JP3222190B2 - Bending control device for endoscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a bending control device for an endoscope which enables a manual angle control type endoscope to be used as an electric angle control type endoscope.

[0002]

2. Description of the Related Art Generally, there are a manual angle control method and an electric angle control method as a method for bending the endoscope end.

In the manual angle control system, a bending operation is performed by an angle operation knob provided in an endoscope operation unit, and it is widely used in the market at present. On the other hand, the electric angle control system performs a bending operation by driving a motor. For example, in Japanese Utility Model Laid-Open Publication No. 51-91989, a motor is attached to an endoscope operation unit, and the rotation shaft of the motor is connected to a rotating arm. There is disclosed a technique in which a bending operation of an endoscope end portion is performed by rotating an operation lever by rotationally driving the rotation shaft in conjunction with an operation lever. Japanese Patent Publication No. 33855/1988 discloses a technique in which a motor is provided at the distal end of an endoscope insertion portion and a bending operation is performed by the motor. Further, Japanese Patent Publication No. 63-47451 discloses that a specific position of an endoscope image projected on a monitor is indicated by a light pen,
There is disclosed a technique of controlling a driving unit based on this instruction signal to control the bending of the endoscope so as to direct the distal end portion to the specific position. On the other hand, Japanese Utility Model Laid-Open Publication No. 59-33402 discloses an endoscope operating section by providing a motor for driving a wire for operating an endoscope bending section in a plug case at the end of a universal cord of the endoscope. There is disclosed a technology for realizing a small size, light weight, and the like.

[0004]

As described above, the conventional bending operation of the distal end portion of the endoscope is generally performed by a manual angle control system, and various endoscopes of an electric angle control system have been devised.

[0005] However, both endoscopes of the above two control systems are dedicated models, and it is difficult to use an endoscope of the manual angle control system as an endoscope of the electric angle control system after purchase. There's a problem.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide a bending control device for an endoscope which enables a manual angle control type endoscope to be used as an electric angle control type endoscope. The purpose is.

[0007]

Means for Solving the Problems] The endoscope bending control apparatus according to the first aspect of the present invention for achieving the above object, the inner
It is provided on the outer surface of the operation unit of the endoscope.
An angle knob that can rotate around a rotating shaft that communicates with the outside
It is possible to operate the bending part of this endoscope more
Endoscope bending control device that can be attached to and detached from the endoscope
And the angle knob is in front of the angle knob.
It engages at a position where it can rotate around the rotation axis.
Engagement means having an engagement portion which can be detachably mounted on the vehicle, and the engagement means
Drive to rotate the angle knob by driving
Moving means, and the engaging means and the driving means are built-in.
A mounting section that is detachably mounted on the operation section of the endoscope.
A main body having:
A switch for operating the driving means in response to a music operation.
Characterized in that a switch means, the second aspect of the
The bending control device for an endoscope according to the invention includes an operation unit of the endoscope.
It is provided on the outer surface and is a circuit that communicates with the inside and outside of this operation unit.
Concavo-convex part that can rotate around the axis of rotation and is provided in the circumferential direction
Angle knob having a gripper for gripping and operating
The bending section of the endoscope can be operated to bend.
Endoscope bending control device that can be attached to and detached from the endoscope
And inserted into the concave portion of the grip portion of the angle knob,
A rotating ring having an engaging portion engaged with the rotating ring;
Rolling ring with the same rotation axis as the rotation axis of the angle knob
Supporting means for rotatably supporting as a center;
The angle knob is turned by turning the ring.
Drive means, the rotating ring, the support means and the front
The drive means is built-in, and the operation unit of the endoscope is provided.
Attached detachably along the axis of the rotating shaft
And a main body having a mounting portion .
The bending control device for an endoscope according to the third invention of the present application provides an endoscope
It is provided on the outer surface of the operation unit of the mirror.
Can be rotated around the rotation axis leading to the part and provided in the circumferential direction
Having a first gripper for gripping and operating a given uneven portion
A first angle knob and a first angle knob
From the first angle knob provided coaxially at the top
It has a small external shape and grips the uneven portion provided in the circumferential direction.
The second angle knob having a second operating portion for operating Te
Therefore, the bending portion of the endoscope is moved in the first direction and the second direction.
Can be attached to and detached from an endoscope that can bend in the opposite direction
In the bending control apparatus for an endoscope, the first angle
A concave portion of a grip portion of the knob;
The first angler inserted outside the convex portion of the outer shape;
A first rotary rib having an engaging portion for engaging with the convex portion of the
And inserted into the concave portion of the grip portion of the second angle knob
Second rotation having an engaging portion engaged with the convex portion
A ring, the first rotating ring and the second rotation
The ring is connected to the rotation axes of the first and second angle knobs.
Support means for rotatably supporting about the same rotation axis
And the first rotating ring and the second rotating ring
The angle knob is rotated by rotating the angle knob.
Moving means, the first rotating ring, and the second rotating ring.
With the supporting means and the driving means incorporated therein.
In the axial direction of the rotation axis with respect to the operation unit of the endoscope
And a main body having a mounting portion that is detachably mounted along
It is characterized by a, and the inner according to a fourth aspect of the present invention
The bending control device for an endoscope according to claim 2 or 3,
Provided on the main body, the front portion corresponding to the bending operation of the bending portion.
Switch means for operating the driving means is provided
It is characterized by.

[0008]

[Operation] In the above configuration, the engaging means and the driving means are internally provided.
The storage body can be detachably attached to the operation unit of the endoscope with the mounting part
Attach .

Then, an engaging hand having a detachable engaging portion is provided.
The step engages the angle knob so that the drive means
The engagement knob is driven to rotate the angle knob .

[0010]

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

FIGS. 1 to 6 show a first embodiment of the present invention.
FIG. 1 is a conceptual view showing a state in which the bending control device for an endoscope is attached to an endoscope main body, FIG. 2 is a cross-sectional view showing a state in which the bending control device for an endoscope is mounted on the endoscope main body, and FIG. 4 is a perspective view of an operation switch provided in the unit, FIG. 4 is a wiring diagram of the switch, FIG. 5 is a perspective view of another mode of the operation switch, and FIG. 6 is a perspective view of a set screw according to another mode.

Reference numeral 1 in the drawing denotes an endoscope main body of an endoscope adopting a manual angle control system, and reference numeral 1a denotes a hand-held operation unit provided in the endoscope main body 1.

On one side of the operation unit 1a, an up / down (hereinafter "UD") angle knob 3 and a small right / left (hereinafter "RL") angle knob located above the UD angle knob 3 are provided. 4 are arranged coaxially. When the angle knobs 3 and 4 are rotated by manual operation, the endoscope bending portion (not shown) bends in an arbitrary direction, and the endoscope end portion (not shown) is directed in a desired direction. Can be.

On the other hand, reference numeral 6A denotes a bending control device for an endoscope, and a main body 7 of the bending control device 6A for the endoscope is attached to the angle knobs 3 and 4 of the operation section 1a of the endoscope main body 1. It is detachably held and fixed to the operation section 1a via a set screw 9 by a mounting plate 8 opposed to the operation section 1a.

A UD angle knob drive motor 10 and an RL angle knob drive motor 11 as drive units are fixed in the main body 7 via attachments 12 and 13. Further, levers 14 and 15 as engagement portions are respectively axially mounted on the motors 10 and 11, and the tip of one lever 14 is connected to the UD angle knob 3.
And the other lever 15 is freely engageable with the RL angle knob 4.

A UD angle switch 16 and an RL angle switch 17 are disposed on the side of the main body 7, and a power supply 18 for supplying power for driving the motor.
Are connected to the switches 16 and 17 via a cable 19. The switches 16 and 17 are connected to the motors 10 and 11, respectively.
By operating the motors 6, 17, the motors 10, 11 can be stopped, rotated forward or reversely. In addition,
In the figure, each of the motors 10,
Wirings 20 and 21 to 11 are simply indicated by a single line.

As shown in FIG. 3, each of the switches 14,
Reference numeral 15 denotes a seesaw switch, which is normally at a neutral position. When the U-side of the UD angle switch 16 is pressed, the endoscope end is bent upward, and when the D-side is pressed, the endoscope is bent downward.
Similarly, when the R side of the RL angle switch 17 is pressed, the distal end of the endoscope bends rightward, and when the L side is pressed, it bends leftward.

FIG. 4 shows the wiring of the switch 16 (17). In the figure, the neutral position of the switch 16 (17) is indicated by a solid line, the case where U (R) is pressed is indicated by a broken line,
The case where (L) is pressed is indicated by a one-dot chain line.

When the U (R) side of the switch 16 (17) is pressed, the U (R) of the wiring 20 (21) connected to the motor 10 (11) is pressed.
When the power supply Vcc is applied to the (R) side cable 20a (21a) and the D (L) side of the switch 16 (17) is pressed, the D (L) of the wiring 20 (21) connected to the motor 10 (11) is pressed. ) The power supply Vcc is applied to the side cable 20b (21b). As a result, U of the switch 16 (17)
When the (R) side is pressed and the D (L) side is pressed, the motor 10 (11) rotates in the opposite directions.

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

As shown in FIG. 2, the bending control device 6 for an endoscope is used.
A body 7 is attached to the angle knobs 3 and 4 of the operation section 1a of the endoscope body 1, and the main body is fixed by a set screw 9 which is screwed in from the side of the mounting plate 8 opposed to the operation section 1a. 7
Is fixed.

Then, the ends of levers 14 and 15 which are respectively mounted on the UD angle knob driving motor 10 and the RL angle knob driving motor 11 provided on the main body 7 are connected to the UD angle knob 3 and the RL angle knob 4 respectively. Respectively.

In this state, when the U side of the UD angle switch 16 provided on the main body 7 is pressed, the motor 10 rotates, and when the D side is pressed, the motor 10 rotates in a direction opposite to that when the U side is pressed. I do.

When the motor 10 is rotated forward or backward by the operation of the UD angle switch 16, the rotational force is applied to the UD angle knob 3 provided on the endoscope operation section 1a via the lever 14 to adjust the rotation. The endoscope (not shown) is bent in a desired direction by rotating the endoscope.

When removing the main body 7 from the operation section 1a of the endoscope main body 1, the set screw 9 may be loosened.

As described above, in this embodiment, the endoscope main body 1
By attaching the endoscope bending control device 6A to the operation unit 1a, the endoscope of the manual angle control method can be used as the electric angle control method, so that the usability is good.

The bending operation of the bending section of the endoscope is not limited to the seesaw switches 16 and 17 shown in FIG.
Angle directions shown in (a) (UP, DOWN, RIGH
T, LEFT) independent switches 26a, 26b,
The switch 26c, 26d, the integrated switch 27 shown in FIG. 5B, or the joystick switch 28 shown in FIG. 5C may be used.

If the set screw 9 has a knob 9a as shown in FIG. 6, the main body 7 can be connected to the operating section 1 of the endoscope main body 1 without using a tool such as a screwdriver.
a can be easily loaded and unloaded.

(Second Embodiment) FIGS. 7 to 9 show a second embodiment of the present invention. FIG. 7 is an exploded perspective view of a main part of a bending control device for an endoscope, and FIG. FIG. 9 is a perspective view showing a state in which the bending control device for an endoscope is attached, and FIG. 9 is a plan view thereof.

The bending control device 6 for an endoscope shown in this embodiment.
In B, the UD knob rotation ring 31 and the RL knob which have engagement portions 31a and 32b respectively engaged with the UD angle knob 3 and the RL angle knob 4 provided on the operation portion 1a of the endoscope body 1 on the body portion 7. The rotating ring 32 is coaxially rotatably supported internally via a bearing (not shown) or the like,
UD angle knob driving motor 1 is attached to ring gears 31a, 31b formed on the outer periphery of both rotating rings 31, 32.
The pinions 10a and 11a that are axially attached to the 0 and the RL angle knob drive motor 11 are meshed.

In this embodiment, when the driving force of the motors 10 and 11 is transmitted to the rotating rings 31 and 32, the UD angle knob 3 and the RL are connected to each other via engagement portions 31a and 32a formed on the rotating rings 31 and 32. The rotation of the angle knob 4 causes the distal end of the endoscope to bend in a desired direction.

(Third Embodiment) FIGS. 10 and 11 show a third embodiment of the present invention. FIG.
1 is a circuit diagram of a bending control device for an endoscope and a control unit.

In this embodiment, the bending control device 6 for an endoscope is used.
The operation of C is controlled by a control signal from the insertion direction detecting device 36.

The light emitted from the light source device 37 enters a light guide of a video scope 38 as an endoscope, is guided to the end of the endoscope, and illuminates a body cavity (not shown).

An image pickup optical system, an image pickup device and the like are provided inside the distal end of the video scope 38, and a subject image such as a body cavity is formed on the image pickup device surface. A signal from the imaging device is input to a camera control unit (CCU) 39, converted into a so-called TV signal, and an image of a body cavity or the like is projected on a monitor 36.

On the other hand, the TV signal from the CCU 39 is input to the insertion direction detection device 36, and the insertion direction is detected. As the insertion direction detecting device 36, there is, for example, one described in detail in Japanese Patent Application Laid-Open No. 2-140134 previously submitted by the present applicant.

The insertion direction signal output from the insertion direction detecting device 36 is input to the control circuit 41 to generate a motor control signal. The motor incorporated in the endoscope bending control device 6C is controlled by the control signal. Specifically, control of forward rotation, reverse rotation, and stop is performed. The bending control device 6C has the same structure as that of the first embodiment or the second embodiment, and is attached to the operation unit of the video scope 38, and an engagement unit connected to the motor is provided in the main body unit. This engaging portion is engaged with an angle knob of the endoscope.

As a result, the angle knob is rotated by the driving force of the motor, and the bending control is performed so that the end portion of the endoscope is directed in the insertion direction detected by the insertion direction detecting device 36.

The operation of the control circuit 41 and the bending control device 6C for an endoscope will be described in detail with reference to FIG.

The insertion direction signal from the insertion direction detecting device 41 is transmitted to the UD relay 41a and the RL relay 41 in the control circuit 37.
b to control the relays 41a and 41b. A motor power supply circuit 41c is connected to each of the relays 41a and 41b.
a, 41b are output from the bending control device 6 for the endoscope.
It is connected to the UD motor 10 and the RL motor 11 provided inside C.

The operation of the motors 10, 11 by the switching of the relays 41a, 41b is the same as that of the first embodiment shown in FIG.

(Fourth Embodiment) FIG. 12 is a block diagram of an endoscope apparatus according to a fourth embodiment of the present invention.

In this embodiment, an endoscope using a fiberscope 45 is shown. This fiberscope 4
5 is provided with a camera head 46, and the output of the camera head 46 is input to the CCU 39 and
A signal is created, and an image in the body cavity or the like is projected on the monitor 40. The other configuration is the same as that of the third embodiment.

FIG. 13 is an overall configuration diagram of an electric angle control type endoscope 51 as an endoscope. The endoscope operation section 51a is provided with angle directions (UP, DOWN, RIG).
HT, LEFT) and switch 52 is provided to set the angle drive motor of the pressed operation portion 51a so that the angle is applied in the direction specified by the switch
Drive. Here, for simplicity, UP, DO
In the case of WN, an angle wire 54 is connected to the angle drive motor 53, and an angle is applied to, for example, UP during forward rotation of the motor and DOWN during reverse rotation according to the rotation direction of the motor.

The operation unit 51a is provided with a knob 55 for setting the angle lock detection sensitivity. With this knob 55, the user can arbitrarily set the sensitivity at which the rotation of the motor 53 can be stopped by detecting that the distal end of the endoscope has been pressed against living tissue or the like during the bending operation and locked. it can.

FIG. 14 is a block diagram of the angle lock detecting device 56.

The angle lock detecting device 56 is provided in a power supply device 57 for supplying a driving power to the motor 53. When a signal corresponding to the angle drive direction set by the switch 70 of the operation unit 51 is input from the angle drive direction input device 57 to the motor drive circuit 58, the motor drive circuit 58 rotates the motor 53 in the set direction. Voltage is applied. Then, the endoscope bending portion 51b is bent via the angle wire 54 connected to the motor 53, and is directed to the endoscope end portion 51c in the designated direction.

When the distal end portion 51c of the endoscope 51 is pressed against the body wall during the bending operation, or when the maximum bending angle is reached, the motor 53 is in the locked state, and the impedance is lowered. The current increases.

The increase in the current is detected by current detecting means 59 interposed in the middle of the line to the motor 53, I / V conversion is performed by the I / V converter 60, and the motor lock determination circuit 61
To enter. A lock determination level (sensitivity) set by a knob 55 provided on the endoscope operation section 51a is separately input to the motor determination circuit 61. The value of the lock determination level is input to the lock determination level input device 62.
Is set according to the turning angle of the knob 55.

The motor lock determination circuit 61 compares the lock determination level set by the lock determination level input device 62 with the level from the I / V converter 61,
When it is determined that the motor is locked, a stop signal is output from the motor stop signal generating means 63 to the motor drive circuit 58,
Stop the motor drive.

FIG. 15 illustrates a circuit configuration of the angle lock detecting device 56 corresponding to FIG.

The current detection resistor 59 detects an increase in the current at the time of motor lock and converts it into a voltage. Since the motor 53 has forward rotation and reverse rotation, the polarities are aligned by the absolute value circuit 64 and input to the inverting input terminal of the comparator OP. This comparator O
The reference voltage input to the non-inverting input terminal of P can be adjusted by the user with a knob 55 provided on the endoscope operation unit 51a.
The detection level at the time of angle lock can be changed.

Thus, the pressing sensitivity of the endoscope distal end portion 51c during the operation of the electric angle to the body cavity wall or the like can be controlled by the operation unit 5.
It can be easily adjusted at 1a.

[0054]

As described above, according to the present invention, by attaching the bending control device to the endoscope main body, the endoscope of the manual angle control system can be used as the endoscope of the electric angle control system. Therefore, effects such as improved usability are exhibited.

[Brief description of the drawings]

1 to 6 show a first embodiment of the present invention.
Is a conceptual diagram of the endoscope bending control device attached to the endoscope body

FIG. 2 is a sectional view showing a state in which the bending control device for an endoscope is attached to an endoscope main body.

FIG. 3 is a perspective view of an operation switch provided on a main body.

FIG. 4 is a wiring diagram of a switch.

FIG. 5 is a perspective view of another mode of the operation switch.

FIG. 6 is a perspective view of another set screw.

7 to 9 show a second embodiment of the present invention.
Is an exploded perspective view of a main part of the bending control device for an endoscope.

FIG. 8 is a perspective view showing a state in which the bending control device for an endoscope is attached to the endoscope.

FIG. 9 is a plan view showing a state in which the endoscope bending control device is attached to the endoscope;

10 and 11 show a third embodiment of the present invention, and FIG. 10 is a configuration diagram of an endoscope apparatus.

FIG. 11 is a circuit diagram of an endoscope bending control device and a control unit.

FIG. 12 is a configuration diagram of an endoscope apparatus according to a fourth embodiment of the present invention.

FIG. 13 is an overall configuration diagram of an electric angle control type endoscope.

FIG. 14 is a block diagram of an angle lock detection device.

FIG. 15 is a circuit configuration diagram of the angle lock detection device corresponding to FIG.

[Explanation of symbols]

 1, 51 endoscope main body 7 main body 3, 4 angle knob 14, 15, 31a, 32a engaging part 10, 11 driving part

Claims (4)

(57) [Claims] 1. An angle knob provided on an outer surface of an operation section of an endoscope and rotatable about a rotation axis communicating with the inside and outside of the operation section to bend the bending section of the endoscope. In the bending control device for an endoscope which can be attached to and detached from the endoscope, the angle knob engages with the angle knob at a position rotatable around the rotation axis. An engaging means having a detachable engaging portion; a driving means for rotating the angle knob by driving the engaging means; and a built-in engaging means and the driving means; A main body having a mounting portion detachably mounted to an operation unit of the endoscope; and a main body provided on the main body and corresponding to a bending operation of the bending portion.
An endoscope bending control device , comprising: switch means for operating the driving means . 2. An operation section provided on an outer surface of an operation section of an endoscope, rotatable about a rotation axis communicating between the inside and outside of the operation section, and operating by grasping a concave and convex section provided in a circumferential direction. An endoscope bending control device that is attachable / detachable to / from an endoscope capable of performing a bending operation on a bending portion of the endoscope by an angle knob having a grip portion that performs gripping of the angle knob . Inserted into the recess,
A rotating ring having an engaging portion that engages with the rotating knob; supporting means for rotatably supporting the rotating ring around the same rotation axis as the rotation axis of the angle knob; and rotating the rotation ring. A drive unit for rotating the angle knob, the rotation ring, the support unit, and the drive unit are built-in, and detachable along an axial direction of the rotation shaft with respect to an operation unit of the endoscope. A bending control device for an endoscope, comprising: a main body having a mounting portion mounted on the endoscope. 3. An operation section provided on an outer surface of an operation section of the endoscope, rotatable about a rotation shaft communicating with the inside and outside of the operation section, and operating by grasping an uneven portion provided in a circumferential direction. First
First with one grip of the angle knob and the first
The first knob is provided coaxially with the angle knob of
Has an outer shape smaller than the angle knob of
With the second angle knob having the second operating portion for gripping and operating the concave and convex portions, the bending portion of the endoscope can be bent in the first direction and the second direction. An endoscope bending control device that can be attached to and detached from an endoscope, wherein the concave portion of the grip portion of the first angle knob is
2 is inserted outside the convex part of the outer shape of the angle knob,
A first rotating ring having an engaging portion that engages with a convex portion of the first angle knob; and a first rotating ring that is inserted into a concave portion of a grip portion of the second angle knob and has a convex shape.
A second rotating ring having an engaging portion that engages with the portion, the first rotating ring and the second rotating ring,
By rotating the first rotation ring and the second rotation ring, the support means rotatably supports the rotation axis about the same rotation axis as the rotation axes of the first and second angle knobs. A drive unit for rotating the angle knob; a first rotation ring, a second rotation ring, the support unit, and the drive unit; and a rotation shaft with respect to an operation unit of the endoscope. And a main body having a mounting portion that is detachably mounted along the axial direction of the endoscope. 4. An endoscope for an endoscope according to claim 2, further comprising a switch provided on said main body for operating said driving means in response to a bending operation of said bending portion. Bending control device.