JP3276682B2 - Endoscope bending operation device - 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 operation device for an endoscope having a mode for returning an operation lever to a predetermined position and a mode for not returning the operation lever.

[0002]

2. Description of the Related Art In recent years, by inserting an elongated insertion portion into a body cavity, it is possible to observe internal organs in the body cavity and to perform various treatments using a treatment tool inserted into a treatment tool channel as necessary. Optical or electronic endoscopes are widely used. In order to improve operability of these endoscopes, there has been proposed an endoscope in which a bending portion of an insertion portion is bent and driven by input means such as a bending operation switch and driving means such as a motor.

For example, Japanese Patent Application Laid-Open No. S61-106125 discloses a joystick of an input device that can simultaneously grasp a bending angle and control a bending speed, and uses the joystick as a bending operation switch. Performing techniques are disclosed.

Here, generally, the joystick is
The operation is divided into two according to the operation of the operation lever. The first is a “neutral return type joystick,” which forcibly returns the control lever to the center when you release your hand from the control lever. The second is a "neutral returnless joystick" in which the operation lever does not move even if you release your hand from the operation lever. Considering a joystick as a bending operation switch of the endoscope, it is desirable to have the functions of the two joysticks.

[0005] For example, when the bending portion needs to be stopped for performing a biopsy or the like, a "neutral returnless joystick" that does not move even when the hand is released from the operation lever is desirable. However, when inserting the insertion portion into a narrow lumen such as the large intestine, a “neutral return type joystick” that can quickly straighten a curved portion is desirable.

[0006] When the operation lever is fixed with a neutral return type joystick that satisfies these two functions,
A joystick that can fix the operation lever by screwing the locking member is considered.

[0007]

However, in the joystick of the type in which the locking member is screwed, it is necessary to screw the locking member every time the bending lever is fixed, and after the bending lever is fixed, the operation lever can be moved. No, 1
It was necessary to remove this locking member every time, and the operation was complicated.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide a bending operation device for an endoscope having a joystick-type bending switch capable of easily switching between a neutral state and a non-return state.

[0009]

A bending operation device for an endoscope according to the present invention includes a bending mechanism for bending the distal end side of an insertion section, a driving section for driving the bending mechanism, and operating the driving section. a tilting freely operating lever for the operation
A bending switch composed of a joystick in which a tilting amount of a lever and a driving amount of the driving unit always correspond to each other; a control unit that controls the driving unit by operating the bending switch;
If you stop the biasing force of tilting the operating lever of the curved switch, a first mode for returning the operating lever to a predetermined position and locked stop the operating lever in a position in the case of stopping the biasing force Mode switching means for switching between the second mode, and switching operation of the mode switching means
When the mode is switched to the first mode by
A return force for returning the operation lever to the predetermined position
And the mode is switched by the mode switching means.
When the mode is switched to the second mode, the operation lever
The operating lever to the position where the urging force is stopped.
The operating lever to apply a stopping force to stop the bar
Means for changing the amount of force acting on
It is characterized by the following.

[0010]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 8 relate to a first embodiment of the present invention, and FIG. 1 shows an electronic endoscope apparatus having the first embodiment.
3 shows a bending switch, FIG. 3 shows a bending switch, FIG. 4 shows a cross section taken along line AA ′ of FIG. 3 and a cross section when the operation lever is tilted, and FIG. 5 shows a cross section taken along line BB ′ of FIG. 6 shows a RL guide, FIG. 7 shows a UD guide, and FIG. 8 shows a structure of the operation lever when the operation lever is tilted.

An electronic endoscope apparatus 1 having a first embodiment shown in FIG. 1 includes an electronic endoscope 2 having a solid-state image pickup device such as a CCD, and illumination of the electronic endoscope 2. A video control device 4 that drives a light source device 3 that supplies light and a solid-state imaging device to convert an imaging signal from the solid-state imaging device into a video signal; a monitor 5 that projects a video signal from the video control device 4;
The bending motor control device 6 controls the bending of the bending portion 10 of the electronic endoscope 2 described later.

The electronic endoscope 2 is provided with an operation section 7 and an elongated insertion section 8 connected to the operation section 7 and formed to be elongated to be insertable into a subject. The insertion section 8 is
A flexible portion 9 that can be bent, a bending portion 10 that can be bent,
A hard tip component 11 is connected. The bending portion 10 provided on the distal end side of the insertion portion 8 is configured by connecting a plurality of bending pieces, and is configured to be able to bend vertically and horizontally. The distal end portion 11 is provided with an objective optical system including a solid-state imaging device, an illumination optical system, and the like. A signal cable is electrically connected to the solid-state imaging device, and extends to a video control device connector 16 described later.

A light guide fiber bundle extends to the light guide connector 14 as an illumination optical system. A universal cord 12 that bifurcates on the way is connected to the side of the operation unit 7. At the end of the universal cord 12, a motor control device connector 13 detachably connected to the bending motor control device 6 and a light guide connector 14 detachably connected to the light source device 3 are provided. .

A video control cord 15 extends from the side of the light guide connector 14, and a video control device connector 16 detachably connected to the video control device 4 is provided at an end portion.

The operation unit 7 includes an air / water supply button 17 for cleaning the observation window and a suction button 1 for suctioning body fluids and the like.
8 are provided. By operating the air / water button 17, air or water is supplied, and by operating the suction button 18, a suction channel (treatment tool insertion channel) disposed in the electronic endoscope 2 is operated. Suction is made.

A bending operation switch 19 composed of a joystick for bending the bending portion 10 is provided in the operation portion 7, and an operation lever 33 projects outside the operation portion 7. As shown in FIG. 2, in the operation unit 7, a drive motor 21 including a DC motor that drives the bending unit 10 to bend vertically, a sprocket 23 fixed to a drive shaft 22 of the drive motor 21, A chain 24 meshing with the sprocket 23 is provided.

A bending operation wire 26 is connected to an end of the chain 24 via a connecting member 25. The bending operation wire 26 is inserted through the flexible portion 9 and the bending portion 10 and is connected to a bending piece at the tip of the bending portion 10. Then, when (the operation lever 33 of) the bending switch 19 is operated, the resistance value of the volume 34 (described later) changes according to the tilt angle, so that the bending motor control device 6 detects this resistance value. The drive motor 21 is configured to bend the bending portion 10 by an angle corresponding to the resistance value.
Is rotated, and the drive motor 21 is driven, whereby the operation wire 26 is pulled, and the bending portion 10 is driven to bend vertically.

Here, the bending operation mechanism for driving the bending operation in the vertical direction has been described. However, the bending operation mechanism for driving the bending operation in the left and right direction has the same configuration. FIG. 3 is a diagram showing the bending operation switch 19 alone.

The bending operation switch 19 comprises an operation lever 33 made of a non-metal material as well as a case 32 made of a non-metal material. The case 32 includes upper and lower (U)
A UD volume 34 and an RL volume 35 for detecting a tilt position (inclination angle) in the direction of D and the right and left (abbreviated as RL) directions are fixed.

The UD volume 34 and the RL volume 35 are electrically connected to the bending motor control device 6 and connected to a resistance detection circuit (not shown) inside the bending motor control device 6. The tilt angle (tilt angle) is detected from a resistance value that changes according to the tilt angle. Then, when the resistance value changes from the resistance value at the neutral position, the drive motor 21 is rotated by an amount corresponding to the change amount. In this case, the bending motor control device 6
Controls the rotation of the motor 21 so that the actual rotation amount of the motor 21 detected by a rotary encoder (not shown) attached to the drive motor 21 matches the rotation amount instructed by operating the operation lever 33.

In FIG. 3, a UD helical spring 36 having a function of returning the operating lever 33 to a neutral position is provided on the opposite surface of the UD volume 34 with the case 32 interposed therebetween. The RL helical spring 37 is similarly provided on the opposite surface of the RL volume 35. These helical springs 36 and 37 are made of a shape memory alloy (hereinafter abbreviated as SMA).

FIG. 4A is a sectional view taken along the line AA 'of FIG. The operation lever 33 is connected to the RL guide 3 as shown in FIG.
8 through the long hole 38a. The operation lever 33 is
Pin 39 penetrating L guide 38 and operation lever 33
Accordingly, the inside of the elongated hole 38a is supported by the RL guide 38 so as to be tiltable. Next, as shown in FIG. 5A, the operation lever 33 is inserted into a long hole 40a provided in the UD guide 40 as shown in FIG. 7 after the long hole 38a is inserted.

Here, both the RL guide 38 and the UD guide 40 have cylindrical portions 38b and 40b made of a nonmetallic material fixed at both ends by means such as press fitting. These cylindrical portions 38b, 40b are provided with negative slits 38c, 40c, respectively.

These slits have RL on one side.
Shafts of the UD volume 34 and the UD volume 34 each having a negative projection (not shown). The other side is connected to the RL helical spring 37 and the UD helical spring 36, respectively. These cylindrical portions are provided in the case 32 and are rotatably supported by holes 32b.

The helical spring has a cylindrical portion 3 at the center end.
8b and 40b are inserted and fixed in minus-type slits 38c and 40c, respectively, and the outer ends are inserted and fixed in holes 32a and 32a provided in the case 32, respectively. Here, the helical springs 36 and 37 are made of SMA as described above, and the center end and the outer end are connected to a power source (not shown). This power supply is
Under the control of a control unit (not shown) that monitors the conduction of a switch provided on the operation lever 33, a heating current is supplied or cut off.

FIG. 8 is a view showing a cross section of the operation lever 33. As shown in FIG. The operation lever 33 includes an upper head 33a, a lower head 33b, and a shaft 33c. Here the lower head part 33b includes a spatial 41 counterbored consisting hole, the through hole 42 is provided. A compression spring 43 is provided in this space, and supports the upper head 33a.

Next, the shaft portion 33c has an end portion 44 having a large diameter, and this end portion 44 fits in the space 41,
4 plays a role of retaining. In the shaft portion 33c,
Conductor 45, conductor 46 having an electrode inserted in the space through the inside
Is provided.

A conductor 47 is adhesively fixed to the upper head 33a, and the upper head 33a and the lower head 33b are also adhesively fixed. That is, by pressing the upper head 33a, the compression spring 43 is compressed, the upper head 33a and the lower head 33b are lowered, the conductor 47 fixed to the upper head 33a is also lowered, and the conductor 45 and the conductor 46 are separated. A switch for conducting is provided.

In the motor control device 6, there is a control unit (not shown) for checking the conduction. Each time the control unit is turned on, the power supply (not shown) supplies power to the helical springs 36 and 37 formed by SMA. It has the function of switching between energization-non-energization-energization.

The elasticity of the helical springs 36 and 37 made of SMA is set to be small in the non-energized state, while it is set to be large in the state of being heated by the electric energization and undergoing a phase transition. . That is, in the case of a small elastic coefficient in the non-energized state, even if the operation lever 33 is tilted, the force for returning to the neutral position is small. Therefore, if the user releases his / her hand while tilting the operation lever 33, the operation lever 33 maintains the tilted state immediately before releasing the hand. Therefore, in this non-energized state, the bending switch 19 is in a neutral return-less mode.

On the other hand, in a case where the elasticity is increased by energizing, when the operating lever 33 is tilted from the neutral position, the force for returning to the neutral position is large. Therefore, the operation lever 3
When the user releases the hand while tilting the operation lever 3, the operation lever 33 is returned to the neutral position. Therefore, in this energized state, the bending switch 19 is set to the mode with the neutral return.

These two modes can be switched from one mode to the other mode by depressing the upper head 33a of the operation lever 33. In this embodiment, the operation lever 33 is returned to the neutral position by the SM.
Although the A helical springs 36 and 37 are used, a torsion spring 48 by SMA as shown in FIG. 9 may be used.

At this time, the cylindrical portion is inserted into the torsion spring 48, and one end of the torsion spring 48 is inserted into the negative slit of the cylindrical portion, and the other end is formed in the hole 32 of the case.
a. In the present embodiment, the neutral return switching unit is provided on the operation lever 33. However, the present invention is not limited to this, and may be provided on the case 32. Next, the operation of this embodiment will be described.

When the helical spring 37 made of, for example, SMA is not energized, the operation lever 33 is turned rightward (see FIG. 4).
4A, the operation lever 33 is integrated with the RL guide 38 and tilts around the column 38b as a fulcrum, as shown in FIG. 4B. The resistance value of the RL volume 35 changes according to the tilted angle, and the bending portion 10 is bent in the RL direction by an amount corresponding to the angle. At the time of tilting, the portion of the operation lever 33 that is inserted into the UD guide 40 moves along the elongated hole 40a, so that the UD guide 40 does not move.

Here, the RL helical spring 3 shown in FIG.
7 has its center end fixed to the cylindrical portion 38b, so that the center end rotates clockwise by tilting the operation lever 33. Since the outer end of the helical spring 37 is fixed to the case 32, the helical spring 3
7 is deformed.

Here, the moment M generated by the deformation of the helical spring 37 is given by the following equation. M = E · I
Here, E is the longitudinal modulus of the material, I is the moment of inertia of the material (SMA), l is the length of the material before being wound in a spring shape, and θ is the outer end fixed. It is the rotation angle of the center-side end at the time.

Here, when the SMA is energized (heated),
The longitudinal elastic coefficient E is large, and when not energized (during cooling), the longitudinal elastic coefficient E is small. Here, since the helical spring 37 is not energized and the longitudinal elastic coefficient E is small, the moment M generated by deformation is small. Therefore, when the urging force for tilting the operation lever 33 is stopped, for example, when the hand is released from the operation lever 33, the helical spring 37 remains deformed, so that the operation lever 33 remains tilted (the bending portion 10 is also in a tilted state). Remains curved). That is, the operation lever 33 operates in the mode of the bending operation that does not return to the neutral position.

Here, when the upper head 33a of the operation lever 33 is pressed, the conductor 45 and the conductor 46 shown in FIG. 8 become conductive, so that a control unit (not shown) supplies power to the helical spring 37 from a power source (not shown). Start. Then, the helical spring 37 is heated and the longitudinal elastic coefficient E increases, so that the generated moment M of the helical spring 37 increases.

Since the outer end of the helical spring 37 is fixed, the center end is rotated counterclockwise. Then, the operation lever 33 also returns to the original position (center) to the neutral position, and the bending portion 10 also returns from the bent state to the straight state. That is, the operation lever 33 operates in the bending operation mode in which the operation lever 33 returns to the neutral position . The same applies to the operation in the UD (up-down) direction, in which the operation lever 33 is moved upward (FIG. 5A).
5B), the operation lever 33 is integrated with the UD guide 40 as shown in FIG.
Tilt with b as a fulcrum. At this time, RL of the operation lever 33
Since the portion inserted into the guide 38 moves along the elongated hole 38a, the RL guide 38 does not move. Here the column 4
The rotation of 0b causes the helical spring 36 to deform. The subsequent operation is the same as that in the RL (left-right) direction, and will not be described.

The same applies to the D (down) direction and the L (left) direction. According to this embodiment, the following effects are obtained. By simply pressing down the top of the operation lever 33, the switch can be used as a neutral return type and neutral return type bending switch. Therefore, the switch can be set to a more convenient one according to the use situation.

On the other hand, in the conventional example, there is a type in which the neutral return type is fixed (locked) by a fixing means so as not to return to the neutral state, but in this conventional example, the operation lever is further tilted. In such a case, an operation for releasing the fixing by the fixing means must be performed, so that a troublesome operation is required (that is, in the conventional example, the type having the neutral return is fixed by the fixing means so as not to return to the neutral state. On the other hand, in the present embodiment, when the mode of the neutral return-less type is set, the neutral state is released without performing the operation of releasing the fixing by the fixing means in the conventional example. It can be operated continuously like a bending switch without return type, that is, it has the function of each of the two modes.)

Further, in this embodiment, since a helical spring which does not cause displacement in the axial direction is used as the neutral return mechanism, the neutral return mechanism can be downsized, and the bending operation switch can be downsized.

Next, a second embodiment of the present invention will be described. FIG.
FIGS. 0 to 19 relate to a second embodiment of the present invention. FIG. 10 shows a curved switch, FIG. 11 shows a cross section taken along the line CC 'in FIG. 10, and FIG. 12 shows a cross section taken along the line DD' in FIG. FIG. 13 shows R
14 shows the UD guide, FIG. 15 shows the shape of the UD guide, FIG. 16 shows a section taken along line EE 'of FIG. 11, and FIG. 17 shows a section taken along line FF' of FIG. , FIG.
8 shows the force acting on the operating lever when tilted from the state of FIG. 16, and FIG. 19 shows the force acting on the operating lever when tilted from the state of FIG.

In the present embodiment, the helical spring of the first embodiment is replaced with a compression spring, and the same components as those of the first embodiment are denoted by the same reference numerals, and description thereof is omitted. The bending operation switch 50 shown in FIG. 10 includes a case 51 made of a nonmetallic material and an operation lever 33 also made of a nonmetallic material.
The UD volume 34 and the RL volume 35 are fixed to the case 51.

FIG. 11 is a sectional view taken along the line CC 'of FIG.
The operation lever 33 passes through the RL shaft 52. The operation lever 33 is made of a material that does not conduct electricity, for example, ceramics.

FIG. 13 is a diagram showing a connection relationship between the operation lever 33 and the RL guide 52. As shown in FIG. In this figure, the operation lever 33 is turned upside down for the sake of convenience. Here, the RL guide 52 has the following shape on one side of the square bar. In other words, the curved surface is high near the center in the longitudinal direction and gradually lowers toward the outside. At the end of the curved surface, a low plane continues, and both ends are high.

The RL guide 52 is provided with a long hole 52a, through which the operation lever 33 is inserted. The operation lever 33 is supported to be tiltable with respect to the RL guide 52 by an RL guide 52 and a pin 53 penetrating the operation lever 33. Next, as shown in FIG. 11, after the operation lever 33 is inserted through the long hole 52a, the UD as shown in FIG.
It is inserted through a long hole 54 provided in the guide 54.

Here, the UD guide 54 is a plate material bent in a U-shape. If the midpoint of a cylindrical portion 54b, which will be described later, is the center of the curved surface, the radius of curvature of the U-shape is as shown in FIG. Is large, and the curvature becomes smaller toward the end. The RL guide 52 and the UD guide 5
In the same manner as in the first embodiment, cylindrical portions 52b and 54b provided with minus-shaped slits are respectively press-fitted at both ends, and are supported by holes 51b provided in the case 51 in a tiltable manner.

Here, the RL guide 52 and the UD guide 54
The space between the RL guides 5 as shown in FIG.
Hemispherically perforated ring 55, SMA, in order from two sides
A compression spring 56, a ring 55, and a ring 57 in the figure are provided through the operation lever 33. Here, the members of the rings 55 and 57 are made of a material that does not conduct electricity.

FIG. 16 is an enlarged sectional view taken along the line EE 'of FIG.
FIG. 17 is an enlarged cross-sectional view taken along line FF 'of FIG. In FIG. 12, when the operation lever 33 is tilted in the Y direction, the operation lever 33 tilts in a tension hole 52a provided in the RL guide 52 as shown in FIG.

The distance from the rotation center O to the UD guide 54 does not change because the UD guide 54 is integrated with the operation lever 33 and tilts. The distance from the center of rotation O of the ring 57 in contact therewith does not change. However, the ring 55
When the contact surface with the RL guide 52 is tilted, it moves away from the rotation center O, and thus moves in the direction of the arrow. That is, the SMA compression spring 56 is compressed.

Next, in FIG. 11, when the operation lever 33 is tilted in the X direction, the operation lever 33 becomes UD as shown in FIG.
The inside of the long hole 54a provided in the guide 54 is inclined. Here, the distance from the rotation center O ′ to the RL guide 52 does not change because the RL guide 52 is integrated with the operation lever 33 and tilts.

The distance of the ring 55 in contact therewith from the rotation center O 'does not change. However, the ring 57 has the radius of curvature of the U-shaped surface of the UD guide 54 which is the contact surface, as shown in FIG.
As described in the above, since it becomes smaller toward the end, it approaches the rotation center O '. That is, the SMA compression spring 56 is compressed.

As described above, the SMA compression spring 56 is compressed and deformed regardless of which direction the operating lever 33 is tilted from the center. Here, a power supply (not shown) is connected to both ends of the SMA compression spring 56, and has a circuit configuration that repeats energization / non-energization / energization every time the upper head 33a shown in FIG. 8 is pressed. Next, the operation will be described.

For example, when the SMA compression spring 56 is de-energized and the operation lever 33 is tilted in the Y direction in FIG. 12, the compression spring 56 is compressed and deformed by the movement of the ring 55 as shown in FIG. Here, the stress τ o generated by the deformation of the compression spring is given by the following equation. τ o = d · G · δ / (π · Na · D · D).

Here, d is the wire diameter of the spring, Na is the number of turns of the spring, D is the diameter of the spring, δ is the amount of deformation, and G is the transverse elastic coefficient. Here, when SMA is not energized, the transverse elastic coefficient G
Is small, and G is large at the time of electric heating. That is, since the time of non-energization spring even small cross coefficient G is deformed, generated stress tau o is small, the spring remains deformed. Therefore, when the power is not supplied, the operation mode is set to the operation mode without the neutral return.

[0057] In contrast, by lateral elastic modulus G increases when electrically heating the SMA compression spring 56, the greater the stress generated tau o. Here, as shown in FIG.
The force F of the A compression spring 56 pressing the RL shaft 52 via the ring 55 is decomposed into Fx and Fy, and the operation lever 33 is returned to neutral by Fx.

The same applies when tilted in the X direction in FIG.
As shown in (1), the force F 'of the SMA compression spring 56 pressing the UD shaft 54 via the ring B57 is decomposed into Fx' and Fy ', and the operation lever 33 is returned to neutral by Fy'. Therefore, at the time of energization, the operation mode is the operation mode with the neutral return. The effect of this embodiment is almost the same as that of the first embodiment.

Next, a third embodiment will be described. 20 to FIG.
0 relates to a third embodiment of the present invention, FIG. 20 is a plan view showing a curved switch in the third embodiment, FIG. 21 is a cross-sectional view taken along the line GA-GB-GC-GD in FIG. 20, and FIG. 20
23 shows a cross section taken along the line II ′ of FIG. 20, FIG. 24 shows a state where the operation lever is tilted in the state of FIG. 22, and FIG. 25 shows a state where the operation lever is tilted in the state of FIG. FIG. 26 shows a rotating section of the UD volume, FIG. 27 shows a UD guide, FIG. 28 shows a UD rotating axis, FIG. 29 shows a rotating section of the RL volume, and FIG. 30 is a perspective view of the RL guide, FIG. 31 is a plan view of the RL guide, and FIG. 32 is a cross-sectional view taken along the line JJ ′ of FIG. 21, in which a groove into which the outer end of the helical spring is engaged is provided. FIG. 33 is a sectional view taken along the line KK 'of FIG. 20, and FIG.
Is a sectional view taken along the line MM ′ of FIG. 23, FIG. 35 shows a six-foot member,
FIG. 36 shows a three-legged member, FIG. 37 shows a cover member,
38 shows the cover member in the NN 'section of FIG. 37, FIG. 39 shows the engagement between the six-legged member and the three-legged member together with the cover member, and FIG. 6 foot members and 3
4 illustrates engagement with a foot member.

In this embodiment, the material of the helical spring of the first embodiment is changed from SMA to another metal (in this embodiment, iron), and a new friction mechanism is provided for selectively inhibiting or suppressing the rotation of the operation lever. Is provided.

As can be seen from FIGS. 20 and 21, the bending operation switch 60 includes a case 61 and an operation lever 62. Here, the following are fixed to the case 61.

A UD volume 63 for detecting the rotation angle of the operation lever 62 in the UD direction is connected to the male thread 63a by the U.
Inserted into a hole 64a provided in the D volume fixing plate 64, a nut 65, by tightening the UD volume fixing plate 64, UD volume 63 and the UD volumes fixing plate 6 4 is connected.

Here, the UD volume fixing plate 64 is
It is fixed to the case 61 by four screws 66. At this time, the nut 65 is located in the volume groove 61a provided in the case 61, and the nut 65 and the case 61 do not interfere. The method of fixing the RL volume 72 is exactly the same. The RL volume 72 and the RL volume fixing plate 68 are connected to each other by tightening the nut 65 and then fixed to the case 61 with the screws 66.

First, the mechanism for detecting the rotation angle of the operation lever 62 will be described. FIG. 22 is a sectional view taken along line HH ′ of FIG. The rotating part 63b of the UD volume 63 is shown in FIG.
As shown in FIG. 6, the column has a D-shaped convex shape in which the lower side of one end is cut. Here, this D-shaped convex portion is formed by bending a plate material having a long slit as shown in FIG. 27 into a polygonal shape.
The D guide 69 is inserted and fixed in a D-shaped hole 69a.

At the opposite end of the UD guide 69,
A D-shaped hole 69b is provided.
As shown in FIG. 28, a D-shaped convex end portion 70b of a UD shaft 70 having a support portion 70c supported by a hole 71 provided in a case 61 and a flange portion 70a for preventing the external portion from coming off (FIG. 28)
) Is fixed.

The flange 70a of the D-shaped convex end 70b
On the opposite side sandwiching, there is a support portion 70c as described above,
It has a minus-shaped slit 70d for fixing five UD helical springs 77 to be described later, and an E-ring fixing groove 70e for preventing the helical springs 77 from coming off.

FIG. 23 is a sectional view taken along the line II ′ of FIG.
The rotating portion 72a of the RL volume 72 has a minus slit 72b as shown in FIG.
Here, by inserting the minus-shaped convex portion 74a of the RL guide 74 in FIG. 23 into the minus-shaped slit portion 72b, the two are connected and fixed.

As shown in FIG. 30 , the RL guide 74 is a member having a square plate with an oval hole 74e. The support portion 74b and one end thereof have a minus-shaped convex portion as described above. 74a is provided. This support portion 74b is the same as that shown in FIG.
At the other end, as shown in FIG.
c and an E-ring fixing groove 74d are provided. The support portion 74b is rotatably supported by a hole 71 provided in the case 61.

[0069] Here, although the RL guide 74 is empty as oval-shaped hole 74e of the, here, the empty outer tube portion 75 in the operating lever 62 is inserted as shown in FIG. 22 . A place to be inserted into the oval hole 74e of the outer cylindrical portion 75 is a prism portion 75b as shown in FIG.
Two holes 75 are provided on the surface of the prism 75b in the longitudinal direction.
a is provided. That is, the two holes 75a are provided on the thick side of the prism portion.

The RL guide 74 is also provided with a hole 74f, and each of the holes 74f has two pins 7
6 is press-fitted and fixed. As shown in FIGS. 22 and 23 (and FIG. 24), the pin 76, the UD volume 63,
The axial centers of the RL volumes 72 are all on the same plane. Here, the hole diameter of the hole 75 a of the outer cylindrical portion 75 is
Is larger than the shaft diameter. That is, the outer cylinder 75
Is tilted in the small-diameter hole 74e of the RL guide 74 with the pin 76 as the tilt center.

The tilt angle is, for example, 60 ° in the U direction,
It is 60 ° in the D direction (see FIG. 25). At this time, the UD guide 69 is tilted integrally with the outer cylinder portion 75, and the rotating portion 63b of the UD volume 63 connected thereto is rotated, and the UD volume 63 is moved to the outer cylinder portion 75, that is, the operation lever. The rotation angle in the UD direction 62 is detected.

FIG. 24 is a view in which the operation lever 62 is tilted in the RL direction, contrary to the present case. At this time, the outer cylinder 75
It is integrated with the L guide 74 and tilts in the slit of the UD guide 69. This tilt angle is, for example, 60 degrees in the R direction,
It is 60 degrees in the L direction. Here, the rotating portion 72a of the RL volume 72 connected to the RL guide 74 rotates,
The control volume 72 is provided on the outer cylinder 75,
2, the rotation angle in the RL direction is detected.

As described above, the rotation angle of the operation lever 62 is
It is detected by the UD volume 63 and the RL volume 72. Next, the neutral return mechanism of the operation lever 62 will be described.

FIG. 21 is a diagram showing the GA-GB-GC-G of FIG.
It is a D section. Five helical springs 7 made of iron wire
7 has a center-side end 77a having an R shape having a shape shown in FIG.
After being inserted in accordance with the minus-shaped slit portion 74c provided in the support portion 74b of the L guide 74, as shown in FIG. By fixing 79 to the E-ring fixing groove 74d, it is connected to the RL guide 74.

The connection between the UD shaft 70 and the helical spring 77 is the same. As shown in FIG. 22, the center end 77a of the helical spring 77 is connected to the slit 70d of the UD shaft 70 (FIG. 28).
), And are connected by a disk 78 and an E-ring 79.

Returning to FIG. 21, there are a block 80 and a block 81 on the outer end 77b side of the helical spring 77 that rotatably and elastically supports the end of the RL guide 74. Here, the case 61 is provided with a groove 59 which is an escape for increasing the width of the blocks 80 and 81. Also,
Block 80 by two screws 82, is fixed to the case 61, block 81, by two screws 83, it is fixed similarly to the case 61. The helical spring 77 is fixed to the two blocks 80 and 81 with the vertical portion 77c interposed therebetween.

Here, block 81 corresponds to JJ 'in FIG.
As shown in FIG. 32, which is a cross section, a groove 81 in which the outer end 77b of the helical spring 77 fits in a surface in contact with the case 61.
a is provided, where the outer end 77b is arranged,
It is fixed by the walls 81b on both sides so as not to shift in the lateral direction. Note that the method of fixing the UD shaft side is the same, and therefore will not be described.

That is, according to this configuration, when the operating lever 62 is tilted, the UD guide 69 and the RL guide 74 are tilted, and the center side end 77a of the helical spring 77 connected to the UD guide 69 and the RL guide 74 rotates. Here, since the outer end portion 77b is fixed, the helical spring 77 is deformed, and the stress generated by the deformation becomes a restoring force, and returns the operation lever 62 to the neutral state. In this embodiment, the five helical springs 77 are formed of a material or the like having an elastic force for returning to the neutral state when the operation lever 62 is tilted.

Next, a mechanism for switching whether or not the operation lever 62 returns to the neutral position will be described. As shown in FIG. 23, a stopper rubber 84 having a bowl-shaped concave portion 84a and a flange portion 84b is inserted into the case 61,
Underneath, a rubber disc 8 of a rigid disc to prevent deformation of this rubber
It is supported by 5.

Then, the four screws 86 for fixing the rubber presser 85 are fastened to the case 61, so that the four screws 86 are fixed to the rubber presser as shown in FIG. 85, the flange portion 84 b of the stopper rubber 84 and the washer 87 are inserted and fastened to the case 61. By changing the number of washers 87,
The amount of insertion of the stopper rubber 84 into the case 61 can be changed.

Here, the pressing shaft 8 projecting from the outer cylindrical portion 75 is provided on the bowl-shaped concave portion 84a of the stopper rubber 84.
8 are provided. The pushing shaft 88 pushes a pushing portion 91a of a six-foot member 91 described later once, so that the tip moves from P1 to P3 to P2, and stops at P2, where the pushing portion 91a is further pushed once. As a result, the tip is P2 → P
3 → P1 and motion P1 stop.

That is, each time the pressing portion 91a is pressed, the tip of the pressing shaft 88 is positioned in the order of P1, P2, P1, and P2. Here, at the position P1, the distal end of the pressing shaft 88 is floating from the bowl-shaped concave portion 84a, and the mode returns to the neutral position. On the other hand, at the position P2, the bowl-shaped concave portion 84a is being pressed, and the mode in which the operation of returning to the neutral position is suppressed and the operation is not returned to the neutral position is set. Hereinafter, this structure will be described.

The upper end of the outer cylinder 75 opposite to the RL guide 74 has a large-diameter threaded portion 75c, into which a cover 89 described later is screwed. The above-described pressing rod 88 is inserted into the hollow portion of the outer cylindrical portion 75. The pressing rod 88 includes a lower portion 88a, a middle portion 88b, and an upper portion 8a.
8c.

The middle portion 88b has a smaller diameter than the lower portion 88a and the upper portion 88c, and has a structure in which friction with the hollow portion of the outer cylindrical portion 75 is reduced. Here, a compression spring 9 is provided on the upper side 88c side.
34, the uppermost portion 88d having a smaller diameter than the upper portion 88c passes through a hole in the three-legged member 92, as shown in FIG. Foot member 91
Housed in a hole inside. Here, the uppermost portion 88d and the three-legged member 92 are fixed by means such as adhesion. But,
The uppermost portion 88d and the six-legged member 91 are not fixed, and both are rotatable and movable.

In the state of P1, the six-legged member 91 comes into contact with the bottom 89a arranged on the upper side of the cover 89 by the urging force of the compression spring 90. The bottom 89a is provided with a through hole 89b, and the pressing portion 91a of the six-legged member 91 is
9 protrudes outside.

The six-legged member 91 has a shape shown in FIG. 35 (a) and has six legs 91b at intervals of 60 °. Each leg 91b has a high center and low sides. FIG.
As shown in (b), the apex angle is about 90 °. Next, the three-legged member 92 has three legs 92a at intervals of 120 ° in the shape shown in FIG. 36, and each leg 92a is high on one side and low on one side, and has an apex angle of about 60 °. is there.

Further, the cover 89 is shown in FIG.
As shown in FIG. 38, which is an N ′ cross section, the hollow member is a screw portion 89c at the opposite end of the hole 89b, and is screwed with the screw portion 75c of the outer cylindrical portion 75. It is configured as follows. Here, the hollow portion has an inner diameter of 60 °.
At intervals, there are provided a projection 93 which is obliquely cut such that the apex angle of the upper portion is about 60 °, and a projection 94 which connects between the projections 93 at every other interval.

Here, the projections 93 to 93 form a projection 94.
The section where there is no groove is the groove 95, and the section where the protrusion 94 is present is the groove 96.
I will call it. Here, the six-legged member 91 of FIG.
Has a small outer diameter including the foot 91b, and is large enough to enter both the groove 95 and the groove 96.

However, the three-legged member 92 shown in FIG. 36 has a large outer diameter including the foot 92a, and can enter the groove 95 but cannot enter the groove 96, and is large enough to be caught on the projection 94.

FIGS. 39 to 40 are views in which the six-legged member 91 and the three-legged member 92 are engaged and operated. P1 in the figure
P3 corresponds to the P1 to P3 states in FIG. In FIG. 40, when the six-foot member 91 is pushed downward in the figure, the three-foot member 92 is pushed, and the three feet 92a move downward in the figure. That is, it moves from P1 to P3. At this time, as shown in FIG. 39, the three-legged member 92 stops at the screw portion 75c of the outer cylindrical portion 75.

At this time, as shown in FIG.
2a is deviated from the groove 95, which is a space surrounded by the projections 93 to 93, and initially acts along the slope of the foot 91b of the six-foot member 91 by the action of the compression spring 90 in the direction indicated by the arrow in the figure. That is, after moving to the upper left diagonal direction, the projection 9
3 moves along the upper slope and falls into the next groove 96.
Then, the foot 92a of the three-legged member stops on the projection 94. That is, it moves from P3 to P2.

Here, as described above, the three-legged member 92
The book legs 92a are provided at 120 ° intervals (see FIG. 36), and the cover portion 89 has grooves 95 provided at 120 ° intervals, and the groove portions 96 are shifted by 60 ° from the groove portions 95.
Since they are provided at intervals of 20 ° (see FIG. 38), each time the three-legged member 92 rotates 60 °, its foot 92a is
Each time the user enters the 5-groove portion 96 and presses the six-legged member 91 in FIG. 40, the state of P1-the state of P2-the state of P1 is repeated.

As described above, since the three-legged member 92 is fixed to the pressing shaft 88, the pressing shaft 88 changes the state of P1 to the state -P2 each time the pressing portion 91a is pressed in FIG. The state of the state -P1 is repeated.

Here, in the state of P2, the pressing shaft 8
8 presses the stopper rubber 84, the frictional force generated by this pressing is set to be sufficiently larger than the force generated by the helical spring 77 when the operation lever 62 is tilted to the maximum. It is.

That is, in the state of P2, no matter how the operating lever 62 is inclined, the friction between the pressing shaft 88 and the stopper rubber 84 is large and the operating lever 62 does not return. Next, the operation will be described.

In FIG. 23, when the operating lever 62 is tilted with the pressing portion 91a in the P1 state (the pressing shaft 88 is not in contact with the stopper rubber 84), the helical spring 77 is deformed and generates stress. When the hand is released from the operating lever 62 after the tilting operation, the operating lever 62 returns to the neutral position to a position where the helical spring 77 is not deformed, that is, a neutral state due to the stress. In this state, it functions as a mode for returning to neutral.

Next, when the pressing portion 91a is pressed once and the operating lever 62 is tilted in the P2 state (the pressing shaft 88 is pressing the stopper rubber 84), the helical spring 77 is deformed according to the tilt angle. And generate stress. Thereafter, when the operator releases the operation lever 62, the helical spring 77 attempts to return the operation lever 62 to the neutral position due to the stress. However, when the pressing shaft 88 presses the stopper rubber 84, a frictional force is generated. Since the frictional force is larger than the stress generated by the helical spring 77, the operation lever 62 does not return to the neutral position. In this state, it functions as a mode that does not return to neutral.

When the pressing portion 91a is pressed again, the pressing shaft 88 stops pressing the stopper rubber 84, and the two are brought into a non-contact state, so that the operation lever 62 is returned to the neutral mode by the stress of the helical spring 77. Will be switched. As described above, the switching between the two modes is performed by the pressing portion 91a.
You can easily do this by pressing.

This embodiment has the following effects. As described above, the selection setting of the two modes can be easily performed by the operation of pressing the pressing portion 91a. By providing the UD guide on the upper side of the switch unit, the inside of the switch unit can be reduced in size. Further, since the switch is a mechanical neutral changeover switch, a power supply for driving the switch is not required, and power saving and safety are improved. Also, because the tilt angle is large, it is easy to fine-tune,
Operability is good.

FIGS. 41 and 42 relate to a first modification of the third embodiment. FIGS. 41 (a) and 41 (b) show two types of helical springs used in this modification. A diagram in which, for example, the RL guide 74 is elastically fixed using these helical springs is shown. In the third embodiment, for example, only one helical spring 77 of FIG.
1), as shown in FIG.
For example, the RL guide 74 is elastically fixed using various kinds of helical springs 77, 77 '.

The two types of helical springs 77 and 7 shown in FIG.
7 'have opposite winding directions and therefore urge in opposite directions. The characteristics are almost the same except that the winding direction is reversed (the biasing direction is reversed). These helical springs 77, 77 'have center end portions 77a, 77'a inserted into the minus-shaped slit 74c of the RL guide 74, and outer end portions 77b, 77'b correspond to fixing blocks 81, 80, respectively. It is fixed with screws 83 and 82.

At this time, the vertical portions 77c and 77'c are sandwiched between the fixing blocks 81 and 80. In this modification, not only the block 81 but also the block 80 is provided with a groove 81a as shown in FIG. Although not shown in FIG. 42,
A total of six helical springs 77, 77 'are fixed, three each (shown in FIG. 47 or FIG. 48 as a third modified example). Therefore, the above-mentioned groove has a groove width for accommodating three grooves. Although not shown, the UD shaft 70 is also fixed by the same fixing method.

Generally, since the helical springs generate different forces in the opening direction and the closing direction, if the RL guide 74 and the UD shaft 70 are elastically held by such symmetrical arrangement, the RL Even if the rotation axis of the guide 74 and the UD shaft 70 is rotated in any of the clockwise direction and the counterclockwise direction, a uniform force can be generated. Therefore, according to this modified example, it is possible to solve the case where the return speed varies depending on the tilting direction.

43 to 46 relate to a second modification of the third embodiment. FIG. 43 is a sectional view of the switch unit in the RL direction, FIG. 44 is a sectional view in the UD direction, and FIG.
FIG. 46 (a) is a view as viewed from the direction of the arrow R in FIG.
In this modification, the function is replaced by a stopper rubber 84 without using the helical spring 77, that is, the stopper rubber 84 also has a function of returning to neutral.

In FIG. 43 or FIG. 45 (a), when the operation lever 62 is tilted away from the UD guide 69, the UD guide 69 is tilted together with the UD shaft 70 as the center of rotation. Then, FIG. 45 (a) becomes as shown in FIG. 45 (b), and the UD guide 69 comes into contact with the stopper rubber 84, and the UD guide 69 acts to push back by the restoring force of the stopper rubber 84. Accordingly, the UD guide 69 returns to the neutral position, and the operating lever 62 returns to the neutral position together.

Next, in FIG. 44 or FIG. 46 (a), when the operation lever 62 is tilted away from the RL guide 7
4 are tilted together on the other side with the end as the center of rotation. Then, FIG. 46 (a) becomes as shown in FIG. 46 (b), the RL guide 74 comes into contact with the stopper rubber 84, and the RL guide 74 is restored by the restoring force of the stopper rubber 84.
Guide 74 acts to push back. Accordingly, the RL guide 74 returns to the neutral position, and the operating lever 62 returns to the neutral position together. The effect of this modification is almost the same as that of the third embodiment.

Next, a third modification of the third embodiment will be described with reference to FIGS. This modification is a combination of the third embodiment and the second modification. That is,
The operation lever is returned to the neutral position by the elastic force of the helical spring and the stopper rubber. When the tilt angle of the operation lever is small (when tilted slightly from the state of FIG. 47 or 48) and the UD guide 69 or the RL guide 74 does not hit the stopper rubber, the operation is returned by the elastic force of the helical spring. If the tilt angle of the operation lever is large,
The RL guide 74 or the like hits the stopper rubber, and is returned by the elastic force of the stopper rubber and the helical spring.

Next, a fourth modification of the third embodiment will be described. This modified example is, for example, a helical spring 77, 7 shown in FIG.
When fixing the inner end portions 77a, 77a 'of the 7', they are slightly shifted from each other without matching the centers of rotation and fixed to the slits 74c of the RL guide 74 so as to maintain the positions even in the neutral position. It is urged to prevent play near the neutral position (a force that returns to the neutral position is not generated even if it is slightly tilted).

Next, a fifth modification of the third embodiment will be described. This modified example is, for example, a helical spring 77, 7 shown in FIG.
The inner ends 77a, 77a ' of the 7' are changed so as to involve them.
By fixing it to the slit 74c or the like of the RL guide 74 in the formed state, even in the state of the neutral position, it is urged to that position so that play does not occur.

FIGS. 49 to 53 are views showing a fourth embodiment of the present invention. In this embodiment, the UD guides of the second embodiment to R
The compression of the SMA compression spring performed between the L guides is performed between the operation lever and the case. The other components are the same as in the second embodiment, and the same components are denoted by the same reference numerals and description thereof will be omitted. The bending switch 160 shown in FIG.
And an operation lever 33.

FIG. 50 is a cross section taken along the line PP ′ of FIG. 49, and FIG. 51 is a cross section taken along the line QQ ′ of FIG. As can be seen from these drawings, in the case 51, the UD guide 54 described in the second embodiment is mounted in the opposite direction, and the RL guide 52 is provided in the same direction as in the second embodiment. Further, below the RL guide 52, a flange portion 161 is fixed to the operation lever 33 by means such as press fitting. This flange 161
Below the SMA compression spring 5 already described in the second embodiment.
A movable member 163 described later is provided on both sides of the movable member 6.
Below the moving member 163, a cam member 164 having a cam curved surface is fixed to the case 51 by means after bonding.

FIG. 52 shows the cam member 164 and the moving member 16.
FIG. 3 is a diagram illustrating a relationship of No. 3; As shown in FIG. 53, the cam member 164 has a curved surface having a large radius of curvature from the rotation center O ″ of the operation lever 33 at the center, and a radius of curvature decreasing toward both ends. D and RL directions are all the same.

Returning to FIG. 52, the flange portion 161 is fixed to the operation lever 33 in the neutral state P4, and the SMA compression spring 56 is inserted under the flange portion 161 therebelow. Further below, a cam member 16 is provided.
The moving member 1 having a hemispherical curved surface on the four sides and having a counterbore groove 163a and a through hole 163b slightly smaller than the counterbore groove 163a.
63 are provided.

[0114] moving member 163 through the operation lever 33 into the through hole 63 b, in a counterbored groove 163a, the operating lever 3
By tightening a nut 166 on a screw portion 165 provided on the control lever 3, the nut 166 is configured to be movable upward in the drawing with respect to the operation lever 33 and not to come off from the operation lever 33.

Next, when the operation lever 33 is tilted, a state P5 is set. At this time, the moving member 163 is
Is moved in the direction of the arrow by reducing the radius of curvature of. Here, the flange portion 161, since that is fixed to the operating lever 33, the rotation center 0 "distance from unchanged. In other words, only the rotation center 0 the moving member 163" for approaching, a flange portion 161 moving member The compression spring 56 sandwiched by 163 is compressed and deformed.

As described in the second embodiment, a power supply (not shown) is connected to both ends of the SMA compression spring 56. Each time the upper head 33a of the operation lever 33 is pressed, the power is supplied / disconnected / powered. Is repeated. Next, the operation will be described.

In FIG. 52, for example, when the SMA compression spring is not energized and the operation lever 33 is tilted to change from the P4 state to the P5 state, the moving member 163 is moved by the cam member 164 in the direction of the arrow in FIG. Are compressed and deformed. Here, as described in the second embodiment, when the SMA is not energized, the transverse elastic coefficient G becomes small, and as a result, the compression spring 56
In the case of, the stress generated by the deformation becomes small. Therefore, even when the compression spring 56 is deformed at the time of non-energization, it does not return to its original state while being deformed.

When the compression spring 56 is energized and heated,
As the transverse elastic coefficient G increases, the generated stress also increases. Here the compression spring 56 attempts to push back the curved surface of the cam member 164, the force F "is Fx""is decomposed into, Fy" Fy and the moving member 163 is returned to the P4 state by. As a result, the operation lever 33 returns to the neutral position.

Next, the bending operation switch according to the fifth embodiment of the present invention will be described. In FIG. 54, the joystick 100 is provided with a neutral return mechanism (not shown). The two side portions 10 of the joystick 100
The projections 103 and 104 are provided on the first and the second 102, respectively. As shown in FIG. 55, the projection 103 includes a potentiometer chamber 105 and a brake chamber 106. O-ring 1 between potentiometer chamber 105 and brake chamber 106
10 are provided to seal both chambers.

In the potentiometer chamber 105, a rotating shaft 108 that rotates by moving the stick 107 is provided so as to penetrate the potentiometer 109, and the rotating angle of the rotating shaft 108 is detected by the potentiometer 109. The rotating shaft 108 penetrating the potentiometer 109 reaches the inside of the brake chamber 106,
A blade 111 is fixed near the end. Figure 56
In this example, four sheets are provided at 90 ° intervals, but it is sufficient that at least one sheet is provided.

The brake chamber 106 is filled with a solvent 112 (a so-called ER fluid) in which fine particles of 1 to 100 μm are mixed. The electrode 113 is provided in the brake chamber 106 so as to be exposed inside the chamber. The electrode 113 is electrically connected to a power supply 114 and a switch 115 by a lead wire.

In a state where the solvent 112 is ionized and not aligned, the rotation shaft 108 provided with the blades 111 accommodated in the brake chamber 106 rotates only by stirring the solvent 112 in the brake chamber 106. It does not hinder. The operation of this embodiment will be described below.

The stick 10 of the joystick 100
7 by rotating the stick 10
7, the rotation is detected by the potentiometer 109. In this case, since the solvent 112 is ionized and is not aligned, the rotating shaft 108 provided with the blades 111 accommodated in the brake chamber 106 rotates only by stirring the solvent 112 in the brake chamber 106. It does not hinder.

The value of the rotation angle detected here is processed by a control system (not shown) to bend, for example, a bending portion of the endoscope. Here, when the hand is released from the stick 107, the stick 107 returns to the neutral state by the neutral return mechanism (not shown). On the other hand, when the stick 107 is to be fixed at an arbitrary position, the switch 115 is turned on. Then, the power supply 114 and the electrode 113 conduct. Then, + (plus) charge is applied to one electrode 113 and the other electrode 1
A negative (−) charge is generated at 13.

For this reason, since the fine particles in the solvent 112 filled in the brake chamber 106 are ionized, they are attracted to the electric charge of the electrode 113 as shown in FIG. The fine particles are bonded between them, and are in a state close to alignment. As a result, the viscosity of the solvent 112 increases, and the blade 111 cannot rotate due to its resistance.
The stick 107 is fixed at an arbitrary position.

To return the stick 107 to the neutral state from this state, the switch 115 is turned off. As a result, as shown in FIG.
The ionized fine particles in 2 lose the bond and the solvent 11
The viscosity of 2 decreases. As a result, the blade 111 becomes rotatable, and the stick 107 is returned to the neutral state by the neutral return mechanism. Even if the rotating shaft 108 rotates, the O-ring 110 is sealed between the brake chamber 106 and the potentiometer chamber 105, so that the brake chamber 106
The solvent 112 does not leak into the potentiometer chamber 105.

A drain hole for solvent exchange may be provided in the brake chamber 106. The switch 115 may be built in the stick 107. Further, the fine particles in the solvent are not easily precipitated, but even if they are precipitated, they are immediately and uniformly present in the solvent by stirring the blades. This embodiment has an advantage that it can be made smaller than a mechanical or electromagnetic clutch.

Next, each embodiment of the bending operation switch capable of recognizing the neutral position will be described in order from FIG. 58 to FIG. In FIG. 58, the stick 301 is tilted about the center point (not shown) of the joystick in four directions. The stick 301 of this embodiment does not move up and down. The stick 301 is fitted into the upper surface recess 303 of the neutral support member 302 at the neutral point (the state shown in FIG. 58A). The neutral support member 302 is swingably fixed to the joystick main body bottom 305 by a spring 304. Next, the operation will be described.

When the stick 301 is tilted, the recess 3
03 and the state shown in FIG. further,
When the stick 301 is tilted, the neutral support member 302 returns to the neutral state in FIG. In this state, the stick 301 is
Since the user does not touch 02, the feeling is not transmitted to the stick 301, and it can be seen that the stick 301 is not near the neutral position.

When the stick 301 hits the neutral support member 302, the feeling is transmitted to the stick 301. still,
The spring 304 is selected so as to fit into the recess 303 when the stick 301 is completely neutralized. According to this structure, there is an effect that the vicinity of neutral can be recognized.

In FIG. 59, the stick 311 is movable in the axial direction, and a first position 312 and a second position 313 indicated by a two-dot chain line can be selected.
One end of a spring 315 is fixed to the joystick main body bottom portion 314, and a neutral urging member 316 is fixed to the other end. FIG. 59 shows the inner surface of the neutral urging member 316.
In the positional relationship (a), the cam surface 318 is provided symmetrically with respect to the center line 317 in any direction. Next, the operation will be described.

At the second position 313 in FIG. 59A , the stick 311 does not come into contact with the neutral urging member 316 at all even if it is tilted. Therefore, even if the hand is released from the stick 311, the tilt angle is maintained. At the first position 312 in FIG. 59A, when the stick 311 is tilted, as shown in FIG.
Contact 18

In this state, when the stick is released from the stick 311, the stick 311 is set in a neutral state as shown in FIG. 59A by the urging force of the spring 315. According to this structure, there is an effect that the presence or absence of the neutral return can be switched. In FIG. 60, the stick 321 includes an outer cylinder 322 and an inner rod 323.
And the inner rod 323 that forms the pressing element is the outer cylinder 322
It is freely retractable. The inner rod 323 is provided with a stopper screw 325 so that the inner rod 323 is not drawn too much into the outer cylinder 322.

At the lower part of the outer cylinder 322, a neutral urging member 326 is provided.
Is fitted. This neutral urging member 326
The joystick body 3 is swingable by a spring 327.
28. Next, the operation will be described.

The operation of returning to neutral will be described with reference to FIGS. 60 (a) and 60 (b). When the stick 321 is tilted, the state shown in FIG. Here, when the hand is released from the stick 321, the urging force of the spring 327 causes
The stick 321 returns to the neutral state in the state of 0 (a).

When the stick 321 is tilted,
In the state shown in FIG. 60B, when the outer cylinder 322 is slid upward as shown in FIG. 60C, the engagement between the outer cylinder 322 and the neutral urging member 326 is released, and as a result, the spring 327 is attached. The state shown in FIG. here,
Even if the hand is released from the stick 321, the tilted state of the stick 321 is maintained as shown in FIG.

Next, when the outer cylinder 322 is slid downward,
As shown in FIG. 60A, the outer cylinder 322 and the neutral urging member 32
6 are engaged and return to neutral. Note that if the stick 321 is tilted after the outer cylinder 322 is first slid upward, the stick 321 is held in the same manner as described above.

In FIG. 61, the stick 331 is the outer cylinder 332.
And a pressing rod 333. The pressing bar 333 is freely protruding and retractable with respect to the outer cylinder 322. The lower end of the pressing rod 333 is engaged and fixed to the upper surface recess of the neutral urging member 334. The neutral urging member 334 is fixed to the joystick main body 336 by a spring 335. Next, the operation will be described.

Referring to FIG. 61A, the case where the neutral return is not performed, that is, the case where the tilt of the stick 331 is maintained will be described. In the state of FIG. 61A, the biasing force of the spring 335 is insufficient to return the spring to the neutral position. Therefore, when the stick 331 is inclined, the inclination is maintained.

Next, the case of returning to the neutral position will be described with reference to FIG. Press rod 3 against outer cylinder 332
When the position 33 is selected to be in the protruding position, the urging force of the spring 335 generates the urging force necessary for the neutral return, and thus the neutral return is performed.

In FIG. 62, the stick 341 is slidable in the axial direction. A lid 343 is screwed into a lower part of the cylindrical casing 342. Casing 342
Inside, a circular plate 344 is provided. A hole 345 is provided in the center of the plate 344. The plate 344 is urged upward by a spring 346.

The plate 3 is located below the stick 341.
A disk portion 347 having a larger diameter than the 44 holes 345 is provided. Next, the operation will be described. In the state of FIG. 62, when the stick 341 is tilted and the hand is released from the stick 341, the tilt is maintained. If you want to return to neutral after tilting the stick 341,
41 is slid, the disc 347 is pressed against the plate 344, and the hand is released. Then, a neutral return is performed by the urging force of the spring 346.

In FIG. 63, the stick 351 is slidable in the axial direction. A lid 353 is screwed into a lower portion of the cylindrical casing 352. Casing 352
Inside, a circular plate 354 is provided. At the center of the plate 354, a hole (or a concave portion) 355 is provided. The plate 354 is urged upward by a spring 356.

The hole 3 provided on the upper surface of the casing 352
A collar 358 smaller in diameter than 57 is provided below the stick 351. The protrusion 3 at the bottom of this stick 351
59 fits into the hole 355. Next, the operation will be described.
When the stick 351 is tilted and the hand is released from the stick 351 in the state of FIG. 63, the tilt is maintained. Even if the stick 351 is tilted and then slid downward, the lower portion of the stick 351 hits the upper surface of the casing 352 and does not return to the neutral position.

To return to neutral, the stick 35
When the stick 1 is in a neutral state, the stick 351 is slid downward so that the projection 359 is engaged with the hole 355 and the collar 358 is further engaged.
The stick 351 must be tilted after the stick 351 is slid more than the thickness.

In FIG. 64, the stick 361 is slidable in the axial direction. Joystick lower surface 3
A spring 363 is fixed to 62. Next, the operation will be described. When the stick 361 is tilted in the state of the solid line of the stick 361 in FIG. 64, the tilt is held even if the hand is released. When the stick 361 is tilted in the state of the broken line of the stick 361 in FIG. 64, the stick 361 returns to neutral when released.

In the first embodiment, for example, when the operating lever 33 is tilted, the tilt angle is detected from the resistance values of the potentiometers 34 and 35, and the resistance value is stored in a memory or the like. As a result, even when returning to the neutral position, the same inclination angle may be set again by reading out the resistance value stored thereafter.

The position at which the operating lever is operated and returned is not limited to the neutral position, but may be another position. Further, the position to be returned may be variably set.

[0149]

As described above, according to the present invention,
A return mechanism that realizes a mode for returning the operation lever for performing the bending operation to the neutral position, a no return mechanism that realizes a mode for not returning the operation lever to the neutral position, and a selection for selectively activating one of these two mechanisms. Since the setting means is provided, any mode can be easily set by operating the selection setting means, and a bending operation device with good operability can be realized.

[Brief description of the drawings]

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

FIG. 2 is an explanatory view showing a bending drive mechanism.

FIG. 3 is a perspective view showing a bending switch.

FIG. 4 is a cross-sectional view taken along line AA ′ of FIG. 3 and a tilted operation lever.

FIG. 5 is a cross-sectional view taken along the line BB ′ of FIG. 3 and a tilted operation lever.

FIG. 6 is a perspective view showing an RL guide.

FIG. 7 is a perspective view showing a UD guide.

FIG. 8 is a sectional view showing the structure of the operation lever.

FIG. 9 is a perspective view showing a torsion spring that can be used in place of the helical spring.

FIG. 10 is a perspective view showing a bending switch.

FIG. 11 is a sectional view taken along the line CC ′ of FIG. 10;

FIG. 12 is a sectional view taken along the line DD ′ of FIG. 10;

FIG. 13 is a perspective view showing an RL guide.

FIG. 14 is a perspective view showing a UD guide.

FIG. 15 is a front view showing the shape of a UD guide.

FIG. 16 is a sectional view taken along line EE ′ of FIG. 11;

FIG. 17 is a sectional view taken along line FF ′ of FIG. 12;

FIG. 18 is an explanatory view showing a force acting on the operation lever when tilted from the state of FIG. 16;

FIG. 19 is an explanatory view showing a force acting on the operation lever when tilted from the state of FIG. 17;

FIG. 20 is a plan view showing a curved switch according to a third embodiment.

FIG. 21 is a sectional view taken along the line GA-GB-GC-GD in FIG. 20;

FIG. 22 is a sectional view taken along line HH ′ of FIG. 20;

FIG. 23 is a sectional view taken along the line II ′ of FIG. 20;

FIG. 24 is a sectional view showing a state where the operation lever is tilted in the state of FIG. 22;

FIG. 25 is a sectional view showing a state where the operation lever is tilted in the state of FIG. 23;

FIG. 26 is a perspective view showing a rotating unit of the UD volume.

FIG. 27 is a perspective view showing a UD guide.

FIG. 28 is a perspective view showing a UD rotation shaft.

FIG. 29 is a perspective view showing a rotating unit of a volume for RL.

FIG. 30 is a perspective view showing an RL guide.

FIG. 31 is a plan view showing an RL guide.

FIG. 32 is a view showing a block provided with a groove into which the outer end of the helical spring is engaged, in the JJ ′ section of FIG. 21;

FIG. 33 is a sectional view taken along the line KK ′ of FIG. 20;

FIG. 34 is a sectional view taken along line MM ′ of FIG. 23;

FIG. 35 is a side view showing the six-legged member.

FIG. 36 is a side view showing a three-legged member.

FIG. 37 is a sectional view showing a cover member.

FIG. 38 is a view showing the cover member in a section taken along line NN ′ of FIG. 37;

FIG. 39 is an explanatory view showing engagement between a six-legged member and a three-legged member together with a cover member.

FIG. 40 is an explanatory view showing engagement between the six-legged member and the three-legged member, taken along the line PP ′ of FIG. 39;

FIG. 41 is a view showing a helical spring used in a first modification of the third embodiment.

FIG. 42 is a front view showing a state in which the RL guide is elastically fixed by the helical spring shown in FIG. 41;

FIG. 43 is a cross-sectional view in the RL direction according to a second modification of the third embodiment.

FIG. 44 is a sectional view in the UD direction of a second modification of the third embodiment.

FIG. 45 is a schematic diagram viewed from the direction R in FIG. 43;

FIG. 46 is a schematic diagram viewed from the direction S in FIG. 44;

FIG. 47 is a cross-sectional view in the RL direction according to a third modification of the third embodiment;

FIG. 48 is a sectional view in the UD direction in a third modification of the third embodiment.

FIG. 49 is a perspective view showing a bending switch according to a fourth embodiment of the present invention.

FIG. 50 is a sectional view taken along the line PP ′ of FIG. 49;

FIG. 51 is a sectional view taken along line QQ ′ of FIG. 49;

FIG. 52 is an enlarged view showing a relationship between a cam member and a moving member.

FIG. 53 is a diagram showing a cam member formed so that a radius of curvature changes.

FIG. 54 is a perspective view showing a bending switch according to a fifth embodiment of the present invention.

FIG. 55 is a sectional view showing the internal structure of the protrusion.

FIG. 56 is a sectional view showing a brake chamber.

FIG. 57 is an explanatory diagram of an operation when a switch is turned off and an operation when the switch is turned on.

FIG. 58 is a first example of a mechanism that can recognize a neutral position.
Explanatory drawing which shows the principal part of an Example.

FIG. 59 is a mechanism capable of switching whether or not to return to neutral.
Explanatory drawing which shows the principal part of 6th Example.

FIG. 60 shows a mechanism capable of switching whether or not to return to neutral.
Explanatory drawing which shows the principal part of 7th Example.

FIG. 61 is a mechanism that enables switching between the presence and absence of neutral return .
Explanatory drawing which shows the principal part of 8th Example of FIG.

FIG. 62 is a mechanism capable of switching whether or not to return to neutral.
Explanatory drawing which shows the principal part of 9th Example.

FIG. 63 is a mechanism that enables switching between the presence and absence of neutral return .
Explanatory drawing which shows the principal part of 10th Example.

FIG. 64 is a mechanism that enables switching between the presence and absence of neutral return .
Explanatory drawing which shows the principal part of 11th Example of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Electronic endoscope apparatus 2 ... Electronic endoscope 3 ... Light source device 4 ... Video control device 5 ... Monitor 6 ... Bending motor control device 7 ... Operation part 8 ... Insertion part 10 ... Bending part 19 ... Bending switch 21 ... Drive motor 26 ... Bending operation wire 32 ... Case 33 ... Operation lever 34 ... UD volume 35 ... RL volume 36 ... (UD) helical spring 37 ... (RL) helical spring 38 ... RL guide 39 ... Pin 40: UD guide

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-26227 (JP, A) JP-A-58-78213 (JP, A) JP-A-60-57821 (JP, U) (58) Investigation Field (Int.Cl. ⁷ , DB name) A61B 1/00-1/32 G02B 23/24-23/26

Claims (1)

(57) [Claims] And 1. A bending mechanism for bending the distal end side of the insertion portion, a driving unit for driving the bending mechanism has a tilting freely operating lever for operating the drive unit, of the operating lever A bending switch composed of a joystick in which the amount of tilting and the amount of driving of the driving unit always correspond to each other; control means for controlling the driving unit by operating the bending switch; and urging force for tilting the operation lever of the bending switch is stopped. when a first mode for returning the operating lever to a predetermined position, and a second mode and mode switching means for switching the to locked stop the operating lever in a position in the case of stopping the biasing force, the mode By the switching operation of the switching means, the first mode is set.
When the mode is switched to the mode,
A return force for returning to the predetermined position is applied,
The mode is switched to the second mode by switching operation of the
When the lever is replaced, the bias is applied to the operation lever.
Stop the operation lever at the position where the force was stopped.
The amount of force acting on the operation lever is changed to apply a stopping force.
A bending operation device for an endoscope , comprising: an amount of force changing means for changing the amount of force .