JP3289936B2 - Electric curved endoscope device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an improvement in an electric bending type endoscope apparatus in which a bending portion of an endoscope is electrically driven.

[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 an organ in the body cavity, and if necessary,
2. Description of the Related Art An endoscope capable of performing various medical treatments using a treatment tool inserted into a treatment tool channel is widely used.

[0003] Boilers, gas turbine engines,
2. Description of the Related Art Industrial endoscopes are widely used for observing and inspecting internal scratches and corrosion of pipes of chemical plants and the bodies of automobile engines and the like.

Such an endoscope generally has a mechanism for bending a bending portion on the distal end side, and is provided with an electric driving means such as a motor for driving the bending mechanism.
Such an electric bending endoscope constitutes an electric bending endoscope apparatus in combination with an endoscope, a bending control device for controlling the bending of the endoscope, a light source device, and the like, ,It is used.

The electric bending type endoscope apparatus is disclosed in Japanese Patent Application Laid-Open Nos.
As shown in JP-A-8-78635, JP-B-63-59329 and JP-A-58-69523,
There is disclosed a bending control apparatus having a control means for controlling a bending speed by an operation time, an operation amount, an operation force amount, and the like of a bending operation switch.

Conventionally, when an endoscope is inserted into a lumen or the like, an operator determines the insertion direction of the endoscope while observing the endoscope image, and moves the distal end side of the insertion portion in the insertion direction. The endoscope was inserted by performing a bending operation to face the endoscope.

However, insertion of an endoscope in a colon examination or the like requires a high degree of skill and skill.

Accordingly, the present applicant has disclosed a method of detecting the insertion direction of an endoscope by extracting a dark region of an endoscope image in Japanese Patent Application No. 1-24505 filed on Jan. 31, 1989. Also, in Japanese Patent Application No. 1-24653 filed on Feb. 1, 1989, the insertion direction of the endoscope is detected, and the distal end of the insertion section is oriented in the detected insertion direction. We propose a technique to control the curvature.

By the way, when the lumen is straight,
It is only necessary to proceed straight in the detected insertion direction, but if the lumen is curved, it is necessary to proceed according to the curved state. However, conventionally, there is no means for detecting a curved state of a lumen or the like.

For this reason, the present applicant has filed a Japanese Patent Application No. Hei.
No. 119, an endoscope insertion control device capable of determining an insertion condition of an endoscope according to a state of a subject based on an image signal and enabling appropriate automatic insertion according to a state of the subject. is suggesting.

On the other hand, when an electronic endoscope or the like is used in the electric bending endoscope apparatus, a bending operation may be performed while observing a monitor image. The bending speed was constant regardless of the distance between the means. Accordingly, when the bending operation is performed by moving a bending operation switch or the like, the movement of the monitor image is slow when the distance is large and fast when the distance is small. As described above, the moving speed of the image varies depending on the distance to the subject, and conversely, it is difficult to grasp the speed sense of the bending speed, and it is difficult to perform the bending operation.

On the other hand, in the electric bending endoscope apparatus, in the initial operation of the power supply 0N, the operation angle of the joystick for the bending operation may not coincide with the bending angle of the bending portion. In this case, the surgeon does not know that the angles are different from each other, and the bending portion may bend in an unexpected direction, which is dangerous.

[0013]

In the conventional electric bending type endoscope apparatus, the bending speed is changed depending on the bending time, the operation amount, the operation force amount, the operation state of the operation switch, and the like. There is a drawback that the operator must always be careful and operate so as not to hit the body wall in the body cavity, because he cannot know the state or the state of the bending portion.

As disclosed in Japanese Patent Application Laid-Open No. 58-69523, there is a switch provided with a bending fine adjustment switch in addition to the bending operation switch. However, the state of the insertion portion or the bending portion can be detected in the same manner as described above. Therefore, even if the operator performs the bending operation with the fine adjustment by using the bending fine adjustment switch, the operator must always operate with care so as not to hit the body wall, which is disadvantageous in that the operation is complicated. Was. further,
If the user continues to perform the bending motion while hitting the body wall, the body wall is damaged, which is very dangerous.

On the other hand, in the insertion control device and the like for performing automatic insertion described in Japanese Patent Application No. 1-270119, no particular consideration has been given to the bending operation during automatic insertion.

On the other hand, in the electric bending type endoscope apparatus, if it is possible to recognize that the bending portion is in a straight state, it is effective in bending operation. For example, under the monitor image observation, if the straight state can be recognized only on the screen without seeing the bending operation switch or the like, the operator can concentrate on only the screen, which leads to an improvement in operability.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an electric bending endoscope apparatus which eliminates the complexity of the operator in the bending operation and improves the operability of the bending operation. And

[0018]

SUMMARY OF THE INVENTION An electric bending endoscope apparatus according to the present invention has a bending mechanism for bending a bending portion provided in an insertion portion of an endoscope which can be inserted into a subject, and a driving speed is changed. A driving unit capable of driving the bending mechanism; a bending amount instructing unit for giving an instruction for performing a bending operation of the bending unit to the driving unit; and the driving unit controls the bending unit. Drive
Detecting means for detecting a moving driving state; and a bay of the bending portion.
As a value indicating the driving state of the driving means with respect to the music state
A predetermined value determined in advance and the drive detected by the detection means;
The value indicating the moving state is compared with the value indicating the bending state.
The bending speed of the bending operation performed by the driving means by the ratio
Bending speed control means for controlling based on the comparison result .

[0019]

With this configuration, the bending speed control means controls the bending speed of the bending portion based on the insertion or bending state detection information obtained by the detection means,
Improve the operability of the bending operation.

[0020]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 to 3 relate to a first embodiment of the present invention. FIG. 1 is a block diagram including a main part of an electric bending endoscope apparatus, and FIG. 2 is an overall configuration diagram of the electric bending endoscope apparatus. FIG. 3 is a cross-sectional view showing the optical system at the end of the endoscope.

The electric bending type endoscope apparatus 1 shown in FIG.
An electronic motorized bending endoscope 2 having a solid-state imaging device such as a CD built therein, a light source device 3 for supplying illumination light to the electronic motorized bending endoscope 2, and a solid-state imaging device driven A video processor (hereinafter abbreviated as VP) 4 for converting an image signal from the solid-state image sensor into a video signal, a monitor 5 for projecting a video signal from the VP 4, and an electronic electric bending endoscope 2. And a bending motor control device 6 for controlling the bending of the bending portion 10 described later.

The electronic powered bending endoscope 2 is provided with a large-diameter operation section 7 and an elongated insertion section 8 connected to the operation section 7 and formed in an elongated shape so as to be inserted into a subject. In the insertion section 8, the flexible section 9, the bending section 10, and the distal end section 11 are connected in order from the operation section 7. The bending portion 10 has a bending tube, which is configured to connect a plurality of bending pieces and bendable vertically and horizontally.

A universal cord 12 is connected to a side portion of the operation section 7 and branches into two branches in the middle. At one end of the universal cord 12, a motor control device connector 13 is detachably connected to the bending motor control device 6, and at the other end, it is detachably connected to the light source device 3. Light guide connectors 14 are provided. A video control cord 15 extends from the side of the light guide connector 14, and the end of the video control cord 15 has the VP
4 is provided with a video processor (VP) connector 16 detachably connected thereto.

The operating section 7 includes the tip constituting section 11
An air supply / water supply button 17 for cleaning an observation window (not shown) provided on the front surface and a suction button 18 for sucking a body fluid or the like are provided. By operating the air supply / water supply button 17, air supply or water supply is performed, and by operating the suction button 18, a suction channel (not shown) provided in the electronic electric bending endoscope 2 is disposed. The suction is performed from the tool insertion channel).

The distal end portion 11 is provided at the rear end of the observation window with an objective optical system 20 and the solid-state image pickup device 2 shown in FIG.
1, while the illumination optical system 22 shown in FIG. 1 is provided at the rear end of an illumination window (not shown). A signal cable is electrically connected to the solid-state imaging device 20, and the signal cable extends to the VP connector 16 via the amplifier 23. At the rear end of the illumination optical system 22, an emission end of a light guide fiber 24 made of a fiber bundle is arranged. The light guide fiber 24 extends to the light guide connector 14, and illumination light from a light distribution lamp 25 provided inside the light source device 3 is incident on the incident end of the light guide fiber 24. ing.

By the way, the medical endoscope is cleaned and disinfected for each case, and when the number of examples of even a completely watertight endoscope increases, moisture between the lenses of the objective optical system 20 increases. May invade. For example, if moisture enters between the first lens 20a and the second lens 20b of the objective optical system 20 shown in FIG. 3A, even if a clear view is obtained before insertion into the body cavity, the body cavity insertion After being warmed by body temperature, when a cleaning liquid is sprayed from the cleaning nozzle toward the lens to clean the lens surface contaminated with body fluids and the like, the lens surface is rapidly cooled, and the infiltrated moisture is applied to the back surface of the first lens 20a. Dew condensation in the field of vision. The clouding of the visual field is not only a major obstacle to endoscopic observation, but also poses a danger to life if endoscopic observation and treatment must be performed urgently due to bleeding or the like.

Therefore, by reducing the size of the space 20c between the first lens 20a and the second lens 20b as shown in FIG. Can take measures against cloudiness in the field of view.

The two lenses 20a and 20b are
d, a fixing portion 11a is provided outside the fixing portion 11a for holding the lens frame 20d and the like. In this case, in order to improve the effect of countermeasures against clouding,
It is desirable to bond the contact surface between the lens 20a and the second lens 20b. However, if the adhesive is simply applied to the lens and bonded together, the adhesive will protrude into the concave portion 20e of the lens, which will hinder the optical path. Therefore, a V-groove 20f is provided on the rear end surface side outside the concave portion 20e of the lens,
If the adhesive is applied to the outside, the extra adhesive will be
It is accumulated at 0f and does not protrude into the recess 20e, so that sufficient adhesion is possible.

The first lens 20a and the second lens 20
FIG. 3B shows a cross section taken along line EE in FIG.
As shown in (b), a stop 20g may be inserted. In this case, the stop 2
It has been considered difficult to ensure sufficient adhesiveness on both sides of 0 g in terms of work.

However, as shown in FIG. 3 (b), a ring-shaped stop 20g is cut out in a fan-shaped outer periphery (shaded portion in the figure), and an adhesive is applied from the outer periphery of the combined lens. The first lens 20a and the second lens 20b are directly bonded in the cutout portion 20h of the stop, and the bonding area increases, and the adhesiveness improves. This aperture 20g
The peripheral portion 20i is supported by the lens frame 20d, and the coaxiality between the light passing portion 20j and the lens is ensured.

The bending portion 10 which is formed adjacent to the rear end of the front end portion 11 and which can be freely bent is formed by connecting a large number of bending pieces (not shown) in a cascade so as to be rotatable vertically and horizontally. A curved tube is provided. The number of bending pieces,
The upper and lower bending operation wires 27 and the left and right bending operation wires 28 shown in FIG. 1 are inserted therein, and the tips of the respective wires are fixed to a not-shown most-advanced bending piece provided inside the tip portion 11. I have. These bending operation wires 27 and 28
Is inserted through the inside of the bending portion 10 and the inside of the flexible tube portion 9, and its rear end is wound around pulleys 29 and 31 in the operation portion 7, respectively.

The pulleys 29 and 31 are fixed to shafts 32a and 33a of, for example, DC motors 32 and 33 as electric bending driving means, respectively. The rotation of the DC motors 32 and 33 causes the pulleys 29 and 31 to rotate. And 31 will also be rotated.

When bending the bending portion 10 in the vertical direction, the motor 32 is driven. Due to the rotation of the pulley 29, one of the bent operation wires 27 is pulled, the other is relaxed, and the bending portion 1 is moved to the pulled side.
0 is curved.

When bending the bending portion 10 in the left-right direction, the motor 33 is driven. The pulley 31
Due to the rotation of the bending operation wire 28, one of the folded operation wires 28 is pulled, and the other is relaxed, and the bending portion 10 is bent toward the pulled side.

Each of the bending driving DC motors 32 and 33
, Each shaft protrudes on the opposite side of the pulleys 29 and 31, and each of the shafts is provided with rotary encoders 34 and 35, respectively, and the DC motors 32 and 33 respectively.
It is possible to detect the rotation amount.

As shown in FIGS. 1 and 2, the operation section 7 is provided with a bending switch section 19 as bending amount indicating means. The bending switch unit 19 includes an up / down bending switch 38 and a left / right bending switch 39.

The bending switch unit 19 drives the DC motors 32 and 33 according to a bending operation signal output by the operation, and at this time, the rotation amounts of the DC motors 32 and 33 are detected by the rotary encoders 34 and 35. . The rotation amounts detected by the DC motors 32 and 33 are input to bending angle detection circuits 40 and 50, respectively. Since the amount of rotation corresponds to the amount of bending of the bending portion 10, each of the bending angle detection circuits 40 and 50 converts the input rotation amount into bending angle data of the bending portion 10, and sends the data to the control circuit 48. input.

The vertical bending switch 38 and the horizontal bending switch 39 control a bending operation signal via an input / output interface (hereinafter abbreviated as I / O) 51 in the bending motor control device 6. Circuit 48
To enter. The contacts R, L, U, and D on the I / O 51 side of the switches 38 and 39 are each pulled up to a power supply terminal by a resistor, and when the switch is turned on, an "L" ON signal is output.

The control circuit 48 controls the forward / reverse rotation of the motor 32 via the I / O 51a and the driver 52, that is, controls the upward / downward bending, while controlling the forward / backward of the motor 33 via the I / O 51b and the driver 54. Reverse rotation, that is, control of left / right bending is performed. Drive currents for driving the motors 32 and 33 are detected by current detection circuits 57 and 58 via current probes 55 and 56, respectively, and output to the control circuit 48 via an A / D converter 59.

Under the control of the control circuit 48, the driver 52 supplies the motor 32 with, for example, positive power in the case of upward bending and, for example, negative power in the case of downward bending. The supplied power is converted into a current by a current detection circuit 57 via a current probe 55, A / D converted, and output to the control circuit 48. Further, under the control of the control circuit 48, the driver 54 supplies, for example, positive power to the motor 33 in the case of the leftward bending and, for example, negative power in the case of the rightward bending. The supplied power is converted into a current by a current detection circuit 58 via a current probe 56 and A / D converted, and then the control circuit 4
8 is output.

On the other hand, the storage unit 60 stores the bending angle detection circuit 4
A desired function is stored as a relationship between 0 (and 50) and the detection data of the current detection circuit 57 (and 58). Then, the curve angle detection circuit 40 (or 50) and the current detection circuit 57
If there is a gap of, for example, 50% or more between the detected data and the detected data (or 58), the control circuit 48
The increasing speed of the current supply to 2 (or 54) is made slow, and the bending speed of the bending portion 10 is made slow.

In the present embodiment, the bending angle of the bending section 10 is determined by the control circuit 48 via the bending angle detection circuits 40 and 50.
On the other hand, the contact state between the bending portion 10 and the subject is detected by the current detection circuits 57 and 58 as power consumption. At a predetermined bending angle, the current consumption (or power consumption) of the motors 32 and 33 when the bending portion 10 is not in contact with the subject (when unnecessary load is not applied) is a predetermined predetermined value. Become.

However, if the bending section 10 attempts to bend further in a state in which the bending section 10 is in contact with, for example, the mucous membrane of the subject, the bending section 10 will bend against the reaction force from the mucous membrane. The current required to obtain the same bending angle is larger than when not. If the way in which the current increases becomes larger than the current value at the time of non-contact at a certain bending angle by a predetermined value or more, it indicates that the reaction force from the mucous membrane is considerably large, so carelessly It is dangerous to bend. In the present embodiment, data is stored in the storage unit 60 by setting a predetermined value which is a ratio between a current value at the time of non-contact at a certain bending angle and a current value at the time of contact at the same bending angle to, for example, 50%. The risk level is set to a value equal to or more than the predetermined value.

Therefore, in the present embodiment, when a situation occurs where the predetermined value is 50% or more, the movement of the bending section 10 is controlled by controlling the increasing speed of the current supply to each of the motors 32 and 33 to be slow. Can be slowed down, the bending operability can be improved, and patient safety can be ensured.

It should be noted that instead of slowing down the rate of increase of the current supply amount, it is also possible to control so as not to supply any more current amount and to stop. By doing so, the bending can be controlled so that no further bending is performed or the bending is returned in the reverse direction.

It is desirable that the set value of the danger level provided in this embodiment and the data of the settable level can be changed on an operation panel (not shown). In this case, a plurality of data may be stored in the storage unit 60, and the data may be selected as needed.

For example, when an endoscope is inserted by a method such as clinically the FOOKING THE FOLD method that requires a large bending resistance, the risk level should be set high and the narrow lumen should be inserted. For example, when it is desired to pass through an organ, the safety level and reliability can be enhanced by setting the risk level low.

4 to 7 relate to a second embodiment of the present invention. FIG. 4 is an overall configuration diagram of an electric bending endoscope apparatus, and FIG. 5 is a configuration diagram showing a part of a bending mechanism. 6 is an endoscope sectional view showing the entire bending mechanism, and FIG. 7 is an electrical block diagram relating to bending control.

In the present embodiment, the state of the insertion portion is detected based on the relationship between the motor rotation angle and the current consumption in the first embodiment. However, in addition to the bending operation wire, the state of the flexible portion is determined. A measuring wire is provided, and only the state of the curved portion is detected based on the difference in the amount of movement between the two wires.

The electronic endoscope 71 shown in FIG.
And an elongated insertion section 73 connected to the operation section 72 and formed to be elongated to be insertable into the subject. In the insertion portion 73, a flexible portion 74 having flexibility, a bending portion 75 configured to be bendable, and a distal end configuration portion 76 are connected in this order from the operation portion 72 side.

The bending portion 75 includes a bending tube in which a plurality of bending pieces are connected, and is bent vertically and horizontally by a bending switch 77 provided on the operation portion 72. . Further, a universal cord 78 is connected to a side portion of the operation unit 72, and connects a motor control device 79, which will be described later, to a light source device (not shown) and the like.

As shown in FIG. 5, a DC drive motor 80 for driving the bending portion 75 in a vertical direction and a sprocket 82 fixed to a drive shaft 81 of the drive motor 80 are provided in the operation portion 72. A geared motor encoder 83 which meshes with the sprocket 82 and a bending chain 84 which meshes with the sprocket 82 are also provided. The bending operation wires 86, 86 are connected to the ends of the bending chain 84 via bending connecting members 85, 85.
Are connected.

FIG. 6 is an axial sectional view of the electronic endoscope 71 .
As shown in the figure, the bending operation wires 86, 86 are inserted through the flexible portion 74 and the bending portion 75, and the bending piece 75 on the foremost side is inserted.
a.

A measuring chain 89 meshes with a measuring encoder 88 with a gear in the operating section 72. Then, measurement wires 91, 91 are connected to ends of the measurement chain 89 via measurement connection members 90, 90. The measurement wires 91 are inserted through the flexible portion 74 and connected to the bending pieces 75b on the flexible portion 74 side. Measuring encoder 8 with gear
8 detects the state of the flexible portion 74.

Further, the geared motor encoder 83, the geared measuring encoder 88, and the drive motor 80 are electrically connected to a motor control device 92 described later.

FIG. 7 schematically shows the motor control device 92. In the motor control device 92, a motor encoder detector 93 that detects the amount of movement of the bending operation wires 86, 86 based on a signal output by the motor encoder 83, and a signal output by the measurement encoder 88. Thus, a measuring encoder detector 94 for detecting the amount of movement of the measuring wires 91, 91, a subtractor 95 for calculating the difference between the amounts of movement, and a power detector 96 for detecting the power consumption of the drive motor 80. And a comparison control unit 97 that compares output signals of the subtraction unit 95 and the power detection unit 96 to control power supplied to the drive motor 80.

Here, the bending operation device for driving the bending operation in the vertical direction has been described. However, the bending operation device for driving the bending operation in the left and right direction has the same configuration, and the description and drawings are omitted.

In this configuration, first, the bending operation switch 77
Is pressed, the drive motor 80 rotates, and the bending operation wire 8
6, 86 are pulled and relaxed, and the bending portion 75 is bent. Along with this, the bending operation wires 86, 86 and the measurement wires 91, 91 inserted through the insertion section 73 move. Each of these movement amounts is referred to as a motor encoder 8
3 and the measuring encoder 88 detect.

Then, the subtracting section 95 obtains the difference between the respective detected values of the motor encoder 83 and the measuring encoder 88, removes the influence of the bending of the flexible section 74, and removes the bending section 75.
Only the movement amount of the wire is obtained, that is, the bending state of only the bending portion 75 can be detected.

On the other hand, the power detecting section 96
Power consumption. Here, the comparison control unit 97 compares the amount of movement of the wire and the power consumption, and the relationship between the two is different from the normal relationship (a state in which the object is not in contact with the subject). Is large, it is regarded as abnormal, that is, in contact with the subject, and the comparison control unit 97
Reduces the increasing speed of the supply current to the drive motor 80 and reduces the bending speed.

In this embodiment, the measuring wires 91, 91
Since it is provided, the amount of bending of only the bending portion 75 can be accurately determined. For example, by the FOOKING THE FOLD method, the insertion part and the bending part are curved so as to undulate, or the insertion part and the bending part become loop-shaped, and the state of the bending part is accurately detected with only the wires 85 and 85. Even when it is difficult to do so, the bending state of only the bending section 75 can be accurately detected, the movement of the bending section 10 can be slowed, and operability can be improved and patient safety can be ensured.

It should be noted that instead of slowing down the rate of increase of the current supply amount, control may be performed so as to stop without supplying any more current amount. By doing so, further bending is not performed or bending drive control is performed in the returning direction to ensure safety.

FIGS. 8 to 15 relate to a third embodiment of the present invention. FIG. 8 is an overall configuration diagram of an electric bending type endoscope apparatus.
9 is a cross-sectional view of an endoscope insertion section, FIG. 10 is a block diagram including a main part of an electric bending type endoscope apparatus, FIG. 11 is a configuration diagram of a driven gear in which magnets are arranged, and FIG. 13 is a flowchart showing an initial operation, FIG. 13 is a flowchart relating to bending direction recognition in bending control and an instruction thereof,
FIG. 14 is a flowchart of the bending control for obtaining a predetermined bending angle, and FIG. 15 is a flowchart of the bending control relating to the dangerous state processing.

FIG. 9 shows an electronic electric bending endoscope apparatus 301 according to this embodiment. An electronic powered bending endoscope device 301 includes an electronic powered bending endoscope 302 provided with a solid-state imaging device, and a light source device 303 that supplies illumination light to the electronic powered bending endoscope 302. A video processor 304 that performs signal processing on the electronic electric bending endoscope 302;
A monitor 305 for inputting a video signal output from the camera 4 and displaying a subject image, and the electronic electric bending endoscope 30
And a bending motor control device 306 that controls the bending of the bending portion 316 provided in the second insertion portion 307.

The electronic powered bending endoscope 302 includes an insertion section 307, an operation section 308, and a universal cord 30.
9 The insertion portion 307 is, in order from the distal end side,
Tip configuration section 315, bending section 31 configured to be bendable
6 and a flexible tube 317. The operation unit 308 is provided with an air / water supply button 318, a suction button 319, and a bending operation switch unit 320. The bending section 316 bends in the vertical direction in response to the operation of the bending operation switch section 320.

At the end of the universal cord 309, a connector 310 which is detachably connected to the light source device 303 is provided. From the side of the connector 310, a video processor code 311 and a bending motor control device code 313 extend. An end of the video processor cord 311 has a connector 312 detachably connected to the video processor 304.
Is provided. The bending motor control device cord 313 is provided at an end thereof with the bending motor control device 3.
06 is provided with a connector 314 detachably connected thereto.

On the other hand, FIG. 9 is a simplified illustration of the inside of the distal end constituting portion 315 and the curved portion 316. The curved portion 316 is provided with a rubber fiber 342. The rubber fiber 342 has flexibility and transmits light. And rubber fiber 342
Is such that as the bending angle increases, the amount of transmitted light attenuates. The light emitted from the LED 341 provided in the distal end component 315 enters one end of the rubber fiber 342. A photodiode 343 is provided on the other end of the rubber fiber 342.
Is provided, and the photodiode 343 is provided with the LED3.
Light emitted by 41 is incident.

On the other hand, the electronic type electric bending endoscope 30
2 is a bending motor control device 306 as shown in FIG.
Is electrically connected to In the operation unit 308 of the endoscope 302, for example, a DC motor 322 is incorporated as a power source for bending the bending unit 316.
The drive gear 32 is attached to the shaft 322a of the DC motor 322.
3 is fixed. A sprocket 325 is fixed to the driven gear 324 meshing with the drive gear 323. The sprocket 325 has a chain 3
26 is rotatably engaged. Both ends of the chain 326 are connected to each other through two connecting members (not shown) through two connecting members (not shown).
Each of the bending operation wires is connected to one end thereof.

FIG. 11 shows the driven gear 324. The driven gear 324 is connected to the chain 32
In the vicinity of the shaft 325a of the sprocket 325 on the opposite side of the sprocket 6, a north pole S pole and a pair of polarized bands 329 are provided. The band 329 is arranged at a position facing a Hall element to be described later when the bending portion 316 is in a straight state (at least not bent in the vertical direction).

The driven gear 324 is provided with a ring 330 polarized to the N pole and the S pole on the outer peripheral side of the driven gear 324. The ring 330 polarized to the N pole and the S pole is provided with 36 pairs of the N pole and the S pole, which are arranged in a circle.

The Hall element 331 is sufficiently close to and perpendicular to the band 329 polarized to the N pole and the S pole.
Numerals 2 are fixed to a frame (not shown) vertically and sufficiently close to the ring 330 polarized to the north and south poles. The Hall elements 331 and 332 convert magnetic changes accompanying rotation of the belt 329 and the ring 330 into electric signals. The Hall element 331 is for detecting the straight state of the bending section 316, while the Hall element 332 is for detecting the bending angle and the bending direction of the bending section 316.

The bending motor control device 306
A drive circuit 328 for driving the DC motor 322 in the operation unit 308, amplifiers 333 and 334 for amplifying output signals from the Hall elements 331 and 332,
Comparators 335 and 336 for shaping the output signals from 33 and 334 into a square wave;
From the comparator 3
And a counter 337 for outputting the output signal of No. 35 as a reset signal to the I / O 339.

The I / O 339 is connected to a counter 337. The M3 terminal is for counter input, the N3 terminal is for up-count output, the K3 terminal is for down-count output, and the L3 terminal is for reset signal input.

The counter 337 receives the output signal of the Hall element 332 binarized by the comparator 335 and outputs it as a reset signal to the control circuit 340 via the L3 terminal. The counter 337 receives the output signal of the Hall element 332 binarized by the comparator 335,
The count value is output to the control circuit 340 via the M3 terminal. Here, the comparator 33
The signal output by 5 is a pulse signal corresponding to the rotation angle. The counter 337 counts up the count value in accordance with an instruction of an up-count signal output from the control circuit 340, for example, “H”. The counter 337, on the other hand, counts down the count value in accordance with an instruction of a down-count signal output from the control circuit 340, for example, “H”.

The control circuit 340 can recognize the straight state by inputting the reset signal from the counter 337. The control circuit 340 recognizes the bending direction and the bending angle from the count value, sets a flag C internally, and increases / decreases the flag C in response to the increase / decrease of the count value. Further, the control circuit may control the terminal N3 according to the bending direction recognized based on the count value.
, While the down-count signal is output to the counter 337 via the terminal K3.
Output to

The control circuit 340 sets both the up-count signal and the down-count signal to, for example, "L" only during the initial operation of the power supply 0N. At this time, the counter 337 presets a counter value based on a signal output from the comparator 335.

In the case of an endoscope in which the driven gear 324 rotates a plurality of times before reaching the maximum bending angle, the control circuit 340 ignores the reset signal of the counter 337.

On the other hand, the bending motor control device 306
Includes an amplifier 344 for amplifying an output signal detected by the photodiode 343, and an A / D converter 345 for A / D converting the output signal from the amplifier 344 and outputting the converted signal to the control circuit 340. I have.

By the way, the A3 and B3 terminals of the I / O 339 are connected to the drive circuit 328, and the U3 and D3 terminals are connected to the bending operation switch 320 and pulled to the power supply via the resistor R.・ It is up.

Output signals from the bending operation switch 320 and the counter 337 are input to a control circuit 340 via an I / O 339. The output signal of the control circuit 340 is output to the drive circuit 328 via the I / O 339. The drive circuit 328 drives the DC motor 322 at a predetermined voltage.

In this embodiment, to simplify the explanation,
The bending direction is shown only in the vertical direction, but may be bent in four directions. In this case, the chain 326,
The bending mechanism such as a gear, the Hall elements 331 and 332, the motor 322, and the bending operation switch 320 need to be provided with another system.

The operation of this embodiment will be described with reference to the flowcharts of FIGS. When the power of the bending motor control device 306 is turned on, U3 of the I / O 339 is turned on.
A HIGH signal is input to the terminal and a HIGH signal is input to the D3 terminal. Hereinafter, the LOW signal is abbreviated as “L” and the HIGH signal is abbreviated as “H”. Signals input / output to the I / O 339 are represented as U3 = "H" and D3 = "H".

The control circuit 340 sets U3 = “H” and D3 =
Since it is "H", A3 = L and B3 = L are output from the I / O 339 to the drive circuit 328. Then, the bending portion 316 is kept stationary.

FIG. 12 is a flowchart showing only the first operation of the power supply 0N. The bending operation switch 320 is operated in the up direction and the down direction. At this time, if the reset signal is not input to the L3 terminal once in step S81, the control circuit 340 ignores the count value in step S82.

On the other hand, when the reset signal is input once in step S81, the control circuit 340 is set in step S83.
Resets the internal flag C to zero and starts reading the count value from the counter 337. With this operation, the bending angle straight is recognized. At this time, the counter 337 presets a predetermined count value.

When the bending operation switch 320 is operated in the upward direction, U3 = "L" and D3 = "H" are input to the I / O 339. The control circuit 340 determines that U3 = “L”, D3 =
Since it is “H”, A3 = “H” and B3 =
“L” is output to the drive circuit 328. That is, A13 =
Since it becomes "H" and B13 "L", a current flows from A23 to B23. Then, the DC motor 322 rotates in the up direction. When the DC motor 322 rotates, the drive gear 323 rotates, the driven gear 324 rotates, the sprocket 325 rotates, and the chain 326 is pulled. When one of the chains 326 is pulled, one of the wires (not shown) is pulled, and the other wire is relaxed,
The bending portion 316 bends in the up direction.

On the other hand, when the bending operation switch 320 is operated in the down direction, U3 = “H” and D3 =
“L” is input. The control circuit 340 determines that U3 =
Since "H" and D3 = "L", I / O 339
"L" and B3 = "H" are output to the drive circuit 328. That is, since A13 = "L" and B13 = "H", B23
Current flows from A to A23. Then, the DC motor rotates in the down direction. When the DC motor 332 rotates, the drive gear 333 rotates, the driven gear 324 rotates, the sprocket 325 rotates, and the chain 326 is pulled. The wire is pulled in the down direction opposite to the up.

The driven gear 324 has N
A ring 330 is provided that is polarized to the south pole. N pole S
Polarized ring 330 includes three pairs of north and south poles.
The driven gear 324 is bent, for example, by about 10 ° before the Hall element 332 detects a pair of N poles and S poles and detects the next pair of N poles and S poles. Has become. In addition, it does not need to be curved about 10 degrees. Also, a pair of N poles S of the ring 330 polarized to N poles and S poles
The number of poles need not be 36.

The signal detected by the Hall element 332 is
The signal is amplified by the amplifier 334, converted into a square wave by the comparator 336, and output to the counter 337. Here, when the bending operation switch 320 is operated in the up direction,
In step S84 of FIG. 13, the control circuit 340 sets the I / O
Based on the input of 339, U3 = "H" and D3 = "L", it is determined that the curve is in the upward direction, and an up-count signal is output to the counter 337 in step S85.

On the other hand, when the bending operation switch 320 is operated in the down direction, in step S86 in FIG. 13, the control circuit 340 sets the input of I / O 339, U3 = "L", D3
= “H”, it is determined that the bend is in the down direction, and a down count signal is output to the counter 337 in step S87.

The counter 337 counts up / down the pulse output from the comparator 336 via the M3 terminal of the I / O 339 according to the up / down count signal output from the control circuit 340. Then, the counter 337 outputs a count value to the control circuit 340 via the I / O 339.

The control circuit 340 adds or subtracts the flag C according to the increase or decrease of the count value. If the flag C> 0 in step S88 in FIG. 14, step S89
Thus, the control circuit 340 detects the presence or absence of a reset signal input. In step S90, control device 340 ignores the reset signal even if the reset signal is input. That is, the flag C is not reset in a state where the flag C is curved in the upward direction.

Here, the reset signal is output by the counter 337 every time the pair of N-pole and S-pole bands 329 passes through the Hall element 331. However, as mentioned above,
In the case of an endoscope in which the driven gear 324 rotates a plurality of times before reaching the maximum bending angle, the position where the reset signal is detected is not limited to the position where the bending portion 316 is in the straight state. Therefore, in the present embodiment, the polarity of the flag C is determined to determine whether the vehicle is in the middle of bending (a position other than the straight position).

According to steps S88 to S90, the flag C is not reset at a position other than the straight position, so that the flag C is not mistaken for the straight state. Step S89
In the case where the reset signal is not input, for example, in a state where a curve is applied, the addition / subtraction of the flag C is performed.

Steps S91 to S9
Numeral 3 is a flowchart showing a state in which the lens is curved in the down direction, which is the same as in the up case, and a description thereof will be omitted. In the case of No at step S91, that is, the straight state (C =
0) or means that the curved portion 316 is stationary. Therefore, addition and subtraction of the flag C are performed as usual in accordance with the next bending operation.

The bending section 316 is provided with a rubber fiber 342. The output signal from the photodiode 343 is amplified by the amplifier 344, and the A / D converter 34
The A / D conversion is performed at step 5 and output to the control circuit 340. The control circuit 340 constantly monitors the amount of light received by the photodiode 342. The control circuit 340 reduces the amount of light from the photodiode 340 to 100% at the position where the reset signal is input, that is, when the bending portion 316 is in the straight state.
Judge.

In the state where the bending section 316 is bent, the amount of light attenuates in accordance with the bending angle.
0 can detect whether or not the bending portion 316 is in contact with the subject by monitoring the change in the amount of light.

If it is determined in step S94 of FIG. 15 that the light beam is curved in the upward direction, the light amount becomes 70 in step S95.
%, If the change in the amount of light is within ± 1% in spite of the output from the Hall element 332 in step S96, the curved portion hits the body wall or the like and is considered dangerous, and in step S97. , Stop bending.

It is determined whether the light amount is 70% or less by:
This is because the characteristics of the rubber fiber 342 are not linear. In particular, when the angle of curvature from the straight is small, the change in the light amount is small. Therefore, unless a change in the light amount is relatively clear, a state in which there is no change in the light amount cannot be regarded as a dangerous state.

Steps S98 to S101
Is a flowchart in the case where the camera is curved in the down direction. still,
In the case of No at step S98, it means a straight state or a stationary state.

The change in the amount of light for stopping the bending is ± 1.
%. Also, instead of the LED 341, the light guide fiber is branched into two branches,
The book connected to the rubber fiber 336 may be used.

In the present embodiment, if the amount of light received by the photodiode does not change even though the lens is curved, the bending operation is stopped because it is regarded as a dangerous state, such as hitting the body wall. In the present embodiment, it is possible to improve the safety as well as the bending operation.

As for the control of the bending speed, not only the stop but also the speed may be reduced or the direction may be reversed.

FIGS. 16 to 21 relate to a fourth embodiment of the present invention. FIG. 16 is an external view showing a distal end portion of an endoscope.
FIG. 1 is a block diagram including a main part of an electric bending endoscope apparatus,
8 is a control operation flowchart of a bending operation and a bending speed,
FIG. 19 is a flowchart for setting the speed setting flag,
FIG. 20 is a flowchart of a bending speed switching operation, and FIG.
1 is a flowchart for emergency stop of a bending part.

In this embodiment, the electric bending endoscope apparatus shown in the third embodiment detects the contact with the subject by the change in the amount of light transmitted through the rubber fiber, and the bending angle and the straight state by the Hall element. Is detected, the pressure sensor directly detects contact with the subject, and the encoder detects the bending angle.

The electric bending type endoscope apparatus of this embodiment is
It has almost the same configuration as the electric endoscope device 301 shown in FIG. 8, and includes an endoscope 402 shown in FIG. 16 instead of the endoscope 302, and instead of the bending motor control device 306. A bending motor control device 406 shown in FIG. 16 is provided. Since the overall configuration of the apparatus is the same as that of the third embodiment, the drawings and description are omitted.

FIG. 16 shows a distal end portion 400 and a bending portion 401 provided at the distal end of the insertion portion of the electronic endoscope 402.
It is shown. An annular pressure sensor 403 is fixed on the circumference of the distal end component 400. Incidentally, reference numeral 421
Is an illumination window, 422 is an observation window, 423 is an air / water nozzle, and 424 is a forceps channel opening.

FIG. 17 shows the electrical connection between the operation section of the electric bending endoscope 401 and the bending operation motor control device 406 and a part of the bending mechanism. The operation section of the electric bending endoscope 402 includes, for example, a DC motor 404 as driving means for bending the bending section 401, and a drive shaft 404 a of the DC motor 404 includes a drive unit. The gear 405 is fixed. This drive
The driven gear 416 meshing with the gear 405 is fixed to the shaft 406a of the sprocket 406,
A chain 407 is rotatably engaged with 06.
In the chain 407, one end of each of two wires (not shown) is continuously provided by two connecting members (not shown). At the other end of the two wires, the bending portion 401
Are inserted through a plurality of joint pieces (not shown) rotatably combined with each other, and each wire is fixed to the most advanced joint piece. Then, the other end of the wire is fixed to the distal end portion 400, and the wire is pulled and relaxed in accordance with the rotation of the DC motor 404, so that the bending portion 401 is bent.

Further, the rotating shaft 404a of the DC motor 404
An absolute encoder 415 is fixed to the end of the DC motor 404 in order to detect the rotation angle of the DC motor 404.

On the other hand, the bending motor control device 406
Is a drive circuit 411 for driving the DC motor 404.
A rotation angle detection circuit 410 that converts an output signal from the encoder 415 into angle data and outputs the angle data; a control circuit 413 as control means for controlling a bending operation and a bending speed; And a resistance detection circuit 414 for detecting an output signal from the 403.

The bending motor control device 406 includes the drive circuit 411, the rotation angle detection circuit 410, the resistance detection circuit 414, the bending operation switch 408 and the speed setting switch 409 provided on the operation section of the endoscope 402, Also, an input / output port (hereinafter, I / O) 412 is provided between the control circuit 413 and the input / output port for mediating signal input / output.

The control circuit 413 and the I / O 412 are connected by a bus line. The bending operation switch 408 is a switch for bending the bending portion 401 in the up or down direction. The common terminal is grounded, and the U / I 412 of the I / O 412 is connected to the up terminal.
The other end of the resistor R whose one end is connected to a power source is connected to the four terminals. The down terminal of the bending operation switch 408 is connected to the D4 terminal of the I / O 412, and the other end of the resistor R whose one end is connected to the power supply is connected.

One end of the speed setting switch 409 is grounded, the other end is connected to the S4 terminal of the I / O 412, and the other end of the resistor R whose one end is connected to the power supply is connected.

The drive circuit 411 is composed of, for example, a CPU or the like, and is configured to input a control signal via terminals A4 and B4 of the I / O 412. On the other hand, the rotation angle detection circuit 410 outputs angle data to the control circuit 413 via the terminal C4 of the I / O 412.
The resistance detection circuit 414 is connected to the terminal F4 of the I / O 412.
, The resistance value data is output to the control circuit 413.

The control circuit 413 operates the drive circuit 4 via the I / O 412 in response to the operation of the bending operation switch 409.
11 to control the bending drive / stop of the bending section 401 and the bending direction.

Further, the control circuit 413 converts the angle data of the rotation angle detection circuit 410 into speed data corresponding to the bending speed of the bending portion, and constantly monitors the bending speed of the bending portion 401. The bending speed of the bending portion 401 is controlled according to the operation of the setting switch 409. Further, the control circuit 413 controls the resistance detection circuit 41
4 is constantly monitored.

In the present embodiment, for the sake of simplicity, the bending direction is limited to only the up and down directions, but it is bent in four directions including right / left. Is also good. In this case, the bending mechanism such as the chain 407 and the gear, the DC motor 404, and the bending operation switch 408 need to be provided with another system of another type.

The operation of this embodiment will be described with reference to the flowcharts of FIGS. First, when the power of the bending motor control device 406 is set to 0N, the I / O4
Twelve terminals D4 and U4 become high ("H"), the control circuit 413 judges that the control is disabled, and outputs low ("L") to the terminals A4 and B4 of the I / O 412, respectively. The bending section 401 holds the restrained state.

When the bending operation switch 408 is operated in the up direction, the terminal U4 of the I / O 412 goes low and the terminal D4 goes high.
The control circuit 413 outputs high to the terminal A4 and low to the terminal B4 of the I / O 412. At this time, the DC motor 404
, A current flows from A24 to B24 in FIG. 17, and the DC motor 404 rotates in the up direction. The rotation of the DC motor 404 causes the drive gear 40 to rotate.
5, the chain 407 and the wire are pulled through the driven gear 416 and the sprocket 406, and the bending portion 401 bends in the upward direction.

On the other hand, each rotation detection circuit 410 converts the output pulse detected by the encoder 415 into angle data,
The signal is output to the control circuit 413 via the terminal C4 of the I / O 412. The control circuit 413 stores the angle data in the bending section 40
Step S1 is converted into speed data indicating the bending speed of Step S1.
In 5, it is determined whether or not the value of the speed data is equal to or greater than a predetermined value, that is, whether or not the bending speed is equal to or greater than a predetermined speed described later. In the case of Yes, in order to keep the rotation speed of the motor 404 constant, in step S6, the control circuit 413 sets the I / O4
Twelve terminals A4 and B4 are set low and the DC motor 404
Do not allow current to flow through. If No, that is, if the speed is equal to or lower than the predetermined speed, the control circuit 41
Reference numeral 3 outputs high to the terminal A4 of the I / O 412 and low to the terminal B4 to instruct the DC motor 404 to continue rotating in the up direction. In this way, a kind of PWM (Pulse Wi
By dth Modulation) control, the motor 404 always rotates at a constant speed.

When the bending operation switch 408 is operated in the down direction, the terminal U4 of the I / O 412 goes high, and the terminal D4
Becomes low, and the control circuit 413 outputs low to the terminal A4 and high to the terminal B4 of the I / O 412 in step S8 after steps S1 and S2. At this time, DC
A current flows through the motor 404 from B24 to A24 in FIG. 17, and the DC motor 404 rotates in the down direction. The DC motor 404 pulls the chain 407 and the wire via the drive gear 405, the driven gear 416, and the sprocket 406 by the rotation thereof, and the bending portion 401 bends in the down direction.

On the other hand, the control circuit 413 determines whether or not the value of the speed data is equal to or higher than a predetermined value, that is, whether or not the bending speed is equal to or higher than the predetermined speed, in step S9 based on the speed data as described above. I do. In the case of Yes, in order to keep the rotation speed of the DC motor 404 constant, in step S10, the control circuit 413 sets the terminals A4 and B4 of the I / O 412 to low so that no current flows to the DC motor 404. In the case of No, that is, if the speed is equal to or lower than the predetermined speed, the control circuit 413 outputs low to the terminal A4 of the I / O 412 and high to the terminal B4 to instruct the DC motor 404 to continue rotating in the down direction. Thus, the DC motor 404 always rotates at a constant speed by a kind of PWM control.

When the bending operation switch 408 is not operated, that is, when the switch is in the neutral state, the terminals U4 and D4 of the I / O 412 are high, so that the control circuit 413 passes through steps S1 and S2 and step S3. , The outputs of the terminals A4 and B4 of the I / O 412 are both set to low, the current does not flow through the DC motor 404, and the DC motor 404 remains stopped, and the bending section 401 remains stationary.

FIGS. 19 and 20 are flowcharts showing the processing procedure of the control circuit 413 when the speed setting switch 408 is operated.

When the power supply of the bending motor control device 406 is turned on, the speed setting flag SW set in the control circuit 413 is first set to “1”. When the speed setting switch 409 is turned on in step S12 of FIG. 19, the flag SW is turned on every time in step S13,
"1" is added at a time. If the speed setting switch 409 is not turned on, the flag SW is turned on until the next time it is turned on.
Maintain the status quo. In step S14, it is determined whether or not the flag SW ≧ 5. When the flag SW is equal to or more than “5”, the flag SW is returned to “1” again in step S15. That is, every time the speed setting switch 409 is turned on, the flag SW is incremented by one and is always between "1" and "4".

If the flag SW is "1" in step S16 of FIG. 20, the speed setting is set to "1" in step S17. The speed set here is a predetermined speed serving as a criterion in steps S5 and S9 in FIG. If the flag SW is "2" in step S18, the speed setting is set to "2" in step S19. Step S2
If 0 and the flag SW is "3", the speed setting is set to "3" in step S21. When the flag SW is "4" in step S22, the speed setting is set to "4" in step S23.

On the other hand, the flowchart shown in FIG. 21 controls the bending speed by detecting a danger state where the bending portion of the endoscope 402 comes into contact with the subject. The control circuit
Reference numeral 413 constantly monitors a change in the resistance value of the pressure sensor 403 detected by the resistance detection circuit 414. Endoscope 40
When the second bending portion 401 is bent, the pressure sensor 403 may come into contact with the body wall of the subject or the like. When the pressure sensor 403 comes into contact with a body wall or the like of the subject,
The resistance value of the pressure sensor 403 decreases.

In the above state, in step S 24, the resistance detection circuit 414 detects a change in the resistance value of the pressure sensor 403 that decreases, and outputs the change to the control circuit 413. If the resistance value is lower than the preset resistance value, the control circuit 413 determines that the state is dangerous, and sets the I / O 412 to A in step S25.
4 = “L”, B4 = “L” output, and the bending section 401 is stopped. If the resistance value is larger than the set value in step S24, the current operation, for example, the bending operation is continued.

In step S25, the bending speed may be set to be equal to or less than the set speed "1", for example, １ ／. Also, the vehicle may be curved in the opposite direction to avoid a dangerous state.

In this embodiment, by controlling the number of rotations of the motor to be constant, the bending portion can be bent at a constant speed, and the bending speed can be variably switched. Further, in the present embodiment, when the pressure sensor 403 hits the body wall of the subject or the like, it can be detected that the distal end side of the insertion portion has contacted the subject, and the bending portion is stopped (or slower than a predetermined speed). A dangerous situation can be avoided, and the operability and safety of the bending operation can be improved. The safety of the subject such as a human body can be improved.

FIGS. 22 to 24 relate to a fifth embodiment of the present invention. FIG. 22 is an overall configuration diagram of an electric bending type endoscope apparatus showing a section of an endoscope operation section, and FIG. FIG. 24 is a side view showing a part of the bending mechanism, and FIG. 24 is a block diagram of the motor control device.

The electric bending endoscope device 500 of this embodiment shown in FIG. 22 includes an electric bending endoscope 501, a motor control device 516, a light source device (not shown), and the like.

The electric bending endoscope 501 detects a bending state by using a tension sensor provided on a bending operation wire instead of the pressure sensor of the fourth embodiment.

FIG. 22 is an axial sectional view of only the operation section 502 of the electric bending endoscope 501. The operating section 502 of the electric bending endoscope 501 includes an insertion section 50.
3 are connected. The insertion section 503 is provided for the operation section 50.
In order from the two sides, a flexible portion 504 having flexibility, a bending portion 505 configured to be bendable, and a tip configuration portion 506 are provided.

As shown in FIG. 22 or FIG. 23, a DC drive motor 507 for driving the bending portion 505 to bend up and down, and a drive motor 507
And a chain 510 that meshes with the sprocket 509. The operation unit side wires 511 and 511 are connected to both ends of the chain 510 via connecting members 519 and 519.
511 are connected. Also, the operation unit side wire 51
The other end of each of the first and the first parts 511 is connected to the insertion part side wires 513 and 513 through the displacement members 512 and 512. The insertion section side wires 513 and 513 are connected to the flexible section 5.
04, the bending portion 505 is inserted, and connected to a not-shown bending piece (not shown) of the bending portion 505. On the displacement members 512 and 512, displacement sensors 514 and 514 made of, for example, piezoelectric ceramics are fixed by means such as adhesion.

Here, the drive motor 507 and the displacement sensor 514 are electrically connected to the motor control unit 516 via signal lines passing through a universal cord 515 provided on the side of the operation unit 502. I have.

In the motor control unit 516 shown in FIG. 24, a power supply unit 51 for supplying power to the drive motor 507 is provided.
7 and a control unit 518 for controlling the output of the power supply unit 517.
And Then, the displacement sensor 514 and the control unit 5
Reference numeral 18 denotes a signal line 514a, 514a (only one of which is shown in FIG. 23) which is resistant to bending and which is covered with, for example, ETFE resin.
7 and the drive motor 507 are also electrically connected by the signal line.

Although only the bending mechanism and the control device for driving the bending in the vertical direction have been described here, the bending mechanism and the control device (not shown) for driving the bending in the left and right direction have the same configuration.

In this configuration, when a bending operation switch (not shown) provided on the operation unit 502 is first pressed, the drive shaft 508 of the driving motor 507 rotates, pulling the insertion-portion-side wire 513, and bending the bending portion 505. To bend. At this time,
When the bending portion 505 hits a body wall or the like and the resistance of the bending portion 505 increases, the tension of one insertion portion side wire 513 increases,
Accordingly, the tension applied to the displacement member 512 also increases, and the tension applied to the displacement sensor 514 fixed thereto also increases, so that the displacement sensor 514 is displaced. Displacement sensor 51
4 converts the displacement amount into an electric signal and transmits the electric signal to the control unit 518. The control unit 518 receives the electric signal, and if the electric signal exceeds a predetermined value,
07 is reduced. Then, the rotation speed of the drive motor 507 decreases, and the bending speed of the bending portion 505 decreases.

The bending section 505 may be stopped,
Control may be performed so as to return in the opposite direction. Also,
Even if the displacement sensor 514 moves, the signal line 514a is not broken because the signal line 514a is highly bent.

In this embodiment, since the displacement sensor is provided inside the operation section, the diameter of the insertion section can be reduced as compared with the fourth embodiment in which the pressure sensor is provided on the outer peripheral side of the insertion section. Also,
In the present embodiment, the change in the amount of displacement of the displacement sensors 514 and 514 detects that the curved portion has come into contact with the tube wall or the like of the subject, and controls the bending speed of the curved portion, for example, it can be slowed down.
Operability and safety of the bending operation can be improved.

FIG. 25 is a configuration diagram including a main part of a modification of the fifth embodiment. In this modification, the wires 511 and 513 connected to the displacement member 512 of the fifth embodiment are changed to one wire, and the shape of the displacement member is changed. , Are exactly the same, so the details of the other components are proportionate.

FIG. 25A shows the displacement member 520 and the bending operation wire 526, and FIG. 25B is a view in the direction of arrow A in FIG. Note that FIG. 25 shows only one configuration, such as the displacement member 520 and the bending operation wire 526, and the other is the same, so that the description is omitted. The E-shaped displacement member 520 has a main body 520a as a base, a thin portion 520b projecting at the center, and thick projecting portions 520c, 520d projecting on both sides of the thin portion 520b. I have. Protruding portion 520c,
520d has a hole 52 through which the bending operation wire 526 is inserted.
1, 521 are respectively penetrated in parallel with the main body 520a. Displacement sensors 5 such as a polymer piezoelectric sensor are provided on both sides of the thin portion 522b via an insulating material 523 such as rubber.
24 are fixed by bonding or the like. This displacement sensor 5
24, the signal line 525 that is strong against bending as described in the fifth embodiment is electrically and mechanically connected by solder or the like. These signal lines 525 are connected to the motor control device 5.
16 is connected to the control unit 518.

A bending operation wire 526 is inserted through the holes 521 and 521 so as to press the thin portion 520b.

In this configuration, when the bending operation wire 526 receives tension due to the bending operation, the thin portion 520b of the displacement member 520 is pressed, whereby the displacement sensor 524 fixed to the thin portion 520b is deformed. An electric signal corresponding to the displacement amount is transmitted to the control unit 518, and the control unit 51
8 lowers the power supplied by the power supply unit 517, thereby lowering the rotation speed of the motor and lowering the bending speed.

[0146] This modification is compared with the fifth embodiment, the bending operation wire it is possible to one, since the displacement amount can be made large, it is possible to perform high-precision detection. The other configuration and operation and effect are the same as those of the fifth embodiment, and the description is omitted.

FIGS. 26 to 28 relate to a sixth embodiment of the present invention. FIG. 26 is a schematic overall configuration diagram of an electric bending endoscope apparatus, FIG. 27 is a configuration diagram showing a part of a bending mechanism, FIG.
FIG. 3 is an electrical block diagram of the motor control device. In the present embodiment, the bending state is detected by detecting the power consumption of the drive motor, instead of the displacement sensor of the fifth embodiment.

An electric bending type endoscope 600 shown in FIG.
Is an electronic endoscope 601, a motor control device 609,
And a light source device (not shown).

The electronic endoscope 601 includes an operation unit 602
And an insertion section 603 that is connected to the operation section 602 and is formed to be elongated so as to be insertable into a subject. The insertion section 603 includes a flexible section 604,
The bending portion 605 configured to be bendable and the distal end configuration portion 606 are connected.

The bending portion 605 is formed by connecting a plurality of bending pieces (not shown), and is bent by operating a pad-type bending operation switch 607 provided on the operation portion 602. This pad type bending operation switch 607 applies a bending while pressing the switch,
A switch that operates to stop when released.

The operation unit 602 has a universal cord 608 connected to a side portion thereof, and the universal cord 608 connects the motor control device 609.

As shown in FIG. 27, a DC drive motor 610 for driving the bending portion 605 in a vertical direction and a drive shaft 61 of the drive motor 610 are provided in the operation portion 602.
1, a sprocket 612 fixed thereto and a chain 613 meshing with the sprocket 612 are provided. The connecting members 614 and 614 are provided at both ends of the chain 613.
Wires 615 and 615 are connected via 614. The wires 615 and 615 are inserted through the flexible portion 604 and the bending portion 605, and are connected to a not-shown most-end bending piece of the bending portion 605. Note that only one of the connecting member 614 and the wire 615 is illustrated.

As schematically shown in FIG. 28, a power supply section 616 for supplying power to the drive motor 610 and a power supply from the power supply section 616 are detected by detecting power supplied from the power supply section 616. Control unit 617 for controlling power
And Here, only the bending operation device that bends in the up-down direction has been described, but the bending mechanism and the control device that bend in the left-right direction have the same configuration.

In this configuration, first, when a pad-type bending operation switch 607 provided on the operation unit 602 is pressed, the drive shaft 611 of the drive motor 610 rotates, and the wire 61
5, 6, 615 are pulled / relaxed, and the bending portion 605 is bent. At this time, when the bending portion 605 hits a body wall or the like and the resistance of the bending portion 605 increases, the tension of one wire 615 also increases, and accordingly, the power consumption of the drive motor 610 also increases. Here, the control unit 617 in the motor control device 609
However, the power consumption of the drive motor 610 is detected, and if the power consumption exceeds a certain level, control is performed so that the power supplied from the power supply unit 616 is reduced. Thereby, the drive motor 610
Is reduced, and the bending speed of the bending portion 605 is reduced. Note that the control unit 617 may stop the power supply from the power supply unit 616 and stop the bending of the bending unit 605. Or you may control so that it may return to a reverse direction.

In the present embodiment, unlike the fourth embodiment, no pressure sensor is provided on the outer periphery of the endoscope insertion section, so that the diameter of the endoscope insertion section can be reduced. Further, in the present embodiment, the controller 617 detects whether or not the power consumption has exceeded a certain value, detects that the bending portion has come into contact with a tube wall or the like of the subject, and controls the bending speed of the bending portion 605, for example, Since the operation can be delayed, operability and safety of the bending operation can be improved.

The control method of the bending speed in the sixth embodiment is not limited to the above. Hereinafter, a modified example in which the control method is changed will be described. FIG. 29 is a block diagram of a motor control device according to a first modification of the sixth embodiment.

In the first modified example, a timer is additionally provided in the motor control device of the sixth embodiment, and the configuration and operation are the same as those of the sixth embodiment.

In the motor control device 618 shown in FIG. 29, a power supply 61 for supplying electric power to the drive motor 610 is provided.
9, a timer 620 that detects the power supply from the power supply unit 619 and counts the time if the power supply is equal to or more than a specified value, and stops the timer if it is less than a specified value, and detects the operation time of the timer 620. Then, a control unit 621 is provided for controlling the power supply unit 619 to reduce the supply power when the time is equal to or longer than the specified time.

In this configuration, when the power consumption of the drive motor 610 increases due to an increase in the resistance of the bending portion, the power supplied from the power supply unit 619 to the drive motor 610 increases. If the supplied power is equal to or greater than the specified value, the timer 6
20 is activated to transmit time count data to the controller 621.

When the supply power is momentarily increased and the supply power becomes less than the specified value, the timer 620 stops and the time count stops. Conversely, if the supplied power is always above the specified value, the time counting continues. Then, the control unit 621
Controls the power supply unit 619 to reduce the supply power if the time count data is equal to or longer than the specified time.
This means that the supply power is reduced when the time during which the supplied power is equal to or more than the specified value is equal to or longer than the specified time, that is, when the time when the bending portion 605 contacts the tube wall of the subject is equal to or longer than the specified time. It is. The driving motor 610
Is reduced, and the bending speed of the bending portion 605 is reduced.

In the first modified example, in addition to the effect of the sixth embodiment, the drive power supplied from the power supply unit 619 rises above the specified value for a moment by, for example, quick operation of the bending operation switch 607, and is immediately specified. When the value returns to the value or less, the predetermined time is not reached and the bending operation is not affected.
Therefore, in the first modification, more accurate and reliable control of the bending operation can be performed, and the safety of the bending operation can be improved.

In the sixth embodiment and the first modified example, a pad type (bending while pressing the switch and stopping when released) is used as the bending switch as the bending amount indicating means. The same control can be performed by providing a mold (curved in accordance with the tilt angle of the lever). Hereinafter, a second modified example will be described. FIGS. 30 to 32 relate to a second modification of the sixth embodiment.
FIG. 31 is a schematic overall configuration diagram of the electric bending endoscope device, FIG.
Is a block diagram showing a part of the bending mechanism, and FIG. 32 is an electric block diagram of the motor control device.

In the endoscope of the second modification, the bending operation switch 607 of the sixth embodiment is changed from a pad type to a joystick type, and an encoder is added near the driving motor 610. In addition, the same components and operations as in the sixth embodiment are denoted by the same reference numerals, and description thereof is omitted.

The electric bending type endoscope device 640 shown in FIG.
Is an electronic endoscope 641, a motor control device 642,
And a light source device (not shown).

The operation section 621 of the electronic endoscope 640 is provided with a joystick type bending operation switch 622. As shown in FIG. 31, the operation unit 621 includes a DC drive motor 610 for bending and driving the bending portion 605, and a drive shaft 6 of the drive motor 610.
11, a geared encoder 626 that meshes with the sprocket 612,
The chain 613 also meshing with the sprocket 612
Are provided. The bending operation wires 615 and 615 are connected to the end of the chain 613 via the connection member 614. The bending operation wires 615 and 615 are connected to a bending piece at the forefront of the bending portion 605.

The bending operation switch 622, the drive motor 610, and the geared encoder 626 are electrically connected to the motor control device 642 via signal lines (not shown) passing through the universal cord 608. .

As shown in FIG. 32, the motor control device 64
2, a power supply unit 632 that supplies power to the drive motor 610 and a control unit 6 that detects power supply to the drive motor 610 and controls the power supplied to the power supply unit 632.
33 are provided.

The controller 633 is provided with the bending operation switch 6
By calculating the difference between the tilt angle of the bending section 22 and the rotation angle of the encoder 626, the bending direction and the bending amount of the bending section 605 are detected, and the power supply section 632 is controlled so as to supply the power detected by the detection. The power supply to the motor 610 is detected, and if it is equal to or greater than a specified value, the motor 610 is controlled to reduce the power supply.

In this configuration, when the joystick type bending operation switch 622 is operated, the bending portion 605 bends in a predetermined direction and a predetermined angle. At this time, when the bending portion 605 hits a body wall or the like and the resistance of the bending portion 605 increases, the power consumption of the drive motor 610 also increases. Here, the control unit 633 in the motor control device 642 detects the power consumption of the drive motor 610.
Control is performed so as to reduce the power supplied from the P. 32. As a result, the rotation speed of the motor decreases, and the bending speed of the bending portion decreases. The other configuration and operation and effect are the same as those of the sixth embodiment, and the description is omitted.

FIGS. 33 and 34 relate to a seventh embodiment of the present invention. FIG. 33 is a block diagram showing a part of a bending mechanism, and FIG. 34 is a block diagram of a motor control device.

This embodiment is different from the sixth embodiment in that a torque sensor is provided on the drive shaft of the drive motor. In addition, the entire configuration of the electric bending type endoscope apparatus is the same as the apparatus of the sixth embodiment shown in FIG. 26, and the drawings and description are omitted.

In the operation unit 602 shown in FIG.
DC drive motor 70 for bending and driving the bending section 605
1 and the sprocket 704 fixed to the end of the drive shaft 702 of the drive motor 701.
A torque sensor 70 for measuring the torsion of the drive shaft 702 is provided near the center of the drive shaft 702 of the drive motor 701.
3 are provided. Further, the sprocket 704
Is meshed with a chain 705.
The bending operation wires 707 and 707 (only one is shown) are fixed to the end of the connector 05 via connecting members 706 and 706 (only one is shown).

The bending operation wires 707, 707 are connected to a bending piece (not shown) of the bending portion 605, which is the most advanced.

In the motor control device 708 shown in FIG. 34, a power supply 709 for supplying power to the drive motor 701 is provided.
And a control unit 710 that controls the output of the power supply unit 709 based on the amount of torsion measured by the torque sensor 703. The torque sensor 703 is electrically connected to the control unit 710 and the drive motor 701 is electrically connected to the power supply unit 709 via the universal cord 608 connected to the side of the operation unit 602.

With this configuration, the bending operation switch 607 is used.
Is operated and the operation wire 7 is operated by the bending operation of the bending portion 605.
07 is under tension, the sprocket 704
Also receive torque, which causes the motor drive shaft 702 to twist. This is detected by the torque sensor 703 and transmitted to the control unit 710 in the motor control device 708. If the amount of torsion is within the specified value, the bending section 605 does not contact the tube wall or the like, and the control section 710 maintains the power supplied from the power supply section 709 and rotates the drive shaft 702 of the drive motor 701. The speed maintains a predetermined value, and the bending portion 605 also bends at a predetermined speed.

On the other hand, if the amount of twist of torque sensor 703 is equal to or greater than the specified value, control unit 710 determines that bending portion 605 is in contact with a tube wall or the like, and lowers the power supplied from power supply unit 709. Thereby, the drive shaft 702 of the drive motor 701
The rotation speed of the bending portion 605 becomes slower, and the bending speed of the bending portion 605 also becomes slow. It is also possible to control not only to lower the bending speed but also to stop the bending portion or return to the opposite direction.

In this embodiment, since a pressure sensor is not provided in the insertion section 603, the diameter of the insertion section can be reduced as compared with the fourth embodiment. Further, in the present embodiment, unlike the fourth embodiment, since no pressure sensor is provided on the endoscope insertion section side, production is easy, and the diameter of the endoscope insertion section can be reduced. Also,
In the present embodiment, the control unit 710 detects that the bending portion has come into contact with a tube wall or the like of the subject based on whether or not the amount of torsion exceeds a certain value, and controls the bending speed of the bending portion 605, for example, As a result, the operability and safety of the bending operation can be improved.

FIGS. 35 to 38 relate to an eighth embodiment of the present invention. FIG. 35 is an overall configuration diagram of an electric bending endoscope apparatus, and FIG. 36 is a configuration diagram showing a part of a bending mechanism. 37 is a perspective view of an endoscope showing an ultrasonic drive system, and FIG. 38 is an electric block diagram of a motor control device.

In this embodiment, an ultrasonic sensor is provided in place of the pressure sensor in the fourth embodiment. FIG.
The electric bending endoscope device 800 shown in FIG. 5 includes an electronic endoscope 801, a motor control device 809, a light source device (not shown), and the like. The electronic endoscope 801 is provided with an operation section 802 and an elongated insertion section 803 connected to the operation section 802 and formed to be elongated so as to be inserted into a subject. In the insertion portion 803, a flexible portion 804 having flexibility, a bending portion 805 configured to be bendable, and a tip configuration portion 806 are connected in this order from the operation portion 802 side.

The bending portion 805 is formed by connecting a plurality of bending pieces (not shown), and bends up / down / left / right in response to operation of a bending operation switch 807 provided on the operation portion 802. ing. The operation unit 80
A universal cord 808 is connected to a side portion of the motor 2, and is connected to the motor control device 809.

As shown in FIG. 36, a DC bending drive motor 810 for driving the bending portion 805 in a vertical direction and a sprocket fixed to a drive shaft 811 of the bending drive motor 810 are provided in the operation portion 802. 812 and a chain 813 meshing with the sprocket 812 are provided. Wires 815 and 815 (only one is shown) are connected to both ends of the chain 813 via connecting members 814 and 814 (only one is shown). The wires 815 and 815 are inserted through the flexible portion 804 and the bending portion 805, and are connected to a not-shown most-end bending piece of the bending portion 805. It should be noted that a mechanism for driving the bending portion 805 to bend in the left-right direction is also provided.

FIG. 37 is a diagram schematically showing an ultrasonic sensor and an ultrasonic driving system. Here, for the sake of convenience, the above-described drive motor for bending and the like are omitted. The insertion section 80
A rotatable and flexible coil-shaped flexible shaft 816 is inserted into 3, and an ultrasonic vibrator 817 rotated by the flexible shaft 816 is fixed in the distal end configuration portion 806. . A stepped gear 818 is fixed to the operation section 802 side of the flexible shaft 816, and the stepped belt 8
19, in conjunction with the ultrasonic sensor motor 820,
It is designed to rotate. A slip ring mechanism 821 is provided at an end of the flexible shaft 816 on the operation unit 802 side. And the ultrasonic vibrator 8
17 passes through the center of the flexible shaft 816 and passes through the slip ring mechanism 821.
Is led to. Further, an electric wire is guided from the slip ring mechanism 821 to the inside of the motor control device 809 through the inside of the universal cord 808, and the electrical connection between the ultrasonic vibrator 817 and the motor control device 809 is
It is maintained regardless of the rotation of the flexible shaft 816.

In the motor control device 809 shown in FIG. 38, a power supply section 822 for supplying power to the bending drive motor 810 and a drive pulse are transmitted to the ultrasonic vibrator 817 and a reflected echo signal is received. Pulse control unit 8
23, and output of time information between transmission and reception from the pulse control unit 823. If this time is within a specified time, the distance to the subject, for example, the body wall is regarded as short, and the power supply unit 822 is output. And a power supply control unit 824 that controls so as to reduce the power supplied from the power supply.

With this configuration, the pulse control unit 823 in the motor control device 809 sends a drive pulse to the ultrasonic vibrator 8.
17 is output. Then, the drive pulse is guided to the ultrasonic transducer 817 via the slip ring mechanism 821. The ultrasonic transducer 817 emits an ultrasonic beam. The ultrasonic beam bounces off the body wall and returns to the ultrasonic vibrator 817 again. The reflected echo signal received and received by the ultrasonic transducer 817 is transmitted to the slip ring mechanism 8.
The control returns to the pulse control unit 823 via 21. If the time during this period is shorter than a prescribed time, that is, if the distance from the body wall is shorter than a predetermined length, the pulse control unit 823
Sends a control signal to the power control unit 824, and
The control unit 24 controls the power supplied from the power supply unit 822 to the drive motor to reduce the bending speed of the bending unit 805.

The ultrasonic transducer 817 is rotationally scanned in the radial direction by the ultrasonic sensor motor 820, and can measure the distance in all 360 degrees. In addition, besides the one that mechanically radially scans, such as the ultrasonic transducer 817, one or a plurality of fixed ultrasonic transducers that are provided in a curved portion or a flexible portion and electrically scans But it is good.

In this embodiment, the motor 82 for the ultrasonic sensor is used.
Ultrasonic transducer 81 rotationally scanned in the radial direction by 0
7, distances in all directions of 360 degrees can be measured.
Furthermore, in this embodiment, in each of the above-described embodiments, only when contact with the body wall or the like, safety measures can be taken, whereas the distance can be measured. Since it is possible to confirm that the body wall is close and to take safety measures such as reducing the bending speed in advance (for example, by setting a prescribed distance), the operability and safety of the bending operation can be improved. .

The control of the bending speed may be performed not only at a low speed but also at a stop or in a reverse direction.

FIGS. 39 to 43 relate to a ninth embodiment of the present invention. FIG. 39 is an overall structural view of an electric bending endoscope apparatus, and FIG. FIG. 41 is a flowchart for setting a speed setting flag, FIG. 42 is a flowchart for switching operation of a bending speed, and FIG. 43 is a flowchart showing deceleration control of the bending speed.

The present embodiment is an electric bending endoscope apparatus capable of automatically inserting an endoscope insertion portion. An insertion speed detection sensor for the insertion portion is provided, and the bending speed is variably set according to the insertion speed. Things.

As shown in FIG. 39, the automatic insertion type electric bending endoscope apparatus 901 is an electronic type electric bending endoscope 9.
02, an automatic insertion device 903 for automatically inserting and removing the electronic electric bending endoscope 902, and a light source device 904 for supplying illumination light to the electronic electric bending endoscope 902. A video processor 905 that processes a signal captured by the electronic electric bending endoscope 902; and a monitor 906 that receives a video signal output from the video processor 905 and displays a subject image. Have.

The insertion section 908 of the electronic electric bending endoscope 902 is composed of a distal end forming section 911, a bending section 909, and a flexible section 910 in order from the distal end side. Further, a control device 907 is connected to the rear end of the flexible portion 910. The operation unit 910 includes an air supply / water supply button 91.
2. A suction button 913, a bending operation switch 914, an insertion / bending speed switching switch 915, and an insertion portion advance / retreat switch 931 are provided.

The automatic insertion device 903 moves the insertion portion 908 of the electronic electric bending endoscope 902 together with
A control device 907 for controlling the bending of the bending portion 909 is incorporated. Further, the automatic insertion device 903 is provided with an operation unit 910 for operating a bending portion 909 of the electronically-powered bending endoscope 902.

Further, the automatic insertion device 903 is provided with the control device 907 and the one for moving the insertion portion 902 forward and backward.
And a pair of drums 916a and 916b. FIG.
As shown in the figure, the control device 90 of the automatic insertion device 903
Reference numeral 7 is electrically connected to the operation unit 910.

The automatic insertion device 903 incorporates drums 916a and 916b for moving the insertion portion 908 forward and backward. A friction member 9 is provided around the outer circumference of the drums 916a and 916b so that the insertion portion 908 does not slide.
17a and 917b are respectively fixed. further,
The drum 916a is provided with a rotation speed sensor 918 to constantly monitor the rotation speed.

The drums 916a and 916b are connected to a drum drive circuit 919,
Are connected to a rotation speed detection circuit 920.

On the other hand, an absolute encoder 922 is connected to the bending drive motor 921. The encoder 922 is connected to a rotation angle detection circuit 923, and the bending drive motor 921 is connected to the bending motor drive circuit 9.
24.

A drive gear 925 is fixed to the shaft 921a of the bending drive motor 921. A driven gear 926 is provided so as to mesh with the drive gear 925. The shaft 926a of the driven gear 926
, A sprocket 927 is fixed. A chain 928 is rotatably engaged with the sprocket 927. Two ends of two wires (not shown) are connected to both ends of the chain 928 by two connecting members (not shown), and the other ends of the two wires are connected to the most advanced bending piece (not shown) of the bending portion 909. Fixed.

The control device 907 controls the drum driving circuit 919 based on the rotation speed of the drum detected by the rotation speed detection circuit 920, and controls the bending based on the bending angle detected by the rotation angle detection circuit 923. A control circuit 930 for controlling the motor drive circuit 924 is incorporated. The control device 907 is provided between the control circuit 930 and the drum drive circuit 919, the rotation speed detection circuit 920, the rotation angle circuit 923, and the bending motor drive circuit 924.
Input / output port (hereinafter I / O) 9 for mediating signal input / output
29. The control circuit 930 and the I / O 929 are connected by a bus line.

The bending operation switch 914 is connected to the bending section 9.
09 is a switch for bending 09 in an up or down direction, and a common terminal is grounded. The bending operation switch 914 has an up terminal connected to the U9 terminal of the I / O 929, and one end connected to a resistor R whose one end is connected to a power supply. Further, the down terminal of the bending operation switch 914 is connected to the D9 of the I / O 929.
The other end of the resistor R whose one end is connected to the power supply is connected to the terminal.

One end of the insertion / bending speed switch 915 is grounded, the other end is connected to the S9 terminal of the I / O 929, and the other end of the resistor R whose one end is connected to the power supply is connected. I have.

The insertion section advance / retreat switch 931 is a switch for moving the insertion section 908 forward / backward, and has a common terminal grounded. The insertion portion advance / retreat switch 931 has an advancing terminal connected to the H9 terminal of the I / O 929, and has one end connected to the other end of the resistor R whose one end is connected to the power supply. Further, the insertion portion advance / retreat switch 93
In 1, the retreat terminal is connected to the I9 terminal of the I / O 929, and the other end of the resistor R whose one end is connected to the power supply is connected.

The control circuit 930 is constituted by, for example, a CPU or the like, and outputs a control signal via terminals A9 and B9, E9 and F9 of the I / O 929.

On the other hand, the rotation angle detection circuit 923
The angle data of the bending portion 909 is output to the control circuit 930 via the C9 terminal 29. Further, the rotation speed detection circuit 920 transmits the insertion speed data of the insertion section 902 to the control circuit 9 via the G9 terminal of the I / O 929.
30 is output.

The control circuit 930 controls the drum drive circuit 919 and the bending motor drive circuit 924 via the I / O 929 in response to the operation of the bending operation switch 914, and controls the insertion speed of the insertion section 908 and the bending section. 909 is controlled to drive / stop bending and the bending direction. Further, the control circuit 930 converts the rotation speed data of the rotation speed detection circuit 920 into insertion speed data, and constantly monitors and controls the insertion speed. Further, the control circuit 930 converts the bending angle data from the rotation angular velocity detecting circuit 923 into the corresponding bending speed data, and constantly monitors and controls the bending speed.

In this embodiment, for the sake of simplicity, only two directions, up and down, are used. However, it may be curved in four directions including right and left. Further, a bending speed switch may be provided in the operation unit.

The operation of this embodiment will be described with reference to the flowcharts of FIGS. First, the power of the automatic insertion device 903 is turned on. U of I / O929
The terminals 9, 9, D9, H9, and I9 become high ("H"), the control circuit 930 determines that the terminal is stationary, and the E9, F9, and I9 of the I / O 929.
The A9 and B9 terminals are respectively low ("L"). Therefore, the drums 916a and 916b are in a stationary state,
While the insertion section 908 holds the stationary state, the bending drive motor 921 also enters the stationary state, and the bending section 909 maintains the stationary state.

Next, when the insertion portion advance / retreat switch 931 is operated to the forward side, the H9 terminal of the I / O 929 goes low,
High is output to the E9 terminal and low is output to the F9 terminal. Since the drums 916a and 916b rotate in the directions in which the insertion section 908 advances, the insertion section 908 advances. When the insertion portion advance / retreat switch 931 is set to neutral, the terminals H9 and I9 of the I / O 929 go high,
Drums 916a, 9
16b is stationary. Further, the insertion portion advance / retreat switch 93
When 1 is moved backward, the I9 terminal of I / O 929 becomes
It goes low, the F9 terminal goes high, and the E9 terminal outputs low. The drums 916a and 916b are
8 rotate in the retreating direction, so that the insertion portion 9
08 retreats.

Here, when the insertion portion 908 advances and retreats, the drum 916 is controlled by a kind of PWM control according to a similar flowchart (not shown) in which up / down is replaced with advance / retreat in the flowchart shown in FIG.
a, 916b rotate at a constant speed. Therefore, the insertion portion 9
The insertion speed of 08 advances and retreats at a predetermined speed. The operation up to the bending operation of the bending portion 909 at a predetermined speed by the operation of the bending operation switch 914 is the same as the flowchart of FIG.

Further, the insertion / bending speed changeover switch 915 changes the advance / retreat speed of the insertion portion 902. When the power of the automatic insertion device 903 is turned on, the flag SW for setting the insertion speed of the insertion unit 908 set inside the control circuit 930 is first set to “1”.
When the insertion / bending speed switch 915 is turned on in step S31 of FIG. 41, the flag SW is turned on in step S32.
Is incremented by "1" each time it is turned on. If the insertion / bending speed switch 915 is not turned on, the flag SW
Maintain the current state until it is turned on next time.

In step S33, it is determined whether or not the flag SW ≧ 5. When the flag SW is equal to or more than “5”, the flag SW is set in step S3.
It is returned to "1" again with 4. That is, every time the insertion / bending speed switch 915 is turned on, the flag SW is set to 1
They are added one by one and are always between "1" and "4".

Next, when the flag SW is "1" in step S35 of FIG. 42, the speed setting is set to "1" in step S36. Alternatively, in step S37, the flag SW
Is "2", the speed setting is set to "2" in step S38.
To When the flag SW is “3” in step S39,
In step S40, the speed setting is set to "3". If the flag SW is "4" in step S41, step S42
To set the speed setting to "4". That is, in the flowchart of FIG. 42, the setting of the advance / retreat speed of the insertion unit 908 is changed according to the flag SW.

On the other hand, in step 43 of FIG.
When W is the speed setting “1”, the bending speed is kept at the set speed in step S44. Alternatively, step S45
When the flag SW is set to the speed setting "2", step S4
At 6, the bending speed is set to 1/2 of the set speed. If the flag SW is set to "3" in step S47, the bending speed is set to 1/4 of the set speed in step S18. If the flag SW is set to "4" in step S49, the bending speed is set to 1/8 of the set speed in step S50.

In the present embodiment, the insertion speed of the insertion portion 908 is increased every 0N (but returned to the beginning at the fifth time) by setting the insertion / bending speed changeover switch 915, and accordingly, the bending portion 9
09 is set so as to decrease the bending speed. Therefore, in the automatic insertion, as the insertion speed increases, the risk of contact with the body wall or the like increases. However, since the bending speed in the bending operation can be automatically reduced, the safety of the bending operation is improved. be able to.

FIGS. 44 to 46 relate to a tenth embodiment of the present invention. FIG. 44 is a configuration diagram including a main part of an electric bending type endoscope apparatus, FIG. 45 is a configuration diagram of a distal end portion of the endoscope, FIG. 46 is a flowchart relating to the bending speed control.

The electric bending endoscope apparatus of this embodiment is similar to that of FIG.
44 has the same general configuration as that of the electric bending endoscope apparatus 301 shown in FIG. 28. Instead of the endoscope 302, an electric bending endoscope 120 shown in FIG. 44 and a motor control device for bending shown in FIG. In place of 314, a bending motor control device 121 shown in FIG. Note that the overall configuration of the electric bending endoscope apparatus of the present embodiment is the same as that of the third embodiment, and the drawings and description are omitted.

The electric bending endoscope 120 uses a proximity sensor such as an infrared sensor instead of the pressure sensor of the fourth embodiment to control the bending speed.

FIG. 45 shows only the distal end constituting portion 101 and the bending portion 102 of the insertion portion of the electric bending endoscope 120. A proximity sensor 103 is fixed to the front end portion 101 on the front side thereof.
Is inserted through the signal line 103a in the axial direction of the insertion portion, and is electrically connected to the bending motor control device 121.
The proximity sensor 103 is, for example, an infrared sensor,
An infrared ray is emitted to the subject from the front surface of the distal end component 101, the infrared ray reflected by the subject is received, and the distance to the subject is measured. In the figure, reference numerals 122, 1
23 is an output end of the light guide fiber, and 124 is
Denotes an entrance end of the image guide fiber, reference numeral 125 denotes a forceps channel opening, and reference numeral 126 denotes an air / water supply nozzle.

FIG. 44 shows an electric connection between the electric bending endoscope 120 and the bending motor control device 121, and a part of the bending mechanism. The bending motor control device 121 shown in FIG. 44 includes a distance measurement circuit 104 for inputting an output signal of the proximity sensor 103, instead of the resistance detection circuit 414 of the fourth embodiment shown in FIG. Further, the bending motor control device 121 includes an I / O 112 instead of the I / O 412 shown in FIG. 17 of the fourth embodiment, and a control circuit 113 instead of the control circuit shown in FIG. 17 of the fourth embodiment.
And In addition, the same components and operations as those in the fourth embodiment are denoted by the same reference numerals, and description thereof is omitted.

In this configuration, the operation of bending and the operation of switching the bending speed are the same as those in the fourth embodiment, and therefore, the details are omitted.

[0220] The proximity sensor 103 always measures the distance,
The distance measurement circuit 104 converts the output signal of the proximity sensor 103 into distance data and outputs the distance data to the control circuit 113 via the F10 terminal of the I / O 112. The control circuit 113
The preset distance is always compared with the current distance measured by the proximity sensor 103. And the control circuit 11
In step S52, if the measured distance is smaller than the set distance, it is determined to be dangerous, and the bending operation is stopped in step S53. If it is determined that there is a danger, the bending speed may be set to a setting speed of the bending speed, for example, 1/2 or less of "1" to bend slowly. Alternatively, when the measurement distance is zero, control may be performed so as to return in the opposite direction.

The control circuit 113 determines in step S52
Then, if the measured distance is larger than the set distance, it is determined to be safe, and the bending operation is continued in step S53.

In this embodiment, in each of the above embodiments (except for the eighth embodiment), a safety measure can be taken only when it comes into contact with a body wall or the like, whereas a distance can be measured. By setting the set distance, it is possible to confirm that the body wall is close before contacting the body wall or the like, and to take safety measures such as stopping the bending portion. Therefore, in the device of this embodiment, the operability and safety of the bending operation can be improved.

FIGS. 47 to 49 relate to an eleventh embodiment of the present invention. FIG. 47 is an explanatory diagram of an image area for obtaining image correlation, FIG. 48 is a flowchart relating to control of a bending speed, and FIG. FIG. 1 is a configuration diagram including a main part of a type endoscope apparatus.

[0224] The electric bending type endoscope apparatus according to the present embodiment comprises a first
It has the same overall configuration as the electric bending endoscope apparatus shown in FIG. 2 of the embodiment, and the overall configuration diagram is omitted. FIG.
As shown in FIG. 9, the electric bending type endoscope device 19 of the present embodiment
Numeral 0 is provided with an electronic electric bending endoscope 2A, a motor control device 191, the light source device 3, the video processor 4, and the monitor 5.

The electric bending endoscope 2A has a configuration in which two encoders are removed from the electric bending endoscope 2 of the first embodiment shown in FIG. In addition, the motor control device 1
Reference numeral 91 denotes a configuration excluding two current detection circuits, two A / D converters, and two bending angle detection circuits in the motor control device 6 of the first embodiment shown in FIG. Further, the motor control device 191 includes a bending control circuit 192 instead of the control device 48 of the electric bending endoscope 2 shown in FIG. 1 of the first embodiment. The motor control device 19
1 includes a correlation processing circuit 193 and a correlation value comparison circuit in addition to the electric bending endoscope 2 shown in FIG. 1 of the first embodiment.

With the above configuration, the apparatus of the present embodiment can
Unlike the apparatus of the embodiment, the moving amount due to the bending is detected using the video signal of the video process 4.
In addition, regarding the same configuration and operation as the first embodiment,
The same reference numerals are given and the description is omitted.

The electric bending endoscope apparatus 190 shown in FIG.
Uses the image obtained from the CCD 21 as detection information, and, based on the detection information,
Control the rotation speed of 2, 33. That is, the apparatus of the present embodiment controls the bending speed of the bending section 10 based on an image.

The correlation processing circuit 193 shown in FIG.
A video signal output from the video processor 4 is input, and a movement amount having a maximum correlation between images at predetermined time intervals is obtained. The correlation processing circuit 193 is provided with the I /
It is connected to the bending operation switch 19 via O51. Then, the correlation processing circuit 193 includes the switch 0N
During the period, the maximum correlation between the images is obtained.

The correlation value comparison circuit 194 is adapted to receive the movement amount output from the correlation processing circuit 193 at every predetermined time. The correlation value comparison circuit 194 compares the previous movement amount with the movement amount after a predetermined time.

Further, the bending control circuit 192 controls the number of rotations of the bending motors 32 and 33 based on the comparison result output from the correlation value comparing circuit 194.

Hereinafter, the operation of this embodiment will be described with reference to the flowchart of the bending speed control shown in FIG. The control method of the up / down bending motor 32 and the left / right bending motor 33 is the same, so that the left / right bending motor 33 is omitted. The omitted part is a flowchart connected to step S61 in FIG. 48, and is within the frame of the dashed line.

First, after the power supply 0N, in step S62 of FIG. 48, the time count value n is set to "1". Next, in step S63, the correlation processing circuit value 93 repeatedly checks according to an external clock (not shown) until the up / down bending switch 38 of the bending operation switch unit 19 detects the switch ON state. Step S62
In step S61, the up / down bending switch 38 is turned off.
In the case of F, it is detected whether the left / right bending switch 39 is in the ON state. Therefore, the detection of the switch 0N is always performed.
64, while in the case of the left / right bending switch 0N,
The process shifts to the steps within the frame indicated by the one-dot chain line shown in FIG . The same operations as those in steps S64 to S73 are performed within the dashed-dotted frame.

Hereinafter, only the case where the up / down bending switch 38 is set to 0N will be described. In step S64, the correlation processing circuit 193 sets the time T1 and a predetermined time ΔT1 later (T
1 + ΔT 1). However, at this time, as shown in FIG. 47, the image at the time T1 is obtained by dividing all the pixels of the CCD 21 vertically and horizontally into three equal parts.
Among the divided pixel groups, an image obtained by a central pixel group A indicated by oblique lines is used. The image at the time (T1 + ΔT1) also has the same window and
Size, and while shifting this window in the Y-axis direction,
An image is set using the shift amount as a variable. In the operation of obtaining the correlation value between the two images, the shift amount is used as a variable, and the shift amount M0 = F (T,
T1 + ΔT1). The maximum correlation can be better obtained by moving the window not only in the Y-axis direction but also in the X-axis direction and the Z-axis direction.

Next, in step S65, it is detected whether or not the up / down bending switch 38 is at 0N. In the case of OFF, since the bending portion 10 is stationary, the initial step S62
Return to If it remains at 0N, M0 is determined in step S66.
Is reset to M, and in step S67, n = n + 1, that is, n = “2”.

At step S68, the correlation processing circuit 193
Is the time (T1 + ΔT1), as in step S64.
Further, a correlation between the images after a predetermined time ΔT1 (T1 + 2ΔT1) is obtained. However, at this time, the time (T1
As the image of (+ ΔT1), as shown in FIG. 47, an image obtained by a central pixel group A indicated by oblique lines among nine divided pixel groups obtained by equally dividing all the pixels of the CCD 21 into three in the vertical and horizontal directions is used. Similarly, the image at the time (T1 + 2ΔT1) has the same window size as that of the central pixel group A, and the image is set using the amount of shift as a variable while shifting this window in the Y-axis direction. In the operation of obtaining the correlation value between the two images, the shift amount is used as a variable, and the shift amount M = F that maximizes the correlation value between the two images.
(T1 + ΔT1, T1 + 2ΔT1) is obtained.

In step S69, correlation value comparison circuit 194
Compares the shift amounts M0 and M. If M> M0, the motion of the image (that is, the bending speed) is T1 in step S70.
(T1 + ΔT1) from the speed between (T1 + ΔT1)
Since the speed between (T1 + 2ΔT1) is larger,
The bending control circuit 1 controls the rotation speed of the motor 32 to decrease.
Control via 92.

In step S71, if M <M0, the motion of the image is smaller between (T1 + ΔT1) and (T1 + 2ΔT1) than between T1 and (T1 + ΔT1). Is controlled to increase.

Alternatively, in the case of No in step S71, since M = M0, since the image is moving at a constant speed, the rotation speed of the motor is not changed.

Next, at time (T1 + 3ΔT1), it is detected whether the up / down bending switch 38 is OFF, and if it is ON, the shift amount M is substituted for M0, and the same flow is repeated thereafter. .

With the above control, the moving speed of the image becomes constant.

In addition to the electronic endoscope, a video signal from an external camera for an optical fiber endoscope may be used.

In this embodiment, since the moving speed of the image is constant with respect to the operation of the bending operation switch 19, the relationship between the bending operation and the amount of bending can be easily grasped, and the operability can be improved.

As a modification of this embodiment, the current detection circuits 50 and 58 and the A / D
Converters 59a and 59b , wherein M and M0 are equal to or smaller than a set value.
When the value is lower (for example, zero) and the detection value of the current detection circuit is equal to or more than a predetermined value, the bending operation may be stopped as a dangerous state. Alternatively, it may return to the opposite direction or reduce the bending speed.

In this modified example, the operability in the bending operation,
And safety can be improved.

FIGS. 50 to 62 relate to a twelfth embodiment of the present invention. FIG. 50 is a structural view showing a bending mechanism and a bending / insertion drive section of an endoscope. FIG. 52 is a block diagram showing the configuration, FIG. 52 is an overall configuration diagram of the endoscope apparatus, FIG. 53 is a circuit diagram showing a binarization circuit and a threshold level setting unit, and FIG. 54 is an explanatory diagram of the operation of a dark part extraction unit. FIG. 55 is an explanatory diagram showing a plurality of regions extracted by the dark portion extracting unit, FIG. 56 is an explanatory diagram showing an endoscope image in a state where the endoscope end is too close to the subject, and FIG. 57 is a pattern comparing unit. FIG. 58 is an explanatory diagram of the operation of the boundary extraction unit, FIG. 59 is an explanatory diagram of the operation of the center extraction calculation unit, and FIG. 60 is a diagram illustrating the case where the lumen is linear. FIG. 61 is an explanatory diagram for explaining the operation of FIG. The illustration shown, FIG. 62 is a diagram illustrating a function of the bending control.

As shown in FIG. 52, the automatic insertion type and electric bending type endoscope device 170 includes an endoscope 171, a control device 140 to which the endoscope 171 is connected, and a connection device to the control device 140. And a monitor 141 to be operated.

The endoscope 171 has an elongated and flexible insertion section 172 and an operation section 173 connected to the rear end of the insertion section 172. A flexible universal cord 174 extends from the side of the operation unit 173, and an end of the universal cord 174 is connected to the control device 140.

A bending portion 176 that can be bent is provided on the distal end side of the insertion portion 172. The bending portion 176 is bent by a bending / insertion driving portion 177 provided in the endoscope 171 as shown in FIG. The bending is controlled via a mechanism.

The bending / insertion drive section 177 can advance the insertion section 172 by the insertion section advance / retreat means shown in FIG. Incidentally, as a means for advancing the insertion portion 172, for example, JP-A-62-41
No. 635 can be used. Alternatively, a means for extending the insertion portion 172 may be provided on the rear end side of the insertion portion 172.

In order to perform a bending operation on the bending portion 176,
As the bending mechanism, a plurality of angle wires (not shown) are inserted into the insertion portion 172, and the distal ends of the angle wires are fixed to the distal side of the bending portion 176. And
The rear end of the angle wire is connected to the chain 928 similar to the ninth embodiment shown in FIG. Then, the chain 928 is pulled by the rotation of the motor 921 via the drive gear 925, the driven gear 926, and the sprocket 927, as shown in FIG. Can be bent in the direction of. The motor 921
The encoder 922 is provided coaxially with the motor 9.
21 is detected. Incidentally, as the bending mechanism, an actuator using a shape memory alloy or the like may be provided in the bending portion 176.

The bending / insertion drive unit 177 shown in FIG.
The same reference numerals denote the same components and operations as those of the control device 907 of the ninth embodiment shown in FIG. 40, and a description thereof will be omitted. The bending / insertion drive unit 177 is provided by the control unit 907 shown in FIG.
I / O 181 instead of / O 929 and the control circuit 9
Instead of 30, when the automatic insertion mode 0N described later,
A control circuit 181 that controls the bending angle and the bending speed based on a predetermined function, and a storage unit 183 that stores a predetermined function related to the bending angle and the bending speed are further provided. The bending / insertion drive unit 177 includes an endoscope operation unit 17.
In addition to the insertion portion advance / retreat switch 931 provided in the I / O 18, an output signal of an automatic insertion device described later is directly sent to the I / O 18.
1 to the input terminals E12 and F12.
The terminal E12 is provided with an endoscope advance instruction means 163 shown in FIG.
And the output signal of the endoscope retreat instructing means 157 shown in FIG. 51 is input to the terminal F12.

The bending / insertion drive section 177 is provided in the insertion / operation section provided in the endoscope operation section 910 shown in FIG.
Instead of the bending speed changeover switch 915, the automatic insertion mode 0N / OFF changeover switch 9 is attached to the endoscope insertion portion 173.
15b is provided. The bending / insertion drive unit 177 includes:
The bending operation switch 914 is provided in the endoscope operation unit 173 instead of the insertion / bending speed switch 915 provided in the endoscope operation unit 910 shown in FIG.

The bending / insertion drive section 177 has the above-described configuration. When the automatic insertion mode 0N / OFF switch 915b is set to 0N by the control circuit 182, the output signal of the automatic insertion device 150 is used. , Insertion section 17
2 is automatically advanced and retracted, while in the case of OFF, the insertion section 172 is manually advanced and retracted by operating the insertion section advance / retreat switch 931. Further, the bending / insertion drive unit 177 causes the control circuit 182 to bend the bending unit 176 at a constant bending speed when the switch 915b is OFF, while the switch 915
When b is 0N, the bending speed is controlled according to the function stored in the storage unit, and the control of the bending speed is a feature of the present embodiment.

The rotation angle detection circuit 923 provided in the bending / insertion drive unit 177 detects the rotation angle of the encoder 922 and also detects the rotation angle
The bending motor drive circuit 924 provided in the controller controls the rotation speed of the motor 921, that is, the bending speed, in accordance with an instruction from the control circuit 182. That is, the control circuit 182 monitors the rotation angle of the encoder 922, and controls the bending section 176 to be at the specified bending speed.

The control circuit 182 controls the I / O
181 via the terminal G12 of the bending / insertion drive unit 17.
7 is controlled. That is, the control circuit 182 controls the insertion advance / retreat speed instructed by the insertion unit 172 according to the output signal of the automatic insertion device 150 or the operation of the switch 914.

On the other hand, an observation window (not shown) and, for example, two illumination windows are provided at the distal end of the endoscope insertion section 172. An objective lens 131 is provided inside the observation window.
Is provided, and a solid-state imaging device 132 is provided at an image forming position of the objective lens 131. This solid-state imaging device 1
Reference numeral 32 is connected to a signal processing circuit 142 provided in the control device 140 via a signal line inserted into the insertion section 172, the operation section 173, and the universal cord 174. A light distribution lens 133 is provided inside the illumination window.
3, a light guide 1 made of a fiber bundle
34 are provided in series. The light guide 134 is inserted through the insertion portion 172, the operation portion 173, and the universal cord 174, and the light incident end is connected to the control device 140.
Is to be connected to. The illumination light emitted from the light source lamp 143 provided in the control device 140 is incident on the incident end of the light guide 134.

The solid-state imaging device 132 is driven by the signal processing circuit 142, and an output signal of the solid-state imaging device 132 is processed by the signal processing circuit 142 for video signal processing. This signal processing circuit 1
The video signal output from 42 is input to a monitor 141, and an image of a subject is displayed on the monitor 141.

The endoscope 171 is not limited to the one having the solid-state imaging device 132 at the distal end of the insertion portion 172 as shown in FIG. 52, and transmits an image to the eyepiece by an image guide formed of a fiber bundle. And a television camera connected to the eyepiece of the fiberscope.

In the control device 140, the insertion condition of the endoscope 171 is determined and the bending / insertion drive unit 1 is determined.
An automatic insertion device 150 for controlling the device 77 is provided.
This automatic insertion device 150 includes the signal processing circuit 142
The image signal is input from the computer.

Next, the automatic insertion device 150 will be described with reference to FIG.

The automatic insertion device 150 has an image input section 151 for inputting an image signal of the endoscope 171. The image signal input from the image input section 151 is provided with a plurality of, for example, three binarization circuits. (1-3) 152a-152c. Each of the binarization circuits 152a-
152c converts the endoscope image into a binarized image using the threshold levels set by the threshold level setting units (1 to 3) 153a to 153c as threshold values. Note that each of the threshold level setting units 153a, 153b,
153c have different threshold levels from each other.

The binarization circuit 152 (152a to 152)
c. ) And the threshold level setting section 153 (representing 153a to 153c) are configured as shown in FIG. 53, for example. That is, the binarizing circuit 152 is composed of a comparator, the threshold level setting unit 153 is composed of a variable voltage source, and an input terminal of the comparator is connected to an image input unit 151.
, And a reference voltage from the variable voltage source. The output of the comparator is 0 when the image signal is equal to or higher than the threshold level, and is "1" when the image signal is lower than the threshold level.

The output signals of the binarization circuits 152a to 152c are output from the dark part extraction units (1 to 3) 154a to 154a, respectively.
54c. The dark part extraction unit 154 (representing 154a to 154c) performs the binarization for each pixel of the input image. Here, for example, for an image signal having the brightness of each pixel quantified as shown in FIG. 54 (a), the threshold level is set to 3.5, and values less than 3.5 are set to “1”, 3 .
When five or more are output as “0” and each pixel is binarized, the image is converted into a binarized image as shown in FIG. In this figure, the area of one pixel is a dark part. In this way, by setting the threshold level and extracting a darker region, it is possible to prevent a mistake in setting the shadow as the traveling direction when there is only halfway darkness such as a shadow.

Thus, the three dark part extraction units 154a to
FIG. 55 shows an example of three dark areas extracted in 154c. In addition, as a method of extracting a dark portion, a method described in Japanese Patent Application No. 1-24505 filed on Jan. 31, 1989 by the present applicant may be used.

When extracting a dark portion, in order to remove a dark portion of a minimal area due to a break in a fiber of an image guide when a fiber scope and a television camera are used as the endoscope 171, data of a certain pixel is used. An average value of data of pixels around the pixel may be used. Alternatively, a dark area having a small area may be excluded.

The output signal of one dark part extracting section (1) 154a is input to the pattern comparing section 155. The pattern comparison unit 155 calculates the correlation between the image from the dark part extraction unit (1) 154a and the comparison pattern stored in the pattern storage unit 156, and when the correlation value is equal to or larger than the set value, the similar pattern Is to be determined. That is, if the binarized data is an, m, the contrast pattern data is cn, m, and the set value is K, the condition of the similar pattern is given by the following equation.

[0267] For example, when a pattern as shown in FIG. 56 is formed by the dark part extraction or when the whole area becomes dark, it indicates that the tip of the endoscope 171 is too close to a subject such as a mucous membrane. In the pattern comparing unit 155,
It recognizes such a pattern and outputs an instruction signal to retract the endoscope. When the tip of the endoscope 171 is in contact with the mucous membrane, the entire field of view is completely dark, but when the endoscope 171 is slightly apart, light from the two illumination lenses enters.
As shown in FIG. 56, bright arc-shaped portions are formed at both ends of the visual field. FIGS. 57A and 57B show examples of comparison patterns for recognizing the pattern as shown in FIG. A plurality of such comparison patterns may be set.

The output signal of the pattern comparing section 155 is
The signal is selectively input to one of the endoscope retreat instructing means 157 and the boundary extracting unit (1) 159a via the one-input two-output changeover switch 158. When the changeover switch 158 recognizes a pattern similar to the comparison pattern according to the comparison result of the pattern comparison unit 155, the changeover switch 158 is switched to the endoscope retreat instruction means 157 side,
An instruction signal for retreating the endoscope from the pattern comparison unit 155 is input to the endoscope retraction instruction means 157. The endoscope retreat instruction means 157 controls the bending / insertion drive unit 177 of the endoscope 171 to retreat the insertion unit 172.

On the other hand, when a pattern similar to the comparison pattern is not recognized, the changeover switch 158 is switched to the boundary extracting section (1) 159a, and the dark section extracting section (1) 1
The binarized image from 54a is the boundary extraction unit (1) 159
is input to a.

Also, another dark part extracting section (2, 3) 154
The output signals b and 154c are input to the boundary extraction units (2, 3) 159b and 159c, respectively. This boundary extraction unit 159 (159a to 159c)
Calculates the coordinates at which the binarized data changes from 0 to 1 or from 1 to 0 for each line of the binarized image, sets the boundary data of the coordinates to 1, and sets the boundary data of the other coordinates to Set to 0. That is, when binarized data for the n-th line and the m-th pixel is an, m, the boundary data bn, m
Is given by the following equation:

[0271] FIG. 58 shows an example of an image obtained by extracting a boundary from the binary image shown in FIG. 54B. In the first column, "0" is input for easy processing.

The output signals of the boundary extraction units 159a to 159c are respectively output to the center extraction operation units (1 to 3) 161a
To 161c. This center extraction calculation unit 161 (representing 161a to 161c)
Extracts the center coordinates of the extracted dark part. That is,
For example, as shown in FIG. 59, in the extracted data of the dark part, the top row and the bottom row of the row where the pixel whose data is 1 exist are extracted, and Y of the two rows is extracted. Coordinate Y
The average value of (Y1 + Y2) / 2 of Y1 and Y2 is defined as the Y-axis center coordinate. Similarly, the leftmost column and the rightmost column of the column in which the pixel whose data is 1 are extracted, and the average (X1 + X2) / 2 of the X coordinates X1 and X2 of these two columns is calculated as X It is the axis center coordinate.

As a method of extracting the center coordinates of the dark portion, the number N of pixels included in the dark portion is obtained, the pixels included in the dark portion are counted in the X-axis direction from the top, and the number is N / 2.
Is defined as the Y-axis center coordinate, and similarly, the pixels included in the dark portion are sequentially counted from the left in the Y-axis direction.
The X coordinate when the number becomes N / 2 may be set as the X axis center coordinate.

The output signals of the center extraction calculation units 161a to 161c are input to a center position comparison unit 162. In the center position comparison unit 162, the center coordinates P1 (x1, y1) and P2 (x2, x2, x3) of the three regions (dark portions) extracted corresponding to the three threshold levels are set.
For (y2), P3 (x3, y3), ◎ (X1, Y1) = (x2-x1, y2-y1) （(X2, Y2) = (x3-x2, y3-y2) ◎ is calculated.

The center coordinates P1, P2, P3 are in the order of darker threshold levels. As described above, the center position comparing unit 162 detects a change in the center coordinates of each area.

An output signal of the center position comparing section 162 is
The input is made to the endoscope advance instruction means 163. The endoscope advance instruction means 163 sets the advance direction of the endoscope to the P3 (x3, y3) direction, and sets the advance speed of the endoscope according to the following conditions.
Note that k1 and k2 are predetermined set values.

[0277] Information on such endoscope insertion conditions (traveling direction and traveling speed) is transmitted via the switch 165 to the bending /
The bending / insertion driving unit 1 is input to the insertion driving unit 177 and
77 directs the bending portion 176 of the endoscope 171 in the traveling direction and advances the insertion portion 172 at the traveling speed based on the insertion condition.

The control signal input terminal of the switch 165 is connected to a power supply of a voltage V via a resistor 166. The power supply is connected to an operator's operation provided on the operation unit 173 of the endoscope 171 or the like. Via the switch 167, grounding is possible. Therefore, the switch 165 is turned on and off in accordance with on and off of the operator operation switch 167. When the operator wants to stop insertion of the endoscope, the operator operates the operator operation switch 167. By turning the switch off, the switch 165 is turned off and the insertion is stopped.

The bending / insertion drive section 177 can be operated manually in addition to being controlled by the automatic insertion device 150. In this embodiment, the number of pixels is 5 × 5 for convenience, but the same applies to more pixels.

Next, the operation of this embodiment will be described with reference to FIGS.

An endoscope image picked up by the solid-state image pickup device 132 of the endoscope 171 is input to the automatic insertion device 150 via the image input unit 151,
Binarized at three different threshold levels,
The dark part extraction unit 154 extracts a dark part area corresponding to each threshold level. Further, the boundary of the region is extracted by the boundary extraction unit 159, and the center extraction calculation unit 16
At 1, the center of each region is determined. Then, the center position comparing unit 162 compares the center positions of the respective areas, and the endoscope advance instructing means 163 sets the endoscope insertion condition according to the result. Then, the endoscope 171 is inserted by the bending / insertion drive unit 177 according to the insertion conditions.

When the pattern comparing section 155 recognizes a specific pattern, the endoscope 171 is retracted.

When the lumen 168 into which the endoscope 171 is inserted is straight, the endoscope image is as shown in FIG. 60 (a), and the boundaries between the regions are as shown in FIG. 60 (b). become. In FIG. 60B, the area is darker toward the inside. In such a case, as shown in FIG. 60 (c), the centers P1, P2, and P3 of the respective regions substantially match. In such a case, since the endoscope may be advanced at a high speed, the endoscope advance instruction means 163 sets the traveling direction to the P3 direction and sets the traveling speed to high.

On the other hand, the lumen 168 into which the endoscope 171 is inserted
Is curved, the endoscope image is as shown in FIG. 61 (a), and the boundaries between the regions are as shown in FIG. 61 (b). In FIG. 61 (b), the inner side is a darker area. In such a case, as shown in FIG.
The centers P1, P2, P3 of the respective regions are shifted according to the curved state. In such a case, it is necessary to proceed according to the curved state of the lumen. Therefore, the endoscope progress instruction means 1
63 sets the traveling direction to the P3 direction and sets the traveling speed to medium speed or low speed according to the above condition (2) or (3).

When the center of each region is shifted as shown in FIG. 61 (c), the traveling direction may be shifted in the order of P3, P2, P1.

As described above, according to the present embodiment, it is possible to identify the state of the subject, set an appropriate insertion condition according to the state, and automatically insert the endoscope. It is possible to insert the endoscope appropriately according to the condition of the body, and it becomes easy to insert the endoscope.

Although the endoscope apparatus automatically inserts the endoscope using the determined insertion condition of the endoscope, it uses the determined insertion condition of the endoscope. Then, the surgeon may insert it.

The above description relates to the automatic insertion when the automatic insertion mode changeover switch 915b is at 0N. Further, when the switch 915b is at 0N, the bending section 176 is operated by operating the bending operation switch 914. The control of the bending speed will be described below.

The control circuit 1 of the bending / insertion drive section 177
82 is the encoder 922 and the rotation angle detection circuit 9
23 detects information about the bending angle of the bending portion 176. Then, the control circuit 182 controls the bending speed of the bending section 176 according to a predetermined function stored in the storage section 183 based on the detection information of the bending angle.

With respect to the functions stored in the storage unit 183, four examples are shown in tables in FIGS. 62 (a) to 62 (d). The function shown in FIG.
The bending speed is gradually reduced at two points of 0 ° and 180 °. Therefore, according to this function, the control circuit 182 controls the bend speed in two stages when the bend angle increases in accordance with the function data in the storage unit 183 under the automatic insertion mode.

The function shown in FIG. 62 (b) has a constant bending speed from a bending angle of 0 ° to less than 90 °, and linearly reduces the bending speed from 90 °. The function shown in FIG. 62 (c) linearly reduces the bending speed from a bending angle of 0 ° to a maximum bending angle (in the illustrated example, an angle exceeding 180 °). Further, FIG.
The function shown in (1) sets a constant bending speed from a bending angle of 0 degree to less than 90 degrees, further reduces the bending speed by one step from 90 degrees, and linearly reduces the bending speed.

The functions stored in the storage unit 183 are shown in FIG.
Any of the functions shown in 2 (a) to (d) may be used, and some functions may be switched.

The automatic insertion mode changeover switch 9
The bending speed of the bending portion 176 by operating the bending operation switch 914 when 15b is OFF is performed at a constant speed.
In this case, the control by the function may be performed.

When the bending angle is large, it is more likely that the patient will be in a more dangerous state than when the bending angle is small. Therefore, in the present embodiment, when automatically driving the insertion portion, the operator has a high possibility of danger, and reduces the bending speed at the time of a large bending angle, so that the operator can predict the danger. When the bending is stopped, it is possible to avoid reaching a dangerous state. As described above, in the present embodiment, operability and safety in the bending operation can be improved.

FIGS. 63 to 65 relate to the thirteenth embodiment of the present invention. FIG. 63 is a flowchart relating to control of the bending speed, and FIG. 64 is a block diagram showing a bending drive system and the like of the electric bending endoscope apparatus. 65 is an electrical block diagram relating to bending control in the electric bending endoscope device.

The electric bending type endoscope 200 shown in FIG.
Is an example, and includes an electric bending type electronic endoscope 201, a motor control device 202, a light source device, a video processor, and the like (not shown).

As shown in FIG. 65, the endoscope 201
Includes an elongated and flexible insertion section 203 and an operation section 204 connected to the rear end of the insertion section 203. A flexible universal cord 205 extends laterally from the operation unit 204, and a connector 206 is provided at an end of the universal cord 205. The connector 206 is connected to the motor control device 202.

[0298] The insertion portion 203 of the endoscope 201 includes a rigid distal end portion 207 and a bendable bending portion 2 in order from the distal end side.
08, a flexible tube 209 having flexibility.

[0299] One end of the operating section 204 is connected to the rear end of the flexible tube 209. The operation unit 204 includes a joystick unit 210 for bending operation on a side portion.

As shown in FIG. 64, the distal end portion 207 of the endoscope 201 has an illumination window, an observation window, and a forceps channel opening (not shown) at the distal end. A light distribution lens (not shown) is attached to the illumination window. further,
On the back side of the light distribution lens, an emission end of a light guide 211 made of a fiber bundle is provided. The light guide 211 includes the insertion unit 203 and the operation unit 20.
4 and the universal cord 205 and are connected to the connector 206. Then, illumination light emitted from a light source lamp in the light source device is incident on an incident end of the light guide.

An objective optical system 212 and a solid-state image pickup device 213 are arranged inside the observation window in this order from the front end side. The solid-state imaging device 213 is connected to a signal line (not shown).
4. The universal code 205, the connector 206, and the signal code (not shown) are inserted through and connected to the de-processor.

On the other hand, the bending portion 208 of the endoscope 201
Has a curved tube formed by connecting a large number of substantially cylindrical joint pieces 214, 214,... The outer periphery of the curved tube is covered with a curved rubber 215. The distal end of the most advanced joint piece 214a is connected to the distal end 207 of the endoscope 201, while the rear end of the last joint piece (not shown) is a flexible tube 2a.
09.

[0303] Two pairs of angle wires 216, 216 for bending operation are inserted into the insertion portion 203, and each angle wire 216, 216, 216, 216 is inserted.
Are fixed to the joint pieces 214a at the forefront, respectively. The rear end of one of the pair of angle wires 216 and 216 of the two sets is wound around a pulley 217 a provided on the operation unit 204. The rear ends of the other pair of angle wires 216 and 216 are similarly wound around another pulley 317b. This pulley 2
Reference numerals 17a and 217b are fixed to respective rotating shafts of motors 218a and 218b fixed to the operation unit 204, respectively. Motor-side potentiometers 219a and 219b for detecting the rotation angles of the respective motors are fixed to the respective rotation shafts of the motors 218a and 218b.

When the motors 218a, 218b rotate, the pulleys 217a, 217b also rotate, respectively, and pull one of the pair of angle wires 216, 216 and 216, 216, respectively.
Each other relaxes. One motor 21
8a corresponds to the vertical bending operation of the bending portion 208, and the other motor 218b corresponds to the horizontal bending operation. Further, the bending portion 208 is configured to bend freely in up / down / left / right directions by operating the joystick unit 210.

The motors 218a and 218b are
Two control signal lines 220 (only one is shown in FIG. 65)
Are connected respectively. This control signal line 220 is
The motor control unit 22 of the motor control device 202 is inserted through the universal cord 205 and the connector 206.
Connected to 0. Then, the motors 218a, 218
b is the motor control unit 22 via the control signal
1 is activated.

Also, the joystick-side potentiometers 222a and 222b provided on the joystick 210 shown in FIG. 64 change the electric resistance depending on the position of the stick, and electrically change the position of the stick. It can be fixed to. Further, the motor-side potentiometers 219a and 219b
Changes the electrical resistance value according to the rotation angle of each motor shaft,
Therefore, the rotation angle of the motor shaft can be determined electrically.

The potentiometers 219a and 219
b and joystick-side potentiometer 222
a and 222b are two detection signal lines 230,
231 (only one of them is shown in FIG. 65). Then, the potentiometers 219a, 219a, 2
19b and joystick side potentiometer 22
2a and 222b are electrically connected to a potentiometer reading unit 232 in the motor control device 202 via detection signal lines 230 and 231.

The potentiometer reading section 232 comprises:
Motor-side potentiometers 219a and 219b, and joystick-side potentiometers 222a and 222b
Of each of the electric resistance values is read. Further, the comparison operation unit 234 compares and calculates the rotation angle of the motor from the potentiometer reading unit 232 and the position of the stick, and sends a signal corresponding to the value to the motor control unit 221. . The motor control unit 221 uses the signals sent from the motor control unit 221 to generate the bending drive motors 218a and 218b.
To the motors 218a and 218b, respectively.
Are respectively driven.

Note that the rotation angle of the motor and the falling angle of the stick correspond to each other on a one-to-one basis.

With this configuration, first, at step S1 in FIG.
As shown at 01A, when the endoscope 201 is to be used, a power switch (not shown) connected to the motor control device 202 is turned on.

Next, in steps S102 and S103, the vertical joystick-side potentiometer 220a and the left and right joystick potentiometer 220b of the joystick 210, the vertical motor-side potentiometer 219a, and the left and right motor-side potentiometer 219b are connected. Each electric resistance value is read into the potentiometer reading unit 215.

[0312] Hereinafter, a description will be given of an example of a vertically curved side. Here, the electric resistance of the joystick-side potentiometer 220a is Rj, and the electric resistance of the motor-side potentiometer 219a is Rm.

[0313] Depending on the tilt angle of the joystick of the stick, that a change in the rotation angle of the motor, Rj = aRm + b (a , b are coefficients, a ≠ 0) can be said to be in relationship. This means that the rotation of the motor has a proportional relation to the operation of the stick (the tilt angle). Rj corresponds to the tilt angle of the joystick, and (aRm + b) is the rotation angle of the motor, that is, the current bending angle.

If the tilt angle (resistance value Rj) of the stick is different from the bending angle (that is, resistance value Rm) due to the operation of the stick when the power is turned off, either Rj or (aRm + b) is changed. , Will be big.
The operator cannot recognize whether the tilt angle of the stick and the bending angle are different or coincide with each other, so that a safe bending operation can be performed in the first bending operation at the time of power supply 0N. There is a need. Therefore, when the sticking inclination angle (resistance value Rj) and the bending angle (that is, resistance value Rm) are different, the motor is controlled so as to be equal.

Then, based on the resistance value Rj and the resistance value Rm read by the potentiometer reading unit 232, the comparison operation unit 234 determines in step S104 the magnitude relationship between the resistance value Rj and the resistance value (aRm + b). Is calculated.

Here, if RjＲaRm + b, the comparison operation unit 234 determines that the tilt angle of the stick and the rotation angle of the motor do not match. At this time, Rj> aRm + b
In step S105, in step S105, the comparison operation unit 234 sets the motor drive voltage to a level lower than the normal set voltage in the motor control unit 221, and sets the motor 218a for up / down drive in the CCW direction (the inclination angle of the stick). ,
The motor controller 221 supplies a voltage to the motor 218a in step S106.

Similarly, if Rj <aRm + b, in step S107, the comparison operation unit 234 causes the motor control unit 221
In step S108, the motor drive voltage is set to a level lower than the normal set voltage, and the vertical drive motor 218a is set to rotate in the CW direction (the direction in which the inclination angle of the stick matches the bending angle). Then, the motor control unit 221 supplies a voltage to the motor 218a.

Then, Rj> aRm + b and Rj <aRm
+ B, each step is repeated, and step S
As shown in 109, the direction is set to be Rj = aRm + b.

[0319] A voltage is supplied to the motor 218a.
The reading of j and Rm is subsequently performed, and when Rj = aRm + b, the motor controller 22 is read in step S109.
At 1, the motor drive voltage is set to the normal drive level, the rotation of the motor stops, and a series of controls ends.

In this embodiment, when the tilt angle of the joystick is different from the bending angle when the power of the motor control device is turned on, the motor is slowly driven at a voltage lower than the normal drive level, and Automatic control is performed so that both angles match. Therefore, the bending operation can always be performed in a state where the two angles are coincident with each other, and the bending of the endoscope, which tends to occur due to the difference between the two angles, does not suddenly take place or does not move unexpectedly. In addition, the operability of the bending operation and the safety can be improved.

FIGS. 66 and 67 relate to a modification of the thirteenth embodiment of the present invention. FIG. 66 is an overall configuration diagram of an electric bending type endoscope apparatus, and FIG. 67 is a bending control of the apparatus shown in FIG. It is an electric block diagram regarding a system.

The electric bending endoscope apparatus 200A of this modification shown in FIG. 66 has a joystick 235 for controlling a bending angle and an endoscope / remote control / joystick switching SW 236 in addition to the thirteenth embodiment. A remote control 237 is provided. In addition, the same components and operations as in the thirteenth embodiment are denoted by the same reference numerals, and description thereof is omitted.

The remote controller 220 is connected to the motor control device 202. The bending angle control joystick 235 has the same configuration as the joystick 210, and has potentiometers 238a and 238b.

On the other hand, the potentiometer reading section 232A of the motor control device 202 is connected to the motor-side potentiometers 219a and 219b, the joystick-side potentiometers 238a and 238b, and the remote controller-side potentiometers 238a and 238b. The potentiometer reading section 232A switches between the joystick side and the remote control side potentiometer by turning on / off the endoscope / remote control / joystick switching SW236 to read. That is,
Endoscope / Remote control / Joystick switch SW236
Is turned on, the control of the bending motor is switched from the joystick 210 on the endoscope side to the joystick 235 of the remote controller 237.

In this modification, the power supply SW of the motor control device 202 is turned off in step S101A of FIG.
Instead of N, the endoscope / remote controller 237
The joystick switching SW 236 is turned on. The subsequent series of controls is the same, and a description thereof will be omitted. In addition, the same components and operations as in the thirteenth embodiment are denoted by the same reference numerals, and description thereof is omitted.

In addition, when the endoscope is connected to the motor control device in the ON state, the same control may be performed when the bending operation is automatically controlled by the control device.

FIGS. 68 to 70 relate to a fourteenth embodiment of the present invention. FIG. 68 is an overall schematic configuration diagram of an electric bending endoscope apparatus, FIG. 69 is a flowchart relating to bending speed control, and FIG. Is a histogram of pixel density.

An electric bending type endoscope device 240 of this embodiment shown in FIG . 68 includes an electric bending type electronic endoscope 241, bending control of the endoscope 241, and a signal captured by the endoscope 241. An external control device 247 for performing the processing of
And a light source device (not shown).

The endoscope 241 has a tip 239 having a CCD 242 for imaging the inside of the subject, and
39, an insertion section 243 that includes a bending section 244 connected to the 39 and can be inserted into a subject, an operation section 246 that internally includes a motor 245 for driving the bending section 244 to bend,
The operation unit 246 includes a connection unit 248 connected to the external control device 247.

The motor shaft 2 extending from the motor 245
A sprocket (not shown) is fixed to 49, and a chain 250 is wound therearound. At both ends of the chain 250, bending operation wires 251 and 251 (only one is shown in the figure) fixed to the leading end bending piece (not shown) of the bending portion 244 are fixed.
The bending portion 244 is bent by pulling and loosening the first and the second 251.

The CCD signal cable 252 extended from the CCD 242 is connected to the external control device 247 through the connection section 248 to control the driving of the CCD 242 and to process the captured signal into a standard video signal. It is electrically connected to a camera control unit (hereinafter abbreviated as CCU) 254. The motor 2
The motor cable 253 extending from the cable 45 is electrically connected to a motor control unit (hereinafter abbreviated as MCU) 255 in the external control device 247 for controlling the motor 245 through a connection portion 248. You.

Further, the external control device 247 controls the CCU
From the standard video signal output by the H.254, a histogram of the density of each pixel is generated, and the obtained histogram is compared with a set threshold value.
An image processing unit 256 for controlling the image processing unit 55 is provided.

The CCU 254 has an external monitor 25
7 is connected, and an image from the CCD 254 is projected.

Next, the operation of this embodiment will be described with reference to the flowchart of FIG. When the insertion section 243 of the endoscope 241 is inserted into, for example, the large intestine of a person, the duct of the large intestine is bent and complicated, so that the distal end of the endoscope is likely to hit the wall of the large intestine. Tip portion 23 of insertion portion 243
If you go to 9 and hit the lumen, on the monitor 257,
A red uniform screen, so-called "red ball" may be displayed. This is because the tube wall of a living body such as the large intestine generally has a reddish color, so that when the distal end portion 239 hits or is very close to the tube wall, the focus will not be adjusted and the entire screen will be out of focus. Is red.

In this embodiment, by detecting this "red ball", a dangerous situation in which the distal end of the insertion portion is likely to come into contact with a tube wall such as the large intestine is detected. Hereinafter, the detection of the "red ball" and the control of the bending speed will be described with reference to the flowchart of FIG.

At step S111 in FIG. 69, the image processing unit 256 in the external control device
The R (red) component of the imaging signal from the image signal 242 is extracted, and the density histogram is created in step S112.
Next, for the obtained density histogram, step S
At 113, threshold processing is performed according to a preset threshold. The threshold processing is processing for counting the number of peaks exceeding a threshold in the density histogram.

In the case of “red ball”, all pixels have a uniform R component.
As shown in FIG. 1, one peak is generated only at a constant concentration. In other cases, for example, in the case of a lesion, a plurality of peaks occur without exceeding a threshold value when a density histogram is taken.

As described above, after the threshold processing, only one peak is seen. Therefore, step S
At 114, if the number of peaks is one, it is determined to be "red ball".

[0339] Next, in order to determine whether the subsequent time there is a "red ball" state, in the image processing unit 256, at step S115, the timer determines on or not, if not on, i.e., the No If so, step S
At 116, the timer is turned on.

In the image processing unit 256, image processing is performed sequentially. Therefore, in the case of Yes (timer is on), in step S117, it is determined whether or not the motor control is to be varied by checking whether or not the state with one peak reaches a predetermined time set in advance. Make a decision.

If the specified time has been reached, "Akatama"
The state continues, and it is determined that the state is dangerous.
At 18, M is reduced so that the supply voltage to the motor 245 is reduced.
A signal is output to CU 255.

The MCU 255 includes an image processing unit 256
, The supply voltage to the motor 245 is reduced, so that the bending speed of the bending portion 244 is reduced, and the bending cannot be performed with a strong force, so that the surgeon's unreasonable bending operation is forcibly prevented.

If the number of peaks is other than 1 in step S114, it is not in the "red ball" state, so that step S11
At 9, the timer is reset.

In this embodiment, when the “red ball” state continues, that is, the state is in contact with or very close to the tube wall,
By forcibly reducing the bending speed so that a strong bending operation cannot be performed, an accident due to the bending operation can be prevented. In addition, since the normal bending operation can be performed within the specified time of the “red ball” state, the blind operation necessary for the insertion procedure can be performed, and the insertability is not hindered. As described above, in the present embodiment, the operability and safety of the bending operation can be improved.

In the present embodiment, the bending speed may be controlled based on chromaticity analysis instead of density analysis. Further, the control of the bending speed may be controlled not only to be slow, but also to stop or retreat in the opposite direction. Further, in addition to the electronic endoscope, a video signal from an external camera for an optical fiber endoscope may be used.

FIG. 71 is a configuration diagram showing a part of a bending mechanism of an endoscope according to a fifteenth embodiment of the present invention.

[0347] The electric bending type endoscope apparatus of this embodiment is similar to that shown in FIG.
The electronic endoscope 532 of the electric bending type shown in FIG. 1, a light source device (not shown), a video processor (not shown), a monitor (not shown), and a motor control device (not shown) are provided. The video processor and the light source device are the same as in the first embodiment. The motor control device is a control device for driving a motor, which will be described later, according to an operation of a bending operation switch (not shown) to obtain a predetermined bending.

FIG. 71 (a) shows a cross section of the operation unit 541 of the endoscope 532. On the other hand, FIG. 71B shows a part of the bending mechanism with the insertion section 534 of the endoscope 532 and the operation section side being cutaway views. Incidentally, FIG.
FIG. 71 (b) is a view in the direction of arrow B in FIG. 71 (a).

The insertion portion 534 of the endoscope 532 includes, in order from the distal end, a distal end 535, a bendable bending portion 536, and a flexible portion 537.
Is connected to the operation unit 541.

[0350] Inside the operating section 541, a bending motor 542, a motor shaft 543 extending from the bending motor 542, a sprocket 544 fixed to the motor shaft 543, and a sprocket 544. And a chain 545 wound therearound. The bending motor 542 is controlled by the motor control device.

At both ends of the chain 545, intermediate wires 547a and 547b are fixed, respectively. The other ends of the intermediate wires 547a and 547b are fixed to substantially cylindrical intermediate connection portions 548a and 548b.

The intermediate connection portions 548a and 548b are inserted into holes provided in a flat portion facing the intermediate wires 547a and 547b. This intermediate connection part 548
a, 548b are cylindrical spaces 549a, 549b,
Coil springs 552a and 552b are provided in the spaces 549a and 549b, respectively. Intermediate wire 54
By fixing the stoppers 546a, 546b to the other ends of the intermediate wires 547a, 547b,
Are prevented from falling out of the intermediate connecting portions 548a and 548b. Also, the stoppers 546a, 546b move in the axial direction of the spaces 549a, 549b in accordance with the pulling / relaxing of the intermediate wires 547a, 547b, and the springs 552a, 549b.
552b is operated to compress / release.

The bending operation wires 560a and 560b are fixed to the other flat portions of the intermediate connection portions 548a and 548b, and the bending portion 536 is bent by pulling / releasing the bending operation wires 560a and 560b. It has become.

When the curved portion 536 is straight, the coil springs 552a and 552b are not compressed,
It is in a natural state.

With this configuration, the bending portion 536 is connected to the position shown in FIG.
When bending from the K direction to the L direction, the bending operation wire 56
0b , the motor 542 has a motor shaft 543,
Then, the chain 545 is moved by rotating the sprocket 544 in the direction of arrow C in FIG. Here, as shown in FIG. 71 (b), the bending portion 551 that has been bent in the K direction has a bending operation wire 560a that has bent the bending portion 551 in the K direction until returning to the straight state. Moving in a direction to reduce the tension of the bending operation wire 560b and the intermediate connecting portion fixed to the bending operation wire 560b.
Large force to pull the 548b is not required, and therefore the intermediate
The connecting portion 548b can be pulled without strongly compressing the coil spring 552b.

When the bending portion 536 is shifted from the straight state to L
When bending in the direction, the retaining 541b is used for bending operation.
A strong force is required to pull the working wire 560b and the intermediate connecting portion 548b fixed to the bending operation wire 560b . At this time, the retaining 546b is connected to the intermediate connecting portion 5
The spring 552b in 48b is strongly compressed and pulled. Therefore, a phenomenon occurs in which the bending portion 536 stops in a straight state for a short time until the rotation force of the motor 542 overcomes the elastic force of the spring 552b and the retaining 546b compresses the spring 552b. Due to this stationary phenomenon, the operator confirms that the screen projected by the endoscope is stopped only for the above-described time even though the screen is curved, so that the bending portion 536 is in a straight state. Can be recognized.

[0357] Therefore, when the bending portion 536 is in the straight position, the endoscope screen is also stopped only for the time described above.

In this embodiment, the operator can recognize the straight state of the bending portion 536 by changing the speed of the screen of the monitor, that is, by standing still, just by looking at a normal endoscopic image. Therefore, it is possible to surely grasp that the bending portion is in the straight state, and to perform the bending operation after grasping the condition of the bending portion, unlike the conventional device in which it is difficult to recognize the state of the bending portion. That is, in this embodiment, the operability and safety of the bending operation can be improved.

[0359] Instead of providing an intermediate connecting portion including a coil and a spring, a bending operation wire having an appropriate extensibility may be used. Further, one end of the bending operation wire itself may be formed in a spring shape.

In the present embodiment, an electronic endoscope is used instead of an electronic endoscope.
An optical fiber endoscope may be used. In the case of the fiber endoscope, since the visual observation image is stationary, the straight state can be recognized.

FIG. 72 is a schematic configuration diagram showing an electric circuit of a bending mechanism and a control system according to a modification of the fifteenth embodiment of the present invention.

The electric bending endoscope apparatus 531 of this modification shown in FIG. 72 is different from the electric bending endoscope 532 of the fifteenth embodiment.
A motor control device 533 is provided in addition to the light source device (not shown).

[0363] The endoscope 532 of this modification is the fifteenth embodiment.
In the embodiment, an encoder 561 is provided coaxially with the bending motor 542 instead of providing the intermediate connection portions 548a and 548b. Further, the endoscope 532 includes
Except for the intermediate wires 547a and 547b of the fifteenth embodiment,
Wires 560, 560 are directly connected to both ends of the chain 545.

[0364] Other configurations and operations similar to those of the fifteenth embodiment are denoted by the same reference numerals, and the drawings and description thereof are omitted.

In the motor control device 533, an encoder signal reading section 5 for reading a signal of the encoder 561 is provided.
62, a calculation unit 563 that calculates the rotation angle of the motor 542 based on the signal read by the encoder signal reading unit 562, and a calculation value of the calculation unit 563.
A motor control section 564 for controlling the motor 542;

In this configuration, according to the rotation of the bending motor 542, a signal corresponding to the rotation angle is detected by the encoder 561 provided coaxially with the motor 542.
The signal detected by the encoder 561 is used for motor control.
The rotation angle is calculated by the calculation unit 563 via the encoder signal reading unit 562 in the device 533 .

Here, when the rotation angle is such that the bending portion 536 is in a straight state, the motor control unit 564 responds to the instruction of the calculation unit 563 for a moment for the set time to set the supply voltage to the motor 542. Stop.

Thus, the surgeon can recognize that the bending portion 536 is in a straight state by seeing that the screen projected by the endoscope is stopped only for the above-described time period despite the bending. The other configuration and operation and effect are the same as those of the fifteenth embodiment, and the description is omitted.

FIG. 73 relates to a sixteenth embodiment of the present invention, FIG. 73 is a circuit diagram relating to drive control of a bending portion, and FIG.
4 is a truth table of the circuit shown in FIG.

This embodiment is different from the first to tenth embodiments and the twelfth embodiment in that a changeover switch for reducing or stopping the bending speed is provided to control the bending speed. Can be selected. FIG. 73 shows only a specific circuit configuration for that purpose.

For the sake of simplicity, only the bending in the UD direction will be described, and the bending in the RL direction will be omitted. The circuit shown in FIG. 73 is a bending drive control circuit that can perform switching to reduce or stop the bending speed. A PNP transistor 651 as a so-called H-bridge circuit is provided at both ends of the bending drive DC motor 650.
To 654 are connected. This transistor 65
The base of 1 to 654, the output of inverter 655 through 658 are connected. Inverters 655 to 6
The input of 58 is connected to the up / down operation SW 659, respectively. Specifically, the inverters 655 and 656 are
Inverters 657 and 6 are connected to the U terminal of the operation SW 659.
58 is connected to the D terminal of the operation SW 659. The common end of the up / down operation SW 659 is connected to the power supply V. The U and D terminals are connected to resistors 660 and 661, respectively.
Grounded.

Incidentally, both ends of the motor 650 are connected to the collectors of the transistors 651 and 653 and the transistor 65
2,654 emitters are respectively connected.

The collectors of the transistors 652 and 654 are both grounded via a resistor 662. The emitters of the transistors 651 and 653 are both connected to the collectors of the transistors 663 and 664.

The emitters of the transistors 663 and 664 are connected to power supplies V1 and V2, respectively. The bases of transistors 663 and 664, Yi members <br/> data 665 and 666 are connected respectively. The inverters 665 and 666 have a three-input AND circuit 66.
The outputs D and E of the 7- and 2-input AND circuit 668 are respectively connected.

The collectors of the transistors 652 and 654 are connected to inverting inputs of comparators 669 and 670. One end and the other end of the resistor 671 are interposed between the non-inverting inputs of the comparators 669 and 670.
It is connected. One end of the resistor 671 is connected to the resistor 6
72 and a resistor 671
Is grounded via a resistor 673.

The outputs A and B of the comparators 669 and 670 are connected to a power supply V via resistors 674 and 675. The output A is connected to one input of each of the AND circuits 657 and 658. The output B is connected to one of the other inputs of the AND circuit 668, while being connected to another input of the AND circuit 667 via the inverter 676.

On the other hand, the output C of the changeover switch 678 is connected to the power supply V via the resistor 679. Output C
Is connected to the AND circuit 667 via an inverter 677.
Connected to one other input. Note that V1 <V2.

With this configuration, the up / down operation SW 659
If is not operated, the motor 650 does not bend because no current flows.

When the operation SW 659 is operated in the UP direction, the transistors 651 and 652 are turned on. Therefore, a current in the i direction shown in FIG. 73 flows through the motor 650, and the motor 650 bends in the up direction. On the other hand, when the operation SW 659 is set to D
When operated in the OWN direction, the transistors 653, 65
4 turns ON. Therefore, a current flows in the motor 650 in a direction opposite to the direction i, and the motor 650 bends in the down direction.

When the switch SW678 is OFF, the output C is "H", so that the input of the AND circuit 667 is "L" and the output D is always "L". Therefore, the transistor 663 is off. On the other hand, when the switch SW678 is ON, the input of the AND circuit 667 becomes "H" because the output C is "L". Therefore, the transistor 663 turns ON and O in accordance with the outputs A and B of the comparators 669 and 670.
FF.

First, the case where the switching SW 678 is OFF will be described. When the operation SW 659 is operated in the UP direction, as described above, the current flows in the motor 650 in the i direction, and thus a voltage Vi is generated at one end of the resistor 662. This power
The voltage Vi is compared with reference voltages Vref1 and Vref2 input to the non-inverting input terminals of the comparators 669 and 670. still,
Vref1> Vref2.

If Vi <Vref2, the comparator 66
Outputs A and B of 9, 670 become "H", "H". V
If ref2 <Vi <Vref1, comparators 669 and 67
The outputs A and B of “0” become “H” and “L”. Vref1 <V
In the case of i, the outputs A and B of the comparators 669 and 670
Are "L" and "L". Immediately after the operation SW 659 is turned on, the transistor 663 is turned on because Vi = 0.
State (the transistor 664 is off). Since the load applied to the bending drive motor 650 is small and the current i is small, when the voltage Vi <Vref2, A, B, and C become “H”, “H”, and “H”. E becomes "L" and "H". Therefore, transistor 664 is
N, and the voltage V2 remains applied to the emitters of the transistors 651 and 653.

If the current i increases, Vi> Vref2
, The outputs A, B, and C become "H", "L", "H".
When Vi> Vref1, the output ABC becomes "L",
Therefore, the outputs D and E are both "L" and "L". Therefore, transistor 66
3, 664 are both turned off, and transistors 651, 6
No voltage is applied to the 53 emitter.

Therefore, when the load becomes larger than a certain level, that is, when the voltage Vi becomes larger than a certain level,
Since no voltage is applied to the transistors 651 and 653, no current flows through the motor 650. Therefore, when the switch SW678 is turned off and the load on the bending portion or the like becomes larger than a certain level, the bending operation is stopped. Also in the DOWN direction, the current flowing through the motor is only reversed, and the description is omitted because it is the same.

Next, the case where the switch SW678 is ON will be described. First, the transistor 663 is on. At this time, the transistor 664 is off. Operation S
When W659 is operated UP or DOWN and the load on the motor 650 is small and Vi <Vref2, the outputs A, B, and C become "H", "H", and "L". , E become “L” and “H”. Therefore, the transistor 664 is turned on, and the voltage V2 is still applied to the emitters of the transistors 651 and 653.

When Vi> Vref2, the outputs A, B, and C are "H", "L", and "L".
"H" and "L". Therefore, transistors 663,
664 are 0N and OFF, respectively, and V1 is applied to the emitters of the transistors 651 and 653.

When Vi> Vref1, the outputs A, B, and C are "L", "L", and "L".
"L" and "L". Therefore, transistors 663,
664 is turned OFF, OFF, and transistors 661,
No voltage is applied to the 653 emitter. That is, when the load exceeds a certain level, the applied voltage is reduced (from V2 to V1), and the load further increases. When the load exceeds a certain level, no voltage is applied. This means that if the switching SW 678 is 0N and the load on the endoscope bending section or the like becomes larger than a certain level, the bending operation is slowed down, and if the load is further applied, the bending operation is stopped.

In the electric bending endoscope apparatus using the bending drive control circuit of this embodiment, bending is stopped when a large load is applied. Alternatively, the bending speed is reduced, and when a larger load is applied, the operation is stopped. The operation can be switched, and the operation can be switched according to the operator's preference, skill level, and the like, so that the operability and safety are excellent.

The switching SW678 of the sixteenth embodiment may be provided in the first embodiment so that the switching between “when the bending speed is slowed” and “when the bending speed is stopped” can be switched in the first embodiment. .

In other words, although not shown in FIG.
/ O51 is connected to SW678, and this switch SW678 is connected.
Is switched, the control circuit 48 switches between "when the bending speed is made slow" and "when the bending speed is stopped".

Furthermore, the present invention can be applied to the second to tenth embodiments and the twelfth embodiment.

FIGS. 75 and 76 relate to the seventeenth embodiment of the present invention. FIG. 75 is a circuit diagram relating to drive control of the bending portion, and FIG. 76 is a truth table of the circuit shown in FIG.

In this embodiment, in addition to the three-input AND circuit 667 of the sixteenth embodiment, as shown in FIG.
An input AND circuit 701 and an inverter 700 are provided. In this embodiment, a two-input OR circuit 702 is provided in addition to the two-input AND circuit 668 of the sixteenth embodiment. Further, in this embodiment, a function ON / OFF / SW 703 is provided in addition to the sixteenth embodiment. The output F of this function ON / OFF SW703 is connected to the resistor 7
04, and is connected to the power supply V
It is connected to one input terminal of the ND circuit 701 and to the input terminal of the inverter 700. The other input terminal of the AND circuit 701 is connected to the output terminal of the AND circuit 667, and the output D of the AND circuit 701 is connected to the input terminal of the inverter 665.

The output terminal of the AND circuit 668 is connected to one input terminal of the OR circuit 702, and the output terminal of the inverter 700 is connected to the other input terminal of the OR circuit 702. It is connected. Further, an output E of the OR circuit 702 is connected to an input terminal of the inverter 666. In addition, the same components and operations as in the sixteenth embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 76, the function ON / OFF
When the SW 703 is OFF, the operation is exactly the same as in the sixteenth embodiment.

When the switch SW 703 is ON, the output F of the AND circuit 701 is always “L” because the output F is “L”, while the output E of the OR circuit 702 is always “H”. Become. Therefore, the transistors 651, 6
The voltage V2 is always applied to the 53 emitters.

In this embodiment, the function ON / OFF / SW7
By setting 0N to 03, the bending speed is always constant, and when the SW is OFF, the same effect as in the sixteenth embodiment is produced. Therefore, the surgeon can select the control method of the bending speed, and can improve the operability. The other configuration and operation and effect are the same as those of the sixteenth embodiment, and the description is omitted.

This embodiment is similar to the sixteenth embodiment, except that
The output of the switch SW703 is connected to the I / O5 of the first embodiment.
"Slow", "Stop" by inputting to 1
ON / OFF control of the function may be performed. Further, the present invention can be applied to the second to fifteenth embodiments.

FIG. 77 and FIG. 78 relate to the eighteenth embodiment of the present invention. FIG. 77 is an electric block diagram of the bending control of the electric bending type endoscope apparatus, and FIG. 78 is a flowchart of the bending control. The electric bending endoscope device of the present embodiment includes a differential transformer instead of the displacement sensor of the fifth embodiment. In addition, the present embodiment includes a bending shape calculation unit that calculates a bending angle from a movement amount of the wire detected by the differential transformer, and a motor control unit that controls a bending driving motor. In addition, the same components and operations as in the fifth embodiment are denoted by the same reference numerals, and description thereof is omitted.

As shown in FIG. 77, the electric bending endoscope 501 includes differential transformers 731 and 731 for detecting the amount of movement of the wires 513 and 513.

[0401] On the other hand, the motor controller 516, differential tiger
From the signals detected by the wires 731 , 731
Bending shape calculation unit 732 for calculating the movement amounts of 13, 513
And a motor control unit 733 for controlling electric power supplied to the motor 510 based on the movement amount obtained by the curved shape calculation unit 732.

The operation of this embodiment will be described with reference to the flowchart of FIG. In step S130, the differential transformers 731 and 731 detect the amount of movement of the wires 513 and 513. In step S131, the bending shape calculation unit 732 calculates a bending angle of the bending unit 505 based on the movement amount. In step S132, the motor control unit 7
33 is step S when the maximum bending angle is set in advance.
At 133, the motor 510 is stopped.

In all of the above embodiments, the driving means is not a motor but a compressed fluid or SMA (shape memory alloy).
Or the deformation of the actuator itself by SMA or compressed fluid.

In all the embodiments except the eleventh embodiment and the fourteenth embodiment, instead of the electronic endoscope,
An optical fiber endoscope may be used.

FIGS. 79 to 89 relate to the nineteenth embodiment. FIG. 79 is a block diagram including a main part of an electric bending endoscope apparatus according to the nineteenth embodiment, and FIG. 80 is an electric motor according to the nineteenth embodiment. FIG. 81 is a conceptual diagram of a curved endoscope device, FIG. 81 is an overall schematic configuration diagram of an electric curved inner device, and FIG. 82 (a) is a specific configuration diagram as an example for detecting a bending angle rotation, FIG.
(B) is a configuration diagram of a slit plate of an encoder, FIG. 83 is a configuration diagram showing another example for detecting a bending angle, FIG. 84 is a specific configuration diagram of a drive circuit, and FIG. 85 is a circuit diagram of FIG. 86 is a flowchart relating to bending speed switching control, FIG. 87 is a flowchart according to another example of bending speed switching control, FIG. 88 is a configuration diagram of pipes and the like relating to air supply, water supply, and suction, and FIG. It is a block diagram regarding control of air supply / water supply / suction.

The outline of the electric bending type endoscope apparatus will be described based on a conceptual diagram according to the nineteenth embodiment shown in FIG.
In the present endoscope apparatus, the bending mechanism 935 includes a driving unit 936 for bending the bending portion of the endoscope through the bending mechanism;
A bending angle detecting section 937 for detecting the bending angle, an operation section 938 for instructing a bending operation, and a control section 939 for controlling the driving section 936 in accordance with an operation instruction of the operation section 938 are provided in the driving section 936. And

[0407] It is assumed that the operation section 938 gives an instruction to bend in the UP direction. The control unit 938 reads the instruction as a signal, and instructs the drive unit 936 to drive in the UP direction (for example, rotation of a built-in motor or the like). Since the bending mechanism 935 is connected to the driving unit 936, the distal end of the endoscope bends in the UP direction.

[0408] The amount of bending of the endoscope bending section is detected by the bending angle detecting section 937 and input to the control section 939. The control unit 939 monitors the bending angle detection signal,
In the vicinity of the straight (for example, in the range of ± 10 °), a control signal is sent to the driving unit 936 so as to perform low-speed driving (for example, to drive at a lower voltage in the case of a voltage control method). give. After the distal end of the endoscope passes near the straight, control is performed so that the endoscope bends at a normal speed (voltage is increased to the original level).

As shown in FIG. 81, the electric bending endoscope device 940 includes an endoscope 941, a control device 942 for connecting the endoscope 941, and a monitor 943 connected to the control device 942. Have.

[0410] The endoscope 941 has an elongated insertion portion 944.
And an operation portion 945 connected to the rear end of the insertion portion 944.
And a universal cord 946 extending from the side of the operation section 945. At the end of the universal cord 946, a connector 947 that is detachably connected to the control device 942 is provided. In addition, the insertion portion 944 is arranged in order from the distal end side to the rigid distal end portion 94.
8, a bending portion 949 for directing the distal end portion 948 in a desired direction, and a relatively hard flexible tube portion 950, and the flexible tube portion 950 is connected to the operation portion 945. .

[0411] An objective lens 951 and a light distribution lens 952 are provided at the distal end 948 of the insertion portion 944, and a solid-state image sensor 953 such as a CCD is provided at an image forming position of the objective lens 951. . The light distribution lens 9
The output end of the light guide fiber 954 is disposed at the rear end of the light guide fiber 52. Further, the signal line 955 connected to the solid-state imaging device 953 and the light guide fiber 954 are connected to the connector 947 through the insertion section 944, the operation section 945, and the universal cord 946.

On the other hand, the control device 942 is connected to the light source 956 for supplying illumination light to the incident end of the light guide fiber 954 and to the solid-state image sensor 953 via the signal line 955 and the connector 947. Video processor 957 is provided. The solid-state imaging device 953 is driven by the video processor 957. The output signal of the solid-state imaging device 953 is subjected to video signal processing by a video processor 957, input to a monitor 943, and displayed as a subject image on a screen of the monitor 943. Is
Bending operation switch 95 for the operator to give a bending instruction
8 are provided.

[0413] A bending control circuit 959 for controlling the electric bending endoscope 941 is provided in the control device 942.

FIG. 79 shows an electrical connection between the electric bending endoscope 941 and the bending control circuit 959, and a part of the bending mechanism. Operation unit 9 of this electric bending endoscope 941
45 includes a DC motor 960 as a drive unit for bending the bending unit 949, and a motor 96.
A drive gear 961 is fixed in the middle of the zero rotation shaft 960a.

[0415] The driven gear 962 meshing with the drive gear 961 has a shaft 963a of a sprocket 963 fixed thereto, and the sprocket 963 has a chain 964 attached thereto.
One end of each of two wires (not shown) is connected to the chain 964 rotatably engaged by a connecting member (not shown).

[0416] The other ends of the two wires are inserted through a plurality of rotatably combined joint pieces (not shown) provided in the bending portion 949, and each wire is connected to the most advanced joint. It is fixed to each piece. The other end of the wire is fixed to the tip 948 and the motor 96
According to the rotation of 0, the wire is pulled and relaxed, and the bending portion 949 is bent. Further, a motor 9 is provided at the tip end side of the rotation shaft 960a of the motor 960.
An encoder 965 is provided to detect the rotation angle of 60.

On the other hand, the bending control circuit 959 includes a driving circuit 966 for driving the motor 960 and the encoder 9
A rotation angle detection circuit 967 that converts an output signal from the optical signal 65 into angle data and outputs the data; a bending operation as a control unit that controls the bending operation and the bending speed and reads the state of the bending operation switch 958; A speed / SW reading control circuit (hereinafter abbreviated as a control circuit) 968.

[0418] The control circuit 968 is composed of, for example, a CPU or the like, and controls the rotation direction and the rotation speed of the motor 960 according to the state of the bending operation switch 958.

The operation of this embodiment will be described with reference to FIG. Now, it is assumed that the bending operation switch 958 is operated, and the contact 958a is at the GND level. The control circuit 968 identifies this state by, for example, reading it into the CPU via an I / O port. now,
If this is a bending UP instruction operation, the control circuit 968
Reads the current position of the tip 952 from the rotation angle detection circuit 967 and checks whether the current position is near the straight.
In the case of the position near the straight, the control circuit 968 instructs the drive circuit 966 to set to a low voltage value as the drive speed instruction, and also issues an instruction for UP (up) direction drive. When the driving speed and the direction are specified, the driving circuit 966 supplies the driving voltage V3 to the motor 960, and the bending in the UP direction is started. When the bending angle of the bending portion 949 increases, the rotation angle detection circuit 967 detects that the position near the straight has deviated from the position signal of the encoder 965, and the control circuit 968
An instruction to change and set a high voltage value as a driving speed instruction is issued.

At the start of the bending instruction, the tip 9
If the position 48 is not near the straight, the driving speed instruction is given at a high voltage. In addition, the bending operation switch 9
When 58 is connected to the contact 958b, the bending direction is DOWN (down). Further, although not shown, the same applies to the bending operation in the R / L (left / right) direction.

In this embodiment, since the bending speed decreases near the straight, and thus the moving speed of the image also decreases on the display screen, the straight position can be confirmed. That is,
It is possible to detect the straight state, which is the basic position at the time of insertion, just by gazing at the observation screen of the monitor on which the endoscope image is displayed, and it is necessary to see another display (for example, a small screen or a display panel of the control device). Operability can be improved.

FIG. 82A shows an example of the rotation angle detection circuit 967. As shown in FIG. 82A, a slit plate 969 is held in a rotatable state on an encoder shaft 965a fixed to the rotating motor shaft 960a. (The case of the encoder 965 is not shown). LED (light emitting diode) 97 connected to the power supply in series including the resistor
0a, 970b, and 970c are always lit. Further, the phototransistors 971a, 971b, 971c
Are the LEDs 970a, 970b, and 970c, respectively.
, A slit plate 969 is interposed therebetween. The slit plate 969 is provided with a plurality of slits as shown in FIG. On the innermost peripheral side of the slit plate 969, one Z slit is provided corresponding to the straight position of the tip 948. Also, on the outer peripheral side adjacent to the innermost circumference and the outermost peripheral side,
A plurality of slits for A and a plurality of slits for B are provided at one circumference and at regular intervals. The slits for A and B are provided at alternate positions in the circumferential direction, and have a phase of 180.
This is for detecting a pulse shifted by a degree.

The LED (light emitting diode) 970a,
970b and 970 emit light, respectively, for A, B, and Z
And the light is received by the phototransistors 971a, 971b, and 971c, respectively. And
The pulse signals are A, B, and Z, respectively.

Also, the phototransistor 971a,
The emitters 971b and 971c are connected to the up-down counter 972 of the rotation angle detection circuit 967 while their respective emitters are grounded, and are each pulled up via a resistor. The rotation angle detection circuit 967 includes an up-down counter 972 and a CP
U973 is connected via a bus line 974.

When the motor shaft 960a rotates, the slit plate 969 rotates. When the slits of the slit plate 34 are at the straight positions, the phototransistor 971c operates and the up-down counter 972
Is input to After passing through slits for A, B and Z,
The obtained A, B, and Z pulse signals are a lead signal, a lag signal, and a zero (straight position) signal, respectively, as in a normal encoder. When the endoscope tip 948 is in the straight state, the Z signal is generated, and the signal causes the up / down counter 972 to be cleared.

[0426] The up / down counter 972
For example, count-up is performed in the UP direction and count-down is performed in the DOWN direction, and the count value is read into the CPU 973 through the bus line 974 (address bus, data bus). In addition, this CP
The role of U973 may be performed by the CPU of the control circuit 968.

FIG. 84 shows an example of the driving circuit 966. For the sake of simplicity, the curvature in the UD direction only is described, and RL
The bending in the direction is omitted. Both ends of the motor 960 shown in FIG.
Transistors T2 and T4 and NPN transistors T3 and T5 are connected. The up contacts 958a and the down contacts 958b of the switch 958 are connected to the bases of the transistors T2 and T5. The output of the inverter 977 is connected to the base of the transistor T4, and the output of the inverter 978 is connected to the base of the transistor T3. The inputs of the inverters 977 and 978 are connected to the down side contact 958.
b (hereinafter referred to as a D terminal) and an up-side contact 958a
(Hereinafter, referred to as a U terminal).

[0428] The collectors of the transistors T2 to T5 are connected to both ends of the motor 960, and the respective emitters are grounded. Further, the emitters of the transistors T2 and T4 are connected to the power supply V3 via the diode D6 and to the collector of the PNP transistor T1. The base of this transistor T1 is
While connected to the power supply V5, the emitter is connected to the power supply V4.
It is connected to the. The transistors T1 to T5 are:
Diodes D1 to D5 are connected in parallel with the collector and the emitter, respectively. Here, there is a relationship of voltage value V4> voltage value V3.

Next, the operation of this embodiment will be described with reference to the flowchart in FIG. First, in step S140, the control circuit 968 monitors whether or not the bending operation switch 958 is on. If No, in step S141, the signal level of the U terminal is high and the signal level of the D terminal is high. Since it is low, the motor 960 is stopped. Therefore, the bending portion 948 is stationary. At this time,
The transistors T2 to T5 are all off.
(Refer to the truth table in FIG. 85) If Yes, step S1
At 42, the control circuit 968 determines whether or not it is near the straight based on the detection signal of the bending angle detection circuit 967.

In the vicinity of the straight (Yes), the transistor T1 is turned off. Here, when the transistor T1 is off, the voltage supplied to the motor 960 becomes the voltage V3 if the voltage drop in the diode D1 is ignored.

Next, in step S145, the control circuit 96
8 determines whether the setting of the bending operation switch 958 is up or down. In the case of down, in step S146, the signal level of the terminal D of the bending operation switch 958 is low and the signal level of the U terminal is low. Therefore, the transistors T2 and T3 are turned on, and the transistors T4 and T5 are turned off.
, A current is supplied in the direction a, and the motor rotates in the down direction at a speed proportional to the voltage value V3. The bending portion 949 curves in the down direction.

On the other hand, in the case of up at step S147,
Since the signal levels of the U terminal and the D terminal are opposite to those in the above state (both are high), the motor 960 rotates in the reverse up direction. At this time, the transistors T2 and T3 are turned off and the transistors T4 and T5 are turned on, so that a current is supplied to the motor 960 from the direction a to the direction b in the figure.

By the way, if it is not near the straight (No) in step S142, step S144
Then, when the transistor T1 is turned on and the voltage V4 is applied, the voltage V4 is higher than the voltage V3, so that the rotation speed of the motor increases. The switching of the speed may be controlled by the control circuit 968 by controlling the signal level of the terminal V5. Steps S145 through S14
7 has the same operation when V3 is applied, but the higher the voltage, the higher the bending speed.

Thus, the voltage V3 which is a constant voltage
When the motor 960 is driven by switching the voltage V4 and the voltage V4, the bending speed decreases when the tip 948 approaches the straight, and increases when the bending angle increases away from the vicinity of the straight. Therefore, on the image,
The screen movement speed becomes slower, and it can be confirmed on the image whether or not the camera has reached the vicinity of the straight. In other words, it can be determined from the screen that the straight (or the vicinity) is the reference straight line, and the operator can grasp the state of the distal end portion of the insertion section.
Therefore, in the present embodiment, the operability of the bending operation can be improved.

When the load increases due to contact with the body cavity wall or the like, the current value increases and the bending speed decreases.
For this reason, on the image, the speed of the screen movement becomes slow, and an increase in the load of the bending angle can be confirmed on the image.

A driving current detecting resistor is inserted in series between α and β shown in FIG. 84, and the value of the current flowing by the generated voltage is detected. Then, when a current more than a specified value of current corresponding to V3 and V4 flows, the transistors (T1 to T5) may be turned off. In such a configuration, the bending operation can be stopped when an overload is applied, so that the safety of the bending operation can be improved. In the case of a configuration using a variable voltage regulator as the power supply voltage, for example,
Conversely, when the bending instruction by the operator is long in time or when the applied voltage V3 or V4 is not in the state of maximum bending, the power supply voltage V3 or V4 is increased so that even if the load is large, it is sufficient. Control may be performed so as to bend.

The control flowchart in the U / D direction shown in FIG. 87 is started periodically (for example, every 10 ms). The control flowchart in the R / L direction has the same contents, and the illustration is omitted.

The vicinity of the straight is set within a range of ± 10 ° from the straight state, but the present invention is not limited to this.

The one shown in the nineteenth embodiment uses the bending operation switch 958, and is simply turned on / off by a switch.
OFF was identified. In addition, as shown in FIG. 83, as a first modification of the nineteenth embodiment, the endoscope 941 is provided with a combination of a slide knob and a potentiometer 975 instead of the encoder 965. On the other hand, the rotation angle detection circuit 967 includes an A / D converter 97 instead of the up / down counter 972.
6 and the CPU 973 through the bus line 974 .
, The bending angle may be read. The other configuration and operation and effect are the same as those of the nineteenth embodiment, and thus description thereof will be omitted.

As a second modification , in the nineteenth embodiment or the first modification, the bending operation switch 9 is used.
Instead of 58, a device provided with a joystick may be used.

The operation of the second modification will be described with reference to the flowchart shown in FIG. FIG.
6, the same operations as those in the flowchart shown in FIG. In step S140A,
It is determined whether the joystick is in the neutral position (straight position) or has a position change (bending operation amount). In step S145A, it is determined whether the position change is in the up direction or the down direction. After step S146 or S147, it is determined in step S148 whether the position has been bent by the change in position. If not, the predetermined bending operation is continued until the position is changed. If the amount of change has reached a predetermined amount, step S
In 149, the bending operation is stopped, and the process returns to step S140A.

Further, as a third modification, in addition to the nineteenth embodiment and the first or second modification, a switch for selecting a mode for switching a voltage value near a straight line and a mode for not switching the voltage value is described above. It may be added to the operation unit 945. In this configuration, the control circuit 968 checks and controls whether or not the tip end 948 is in the vicinity of the straight only in the switching mode.

Further, another switch is provided on the operation unit 945, and after this switch is pressed, the amount of bending of the tip of the joystick relative to the amount of movement of the joystick is １ ／.
The control circuit 968 may control the amount of curvature to be equal to (or may be set by the operator). By doing so, the positioning of the distal end portion by the joystick can be performed weakly.

In the first to nineteenth embodiments, the power supply voltage can be changed by using a DC motor as an example. However, the frequency of a driving pulse can be changed by using a stepping motor. You may. The driving means is not limited to a DC motor or a stepping motor.

In general, the endoscope is supplied with air, water,
And a fluid line for suction is provided. In some cases, the control device 942 has a built-in air supply pump 982 in addition to the above functions in accordance with the functions of the endoscope.

[0446] The endoscope 941 is provided with a valve for controlling air supply, water supply, and suction, and each operation can be switched by an operation of an operator. Further, air may be supplied and sucked by an electromagnetic valve in order to improve the cleaning property of each pipe in the endoscope. In the case of such an endoscope, the control device 9
Since there is an air supply pump in 42, it is possible to reduce the size of the apparatus and effectively use it if the air supply pump is used effectively. The control device 94
2 can also be used as a light source device for an endoscope provided with a conventionally used mechanical valve.

FIG. 88 shows the air supply pipe (A), water supply pipe (W), and suction pipe (S) of the endoscope 941.
The endoscope 941 includes an air supply pipe A and a water supply pipe W, and an air supply pump (AP) 982 is provided in the control device 942. Also, switches SW-A (air supply) and SW shown in FIG. 89 provided on the operation unit 945 of the endoscope 941 are provided.
-W (water supply) and SW-B (suction) are provided. Each of these switches is connected to an I / O port 984 in a solenoid valve device 983, and is also pulled up to a power supply via a resistor. The I / O port 984 is connected to the CPU 986 via the CPU bus 985.
It is connected to the. The electromagnetic valve device 983 includes the electromagnetic valves VL1 to VL7, a water supply tank 996 , a suction pump (SP) 987, and a suction tank 988.

The air supply pump 982 shown in FIG. 88 is connected to the first air supply line 260a.
0a is connected to the first air supply line 26 via the connector (1).
0b is connected. The first air supply line 260b is provided with a fourth solenoid valve VL4. The water supply pressurizing line 261 is connected to the fourth solenoid valve VL4.
The water supply pressurized pipe 261 is connected to the space above the liquid level of the water supply tank 996 . And said
The first water supply pipe line 262 is connected to the water supply tank 996 with the suction port immersed in the stored liquid. The first water supply line 262 is provided with a fifth solenoid valve VL5, which is connected to the endoscope through the second water supply line 263 and the connector (2). Is connected to a water supply pipe W that is opened at the tip end.

[0449] Further, a leak pipe 264 is branched and connected in the middle of the first air supply pipe 260b, and this leak pipe 264 communicates with the atmosphere via a first solenoid valve VL1. ing. Further, a second air supply line 265 is connected in the middle of the first air supply line 260b.
A second solenoid valve VL2 is provided in the air supply pipe line 265 of FIG. A second air supply line 266 is connected to the second electromagnetic valve VL2, and a third electromagnetic valve VL3 is provided in the second air supply / water supply line 266. Also, the second
In the middle of the air supply line 266, the first water supply line 26
An air supply / water supply shared pipeline 266 branched from the middle of 2 is connected.

A third air supply line 268 is connected to the third solenoid valve VL3, and an air supply line A that is inserted through the endoscope and opened at the distal end through a connector (3). It is connected.

On the other hand, a first suction pipe 269 is connected to the suction pump 987, and the first suction pipe 269 communicates with the internal space of the suction bottle 988. And
The suction bin 988 has an internal space connected to a second suction line 989, and the second suction line 989 is provided with a seventh solenoid valve VL7, and the seventh solenoid valve VL7 is provided.
Is connected to a third suction pipe line 270. The third suction pipe 270 is connected to the suction pipe S that is inserted through the endoscope and is open at the distal end through the connector (4). In the middle of the second suction pipe 989 , a leak pipe 271 communicating with the atmosphere is branched and connected through a sixth solenoid valve VL6.

Normally, the air supplied from the air supply pump 982 is released to the atmosphere via the solenoid valve VL1. In the case of air supply, the switch SW-A (air supply) shown in FIG. 89 provided in the operation unit 945 of the endoscope 941 is turned on, the I / O port 984 in the electromagnetic valve device 983, the CPU,
The data is read by the CPU 986 through the bus 985. CP
According to the instruction of U986, the solenoid valves VL1 and VL5 are closed and the solenoid valves VL2 and VL3 are opened. Then, the air supplied from the air supply pump 982 is supplied to the solenoid valves VL2, VL2,
It is sent to the air supply line A through VL3.

In case of water supply, switch SW-W (water supply)
Is turned on, the state is changed to the CPU 9 as described above.
86 . Under instructions from the CPU 986, the solenoid valves VL1, VL2, VL3 are closed, and the solenoid valves VL4, VL4,
Open VL5. Then, the air supplied from the air supply pump 982 is sent to the water supply tank 996 and the water supply tank
The water in the ink 996 is sent to the water supply conduit W in the endoscope 941 at that pressure.

In some cases, it may be desired to supply water into the air supply pipe A or air into the water supply pipe W to clean the pipe in the endoscope 941. In this case, the solenoid valve may be switched to the above-described state by the way of pressing a cleaning switch (not shown) or the switches SW-A, SW-W, and SW-S in FIG.

When water is supplied to the air supply line A, V
By closing L1, VL2, VL5 and opening the solenoid valves VL3, VL4, the water in the water tank 996 , which is pushed out by the air supplied from the air pump 982, is sent to the air line A.

Further, when air is supplied to the water supply pipe W, it can be realized by closing the solenoid valves VL1, VL3, VL4 and opening the solenoid valves VL2, VL5.

Alternatively, air and water can be supplied from the water supply pipe W. This can be realized by closing the solenoid valves VL1, VL3 and opening the solenoid valves VL2, VL4, VL5. Close the solenoid valves VL1 and VL5, and close the solenoid valves VL2 and VL2.
If VL3 and VL4 are opened, air supply / water supply can be performed from the air supply line S.

The suction line S, which is always under negative pressure by the suction pump 987 (or a suction line provided on the wall of the room where the device is installed), is in communication with the atmosphere through the solenoid valve VL6 in the non-suction state. . When the CPU 986 detects that the switch SW-S (suction) has been turned on, the solenoid valve VL6 is closed, the solenoid valve VL7 is opened, suction is performed through the suction pipe S, and the suction object is sucked by the suction bolt 988.
Is sucked.

[0459] The endoscope 941 and the electromagnetic valve device 983 are connected by the conduit connectors (1) to (4).
A, SW-W and SW-S signals are transmitted to the solenoid valve control device 98.
3, a solenoid valve type air supply, water supply, and suction control device that effectively utilizes the air supply pump 982 in the control device 942 (or a light source device) can be obtained.

An electronic endoscope has a built-in CCD as a solid-state image pickup device at the tip of the insertion end.
A signal line for driving a CD or the like and transferring a signal is inserted. Therefore, the switches SW-A, SW-W, SW
The -S signal may be superimposed on those signals and provided to the control device 942.

In this embodiment, a CPU and the like are also mounted in the electromagnetic valve device 983. However, the CPU in the light source device is provided by using the function expansion connector of the present invention provided in the light source device. The control of the solenoid valve may also be performed.

[0462]

According to the electric bending type endoscope of the present invention,
This has the effect of eliminating the operator's complexity in the bending operation and improving the operability of the bending operation.

[Brief description of the drawings]

FIG. 1 is a block diagram including a main part of an electric bending type endoscope apparatus according to a first embodiment.

FIG. 2 is an overall configuration diagram of the electric bending endoscope apparatus according to the first embodiment.

FIG. 3 is a cross-sectional view illustrating an optical system at a distal end portion of the endoscope according to the first embodiment.

FIG. 4 is an overall configuration diagram of an electric bending type endoscope apparatus according to a second embodiment.

FIG. 5 is a configuration diagram showing a part of a bending mechanism according to a second embodiment.

FIG. 6 is an endoscope sectional view showing the entire bending mechanism according to a second embodiment.

FIG. 7 is an electrical block diagram related to bending control according to a second embodiment.

FIG. 8 is an overall configuration diagram of an electric bending type endoscope apparatus according to a third embodiment.

FIG. 9 is a sectional view of an endoscope insertion section according to a third embodiment.

FIG. 10 is a block diagram including a main part of an electric bending type endoscope apparatus according to a third embodiment.

FIG. 11 is a configuration diagram of a driven gear provided with magnets according to a third embodiment.

FIG. 12 is a flowchart illustrating an initial operation in bending control according to the third embodiment.

FIG. 13 is a flowchart illustrating a bending direction recognition and an instruction thereof in the bending control according to the third embodiment.

FIG. 14 is a flowchart of bending control for obtaining a predetermined bending angle according to the third embodiment.

FIG. 15 is a flowchart of a bending control related to a dangerous state process according to the third embodiment.

FIG. 16 is an external view showing a distal end portion of an endoscope according to a fourth embodiment.

FIG. 17 is a block diagram including a main part of the electric bending endoscope apparatus.

FIG. 18 is a control flowchart of a bending operation and a bending speed.

FIG. 19 is a flowchart of a setting operation of a speed setting flag.

FIG. 20 is a flowchart of a bending speed switching operation.

FIG. 21 is a flowchart for emergency stop of a bending portion.

FIG. 22 is an overall configuration diagram of an electric bending type endoscope apparatus showing a cross section of an endoscope operation unit according to a fifth embodiment.

FIG. 23 is a side view showing a part of a bending mechanism according to a fifth embodiment.

FIG. 24 is a block diagram of a motor control device according to a fifth embodiment.

FIG. 25 is a configuration diagram including a main part according to a modification of the fifth embodiment;

FIG. 26 is a schematic overall configuration diagram of an electric bending endoscope apparatus according to a sixth embodiment.

FIG. 27 is a configuration diagram showing a part of a bending mechanism according to a sixth embodiment.

FIG. 28 is an electrical block diagram of a motor control device according to a sixth embodiment.

FIG. 29 is a block diagram of a motor control device according to a first modification of the sixth embodiment.

FIG. 30 is a schematic overall configuration diagram of an electric bending endoscope apparatus according to a second modification of the sixth embodiment.

FIG. 31 is a configuration diagram showing a part of a bending mechanism according to a second modification of the sixth embodiment.

FIG. 32 is an electrical block diagram of a motor control device according to a second modification of the sixth embodiment.

FIG. 33 is a configuration diagram showing a part of a bending mechanism according to a seventh embodiment.

FIG. 34 is a block diagram of a motor control device.

FIG. 35 is an overall configuration diagram of an electric bending endoscope apparatus according to an eighth embodiment.

FIG. 36 is a configuration diagram showing a part of a bending mechanism according to an eighth embodiment.

FIG. 37 is a perspective view of an endoscope showing an ultrasonic drive system according to an eighth embodiment.

FIG. 38 is an electrical block diagram of a motor control device according to an eighth embodiment.

FIG. 39 is an overall configuration diagram of an electric bending endoscope apparatus according to a ninth embodiment.

FIG. 40 is a block diagram including a main part of an electric bending type endoscope apparatus according to a ninth embodiment;

FIG. 41 is a flowchart showing a setting operation of a speed setting flag according to the ninth embodiment;

FIG. 42 is a flowchart illustrating a bending speed switching operation according to a ninth embodiment;

FIG. 43 is a flowchart showing deceleration control of a bending speed according to a ninth embodiment.

FIG. 44 is a configuration diagram including a main part of an electric bending type endoscope apparatus according to a tenth embodiment.

FIG. 45 is a configuration diagram of a distal end portion of an endoscope according to a tenth embodiment.

FIG. 46 is a flowchart relating to bending speed control according to the tenth embodiment.

FIG. 47 is an explanatory diagram of an image area for obtaining image correlation according to the eleventh embodiment.

FIG. 48 is a flowchart relating to control of a bending speed according to an eleventh embodiment.

FIG. 49 is a configuration diagram including a main part of an electric bending type endoscope apparatus according to an eleventh embodiment.

FIG. 50 is a configuration diagram showing a bending mechanism and a bending / insertion drive unit of an endoscope according to a twelfth embodiment;

FIG. 51 is a block diagram showing a configuration of an automatic endoscope insertion device according to a twelfth embodiment.

FIG. 52 is an overall configuration diagram of an endoscope apparatus according to a twelfth embodiment;

FIG. 53 is a circuit diagram showing a binarization circuit and a threshold level setting unit according to a twelfth embodiment;

FIG. 54 is an explanatory diagram of the operation of the dark part extraction unit according to the twelfth embodiment.

FIG. 55 is an explanatory view showing a plurality of regions extracted by a dark part extraction unit according to the twelfth embodiment;

FIG. 56 is an explanatory diagram showing an endoscope image according to the twelfth embodiment when the tip of the endoscope is too close to the subject;

FIG. 57 is an explanatory diagram showing an example of a comparison pattern of the pattern comparison unit according to the twelfth embodiment;

FIG. 58 is an explanatory diagram of the operation of the boundary extracting unit according to the twelfth embodiment;

FIG. 59 is an explanatory diagram of the operation of the center extraction calculation unit according to the twelfth embodiment.

FIG. 60 is an explanatory diagram for explaining the operation of this embodiment when the lumen according to the twelfth embodiment is straight;

FIG. 61 is an explanatory diagram showing an operation when the lumen according to the twelfth embodiment is curved.

FIG. 62 is a view showing a function related to bending control according to the twelfth embodiment;

FIG. 63 is a flowchart related to control of a bending speed according to a thirteenth embodiment.

FIG. 64 is a configuration diagram showing a bending drive system and the like of an electric bending type endoscope apparatus according to a thirteenth embodiment.

FIG. 65 is an electrical block diagram relating to bending control of the electric bending endoscope apparatus according to the thirteenth embodiment.

FIG. 66 is an overall configuration diagram of an electric bending endoscope apparatus according to a modification of the thirteenth embodiment.

FIG. 67 is an electrical block diagram relating to a bending control system of the device shown in FIG. 66.

FIG. 68 is an overall schematic configuration diagram of an electric bending endoscope apparatus according to a fourteenth embodiment.

FIG. 69 is a flowchart relating to the control of the bending speed according to the fourteenth embodiment.

FIG. 70 is a histogram of pixel density according to the fourteenth embodiment.

FIG. 71 is a configuration diagram showing a part of a bending mechanism of an endoscope according to a fifteenth embodiment;

FIG. 72 is a schematic configuration diagram showing an electric circuit of a bending mechanism and a control system according to a modification of the fifteenth embodiment;

FIG. 73 is a circuit diagram relating to drive control of a bending section according to a sixteenth embodiment.

FIG. 74 is a truth table of the circuit shown in FIG. 73;

FIG. 75 is a circuit diagram relating to drive control of a bending portion according to a seventeenth embodiment.

FIG. 76 is a truth table of the circuit shown in FIG. 75 according to the seventeenth embodiment.

FIG. 77 is an electric block diagram of a bending control relationship of the electric bending endoscope apparatus according to the eighteenth embodiment.

FIG. 78 is a flowchart of bending control according to an eighteenth embodiment.

FIG. 79 is a block diagram including a main part of an electric bending endoscope apparatus according to a nineteenth embodiment;

FIG. 80 is a conceptual view of an electric bending endoscope apparatus according to a nineteenth embodiment.

FIG. 81 is an overall schematic configuration diagram of an electric bending inner device.

FIG. 82 (a) is a specific configuration diagram as an example for detecting a bending angle rotation; FIG. 82 (b) is a configuration diagram of a slit plate of the encoder.

FIG. 83 is a configuration diagram showing another example for detecting a bending angle;

FIG. 84 is a specific configuration diagram of a drive circuit.

FIG. 85 is a truth table of the circuit shown in FIG. 84;

FIG. 86 is a flowchart relating to bending speed switching control.

FIG. 87 is a flowchart according to another example of the bending speed switching control.

FIG. 88 is a configuration diagram of pipes and the like relating to air supply, water supply, and suction.

FIG. 89 is a configuration diagram relating to control of air supply, water supply, and suction.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Electric bending endoscope apparatus 2 ... Electronic electric bending endoscope 3 ... Light source device 4 ... Video processor 5 ... Monitor 6 ... Bending motor control device 7 ... Operation part 8 ... Insertion part 10 ... Bending part 19: Bending switch unit 27, 28 ... Bending operation wire 29, 31 ... Pulley 32, 33 ... Motor 34, 35 ... Encoder 40, 50 ... Bending angle detection circuit 48 ... Control circuit 52, 54 ... Driver 57, 58 ... Current detection Circuit 60: Memory circuit

Continued on the front page (72) Inventor Motoichi Nakamura 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus Optical Industry Co., Ltd. (72) Inventor Yoshikatsu Nagayama 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus In Optical Industry Co., Ltd. (72) Inventor Akira Suzuki 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus Optical Industry Co., Ltd. (72) Inventor Katsuaki Morita 2-43-2 Hatagaya, Shibuya-ku, Tokyo O-limpus (56) References JP-A-3-198828 (JP, A) JP-A-3-37035 (JP, A) JP-A-2-19908 (JP, A) (58) Fields investigated ( Int.Cl. ⁷ , DB name) A61B 1/00-1/32 G02B 23/24

Claims (1)

(57) [Claims] The method according to claim 1 Curved portion provided in the insertion portion insertable endoscope in the subject, a bending mechanism for bending, it is possible to drive the bending mechanism by changing the driving speed
A driving means, a bending amount instructing means for giving an instruction for bending the bending portion to the driving means, and a driving state in which the driving means drives the bending portion.
Detecting means, and a driving state of the driving means with respect to a bending state of the bending portion.
A predetermined value predetermined as a value indicating
The detected drive state is compared with a value indicating the drive state, and the bending amount is calculated.
A bay of the bending operation performed by the driving unit according to an instruction from the instruction unit.
And a bending speed control means for controlling a bending speed based on the comparison result .