JP3233373B2 - Endoscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope in which a bending portion at a distal end of an insertion portion of the endoscope is operated by a driving device.

[0002]

2. Description of the Related Art Recently, an electric motor has been incorporated into an endoscope operating section, and a traction member for bending operation is towed by using the power of the electric motor to remotely bend the bending section in the insertion section. Such an endoscope has been proposed. According to such an electric bending operation device, the operability is remarkably improved as compared with the conventional manual operation device.

[0003] In addition, since the drive source of such an electric endoscope requires a high torque to bend the bending portion, for example, in Japanese Patent No. 2504663, a motor having a large reduction ratio is required. Endoscopes that combine gears have been devised.

[0004] However, in the endoscope in which the gears are combined, a power transmission mechanism using a gear having a large reduction ratio is used even when the bending portion presses the inside of the body cavity when the insertion portion is inserted into or removed from a human body or the like. Because of the adoption, there is a possibility that the curved portion is not bent by a weak external force, that is, does not enter a free state, and may damage the body cavity.

[0005] In view of this, various proposals have been made to realize a free state by incorporating a clutch mechanism into a power transmission mechanism for transmitting power from a motor. For example, Japanese Patent Application Laid-Open No. 4-176430 discloses an endoscope provided with an electromagnetic clutch in an endoscope operation unit.
Japanese Patent Publication No. 256724 proposes an endoscope that constitutes a power transmission mechanism and mechanically moves one of two gears of a transmission gear train to disconnect the endoscope and set an endoscope bending portion in a free state. Have been.

[0006]

However, in a conventional endoscope in which an electromagnetic clutch is provided in the operation section to perform switching and realize a locked state and a free state of the bending section, the electromagnetic clutch itself is large, Therefore, there is a problem that the endoscope is large and the weight is increased, and the operability is deteriorated.

Further, in order to reduce the size and weight of the endoscope, one of the two gears in the transmission gear train is mechanically moved to release the connection, and the bending portion is locked and free. In a conventional endoscope that attempts to realize the above, the gears constituting the transmission gear train are relatively moved to mesh with each other, so that when the gears are meshed again after being separated, the gear teeth are smoothly formed. In some cases, meshing cannot be performed, and there is an essential problem that a locked state in which power from the motor can be transmitted cannot be reliably achieved.

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and provides an endoscope which is small in size and light in weight, has a simple structure, and can reliably switch between a locked state and a free state of a bending portion. It is an object.

[0009]

The endoscope according to the present invention comprises a bending portion provided in an insertion portion, a traction member for bending the bending portion by traction, and a driving means for pulling the traction member. Switching means for switching between the tensioned state and the relaxed state of the traction member, and switching between the tensioned state and the relaxed state of the traction member by the switching means, thereby switching between the locked state and the free state of the bending portion.

[0010]

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

FIGS. 1 to 5 relate to a first embodiment of the present invention, and FIG. 1 is a block diagram showing a configuration of an electronic endoscope apparatus having a first embodiment of the electronic endoscope of the present invention. 2 is a cross-sectional configuration diagram showing a configuration of the electronic endoscope and the electric control device of FIG. 1, FIG.
FIG. 4 is a cross-sectional view showing a configuration of a state switching mechanism provided in the operation unit of the electronic endoscope in FIG. 2, FIG. 4 is an explanatory diagram illustrating a relaxed state of the bending wire by the state switching mechanism in FIG.
3 is a flowchart illustrating the operation of the electronic endoscope apparatus of FIG.

As shown in FIG. 1, an electronic endoscope apparatus 1 including an electronic endoscope 2 according to a first embodiment, which is inserted into a body cavity and captures an image of an observation site, includes an insertion portion 7 of the electronic endoscope 2. Motor control device 3 for controlling the bending of the bending portion 16 provided in the vehicle
A light source device 6 that supplies illumination light to the electronic endoscope 2, a video processor 4 that performs signal processing on an image pickup signal from the electronic endoscope 2, and a video signal that is output from the video processor 4. And a monitor 5 for displaying a subject image.

The electronic endoscope 2 includes an elongated insertion section 7 that can be inserted into a subject, a large-diameter operation section 8 connected to the rear end of the insertion section 7, and an operation section 8. 8 is provided with a universal cord 9 extending from a side portion of the universal cord 8 and a connector 10 provided at an end of the universal cord 9 and detachably connected to the bending motor control device 3. A video processor cord 11 and an illumination light transmission cord 13 extend from the side of the connector 10. The end of the video processor cord 11 is provided with a connector 12 detachably connected to the video processor 4, and the end of the illumination light transmission cord 13 is detachably attached to the light source device 6. Connector 1 to be connected
4 are provided.

The insertion portion 7 of the electronic endoscope 2 is connected to a rigid distal end portion 15 and a rear end of the distal end portion 15, and is bent in up, down, left, and right directions, and a combined direction thereof. It comprises a possible bending portion 16 and a long and flexible flexible tube portion 17 connected to the rear end of the bending portion 16,
The rear end of the flexible tube section 17 is connected to the operation section 8.

The operation unit 8 has an air supply / water supply button 18, a suction button 19, a joystick 20 for bending operation for bending operation, and the bending unit 16 in a free state or a locked state. An F / L lever 22 constituting a free state / lock state switching means is provided. That is, by operating the air supply / water supply button 18, air supply or water supply is performed from an air supply / water supply port (not shown) provided in the distal end configuration portion 15, and by operating the suction button 19. The suction is performed using a suction channel 37 described later provided in the electronic endoscope 2. The joystick 20 has a lever 21. By operating the lever 21 two-dimensionally, the bending portion 16 can be bent in a desired direction. By operating the F / L lever 22, the bending portion 16 can be set in a free state or a locked state.

As shown in FIG. 2, the illumination light transmission cord 13 and the light guide 31 passing through the insertion portion 7 transmit the light from the light source device 6 to the distal end portion 15 of the insertion portion 7. An illumination window 31a for emitting light forward,
An observation window 32 through which reflected light from an observation site (not shown) is incident.
a and an opening 35 to which the suction pipe 36 is fixed. The tip component 15 has a thickness of 0.15.
A thin connecting pipe 42 having a thickness of not more than 1 mm is fixed to the rear end of the connecting pipe 42, and the bending portion 16, specifically, the first bending piece 43 is fixed to the connecting pipe 42. The bending section 16 is covered with a bending rubber (not shown).

The reflected light incident from the observation window 32a is:
A solid-state imaging device, for example, a CCD, for capturing an observation image by an imaging optical system 32 provided behind the observation window 32a.
An image is formed on an image pickup surface 33, converted into an electric signal by the CCD 33, and transmitted as an image pickup signal to the video processor 4 via a signal cable 34.

The suction pipe 36 is connected to a suction channel 37 communicating with a suction base (not shown) provided on the connector 10. A suction hose of a suction pump (not shown) is connected to the suction base to open the opening. 35
It is designed to suck body fluids and the like. The suction channel 37 communicates with a treatment tool insertion port 38 provided in the operation unit 8. A treatment tool (not shown) is inserted through the treatment tool insertion port 38, and inserted through the suction channel 37. By making it protrude from 35, various treatments can be performed.

The light guide 31 is inserted through a base 40 provided on the distal end portion 15 and a protection tube 41 connected to the base 40, and the universal cord 9 and the illumination light transmission cord 13 are inserted therethrough. Then, the connector 14 is detachably connected to the light source device 6.

The suction channel 37 of the suction pipe 36
A large diameter portion 36a for retaining is provided at a connection portion with the protective tube 41, and a large diameter portion 40a for retaining is provided at a connection portion of the base 40 with the protective tube 41. The diameter portion 36a and the large diameter portion 40a are arranged so as to be located in the connection pipe 42.

The bending first piece 43 has a bending wire 4
4 and 45 are fixed, and the curved wires 44 and 45 are fixed.
By pulling, the bending portion 16 can be bent in, for example, an up direction and a down direction. Although not shown, a bending wire for driving in the right direction and the left direction is also fixed to the first bending piece 43. The description is omitted, but the configuration is the same as that of the bending wires 44 and 45. I have.

The bending wires 44 and 45 are inserted through the insertion portion 7, and the direction of the bending wires 44 and 45 is changed by a moving pulley 49 (the bending wire 45 side is not shown) provided in the operation portion 8. 9 and wound around a pulley 46 provided in the connector 10. The bending wires 44 and 45 have a marker portion 44a (the bending wire 45 side is not shown) for detecting the wire movement amount in the operation section 8, and the marker portion 44a (the bending wire 45). The side is not shown), for example, is constituted by black and white lines provided at predetermined intervals.
In the vicinity of 4a (the curved wire 45 side is not shown), the amount of wire movement is detected by detecting the black and white lines provided at the predetermined intervals, for example, a movement amount detector including a photo reflector. 47 are provided.

Here, a state switching mechanism for switching the bending wires 44 and 45 between the tensioned state and the relaxed state will be described. In the operation unit 8, as shown in FIG. 3, the moving pulley 49 and the moving pulley 50 (on the bending wire 45 side) that change the directions of the bending wires 44 and 45 by approximately 90 °
The pulley shaft 48 is rotatably supported by a pulley shaft 48. The pulley shaft 48 is formed by a collar 48 a provided at one end of the pulley shaft 48 and a nut 53.
It is held by 51b and 51c. Pulley holding plate 5
1a, 51b, 51c are provided with square holes,
A square portion 54a having a cross section provided on one end side of the shaft 54 and having a shape corresponding to the square hole is fitted into the square hole.
In addition, between the pulley holding plates 51a, 51b, 51c, a cylindrical spacer 5 having the square portion 54a inserted at the center thereof.
5 and 56 are installed, and these spacers 55, 5 and
6 is fixed to the square portion 54a by a screw 58 by a holding ring 57.

A friction plate 52 is provided on the side of the shaft 54 so that the shaft 54 does not easily rotate. The flange 54b of the shaft 54 is screwed to the exterior member 60 of the operation unit 8 by a cylindrical fixing member 59.
It is rotatably fixed at 1a and 61b. Further, the F / L lever 22 formed in the D-shaped hole is attached to the D-shaped section 54c of the shaft 54. The F / L lever 22 is connected to the shaft 5 by a screw 63 using a holding plate 62.
4 is fixed.

Normally, the F / L lever 22 is at the lock position, and the pulley holding plate 51c abuts the stopper pin 64. In this state, the bending wires 44, 45
Is in tension. Although not shown, the stopper pin 64 is fixed to the exterior member 60 of the operation unit 8.

When the F / L lever 22 is rotated and moved to the free position, as shown in FIG.
The pulleys 51b and 51c, the movable pulleys 49 and 50, and the like are rotated about the shaft 54, and the pulley holding plate 51c contacts the lever 65a of the limit switch 65 disposed at a predetermined position. In this state, the bending wires 44 and 45 are in a relaxed state.

Returning to FIG. 2, the gear 66
Are integrally fixed, and are rotatable about a shaft 67. When the connector 10 is connected to the bending motor control device 3, the gear 66 meshes with a drive gear 68 provided in the bending motor control device 3,
The drive gear 68 is provided with a shaft 69a of the bending motor 69.
It is stuck to. An encoder 70 is provided for the bending motor 69.
Is attached so that the rotation amount of the motor can be detected.

The bending motor 69 is driven by a driver 71, which is controlled by a control circuit 72. The output of the encoder 70 is input to the control circuit 72 via a rotation angle detection circuit 73 that calculates the rotation angle of the bending motor 69. The output of the movement amount detector 47 is output from the bending wires 44 and 45. It is input to the control circuit 72 via a bending angle detection circuit 74 that calculates the bending angle of the bending portion 16 from the movement amount, and the output of the limit switch 65 is also input to the control circuit 72.

The joystick 20 operates a lever 21 to indicate the bending angle of the bending portion 16 by tilting the lever 21.
For this purpose, a tilt angle detection circuit 75 for detecting the tilt of the lever 21, that is, the tilt angle, is connected to 0, and the tilt angle of the lever 21 is input to the control circuit 72 from the tilt angle detection circuit 75. The control circuit 72 drives a tilt motor 77 provided in the joystick 20 via a joystick driver 76 to control the tilt angle of the lever 21.

The operation of the thus configured electronic endoscope apparatus 1 of the present embodiment will be described with reference to the flowchart of FIG.

As shown in FIG. 5, the control circuit 72 determines whether or not the position of the F / L lever 22 provided on the operation unit of the electronic endoscope 2 is in the free position. It is determined from the output of the limit switch 65 whether or not it is in the position. If it is in the free position, the process proceeds to S2, and if it is in the lock position, the process proceeds to S14.

When the position of the F / L lever 22 is at the free position, as shown in FIG.
Is bent, so that the bending portion 16 can be bent in response to an external force. In the case where there is no external force, a substantially straight curved state is obtained. Therefore, in S2, the joystick driver 76 is turned ON, that is, the tilting motor 77 is driven to control the tilting angle of the lever 21 so that S2 is set.
Proceed to 3.

In S3, the bending angle detection circuit 7 calculates the bending angle X1 of the bending portion 16 from the amount of movement of the bending wires 44 and 45.
4 and the rotation angle Y1 of the bending motor 69 at S4.
Is read from the rotation angle detection circuit 73 that is calculated from the output of the encoder 70, and the process proceeds to S5.

In S5, the read bending angle X1 of the bending section 16 and the rotation angle Y1 of the bending motor 69 are compared, and X1
If> Y1, the bending motor 69 is driven in the up direction in S6 and returns to S4. If X1 <Y1, the bending motor 69 is driven in the down direction in S7 and returns to S4. Repeat this process,
When X1 = Y1 in S5, the process proceeds to S8. In S8, the bending motor 69 is stopped, and the process proceeds to S9. By the series of processing from S2 to S8, the bending angle of the bending portion 16 matches the rotation angle of the bending motor 69.

Next, in S9, the tilt angle Z1 of the lever 21 of the joystick 20 is read from the tilt angle detection circuit 75, and in S10, the bending angle X1 of the bending portion 16 and the lever 21 are read.
When X1> Z1, the tilt motor 77 is driven in S11 to tilt the lever 21 in the up direction and returns to S4. When X1 <Z1, the tilt motor 77 is driven in S12 to release the lever 21. It tilts in the down direction and returns to S4. This process is repeated, and if X1 = Z1 in S10, the process proceeds to S13. In S13, the tilt motor 77 is stopped, the process returns to S1, and the process is repeated. By the series of processing from S9 to S13, the bending angle of the bending portion 16 matches the tilt angle of the lever 21.

The calculation of the bending angle X1 of the bending portion 16, the rotation angle Y1 of the bending motor 69, and the tilt angle Z1 of the lever 21 is performed, for example, by setting the up direction angle 180 ° to + 180 ° and the down direction angle 180 ° to -180.゜, Calculate the straight as 0 ゜.

Next, when the position of the F / L lever 22 is at the lock position, the bending angle of the bending portion 16 is controlled according to the bending instruction value which is the tilt angle of the lever 21 of the joystick 20. Therefore, if it is determined in S2 that the position of the F / L lever 22 is at the lock position, in S14, the joystick driver 76 is turned off, that is, the lever 21 can be tilted without resistance, and the process proceeds to S15. Then S15
Reads the tilt angle Z2 of the lever 21, reads the bending angle X2 of the bending portion 16 from the bending angle detection circuit 74 in S16, and proceeds to S17.

In S17, the read inclination angle Z2 of the lever 21 is compared with the bending angle X2 of the bending portion 16, and Z2>
If X2, the bending motor 69 is driven in the up direction in S18 and the process returns to S16. If Z2 <X2, the bending motor 69 is driven in S19.
9 is driven in the down direction, and the process returns to S16. This processing is repeated, and when Z2 = X2 in S17, the process proceeds to S20, in which S20
Then, the bending motor 69 is stopped, the process returns to S1, and the process is repeated. By the series of processing of S14 to S20, the bending portion 1
The bending angle of 6 and the rotation angle of the bending motor 69 match.

As described above, according to the electronic endoscope 2 of the present embodiment, the switching mechanism switches between the tensioned state and the relaxed state of the bending wires 44 and 45, and thus has a simpler configuration than the conventional clutch mechanism. The free state and the locked state of the bending portion 16 can be reliably switched.

Further, the distal end portion 15 and the first bending piece 43 are connected by a thin connecting pipe 42 having a thickness of 0.15 mm or less, and a large-diameter portion of the built-in component is located in the connecting pipe 42. As a result, the diameter of the curved portion 16 can be reduced without reducing the strength.

Further, a limit switch 65 for detecting the free state and the locked state, the bending wires 44 and 45 are provided.
Is provided with a movement amount detector 47 for detecting the movement amount of the joystick 20 and a tilting motor 77 for tilting the lever 21 of the joystick 20. Therefore, the state of the bending portion 16 is determined by the limit switch 65. Angle of the bending portion 16 calculated from the output of the device 47 and the bending motor 6
9 can be matched, and furthermore, the bending angle of the bending portion 16 and the tilting angle of the lever 21 can be matched by the tilting motor 77. Therefore, even when the bending portion 16 is switched to the locked state, The amount of operation force of the F / L lever 22 does not increase or the F / L lever 22 does not bend in an unintended direction, so that treatment and observation can be performed safely and easily.

Further, since the bending motor 69 is not provided in the operation unit 8, the operation unit 8 is small and lightweight, and the operability is improved.

The bending motor 69 is connected to the electric bending control device 3.
However, it may be provided on the electronic endoscope 2 side.

In the above embodiment, the electronic endoscope has been described as an example. However, the present invention is not limited to this, and can be applied to a fiberscope that transmits an observation image to an eyepiece by an image guide. The present invention is also applicable to an endoscope of an endoscope cover type attached to an endoscope cover, and a knob type endoscope.

Further, the friction plate 52 is used as the switching state holding member of the F / L lever 22, but the invention is not limited to this. For example, the switching state may be held by a cam pin and a cam groove. You may comprise using another state holding member.

Furthermore, instead of the joystick 20, a four-way ON / OFF switch may be provided.

Next, a second embodiment will be described. FIG. 6 is a sectional view showing the configuration of the state switching mechanism according to the second embodiment. In the second embodiment, the configuration of the state switching mechanism is the first.
Since they are almost the same except for the embodiment, only different configurations will be described, and the same configurations will be assigned the same reference numerals and description thereof will be omitted.

In the state switching mechanism of the second embodiment, FIG.
As shown in the figure, the moving pulley 1 for the bending wires 44 and 45
01, 102 have a truncated conical shape, and on the large diameter side, there are provided orbital grooves 101a, 102a for holding a curved wire,
On the small-diameter side, fall prevention collars 101b and 102b are provided.
It is configured to be rotatable around.

The shaft 103 has a flange 103 at the bottom.
a, the flange 103a and the sliding plate 10
The movable pulleys 101 and 102 are sandwiched between the movable pulleys 4 and 105, and are not movable in the axial direction by the E-ring 106.

The shaft 103 has a circumferential groove 103b, 1
03c is provided, and a positioning sphere 107a of a positioning member 107 whose one end is fixed to the exterior member 60 of the operation section 8a (not shown) is removably protruded and retracted. The positioning member 107 includes a spring 107b for instructing the positioning sphere 107a so as to be able to protrude and retract, and a cylindrical member 1 for inserting the spring 107b.
07c. The E-ring 106 and the E-ring 109 are provided on both sides of the orbiting grooves 103b and 103c of the shaft 103 to prevent the positioning sphere 107a from protruding.

Further, the shaft 103 has an E-ring 11
2 are provided, and an E-ring 109 and an E-ring 112 are provided.
By sandwiching the disc-shaped lid 110 fixed to the exterior member 60 with the screws 111a and 111b,
A stopper that regulates the amount of movement of the shaft 103 is configured. A knob 113 is screwed into the head of the shaft 103. Other configurations are the same as those of the first embodiment.

FIG. 6 shows a state in which the bending wires 44 and 45 are stretched. When the knob 113 is pushed rightward in the drawing, the positioning sphere 107a moves from the orbital groove 103b to the orbital groove 103c. When fitted to 103, the bending wires 44, 45 become movable pulleys 101, 102
Collar 101 for preventing falling off from orbiting grooves 101a, 102a
b and 102b, the bending wires 44 and 45 are in a loosened state. The process of changing from a relaxed state to a tense state is the reverse.

In the state switching mechanism of the second embodiment configured as described above, the shaft 10 is moved in the left-right direction of FIG.
By moving 3, the bending wires 44 and 45 are switched between a tensioned state and a relaxed state, and the bending portion 16 is set to a free state or a locked state.

Other functions and effects are the same as those of the first embodiment.

Next, a third embodiment will be described. FIG. 7 is a sectional view showing the configuration of the state switching mechanism according to the third embodiment. In the third embodiment, the configuration of the state switching mechanism is the first.
Since they are almost the same except for the embodiment, only different configurations will be described, and the same configurations will be assigned the same reference numerals and description thereof will be omitted.

In the state switching mechanism of the third embodiment, FIG.
As shown in (1), a drive shaft 121 of a bending motor (not shown) is directly fixed to the movable pulley 120. That is, a bending motor is built in the operation unit 8b.

The drive shaft 121 is fixed to a pulley holding plate 122, and an intermediate portion of the pulley holding plate 122 is supported by a rotating shaft 123 provided on the exterior member 60 of the operation section 8b. Constitutes a lever portion 122a.

In the vicinity of the pulley holding plate 122, a lock pin 124 is held by the exterior member 60 so as to be able to protrude and retract perpendicular to the paper surface. The lock pin 124 is connected to the bending wires 44, 4
5 is maintained in a tensioned or relaxed state. That is, when the lock pin 124 projects, the pulley holding plate 122
When the pulley holding plate 122 rotates, the lock pin 124 is retracted. Other configurations are the same as those of the first embodiment.

As described above, in the third embodiment, in the normal locked state, the state shown by the solid line in FIG. 7 is reached, and the bending wires 44 and 45 are in the tension state, and in the free state, the state shown by the two-dot broken line. Thus, the bending wires 44 and 45 are in a relaxed state. Note that the bending motor moves integrally with the moving pulley 120. Other functions and effects are the same as those of the first embodiment.

[0060]

As described above, according to the endoscope of the present invention, the switching means switches between the tensioned state and the relaxed state of the traction member. There is an effect that the locked state and the free state can be switched.

[Brief description of the drawings]

FIG. 1 is a configuration diagram illustrating a configuration of an electronic endoscope apparatus including a first embodiment of an electronic endoscope according to the present invention.

FIG. 2 is a cross-sectional configuration diagram showing a configuration of the electronic endoscope and the electric control device of FIG. 1;

FIG. 3 is a sectional view showing a configuration of a state switching mechanism provided in an operation unit of the electronic endoscope in FIG. 2;

FIG. 4 is an explanatory view illustrating a relaxed state of a bending wire by the state switching mechanism of FIG. 3;

FIG. 5 is a flowchart illustrating the operation of the electronic endoscope apparatus of FIG. 1;

FIG. 6 is a sectional view showing a configuration of a state switching mechanism according to a second embodiment.

FIG. 7 is a sectional view showing a configuration of a state switching mechanism according to a third embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Electronic endoscope apparatus 2 ... Electronic endoscope 3 ... Electric bending control device 8 ... Operation part 9 ... Universal cord 10 ... Connector 16 ... Bending part 20 ... Joystick 21 ... Lever 22 ... F / L lever 44, 45 Bending wire 47 ... Movement detector 48 ... Pulley shaft 49, 50 ... Movable pulley 51a, 51b, 51c ... Pulley holding plate 52 ... Friction plate 54 ... Shaft 59 ... Fixing member 65 ... Limit switch 69 ... Bending motor 70 ... Encoder 72 ... Control circuit 73 ... Rotation angle detection circuit 74 ... Bending angle detection circuit 75 ... Tilt angle detection circuit 76 ... Joystick driver 77 ... Tilt motor

Claims (1)

(57) [Claims] A bending portion provided in the insertion portion; a pulling member for bending the bending portion by pulling; a driving unit for pulling the pulling member; An endoscope comprising: and.