JP3396079B2 - Observation device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION The present invention detects the direction of gravity of an insertion portion.
The present invention relates to an improvement of an observable observation device. [0002] 2. Description of the Related Art In recent years, an elongated insertion portion is inserted into a body cavity.
By observing the internal organs of the body cavity, etc.
Various treatments are performed using the treatment tool inserted into the device channel.
Endoscopes that can be placed are widely used. In addition, industrial
In the field, boilers, turbines, chemical plants, etc.
Industrial interior where the inside can be observed and inspected
Endoscopes are widely used. Generally, in an endoscope, a distal end portion of an insertion portion is used.
Because the orientation of the image is not specified,
It does not always coincide with the direction of gravity of the observation field image. To cope with this, for example, Japanese Patent Laid-Open No. Sho 62
No. 63910 discloses that the observation optical system at the distal end is
While moving, freely move on a plane perpendicular to the axial direction of the insertion section.
A movable small ball is provided, and gravity depends on the position of the shadow of the small ball.
Endoscopes that detect the direction have been proposed. Further, Japanese Patent Application Laid-Open No. 3-114428 discloses
In addition, it is formed in a cylindrical shape and has a plurality of electrodes on an inner peripheral surface.
Provide a substrate and store it inside so that it can move according to gravity.
The electrodes are partially short-circuited by conductive members
Endoscopes that detect the direction have been proposed. Further, Japanese Patent Application Laid-Open No. 61-71304 discloses
Water around the objective lens section of the fiberscope.
Attach a ring-shaped quartz tube containing silver and position the mercury
Is detected electrically or optically to determine the orientation of the observation object.
Knowing endoscopes have been proposed. Further, Japanese Patent Laid-Open Publication No. 1-295212
In the report, there are multiple image transmission systems, at least one
Endoscope with gravitational direction indicating means in the image transmission system
Have been. Further, Japanese Patent Application Laid-Open No. 5-323208 discloses
Shows a gravity direction sensor using light reception and emission
You. [0009] SUMMARY OF THE INVENTION A small ball is placed in the observation optical system.
If provided, part of the subject image will be hidden and
There is a risk of causing trouble. In addition, small spheres in the illumination optical system
If provided, small balls should block part of the illumination light exit end face.
And the illumination light emitted by the
By recognizing it, the direction of gravity is detected. small
The sphere is emitted by blocking a part of the illumination light emission end face
The illumination light is missing, and by confirming the missing direction,
Direction is detected, but the small ball blocks the illumination light
Volume, and the end of the endoscope
Or when facing the opposite direction, the position of the small ball
Undetermined, small ball located at the center of the end face of the light guide
Shadows appear in the center of the observation field of view,
It can be a hindrance. An example disclosed in Japanese Patent Application Laid-Open No. 3-114428 is disclosed.
If the conductive member is a liquid,
Switching malfunctions due to electrode corrosion, etc.
And it is necessary to seal the liquid in a liquid-tight manner.
You. Furthermore, when the conductive member is solid, contact with the electrode solid is made.
If the touch area is not sufficient, a malfunction may occur. Further, Japanese Patent Application Laid-Open No. 61-71304 discloses
In the example, since the quartz tube is placed around the objective lens,
The lens part becomes large. In addition, the direction of gravity
Electrode or light guide pairs in proportion to the resolution of the
Increases the number of wires in the coil,
Pace disadvantage. In Japanese Patent Application Laid-Open No. 1-295212,
Is light that requires a relay lens etc. in addition to the observation optical system
It is a complicated configuration that requires a science system, and the space at the tip
Both top and assembly are disadvantageous. Means for solving the problems described above is disclosed in
No. 5,323,208. This technology is
Emitting light from the projection fiber into a cylindrical space containing steel balls
The reflected light is received by two optical fibers, and the two
It detects the direction of gravity from the amount of light received by the receiving fiber.
is there. However, the axial distance between the steel ball and the receiving fiber is
It is said that a slight change will cause a detection error in the direction of gravity.
There was a problem. The present invention has been made in view of the above circumstances.
When moving a movable object in the direction of gravity,
Measures to reduce the dispersion of the calculation results,
To provide an observation device capable of calculating a more accurate direction of gravity
It is an object. [0015] SUMMARY OF THE INVENTION The present invention is directed to a method for intra-body cavity
Or, an insertion section for insertion into the tube
In the observation device, the insertion portionInside, cylindrical
The cylindrical shaft is formed in substantially the same direction as the axial direction of the insertion portion.
WasAt least one small cylindrical space provided;Circle
TubularPlaced in a small space,Smell in the small cylindrical space
At least in a direction substantially perpendicular to the axial direction of the insertion portion.
By forceA movable object that can move freely and lighting in the small space
Light projecting means for projecting light, and light projected into the small space
And light receiving means arranged to receive the reflected light
Between the movable object and the light receiving means, or
Between at least one of an animal and the light emitting means
Optical space is provided in the moving portion, and the movable member is moved in the axial direction of the insertion portion.
And a movement-restricting transparent member
The position of the movable object is determined by the amount of light received by the light receiving means.
Calculate and calculate the gravity direction from the calculated position of the movable object.
Gravity direction calculating means for calculating the direction.Features
And [0016] In the above construction, light is projected from the light projecting means into a small space.
Is projected, and this light or this light is reflected in a small space.
The emitted light is detected by the light receiving means. Allowed in the small space
The distance between the animal and the light receiving means or between the movable object and the light emitting means
By providing a movement-controlling transparent member between
Increases the amount of received light by increasing the scattering space
As well as restricting the movement of movable objects in the axial direction.
This reduces the change in the amount of received light. Therefore, the light receiving hand
When calculating the position of the movable object from the amount of light received by the step,
In both cases, the gravity direction is calculated from the calculated position of the movable object.
Dispersion of the calculation results of the gravity direction calculation means
As a result, more accurate gravity direction detection becomes possible. [0017] BRIEF DESCRIPTION OF THE DRAWINGS FIG.
Will be described. 1 to 7 relate to a first embodiment of the present invention.
FIG. 1 is an external view showing the entire endoscope system, and FIG.
FIG. 3 is a configuration diagram showing a configuration of the endoscope apparatus, and FIG.
FIG. 4 is a cross-sectional view taken along the line EE of FIG. 3, and FIG.
FIG. 6 is a graph showing the relationship between the amount of light and FIG.
FIG. 7 is a graph showing the relationship, and FIG. 7 is a longitudinal sectional view of the sensor. As shown in FIG. 1, endoscope as an observation device
The mirror device 17 transmits the endoscope 1 and an imaging signal from the endoscope 1 to each other.
A signal processing device 2 for processing and a television monitor 3
Have been. The endoscope 1 has an operation unit 4 having a relatively large diameter.
In addition, an elongated flexible insert is provided on the distal end side of the operation section 4.
The rear end of the entrance 5 is provided continuously. This insertion part 5 has a tip
In order from the side, a hard tip portion 6 and a bendable bending portion 7
And a flexible tube portion 8 are provided. The operation unit
4 is a bending operation for bending the bending portion 7 in a predetermined direction.
An operation knob 9 is provided. Further, the side of the operation unit 4
The universal cord 10 is extended laterally from the part,
Connector 1 provided at the end of universal cord 10
1 is detachably connected to the signal processing device 2
You. As shown in FIG. 2, the endoscope insertion portion 5
At the tip 6, an objective lens system 12 and a light distribution lens 13 are provided.
The objective lens system 12 has a solid-state
An image sensor 14 is provided. Also, the light distribution lens
13. Light guide 1 consisting of fiber bundle at rear end
5 are arranged so as to face each other. Further, a gravitational direction sensor is provided at the tip 6.
16 is fixed. The gravity direction sensor 16 is
As shown in FIG. 3, a closed circle formed inside the cylindrical member 29.
A small ball 31 that can move freely is enclosed in the cylindrical space 30.
Therefore, this closed cylindrical space 30 has a
The emitting end of the light projecting fiber 32 is connected, and is used as a light receiving point.
Are connected to the two light receiving fibers 33a and 33b.
You. The two light receiving fibers 33a and 33b are shown in FIG.
As shown in FIG.
Install. The δ angle is desirably 90 ° to 120 °. The three fiber end faces and the small sphere 31
The transparent member 35 is provided between them. Said transparent
The light member 35 may be made of glass as long as it is substantially transparent.
It may be a tick. The other end of the light projecting fiber 32 is an incident end.
As shown in FIG.
Connected to the light emitting element 36. On the other hand,
The other end of each of the rivets 33a and 33b is an emission end, and
Connected to the light receiving elements 37a and 37b directed into the
Have been. In addition, the light emitting element 36 and the light receiving element 37 are in front.
It may be provided at any position of the endoscope 1 or the signal
It may be arranged in the processing device 2. On the other hand, the signal processing device 2 comprises a lamp 1
8. a light source unit 20 including a condenser lens 19 and the like;
A power supply 21 for supplying electricity to the element 36;
Amplifier for amplifying weak signals from 7a and 37b
22 and light reception signal processing for receiving the output of the amplifier 22
The circuit 23, the image signal processing circuit 24, and the
Supermarket for superimposing images that indicate the direction of force
And a composer 25. Image output from the solid-state image sensor 14
The signal is transmitted through the universal cord 10 and the connector.
11 to the image signal processing circuit 24.
Swelling. Also, the output from the light receiving element 37 is
The received light amount signal is transmitted to the amplifier via the connector 11.
22. Further, the unit
The light guide 1 inserted into the versal cord 10
3 is connected to the light source through the connector 11.
So that the illumination light of the lamp 18 is incident thereon.
It has become. In the received light amount signal processing circuit 23,
There is a one-to-one correspondence between the previously set received light amount signal and the small ball position.
And a light receiving element 3 based on the table.
7a and 37b are collated with the received light amount signals outputted from
To calculate the position, ie the actual direction of gravity of the observed image
Has become. The received light amount signal processing circuit 23
The information on the direction of gravity is output to the superimposer 25
It is supposed to. In the image signal processing circuit 23, the solid
The image signal output from the image sensor 14 is processed in a predetermined manner.
Output to the television monitor 3. Next, the operation of the first embodiment having the above configuration will be described.
explain about. Tip provided on insertion section 5 of endoscope 1
From the light distribution lens 13 of the unit 6, the light source unit of the signal processing device 2
Illumination light from the light source 20 is emitted through the light guide 15.
Have been. Insert the insertion portion 5 of the endoscope 1 into the body or
Is inserted into a site requiring observation, such as a gap
The light emitted from the light distribution lens 13 illuminates the site requiring observation.
You. Then, the reflected light illuminating the observation required area
Is incident on an objective lens system 12 provided at the distal end portion 6,
An image is formed on the imaging surface of the solid-state imaging device 14 and photoelectrically converted.
After that, the signal is read out as an image signal,
Is output to the image signal processing circuit 24. Then, the image signal processing circuit 24
The image signal from the solid-state imaging device 14 is transmitted in a predetermined manner such as gamma correction.
Output to the TV monitor 3 after processing
Display an image. On the other hand, as shown in FIG.
The light emitting element 3 from the light emitting fiber 32 in the sensor 16.
6 is directed to irradiate the inside of the closed cylindrical space 30;
The light irregularly reflected in the closed cylindrical space 30 is reflected by the light receiving fan.
Incident on the optical fibers 33a, 33b,
Guided to the light receiving elements 37a and 37b corresponding one-to-one to 3b
The signal is converted into a received light amount signal,
The light is output to the light reception amount signal processing circuit 23 via the reference numeral 22.
In the signal processing device 2, a small signal corresponding to the value of the received light amount signal is output.
The position of the sphere 31 is calculated, and as a signal indicating the direction of gravity,
Output to the superimposer 25. Next, the direction of gravity according to the position of the small ball and the amount of received light
The calculation method of will be described with reference to FIG. FIG.
The change of the position of the small ball 31 and the amount of received light is shown. FIG. 6 shows the change in the position θ of the small ball 31.
The change in the amount of light received by the two light receiving fibers 33a and 33b is simulated.
This is shown schematically. Of a predetermined small ball
For two curves α and β representing the relationship between the position θ and the amount of received light
When the measured received light amounts αi and βi are applied,
Two angles θαi1 and θα for the quantities αi and βi, respectively.
i2 and θβi1, θβi2 are obtained. Compare these values
Therefore, a set of values closer to each other, that is, in FIG.
αi1 and θβi1 are selected, and the approximate value θ ′ is changed to (θαi1 + θ
βi1) / 2. θ ′ is the reference position 38 shown in FIG.
The direction of their gravity. In the super imposer 25, the weight
A signal indicating a force direction and an image of the image signal processing circuit 24
The signals are superimposed and output to the television monitor 3.
The direction of gravity is indicated by an arrow on the monitor 3 as shown in FIG.
Will be displayed as Although the figure shows four directions,
Actually one arrow is displayed (not limited to the four directions in the figure)
Is done. FIG. 5 shows the inner diameter D of the sensor 16 shown in FIG.
And the distance L from the fiber end face 34 to the small ball 31
Shows the relationship between the ratio L / D and the relative light amount. The relative light quantity is L / D
= 1 when the amount of light is 1.6. this
As can be seen from the graph, the sensor 16 having the above configuration has
Light intensity increases when L / D increases up to a certain amount
I do. In addition, its characteristics rapidly rise to L / D of 0.2.
Rise and then change slowly. From this characteristic, L / D
Is small, the effect of a small change in L, that is, the sensor of the small ball 31
The effect of backlash in the axial direction increases, and measurement errors increase.
You can see that Therefore, L / D is at least 0.2 or less.
It is desirable to take above. In this embodiment, the robot freely moves in the direction of gravity.
Light is emitted from the projection fiber into the closed cylindrical space containing the small ball.
Light is emitted and scattered light is received through the light receiving fiber together with the light.
The light is received by the optical element. Light reception as gravity direction calculation means
Small ball due to the amount of light received by the light receiving element by the amount signal processing circuit
And calculate the weight from the calculated position of the small ball.
Calculate the force direction. In this gravity sensor,
Transparent between the output end of the optical fiber and the input end of the receiving fiber and the globule
The optical space provided by the members
The scattering of light from walls in space increases, while
Changes in the amount of received light due to backlash in the axial direction of the sphere are reduced. Follow
The position of the globule from the amount of light received by the light receiving element.
Variance in the calculation results
It is possible to accurately detect the direction of gravity. FIG. 7 shows a modification of this embodiment.
Gravity sensor 16A increases the reflectance of the reflection surface 39 and
The reflectance of the sphere 31A is reduced. Such a structure
Experimentally, a more stable light amount curve can be obtained experimentally.
I know it will. Therefore, the reflection surface is mirror-finished or the like.
Good. In addition, the surface of the small sphere 37A has a low reflectance black.
Color coating or black plating may be applied. Other configurations
The operation and effect are the same as in the first embodiment, and the description is omitted. In the first embodiment and the like, the light emitting means and
Light receiving means is located on the opposite side of the movable object across the transparent member
Although it is configured to be arranged like
The movable object, light emitting means and light emitting means are all located on the same side
You may comprise so that it may be. FIG. 8 shows a sensor according to a second embodiment of the present invention.
It is a longitudinal cross-sectional view. The second embodiment shown in FIG. 8 is the first embodiment.
The transparent member 62 formed thinner than the transparent member 35 shown in FIG.
Have. The transparent member 62 is provided in the closed cylindrical space 30.
In the inside, a spacing tube 63 is interposed between the
Is held. As described above, in this embodiment, the transparent member is thinned.
By doing so, the overall weight of the sensor can be reduced.
it can. Other configurations, functions and effects are the same as those of the first embodiment.
And the description is omitted. FIG. 9 shows a sensor according to a modification of the second embodiment.
It is a longitudinal cross-sectional view. In the modified example shown in FIG.
A concave lens portion 64 is formed in a part of the transparent member 62,
Light emitting fiber 32 and light receiving fibers 33a, 33b
So that the three concave lens portions 64 face each other
It was done. With this configuration, the fiber end face
Fig. 5 shows the effect of the lens even when the distance between
As can be seen from the graph without decreasing L / D, the relative light amount
It does not decline. Therefore, the sensor can be made smaller.
Can also be. In addition, the camera with and without the lens
If the distance between the end face of the iva and the small ball is the same, a lens is provided.
Since the L / D is increased by the action of the lens, the relative light
The amount increases, and the small ball 31 in the closed cylindrical space 30
Backlash, electricity in the light receiving element and the subsequent signal processing system
The error due to noise can be made relatively smaller. Other
The configuration, operation, and effect of this embodiment are the same as those of the first embodiment, and the description thereof is omitted.
Abbreviate. FIGS. 10 and 11 show a third embodiment of the present invention.
FIG. 10 is a configuration diagram showing the configuration of the endoscope apparatus, and FIG.
FIG. 11A is a longitudinal sectional view of the sensor, and FIG.
It is a sectional view taken on line -F. The sensor 70 of the third embodiment shown in FIG.
The light emitting fiber 32 of the sensor 16 shown in the first embodiment is removed.
In this case, the sensor itself has a light emitting unit. Others
The same components and operations as in the first embodiment are denoted by the same reference numerals.
And the description is omitted. An endoscope apparatus as an observation apparatus shown in FIG.
A gravitational direction sensor 70 having a light emitting element 71 is provided at 69.
It is provided on the endoscope distal end portion 6. The sensor 70 has a signal line 72 and a light receiving
The fiber 74 and the light receiving fiber 75 are connected.
You. The signal processing device 2 is connected to the signal
While supplying power to the light emitting element 71,
The light emission amount is fed back to maintain a constant light amount
Driving is performed. The cylinder of the sensor 70 shown in FIG.
The member 73 includes a light receiving fiber 74 and a light receiving fiber 75.
The incident end is fixed with an adhesive or the like. The receiving fiber
74 and the light receiving fiber 75 are as shown in FIG.
Are fixed in a positional relationship of about 90 °. Cylindrical member 7
3 between the fiber end face 76 and the small ball 77.
A member 78 is provided. The opening of the cylindrical member 73 is
The bar 79 is fixed by, for example, an adhesive. At the center of the cover 79, the light emitting element
Reference numeral 71 denotes an end portion of the light receiving fibers 74 and 75.
Is provided so as to face the fiber side end face 76.
You. The light emitted from the light emitting element 71 is applied to the inner surface of the cylindrical member 73.
The light is irregularly reflected by the optical fiber and enters the light receiving fibers 74 and 75.
The light quantity of each of the light receiving fibers 74 and 75 is
It depends on the position of the small ball 77. Its characteristics are as shown in FIG.
In the same manner as the operation principle shown in the first embodiment,
You can know the direction. In this embodiment, the light emitting element is provided on the sensor body.
This eliminates the need for an optical fiber for projection.
You. In general, optical fibers are more expensive than
It is necessary to lay so that there is not. This is directly
In this case, the optical fiber
Reduce the number to provide a more reliable product at a lower price
Wear. FIGS. 12 and 13 show a fourth embodiment of the present invention.
12 (a) is a longitudinal sectional view of the sensor, and FIG. 12 (b)
Fig. 13 is a sectional view taken along line GG of Fig. 13A, and Fig. 13 is a configuration of an endoscope apparatus.
FIG. In the fourth embodiment, the light projection shown in the first embodiment is used.
Except for the fiber, the sensor itself has a light emitting unit.
You. In this embodiment, except for two light receiving fibers,
The sensor is provided with a light receiving element directly. Others
About the same structure and operation as the first and third embodiments,
The same reference numerals are given and the description is omitted. An endoscope device as an observation device shown in FIG.
Is provided with a gravitational direction sensor 80 at the endoscope tip 6.
You. The gravity direction sensor 80 shown in FIG.
It has a light emitting element 71 and light receiving elements 81 and 82. Previous
The gravitational direction sensor 80 includes the signal line 72 and the signal line 8.
3, 84 are connected. The signal processing device 2
When power is supplied to the light emitting element 71 via a signal line 72,
In both cases, the light emission amount of the light emitting element 71 is fed back,
Driving to maintain a constant light amount is performed. Ma
The signal processing device 2 is connected via signal lines 83 and 84.
The outputs of the light receiving elements 81 and 82 are received by the amplifier 22.
It is designed to take away. The gravity direction sensor 80 shown in FIG.
The light receiving elements 81 and 82 are arranged as shown in FIG.
At an angle of about 90 ° along the inner circumference of the cylindrical member 86
Have been. The opening of the cylindrical member 86 has the cover
79 is fixed. Between the inner end face of the cover 79 and the small ball 88
Is provided with a transparent member 89. The light emitting element 7
1 and the light receiving elements 81 and 82 are provided so as to face each other.
Have been. The light emitted from the light emitting element 71 is a cylindrical member.
86, the light is diffusely reflected on the inner surface and enters the light receiving elements 81, 82.
You. The light quantity of each of the light receiving elements 81 and 82 is
It depends on the position of the small ball 88. Its characteristics are as shown in FIG.
And the gravity direction is the same as the operation principle shown in the first embodiment.
You can know the direction. In this embodiment, the light emitting element and the light receiving element are
The fiber for the light emitting and receiving
Can be. Generally, optical fiber is more expensive than electric wire,
In addition, it is difficult to handle and it is necessary to lay it so that it will not break
There is. This directly affects product costs,
Gravity direction sensor not using optical fiber as in this embodiment
Can provide more reliable products at lower prices.
You. The light receiving element is a phototransistor.
For devices such as data, photodiodes, cds, and solar cells
Can be. On the other hand, as a light emitting element, an LD
Laser diode), LED, small light bulb, etc.
it can. Light-emitting element and light-receiving element used for gravity direction sensor
If the child is used for many years, it may change over time or
The amount of light emitted and the light receiving sensitivity decrease due to the sound. Thus the emitted light
If the amount and light sensitivity are used directly,
It becomes an error. The method for compensating for this change over time is described below.
Will be explained. FIG. 14 shows that the output of the light receiving element changes with time.
Here is an example. The initial curve of the light receiving element 81 is indicated by a broken line.
It changes to a curve, and its maximum value is set to ka. Light receiving element
The initial curve of 82 changes to the curve shown by the dashed line,
Is set to kb. The method of obtaining ka and kb is as follows.
As shown in FIG. 15, the endoscope distal end portion 6 is rotated once,
What is necessary is just to take the maximum value among the outputs of the optical elements. For subsequent measurements
Multiplied by the reciprocal of the above ka and kb,
And the method shown in FIG. 6 of the first embodiment.
Similarly, the direction of gravity can be known. Such person
If the method is performed regularly, there is no
You can know the exact direction of gravity. In addition, this method
If used, not only the fourth embodiment but also each of the above embodiments and modifications
Similar effects can be obtained in the example. In this embodiment, the light emitting element and the light receiving element
Also, each one used in the package was used
However, in the semiconductor manufacturing process, light-receiving elements, cylindrical members, and covers
And light-emitting elements are integrated into one
It may be a force direction sensor. In each of the above embodiments, the light receiving means has two structures.
Although the configuration has been described, three or more may be arranged.
Also, in the third and fourth embodiments, etc., the light emitting section is provided in the sensor itself.
Although the description has been given of the case where the
At the forefront, a second transparent member is installed in place of the light emitting part
The illumination light of the endoscope apparatus.
It may be used as light emitting means. In the first to fourth embodiments, the transparent member
Has been described for one case, but the transparent member has two or more
May be provided. Further, as in the second embodiment, 2
The thickness of the above transparent member is formed thin,
An interval tube may be provided. Further, the entire surface of the transparent member or less.
Both correspond to either light emitting means or light receiving means
The component may be composed of a diffusion member. As the diffusion member
May be a ground glass or a concave lens, for example. In each embodiment, the light emitting means and the light receiving
Means include fiber, light emitting element, and light receiving element.
Any one of them was explained, but any combination
It may be constituted as. The surface condition of the space surface and the movable object
The state is such that the inner surface of the space has a reflectance as in the modification of the first embodiment.
High surface finishes, such as mirror finishes, and moving objects
A low reflectivity surface finish, such as black paint or black
It may be plated. [Appendix 1] The observation apparatus according to claim 1,
The small space is substantially orthogonal to the axial direction of the insertion portion.
The movable object is arranged so as to be freely movable in a direction. [Appendix 1-1] The observation apparatus according to claim 1
In the small space, the movement regulating transparent member is
By arranging, the length of the small space in the axial direction is movable.
Set it slightly larger than the length of the object, with a slight gap
What you have. [Appendix 2] The observation apparatus according to claim 1,
, The light receiving means and the light projecting means are
Via the movement regulating transparent member arranged in the space,
It is located on the opposite side of the movable object. [Appendix 3] The observation apparatus according to claim 1,
, The light projecting means is arranged in the small space
With the movable object and the movement restricting transparent member interposed,
The light emitting means is arranged on the side opposite to the light emitting means. [Supplementary Note 3-1] The observation according to claim 1
In the device, the light projecting along the axial direction of the insertion portion
Means, the movable object, the movement regulating transparent member, and the light receiving
They are arranged in the order of the means. [Supplementary Note 3-2] The observation according to claim 1
In the device, the light projecting along the axial direction of the insertion portion
Means, the movement regulating transparent member, the movable object, and the light receiving
They are arranged in the order of the means. [Appendix 4] The observation apparatus according to claim 1,
The small space is optically configured in a closed structure.
You. [Appendix 5] The observation apparatus according to claim 1,
And a plurality of the light receiving means are arranged. [Supplementary Note 6] The observation device according to Supplementary Note 5
In the small space, the axial direction of the cylinder is the axial direction of the insertion portion.
And the light projecting means is provided in
Almost in the center of one bottom surface of the space cylinder
Along with the plurality of light receiving means, the one bottom surface or
On the other bottom surface, spaced from the center and circumferentially
It is arranged for each fixed angle. [Supplementary Note 7] The observation device according to Supplementary Note 6
The predetermined angle is 90 degrees or 120 degrees.
of. [Supplementary Note 8] The observation apparatus according to claim 1,
Between the movable object and the light receiving means, or
The movement regulating transparent portion is provided between a movable object and the light emitting means.
Material and a spacing pipe adjacent to the movement-controlling transparent member.
ing. [Appendix 9] The observation apparatus according to claim 1,
The movement-controlling transparent member includes the light emitting means or
The lens is opposed to at least one of the light receiving means.
Is provided. [Appendix 10] The observation apparatus described in Appendix 9
And the lens is a concave lens. [Appendix 11] The observation apparatus according to claim 1,
The light projecting means emits light into the small space.
A device that emits light. [Supplementary Note 12] The observation apparatus according to claim 1,
In the above, the light receiving means is provided in the small space from the light emitting means.
Receives the light that is projected toward
A light-receiving element that converts electricity. [Supplementary Note 13] Supplementary note 11 or Supplementary note 12
The light-emitting element or the light-receiving element
The element is a semiconductor element. [Supplementary Note 14] The observation apparatus according to claim 1,
Wherein the light projecting means or the light receiving means is at least
One of which includes a fiber for transmitting the light. [Supplementary Note 15] The observation apparatus according to claim 1,
The light emitting means includes a light emitting element that emits light,
A projection for guiding light emitted from the light emitting element and projecting the light into the small space.
It consists of an optical fiber. [Supplementary Note 16] The observation apparatus according to claim 1,
The light receiving means may be provided in the small space from the light emitting means.
Light-receiving fiber that guides the light projected into or the reflected light
And a receiver for receiving the light transmitted by the receiving fiber.
And an optical element. [0085] According to the present invention, the space in which light is scattered is increased.
Increases the amount of received light and increases the
Changes in the amount of received light due to backlash by regulating axial movement
Variance in the calculation results of the direction of gravity
That the direction of gravity can be detected more accurately.
effective.

BRIEF DESCRIPTION OF THE DRAWINGS FIGS. 1 to 7 relate to a first embodiment, and FIG. 1 is an external view showing an entire endoscope system. FIG. 2 is a configuration diagram showing a configuration of an endoscope apparatus. FIG. 3 is a longitudinal sectional view of a sensor. FIG. 4 is a sectional view taken along line EE of FIG. 3; FIG. 5 is a graph showing a relationship between L / D and a relative light amount. FIG. 6 is a graph showing the relationship between the amount of received light and the direction of gravity. FIG. 7 is a longitudinal sectional view of a sensor. FIG. 8 is a longitudinal sectional view of a sensor according to a second embodiment. FIG. 9 is a longitudinal sectional view of a sensor according to a modification of the second embodiment. 10 and 11 relate to a third embodiment, and FIG.
0 is a configuration diagram showing a configuration of the endoscope apparatus. 11A is a longitudinal sectional view of a sensor, and FIG.
(B) is a sectional view taken along line FF of (a). FIG. 12 and FIG. 13 relate to a fourth embodiment, and FIG.
2A is a longitudinal sectional view of the sensor, and FIG. 12B is a sectional view taken along line GG of FIG. FIG. 13 is a configuration diagram showing a configuration of an endoscope apparatus. FIG. 14 is a graph showing an example of a change over time in the output of the light receiving element. FIG. 15 is an explanatory diagram showing a state in which a maximum value is obtained from outputs of the respective light receiving elements. DESCRIPTION OF SYMBOLS 1 ... Endoscope device 16 ... Gravity sensor 30 ... Closed cylindrical space 31 ... Small ball 32 ... Light emitting fiber 33a, 33b ... Light receiving fiber 35 ... Transparent member 2 ... Signal processing device

──────────────────────────────────────────────────続 き Continued on the front page (58) Fields surveyed (Int. Cl. ⁷ , DB name) A61B 1/00-1/32 G01V 7/00

Claims (1)

(57) Claims 1. An observing apparatus for observing an observation site, comprising an insertion portion inserted into a body cavity or a tube, wherein the insertion portion has a cylindrical shape and a cylindrical shaft. Is the insertion
At least one small cylindrical space formed substantially in the same direction as the axial direction of the part, and the cylindrical small space is disposed in the cylindrical small space.
In the direction substantially perpendicular to the axial direction of the insertion portion
A movable object that freely moves by gravity, a light projecting unit that projects illumination light into the small space, and a light receiving device that is arranged to receive the light projected into the small space and the reflected light thereof Means, an optical space is provided between at least one of the movable object and the light receiving means, or between the movable object and the light projecting means, and movement of the movable object in the insertion portion axial direction. A movement regulating transparent member arranged to regulate the position, the position of the movable object is calculated based on the amount of light received by the light receiving unit, and the direction of gravity is calculated from the calculated position of the movable object. An observation device, comprising: means.