JP3207904B2 - 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 endoscope having a bendable bending portion in an elongated insertion portion, for observing the inside of a body cavity, the inside of a mechanical device, and the like.

[0002]

2. Description of the Related Art As is well known, an endoscope apparatus is capable of observing the inside of a living body or the like which cannot be directly viewed, and is widely used for observation and treatment mainly in the medical field.

[0003] In the bending method of the bending portion of the endoscope, an angle wire conventionally connected to the bending portion is inserted into an insertion portion, and the angle wire is manually pushed and pulled by an operation portion on a hand side to perform a bending operation. Are widely used.

In recent years, various methods have been proposed for performing this bending operation using driving means such as a motor and a shape memory alloy (SMA). By using such a method, the push / pull operation of the angle wire can be performed by using an electric switch or the like instead of manually operating the bending knob or the like, so that the bending operation can be performed easily.

However, in the bending operation using the electric switch or the like, the bending state (the bending angle and the bending resistance state) of the bending portion is hardly transmitted to the operator, and there is a disadvantage that the bending state is hard to grasp as compared with the manual operation.

Therefore, as disclosed in Japanese Patent Application Laid-Open No. 63-130034, an endoscope apparatus has been proposed which displays a bending state represented by a bending amount of a bending portion on a TV monitor. A person can easily grasp the bending state.

[0007]

However, the above-mentioned T
In the method of displaying the bending state on the V monitor, a certain size is required as a display area of the bending information in order to surely transmit information to the operator, so that the size of the endoscope image is limited. And other necessary data (eg, data such as patient name and age) cannot be displayed.

The present invention has been made in view of these circumstances, and displays curvature information without restricting the size of a display area for an endoscope image or other necessary data on a monitor. It is an object of the present invention to provide an endoscope device capable of reliably transmitting curvature information to an operator while sufficiently displaying and other necessary data.

[0009]

An endoscope apparatus according to a first aspect of the present invention includes an endoscope having a slender insertion portion that can be bent, an observation image captured by the endoscope, and an endoscope. A monitor for displaying at least one of the data images required for the inspection,
Instruction signal generating means capable of generating a signal for instructing the endoscope insertion section to perform a bending operation, and bending the endoscope insertion section in accordance with a signal generated by the instruction signal generating means Driving means for operating, bending state detecting means for detecting a bending state of the endoscope insertion section, instruction signal inputting means for inputting a signal generated by the instruction signal generating means, and receiving the instruction signal Bending state display means for displaying the bending state detected by the bending state detection means on the monitor in a superimposed manner on a part of the observation image and the data image in accordance with the output of the instruction signal input means. And characterized by having,
An endoscope apparatus according to claim 2 of the present invention displays at least one of an observation image captured by an endoscope having a bendable elongated insertion portion and a data image required for endoscopic inspection on a monitor. Instruction signal generating means capable of generating a signal for instructing the insertion section to perform a bending operation, and driving for bending the endoscope insertion section in accordance with a signal generated by the instruction signal generating means Means, a bending state detecting means for detecting a bending state of the endoscope insertion section, an instruction signal inputting means for receiving a signal generated by the instruction signal generating means, and a signal generated by the instruction signal generating means. Timer means operating based on the signal, the bending state detected by the bending state detection means, the observation image according to the output of the instruction signal input means to which the instruction signal is input,
And a curved state display unit for performing a curved state display to be superimposed and displayed on the monitor over a part of the data image and performing the curved state display for a predetermined time in accordance with the operation of the timer unit. It is assumed that.

[0010]

The bending state detecting means detects the bending state of the endoscope insertion section. The detected information image in the curved state is superimposed on a part of the observation image captured by the endoscope and a part of the data image required for the endoscopic inspection, and is synthesized and displayed on the monitor.

[0011]

Embodiments of the present invention will be described below with reference to the drawings. 1 and 2 relate to a first embodiment of the present invention.
FIG. 2 is an explanatory diagram showing a configuration of the endoscope apparatus, and FIG. 2 is an explanatory diagram showing a display state on a monitor.

As shown in FIG. 1, the endoscope 1 is provided with an elongated insertion portion 2, and the insertion portion 2 has a distal end constituting portion 3 from a distal end.
A bending portion 4 that can be bent and a flexible tube portion 5 having flexibility are continuously provided. An operation section 6 is provided at the base end of the insertion section 2, and a universal cord 7 having a light guide and a signal cable (not shown) inserted from the side of the operation section 6 to the distal end of the insertion section 2 extends. I have. A connector 8 is provided at a distal end of the universal cord 7, and the endoscope 1 is detachably connected to an external control device 9 via the connector 8.

A solid-state image pickup device 10 such as a CCD for picking up a subject image is provided at a distal end portion 3 of the insertion section 2. , CCU) 11 and a video signal captured by the solid-state imaging device 10 is C
The signal is processed by the CU 11 and output to the monitor 12 as an observation image signal.

A UD bending motor 14 for driving a vertical angle wire 13 and an RL bending motor 16 for driving a left and right angle wire 15 are provided in the operation unit 6. Each of the bending motors 14, 16 is provided with an encoder 17, 1 coaxially with the motor shaft.
8 is fixed. In addition, each bending motor 1
Pulleys 21 and 22 are fixed to output shafts 19 and 20 of 4 and 16, and angle wires 13 and 15 for bending the bending portion 4 by being pushed and pulled are wound.
Further, on the case of the operation unit 6, a four-way angle switch 23 constituted by, for example, a joypad or the like is provided, and a motor control unit (hereinafter, referred to as a motor control unit) provided in the external control device 9 via a signal cable. MCU
24) and a four-way angle switch 23
The control of the bending motors 14 and 16 is performed based on the instruction.

The encoders 17 and 18 are connected to a bending angle detecting circuit 25 as a bending state detecting means provided in the external control device 9 via a signal cable. The signal of the amount of rotation of 18 is input to the bending angle detection circuit 25. That is, by connecting the connector 8 to the external control device 9, the UD bending motor 14 and the RL bending motor 16 are electrically connected to the MCU 24, and the encoders 17 and 18 are electrically connected to the bending angle detection circuit 25, respectively. Is controlled.

The bending angle detection circuit 25 includes an encoder 1
An image generation device that detects the amount of rotation of the bending motors 14 and 16 based on the output signals of the units 7 and 18, generates a bending angle detection signal based on the detected amount of rotation, and generates an MCU 24 and an image signal of the bending information. 26.

The MCU 24 includes an angle switch 2
3, the bending motors 14, 1
6 is supplied with drive power. Also, MC
A bending angle detection signal from the bending angle detection circuit 25 is also input to U24, and when the bending angle becomes a predetermined angle or more, the drive power supply to the bending motors 14 and 16 is stopped. . Further, while driving power is supplied to the bending motors 14 and 16, a bending angle detection signal from the bending angle detection circuit 25 is also input to the image generation device 26.

The image generating device 26 receives the bending angle detection signal from the bending angle detecting circuit 25, generates an image signal of the bending information, and outputs it to one input terminal of the adder 27. The other input terminal of the adder 27 receives an output signal from the CCU 11. The adder 27 outputs the output video signal from the CCU 11 and the image signal of the curvature information from the image generator 26. Are synthesized and monitor 1
2 is output. That is, the image generating device 26 and the adder 27 constitute a curved state display unit. At this time, for example, as shown in FIG. 2, on the monitor 12, an angle information image 28 that displays a bar graph in a cross shape by the detected angle is synthesized and displayed on the observation image 29 and the data image 30. It is supposed to be.

The image generator 26 has a timer 31
Are electrically connected, and a switch 32 provided on a casing of the external control device 9 for setting the operation time of the timer is connected to the timer 31. That is, the operation time is set in the timer 31 in advance by the switch 32, the image signal of the bending information is output for the set time, and the angle information image 28 is synthesized and output to the monitor 12. .

Next, the operation of this embodiment will be described.
The insertion section 2 of the endoscope 1 is inserted into a body cavity, and the bending section 4 is bent to a desired position to observe a test site. Here, for example, when bending in the upward direction (UP direction), the angle switch 23 is turned ON in the UP direction. Then, an ON signal in the UP direction from the angle switch 23 is input to the MCU 24 in the external control device 9.

When an ON signal in the UP direction is input, M
The CU 24 supplies electric power to the UD bending motor 14 to drive the motor. Thereby, the output shaft 19 of the UD bending motor 14 and the pulley 21 fixed thereto rotate, the angle wire 13 wound around the pulley 21 is pulled, and the bending portion 4 bends in the UP direction.

At this time, from the encoder 17 which is coaxially connected to the UD bending motor 14 and rotates integrally, a signal of the rotation amount is sent to the bending angle detection circuit 2 in the external control device 9.
5 is input. The bending angle detection circuit 25 processes the input rotation amount signal and outputs it to the image generation device 26 as a bending angle detection signal indicating the bending angle of the bending section 4.

The image generating device 26 creates an angle information image signal based on the input bending angle detection signal, combines the angle information image signal with the output video signal from the CCU 11 by the adder 27, and outputs it to the monitor 12. Then, on the screen of the monitor 12, as shown in FIG. 2, an angle information image 28 which is displayed as a bar graph in a cross shape by the detected angle is superimposed on the observation image 29 and the data image 30 and displayed. .

Here, the bending motor 1 is supplied from the MCU 24.
While the drive power is being supplied to the image generators 4 and 16,
6, an output signal from the MCU 24 is input, and an angle information image signal is output only while this signal is being input. When the angle switch 23 is turned off, a normal inspection screen is displayed on the monitor 12. Is output, and the angle information image does not hinder the inspection.

The switch 32 controls the timer 31
After the angle switch 23 is turned off, the angle information image 28 is synthesized and output to the monitor 12 only for the set time even after the angle switch 23 is turned off.

As described above, according to the present embodiment, the bending angle information image is superimposed on a part of the observation image or the data image of the endoscope while the bending portion is performing the bending operation and for a predetermined time thereafter. The curved display can be displayed without restricting the size of the display area for the endoscope image and other necessary data on the monitor, and the endoscope image and other necessary data can be sufficiently displayed. The information can be displayed and the curvature information can be reliably transmitted to the operator.

Also, after the predetermined time is set in the timer and the angle switch is turned off, the angle information image is displayed for this set time, so that the bending state after the bending operation is completed can be reliably transmitted to the operator. Can be. Also, since the curved angle information image can be displayed on a large screen only when necessary,
The operator's cognition is improved, and a safe and smooth examination can be performed. Further, since it is not necessary to newly provide a curved state display device, the entire device can be downsized.

FIGS. 3 and 4 relate to a second embodiment of the present invention. FIG. 3 is an explanatory diagram showing a configuration of an endoscope apparatus, and FIG. 4 is an explanatory diagram showing a display state on a monitor.

The second embodiment is an example in which a bending resistance detecting circuit is further provided in an external control device as a bending state detecting means, and a warning is displayed on a monitor when the bending resistance exceeds a predetermined value. . The same components as those in the first embodiment are denoted by the same reference numerals, and description thereof will be omitted.

In the endoscope 51, a universal cord 7 extending from the side of the operation unit 6 is connected to an external control device 52 via a connector 8, and the bending operation of the bending unit 4 and the bending operation of the bending unit 4 are performed. Processing of a video signal captured by the solid-state imaging device 10 is performed. Guide rollers 53 and 54 for supporting the angle wires 13 and 15 to smoothly advance and retreat are provided in the operation unit 6, and the angle wires 13 and 15 are hung thereon. The angle wires 13 and 15 are guided through the universal cord 7 and the connector 8 into the external control device 52.

The external control device 52 is provided with a UD bending motor 14 and an RL bending motor 16. Pulleys 21 and 22 are fixed to output shafts 19 and 20, respectively. Are pulleys 21 and 22
It is wound around. Encoders 17 and 18 for detecting the rotation amounts of the motors are coaxially fixed to the bending motors 14 and 16. Further, similarly to the first embodiment, C
The CU 11, the MCU 24, the bending angle detection circuit 25, and the image generation device 55 are provided, and further, a bending resistance detection circuit 56 that detects a bending resistance from a driving power value generated by the MCU 24 is provided.

The MCU 24 is provided with the operation unit 6 of the endoscope 51.
Is connected electrically to a four-way angle switch 57 formed of, for example, a joystick provided on the motor, and supplies drive power to the bending motors 14 and 16 in accordance with an instruction from the angle switch 57. I have.
Further, the driving power is controlled by a bending angle detection signal from the bending angle detection circuit 25.

The bending resistance detection circuit 56 detects a load applied to the bending motors 14 and 16 from the driving power value generated by the MCU 24, and detects an abnormality in the operation of the motor and the operation of the bending section 4. If there is an abnormality, an abnormality signal is output to the image generator 55.

The image generator 55 is based on output signals from the bending angle detecting circuit 25 and the bending resistance detecting circuit 56,
An angle information image signal and an abnormality warning image signal are generated and output to the adder 27.
The video signal is synthesized with the output video signal from U11 and output to the monitor 12. Thereby, the angle information image and the abnormality warning image are combined and displayed on the observation image and the data image on the monitor 12.

When bending the bending portion 4 to a desired position, for example, the UP direction, the stick of the joystick type angle switch 57 is tilted in the UP direction. An instruction signal is input to the MCU 24 according to the inclination. Then, similarly to the first embodiment, the driving power is supplied from the MCU 24 to the UD bending motor 14, and the bending portion 4 bends in the UP direction.

At this time, the rotation amount of the UD bending motor 14 is detected by the encoder 17 and the bending angle of the bending portion 4 is detected by the bending angle detection circuit 25 based on the detected rotation amount. Output to On the other hand, the drive power value generated by the MCU 24 is also output to the bending resistance detection circuit 56, and the bending resistance detection circuit 56 monitors the input time of the supplied power and the power value. The bending resistance detection circuit 56 determines that the state is abnormal when each exceeds a preset threshold, and outputs an abnormal signal to the image generator 55 only in this case. The image generating device 55 generates an angle information image signal and an abnormality warning image signal based on the input bending angle detection signal and abnormal signal, and outputs the generated signal to the adder 27.

For example, when the bending resistance exceeds the threshold value and becomes an abnormal state, an abnormal warning image signal is output from the image generating device 55 and synthesized with the output video signal from the CCU 11 to be shown in FIG. As described above, the abnormality warning image 58 is displayed on the observation image 29 and the data image 30 on the screen of the monitor 12.
Are synthesized and displayed. Here, the abnormality warning image 58 is set so as to be displayed prior to the angle information image.

As described above, in the present embodiment, when the bending resistance exceeds the threshold value and is in an abnormal state, the abnormal state warning image is displayed prior to the angle information image. Can be easily transmitted to the person, and a safe inspection can be performed. Further, since there is no need to provide a dedicated device for displaying a warning image or transmitting a warning, the entire device can be downsized.

Incidentally, the bending speed can be controlled in accordance with the bending state of the bending portion. FIG. 5 shows a first example of an endoscope apparatus capable of controlling such a bending speed.

The endoscope 61 has an elongated insertion portion 62, and a light guide 63 for transmitting illumination light is inserted into the insertion portion 62. While the solid-state imaging device 10 is disposed in the distal end component 3 of the insertion portion 62, the distal end of the light guide 63 is disposed. The rear end side of the light guide 63 includes the operation unit 6, the universal cord 7, the connector 8
The inside is inserted. The endoscope 61 is detachably connected to the external control device 64 via the connector 8, and illumination light from a light source 65 provided in the external control device 64 passes through the light guide 63. The light is transmitted to the distal end of the insertion portion and is irradiated toward the subject 66.

The solid-state imaging device 10 is connected to the CCU 11 in the external control device 64.
A video signal picked up by the solid-state image pickup device 10 is processed by the CCU 11 and output to the monitor 12.

As in the first embodiment, bending motors 14 and 16 are provided in the operation unit 6 of the endoscope 61, and angle wires are attached to pulleys 21 and 22 connected to the bending motors 14 and 16. 13 and 15 are wound. Bending motor 1
Reference numerals 4 and 16 are connected to the MCU 24 in the external control device 64, and are driven by driving power from the MCU 24.

Further, the external control device 64 includes a light source circuit 67 for driving the light source 65, and an automatic dimming circuit 68 for controlling the amount of light of the light source 65 based on the video signal output from the CCU 11.
Is provided. The automatic dimming circuit 68 detects the brightness level of the observed image from the output video signal from the CCU 11 and controls the light source circuit 67 based on this level to control the light source 6.
5, and outputs a brightness level signal to the MCU 24 as well. The MCU 24 determines from the brightness level signal from the automatic dimming circuit 68 that the object is close when the brightness level of the reflected light from the subject 66 is high, and reduces the motor drive power to a low level. If the level is low, it is determined that the object is far, and the motor drive power is set to a high level, and drive power according to the distance to the subject 66 is supplied to the bending motors 14 and 16. .

In this example, when the distal end component 3 approaches the subject 66, the amount of illumination light emitted from the distal end of the light guide 63 is reflected from the subject 66, and the amount of incident light to the solid-state imaging device 10 is increased. Increase. For this reason, CCU11
The brightness level of the video signal processed in step (1) increases, and the automatic dimming circuit 68 outputs a signal to the light source circuit 67 so as to reduce the amount of light. This brightness level signal is output to MCU2
The MCU 24 receives this signal and switches the motor drive power level to a low level. This allows
As the distal end component 3 approaches the subject 66, the motor speed decreases and the bending speed decreases.

On the other hand, when the distal end component 3 moves away from the subject 66, the brightness level signal decreases, and the MCU 24
Switches the motor drive power level to a high level. That is, when the distal end component 3 moves away from the subject 66, the motor speed increases, and the bending speed increases.

As described above, by controlling the bending speed in accordance with the distance to the subject, when observing near the body wall, the bending speed becomes slow, and the observation screen can be observed without changing at a high speed. It will be easier. Also, when bending at a position far from the body wall, the bending speed will be faster,
It can quickly bend to any position, improving operability.

FIG. 6 shows a second example of the endoscope apparatus capable of controlling the bending speed. In the second example, instead of using the CCU and the automatic dimming circuit as in the first example to detect the amount of reflected light from the subject, a part of the light guide is used for reflected light guiding, and For example, C that receives reflected light
an optical sensor 73 composed of a dS cell or the like;
3 and an amplifier 74 for amplifying the output signal.

The light guide 63 is inserted through the insertion portion 72 of the endoscope 71 as in the first example. The rear end side of the light guide 63 passes through the operation section 6, the universal cord 7, and the connector 8, and branches into two inside the connector 8. One end surface of the light guide 63 that is branched into two is disposed so as to face the light source 65 in the external control device 75, and the other end surface is opposed to the optical sensor 73 provided in the external control device 75.

A bending motor 14 is provided in the operation unit 6 in the same manner as in the first example, and an angle wire is inserted through the insertion portion 72 into a pulley 21 provided on the rotation shaft of the bending motor 14. 13 are wound.

The optical sensor 73 is connected to an amplifier 74, and the output signal of the optical sensor 73 is amplified to generate an MCU signal.
24. The MCU 24 controls the driving power based on the output signal level from the amplifier 74 and drives the bending motor 14 according to the amount of reflected light from the subject 66.

When the bending portion of the insertion portion 72 is bent at a desired position, for example, in a downward direction (DOWN direction), when a bending switch (not shown) is turned ON in the DOWN direction, the MCU 24 is turned on.
Supplies driving power to the bending motor 14, whereby the bending motor 14 rotates to pull the angle wire 13, and the bending portion bends in the DOWN direction.

Here, when the distal end component of the insertion section 72 approaches the subject 66, the amount of illumination light emitted from the distal end of the light guide 63 reflected from the subject 66 increases, and the light guide 63 branches. Since the amount of reflected light guided through the other side also increases, the output level of the optical sensor 73 increases. When the output signal of the optical sensor 73 is input to the MCU 24 via the amplifier 74, when the input level exceeds a certain value, the MCU 24 reduces the power supply value of the motor. Therefore, as the distal end component approaches the subject 66, the motor speed decreases and the bending speed decreases.

On the other hand, when the distal end component moves away from the subject 66, the output level of the optical sensor 73 decreases, and the MCU 2
4 increases the power supply value of the motor. In other words, when the distal end component moves away from the subject 66, the motor speed increases and the bending speed increases.

As described above, also in this example, as in the first example, the observation can be easily performed by controlling the bending speed according to the distance to the subject.

FIG. 7 shows a third example of the endoscope apparatus capable of controlling the bending speed. The third example is an example in which, when the operator can grasp the distance to the subject from an observation image or the like, the bending speed is instructed by voice, and the bending speed is controlled according to the command.

The endoscope 81 has an elongated insertion portion 82 through which the angle wires 13 and 15 are inserted. The same components as those in the first example are denoted by the same reference numerals, and description thereof will be omitted.

External control device 83 to which endoscope 81 is connected
, A voice recognition circuit 84 is provided, and a microphone 85 provided outside is connected. Voice recognition circuit 84
Is configured to output a control signal to the MCU 24 when recognizing a voice signal input from the microphone 85 and determining that the command is a bending speed command. Here, for example, a setting is made so that a low-level (“L”) signal is output to the MCU 24 when the input audio signal is “tweak”, and a high-level (“H”) signal is output when the input audio signal is “low”. I do. In the MCU 24, the input signal is “L” or “H”.
The power supplied to the bending motors 14 and 16 is switched between a low level and a high level.

When the bending portion of the insertion portion 82 is bent to a desired position, for example, rightward (light direction), when a bending switch (not shown) is turned on in the light direction, the MCU 24 sets the R
The driving power is supplied to the L-bending motor 16, whereby the bending motor 16 rotates to pull the angle wire 15, and the bending portion bends in the light direction.

Here, when the operator wants to bend quickly, if the user speaks "sound" toward the microphone 85, a sound signal "sound" is input to the voice recognition circuit 84 via the microphone 85, and the voice recognition is performed. A high level signal is output from the circuit 84 to the MCU 24. Then, the MCU 24 receives this signal and switches the power supplied to the RL bending motor 16 to a high level, whereby the rotation speed of the bending motor 16 increases and the bending portion 4 bends quickly.

On the other hand, when the surgeon wants to bend while observing slowly, for example, near the body wall, he speaks “Tee-soku” to the microphone 85. Then, a voice signal “Teeoku” is input to the voice recognition circuit 84 via the microphone 85, and a low level signal is output from the voice recognition circuit 84 to the MCU 24. The MCU 24 receives this signal and switches the power supplied to the RL bending motor 16 to a low level, so that the rotation speed of the bending motor 16 decreases, and the bending section 4 bends slowly.

The microphone for picking up the voice command may be of a wireless type, or may be provided anywhere such as inside the endoscope, freely attached to the endoscope, or freely attached to the clothes of the operator. The control of the bending speed is not limited to two steps, but may be three or more steps.

As described above, in the present embodiment, since the bending speed is controlled in accordance with a command from the operator, the bending speed can be controlled according to the operator's preference. Further, it is not necessary to provide a large number of angle switches for high speed and low speed.

FIG. 8 shows a fourth example of the endoscope apparatus capable of controlling the bending speed. The fourth example is an example in which a determination circuit for determining the type of the endoscope is provided, and the bending speed is controlled according to the type of the endoscope.

The endoscope 91 has an elongated insertion portion 92 through which the angle wire 13 is inserted. Endoscope 9
One connector 8 is provided with a determination resistor 93 for determining the type of endoscope. This discriminating resistor 93
Are provided so that the resistance value differs depending on the type, for example, for the upper digestive tract, the lower digestive tract, and the like. The same components as those in the first example are denoted by the same reference numerals, and description thereof will be omitted.

External control device 94 to which endoscope 91 is connected
Is provided with a discriminating circuit 95 for discriminating the type of the endoscope, and is connected to the discriminating resistor 93. The discriminating circuit 95 indicates that the connector 8 is connected to the external control device 94
, The resistance of the discriminating resistor 93 is read, and a control signal corresponding to the resistance is output to the MCU 24. For example, a high-level signal is output to the MCU 24 when the resistance value of the determination resistor 93 is for the upper digestive tract, and a low-level signal is output for the lower digestive tract. The MCU 24 receives the signal from the determination circuit 95 and switches the power supplied to the bending motor 14 to a high level or a low level. For example, when the signal from the determination circuit 95 is at a high level, the supply power is switched to a high level, and when the signal is at a low level, the supply power is switched to a low level.

When using the endoscope 91, the connector 8 is connected to the external control device 94. As a result, the determination resistor 93 is electrically connected to the determination circuit 95, and the type of the endoscope is determined. The discrimination circuit 95 reads the resistance value of the discrimination resistor 93 and sends a control signal of a level corresponding to the resistance value to the MCU 24.
Output to The MCU 24 sets the level of the power supplied to the bending motor 14 based on the control signal.

Thereafter, the insertion portion 92 of the endoscope 91 is inserted into a body cavity or the like, and is bent so that a target portion can be observed. At this time, since the MCU 24 supplies drive power according to the type of endoscope to the bending motor 14, the bending section 4 bends at a speed suitable for the type of endoscope.

The type of endoscope may be determined and controlled by determining the type of each small site such as bronchial, duodenal, and large intestinal, in addition to the upper digestive tract and the lower digestive tract. Alternatively, the bending speed may be controlled according to the length of the insertion portion.

As described above, according to the present embodiment, the driving power of the bending motor suitable for the type of endoscope is automatically set, so that the operability in the bending operation is improved.

[0070]

As described above, according to the present invention, the curvature information is displayed without limiting the size of the display area of the endoscope image or other necessary data on the monitor, and the endoscope image or other information is displayed. There is an effect that the curvature information can be reliably transmitted to the operator while sufficiently displaying the necessary data.

[Brief description of the drawings]

FIGS. 1 and 2 relate to a first embodiment of the present invention, and FIG. 1 is a configuration explanatory view showing a configuration of an endoscope apparatus.

FIG. 2 is an explanatory diagram showing a display state on a monitor.

FIGS. 3 and 4 relate to a second embodiment of the present invention, and FIG. 3 is a configuration explanatory diagram showing a configuration of an endoscope apparatus.

FIG. 4 is an explanatory diagram showing a display state on a monitor.

FIG. 5 is a configuration explanatory diagram showing a configuration of a first example of an endoscope apparatus capable of controlling a bending speed;

FIG. 6 is a configuration explanatory view showing a configuration of a second example of the endoscope apparatus capable of controlling a bending speed.

FIG. 7 is a configuration explanatory view showing a configuration of a third example of the endoscope apparatus capable of controlling a bending speed.

FIG. 8 is a configuration explanatory view showing a configuration of a fourth example of an endoscope apparatus capable of controlling a bending speed.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope 2 ... Insertion part 4 ... Bending part 9 ... External control device 11 ... CCU 12 ... Monitor 24 ... MCU 25 ... Bending angle detection circuit 26 ... Image generator 27 ... Adder 28 ... Angle information image 29 ... Observation Image 30: Data image 56: Bending resistance detection circuit 58: Abnormality warning image

────────────────────────────────────────────────── ─── Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) A61B 1/00-1/32 A61B 8/00-8/14 G02B 23/24 H04N 7/18 Utility file ( (PATOLIS) Patent file (PATOLIS)

Claims (2)

(57) [Claims] 1. A endoscope having an insertion portion of an elongated bendable, a monitor for displaying at least one of the endoscope captured by the observation image and the endoscope data image necessary for inspection, the inside A signal for instructing the endoscope insertion section to perform a bending operation
Instruction signal generating means capable of generating a signal, and the internal signal according to a signal generated by the instruction signal generating means.
Driving means for bending the endoscope insertion section, bending state detection means for detecting the bending state of the endoscope insertion section, and a finger to which a signal generated by the instruction signal generation means is input
And示信signal input means, response to the output of the instruction signal input means for the instruction signal is input
A curved state display unit for displaying a curved state on the monitor by superimposing a curved state detected by the curved state detection unit on a part of the observation image and the data image. Endoscope device. 2. An endoscope having a bendable elongated insertion portion.
Observed image and data image required for endoscopy
The insertion portion while displaying at least one of
May generate a signal that instructs it to perform a bending operation.
A possible instruction signal generating means, and the internal signal according to a signal generated by the instruction signal generating means.
Driving means for bending the endoscope insertion section, and a bending state detecting means for detecting a bending state of the endoscope insertion section
And a finger to which a signal generated by the instruction signal generating means is input.
Operating based on a signal generated by the indicating signal input means and the indicating signal generating means.
Timer means, and the bending state detected by the bending state detecting means,
In response to the output of the instruction signal input means to which the instruction signal is input.
Then, the model is superimposed on a part of the observation image and the data image.
While performing the bending state display to composite display on the brush,
The bending state display is changed to a predetermined state according to the operation of the timer means.
An endoscope apparatus comprising: a curved state display means for performing time .