JP3294368B2 - Endoscope - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope provided with a bending device for performing a bending operation on a bendable bending portion provided in an elongated insertion portion.

[0002]

2. Description of the Related Art Conventionally, an endoscope apparatus capable of observing a test site and performing various treatments by inserting an elongated insertion portion into a body cavity or the like has been widely used.

Generally, in an endoscope having a flexible insertion portion, a bending portion is provided in the insertion portion, and a bending means for bending the bending portion by moving a traction member such as a bending wire inserted into the bending portion forward and backward is provided. I have. By bending the bending portion to a target angle by such bending means, observation can be performed with the distal end of the insertion portion directed in a target direction, and insertion into a test site can be easily performed.

Recently, an electric motor is provided in an endoscope operating section, and a bending device is provided which uses the power of the electric motor to pull a traction member for bending operation and remotely performs bending operation on the bending section. Endoscopes have been proposed. According to such an electric bending device, the operability is remarkably improved as compared with a conventionally used manual bending device.

[0005] In addition, since the drive source of such an electric bending device requires a high torque to bend the bending portion, for example, in Japanese Patent No. 2504663, a gear having a large reduction ratio is provided to the motor. Endoscopes having combined bending devices have been devised.

However, in an endoscope having a bending device combining these gears, the insertion portion is inserted into a human body or the like,
Even when the bending portion presses the inside of the body cavity at the time of removal, the transmission of power from the motor to the bending portion is released because the power transmission mechanism by the gear having a large reduction ratio is adopted, and a weak external force is applied. Therefore, the curved portion is not bent, that is, does not become a free state, and there is a fear that the inside of the body cavity may be damaged.

[0007] Japanese Patent Application Laid-Open No. 53-39685 discloses a power transmission mechanism for transmitting power from a motor, in which a clutch mechanism is incorporated to realize the free state.

In the endoscope disclosed in JP-A-53-39685, one of two axially connected gears of a transmission gear train, which constitute a power transmission mechanism, is mechanically driven by an axle. The endoscope bending section is moved in the direction to release the connection of the gears, and the endoscope bending portion is set in the free state.

However, in the endoscope having such a clutch mechanism, the gears constituting the transmission gear train are moved and meshed with each other by moving in the axial direction.
When the gears are meshed again after the separation, the teeth of the gears may not mesh smoothly, causing a problem that a locked state in which power from the motor can be transmitted cannot be reliably achieved.

In order to solve such a problem, Japanese Patent Application Laid-Open No. 4-256724 discloses an endoscope having a clutch means for meshing and disengaging a meshing gear in a direction substantially normal to a pitch circle with respect to a meshing point. A mirror has been proposed.

[0011]

However, in the endoscope disclosed in Japanese Patent Application Laid-Open No. 4-256724, when the gears are separated from each other by the clutch means and meshed again, the crests of the gears collide with each other. In some cases, the meshing does not work well, and the transition between the free state and the locked state cannot be performed smoothly.

The present invention has been made in view of these circumstances, and an endoscope provided with a bending device having a clutch means for intermittently transmitting power from a bending driving means is provided.
It is an object of the present invention to provide an endoscope capable of reliably performing transition between a free state and a locked state of an insertion portion and improving operability.

[0013]

An endoscope according to the present invention comprises:
A pulling operation means for bending the bending portion provided on the insertion portion with a pulling member, a bending driving means for outputting a driving force for driving the pulling operation means, and a driving force from the bending driving means for the towing operation means. Driving force transmitting means having a plurality of gears to transmit to, of the plurality of gears of the driving force transmitting means,
At least a pair of meshing gears, with respect to the meshing point,
Clutch means for meshing and separating in a direction substantially normal to the pitch circle of the gear, clutch detecting means for detecting movement of the clutch means, and controlling the bending drive means based on a detection result of the clutch detecting means; Clutch control means for rotating the gears engaged and separated by the driving force transmission means in the forward and reverse directions.

[0014]

The gears provided in the driving force transmitting means are engaged and separated by the clutch means, and the driving force from the bending driving means is transmitted and released. At the time of the engagement and separation, the movement of the clutch means is detected by the clutch detection means, and the bending control means is controlled by the clutch control means based on the detection result of the clutch detection means. , And rotate the separated gear forward and reverse.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. FIGS. 1 to 9 relate to a first embodiment of the present invention. FIG. 1 is a sectional view showing a configuration of a bending drive unit provided in an endoscope operation unit, and FIG. 2 shows an overall configuration of an endoscope apparatus. Explanatory diagram,
FIG. 3 to FIG. 5 are arrows viewed from the direction A in FIG.
FIG. 3 is a view showing a state when the drive gear and the driven gear are not connected, FIG. 4 is a view showing a state when the drive gear and the driven gear are not connected and the detection switch is ON, and FIG. FIG. 6 is a diagram showing a state when a drive gear and a driven gear are connected, FIG. 6 is a block diagram showing a configuration of a drive control unit including a detection switch, and FIG. 7 is a time chart showing each output in the drive control unit in FIG. FIG. 8 is a cross-sectional view showing a configuration of a freeze switch and a release switch of the endoscope operation section, and FIG. 9 is a cross-sectional explanatory view showing a signal cable inserted through the endoscope.

This embodiment shows an example in which the bending device is applied to an electronic endoscope device.

As shown in FIG. 2, the electronic endoscope apparatus 1 comprises:
An electronic endoscope 2 having a solid-state imaging device such as a CCD therein, a light source device 3 for supplying illumination light to the electronic endoscope 2, and an image signal from the solid-state imaging device which drives the solid-state imaging device. Control device 4 for converting the video signal into a video signal, and a monitor 5 for displaying the video signal output from the video control device 4
And a bending motor control device 6 for controlling the bending of the bending portion 10 of the electronic endoscope 2 to be described later.

The electronic endoscope 2 includes an 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 insertable into a subject.

The insertion portion 8 has a flexible portion 9, a bending portion 10, and a distal end portion 11 connected in this order from the operation portion 7 toward the distal end.

The bending portion 10 is formed by connecting a plurality of bending pieces, and is configured to be able to bend vertically and horizontally.

Further, an objective optical system including a solid-state image pickup device, an illumination optical system, and the like are provided in the distal end constituting portion 11.

A signal cable (not shown) inserted through the insertion portion 8 is electrically connected to the solid-state imaging device, and extends to a video control device connector 16 described later.

As an illumination optical system, a light guide fiber bundle is provided in the insertion portion 8 and extends to a light guide connector 14 described later.

A universal cord 12 is connected to the side of the operation unit 7 and branches into two branches in the middle. A motor control device connector 1 detachably connected to the bending motor control device 6 is provided at an end of the universal cord 12.
3 and a light guide connector 14 that is detachably connected to the light source device 3.

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

The operation unit 7 is provided with an air / water supply button 17 for cleaning the observation window and a suction button 18 for sucking a body fluid or the like.

By operating the air / water button 17, air or water is supplied, and by operating the suction button 18, a suction channel (a channel for inserting a treatment tool) disposed in the electronic endoscope 2 is operated. )).

The operation unit 7 is provided with a freeze switch 19 for stopping the observation image and a release switch 20 for photographing the stopped observation image.

The freeze switch 19 freezes (freezes) the observation image from the distal end of the insertion section 8 and activates a freeze function for obtaining a still image. Also,
The release switch 20 obtains a still image in the freeze state, and instructs a camera photographing device (not shown) to photograph the still image.

Further, the operating section 7 has a cross-shaped bending operation switch 21 for bending the bending section 10 and a free / lock switch for switching the bending section 10 between a free state and a locked state.
A lock knob (hereinafter, referred to as F / L knob) 22 is provided, and is connected to control means provided in the bending motor control device 6 or the like.

FIG. 1 shows the configuration of the bending drive unit provided in the operation unit 7. 3 to 5 are views as viewed from the direction of arrow A in FIG.

A board A23 and a board B24, which are bases of the bending drive section, are provided substantially in parallel in the operation section 7, and are fixed in the operation section 7 by fixing means such as a spacer (not shown).

On the board A23, there is provided a motor fixing plate 26 connected to the board A23 via a compression spring 25 and supported so as to be movable only in the horizontal direction in the figure.

On the motor fixing plate 26, a UD drive motor 27 composed of a DC motor as a bending drive means for driving the bending portion 10 to bend in the vertical direction (also referred to as the UD direction);
As shown in FIG. 3, there is provided an RL drive motor 28 for bending and driving the bending portion 10 provided in parallel with the UD drive motor 27 in the left-right direction (also referred to as the RL direction). These drive motors 27 and 28 have a gear train with a large reduction ratio inside so as to generate high torque, and are provided in the bending motor control device 6 and the like upon receiving an input from the bending operation switch 21. It operates based on the instruction of the control means.

FIG. 1 shows only the vertical drive section for simplicity.
Only 7 is shown.

A drive gear 30 is fixed to a drive shaft 29 of the UD drive motor 27, and a driven gear 31 is provided on the same plane. Note that in FIG.
0 and the driven gear 31 are in mesh with each other.

The driven gear 31 is rotatable about a driven shaft 32, and a sprocket 33 is further fixed to the driven shaft 32. The driven gear 31 and the sprocket 33
Are connected by a driven shaft 32. Sprocket 3
A chain 34 is wound around 3, and a bending operation wire 36 as a pulling operation means is connected to an end of the chain 34 via a connecting member 35.

The bending operation wire 36 is inserted through the inside of the flexible portion 9 and the bending portion 10, and the distal end is connected to a bending piece (not shown) at the distal end of the bending portion 10.

The bending drive unit thus configured is connected to the bending motor control device 6. By operating the bending operation switch 21, the UD drive motor 27 is driven and the bending operation wire 36 is pulled. The bending section 10 is operated to bend up and down by operation.

Although only the vertical drive unit has been described here, the horizontal drive unit is similarly configured.

The F / F shown in FIG.
An L knob 22 is provided, and the F / L knob 22
An F / L cam 38 is connected via a / L knob shaft 37. A detection switch 39 is fixed on the board A23 near the F / L cam 38 as clutch detection means for detecting an operation state of the F / L knob 22 described later. The detection switch 39 is constituted by, for example, a limit switch that is turned on and off by a predetermined operation amount. That is, a driving force transmitting means is constituted by the driving gear 30, the driven gear 31, the sprocket 33, the chain 34, and the like.
A clutch means is constituted by the drive gear 30 and the driven gear 31 which are engaged and separated by the displacement of the cam 38, the motor fixing plate 26, and the like.

Next, referring to FIGS. 3 to 5, F / L
The operation of the above-described bending drive unit accompanying the operation of the knob 22 will be described. 3 shows a state when the drive gear 30 and the driven gear 31 are not connected, and FIG. 4 shows a state when the drive gear 30 and the driven gear 31 are not connected and the detection switch 39 is ON. Shows a state when the drive gear 30 and the driven gear 31 are connected.

FIG. 3 shows a state in which the F / L knob 22 is rotated from the L (lock) side to the F (free) side (ie, rotated clockwise by 90 °).

That is, in the state of FIG. 3, the motor fixing plate 26 is displaced rightward in the figure by the F / L cam 38, and the compression spring 25 is compressed.

Here, the driving gear 30 is connected to the motor fixing plate 2.
6 is displaced to the right similarly to the motor fixing plate 26 because it is fixed to the drive shafts of the drive motors 27 and 28 fixed to 6. Therefore, when the driving gear 30 is separated from the driven gear 31, both are in a non-coupled state.

The actuator 40 of the detection switch 39 is not pressed by the F / L cam 38, and the detection switch 39 is in the OFF state.

Next, a state in which the F / L knob 22 is being rotated from the F side to the L side from the state of FIG. 3 is shown in FIG.
become that way.

That is, in the state of FIG.
8, the motor fixing plate 26 is displaced by the restoring force of the compression spring 25 until it comes into contact with the F / L cam 38 in the left direction in the figure.

Here, since the actuator section 40 of the detection switch 39 is pressed by the F / L cam 38, the detection switch 39 is turned on, but the drive gear 30 and the driven gear 31 are not engaged yet. It is connected.

When the F / L knob 22 is completely turned to the L side from the state shown in FIG. 4, the state shown in FIG. 5 is obtained.

At this time, the detection switch 39 remains ON as in the case of FIG. 4, the drive gear 30 is further displaced leftward in the figure, and the drive gear 30 approaches the driven gear 31 so that the two mesh with each other. It is in a connected state.

As described above, the drive gear 30 and the driven gear 31 are connected and separated according to the operation state of the F / L knob 22.

FIG. 6 shows the configuration of the drive control section including the detection switch 39. This drive control section constitutes clutch control means. For simplicity, only the control of the UD drive motor 27 will be described here.

The detection switch 39 has one contact connected to the resistor 4
1 is connected to a power source (not shown) of + V (for example, +5 V), which is pulled up by the resistor 41 and the power source, and the other contact is grounded.

The bending motor control device 6 includes a motor control unit 42 for controlling a drive motor, and a UD drive motor 27.
And a motor driver 43 that supplies drive power to the motor. The motor control unit 42 and the motor driver 43 can be provided in the operation unit 7 of the endoscope 2.

The motor control unit 42 includes a detection switch 39
Is connected, and an ON / OFF signal of the detection switch 39 is input. Here, the detection switch 39 outputs a low-level (“L”) ON signal when the switch is ON and a high-level (“H”) OFF signal when the switch is OFF.

The motor control unit 42 sends an instruction to the motor driver 43 based on the signal from the detection switch 39,
Driver output A, which is driving power from motor driver 43
44 and a driver output B45.

Driver output A from motor driver 43
44 and a driver output B45 are supplied to an input terminal A46 and an input terminal B47 of the UD drive motor 27, respectively. Here, when the UD drive motor 27 receives the signal of “H” at the input terminal A46 and the signal of “L” at the input terminal B47, the UD drive motor 27 rotates forward so as to bend the bending portion 10 upward (U direction). A4
6 receives an “L” signal and an input terminal B47 receives an “H” signal.
It is configured to rotate in the reverse direction so as to bend the bending portion 10 in the downward direction (D direction).

When receiving the ON signal from the detection switch 39, that is, the "L" signal, the motor control unit 42 sends an instruction to the motor driver 43 to control the motor driver 43 to output a driver output as shown in FIG.

That is, the “L” signal from the detection switch 39 causes the motor driver 43 to output the driver output A
HLHLHLHLHL and 10 at time t intervals as 44
The output that changes over time of t and remains L thereafter changes to LHLHLHLHLH as the driver output B45,
Thereafter, an output that remains at L is generated.

By the driver output A44 and the driver output B45, the UD drive motor 27 repeats the forward / reverse rotation such as forward / reverse forward / reverse forward / reverse forward / reverse only for 10t.

Therefore, the F / L knob 22 shown in FIG.
When the rotation is made from the (free) side to the L (lock) side, the detection switch 39 is turned on in the middle, that is, in the state of FIG.
The UD drive motor 27 is configured to repeat forward and reverse rotations for a time of 10t.

The operation of the RL drive motor 28 is the same as that of the UD drive motor 27, and the description is omitted.

FIG. 8 shows the configurations of the freeze switch 19 and the release switch 20 provided in the endoscope operation section 7.

The switch unit 48 constituting the freeze switch 19 or the release switch 20 is fixed to the operation unit 7 by fixing means such as a spacer (not shown), and the outside is operated by a watertight rubber 49 adhered and fixed to the operation unit 7. It is kept watertight to the outside of the part 7.

The switch unit 48 includes the top cover 5
0 and a bottom cover 51, and inside the unit, a dish-shaped diaphragm 52 connected to a signal transmission wire (not shown) and come into contact when the diaphragm 52 is deformed and the center portion is displaced downward. A contact 53 is provided.

The side end of the diaphragm 52 is fixed by a ring 54, and the center of the diaphragm 52 is deformed by being pressed to be displaceable in the vertical direction.
4 is fixed to the bottom cover 51. Also, contact 5
3 is also fixed on the bottom cover 51.

A stem 56 as an operating member having a flange portion 55 at the upper portion of the diaphragm 52, a projection at the upper portion, and a hemispherical portion 57 at the lower portion is provided so as to press the diaphragm 52. I have. The stem 56 prevents the flange portion 55 from coming off in the upward direction in the drawing by abutting the flange portion 55 on the upper surface portion inside the top cover 50. On the other hand, when the stem 56 is pressed and displaced downward, the flange 55 comes into contact with the upper end surface of the ring 54.

Here, when the stem 56 is pushed downward in the figure via the watertight rubber 49, the hemispherical portion 57 also descends and pushes the diaphragm 52. Along with this, the central portion of the diaphragm 52 is displaced downward and deformed, so that the diaphragm 52 and the contact 53 come into contact, and the switch is turned on.

At this time, the flange 55 of the stem 56
Is in contact with the upper end surface of the ring 54 and cannot be pressed further downward from the switch ON state, so that excessive deformation of the diaphragm 52 can be prevented, and the durability of the switch can be improved. It becomes possible.

FIG. 9 shows a state in which a signal cable for transmitting a signal to and from the image pickup device in the electronic endoscope 2 is inserted.

Inside the distal end of the insertion section 8 of the electronic endoscope 2, a CCD 5 as a solid-state image pickup device is provided at the rear of the objective optical system.
8 are provided and fixed by fixing means (not shown). A signal cable 59 is connected to the CCD 58.
It extends backward from CD58.

The signal cable 59 is inserted through the insertion section 8, forms a loop 60 in the operation section 7, and then is inserted through the universal cord 12, and its end is fixed in the light guide connector 14 by a fixing means (not shown). It is fixed and is connected to the video control cord 15 shown in FIG.

The signal cable 59 disposed inside the endoscope is fixed at both ends, and receives a pulling force when the insertion portion 8 or the universal cord 12 is bent or twisted when the endoscope is used. However, the pulling force is absorbed by a loop 60 formed in the operation section 7. That is, since the loop 60 becomes smaller, the pulling force due to the bending of the insertion portion 8 and the universal cord 12 is absorbed, and the pulling force can be prevented from being applied to the signal cable 59 itself, thereby preventing a trouble such as disconnection. can do.

Next, the operation of the present embodiment will be described.
When the F / L knob 22 shown in FIG. 2 is turned to the F (free) side in order to switch between the free state and the locked state of the insertion section bending section 10, the F / L knob in the operation section 7 as shown in FIG. The F / L cam 38 rotates in conjunction with the L knob 22, and the F / L cam 38 pushes the motor fixing plate 26 rightward in the drawing, whereby the drive gear 30 and the driven gear 31 are separated.

The drive gear 30 is connected to drive motors 27 and 28 having a large reduction ratio.
Is connected to a bending operation wire 36 reaching the distal end of the insertion portion 8.

When the bending operation switch 21 is operated in the state shown in FIG. 3, the driving motor rotates but the driving gear 30 and the driven gear 31 are separated from each other. Is not transmitted, the bending portion 10 does not bend.

When the bending portion 10 is pressed in this state, the driven gear 31 to which the bending operation wire 36 and the like are disconnected from the drive motor having a large reduction ratio. It rotates smoothly, and the bending part 10 also bends smoothly.

That is, the insertion section 8 is in a free state.

Next, from this free state, the F / L knob 2
2 starts to rotate to the L (lock) side, the F / L cam 38 rotates in the bending drive unit in the operation unit 7 on the way, and the motor fixing plate 26 is moved by the restoring force of the compression spring 25. It is displaced in the middle left direction, and becomes the state of FIG.

In the state shown in FIG. 4, as in the state shown in FIG. 3, the connection between the driving gear 30 and the driven gear 31 is broken, so that the insertion portion 8 remains in the free state.

However, when the F / L cam 38 rotates and the actuator section 40 of the detection switch 39 is pressed by the F / L cam 38, the detection switch 39 is turned on.

Here, when the detection switch 39 is turned on,
As shown in FIG. 7, the output of the detection switch 39 is that an “H” signal has been sent to the motor control unit 42 until then.
It changes to an “L” signal.

Upon receiving the "L" signal, the motor control section 42 causes the motor driver 43 to output a driver output A44 and a driver output B45 which repeat H and L in opposite phases, and causes the UD drive motor 27 to perform forward / reverse forward / reverse. ... and control to rotate. Therefore, the drive gear 30 connected to the UD drive motor 27 also rotates while turning in small increments, such as forward, reverse, forward and reverse.

When the F / L knob 22 is turned to the L side from the state shown in FIG.
Further, the F / L cam 38 rotates and the motor fixing plate 26 is displaced to the left in the figure, and while the drive gear 30 rotates forward and backward,
The state shown in FIG. 5 is obtained by being connected to the driven gear 31. For this reason,
The teeth of the drive gear 30 and the teeth of the driven gear 31 are reliably meshed with each other while sliding, so that the problem that the teeth of the drive gear 30 and the teeth of the driven gear 31 collide with each other and are not connected well does not occur.

The time 10t for performing the forward / reverse rotation when the driving gear 30 and the driven gear 31 mesh with each other may be set slightly longer than the operation time from the state of FIG. 4 to the state of FIG. .

The control of the forward / reverse rotation does not need to be five forward / reverse sets, as shown in FIG. 7, but may be one to four sets, or six or more sets.

The point is that the time during which the forward and reverse rotations stop immediately after the state shown in FIG. 5 (the state in which the driving gear 30 and the driven gear 31 are engaged) is set.

The detection switch 39 does not need to be a limit switch, and any ordinary on-off switch can be used.

As described above, according to this embodiment, when the bending portion of the insertion portion is switched from the free state to the locked state,
Since the gear train of the driving gear 30 and the driven gear 31 that are separated and meshed with each other can be reliably meshed, the transition between the free state and the locked state can be reliably performed, and the operability can be improved.

In this embodiment, the clutch detecting means for detecting the meshing state between the driving gear 30 and the driven gear 31 is constituted by only one detection switch 39, so that the device can be reduced in size and weight. It becomes possible.

FIGS. 10 to 14 relate to a second embodiment of the present invention, and FIG. 10 is an operation explanatory view showing a state in which a driving gear and a driven gear are disengaged in a bending drive unit provided in an operation unit. FIG. 11 shows that the drive gear and the driven gear are not connected to each other in the bending drive unit of FIG.
FIG. 12 is an operation explanatory view showing a state at the time of N, FIG. 12 is an operation explanatory view showing a state when a driving gear and a driven gear are connected in the bending drive unit of FIG. 10, and FIG. 13 is drive control including a detection switch. FIG. 14 is a block diagram showing the configuration of the unit, and FIG.
6 is a time chart showing each output in a drive control unit of No. 3;

In the second embodiment, in addition to the configuration of the first embodiment, a plurality of detection switches for detecting the meshing state of the drive gear 30 and the driven gear 31 are provided, and the configuration of the drive control unit is changed. .

Referring to FIG. 10 to FIG.
Configuration of a bending drive unit including a detection switch provided in the
The operation will be described. The other parts are configured in the same manner as in the first embodiment, and the same reference numerals are given to the same components as in the first embodiment, and description thereof will be omitted.

As shown in FIG. 10, the F / L of the bending drive section
A detection switch A61 and a detection switch B63 for detecting the operation state of the F / L knob 22 are provided on the substrate A23 near the cam 38, and are arranged so as to be able to abut on the motor fixing plate 26. These detection switches A61,
The detection switch B63 is arranged at a position slightly displaced in the direction of displacement of the motor fixing plate 26 (the left-right direction in the figure).

FIG. 10 is a diagram showing a state of the bending drive unit when the F / L knob 22 is rotated to the F side.
The motor fixing plate 26 is pressed by the cam 38 to be displaced rightward in the drawing, so that the drive gear 30 and the driven gear 31 are not connected.

In the state shown in FIG. 10, the detection switch A6
The first actuator section 62 and the actuator section 64 of the detection switch B63 are not pressed by the motor fixing plate 26, and the detection switch A61 and the detection switch B63 are not pressed.
Are in the OFF state.

Next, from the state shown in FIG.
FIG. 11 shows a state in which is rotated from the F side to the L side.

In the state shown in FIG. 11, the pressing force of the F / L cam 38 in the right direction in the figure is weakened, the motor fixing plate 26 is displaced left in the figure, and the drive gear 30 and the driven gear 31 move closer to each other. It is in an uncoupled state that has not yet engaged.

The detection switch A61 is turned on when the actuator section 62 is pressed by the motor fixing plate 26.
Then, the detection switch B63 is in the OFF state because the actuator section 64 has not yet been pressed by the motor fixing plate 26.
It remains in the F state.

Then, the F / L knob 22 is changed from the state shown in FIG.
Is completely rotated to the L side in FIG.

In the state shown in FIG. 12, the motor fixing plate 26 is further displaced leftward in the figure, and the drive gear 30 and the driven gear 31
And are in a connected state.

At this time, the detection switches A61 and B63 are both turned on when the actuator portions 62 and 64 are pushed by the motor fixing plate 26.

In other words, the detection switch A61 is
The detection switch B63 is turned off in the state shown in FIG. 11, turned on in the state shown in FIG. 11, and turned off in the state shown in FIG.
N, respectively.

FIG. 13 shows the configuration of the drive control section including the detection switches A61 and B63. For simplicity, only the control of the UD drive motor 27 will be described here.

Detection switch A61, detection switch B63
Means that one contact is + V via resistors 65 and 66, respectively.
(For example, + 5V), which is pulled up by the resistors 65 and 66 and the power supply.
The other contact is grounded.

A motor control section 67 is provided in the bending motor control device 6, and one of the pull-up contacts of the detection switch A61 and the detection switch B63 is connected, and the detection switches A61 and B63 are turned on.
/ OFF signal is input. here,
The detection switch A61 and the detection switch B63 output an "L" ON signal when the switch is ON and an "H" OFF signal when the switch is OFF.

The motor control section 67 has a detection switch A6
1, a circuit which sends an instruction to the motor driver 43 based on a signal from the detection switch B63 and operates so that the motor driver 43 outputs a driver output A44 and a driver output B45.

Here, upon receiving the ON signals from the detection switches A61 and B63, that is, the "L" signal, the motor control section 67 sends an instruction to the motor driver 43 to output a driver output as shown in FIG. Control to output.

That is, "L" from the detection switch A61
Based on the signal, the motor driver 43 generates an output that changes from HLHL to HL at a certain pulse interval as a driver output A44 and an output that changes from LHLH to LH as a driver output B45.

Then, the motor control section 67 responds to the "L" signal from the detection switch B63 by using the motor driver 43.
Is controlled so that both the driver output A44 and the driver output B45 are set to L.

By the driver output A44 and the driver output B45, the UD drive motor 27 causes the detection switch A
When the switch 61 is ON, the rotation is repeated in the forward and reverse directions.

In order to switch between the free state and the locked state of the insertion section bending section 10, the F / L knob 22 shown in FIG.
When turned to the (free) side, as shown in FIG.
The F / L cam 38 rotates in conjunction with the F / L knob 22, and the F / L cam 38 pushes the motor fixing plate 26 rightward in the drawing, so that the drive gear 30 and the driven gear 31 Are separated, and the insertion section 8 is in a free state.

In this free state, the F / L knob 22 is set to L
When the rotation is started to the (lock) side, the F / L cam 38 rotates in the middle, and the motor fixing plate 26 is displaced leftward in the figure, and the state shown in FIG. 11 is obtained.

In the state shown in FIG. 11, the connection between the driving gear 30 and the driven gear 31 is disconnected, but the detection switch A6
One actuator section 62 is pressed by the motor fixing plate 26, and the detection switch A61 is turned on. At this time, the detection switch B63 remains OFF.

Here, when the "L" signal is input from the detection switch A61, the motor control section 67 causes the motor driver 43 to output a driver output A44 and a driver output B45 which repeat H and L in opposite phases. , The UD drive motor 27 is rotated forward and reverse. Therefore, the drive gear 30 connected to the UD drive motor 27 also rotates while gradually reversing in the forward and reverse directions.

Then, the F / L knob 22 is changed from the state shown in FIG.
Is completely turned to the L side, the F / L cam 38 further rotates, the motor fixing plate 26 is displaced leftward in the drawing, and the drive gear 30 approaches the driven gear 31 while rotating forward and reverse, and The state is shown in FIG. At this time, the driving gear 30
And the teeth of the driven gear 31 are reliably engaged with each other while sliding.

When the state shown in FIG. 12 is reached, the actuator portion 64 of the detection switch B63 is
Is pressed, and the detection switch B63 is turned ON.

Here, when the "L" signal is input from the detection switch B63, the motor control section 67 outputs the driver output A44 and the driver output B44 from the motor driver 43.
45 are both L, whereby the UD drive motor 27 is stationary.

As described above, according to the present embodiment, similarly to the first embodiment, when the bending portion of the insertion portion is switched from the free state to the locked state, the driving gear 30 and the driven gear 31 that are separated and mesh with each other. And the gear train can be reliably engaged.

In this embodiment, since the drive gear 30 and the driven gear 31 come to a stop immediately after meshing with each other, when the drive gear 30 and the driven gear 31 are separated from each other and mesh with each other, the insertion portion 8 also almost moves. And safety at the time of operation can be improved.

FIGS. 15 to 19 relate to a third embodiment of the present invention. FIG. 15 shows a state in which a drive gear and a driven gear are not connected to each other and one detection switch is ON in a bending drive unit provided in an operation unit. FIG. 16 is an operation explanatory diagram showing a state, FIG. 16 is an operation explanatory diagram showing a state when the drive gear and the driven gear are not connected to each other, and both detection switches are OFF in the bending drive unit of FIG. 15, and FIG. FIG. 18 is an operation explanatory view showing a state in which a drive gear and a driven gear are connected in a curved drive unit of FIG. 18, FIG. 18 is a block diagram showing a configuration of a drive control unit including a detection switch, and FIG. 19 is a drive control unit of FIG. 6 is a time chart showing each output in FIG.

In the third embodiment, the arrangement of the two detection switches provided in the second embodiment is changed.

Referring to FIG. 15 to FIG.
Configuration of a bending drive unit including a detection switch provided in the
The operation will be described. Note that the arrangement is the same as that of the second embodiment except for the arrangement of the detection switches.

As shown in FIG. 15, the F / L of the bending drive section
A detection switch B6 is provided on the substrate A23 near the cam 38.
3 is provided at a position similar to that of the second embodiment, and a detection switch A61 is provided at a diagonal position with the detection switch B63 and the motor fixing plate 26 interposed therebetween. ing.

FIG. 15 is a diagram showing a state of the bending drive unit when the F / L knob 22 is rotated to the F side.
The motor fixing plate 26 is pressed by the cam 38 to be displaced rightward in the drawing, so that the drive gear 30 and the driven gear 31 are not connected.

In the state shown in FIG. 15, the detection switch A6
The first actuator 62 is pressed by the motor fixing plate 26 to turn on the detection switch A61, the actuator 64 of the detection switch B63 is not pressed by the motor fixing plate 26, and the detection switch B63 is turned off. It has become.

Next, the F / L knob 22 is changed from the state shown in FIG.
FIG. 16 shows a state in which is rotated from the F side to the L side.

In the state shown in FIG. 16, although the rightward pressing by the F / L cam 38 in the figure is weakened, the motor fixing plate 26 is displaced leftward in the figure, and the drive gear 30 and the driven gear 31 approach each other. It is in an uncoupled state that has not yet engaged.

Here, the detection switch A61 releases the pressing of the actuator portion 62 by the motor fixing plate 26, and
In the FF state, the detection switch B63 is also turned off because the actuator section 64 is not pressed by the motor fixing plate 26 yet.
It remains in a state.

Then, the F / L knob 22 is changed from the state shown in FIG.
Is completely rotated to the L side in FIG.

In the state shown in FIG. 17, the motor fixing plate 26 is further displaced leftward in the figure, and the driving gear 30 and the driven gear 31
And are in a connected state.

At this time, the detection switch A61 remains in the OFF state, but the detection switch B63 is turned ON by the actuator portion 64 being pressed by the motor fixing plate 26.

That is, the detection switch A 61 is
The detection switch B63 is turned on in the state shown in FIG. 16, turned off in the state shown in FIG. 16, and turned off in the state shown in FIG. Each is fixed in position.

FIG. 18 shows the configuration of a drive control section including a detection switch A61 and a detection switch B63. For simplicity, only the control of the UD drive motor 27 will be described here.

A motor control unit 68 is provided in the bending motor control device 6. The resistances 65 and 66 of the detection switch A61 and the detection switch B63 and one of the contacts pulled up by the power supply are connected to the motor control unit 68. It is connected. That is, from the detection switch A61 and the detection switch B63, an ON signal of "L" is output to the motor control unit 68 when the switch is ON, and an OFF signal of "H" is output to the motor control unit 68 when the switch is OFF. The configuration of other parts is the same as that of the second embodiment, and the description is omitted.

Here, the motor control unit 68 only receives the OFF signal from the detection switch A61 and the detection switch B63, that is, the "H" signal at the same time as in FIG.
An instruction is sent to the motor driver 43 to output a driver output as shown in FIG.

That is, only during the period when the outputs of the detection switches A61 and B63 are both "H" (the period when both the detection switches A61 and B63 are in the OFF state), the motor driver 43 outputs the driver output A
An output that changes as HLHL... HL at a certain pulse interval is generated as an output 44 and an output that changes as LHLH.

If the condition of the detection switch is not satisfied and the signal from the detection switch A61 or the detection switch B63 becomes the "L" signal, the motor control unit 68 outputs the driver output A44 and the driver output B45 from the motor driver 43. Are set to L.

By the driver output A44 and the driver output B45, the UD drive motor 27 allows the detection switch A
When both the detection switch 61 and the detection switch B63 are OFF, the normal and reverse rotations are repeated, and when either the detection switch A61 or the detection switch B63 is ON, the operation is stopped.

In order to switch between the free state and the locked state of the insertion section bending section 10, the F / L knob 22 shown in FIG.
Turning to the (free) side, the F / L cam 38 rotates in conjunction with the F / L knob 22 in the operation unit 7 as shown in FIG. Is pushed rightward in the figure, the drive gear 30 and the driven gear 31 are separated, and the insertion portion 8 is in a free state.

In the state of FIG. 15, the detection switch A6
Reference numeral 1 denotes an ON state in which the actuator unit 62 is pressed by the motor fixing plate 26, and the detection switch B63
Is in the OFF state.

From this free state, the F / L knob 22 is set to L
When the rotation starts to the (lock) side, the F / L cam 38 rotates in the middle, and the motor fixing plate 26 is displaced leftward in the drawing, and the state shown in FIG. 16 is obtained.

In the state shown in FIG. 16, the connection between the driving gear 30 and the driven gear 31 is broken, but the detection switch A6
1 is OFF because the pressing of the actuator section 62 by the motor fixing plate 26 is released. At this time, the detection switch B63 remains OFF.

Here, when the "H" signal is input from the detection switch A61 and the detection switch B63, the motor control unit 68 outputs the driver output A44 and the driver output B4 which repeat H and L in opposite phases from each other from the motor driver 43.
5 is output, and the UD drive motor 27 is rotated forward and reverse.
Therefore, the drive gear 3 connected to the UD drive motor 27
0 also rotates in small increments in the forward and reverse directions.

Then, the F / L knob 22 is changed from the state shown in FIG.
Is completely turned to the L side, the F / L cam 38 further rotates, the motor fixing plate 26 is displaced leftward in the drawing, and the drive gear 30 approaches the driven gear 31 while rotating forward and reverse, and The connection is made as shown in FIG. At this time, the driving gear 30
And the teeth of the driven gear 31 are reliably engaged with each other while sliding.

In the state shown in FIG. 17, the actuator portion 64 of the detection switch B63 is actuated by the motor fixing plate 26.
Is pressed, and the detection switch B63 is turned ON.

Here, when the “L” signal is input from the detection switch B 63, the motor control unit 68 outputs the driver output A 44 and the driver output B 44 from the motor driver 43.
45 are both L, whereby the UD drive motor 27 is stationary.

As described above, according to the present embodiment, as in the second embodiment, when the curved portion of the insertion portion is switched from the free state to the locked state, the gears that are separated and mesh with each other are surely engaged. In addition to this, it is possible to prevent the insertion portion from moving when the gears are separated and engaged.

[0150]

As described above, according to the present invention, in the endoscope provided with the bending device having the clutch means for intermittently transmitting the power from the bending driving means, the free state and the locked state of the insertion portion are provided. This can be performed reliably, and the operability can be improved.

[Brief description of the drawings]

FIG. 1 to FIG. 9 relate to a first embodiment of the present invention,
FIG. 1 is a cross-sectional view illustrating a configuration of a bending drive unit provided in an endoscope operation unit.

FIG. 2 is an explanatory diagram showing the entire configuration of the endoscope apparatus.

FIGS. 3 to 5 are views taken in the direction of arrow A in FIG. 1, and FIG. 3 is a view showing a state where a driving gear and a driven gear are not connected to each other.

FIG. 4 is a diagram showing a state where a drive gear and a driven gear are not connected and a detection switch is ON.

FIG. 5 is a diagram showing a state when a driving gear and a driven gear are connected.

FIG. 6 is a block diagram illustrating a configuration of a drive control unit including a detection switch.

FIG. 7 is a time chart showing each output in the drive control unit of FIG. 6;

FIG. 8 is a sectional view showing a configuration of a freeze switch and a release switch of the endoscope operation unit.

FIG. 9 is an explanatory sectional view showing a signal cable inserted through the endoscope.

FIGS. 10 to 14 relate to a second embodiment of the present invention, and FIG. 10 is an operation explanation showing a state in which a driving gear and a driven gear are disengaged in a bending drive unit provided in an operation unit. Figure

11 is an operation explanatory diagram showing a state in which a drive gear and a driven gear are not connected to each other and one detection switch is ON in the bending drive unit in FIG. 10;

FIG. 12 is an operation explanatory diagram showing a state when a drive gear and a driven gear are connected in the bending drive unit in FIG. 10;

FIG. 13 is a block diagram illustrating a configuration of a drive control unit including a detection switch.

14 is a time chart showing each output in the drive control unit of FIG.

15 to 19 relate to a third embodiment of the present invention, and FIG. 15 shows a case where a drive gear and a driven gear are not connected to each other and one detection switch is ON in a bending drive unit provided in an operation unit. Operation explanatory diagram showing the state of

FIG. 16 is an operation explanatory diagram showing a state in which a drive gear and a driven gear are not connected to each other and both detection switches are OFF in the bending drive unit in FIG. 15;

FIG. 17 is an operation explanatory diagram showing a state when a drive gear and a driven gear are connected in the bending drive unit in FIG. 15;

FIG. 18 is a block diagram illustrating a configuration of a drive control unit including a detection switch.

19 is a time chart showing each output in the drive control unit in FIG.

[Explanation of symbols]

 2 ... Electronic endoscope 6 ... Bending motor control device 7 ... Operation unit 8 ... Insertion unit 10 ... Bending unit 21 ... Bending operation switch 22 ... Free / lock knob (F / L knob) 26 ... Motor fixing plate 27,28 ... Drive motor 30 Drive gear 31 Driven gear 36 Bending operation wire 38 F / L cam 39 Detection switch 42 Motor control unit 43 Motor driver

Continuation of the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) A61B 1/00-1/32 G02B 23/24-23/26

Claims (1)

(57) [Claims] 1. A pulling operation means for bending a bending portion provided in an insertion portion by a pulling member, a bending driving means for outputting a driving force for driving the pulling operation means, and a driving force from the bending driving means. A driving force transmitting means having a plurality of gears for transmitting the driving force to the traction operating means, and among the plurality of gears of the driving force transmitting means, at least a pair of meshing gears are substantially equal to a gear pitch circle with respect to a meshing point. Clutch means for engaging and disengaging in the normal direction, clutch detecting means for detecting movement of the clutch means, controlling the bending drive means based on a detection result of the clutch detecting means, and meshing the driving force transmitting means An endoscope comprising: clutch control means for rotating the separated gear in forward and reverse directions.