JP4136058B2 - Endoscope - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to an endoscope for performing observation and treatment by being inserted into, for example, pipelines and tanks of various facilities, inside aircraft bodies and wings, body cavities, and the like.
[0002]
[Prior art]
In recent years, it is possible to observe various organs by observing organs in a body cavity by inserting an elongated insertion portion into a body cavity, or using a treatment instrument inserted into a treatment instrument insertion channel as necessary. Mirrors are widely used. It can also be used in various industrial applications such as inspection of internal pipes and tanks, aircraft bodies and wings, boilers, gas turbine engines, chemical plant piping, automobile engine bodies, etc. Widely used.
[0003]
In general, an endoscope has a distal end portion provided at a distal end portion of an insertion portion that incorporates an insertion portion that is inserted into a conduit, an observation device such as an image sensor or an image guide fiber for obtaining an observation image in the conduit, It has a bending portion provided in the insertion portion for freely bending the direction of the distal end portion.
[0004]
When the insertion part is inserted into a complex-shaped pipe line while bending the bending part, the tip part advances in the pipe line while facing various directions. For this reason, depending on the shape of the pipe, it may be difficult to determine the direction of gravity in the observation image observed by the visual means provided at the tip. In addition, even if the gravity direction in the observation image can be determined during operation, the gravity direction in the reproduced observation image may not be determined when the observation image is recorded and played back later. .
[0005]
Therefore, as a conventional technique for detecting the gravitational direction in an observation image, for example, in Japanese Patent Laid-Open No. 3-58401, a rotation angle sensor is provided at the distal end portion of an endoscope to detect the direction of the distal end portion with respect to the gravitational direction. An endoscope that displays the direction of gravity in addition to an observation image on a monitor has been proposed.
[0006]
[Problems to be solved by the invention]
However, since endoscopes are used by inserting the insertion portion into a thin duct, there is a strong demand for a narrower diameter than the conventional one. When a rotation angle sensor or the like is provided at the distal end portion of the insertion portion of the endoscope as in the prior art, for example, Japanese Patent Laid-Open No. 3-58401, the diameter is hindered and the use of the endoscope is narrowed.
[0007]
The present invention has been made in view of the above-described problems, and provides an endoscope capable of reducing the diameter of an insertion portion while detecting the direction of gravity in an observation image.
[0008]
[Means for Solving the Problems]
  The endoscope according to the present invention includes an operation section provided with a bending operation means, an insertion section that extends from the operation section and is inserted into a duct to be observed, and the bending operation means provided in the insertion section. A bending portion that performs a bending operation in response to an operation in the above, a distal end portion that is a distal end portion of the insertion portion, an observation means that is provided at the distal end portion and obtains an observation image by imaging an observation target, and the observation image Means for screen display;Provided in the operation unit;Position detecting means for detecting information on the direction of the tip with respect to the direction of gravity;Means for detecting an operation amount made in the bending operation means, and outputting the operation amount in association with the bending shape of the bending portion; information on the bending shape of the bending portion and the direction of the tip portion with respect to the gravity direction; And a means for detecting the gravitational direction of the tip portion as corresponding to the curved shape of the curved portion;Equipped withTheIt is characterized by
  The endoscope according to the present invention includes an operation unit provided with a bending operation means, an insertion unit that extends from the operation unit and is inserted into a duct to be observed, and the insertion unit includes the bending unit. A bending portion that performs a bending operation in response to an operation in the operation means, a distal end portion that is a distal end portion of the insertion portion, an observation means that is provided at the distal end portion and obtains an observation image by imaging an observation target; Means for displaying images on the screen;Provided at a position immediately behind the bending portion in the insertion portion;Position detecting means for detecting information on the direction of the tip with respect to the direction of gravity;Means for detecting an operation amount made in the bending operation means, and outputting the operation amount in association with the bending shape of the bending portion; information on the bending shape of the bending portion and the direction of the tip portion with respect to the gravity direction; And a means for detecting the gravitational direction of the tip portion as corresponding to the curved shape of the curved portion;Equipped withTheIt is characterized by that.
[0009]
DETAILED DESCRIPTION OF THE INVENTION
(First embodiment)
Embodiments of the present invention will be described below with reference to the drawings.
1 to 5 relate to a first embodiment of the present invention, FIG. 1 is an explanatory diagram for explaining the overall configuration of the endoscope, and FIG. 2 is an insertion portion in a pipe line having a T-shaped branch in front. FIG. 3 is an explanatory diagram for explaining a state in which an insertion portion is inserted into a pipe line having an elbow pipe in the front, and FIG. 4 is an example of an observation image in the pipe line ((A) is a front figure). (B) is an observation image in a pipeline with an elbow pipe ahead), and FIG. 5 is an insertion portion that advances in the pipeline while facing various insertion directions. It is explanatory drawing which shows the state of.
[0010]
(Constitution)
As shown in FIG. 1, the endoscope 1 includes an insertion portion 2 that is inserted into an observation target such as a lumen or piping, an operation portion 5 that is held by an operator, and the like.
The insertion unit 2 is a light guide that illuminates the observation target and observation means such as a bending unit 3 positioned on the distal end side of the insertion unit 2 that can be bent by an operation from the operation unit 5, an imaging device for obtaining an image of the observation target, and the like. The tip part 4 etc. which are located in the front-end | tip of the insertion part 2 to which illumination means, etc. are attached are provided.
[0011]
From the side of the operation unit 5, the light source device 7 for supplying illumination light for illuminating the inside of the pipeline to the endoscope 1 and the function of outputting a video signal that can be displayed by monitoring the imaging device, etc. A universal cord 9 having the other end connected to a CCU (camera control unit) 8 having
[0012]
A monitor 10 is connected to the CCU 8 so that an observation video can be displayed. Further, the CCU 8 is provided with a key input device 11 for an operator to input inspection information such as a state in the pipeline while viewing an observation image on the monitor 10.
[0013]
Inside the operation unit 5, a gyro 6 that is an angular velocity detection means for detecting the rotational angular velocity of the operation unit 5 is provided. In this specification, means for detecting a position such as an angular velocity detecting means and an acceleration detecting means for detecting acceleration are collectively referred to as a position detecting means. When the operator grasps the operation unit 5 by the gyro 6 and performs a bending operation on the bending unit 3 to insert the insertion unit 2 into the conduit, the operation unit 5 is pushed or twisted so that the insertion unit 2 is moved. It is possible to detect a rotational movement around the three axes of the operation unit 5 when the operation is easily performed in the pipeline. The output of the gyro 6 is input to the CCU 8.
[0014]
The CCU 8 includes a storage unit 12 that records observation images and the like. The storage unit 12 records the observation video, and also includes the observation information input during the observation, and a pipe map including information such as a curved portion and a branching portion of the pipe that are input in advance from the key input device 11 prior to the observation. Information, such as insertion direction information including information such as the insertion direction of the insertion portion 2 at a curved portion or a branched portion that is sequentially input from the key input device 11 during observation, is recorded. In this specification, the curved portion and the branched portion of the pipeline are collectively referred to as the joint portion of the pipeline.
[0015]
Further, the CCU 8 has an analysis unit 13 configured by, for example, a microprocessor or the like for analyzing the direction of gravity in the observation video. The analysis unit 13 can analyze the insertion path of the insertion unit 2 in the pipeline by following the insertion direction at the knot portion included in the pipeline map information according to the insertion direction information sequentially input during observation. It has become. Furthermore, by analyzing the direction of the operation unit 5 based on information from the gyro 6 and following the insertion path, the direction of gravity in the observation image can be analyzed.
The gravitational direction in the observation video may be displayed on the monitor 10 by an arrow or the like together with the observation video.
[0016]
Note that the analysis unit 13 can follow the insertion direction at the joints included in the pipeline map information in accordance with the insertion direction information input based on the observation video, as described above. This is because the analysis unit 13 has a function of converting the relative coordinate insertion direction in the observation image into the absolute coordinate insertion direction with reference to the gravity direction using the information on the gravity direction in the image. is there.
[0017]
(Operation)
Next, the operation of the endoscope 1 will be described.
For example, when the insertion portion 2 reaches a T-shaped joint having a downward branch as shown in FIG. 2, the monitor 10 has a downward direction in addition to the straight direction as shown in FIG. An observation image with a hole is also displayed.
[0018]
The insertion direction at each node location from when the insertion unit 2 is inserted into the insertion port of the pipe to the arrival at the node location shown in FIG. 2 is sequentially input from the key input device 11 and stored in the storage unit 12. The analysis unit 13 analyzes the insertion path up to the current time and the insertion direction at the current time by comparing with the pipe map information stored in the storage unit 12 in advance.
[0019]
Further, the analysis unit 13 detects the direction of the operation unit 5 from the information detected by the gyro 6 and follows the insertion path to analyze the direction of gravity in the observation image.
For example, the description will be continued by considering the case where the insertion direction at this time point is the west direction and the gravity direction in the observation image is the downward direction.
[0020]
Here, for example, the operator inputs information from the key input device 11 that the pipeline continues in the straight direction and the downward direction. For example, when the insertion unit 2 is inserted while being bent downward in the observation video, the fact that the insertion unit 2 is bent downward is input from the key input device 11.
[0021]
Then, the analysis unit 13 refers to the information on the insertion direction of the insertion unit 2 before bending the insertion unit 2 and the information on the gravity direction with respect to the observation image, and in the insertion direction and observation image of the insertion unit 2 after being bent. By analyzing the information on the direction of gravity, it is possible to know that the insertion direction of the insertion portion at the present time is the downward direction and the gravity direction in the observation image is the forward direction.
[0022]
The insertion direction at the point of passage through the node shown in FIG. Further, the direction of gravity in the observation image is displayed on the monitor 10 together with the observation image.
[0023]
Subsequently, for example, when the insertion portion 2 reaches a curved joint portion such as an elbow pipe shown in FIG. 3, the monitor 10 has a hole in the downward direction as shown in FIG. An observation image is displayed.
[0024]
Here, when the node portion shown in FIG. 3 is passed through the same operation as when the node portion shown in FIG. 2 is passed, the analysis unit 13 indicates that the insertion direction is the east direction and the gravity direction in the observation image. Analyze that is up.
[0025]
By performing the above-described processing every time the insertion portion 2 passes through the joint portion in the pipeline, the direction of gravity in the observation image can be known at any point in the pipeline.
[0026]
After passing through the knot portion shown in FIG. 3, the insertion portion 2 reaches the position in (A) of the pipe having the shape shown in FIG. 5, for example, and the positions (B) and (C). Consider the case of insertion in this order. In the drawing, a circle marked at the tip 4 represents a portion of the tip 4 corresponding to the upward direction of the observation image. In this case, when the insertion portion 2 is at the position (A) in the figure, the insertion direction is the east direction, the gravity direction in the observation image is the upward direction, and when it is at the position (B), the insertion direction is the vertical downward direction, the observation The analysis unit 13 can analyze that the gravitational direction in the image is the forward direction and the insertion direction is the west direction and the gravitational direction in the observation image is the downward direction when the image is at the position (C).
[0027]
Subsequently, for example, when the insertion portion 2 reaches the position (C) in FIG. 5, if the operation portion 5 is twisted by 90 ° in the clockwise direction toward the insertion port of the duct at a location that is not a knot portion, The displayed observation image is rotated 90 ° counterclockwise, and the analysis unit 13 receives the information from the gyro 6 and detects the rotation amount of the operation unit 5 and traces the pipeline map information to Analyze that the direction of gravity is rightward.
As described above, even when the insertion portion 2 is inserted into a complicated pipeline, the operator does not lose sight of the direction of gravity in the observation image.
[0028]
(effect)
According to the endoscope 1 of the present embodiment described above, the direction of gravity in the observation image can be detected, and the operability is improved.
For example, when inserting the insertion unit 2 into the large intestine, even if the direction of the operation unit 5 is twisted so that the insertion unit 2 can be easily inserted, the direction of gravity in the observation image can be known, and a lesioned part such as a cancer can be obtained. In this case, it is possible to know in which direction the cancer is located, and to improve the operability when inferring which organ may have infiltrated the cancer.
[0029]
Also, for example, when a crack is found in a pipe in an inspection of a device or facility having multiple pipes such as a heat exchanger pipe, the direction of gravity in the observation image can be known, so the direction of the crack in the pipe is known. This improves the operability when inferring other pipes that may be corroded by the steam blown out from the cracks.
[0030]
Moreover, the diameter of the insertion part 2 can be reduced by arranging the gyro 6 in the operation part 5 instead of the insertion part 2 including the distal end part 4.
The gyro 6 is not limited to the inside of the operation unit 5 and may be provided on the outer surface of the operation unit 5 or the like.
Further, the observation means is not limited to the image sensor, and may be an image guide fiber or the like. In this case, a separate imaging unit is provided between the operation unit 5 and the CCU 8.
[0031]
Further, the insertion direction information is not limited to the configuration input by the operator, and the configuration in which the analysis unit 13 analyzes all or a part of the insertion direction information is within the scope of the present embodiment. For example, the observation image shown in FIG. 4A is stored in the storage unit 12 in advance, and compared with the observation image stored in the storage unit 13 at the node when the insertion unit 2 is actually inserted into the pipeline. Thus, even if the analysis unit 13 is configured to detect that the same observation image as that in FIG. 4A has appeared, and to detect that the insertion unit 2 has reached the node shown in FIG. Good. At this time, the operator may input information supplementing the insertion direction information obtained by the analysis unit 13 using the key input device 11.
[0032]
(Second Embodiment)
FIG. 6 relates to the second embodiment of the present invention and is an explanatory view including a partial cross-sectional view illustrating the configuration of the bending knob.
In addition, the structure of the site | part which is not demonstrated in this Embodiment is the same as the structure demonstrated in 1st Embodiment.
[0033]
(Constitution)
A bending wire 15 (not shown) is attached to the bending portion 3 (see FIG. 1), and the bending portion 3 is bent by pulling the bending wire 15 from the operation portion 5.
[0034]
As shown in FIG. 6, the operation portion 5 is provided with bending handles 16 and 17 for pulling the bending wire 15, and the bending portion 3 bends according to the amount of rotation of the handles 16 and 17. It is like that.
[0035]
When the bending handle 16 is rotated, the pipe 19 is rotated about the pipe 19 as an axis. Similarly, when the bending handle 17 is rotated, the pipe 18 is rotated about the pipe 18 as an axis. The pipe 18 has a substantially cylindrical shape, and the pipe 19 is inserted through the pipe 18. That is, the pipe 19 interlocked with the handle 16 and the pipe 18 interlocked with the handle 17 rotate concentrically.
[0036]
An encoder 22 that detects the rotational angular velocity is attached to the pipe 19. On the other hand, a gear is formed on a part of the surface of the pipe 18, and the gear formed on the pipe 18 meshes with another gear 20, and an encoder 21 that detects the rotational angular velocity is provided on the shaft of this gear. It is attached. These encoders 22 and 21 can detect the amount of rotation of the handles 16 and 17.
[0037]
Accordingly, by measuring the relationship between the rotation amount of the handles 16 and 17 and the bending shape of the bending portion 3 in advance, the bending shape of the bending portion 3 can be detected by the encoders 22 and 21.
[0038]
In the first embodiment, the insertion path of the insertion unit 2 (see FIG. 1) can be detected by the analysis unit 13 (see FIG. 1). Further, the analysis unit 13 detects the orientation of the operation unit 5 (see FIG. 1) from the output of the gyro 6 (see FIG. 1), and follows the insertion path, thereby observing an image when the bending unit 3 is not curved. It was possible to detect the direction of gravity.
[0039]
In the present embodiment, in addition to the output from the gyro 6, the outputs from the encoders 22 and 21 are also input to the analysis unit 13, and the function of detecting the curved shape of the bending portion 3 and the observation video by the bending of the bending portion 3 are displayed. A function for calculating coordinate changes is provided in the analysis unit 13 so that the direction of gravity in the observation image can be detected even when the bending unit 3 is bent.
[0040]
(Operation)
When the bending handles 16 and 17 are rotated according to the pipe shape while observing the observation image to bend the bending portion 3, the encoders 22 and 21 detect the rotation angular velocities of the bending handles 16 and 17. Information on the angular velocity is input to the analysis unit 13, and the analysis unit 13 detects the amount of rotation of the bending handles 16 and 17, and the amount of rotation of the bending units 16 and 17 and the shape of bending of the bending unit 3 measured in advance. Referring to the relationship, the shape of the bending portion 3 is detected.
[0041]
On the other hand, with the configuration described in the first embodiment, the analysis unit 13 detects the direction of gravity in the observation image when the bending unit 3 is not bent.
The analysis unit 13 performs coordinate conversion based on information on the shape of the bending unit 3, that is, information on the bending direction of the bending unit 3 with respect to the insertion unit 2, and detects the direction of gravity in the observation image in a state where the bending unit 3 is bent.
[0042]
(effect)
According to the present embodiment, the following effects can be obtained in addition to the effects obtained in the first embodiment.
Even in a state where the bending portion 3 is bent, the direction of gravity in the observation image can be detected.
[0043]
(First reference example)
  7 to 10 show the present invention.First reference exampleFIG. 7 is an explanatory diagram for explaining the configuration of the tip, FIG. 8 is an example of a screen display, FIG. 9 is an explanatory diagram for explaining an example of the insertion shape of the insertion portion in the conduit, and FIG. FIG. 6 is an explanatory diagram for explaining an operation to be corrected ((A) is a diagram for explaining an operation to be corrected, and (B) is a diagram for explaining an example of a place to be corrected).
[0044]
  BookReference exampleThe configuration of the parts not described in the above is the same as the configuration described in the first embodiment.
[0045]
(Constitution)
  As shown in FIG. 7, instead of providing the gyro 6 on the operation unit 5 (see FIG. 1) as in the first embodiment,Reference exampleThen, a gyro 26 for directing the position of the tip 4 is provided in the tip 4, and in addition to this, an acceleration sensor 27, which is an acceleration detecting means for detecting the position of the tip 4, is provided in the gyro 26.
[0046]
Information detected by the gyro 26 and the acceleration sensor 27 is input to the analysis unit 13 (see FIG. 1), and the analysis unit 13 sequentially detects the position of the tip 4 to analyze the insertion direction and the insertion path of the insertion unit 2. It is supposed to be.
[0047]
Moreover, the correction | amendment part 28 which correct | amends the position of the front-end | tip part 4 detected by the analysis part 13 in light of the pipeline map information input previously is provided in CCU8 (refer FIG. 1), for example.
As shown in FIG. 8, the monitor 10 includes a map display unit 25 that displays map information of the pipeline in addition to the observation video display unit 24 that displays the observation video.
[0048]
(Operation)
As shown in FIG. 9, when the insertion portion 2 is inserted into the conduit, the position of the distal end portion 4 is detected based on information from the acceleration sensor 27, and the orientation of the distal end portion 4 is determined based on information from the gyro 26. Detected.
[0049]
At this time, the position of the distal end portion 4 analyzed from information detected by the acceleration sensor 27 may deviate from the map as indicated by a broken circle in FIG. 10A. Then, an erroneous display such as an insertion route protruding from the pipeline is displayed on the map display unit 25. Further, if this deviation is left uncorrected, errors accumulate and the position of the tip 4 may not be known.
[0050]
Therefore, the position where the location is clearly known on the image information displayed on the map display unit 25, such as the position indicated by the mark ◎ in FIG. Based on the information, the correction unit 28 corrects the position information of the tip portion 4 as shown in FIG. 10A, thereby reducing the error in the position information of the tip portion 4.
[0051]
In addition, even in the case of a long straight pipe line, the insertion part 2 including the distal end part 4 analyzed from the information detected by the acceleration sensor 27 or the like is out of the pipe, although it should not come out of the pipe. If so, correct the position so that it is within the tube.
[0052]
(effect)
  BookReference exampleThe following effects can be obtained.
  By providing the correction unit 28, even if an error occurs in the position of the tip 4 analyzed from information detected by the acceleration sensor 27 or the like, this error can be corrected, and the accurate position and orientation of the tip 4 can be corrected. The insertion path of the insertion unit 2 can be known.
[0053]
By displaying the map display unit 25 on the monitor 10, the insertion path of the insertion unit 2 in the pipeline can be easily known, and the operability is improved.
A function for detecting the position and orientation of the tip 4 from the observation video may be provided in the analysis unit 13 or the like.
[0054]
In addition, the information used by the correction unit 28 to correct the insertion path may use not only image information displayed on the map display unit 25 but also an observation video. For example, as shown in the first embodiment, the observation images of the T-shaped tube (see FIG. 2) and the elbow tube (see FIG. 3) are judged as shown in FIGS. 4 (A) and 4 (B). Since it is easy, it may be detected from the observation image that it is approaching these positions and corrected.
[0055]
(Second reference example)
  FIG. 11 shows the present invention.Second reference exampleFIG. 2 is an explanatory diagram for explaining the configuration of the endoscope ((A) is a diagram for explaining the overall configuration of the endoscope, and (B) is a diagram for explaining the attachment / detachment portion with the external camera).
[0056]
(Constitution)
As shown in FIG. 11 (A), the endoscope 29 has an insertion portion 30 to be inserted into the observation object and a distal end of the insertion portion 30 on the distal end side of the operation portion 33 for grasping and operating the endoscope 29. It has a bendable bending portion 31 located on the side, and a distal end portion 32 located further on the distal end than the bending portion 31.
[0057]
An endoscope 29 shown in FIG. 11A is a fiber scope that optically transmits an observation image from the distal end of the insertion portion to the proximal side by an image guide fiber or the like.
The observation means is composed of a not-shown image guide fiber or the like, and this image guide fiber is inserted from the distal end portion 32 into the bending portion 31 and the insertion portion 30 and connected to an eyepiece portion 37 provided in the operation portion 33. A subject can be observed from the eyepiece 37.
[0058]
A universal cord extends from the side of the operation unit 33, and the other end is connected to a light source device 34 for supplying illumination light to the endoscope 29. From the light source device 34, a light guide fiber (not shown) constituting the illumination means is inserted through the universal cord, the operation unit 33, the insertion unit 30, and the bending unit 31 and connected to the distal end 32, thereby illuminating the subject. It is like that.
[0059]
The tip portion 32 is provided with a gyro 35 serving as an angular velocity detection means, and an output signal from the gyro 35 is passed through a bending portion 31, an insertion portion 30, an operation portion 33, and an electric cable (not shown) inserted through the universal cord. Are input to the control unit 36.
[0060]
In addition, a TV camera 38 for taking an observation video is detachably connected to the eyepiece 37, and a monitor 39 for displaying the observation video is connected to the TV camera 38.
[0061]
The TV camera 38 is provided with a lens 40 fixed in a lens frame 45 for converging an observation image, and the lens frame 45 can slide in an annular ring 42 provided in the TV camera 38. It has become. A piezoelectric element 41 is attached to the annular ring 42, and the piezoelectric element 41 allows the lens frame 45 to be driven back and forth within the annular ring 42. Thus, a focus adjustment mechanism of the TV camera 38 is configured.
[0062]
As shown in FIG. 11 (B), the electrode 43 provided on the eyepiece 37 and the electrode 44 provided on the TV camera 38 are connected, so that the piezoelectric element 41 is controlled by a signal from the control unit 36. It is designed to be driven.
[0063]
As described above, the control unit 36 can know the movement such as the shaking of the distal end portion 32 from the signal from the gyro 35, and drives the piezoelectric element 41 and controls the focus adjustment mechanism of the TV camera 38 according to this information. It can be done.
[0064]
(Operation)
When observing the inside of the pipeline with the endoscope 29, movement such as shaking of the distal end portion 32 is detected by the gyro 35, and this information is taken into the control unit 36. The control unit 36 gives a swing to the ring by issuing a control signal to the piezoelectric element 41 so that the focal length of the TV camera 38 is matched in accordance with the movement of the tip 32, such as a shake, and thereby the inside of the ring 42 The lens frame 45 is moved so that the focus of the TV camera 38 is adjusted. When the piezoelectric element 41 does not operate, the lens frame 45 is stopped by the frictional force between the lens frame 45 and the ring 42.
[0065]
As described above, the TV camera 38 is adjusted in focus according to the movement of the tip end portion 32 such as shaking.
Note that the focus adjustment mechanism may be provided not in the TV camera 38 but in the operation unit 33.
[0066]
Further, the endoscope 29 is not limited to the fiberscope, and may be configured by a video scope in which an imaging unit is provided at the distal end portion 32 and a focus adjustment mechanism may be provided at the distal end portion 32.
[0067]
(effect)
A clear image that is always in focus can be obtained, the image quality of the observation image is improved, it becomes easier to find a wound in the duct and a lesion in the lumen, and the operability is improved.
[0068]
(Third reference example)
  12 to 13 show the present invention.Third reference exampleFIG. 12 is an explanatory diagram for explaining the configuration of the pressure sensor provided in the insertion portion, and FIG. 13 is an example of the output waveform of the pressure sensor.
  BookReference exampleThe structure of the part not explained inFirst reference exampleThe configuration is the same as that described in.
[0069]
(Constitution)
  As shown in FIG.First reference exampleInstead of providing the acceleration sensor 27 (see FIG. 7) at the tip 4 in FIG.Reference exampleThen, a plurality of pressure sensitive sensors 46 for detecting pressure are provided on the surface of the insertion portion 2 at equal intervals. In the example of FIG. 12, three pressure sensitive sensors 46a, 46b, 46c are provided in order from the distal end side of the insertion portion 2.
[0070]
Information detected by the gyro 26 is input to the angular velocity detector 47, and information detected by each pressure sensor 46 is input to a pressure detector 42 provided independently for each pressure sensor. The analysis unit 49 having the angular velocity detection unit 47 and the pressure detection unit 42 is provided in, for example, the CCU 8 (see FIG. 1).
[0071]
The analysis unit 49 has a function of analyzing the insertion direction and the insertion path of the insertion unit 2 based on the information detected by the gyro 26 and the information detected by the pressure detection unit 42. It can be displayed on the monitor 10.
[0072]
(Operation)
When the insertion portion 2 is inserted into the pipe line, the pressure sensor 46 detects the pressure by contact with the pipe wall. For example, when the insertion portion 2 passes through a curved pipe line, the insertion portion 2 is bent and the pressure sensor 46 detects pressure. By acquiring in advance the relationship between the pipe shape and the output of the pressure-sensitive sensor 46, the analysis unit 49 detects the insertion direction of the insertion unit 2 at a node portion or the like of the pipe.
[0073]
Here, as shown in FIG. 13, the output waveforms from the three pressure-sensitive sensors 46a, 46b, and 46c (corresponding to (A), (B), and (C), respectively) are compared. . Then, the output from the pressure sensor 46b is delayed by the time t1 from the output from the pressure sensor 46a. The analysis unit 49 detects the delay time t1, thereby calculating the insertion speed of the insertion unit 2 and the insertion amount of the insertion unit 2.
As described above, since the insertion direction and insertion amount at the joint portion of the pipe line can be detected, the analysis unit 49 can know the insertion path of the insertion unit 2, and the direction of the distal end portion 4 can be determined by the output from the gyro 26. Can know.
[0074]
If the pressure sensor 46 is a strain sensor, the insertion shape of the insertion portion 2 can be detected by detecting the amount of strain.
[0075]
(effect)
Not only can the insertion path and the like of the insertion portion be known, but also the insertion shape of the insertion portion 2 can be detected, so that the operator can determine whether or not the insertion portion 2 has been inserted into the duct with an unreasonable shape. It can be carried out.
Note that the number of places where the pressure-sensitive sensor 46 is disposed is not limited to three, and may be any number of two or more.
[0076]
(Fourth reference example)
  FIG. 14 shows the present invention.Fourth reference exampleFIG. 4 is an explanatory diagram for explaining the configuration of the insertion amount detecting means by the striped pattern stamped on the insertion portion ((A) shows an example of the striped pattern stamped on the insertion portion, and (B) reads the striped pattern. FIG. 3 is a diagram showing a configuration for detecting an insertion amount.
  BookReference exampleThe structure of the part not explained inThird reference exampleThe configuration is the same as that described in.
[0077]
(Constitution)
  As shown in FIG.Third reference exampleIn this example, instead of providing the pressure sensor 46 (see FIG. 12) in the insertion portion 2,Reference exampleThen, striped patterns 50 are marked on the insertion portion 2 at equal intervals in the form of a barcode.
[0078]
A scanner 51 for reading the striped pattern 50 is installed on the near side from the insertion port of the duct, and the number of the striped patterns 50 that have passed through the scanner is calculated by a calculation unit 52 that inputs an output signal from the scanner 51. The number of insertions of the insertion part 2 can be calculated by counting.
[0079]
The control unit 53 provided in the CCU 8 (see FIG. 1) analyzes the insertion path of the insertion unit 2 from the information on the insertion amount obtained by the scanner 51 and the calculation unit 52 and the information output from the gyro 26. It has become.
[0080]
(Operation)
  When the insertion unit 2 is inserted into the pipeline, the insertion unit 2 passes through the place where the scanner 51 is installed, and the stripe pattern 50 marked on the insertion unit 2 is counted by the scanner 51 and the calculation unit 52. Thus, the insertion speed of the insertion section 2 is calculated, and the insertion amount of the insertion section 2 is calculated.
  Other actions areThird reference exampleIt is the same.
[0081]
(effect)
  BookReference exampleAccording toThird reference exampleIn addition to the same effects as described above, the following effects can be obtained.
  Since only the striped pattern 50 needs to be marked on the surface of the insertion portion 2 and no special member is required, the diameter of the insertion portion 2 can be reduced.
[0082]
(Fifth reference example)
  FIG. 15 shows the present invention.Fifth reference exampleFIG. 6 is an explanatory diagram for explaining a configuration of a position detecting unit using a magnetic sensor.
  BookReference exampleThe structure of the part not explained inThird reference exampleThe configuration is the same as that described in.
[0083]
(Constitution)
As shown in FIG. 15, in addition to the gyro 26, a magnetic sensor 59 is provided at the distal end portion 4.
Moreover, the magnet 60 was previously installed in each place used as a mark, such as a joint part of a pipe line.
[0084]
(Operation)
When the insertion part 2 is inserted into the pipe line and the tip part 4 reaches the place where the magnet 60 of the pipe line is installed, the magnetic sensor 59 detects the magnet 60, and the tip part 4 moves to the joint part or the like. It is detected that it is located.
Thereby, the position information of the tip part 4 detected by the gyro 26 or the like is corrected.
[0085]
(effect)
  BookReference exampleAccording toThird reference exampleIn addition to the same effects as described above, the following effects can be obtained.
  When the distal end portion 4 reaches the joint portion of the pipe line, the location of the distal end portion 4 can be accurately detected. Thereby, the position information of the tip part 4 detected by the gyro 26 or the like can be corrected.
[0086]
(No.3Embodiment)
  FIG. 16 shows the present invention.3It is explanatory drawing explaining the structure of the position detection means using the gyro provided in the insertion part near the rear end of a curved part concerning this embodiment.
  In addition, the structure of the site | part which is not demonstrated in this Embodiment isFirst reference exampleThe configuration is the same as that described in.
[0087]
(Constitution)
  As shown in FIG.First reference exampleInstead of providing the gyro 26 at the distal end portion 4 as shown in FIG. 7, the gyro 26 is provided at a position immediately behind the bending portion 3 of the insertion portion 2.
  The insertion section 2 has a treatment instrument insertion channel 54, and a treatment instrument 55 can be inserted into the treatment instrument insertion channel 54 to perform treatment.
[0088]
(Operation)
  The processing performed by the output of the gyro 26 is as follows:First reference exampleHowever, since the gyro 26 is disposed immediately behind the bending portion 3, the output from the gyro 26 is changed by the bending operation of the bending portion 3 when the insertion portion 2 is inserted into the pipeline. Does not occur.
[0089]
(effect)
Since the output from the gyro 26 is not changed by the bending operation of the bending portion 3, errors due to the bending operation when detecting the insertion path of the insertion portion 2 can be reduced.
[0090]
(Sixth reference example)
  FIG. 17 illustrates the present invention.Sixth reference exampleHowever, it is explanatory drawing explaining the structure of the position detection means using three gyroscopes which detect the rotational angular velocity around 1 axis | shaft.
  BookReference exampleThe structure of the part not explained in the3The configuration is the same as that described in the embodiment.
[0091]
(Constitution)
  As shown in FIG.3Instead of providing one gyro 26 in the insertion portion 2 as in the embodiment (see FIG. 16), three gyro 56 for detecting an angular velocity around one axis are arranged in the insertion portion 2. The axes of the three gyros 56 are arranged so as to be orthogonal to each other.
[0092]
(Operation)
  The operation is3This is the same as the embodiment.
[0093]
(effect)
  According to this embodiment, the first3In addition to the same effects as those of the embodiment, the following effects can be obtained.
  The gyro 56 that detects an angle around one axis can be reduced in size, and by disposing the three gyro 56 in the insertion portion 2 in a distributed manner, the insertion portion can be reduced in diameter.
[0094]
(Seventh reference example)
  FIG. 18 shows the present invention.Seventh reference exampleFIG. 6 is an explanatory diagram for explaining the positional relationship between the imaging element and the gyro.
  BookReference exampleThe structure of the part not explained inFirst reference exampleThe configuration is the same as that described in.
[0095]
(Constitution)
As shown in FIG. 18, the gyro 26 is provided immediately behind the image sensor 57 in the distal end portion 4.
Further, a control circuit 58 that performs signal processing of the gyro 26 and the image sensor 57 is provided in the distal end portion 4. Signals from the gyro 26 and the image sensor 57 are not transmitted from the distal end portion 4 to the hand side via independent signal lines, but are transmitted to the hand side via the control circuit 58.
[0096]
The control circuit 58 is configured to process part or all of the control for the gyro 26 and the image sensor 57 within the distal end portion 4 and further compress the signal to transmit the signal to the hand side.
[0097]
(Operation)
In the front end portion 4, the signal of the image sensor 57 and the signal of the gyro 26 are collectively processed by the control circuit at the front end to share a ground, a common power source, or a portion that can be used in common. Use fewer signal lines.
[0098]
(effect)
  BookReference exampleThe following effects can be obtained.
  Since the signal lines extending from the distal end portion 4 through the insertion portion 2 to the hand side can be reduced, the insertion portion 2 can be reduced in diameter.
[0099]
Further, since the control circuit 58 is disposed in the vicinity of the gyro 26 and the image sensor 57, the control of the gyro 26 and the image sensor 57 can be speeded up.
[0100]
Further, the signal transmitted from the control circuit 58 to the hand side is compressed by the control circuit 58 and transmitted, so that the information from the gyro 26 and the image sensor 57 in the distal end portion 4 can be transmitted to the hand side at high speed. it can.
[0101]
(Eighth reference example)
  FIG. 19 illustrates the present invention.Eighth reference exampleFIG. 5 is an explanatory diagram illustrating a configuration of a position detection unit using a gyro provided near the distal end of the treatment instrument.
[0102]
(Constitution)
As shown in FIG. 19, the endoscope 61 has a treatment instrument insertion channel 62.
The treatment instrument 63 that is inserted through the treatment instrument insertion channel 62 is provided with a gyro 64 near the tip.
[0103]
  The signal output from the gyro 64 isFirst reference exampleIt is designed to be processed in the same way.
[0104]
(Operation)
  When the treatment instrument 63 is inserted into the treatment instrument insertion channel 62 so that the gyro 64 is positioned in the vicinity of the distal end of the insertion section of the endoscope 64, and the insertion section of the endoscope 61 is inserted into the duct in this state. Since the gyro 64 is at a position equivalent to the tip of the insertion portion, the output signal from the gyro 64First reference exampleBy performing the same processing as, the insertion path of the insertion portion can be obtained.
[0105]
Alternatively, the insertion portion may be inserted into the conduit without inserting the treatment instrument 63 into the treatment instrument channel 62, and the treatment instrument 63 may be inserted into the treatment instrument channel 62 later.
[0106]
(effect)
  BookReference exampleThe following effects can be obtained.
  Since the gyro 64 is provided not on the insertion portion of the endoscope but on the treatment instrument 63, the number of improvements to the endoscope can be reduced.
[0107]
  Moreover, even after the insertion portion has already been inserted, the insertion shape of the insertion portion can be known.
(Ninth reference example)
  20 to 21 show the present invention.Ninth reference exampleFIG. 20 is an explanatory diagram for explaining the configuration of the means for reducing the shaking of the screen due to the vibration of the tip portion, and FIG. 21 is an explanation for explaining the insertion state of the insertion portion in the pipe line where the tip portion vibrates. (A) is a figure which shows the state which an insertion part passes an elbow pipe, (B) is a figure which shows the state which the front-end | tip part is contacting the wall surface of a pipe line.
[0108]
  BookReference exampleThe structure of the part not explained inFirst reference exampleThe configuration is the same as that described in.
[0109]
(Constitution)
As shown in FIG. 20, the distal end portion 4 of the endoscope 1 is provided with a visual means 65 including, for example, a CCD having a gyro 26 and a zoom mechanism, and the gyro 26 and the visual means 65 are provided with a signal. The line is connected to the control unit 66 on the hand side.
[0110]
A monitor 67 is connected to the control unit 66, and an observation image acquired by the visual means 65 can be displayed via the control unit 66. At this time, the control unit 66 adjusts the focus by controlling the zoom mechanism of the visual means 65 in accordance with the movement of the tip 4 detected by the gyro 26.
[0111]
Further, the control unit 66 has a function of detecting the vibration of the distal end portion 4 by inputting the output from the gyro 26. The vibration of the tip 4 is detected by, for example, extracting a high frequency component. The control unit 66 has a function of removing the vibration of the observation image based on the detected vibration information of the distal end portion 4.
[0112]
(Operation)
When the insertion portion of the endoscope 1 is inserted into the conduit and the inside of the conduit is observed, the movement of the tip portion 4 is detected by the gyro 26, and the control portion 66 controls the zoom mechanism of the visual means 65 to adjust the focus. I do. As a result, a focused observation image is displayed on the monitor 67.
[0113]
However, for example, when the distal end portion 4 reaches a curved pipeline as shown in FIG. 21A, or when the distal end portion 4 is caught on a wall surface in the pipeline as shown in FIG. The tip portion 4 may vibrate due to friction between the tip portion 4 and the pipe line. If the gyro 26 detects this vibration, the zoom mechanism operates in accordance with this vibration, and it becomes difficult to see the observation image displayed on the monitor 67 as it is.
[0114]
At this time, the control unit 66 distinguishes whether the movement of the distal end portion 4 is a movement caused by bending or a movement caused by vibration. If the movement is caused by vibration, the control unit 66 does not operate the zoom mechanism.
Thereby, even when the tip portion 4 vibrates, the observation image displayed on the monitor 67 is not difficult to see.
[0115]
(effect)
Since the control unit 66 is provided with a function for detecting whether or not the movement of the tip portion 4 detected by the gyro 26 is due to vibration, the focus adjustment mechanism of the visual means 65 is useless even if vibration occurs in the tip portion 4. This makes it easier to see the observation image.
[0116]
(Tenth reference example)
  22 to 23 show the present invention.Tenth reference exampleFIG. 22 is an explanatory diagram for explaining the configuration of a tip portion provided with a gyro using a PSD (position sensitive device), and FIG. 23 is an explanation for explaining the configuration of the gyro using a PSD sensor. FIG. 4A is a diagram for explaining the configuration of a gyro, and FIG. 4B is an explanatory diagram for explaining the configuration of an inertial body.
[0117]
  BookReference exampleThe structure of the part not explained inFirst reference exampleThe configuration is the same as that described in.
[0118]
(Constitution)
  In general, an optical fiber gyro using an optical fiber is used as a gyro for detecting angular velocity.Reference exampleNow, an example of a gyro configured using a PSD sensor or the like will be described.
[0119]
As shown in FIGS. 22 to 23, the inertia body 68 is supported by the elastic body 69 in the distal end portion 4.
A mirror 70 that reflects light is attached to the surface of the inertial body 68, and a light receiving element 72 including a light emitting element 71 such as a semiconductor laser and a PSD sensor is disposed at a position where the mirror 70 can reflect light. Has been. Thereby, the light emitted from the light emitting element 71 is reflected by the mirror 70 and enters the light receiving element 72.
[0120]
The light receiving element 72 includes a PSD sensor 72a and a lens 72b disposed on the optical path of light incident on the PSD sensor 72a.
[0121]
The inertia body 68 is supported by a spring-like elastic body 69 from four directions. When an angular velocity is generated at the tip 4, the inertial body 68 tilts, and the incident position of the light reflected by the mirror 70 changes to the light receiving element 72. The light receiving element 72 detects the incident position of the light and detects the angular velocity. It is supposed to be. Information such as the orientation of the tip 4 can be obtained from the detected angular velocity information.
[0122]
(Operation)
When the direction of the distal end portion 4 changes, the inclination of the inertial body 68 with respect to the distal end portion 4 changes, and the incident position on the light receiving element 72 of the light emitted from the light emitting element 71 and reflected by the mirror 70 changes. The PSD sensor 72a constituting the sensor detects the change in the incident position, and information on the change in the direction of the tip portion 4 is obtained from the angular velocity information output from the PSD sensor 72a.
[0123]
(effect)
  BookReference exampleThe following effects can be obtained.
  A gyro for detecting the orientation and the like of the distal end portion 4 can be easily configured.
[0124]
(Eleventh reference example)
  FIG. 24 shows the present invention.Eleventh reference exampleHowever, it is explanatory drawing explaining the structure of an inertial body.
  In addition, the structure of the site | part which is not demonstrated in this Embodiment isTenth reference exampleThe configuration is the same as that described in.
[0125]
(Constitution)
  In this embodiment,Tenth reference exampleAn example using an inertial body having a configuration different from that of the inertial body 68 (see FIG. 23) described above will be described.
[0126]
As shown in FIG. 24, one end of inertial body 73 is attached to rotating shaft 74 so that inertial body 73 becomes a pendulum, and the other end of inertial body 73 is supported by elastic body 75.
[0127]
(effect)
  According to this embodiment,Tenth reference exampleThe effect similar to the effect by can be obtained.
[0128]
(Twelfth reference example)
  FIG. 25 shows the present invention.Twelfth reference exampleFIG. 2 is an explanatory diagram for explaining the configuration of the device for working inside the apparatus ((A) is a diagram for explaining the overall configuration, and (B) is a diagram for explaining the configuration of the gyro).
[0129]
(Constitution)
FIG. 25A shows a configuration of a device internal working device which is one form of an endoscope.
In order to inspect and repair the steam turbine or the like of the power generation facility, the device internal working device 76 does not disassemble the equipment, but enters the inspection target site such as the turbine blade inside from the inspection hole, and crack corrosion of the inspection target site. Repair work such as inspection, crack grinding and welding repair can be performed.
[0130]
The device internal working device 76 includes an insertion portion 77 formed of a flexible flexible tube, three independently bendable bending portions 79 provided on the distal end side of the insertion portion 77, and a distal end side relative to the bending portion 79. And the like.
[0131]
Sensor portions 80 are provided between the distal end portion 78 and the bending portion 79, between the bending portions 79, and the like, and each sensor portion 80 is provided with a gyro 80a in the circumferential direction.
[0132]
On the distal end surface of the distal end portion 78, a visual means 81 made of an image guide fiber or the like, an illuminating means 82 made of a light guide fiber or the like, two repair manipulators 84 having a repair device 83 for performing repair work at the tip, etc. Is provided.
[0133]
The repair manipulator 84 has two curved portions 85 (not shown).
The bending portions 79 and 85 are configured to bend by an SMA (not shown) 86 (in this specification, a shape memory alloy is referred to as SMA).
[0134]
The SMA 86 has a property that it contracts when heated and expands to its original length when cooled (cooled) or a bent shape. The SMA 86 is indirectly heated by applying current directly to the SMA 86 or by providing a heater. The bending portions 79 and 85 can be bent by heating or the like.
[0135]
Furthermore, the device internal working device 76 is inserted from a control unit 91 (not shown) that controls the bending portions 79 and 85, a detection unit 92 (not shown) that detects signals from the plurality of gyros 80a, the control unit 91, and the detection unit 92. A calculation unit 93 (not shown) for calculating the shape is included.
[0136]
FIG. 25B shows the structure of the gyro 80a.
A vibrating body 88 is provided at the center on the silicon substrate 87, and the vibrating body 88 is supported by the elastic portion 90 from two opposing directions. In other two directions facing each other with the vibrating body 88 interposed therebetween, a detection unit 89 that detects a change in capacitance is provided.
[0137]
The vibrating body 88 vibrates in the y direction in the figure with respect to the silicon substrate 87, and when an angular velocity ω is generated around the z axis in the figure, electrostatic vibration is generated in a minute gap between the vibrating body 88 and the silicon substrate. A change in capacitance occurs, and this change in capacitance can be detected by the comb-shaped detection unit 89 to detect the angular velocity ω.
[0138]
By providing each sensor unit 80 with a plurality of gyros 80a, it is possible to detect a three-dimensional change in the position of each sensor unit 80.
[0139]
(Operation)
When the device working device 76 is inserted into the device, each bending portion 79 is inserted while being bent according to the pipe shape.
[0140]
At this time, by detecting the angular velocity by the gyro 80a of each sensor unit 80, it is possible to detect the amount of movement of the location where each sensor unit 80 is arranged, and by combining the information of each bending unit 79 by the control unit 91, The insertion shape of the device internal work device 76 can be known, and the arrival position of the distal end portion 78 of the device internal work device 76 can be known by tracing the pre-input pipe map information.
[0141]
When the tip 78 reaches the working position, the output of the gyro 80a at the position of each sensor unit 80 is detected by a detection unit 92 (not shown) to maintain the curved shape, that is, maintain the position of the tip 78. Therefore, the repair work can be performed by moving only the repair manipulator 84.
[0142]
(effect)
The device for working inside the apparatus 76 has a plurality of curved portions 79,... And can be inserted into a complex-shaped pipe line, thereby improving insertability, that is, operability. In addition, since complex operations can be performed, blind spots are reduced when observation and work are performed, and oversight and the like can be reduced.
[0143]
(13th reference example)
(Constitution)
  First embodimentFromFirst3Embodiment, And the first to eleventh reference examplesThen, the bending operation of the bending portion is performed by pulling the bending wire extending from the operation portion on the hand side to the bending portion.Reference exampleNow, another configuration will be described.
[0144]
For example, a part of a bending wire is formed by an SMA wire formed of SMA that contracts when heated and expands when cooled or allowed to cool (hereinafter simply referred to as cooling), and a lead wire is connected to the SMA wire. By controlling the energization heating from the operation section on the side, the bending operation of the bending section can be controlled.
[0145]
Note that the SMA wire may be indirectly heated by a heater. Moreover, it is good also as a structure which makes a bending part bend | curve by the SMA plate which memorize | stored the bending shape. At this time, the SMA plate may be indirectly heated by a heater or may be electrically heated.
[0146]
  Also, the first embodimentFromFirst3Embodiment, And the first to eleventh reference examplesThe SMA wire may be provided so as to control heating to the SMA wire in accordance with information output from the gyro.
[0147]
(Operation)
When the bending portion is bent, the amount of current supplied to the SMA wire is adjusted, and heating is controlled according to the amount of bending to be bent.
[0148]
(effect)
Even when the insertion portion is long, the bending operation can be performed stably.
[0149]
(14th reference example)
  26 to 30 show the present invention.14th reference exampleFIG. 26 is an explanatory diagram for explaining the overall configuration of the endoscope, FIG. 27 is an explanatory diagram for explaining the configuration of the distal end portion ((A) is an explanatory diagram, and (B) is an AA cross section of (A)). FIG. 28 is an explanatory view for explaining the configuration of the bending portion, FIG. 29 is an explanatory view for explaining the configuration of the bending portion, and FIG. 30 is an explanatory view for explaining the operation of the air injection port.
[0150]
(Constitution)
As shown in FIGS. 26 to 27, the endoscope 100 includes an elongated insertion portion 101, a bendable bending portion 102 provided on the distal end side of the insertion portion, and a distal end portion 103 provided on the distal end side from the bending portion 102. Etc.
[0151]
The tip portion 103 is provided with an optical system constituting the visual means 104 and the illumination means 105, a gyro 124 for detecting an angular velocity around three axes, and the like.
[0152]
The visual means 104 is composed of a CCD 106 or the like which is an image pickup means for picking up an object. The CCD 106 is connected to the CCU 107 on the hand side with a cable 108 a so that an observation image is displayed on the monitor 109 connected to the CCU 107. It has become.
[0153]
The illumination unit 105 includes a light guide fiber or the like, and the light guide fiber is connected to the light source device 110 through the cable 108b or the like from the distal end portion 103.
[0154]
A compressor 113 is connected to the proximal side of the insertion unit 101 via a bending control unit 111 that drives and controls the bending operation of the bending unit 102. The bending control unit 111 includes a bending joystick 112a that performs a bending operation. It is provided.
[0155]
Further, the compressor 113 is connected to an air pipe 115 disposed inside the insertion portion 101 via the air pressure control unit 114, and the air pipe 115 is opened to the air injection port 116 on the side surface of the tip portion 103. Yes.
[0156]
Three air ducts 115 are provided, and the air injection ports 116 are opened at three sides of the circumference of the circumference of the tip portion 103, that is, at 120 ° intervals. The air pressure control unit 114 controls the pressure of air flowing through these three air pipes 115, and is provided with an injection joystick 112b for operating the injection from the three air injection ports 116 of the distal end portion 103. By ejecting air from the three air ejection ports 116, the distal end portion 103 of the endoscope 100 can be lifted and the distal end portion 103 can be positioned in the space.
[0157]
The subtle movement of the tip portion 103 at this time is detected by the gyro 124, and the air pressure control unit 114 is configured to control the air pressure to be injected so as to maintain the position of the tip portion 103.
[0158]
As shown in FIG. 28, a built-in object in which cables such as a CCD cable and a light guide fiber are arranged at the approximate center of a flexible bending drive tube 117 formed of silicon, polyurethane or the like that drives the bending portion 102 by air pressure. A plurality of, for example, four pressurizing lumens 119 are formed on the outer periphery of the built-in object lumen 118 to pressurize the periphery with the supplied air pressure.
[0159]
Air tubes 120 formed of a synthetic resin such as elongated PTFE (polytetrafluoroethylene) are connected to the proximal side of each pressurizing lumen 119.
[0160]
The distal end side of the pressurizing lumen 119 of the bending drive tube 117 is sealed with a sealing member 121 such as a silicon material, and the gap between the air tube 120 and the pressurizing lumen 119 is also sealed by injecting a silicon material or the like. .
[0161]
The pressurizing lumen 119 of the bending drive tube 117 is pressurized by the air fed from the hand side.
[0162]
As shown in FIG. 29, on the outer periphery and inner periphery of the bending drive tube 117, for example, a regulating member 122 formed by a contact coil or the like that restricts expansion in the radial direction when the bending drive tube 117 is pressurized. 123 are respectively arranged, and the regulating member 122 is covered with a mesh blade 122a in which a metal wire is knitted into a cylindrical shape. Inside the regulating member 123, cables such as a CCD cable and a light guide fiber are arranged as built-in objects.
[0163]
(Operation)
When observing a position above or over the step as shown in FIG. 26, the air pressure control unit changes the air pressure sent to the air pipe 115 so that the tip 103 is lifted by operating the injection joystick 112b. 114 controls, air is injected from the air injection port 116, and the front-end | tip part 103 floats.
[0164]
The air pressure control unit 111 detects the direction of the tip portion 103 based on the information detected by the gyro 124 and selects the air injection ports 116a, 116b, and 116c for injecting air.
[0165]
For example, when the tip 103 is to be lifted upward, if the air injection port 116a is upward as shown in FIG. 30A, air is injected from the air injection ports 116b and 116c at the same ratio. Is done. When the air injection port 116a faces downward as shown in FIG. 30B, air is injected from the air injection port 116a. As shown in FIG. 30C, when the air injection port 116a is directed obliquely upward, an amount of air corresponding to these directions is injected from the air injection ports 116b and 116c.
[0166]
Moreover, the height etc. which are injected from the air injection ports 116a, 116b, and 116c and float the front-end | tip part 103 according to the operation amount of the injection joystick 112b, for example, the angle which tilts a lever, can be adjusted. Further, when the injection joystick 112b is maintained in a constant state, the tip portion 103 is maintained at a constant position in the space. Here, when the position and orientation of the tip portion 103 slightly change while the tip portion 103 floats, the air pressure control unit 111 detects a change in the orientation of the tip portion 103 from the output of the gyro 124, and the air injection port 116a, The air pressure ejected from 116b and 116c is adjusted, and the position of the tip 103 in the space is maintained constant.
[0167]
Here, when the bending portion 102 is bent by operating the bending joystick 112a with the distal end portion 103 lifted, the direction of the distal end portion 103 is changed by this bending operation. Is changed by the gyro 124, but the air pressure control unit 114 controls the air pressure so as not to return the position to the change in the direction and position of the distal end portion 103 according to the bending amount.
[0168]
(effect)
You can observe high places and get over high steps, improving the operability of the endoscope.
[0169]
(15th reference example)
  31 to 33 show the present invention.15th reference exampleFIG. 31 is an explanatory diagram for explaining the overall configuration of the endoscope, FIG. 32 is an explanatory diagram for explaining the configuration of the air pressure control unit, etc., and FIG. 33 is an explanatory diagram for explaining the arrangement of the air injection ports and the pressurizing lumen. ((A) is an explanatory view, (B) is a cross-sectional view taken along the line AA in (A), and illustrates the arrangement of the air injection ports. (C) is a cross-sectional view taken along the line BB in (A). It is a figure explaining arrangement | positioning.
[0170]
  BookReference exampleThe structure of the part not explained in14th reference exampleThe configuration is the same as that described in.
[0171]
(Constitution)
  As shown in FIG.14th reference exampleUnlike the above, the air pressure control unit 130 controls both the air pressure ejected from the air ejection port 116 and the air pressure for causing the bending unit 102 to bend. The air pressure control unit 130 is operated by one joystick 131.
[0172]
As shown in FIG. 32, in the air pressure control unit 130, a pipe line from the compressor 113 branches and is connected to electromagnetic valves 127 and 128 for controlling air pressure.
[0173]
Each of the solenoid valves 127 and 128 has three exhaust ports. The exhaust port of the electromagnetic valve 127 is connected to the pressurizing lumen 134 of the bending drive tube 125 by an air tube 126. The exhaust port of the electromagnetic valve 128 is connected to the air injection port 116 through an air line 115.
[0174]
The solenoid valves 127 and 128 are controlled by the solenoid valve control unit 129. A joystick 131 is connected to the solenoid valve control unit 129, and the air pressure sent to each air injection port 116 and each pressurizing lumen 134 is controlled. The
[0175]
The positions of the three pressurizing lumens 134 of the curved drive tube 125 and the positions of the air injection ports 116 are shifted by 180 ° as shown in FIG.
[0176]
(Operation)
In the system shown in FIG. 31, when the joystick 131 is operated, the air pressure injected from the air injection port 116 and the air pressure that causes the bending portion 102 to bend are controlled according to the operation amount and direction of the joystick 131.
[0177]
For example, when the tip portion 103 and the curved portion 102 are oriented as shown in FIG. 33, if the joystick 131 is operated to lift the tip portion 103 upward, the same pressure is applied from the air injection ports 116b and 116c. Then, air is injected, and at the same time, the pressurizing lumens 134b and 134c are pressurized with the same pressure.
[0178]
Then, the injection pressure of the air injection port 116 and the air pressure of the pressurizing lumen 134 are controlled so that the direction of the tip portion 103 is horizontal at any height.
[0179]
(effect)
  BookReference exampleAccording to14th reference exampleIn addition to the effects obtained in the above, the following effects can be obtained.
  Since the orientation of the tip portion 103 is kept horizontal at any height, the operability is improved.
[0180]
The air pressure applied to the bending pressurizing lumen and the air pressure injected from the injection port 116 are interlocked, and the operation is easy.
[0181]
(16th reference example)
  FIG. 34 shows the present invention.16th reference exampleFIG. 6 is a perspective view for explaining a configuration of a joystick.
[0182]
  BookReference exampleThe structure of the part not explained in14th reference exampleThe configuration is the same as that described in.
[0183]
(Constitution)
  14th reference exampleIn FIG. 26, two bending joysticks 112a and two injection joysticks 112b are provided separately.Reference exampleThen, these were comprised with one joystick.
[0184]
As shown in FIG. 34, the joystick 135 has two upper and lower stages, and a bending operation lever 137 for operating the bending drive of the bending portion 102 and an operation lever 136 for injection are integrated. .
[0185]
(Operation)
  By operating the two operating levers 136 and 137 of the joystick 135,14th reference exampleBehaves the same as
[0186]
(effect)
The two operation levers 126 and 127 for bending and jetting are integrated with one joystick 135, and can be operated with one hand, improving operability.
[0187]
  In addition,14th reference exampleThru16th reference exampleThe means for driving the bending portion according to the present invention is not limited to the one constituted by the bending drive tube. For example, as shown in FIG. 35, the bending wire 141 connected to the bending piece 138 located at the most distal end of the bending tube 140 in which the bending piece 138 is connected by a rivet 139 so as to be bent is manually pulled from the hand side. It may be configured to be bent. Also, as shown in FIG. 36, the bending wire 141 of the bending tube 140 is connected to the chain 142, the gear 143 is engaged with the chain 142, and the gear 143 is rotated by the motor 144 (not shown). It is also possible to adopt a configuration that allows
[0188]
In addition to using a gyro for detecting the amount of movement of the tip, an acceleration sensor may be provided.
[0189]
In order to control the speed at which the tip 103 shown in FIG. 26 operates, for example, ascends, air is injected from the three injection ports 116, and the injection from the injection ports 116 located in the direction in which the movement is desired is stopped or the injection pressure is set. You may control by weakening.
[0190]
(Seventeenth reference example)
  37 to 45 show the present invention.Seventeenth reference example37 is an explanatory diagram for explaining the overall configuration of the device for working inside the apparatus, FIG. 38 is an explanatory diagram for explaining the configuration of the bending portion ((A) is a diagram for explaining the overall configuration of the bending portion, and (B) FIG. 39 is an explanatory view for explaining the structure of the bending drive tube, FIG. 40 is an explanatory view for explaining the structure of the SMA wire, and FIG. 41 is for explaining the structure of the repair manipulator. 42 is an explanatory diagram for explaining the configuration of the thin film heater, FIG. 43 is an explanatory diagram for explaining the configuration of the gyro ((A) is a diagram for explaining the configuration of the silicon substrate, and (B) is A in FIG. -A sectional view, (C) is a diagram for explaining how to combine silicon substrates), FIG. 44 is an explanatory diagram for explaining the operation of the repair manipulator when the device for working inside the apparatus is vibrating, and FIG. A theory explaining the condition before and after repairing cracks Figure ((A) is before the repair state, (B) the state after repair) is.
[0191]
  In addition,Twelfth reference exampleMembers with the same name asReference exampleIf there is no special explanation,Twelfth reference exampleIt is a member having the same role and configuration.
[0192]
(Constitution)
  FIG. 37 shows the configuration of the device internal working device 201.
  The role of the device internal work device 201 isTwelfth reference exampleThis is similar to the device internal working device 76 according to the above.
[0193]
The device for working inside the apparatus 201 includes an insertion portion 202 made of a flexible tube, and three bending portions 205a, 205b, and 205c that are provided on the distal end side of the insertion portion 202 and each have bending driving means 204 and can be driven independently. Furthermore, it has the hard front-end | tip part 203 etc. which were provided in the front end side.
[0194]
The front end surface of the distal end portion 203 is provided with visual means 206, illumination means 207, and two repair manipulators 208.
[0195]
The repair manipulator 208 is provided with a repair device 209 such as a grinding device for grinding cracks and scratches and a welding device for welding.
[0196]
Each of the repair manipulators 208 has two curved portions so that positioning for performing repair work and work on a minute portion can be performed.
[0197]
The tip portion 203 is provided with a gyro 210 as position detecting means capable of detecting the angular velocity of the tip portion, and can detect the movement of the tip portion.
[0198]
The bending drive means 204 has, for example, an SMA wire 211 that contracts when heated and expands when cooled, and can cause each bending portion to perform a bending operation by heating.
[0199]
Each of the repair manipulators 208 has, for example, an SMA plate 212 that exhibits a bent shape when heated and a linear shape when cooled, in two curved portions, and can bend the two curved portions independently.
[0200]
The configuration of the bending drive means 204 will be described below.
[0201]
As shown in FIGS. 38 to 39, the bending driving means 204 has a bending driving tube 213 having a structure in which a notch is provided in a resin tube such as Teflon or urethane.
[0202]
The outer periphery of the curved drive tube 213 is covered with a flexible outer tube 215 made of silicon, polyurethane, or the like.
[0203]
On the inner peripheral surface of the curved drive tube 213, four annular pipes 214 are welded or the like at a plurality of positions in the longitudinal direction, at positions where the inner periphery is equally divided into four, and at the same position on the inner peripheral surface at each position. It is fixed to each part by.
[0204]
An SMA wire 211 is inserted through the pipe 214 so as to be parallel to the longitudinal direction over the entire length in the longitudinal direction in which the pipe 214 is disposed, and the SMA wire 211 is fixed to the pipe 214. Four SMA wires 211 are arranged on each of the curved portions 205a, 205b, and 205c.
[0205]
As shown in FIG. 40, a linear heater 216 is wound around the outer periphery of the SMA wire 211. Thereby, the SMA wire 211 is indirectly heated, and the bending portions 205a, 205b, and 205c can be bent.
[0206]
Moreover, it is possible to perform heating control independently on the four SMA wires 211 of each bending portion, and a complicated operation can be performed.
The curved drive tube 213 may be formed of a metal such as a superelastic alloy.
[0207]
Next, the configuration of the repair manipulator 208 will be described below.
As shown in FIG. 41, in the repair manipulator 208, two SMA plates 212a and 212b are connected to each other with an annular connecting member 217 shifted by 90 °.
[0208]
The connecting member 217 has a concave groove into which the SMA plates 212a and 212b can be fitted, and the SMA plates 212a and 212b are fitted into the grooves.
[0209]
On the opposite side of the connecting member of the SMA plate 212a, an annular ring member 218 having a concave groove into which the SMA plate 212a can be fitted is fixedly attached, and similarly attached to the SMA plate 212b on the hand side. It has been.
[0210]
A thin film heater 219 is attached to the surfaces of the SMA plates 212a and 212b.
[0211]
As shown in FIG. 42, the thin film heater 219 includes a heating unit 220 having a heating area that is complicatedly divided and having a strain detection function inside, and a control chip 221 that performs signal processing between the heating units 220. is doing.
[0212]
As shown in FIG. 41, which is a configuration example in which a welding rod 222 used for welding, for example, is arranged using the repair manipulator 8 having this configuration, an annular guide member 223 is provided on the inner periphery of the connecting member 217 and the ring member 218. Is fixed, and the welding rod 222 is inserted through the hole of the guide member 223. The welding rod 222 is sent from the proximal side to the distal end side.
[0213]
The configuration of the gyro 210 will be described below.
[0214]
  The structure of the silicon substrate 224 constituting the gyro 210 shown in FIGS.Twelfth reference exampleThis is the same structure as the structure of the silicon substrate 87 (see FIG. 25B) described above.
[0215]
As shown in FIG. 43C, a gyro 210 that can recognize a change in position in three axial directions is configured by combining three silicon substrates 224 so as to be orthogonal to each other.
[0216]
The bending drive means 204 is controlled by a control device 228 on the hand side (not shown). Further, the repair manipulator 208 and the gyro 210 are connected to a control device 228 (not shown) on the hand side once via a control circuit 229 (not shown) provided in the distal end portion 203.
[0217]
Note that the bending drive means 204 is not limited to being configured by the SMA wire 211, and may be configured by an SMA plate. Further, the repair manipulator 208 is not limited to the one constituted by the SMA plates 212a and 212b, and may each be constituted by an SMA wire. Each heating method is not limited to heating by a heater, and may be energization heating.
[0218]
(Operation)
First, the device internal working device 201 is inserted into the inspection target device. At this time, since the angular velocity of the tip 203 is detected by the gyro 210, it is possible to know the direction of the gravity direction and the like in the observation image obtained by the visual means 206, so that it easily reaches the repaired part inside the inspection target device. can do.
[0219]
When the distal end portion 203 reaches the repair portion inside the inspection target device, the position of the distal end portion 203 is maintained near the repair portion. At this time, while detecting a change in the direction of the distal end portion 203 by the gyro 210, the SMA wire 211 constituting the bending drive means 204 and the SMA plate 212 constituting the repair manipulator 208 are controlled to control the distal end portion 203 and the repair portion. The manipulator 208 is moved to and maintained at a position near the repaired portion. Next, repair work is performed using a repair device such as a grinding device or a welding device while maintaining the position of the tip portion 203 at a position near the repair portion. At this time, since the gyro 210 can detect a shift in the position of the tip 203 during repair due to vibration or the like, the position of the tip 203 is corrected based on this information.
[0220]
Alternatively, when the position of the tip 203 is displaced as indicated by the broken line in FIG. 44 due to vibration during repair work, the displacement of the position of the tip 203 is detected by the gyro 210 and repair is performed based on this information. The manipulator for repair 208 is controlled to return the tip of the repair manipulator 208 to the position of the repair portion.
[0221]
As shown in FIG. 44, when there is a crack in the repaired part, for example, a grinding device which is the repair manipulator 208 is brought into contact with the repaired part to scrape the crack, and repair work is performed to round the crack and relieve stress concentration. At this time, since the repair manipulator 208 is directly brought into contact with the repair portion to perform repair work, the tip portion 203 is subjected to a load such as vibration, and the bending drive means 204 is heated to the SMA wire 211 as compared with the unloaded state. A difference may occur in the amount, and the position of the tip 203 may be displaced. In this case, the displacement of the position of the distal end portion 203 is detected by the gyro 210, and this displacement is corrected.
[0222]
(effect)
  BookReference exampleThe following effects can be obtained.
  The positions of the distal end portion 203 and the repair manipulator 208 during the repair work can be maintained, and an accurate work can be performed.
[0223]
(Eighteenth reference example)
  FIG. 46 shows the present invention.Eighteenth reference exampleHowever, it is explanatory drawing explaining the structure of a front-end | tip part.
  In addition, the structure of the site | part which is not demonstrated in this Embodiment isSeventeenth reference exampleThe configuration is the same as that described in.
[0224]
(Constitution)
  As shown in FIG.Reference exampleThenSeventeenth reference exampleInstead of providing the tip portion 203 (see FIG. 37) according to the above, a tip portion 235 is provided.
[0225]
A control circuit 232 for controlling the operation of the SMA plate 212 of the repair manipulator 208 is provided on the SMA plate 212 together with the thin film heater 219. The two repair manipulators 208 are connected by a signal line 230.
[0226]
A thin film signal line 231 is connected to the end of the thin film heater 219, and the control circuit 232 is connected to the signal processing circuit 233. The gyro 210 is also connected to the signal processing circuit 233.
[0227]
The signal processing circuit 233 is connected to a control device 228 on the hand side (not shown) via a signal line 231.
[0228]
(Operation)
The thin film heater 219 is controlled by a control circuit 232 provided on the same SMA plate 212. The control circuit 232 transmits and receives only signals indicating the minimum necessary instructions and states to and from the signal processing circuit 233. At this time, transmission / reception of signals to / from the control device 228 on the hand side is performed via the signal processing circuit 233.
[0229]
Transmission / reception of signals for alignment between the two manipulators 208 is performed between the control circuits 232 via the signal line 230, and only necessary minimum instructions and results are transmitted via the signal processing device 233. To / from the control device 228 on the hand side.
Information on the angular velocity of the tip 235 detected by the gyro 210 is processed by the signal processing circuit 233, and information on the position and orientation of the tip 235 is calculated. The signal processing circuit 2 transmits and receives only the minimum necessary result information and the like to the control device 228 on the hand side.
[0230]
When the repair manipulator 208 is controlled in accordance with the information detected by the gyro 210, the signal processing circuit 2 performs processing in the distal end portion 235, and only information such as the minimum necessary instructions and results is provided on the hand side. To / from the control device 228.
[0231]
(effect)
Since signal transmission / reception with the control device 228 on the hand side is performed via the signal processing circuit 233, the signal line between the tip 235 and the hand side can be reduced.
[0232]
Since most of the control of the repair manipulator 208 and the processing of the data detected by the gyro 210 are performed by the control circuit 232 and the signal processing circuit 233 in the distal end portion 235, the amount of signals transmitted to and received from the hand side is minimized. The processing speed can be improved.
[0233]
(Nineteenth reference example)
  47 to 48 show the present invention.Nineteenth reference exampleFIG. 47 is an explanatory diagram for explaining the arrangement of the air tubes in the bending portion, and FIG. 48 is a block diagram for explaining the configuration of means for controlling the bending portion.
[0234]
  BookReference exampleThe structure of the part not explained inSeventeenth reference exampleThe configuration is the same as that described in.
[0235]
(Constitution)
  As shown in FIG.Seventeenth reference exampleInstead of providing the bending drive means 204 (see FIG. 37) according toReference exampleThen, a bending drive tube 236 which is a bending driving means is provided.
[0236]
The curved drive tube 236 has a large lumen 237 at the center and three small elliptical lumens 238 at the periphery.
[0237]
In the bending drive tube 236, lumens 238 are independently partitioned for each of the three bending portions 239a, 239b, 239c, and the air tube 240 is independently connected to each lumen. The central lumen 237 communicates over the entire length from the tip to the hand side.
In addition, a pump 242 is connected to the air tube 240 via a control valve 241 on the hand side so that the pump 242 and the control valve 241 can be controlled by the control device 243.
[0238]
(Operation)
FIG. 48 shows a block diagram including a control device for driving the bending drive means 4.
[0239]
First, when which bending portion is to be bent in which direction is input to the control device 243, the control valve 241 is opened and closed, and the fluid is sent from the pump 242 to the lumen of the corresponding bending portion.
[0240]
When a fluid is sent into the lumen, the lumen expands, so that it bends in a direction opposite to the expanded lumen. By controlling the bending direction for each bending portion, a complicated bending operation can be performed.
[0241]
(effect)
The bending portions 239a, 239b, and 239c are configured by the bending drive tube 236, so that the bending portion can be configured with a simple configuration and the size can be reduced.
[0242]
  The present invention is the first embodiment.FromFirst3Embodiment, And the first to nineteenth reference examplesThe present invention is not limited to the embodiments described above, and various modifications can be made without departing from the scope of the invention.
[0243]
[Appendix]
(1) an operation unit for grasping and operating the endoscope;
An elongated insertion portion extending from the insertion portion and inserted into the observation target duct;
A tip portion which is a tip portion of the insertion portion;
Observation means such as an image sensor built in the tip for imaging an observation object and obtaining an observation image;
Means for displaying the observation content on a screen;
In an endoscope having
An input means for inputting in advance map information such as a bending direction or a branching direction of a curved part or a branched part in a pipeline;
Map information storage means for storing the map information;
Means for automatically recognizing insertion information, which is information on the direction in which the insertion portion has advanced at a curved part or a branched part in a pipeline, from the observation video or the operator determines the observation video Means for manual input,
Means for following the map information according to the insertion information and obtaining insertion path information that is a path inserted by the insertion unit;
Position detecting means for detecting information on the direction of the endoscope tip with respect to the direction of gravity;
Means for calculating the gravitational direction in the observation image by following the insertion path information from information on the orientation of the endoscope tip portion with respect to the gravitational direction;
An endoscope characterized by comprising:
[0244]
(2) an elongated insertion part to be inserted into a pipeline to be observed;
A tip portion which is a tip portion of the insertion portion;
A bending portion that is a portion of a bendable insertion portion located behind the tip portion;
An operation unit connected to the proximal side of the insertion unit for gripping and operating the endoscope;
An observation means provided at the tip portion for observing an observation object and obtaining an observation image;
In an endoscope having
Position detecting means provided in the operation unit;
An input means for inputting in advance map information such as a bending direction or a branching direction of a curved part or a branched part in a pipeline;
Map information storage means for storing the map information;
Correction means for tracing the map information according to the position information detected by the position detection means, detecting a shift in the position information, and correcting the shift in the position information;
An endoscope characterized by comprising:
[0245]
(3) an elongated insertion portion to be inserted into a pipeline to be observed;
A tip portion which is a tip portion of the insertion portion;
A bending portion that is a portion of a bendable insertion portion located behind the tip portion;
An operation unit connected to the proximal side of the insertion unit for gripping and operating the endoscope;
An observation means provided at the tip portion for observing an observation object and obtaining an observation image;
In an endoscope having
Position detecting means provided at the tip;
An input means for inputting in advance map information such as a bending direction or a branching direction of a curved part or a branched part in a pipeline;
Map information storage means for storing the map information;
Correction means for tracing the map information according to the position information detected by the position detection means, detecting a shift in the position information, and correcting the shift in the position information;
An endoscope characterized by comprising:
[0246]
(4) an elongated insertion part to be inserted into the observation target duct;
A tip portion which is a tip portion of the insertion portion;
A bending portion that is a portion of a bendable insertion portion located behind the tip portion;
An operation unit connected to the proximal side of the insertion unit for gripping and operating the endoscope;
An observation means provided at the tip portion for observing the observation object to obtain the observation object;
In an endoscope having
Position detecting means provided at the tip;
A focus adjustment mechanism provided in the observation means;
Control means for controlling the focus adjustment mechanism by the output of the position detection means;
The endoscope characterized by having.
[0247]
(5) an elongated insertion portion to be inserted into a pipeline to be observed;
A tip portion which is a tip portion of the insertion portion;
A bending portion that is a portion of a bendable insertion portion located behind the tip portion;
An operation unit connected to the proximal side of the insertion unit for gripping and operating the endoscope;
An observation means provided at the tip portion for observing an observation object and obtaining an observation image;
In an endoscope having
The position detecting means is provided in the insertion portion behind the bending portion.
An endoscope characterized by that.
[0248]
(6) an elongated insertion portion to be inserted into the observation target duct;
A tip portion which is a tip portion of the insertion portion;
A bending portion that is a portion of a bendable insertion portion located behind the tip portion;
An operation unit connected to the proximal side of the insertion unit for gripping and operating the endoscope;
An observation means provided at the tip portion for observing an observation object and obtaining an observation image;
In an endoscope having
A treatment instrument insertion channel comprising a tube provided in the endoscope for inserting a treatment instrument from the hand side to the distal end;
Angular velocity detection means provided near the distal end portion of the treatment instrument;
A bending portion driving means for driving the bending portion;
Control means for controlling the bending portion driving means according to the output of each speed detecting means;
An endoscope characterized by comprising:
[0249]
(7) In the endoscope according to appendix (1) to appendix (6),
The position detecting means is constituted by angular velocity detecting means.
[0250]
(8) In the endoscope according to appendix (1) to appendix (6),
The position detecting means is constituted by an angular velocity sensor capable of detecting angular velocities around three axes.
[0251]
(9) In the endoscope according to appendix (1) to appendix (6),
The position detecting means is composed of three angular velocity sensors around one axis whose detected angular velocity axes are orthogonal to each other.
[0252]
(10) In the endoscope according to appendix (7),
The angular velocity detection means is constituted by a gyro that detects a vibration change.
[0253]
(11) In the endoscope according to appendix (10),
The angular velocity detecting means includes a vibrator provided on a silicon substrate,
An elastic body that holds the vibrating body;
A comb-shaped capacitance detection unit provided between a vibrating body for detecting a change in capacitance between the vibrating body and the silicon substrate;
A control circuit for detecting the output of the capacitance detector;
Have
[0254]
(12) In the endoscope according to appendix (3),
The position detection means includes an angular velocity detection means and an acceleration sensor.
[0255]
(13) In the endoscope according to appendix (3),
The position detection means includes an angular velocity detection means and a magnetic sensor.
[0256]
(14) In the endoscope according to appendix (3),
The position detection means includes an angular velocity detection means and an insertion amount detection means.
[0257]
(15) In the endoscope according to appendix (14),
The insertion amount detection means is composed of a strain sensor and a pressure sensor provided at equal intervals in the insertion portion.
[0258]
(16) In the endoscope according to appendix (3),
The position detection means includes an inertial body for receiving an inertial force, a mirror attached to a surface of the inertial body, an elastic body that supports the inertial body, a light emitting element that emits light to the mirror, And a light receiving element for detecting reflected light from the mirror.
[0259]
(17) In the endoscope according to appendix (3),
A semiconductor image sensor provided as the observation means and a means for processing an output signal of the position detection means are provided at the tip portion.
[0260]
(18) In the endoscope according to appendix (3),
The correction unit superimposes an insertion path image obtained by imaging the information of the insertion path detected from the output of the position detection unit on the map image obtained by imaging the map information, A position shift of the insertion path image is detected as an image at a position such as a branch, and the information on the insertion path is corrected by comparing with map information at the position where the shift is detected.
[0261]
(19) In the endoscope according to appendix (4),
The focus adjustment mechanism includes a lens, a vibrating body that vibrates the lens, and a control unit that controls the vibrating body.
[0262]
(20) In the endoscope according to appendix (19),
The vibrating body is composed of a piezoelectric element.
[0263]
(21) In the endoscope according to appendix (4),
The endoscope is a fiberscope;
A TV camera unit detachably attached to the eyepiece of the fiberscope;
A focus adjustment mechanism provided in the TV camera unit;
Control means for controlling the focus adjustment mechanism in accordance with the output of the position detection means;
Was established.
[0264]
(22) In the endoscope according to appendix (5),
A plurality of the curved portions are disposed,
Position detecting means is disposed between the curved portions,
A bending drive means for driving the bending portion to be bendable;
Control means for detecting the shape of the bending portion from the bending amount detection means for each of the plurality of bending portions and the output of the position detection means and controlling the bending driving means;
Was established.
[0265]
(23) In an endoscope including a main body having a bending portion and a visual means at a distal end portion of the bending portion,
A manipulator provided at the tip of the main body and having a curved portion;
Position detecting means provided at the tip of the main body,
Control means for controlling the bending of the bending portion of the manipulator and the bending portion of the main body according to the output of the position detection means;
An endoscope provided with
[0266]
(24) In the endoscope according to appendix (23),
Calculating means for calculating the position of the tip portion of the manipulator from the output of the position detecting means and the output of the bending portion of the manipulator;
Control means for controlling the bending of the bending portion of the manipulator or the bending of the bending portion of the main body so as to maintain the position of the tip portion of the manipulator calculated by the calculating means;
Was established.
[0267]
(25) In the endoscope according to appendix (23),
The manipulator has a repair device for repairing welding, grinding or the like at the tip portion.
[0268]
(26) In the endoscope according to appendix (23),
The position detecting means is constituted by angular velocity detecting means.
[0269]
(27) In the endoscope according to appendix (23),
The position detecting means can detect angular velocities around three axes.
[0270]
(28) In the endoscope according to appendix (26),
The angular velocity detecting means detects a change in capacitance.
[0271]
(29) In the endoscope according to appendix (26),
The angular velocity detecting means includes a vibrator provided on a silicon substrate,
An elastic body that holds the vibrating body;
A comb-shaped capacitance detection unit provided between a vibrating body for detecting a change in capacitance between the vibrating body and the silicon substrate;
A control circuit for detecting the output of the capacitance detector;
Have
[0272]
(30) In the endoscope according to appendix (23),
The bending portion of the main body is driven with a shape memory alloy.
[0273]
(31) In the endoscope according to appendix (30),
The shape memory alloy expands and contracts in the axial direction due to temperature changes.
[0274]
(32) In the endoscope according to appendix (23),
The bending portion of the main body is driven by a bending actuator that expands and contracts by changing the fluid pressure.
[0275]
【The invention's effect】
  The endoscope of the present invention is
  Bending operation means was providedAn operation unit;
  Extend from the operation section and insert into the observation target ductBe doneAn insertion part;
  A bending portion that is provided in the insertion portion and performs a bending operation in accordance with an operation in the bending operation means;
  A tip portion which is a tip portion of the insertion portion;
  At the tipProvided,Take an image of the object to be observedObservation means to obtainWhen,
  Means for displaying the observation image on a screen;,
  The tip portion is provided at a location not affected by the bending operation in the bending portion.Position detecting means for detecting direction information with respect to the gravity direction of,
  TheEquipped,
  The position detecting means is provided in the operation unit.By
  Since there is no change in the output from the gyro due to the bending operation of the bending portion, errors due to the bending operation when detecting the insertion path of the insertion portion can be reduced.
[Brief description of the drawings]
FIG. 1 to FIG. 5 relate to a first embodiment of the present invention, and FIG. 1 is an explanatory diagram for explaining the overall configuration of an endoscope;
FIG. 2 is an explanatory diagram for explaining a state in which an insertion portion is inserted into a pipe line having a T-shaped branch in front.
FIG. 3 is an explanatory diagram for explaining a state in which an insertion portion is inserted into a pipe line having an elbow pipe in the front thereof;
4 is an example of an observation image in a pipeline ((A) is an observation image in a pipeline having a T-shaped branch in the front, and (B) is an observation in a pipeline having an elbow in the front. FIG. Video)
FIG. 5 is an explanatory view showing the state of the insertion portion that advances in the pipeline while facing various insertion directions;
FIG. 6 is an explanatory diagram including a partial cross-sectional view illustrating a configuration of a bending knob according to a second embodiment of the present invention.
7 to 10 show the present invention.First reference exampleExplanatory drawing explaining the structure of a front-end | tip part concerning
[Fig. 8] Example of screen display
FIG. 9 is an explanatory diagram for explaining an example of an insertion shape of an insertion portion in a pipeline.
10A and 10B are explanatory diagrams for explaining an operation for correcting an insertion shape (FIG. 10A is a diagram for explaining an operation for correction, and FIG. 10B is a diagram for explaining an example of a portion for performing correction);
FIG. 11 shows the present invention.Second reference example(A) is a diagram for explaining the overall configuration of the endoscope, (B) is a diagram for explaining the attachment and detachment portion with the external camera.
12 to 13 show the present invention.Third reference exampleFIG. 12 is an explanatory diagram for explaining the configuration of the pressure-sensitive sensor provided in the insertion portion.
FIG. 13 shows an example of an output waveform of the pressure sensor.
FIG. 14 shows the present invention.Fourth reference exampleFIG. 4 is an explanatory diagram for explaining the configuration of the insertion amount detecting means by the striped pattern stamped on the insertion part ((A) shows an example of the striped pattern stamped on the insertion part, and (B) reads the striped pattern. Figure showing the configuration for detecting the insertion amount)
FIG. 15 shows the present invention.Fifth reference exampleExplanatory drawing explaining the structure of the position detection means using a magnetic sensor
FIG. 16 shows the first of the present invention.3Explanatory drawing explaining the structure of the position detection means using the gyro provided in the insertion part in the vicinity of the rear end of the curved part according to the embodiment
FIG. 17 shows the present invention.Sixth reference exampleFIG. 4 is an explanatory diagram for explaining the configuration of the position detecting means using three gyros for detecting the rotational angular velocity around one axis.
FIG. 18 shows the present invention.Seventh reference exampleExplanatory drawing explaining the positional relationship between an image sensor and a gyroscope
FIG. 19 shows the present invention.Eighth reference exampleExplanatory drawing explaining the structure of the position detection means using the gyro provided near the front-end | tip of a treatment tool concerning
[Figure2020 to 21 show the present invention.Ninth reference exampleFIG. 21 is an explanatory diagram for explaining the configuration of a means for reducing the shaking of the screen due to the vibration of the tip.
[Figure21Explanatory drawing explaining the insertion state of the insertion part into the pipe line where the tip part vibrates ((A) is a diagram showing the state where the insertion part passes through the elbow pipe, and (B) is the wall surface of the pipe line) The figure which shows the state where the tip is in contact)
22 to 23 show the present invention.Tenth reference exampleExplanatory drawing explaining the structure of the front-end | tip part which provided the gyro using a PSD sensor in connection with
23A and 23B are explanatory diagrams for explaining the configuration of a gyro using a PSD sensor (FIG. 23A is a diagram for explaining the configuration of a gyro, and FIG. 23B is an explanatory diagram for explaining the configuration of an inertial body).
FIG. 24 shows the present invention.Eleventh reference exampleExplanatory drawing explaining the structure of an inertial body in connection with
FIG. 25 shows the present invention.Twelfth reference example(A) is a figure explaining the whole structure, (B) is a figure explaining the structure of a gyro.
FIG. 26 to FIG. 30 show the present invention.14th reference exampleFIG. 26 is an explanatory diagram for explaining the overall configuration of the endoscope.
FIGS. 27A and 27B are explanatory diagrams for explaining the structure of the tip (A is an explanatory diagram, and FIG. 27B is a cross-sectional view taken along line AA in FIG. 27A)
FIG. 28 is an explanatory diagram illustrating the configuration of a bending portion.
FIG. 29 is an explanatory diagram for explaining a configuration of a bending portion.
FIG. 30 is an explanatory diagram for explaining the operation of the air injection port.
FIG. 31 to FIG. 33 show the present invention.15th reference exampleFIG. 31 is an explanatory diagram for explaining the overall configuration of the endoscope.
FIG. 32 is an explanatory diagram for explaining the configuration of a pneumatic control unit, etc.
FIGS. 33A and 33B are explanatory views for explaining the arrangement of the air injection ports and the pressurizing lumen (FIG. 33A is an explanatory view, and FIG. 33B is a cross-sectional view taken along the line AA of FIG. (C) is a cross-sectional view taken along the line BB of (A), illustrating the arrangement of the pressure lumens)
FIG. 34 is a diagram of the present invention.16th reference exampleThe perspective view explaining the structure of a joystick according to
FIG. 35 is an explanatory diagram illustrating a configuration of a bending portion using a bending piece.
FIG. 36 is an explanatory diagram for explaining the configuration of a bending wire.
FIG. 37 to FIG. 45 are diagrams of the present invention.Seventeenth reference exampleFIG. 37 is an explanatory diagram for explaining the overall configuration of the device for working inside the apparatus.
38A and 38B are explanatory diagrams for explaining the configuration of the bending portion (FIG. 38A is a diagram for explaining the entire configuration of the bending portion, and FIG. 38B is a cross-sectional view taken along line AA in FIG. 38A).
FIG. 39 is an explanatory view for explaining the configuration of the bending drive tube.
FIG. 40 is an explanatory diagram for explaining the configuration of an SMA wire.
FIG. 41 is an explanatory diagram illustrating the configuration of a repair manipulator
FIG. 42 is an explanatory diagram illustrating the configuration of a thin film heater
43A and 43B are explanatory diagrams for explaining the configuration of the gyro (A is a diagram for explaining the configuration of the silicon substrate, FIG. 43B is a cross-sectional view taken along the line AA in FIG. 43A, and FIG. To explain)
FIG. 44 is an explanatory diagram for explaining the operation of the repair manipulator when the device for working inside the apparatus is vibrating.
FIG. 45 is an explanatory diagram for explaining the state before and after repairing a crack ((A) is a state before repair, (B) is a state after repair)
FIG. 46 of the present inventionEighteenth reference exampleExplanatory drawing explaining the structure of a front-end | tip part concerning
47 to 48 are diagrams of the present invention.Nineteenth reference exampleFIG. 47 is an explanatory diagram for explaining the arrangement of the air tubes in the curved portion.
FIG. 48 is a block diagram for explaining the configuration of means for controlling the bending portion;
[Explanation of symbols]
1 ... Endoscope
2 ... Insertion section
3. Curved part
4 ... Tip
5. Operation unit
6 ... Gyro
7. Light source device
8 ... CCU
9 ... Universal code
10 ... Monitor
11 ... Key input device
12 ... Storage unit
13 ... Analysis Department
14 ... Calculation unit
15 ... Bending wire
16 ... Curved handle
17 ... Curved handle
18 ... pipe
19 ... pipe
20 ... Gear
21 ... Encoder
22 ... Encoder
23. Calculation unit
24. Observation image display section
25 ... Map display section
26 ... Gyro
27 ... Acceleration sensor
28: Correction unit
29 ... Fiberscope
30 ... Insertion section
31 ... curved portion
32 ... tip
33. Operation unit
34 ... Light source device
35 ... Gyro
36 ... Control unit
37 ... Eyepiece
38 ... TV camera
39 ... Monitor
40 ... Lens
41 ... Piezoelectric element
42 ... Ring
43 ... Electrode
44 ... Electrode
45 ... Lens frame
46 ... Pressure-sensitive sensor
47. Angular velocity detector
48 ... Pressure detector
49 ... Analysis Department
50 ... Striped pattern
51. Scanner
52. Calculation unit
53. Control unit
54. Channel for inserting treatment instrument
55. Treatment tool
56 ... Gyro
57 ... Image sensor
58. Control circuit
59 ... Magnetic sensor
60 ... Magnet
61 ... Endoscope
62 ... Channel for treatment instrument insertion
63 ... treatment tool
64 ... Gyro
65. Visual means
66 ... Control unit
67 ... Monitor
68 ... Inertial body
69. Elastic body
70 ... Mirror
71 ... Light emitting device
72. Light emitting element (A) PSD sensor (B) lens
73 ... Inertial body
74 ... Rotating shaft
75 ... Elastic body
76 ... Device for working inside the equipment
77 ... Insertion section
78 ... tip
79: first to third bending portions
80 ... Gyro sensor unit (80a)
81. Visual means
82: Illumination means
83 ... Repair device
84 ... Manipulator for repair
85: Curved part
86 ... SMA
87 ... Silicon substrate
88 ... Vibrating body
89. Detection part
90 ... Elastic part
91 ... Control unit
92 ... Detection unit
93 ... Calculation unit
100: Endoscope
101 ... Insertion section
102 ... curved portion
103 ... tip
104. Visual means
105: Illumination means
106 ... CCD
107 ... CCU
108 ... Cable
109 ... monitor
110: Light source
111 ... Bending control unit
112 ... Joystick a for curving b for jetting
113 ... Compressor
114 ... Air pressure control unit
115 ... Air line
116 ... Air injection port
117: Curved drive tube
118 ... Lumen for built-in objects
119 ... Lumen for pressurization
120 ... Air tube
121 ... Sealing member
122 ... Restriction member
123 ... Regulating member
124 ... Gyro
125 ... Curve drive tube
126 ... Air tube
127 ... Solenoid valve
128 ... Solenoid valve
129 ... Solenoid valve control unit
130: Air pressure control unit
131 ... Joystick
132 ... Air tube bundle for bending
133: Pipe bundle for injection
134 ... Lumen for pressurization
135 ... Joystick
136 ... Lever for bending
137 ... Lever for injection
138 ... Curve piece
139 ... Rivets
140 ... curved tube
141 ... Bending wire
142 ... Chain
143 ... Gear
144: Motor
201: Device for working inside equipment
202 ... Insertion section
203 ... tip
204: bending drive means
205 ... 1st, 2nd, 3rd bending part
206 ... visual means
207 ... Illumination means
208 ... Manipulator for repair
209 ... Repair device
210 ... Gyro
211 ... SMA wire
212 ... SMA plate
213 ... Curved drive tube
214 ... Pipe
215 ... outer tube
216 ... Linear heater
217 ... Connecting member
218 ... Ring member
219 ... Thin film heater
220 ... heating unit
221: Control chip
222 ... welding rod
223 ... Guide member
224 ... Silicon substrate
225 ... Vibrating body
226... Detection unit
227 ... Elastic part
228 ... Control device
229 ... Control circuit
230 ... Signal line
231 ... Signal line
232 ... Control circuit
233 ... Signal processing circuit
234 ... outer tube
235 ... tip
236 ... curved drive tube
237 ... Lumen
238 ... Lumen
239: first to third bending portions
240 ... Air tube
241 ... Control valve
242 ... Pump
243 ... Control device

Claims (3)

An operation unit provided with a bending operation means;
An insertion portion that extends from the operation portion and is inserted into a duct to be observed;
A bending portion that is provided in the insertion portion and performs a bending operation in accordance with an operation in the bending operation means;
A tip portion which is a tip portion of the insertion portion;
An observation means provided at the tip, for obtaining an observation image by imaging an observation object;
Means for displaying the observation image on a screen;
A position detecting means provided in the operation section, for detecting information on the direction of the tip portion with respect to the direction of gravity;
Means for detecting an operation amount made in the bending operation means, and outputting the operation amount in association with the bending shape of the bending portion;
Means for detecting the gravitational direction of the distal end portion as a function of the curved shape of the curved portion based on the curved shape of the curved portion and information on the orientation of the distal end portion with respect to the gravitational direction;
An endoscope, characterized by comprising a. An operation unit provided with a bending operation means;
An insertion portion that extends from the operation portion and is inserted into a duct to be observed;
A bending portion that is provided in the insertion portion and performs a bending operation in accordance with an operation in the bending operation means;
A tip portion which is a tip portion of the insertion portion;
An observation means provided at the tip, for obtaining an observation image by imaging an observation object;
Means for displaying the observation image on a screen;
Position detecting means provided at a position immediately behind the bending portion in the insertion portion, and detecting information on the orientation of the tip portion with respect to the gravitational direction;
Means for detecting an operation amount made in the bending operation means, and outputting the operation amount in association with the bending shape of the bending portion;
Means for detecting the gravitational direction of the distal end portion as a function of the curved shape of the curved portion based on the curved shape of the curved portion and information on the orientation of the distal end portion with respect to the gravitational direction;
An endoscope, characterized by comprising a. Means for storing in advance map information such as a bending direction or a branching direction of a curved part or a branched part in a pipeline;
Means for automatically recognizing insertion information, which is information on the direction in which the insertion portion has advanced at a curved part or a branched part in a pipeline, from the observation video or the operator determines the observation video Means for manual input,
Means for storing the insertion information;
Means for following the map information according to the insertion information and obtaining insertion path information that is a path inserted by the insertion unit;
Means for calculating the gravitational direction in the observation image by following the insertion path information from information on the orientation of the tip with respect to the gravitational direction;
The endoscope according to claim 1, further comprising:

Images