curved operation unit in a locked state according to a second embodiment of the present invention.

In the second embodiment, a hook portion for locking the movement of the motor frame is formed on the motor frame together with the cam groove without providing the hook mechanism as in the first embodiment. The cam plate that slides the frame is also used as a hook.

That is, as shown in FIG. 6, the motor frame 80 provided slidably on the main frame A31 inside the operation section has end faces on the fixing members 44 and 45 sides.
A groove 81 including a hook portion 81a, a flat portion 81b, and a movable slope portion 81c is formed by notching.

As in the first embodiment, an F / L lever shaft 53 connected to an F / L lever (not shown) is provided.
A cam plate 82 extends and is fixed toward the groove 81 in the middle of the groove 81. The lower side (groove 81 side) of the cam plate 82 is capable of pressing or locking the groove 81. A simple cam pin 83 is provided.

With this configuration, in order to set the cam plate 82 in the free state, the F / L lever (not shown) is rotated to move the cam plate 82, and the cam pin 83 of the cam plate 82 is moved. This is realized by being positioned on the moving slope portion 81c of the groove 81.

In order to be able to bend, F /
An L lever (not shown) is connected to the cam pin 83 by the groove 8.
It is rotated in the direction (the direction of the flat portion 81b of the groove 81) coming off the first moving slope portion 81c. As the cam pin 83 moves, the spring retaining portions 46 and 47 and the motor frame 37 are moved.
The motor frame 37 is slid by the biasing force of the coil springs 48 and 49 interposed therebetween, and a driven gear (not shown) is meshed with a driven gear (not shown).

Further, when the F / L lever is rotated to engage the cam pin 83 with the hook portion 81a of the groove 81, the spring retaining portions 46, 4
The sliding movement to the side 7 is suppressed, and the reliable engagement between the drive gear and the driven gear can be maintained.

As described above, by forming the hook portion together with the cam groove on the motor frame, the lock mechanism can be realized simply and with a small number of parts.

The other constructions and operations are the same as in the first embodiment, and will not be described.

{Third Embodiment} FIG. 7 is a schematic plan view showing the position of the drive unit in the curved operation unit in the locked state according to the third embodiment of the present invention.

The third embodiment is different from the second embodiment in that the cam plate having both the function of sliding the motor frame and the function of locking the motor frame is provided by a cam plate dedicated to the sliding movement of the motor frame. In addition, a lock plate for hooking the motor frame is provided.

That is, as shown in FIG. 7, a lock plate shaft 90 is suspended from the upper surface of the main frame A 31, and a lock plate 91 is formed on the motor frame 37 in the middle of the lock plate shaft 90. The groove 81 is rotatably extended toward the groove 81.
Further, a lock pin 92 is provided below the lock plate 91 (on the side of the groove 81) so that the hook portion 81a of the groove 81 can be hooked.

The lock plate shaft 90 has a torsion coil spring 9 above the lock plate 91.
3 is inserted, one arm 93a of the torsion coil spring 93 is hooked on a lock spring shaft A94 suspended from the upper surface of the lock plate 91, and the other arm 93b is connected to the motor frame 37. The lock plate 91 is hooked on a lock spring shaft B95 that is vertically provided on the upper surface, and urges the lock plate 91 in a direction away from the hook portion 81a of the groove 81 so that the lock plate 91 rotates the cam plate 82. With this, they can be rotated together.

With such a configuration, in order to be able to bend, an F / L lever (not shown) is connected to the cam pin 83 of the cam plate 82 by the groove 81 of the motor frame 37.
Of the groove 81 (the flat portion 8 of the groove 81).
1b). With the movement of the cam pin 83, the motor frame 37 is slid by the urging force of the coil springs 48, 49 interposed between the spring retaining portions 46, 47 and the motor frame 37, and a driven gear (not shown) A drive gear (not shown) is meshed with the drive gear.

At this time, the cam plate 82 presses and rotates the lock plate 91 to lock the lock pin 92 of the lock plate 91 into the hook portion 81 a of the groove 81. Then, the spring retaining portion 4 of the motor frame 37 is
The sliding movement to the sides 6 and 47 is suppressed, and a reliable meshing state between the drive gear and the driven gear (not shown) can be maintained. Here, the cam pin 83 of the cam plate 82
Since it is located on the moving slope 81c of the groove 81,
The lock plates 91 are
It is in a state of being urged toward the hook portion 81a. Therefore,
Lock plate by arm 93a of torsion coil spring 93
91 urges the cam pin 83 to urge the hook portion 81a of the groove 81.
There is no deviation from it.

Further, in order to change the state from the bendable state to the free state, the F / L lever (not shown) is rotated so that the cam pin 83 of the cam plate 82 is moved to the moving slope 81 c of the groove 81. Position. Then, the lock plate 9
1 is rotated by the biasing force of the torsion coil spring 93 so that the lock pin 92 of the lock plate 91 is disengaged from the hook portion 81a of the groove 81, and the motor frame 37 is moved toward the spring engaging portions 46 and 47. And the meshing between the driven gear (not shown) and the drive gear is released.

As described above, by providing the lock plate for locking the motor frame, the locked state can be realized with a small amount of operation.

[0068]

As described above, according to the present invention, in an endoscope using a motor or the like as a drive source for a bending operation, a lock mechanism for maintaining a connected state of a clutch mechanism is provided, so that the endoscope is small, light, and simple. With the structure, a reliable locked state and a free state can be realized, and even when a load is applied from the outside at the time of bending, a reliable bending operation can be performed.

[Brief description of the drawings]

FIG. 1 is a schematic plan view showing a position of a driving device in a curved operation unit in a locked state according to a first embodiment of the present invention.

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

FIG. 3 is a sectional view taken along the line III-III of FIG. 1;

FIG. 4 is a schematic plan view showing a position of a driving device in a bending operation unit in a free state according to the first embodiment of the present invention.

FIG. 5 is a sectional view taken along line VV of FIG. 4;

FIG. 6 is a schematic plan view showing a position of a driving device in a curved operation unit in a locked state according to a second embodiment of the present invention.

FIG. 7 is a schematic plan view showing a position of a driving device in a curved operation unit in a locked state according to a third embodiment of the present invention.

[Explanation of symbols]

 2 Endoscope 7 Insertion part 16 Curved part 22 F / L lever 25 Chain 35 Driven gear 36 Sprocket 37 Motor frame 38 Motor for UD angle 39 Motor for RL angle 41 Drive gear 42 Guide rail A 43 Guide rail B 50 Cam groove 51 Cam plate 52 Cam pin 57 Hook 58 Lock shaft

Claims (1)

(57) [Claims] And 1. A traction device for curved operating the curved portion provided in the insertion portion, a power transmission means capable of transmitting to said traction means power from curved operating the drive means, the operation driving the curvature songs
Between the driving means and the power transmission means,
A clutch means for intermittently transmitting the power of the moving means to the power transmission means, and a lock means for maintaining a connection state between the clutch means and the power transmission . Endoscope.