JP3143152B2 - 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.

In such an electric bending type endoscope, the operator can grasp the actual bending angle of the bending portion.
A device provided with a bending angle detecting means has been proposed. In some cases, a rotary encoder is used as the bending angle detecting means to accurately detect the bending angle. As an example of this rotary encoder, a so-called A, B, Z
There is a phase output type, and by using this, the device can be downsized. The A / B / Z phase output type rotary encoder detects the count pulse and the forward / reverse rotation direction based on the A / B phase pulse and the lead / lag of the phase of the pulse, and inputs the Z phase. As a result, the position of the zero point is detected. This makes it possible to accurately detect in which direction and how much rotation has been made, and to detect the amount of drive of the electric drive means, so that the bending angle of the bending portion can be accurately detected.

[0005]

However, in the endoscope apparatus using the rotary encoder of the A, B, and Z phase type as the bending angle detecting means, the position of the zero point is maintained until the Z phase is input. Since it is not detected, the actual bending angle cannot be grasped. Immediately after turning on the power or immediately after connecting the endoscope to the control device, the Z phase may not be input. is there. This may cause a problem such as damage to the portion to be inspected.

The present invention has been made in view of these circumstances. By performing an abnormal processing operation when a zero point setting signal is not input, a bending operation unintended by an operator can be prevented, and safety can be improved. It is an object of the present invention to provide an endoscope device capable of causing the endoscope device to be operated.

[0007]

SUMMARY OF THE INVENTION A first endoscope according to the present invention .
The mirror device has a bendable portion provided on the insertion portion.
An endoscope apparatus for detecting a bending angle of the bending portion.
And a bend for outputting a zero-point setting signal for the bend angle.
Angle detection means, and the bending amount of the bending portion becomes a target
To indicate the amount of bending in correspondence with this amount of bending
Bending amount indicating means having an operation unit capable of adjusting
Drive means for driving the endoscope and the endoscope device used
After the state becomes possible, zero from the bending angle detecting means
Before the point setting signal is input, the finger of the bending amount indicating means is used.
The bending drive means so as not to perform the bending drive based on
And a bending control means for controlling
You. A second endoscope device according to the present invention is provided with an insertion portion.
Endoscope device having a curved portion that can be bent freely.
The bending angle of the bending portion is detected, and the
A bending angle detecting means for outputting a point setting signal;
Unit instructs the amount of bending to achieve the desired amount of bending
First bending amount indicating means, and a desired bending of the bending portion
Specify the amount of bending to correspond to this amount of bending
Second bending amount indicating means having an operation unit capable of performing
And the first bending amount instruction means and the second bending amount instruction
Switching means for prioritizing any one of the means
Bending driving means for driving the bending portion to bend; and the bay
Before the zero point setting signal is input from the music angle detection means
And the second bending amount indicating means by the switching means.
Is given priority, the second bending amount indicating means
The bending driving hand is set so as not to perform the bending driving based on the instruction.
Bending control means for controlling the step.
You. A third endoscope apparatus according to the present invention is provided with an insertion section.
It is possible to automatically drive the curved part that can be bent
An endoscope device, wherein a bending angle of the bending portion is detected.
In both cases, the bending angle for outputting the bending angle zero point setting signal
Degree detecting means and the bending amount of the bending portion becomes a target bending amount.
In this way, it is possible to indicate the amount of bending in accordance with this amount of bending.
A bending amount instructing unit having a possible operation unit;
Either driving by the bending amount indicating means or automatic driving
Switching means for giving priority to
Bending drive means for driving the music, and the bending angle detection means
Before the zero point setting signal is input,
When the bending amount indicating means is given priority by
Do not perform the bending drive based on the instruction of the bending amount instruction means.
Bending control means for controlling the bending driving means.
It is characterized by.

[0008]

The bending amount is instructed by the bending amount instructing means so that the bending portion provided in the insertion portion has a desired bending angle. 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 stops driving control of the driving means in accordance with an instruction from the bending amount instruction means when a zero point setting signal for setting a zero point of the bending angle is not input from the bending angle detection means.

[0009]

Embodiments 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 perspective view showing an external appearance of an endoscope apparatus, FIG. 2 is a configuration diagram showing a specific configuration of the endoscope apparatus, and FIG. 5 is a flowchart illustrating an operation of a control unit.

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 18 a 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.

A bending portion 13 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 project from the opposite sides of the pulleys 29 and 31. The rotary encoders 34 and 35 are provided to detect the amount of rotation of the DC motors 32 and 33, respectively. The angle of curvature can be detected. The rotary encoders 34 and 35 are A, B, and Z phase output type encoders. The count pulses and the forward and reverse rotation directions are determined by the A-phase and B-phase pulses and the leading and trailing phases of the pulses. Is detected, and the position of the zero point is detected by inputting a Z-phase pulse as the zero point setting signal. That is, it is reset to zero by the Z phase, and it is possible to detect in which direction and how much rotation has been made since then.

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. These bending switches 38, 3
Reference numeral 9 denotes an ON / OFF type switch.

On the other hand, the switch unit 37 includes a speed setting switch 41 for setting the bending speed, and the 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 the 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 bending angle detection circuits 40 and 50 output to the control circuit 48 a determination signal indicating whether or not the Z-phase has been input from the rotary encoders 34 and 35 together with the value of the detected bending angle. These rotary encoders 34, 3
5 and the bending angle detecting circuits 40 and 50 constitute a bending angle detecting means.

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 has a bending switch section 36a as a bending amount indicating means and a switch unit section 37.
a is provided. The bending switch portion 36a is formed by joysticks 64 and 65 for performing a bending operation in four directions. When the joysticks 64 and 65 (equivalently shown by two potentiometers in FIG. 2) are tilted in a direction such as upward or downward, left or right, the potentiometers (64 and 65) correspond to the inclination angles. ) Changes, and the potential divided by the resistance value is input to the control circuit 48 via the A / D converter 59. FIG.
In the example, the operation signal instructing the upward (up) or right (right) bending is indicated on the high potential side, and the operation signal instructing the downward (down) or left (left) bending is indicated on the low potential side. Become.

On the other hand, the switch unit 37a has the same switches as the switches provided on the switch unit 37 of the grip unit 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 of the remote controller 17, that is, the settings of the various switches 41 a to 46 a and the setting of the bending switch section 36 a have priority over the setting of the operation means of the electronic scope 2. 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 the present 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. In this state, the bending angle detection circuits 40 and 50 cannot output accurate bending angle information until the first Z-phase output pulse is input to the bending angle detection circuits 40 and 50 after the power is turned on. At this time, as the bending operation means, for example, the bending switch unit 36
When a is prioritized, since the bending operation is performed so that the bending angle of the bending portion 13 and the instruction values of the joysticks 64 and 65 correspond one-to-one, the bending may be performed in a state not intended by the operator. Occur. Therefore, when the power is turned on, the control circuit 48 performs control as shown in the flowchart of FIG.

First, in step S1 (hereinafter, the steps are omitted and simply described as S1), the bending angle detection circuit 40,
It is determined whether or not the Z phase has been input to 50, and if the Z phase has been input, this control ends, and the following other controls are performed. On the other hand, if the Z-phase has not been input, the process proceeds to S2, where the type of the bending operation switch is determined. In the first embodiment, the bending switch unit 36 provided on the operation unit 8 of the electronic scope is an ON / OFF type switch.
Since the bending switch section 36a of the remote controller 17 is a joystick type switch, the priority switch 6
6 is determined by ON / OFF. That is, when the priority switch 66 is ON, the remote controller 17 is selected, so that the joystick type is determined.
It is determined to be the N / OFF type.

If the bending operation switch is of the joystick type (JS) in S2, the operation proceeds to S3, instructs the drivers 52 and 54 to stop the motor, and notifies an abnormality in S4. This abnormality notification is performed, for example, by sounding a warning buzzer (not shown) provided in the MCU 5 and instructing the control circuit 61 in the VP 4 to display an abnormality. Then, the control circuit 61 instructs the video process circuit 26 to display an abnormality, and a warning of the abnormality is displayed on the monitor 6. On the other hand, the bending operation switch is ON / OFF
In the case of the type, this control is terminated, and the following other control is performed. In the case of the ON / OFF type, since the bending operation is not performed unless the switch is pressed, the motor is not particularly stopped.

The input of the Z-phase to the bending angle detection circuits 40 and 50 is performed by appropriately turning on the bending switch unit 36 provided in the operation unit 8 immediately after the power is turned on.
The curved portion 13 is obtained by bending and passing the straight position. As a result, the position where the bending angle is 0 ° is set, and thereafter, the bending angle of the bending portion 13 is accurately detected by the bending angle detection circuits 40 and 50.

After the Z-phase is input, the bending switch section 36a (joystick type) of the remote controller 17 or the bending switch section 36 (ON / OFF type) of the operation section 8 is selected, and by operating this bending switch, a desired one is obtained. Can be bent to an angle.

As described above, according to the first embodiment, since the bending control means for performing the abnormal processing operation when the Z phase as the zero point setting signal is not input is provided, accurate bending angle information can be obtained. When the operator is not present, an unintended bending operation of the operator can be prevented, so that a dangerous situation such as damaging the body cavity wall can be prevented beforehand, and a highly safe endoscope apparatus can be realized.

FIG. 4 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 DC motors 32 and 33 for bending drive 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 end 4,
It is inserted into the curved portion 13 and is fixed to the distal end portion 12.

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 (referred to as the 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.

The operation of the second embodiment is almost the same as that of the first embodiment shown in FIG. 3 except that the electronic scope 2 does not have the grip portion 8. The electronic scope 2 is a gripper 8
In the case of a structure having no bending operation switch, there is no ON / OFF-type bending operation switch, so the step of S2 in FIG. 3 is omitted, and abnormality processing is performed depending on whether or not the Z-phase is input to the bending angle detection circuits 40 and 50. The operation is performed. In the case where the Z-phase is not input, in the case where the grasping unit 8 has the bending switch unit 36, the type of the bending operation switch is determined based on the output of the priority switch 66 as in the first embodiment. Drivers 52 and 54 are instructed to stop, and abnormality notification is performed.
Other functions and effects are the same as those of the first embodiment.

In the second embodiment, the bending switch section 36 provided on the grip section 8 may be a joystick type switch. In this case, the same control as in the case of the structure having no grip portion 8 is performed.

FIG. 5 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 an output of the video processing circuit 26 is inputted. 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 rotating 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 detection circuit 93 is V in FIG.
Although provided in P4, it may be separate.

Next, the operation of this embodiment will be described. In the third embodiment, similarly to the first embodiment, the operation of the abnormality processing is performed according to the flowchart of FIG. Here, S2
When the type is determined, if the operation switch is a joystick type operation switch or the automatic insertion mode is selected by the mode selection switch 94, the process proceeds to S3 where the motor is stopped and an abnormality is notified.

FIG. 6 is a flowchart showing the operation when the automatic insertion mode is selected when the power is turned on. If the auto insertion mode is selected when the power is turned on, the auto insertion is stopped with the Z phase not being input. Therefore, it is determined in S11 whether or not the Z phase has been input. If not, the flow proceeds to S12 to bend in the direction in which the drive current is small, that is, in the straight direction in which the load on the bending wire is small. By repeating this, the bending portion 13 becomes straight, and the Z phase is input to the bending angle detection circuits 40 and 50. Thereafter, the bending angle of the bending portion 13 is controlled according to the output of the bending direction detection circuit 93 so that the position of the dark portion is located near the center of the image, and automatic insertion is performed.

The Z-phase input control shown in FIG.
In the embodiment, the present invention can be applied to the case of an electronic scope having no grip portion 8. That is, when there is no ON / OFF-type bending operation switch, the Z-phase can be input in the same manner as described above, and the bending operation can be performed by the bending operation switch. Further, when the joystick type bending operation switch is selected, the Z-phase input control may be performed after the abnormality processing operation is performed without inputting the Z-phase.

As described above, even in the endoscope apparatus having the automatic insertion function, when the Z phase is not input when the automatic insertion mode is selected, the abnormal processing operation is performed to obtain accurate bending angle information. When it is not possible to do so, it is possible to prevent an unintended bending operation of the operator, and to prevent a dangerous situation such as damaging the body cavity wall. Thereby, safety can be improved.

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, instead of the DC motors 32 and 33, AC
A motor, a stepping motor, an ultrasonic motor, or the like may be used. In addition, joysticks 64 and 6
A trackball may be used instead of 5. In addition, the present invention can be applied to a case having three or more bending operation units.

Further, for example, in the first embodiment, the priority switch 66 is connected to any one of the switch unit sections 37 and 37.
For example, the switch unit 37 or 37a which is operated later in time may be prioritized.

[0051]

As described above, according to the present invention, a bending operation that is not intended by the operator can be prevented by performing an abnormal processing operation when the zero point setting signal is not input.
There is an effect that it is possible to improve safety.

[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;

FIG. 4 is a configuration diagram showing a specific configuration of an endoscope apparatus according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram showing a specific configuration of an endoscope apparatus according to a third embodiment of the present invention.

FIG. 6 is a flowchart illustrating the operation of Z-phase input control.

[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 bending switch unit 37, 37a switch unit unit 40, 50 bending angle detection circuit 48 control circuit 64, 65 joystick 66 priority switch

Claims (3)

(57) [Claims] A first bending portion provided on the insertion portion;
An endoscope device comprising: detecting a bending angle of the bending portion;
A bending angle detecting means for outputting a zero-setting signal, so that the bending portion is bend amount of interest, the curved
An operation unit that can specify the amount of bending in accordance with the amount
Bending amount instructing means , bending driving means for driving the bending portion, and the bending angle after the endoscope apparatus is ready for use.
Before the zero point setting signal is input from the degree detection means,
Do not perform the bending drive based on the instruction of the bending amount instruction means.
The endoscope apparatus according to claim and bay song control means for controlling the urchin the bending drive means, further comprising: a. 2. A bendable bending portion provided on an insertion portion is provided.
An endoscope device having While detecting the bending angle of the bending portion, the bending angle
Bending angle detecting means for outputting a zero point setting signal, The bending amount is adjusted so that the bending portion has a desired bending amount.
First bending amount indicating means for instructing; This bending is performed so that the bending portion has a desired bending amount.
An operation unit that can specify the amount of bending in accordance with the amount
Second bending amount indicating means having: The first bending amount indicating means and the second bending amount indicating means
Switching means for preferentially switching any one of: Bending driving means for driving the bending portion to bend; The zero point setting signal from the bending angle detecting means is input.
Before the second bending amount is designated by the switching means.
When the means is prioritized, the second bending amount indicator
The bending drive is controlled not to perform the bending drive based on the instruction of the step.
Bending control means for controlling the moving means; An endoscope apparatus comprising: 3. A bending portion provided on the insertion portion and capable of bending.
Driving automatically Endoscope device capable of While detecting the bending angle of the bending portion, the bending angle
Bending angle detecting means for outputting a zero point setting signal, This bending is performed so that the bending portion has a desired bending amount.
An operation unit that can specify the amount of bending in accordance with the amount
Bending amount indicating means having, Driving of the bending portion by the bending amount instruction means and automatic driving
Switching means for preferentially switching any one of: Bending driving means for driving the bending portion to bend; The zero point setting signal from the bending angle detecting means is input.
The bending amount indicating means is switched by the switching means.
When the priority is given, based on the instruction of the bending amount instruction means,
Control the bending driving means so as not to perform the bending driving
Bending control means, An endoscope apparatus comprising: