JP4339823B2 - Endoscope device - Google Patents

Description

  The present invention relates to an endoscope apparatus that moves a zoom lens or the like provided at a distal end portion of an insertion portion by an actuator.

In recent years, endoscopes have been widely used in the medical field and the industrial field.
For example, in the endoscope apparatus disclosed in Japanese Patent Laid-Open No. 9-322566, a part of the objective optical system is configured by a zoom lens, and the zoom lens is connected to a movable body that is moved by a piezoelectric actuator. An apparatus that changes the magnification of an observation image by moving a zoom lens is disclosed.
The endoscope apparatus having such a configuration is convenient because the routine inspection and the close examination observation can be performed by changing the magnification by one endoscope.
Japanese Patent Laid-Open No. 9-322566

As a conventional technique, there is one that detects the connection between the endoscope and the control device by a dip switch or the like provided in the endoscope. In this case, the actuator conducting wire in the endoscope or the control device is not connected. It is not possible to detect that the actuator has become unable to drive due to disconnection, and the drive power is being supplied to the actuator energization line. There is a risk of malfunction due to contact with the part.
If the zoom operation is repeated excessively and complicatedly, the actuator may generate heat and the characteristics may shorten the life or the characteristics may be deteriorated. In addition, when a malfunction occurs due to excessive heat generation, for example, when the image stops moving at the enlarged end, it is difficult to remove the endoscope when interrupting the endoscopy because the entire visual field inside the body cavity cannot be secured. .

(Object of invention)
The present invention has been made in view of the above-described points, and an object of the present invention is to provide an endoscope apparatus that can prevent a reduction in life and the like and can easily perform an interruption operation of an endoscopic examination.

The present invention provides an endoscope apparatus comprising: an endoscope having a zoom lens driven by an actuator; and a control device that is detachably connected to the endoscope and controls driving of the actuator. Is a current detection means for detecting an actuator current flowing through the actuator, and first, second and third threshold values corresponding to a short circuit, release and heat generation state of the actuator, respectively, and a second threshold. Threshold value setting means for setting a threshold value having a relationship of value <third threshold value <first threshold value; and a current value of the actuator current detected by the current detection means. Based on the determination result of the comparison determination means for comparing with any one of the threshold values set by the setting means, the drive waveform of the actuator is set. A driving waveform setting unit, based on an output signal from the driving waveform setting section anda drive waveform control means for controlling the driving waveform of the actuator, the drive waveform control means, the current value of the actuator current If it is greater than the first threshold value, the actuator is controlled to control the drive waveform so as to stop the actuator because the actuator is in a short circuit state, and the first threshold value is greater than the third threshold value. If the threshold is less than or equal to the threshold value, the actuator is in a heat generation state, and after moving the zoom lens to a position where the entire field of view is secured, the drive waveform of the actuator is controlled so as to stop the actuator, If the threshold value is less than or equal to the third threshold value, the actuator is assumed to be in a normal state and Eta controls the driving waveform of the actuator to perform a normal operation, is smaller than the second threshold value, the actuator controls the driving waveform of the actuator to stop the actuator as a released state It is characterized by that.

  According to the present invention, when a drive signal is applied to the actuator and a release state, a short-circuit state, and a heat generation state occur at that time, the actuator is immediately stopped from being driven. It can be quickly prevented from flowing and damaging electrical components, deteriorating characteristics, shortening the service life, and disconnection.

Embodiments of the present invention will be described below with reference to the drawings.
First, prior to the description of the embodiments of the present invention, reference examples necessary for describing the embodiments of the present invention will be described.

1 to 12 relate to a reference example 1 of the present invention, FIG. 1 shows an appearance of an endoscope apparatus of the reference example 1 of the present invention, and FIG. 2 shows an entire configuration of the endoscope apparatus of the reference example 1 . 3 shows an optical system provided at the distal end portion of the endoscope and an actuator for driving the optical system, FIG. 4 shows an outer shape of the actuator, FIG. 5 shows an internal structure of the actuator, and FIG. 6 shows a drive waveform. 7 shows a front view of the zoom control device, FIG. 8 shows a schematic configuration in the zoom control device, FIG. 9 shows a drive pulse ratio, and FIG. 10 shows the outline of the DIP switch and each switch. FIG. 11 shows a specific circuit configuration of the receiving circuit, and FIG. 12 shows a drive pulse ratio in the modification.

An endoscope apparatus 1 of Reference Example 1 of the present invention shown in FIGS. 1 and 2 is a zoom electronic endoscope (hereinafter simply referred to as an endoscope) having a zoom function (which can be adjusted to any magnification from enlargement to wide angle). 2), a light source device 3 that supplies illumination light to the light guide of the endoscope 2, a camera control unit (abbreviated as CCU) 4 that performs signal processing on the imaging means, and CCU 4 It includes a color monitor 5 that displays a video signal, a zoom control device 6 that performs enlargement / wide angle control (also simply referred to as zoom control), and a foot switch 7 connected to the zoom control device 6.

  The endoscope 2 includes an elongated insertion portion 8 to be inserted into a patient's body, an operation portion 9 provided at the proximal end of the insertion portion 8, and a universal cord 11 having one end extended from the operation portion 9. The connector 12 (see FIG. 1) provided at the other end of the universal cord 11 is detachably connected to the light source device 3.

  As shown in FIG. 1, the insertion portion 8 is provided with a hard distal end portion 13 incorporating an imaging means, a bendable bending portion 14 provided at the rear end of the distal end portion 13, and a rear end of the bending portion 14. The bending portion 14 can be bent by operating the bending operation knob 16 provided on the operation portion 9.

  As shown in FIG. 1, a connector 18 at one end of the video cable 17 is connected to the connector 12, and a connector 19 at the other end of the video cable 17 is detachably connected to the CCU 4.

  One end of the zoom cable 20 is also connected to the connector 12, and the zoom connector 21 at the other end of the zoom cable 20 is connected to one end of the connection cable 23 via the connection connector 22, and the connector at the other end of the connection cable 23. 24 is detachably connected to the zoom control device 6.

  The zoom connector 21 can be washed with a waterproof structure by attaching a waterproof cap 25 for the zoom connector. Further, the zoom cable 20 may be an integral type that does not have the connection connector 22 and the zoom connector 21 and also serves as the connection cable 23. At this time, the connector 24 is replaced with the zoom connector 21. The zoom cable 20 may have a connector that can be detachably connected to the connector 12.

  The zoom control device 6 is detachably connected to a foot switch connector 27 provided at the other end of a connection cord 26 having one end connected to a foot switch 7 as a remote switch. This foot switch 7 is provided with an enlargement operation foot switch 7a and a wide angle operation foot switch 7b.

  The foot switch 7 is provided with an enlargement operation foot switch 7a and a wide-angle operation foot switch 7b on a slope so that the foot switch 7 can be easily operated by stepping on the foot. For example, an inclined plate is attached to the bottom surface of the foot switch 7 with a screw or the like, or integrally attached with an adhesive or the like.

  As shown in FIG. 2, the light guide fiber 31 is inserted into the endoscope 2, and the connector 12 is connected to the light source device 3, so that the illumination light from the lamp 32 in the light source device 3 is transmitted through the light guide fiber 31. The illumination light is incident on one incident end, transmitted, and emitted from the other end fixed to the distal end portion 13 of the insertion portion 8 via the illumination lens 33 to illuminate a subject such as an affected portion.

  As shown in FIGS. 2 and 3, an objective optical system 34 as a zoom optical system is passed through the distal end portion 13 of the endoscope 2, and the objective optical system 34 is passed near the imaging position of the objective optical system 34. An image pickup device for picking up the observed image, preferably a solid-state image pickup device, specifically, a charge coupled device (abbreviated as CCD) 35 is incorporated.

The objective optical system 34 is provided with a zoom lens 38 that can move in the optical axis direction. The zoom lens 38 can be moved at a wide angle / enlarged (the enlargement ratio can be adjusted). In FIG. 3, each lens of the objective optical system 34 is shown in a half section.
Further, an actuator 39 for driving a zoom lens 38 as a driven body is provided in the distal end portion 13 and is connected to the zoom lens 38. The zoom lens 38 is moved in the optical axis direction by driving the actuator 39.

  As shown in FIGS. 4 and 5, the actuator 39 is a so-called impact-type piezoelectric actuator (rapid deformation actuator), and is provided so as to be movable in the axial direction in a cylindrical pipe 41 and the inside of the pipe 41. A friction plate 44 serving as a frictional force generating mechanism that is arranged to engage with a moving body 42 and a notch 43 provided on the side of the pipe 41 and press the moving body 42 against the inner surface of the pipe 41 in the direction perpendicular to the axis thereof. And have. The friction plate 44 is configured by a plate member that can be elastically deformed and bent into a triangular mountain shape, and the moving body 42 moves in pressure contact with the friction plate 44.

  A fitting hole 45 is provided in a side portion of the distal end portion of the moving body 42, and an output shaft attached to the zoom lens 38 is fitted into and fixed to the fitting hole 45. A guide 66 having a shape in which the pipe is cut in half is provided on the distal end side of the pipe 41 in order to hold the distal end portion of the moving body 42.

  The moving body 42 includes a sliding pipe 67 whose outer surface abuts against the inner surface of the pipe 41 and slides, an upper lid 68 and a lower lid 69 provided at both openings of the sliding pipe 67, and an inner portion of the sliding pipe 67. And a piezoelectric element 60 having one end firmly fixed to the lower lid 69. A lead wire 61 for supplying driving power to the piezoelectric element 60 is connected to the piezoelectric element 60, and the lead wire 61 extends to the connector 12 of the endoscope 2. As shown in FIG. Is electrically connected to the zoom control device 6.

The piezoelectric element 60 is formed, for example, by laminating ceramic piezoelectric members such as barium titanate, lead zirconate titanate, and porcelain, and providing electrodes thereon. When a force is applied to move the moving body 42 with a force smaller than the friction force generated by the pressure contact of the friction plate 44, the movement of the moving body 42 is suppressed, and the moving body 42 is moved with a force larger than the friction force. When the moving force is applied, the moving body 42 moves overcoming the frictional force. This reference example employs an impact type piezoelectric actuator that applies a drive signal having a sharply changing waveform to the actuator 39 in order to generate a force larger than the frictional force.

  As shown in FIG. 2, the drive circuit 51 in the zoom control device 6 generates a drive signal having the waveform shown in FIG. 6, and the piezoelectric element 60 is mechanically moved in the direction parallel to the optical axis in FIG. Stretch or shrink.

  More specifically, as shown in FIG. 6A, the drive circuit 51 has a drive signal having a waveform obtained by full-wave rectification of a sine wave (also referred to as a first drive signal), and a drive circuit 51 shown in FIG. Thus, a drive signal (also referred to as a second drive signal) having a waveform that is an inversion of the first drive signal is output. In FIG. 6, the horizontal axis represents time, the vertical axis represents the voltage of the drive signal, and each drive signal has an amplitude of 90V, for example.

  These waveforms include a waveform portion that causes the piezoelectric element 60 to slowly expand or contract in time and a waveform portion that allows the piezoelectric element 60 to expand or contract sharply.

  For example, when the first drive signal is applied to the piezoelectric element 60, the time-differential waveform of the voltage is inverted discontinuously (in this case, the piezoelectric element 60 changes from a contracting direction to a sudden extending direction). The moving body 42 moves to the right side in FIG. 3, for example, about several microns per cycle of the drive signal.

  Due to the movement of the moving body 42, the actuator 39 is also moved to the right side in FIG. 3, and along with the movement of the actuator 39, the zoom lens 38 is also moved to the right side. In this case, the objective optical system 34 is enlarged from before the movement. Enters the lens state.

  On the other hand, when the second drive signal is applied to the piezoelectric element 60, the actuator 39 is moved to the left in FIG. 3, and the zoom lens 38 is also moved to the left as the actuator 39 is moved. The objective optical system 34 is in a lens state with a wider angle than before the movement.

  The zoom lens 38 constituting the objective optical system 34 is different from a general so-called zoom lens (the focus point does not change even when the magnification is changed), and the focus point changes (a magnification change lens) when the magnification is changed. Further, when zooming, the depth of field is changed to, for example, 5 to 100 mm on the wide angle side, and the depth of field is changed to 2 to 5 mm on the enlarged side.

In the reference example 1 , basically, a minute distance is moved by one cycle in the drive signal in FIG. 6A or 6B, and the number of drive signals is controlled in units of one cycle of the drive signal. Therefore, instead of the drive signal, the drive pulse or the number of drive signals is abbreviated as the number of drive pulses.

  As shown in FIG. 2, the image signal picked up by the CCD 35 is amplified by the preamplifier 36 and then input to the video signal processing circuit 37 in the CCU 4 to generate a standard video signal. The image of the subject is displayed on the monitor screen.

  The operation unit 9 is provided with a zoom switch 40 for operating the actuator in the vicinity of the bending knob 16.

  An operation signal when the zoom switch 40 or the foot switch 7 is operated is input to the control circuit 52 via an input / output interface (hereinafter abbreviated as I / O) 59 provided in the zoom control device 6.

  That is, the zoom switch 40 and the foot switch 7 are connected to the zoom control device 6 with a cable or the like to form a remote switch provided at a separated position.

  The zoom switch 40 includes an enlargement side (Tele side or less, T direction) switch 40T and a wide angle side (Wide direction or less, W direction) switch 40W. For example, when the zoom switch 40 is tilted forward, the T-direction switch 40T is turned ON, and when the zoom switch 40 is tilted rearward, the W-direction switch 40W is turned ON.

  As shown in FIG. 2, the zoom control device 6 further includes a ROM 53 storing a drive waveform and a program connected to the control circuit 52, a system setting RAM 54 storing system setting information, and a front panel 48 thereof. Mode switches 49, 50 and the like.

  FIG. 2 shows a schematic configuration, and a more specific configuration will be described later with reference to FIG. The control circuit 52 includes a CPU 55 (see FIG. 8). The zoom switch 40, a step mode switch 49 provided on the front panel 48, and a step mode switch 49 are provided according to a program stored in the ROM 53 shown in FIG. In response to an input from the speed mode switch 50 or the like, the drive circuit 51 is instructed to output a drive waveform of the actuator 39, drive power, etc., a level indicator display, or the like.

  As shown in FIG. 7, a power switch 46 and a connector receiver 47 to which the connector 24 is detachably connected are provided on the front surface of the zoom control device 6, and a front panel 48 for setting modes and the like is provided above these. It is provided.

  On the front panel 48, when the remote switch is pressed once, a step mode switch 49 for setting to operate in a step mode in which the actuator 39 (or the zoom lens 38) is moved step by step by a predetermined amount, and the remote switch is pressed. In this case, a speed mode switch (or continuous movement mode switch) 50 is provided which continuously moves for the time pressed.

  Further, in the step mode and the speed mode, switches 49a to 49e and 50a to 50e are provided for setting the moving amount or moving speed in a plurality of stages. These switches 49a to 49e and 50a to 50e have an indicator function indicating that they have been selected in addition to the switch function to be selected.

  For example, when the step mode switch 49 is pressed to switch from the speed mode to the step mode, for example, in the initial setting state (level), the switch mode of the switch 49c of the level 3 is set to the selected step mode. The indicator is turned on (by an indicator such as an LED) so that the surgeon can understand.

  In the step mode, when the remote switch is pressed once, the number of signals for outputting the drive signal within a certain time T1 can be set in five stages with the switches 49a to 49e.

  For example, in FIG. 7, the switch 49a (level 1) has the smallest number of signals, and the switch 49e (level) 5 has the number of signals set to be the largest in order. The switch 49c (level 3) has an intermediate number of signals, and is normally set to a value that allows sufficient movement operation with this setting.

  Further, even if the characteristics of the actuator 39 deteriorate due to long-term use, in that case, setting the switch 49d (level) 4 or the switch 49e (level) 5 (the characteristics are degraded). No) Ease of operation equivalent to normal use is obtained.

A similar function is also provided in the speed mode. In this speed mode, the time Ta during which the drive signal is output within a unit time Tb when the remote switch is pressed can be set in five stages by the switches 50a to 50e.
For example, in FIG. 7, the switch 50a (level) 1 is set in a stepwise manner so that the drive signal output time Ta is the shortest, and the switch 50e (level) 5 is the longest time Ta. Yes.

  The switch 50c (level 3) has an intermediate time Ta, and is normally set to a value that allows a sufficient moving operation with this setting. For example, when the remote switch is pressed in the state of the switch 50c, the movement from the widest end to the widest end or from the widest end to the widest end can be moved in one second.

  Further, even if the characteristics of the actuator 39 deteriorate due to long-term use, in that case, setting the switch 50d (level) 4 or the switch 50e (level) 5 (the characteristics are degraded). No) Ease of operation equivalent to normal use is obtained.

Further, in the present reference example , as shown in FIG. 2, for example, a dip switch 63 having information for setting a desired characteristic corresponding to the characteristic of the actuator 39 incorporated in the endoscope 2 is provided for each endoscope 2. It is.

  When the endoscope 2 is connected to the zoom control device 6, the information of the dip switch 63 is transferred to the control circuit 52 (or the CPU 55 constituting the control circuit 52) via the I / O port 59 of FIG. Entered. More specifically, as shown in FIG. 11, the setting information of the dip switch 63 is transmitted from the I / O port 59 to the CPU 55 via the receiving circuit 62.

  In the zoom control device 6 shown in FIG. 8, when the foot switch 7, the zoom switch 40, the mode switch 49 of the front panel 48, etc. are operated, the respective signals are transmitted via the I / O port 59 (the control circuit of FIG. 52) is input to the CPU 55.

The CPU 55 is connected to a RAM 54 that stores mode selection information and the like and is used in a work area that the CPU 55 processes in accordance with a program.
In this reference example , the setting information is also input from the DIP switch 63 to the CPU 55 via the I / O port 59.

  Then, when the remote switch is operated, the CPU 55 refers to the setting information of the DIP switch 63 and reads the drive data written in advance in the ROM 53 with respect to the field programmable gate array (FPGA) 56. The FPGA 56 applies the address signal corresponding to the ROM 53 by this control signal, and reads the drive waveform data.

  This drive waveform data is converted into an analog value by the D / A converter 57, further amplified by the amplifier circuit 58 that constitutes the drive circuit 51, becomes a drive signal, and is applied to the actuator 39.

  The drive signal applied to the actuator 39 has the waveform shown in FIG. 6 (A) or FIG. 6 (B), but is applied at a drive pulse ratio as shown in FIG. 9 (A) or FIG. 9 (B). Is done.

  Here, the drive pulse ratio is defined by a ratio Ta / Tb with respect to the time Tb including the energized portion and the energized stop portion including the energized portion where the drive pulse is actually output. In other words, it can be said that it is defined by the appearance rate of the actually output drive waveform.

  For example, as shown in FIG. 9 (A), in the case of a drive pulse for driving the actuator 39 to the T side, if the time Ta of the energized portion and the combined time of the energized portion and the energized pause portion are Tb, the drive pulse The ratio is calculated as Ta / Tb (multiply by 100 in the case of percentage display), and when the actuator 39 is driven, the energized portion and the energized stop portion are repeated with a period Tb.

Similarly, as shown in FIG. 9B, in the case of the drive pulse for driving the actuator 39 to the W side, the time Ta ′ of the energized portion and the time obtained by combining the energized portion and the energized pause portion are Tb ′. Then, the drive pulse ratio is calculated by Ta ′ / Tb ′ (multiply by 100 in the case of percentage display), and when the actuator 39 is driven, the energized portion and the energized stop portion are repeated with a period Tb ′. In this reference example , the time of the energized portion and the time of the energized stop portion are each set to an integral multiple of the basic period Tc or Tc ′ of the drive pulse.

If the drive pulse ratio in this case is changed, the moving speed by the actuator 39 naturally changes. In this reference example , in order to align the variations of the actuators 39 built in each endoscope 2, a dip switch 63 having setting information for aligning the variations of the actuators 39 is provided in each endoscope 2. When the setting information of the dip switch 63 is read and the actuator 39 is driven, the actuator 39 is driven by a drive signal such as a drive pulse ratio corresponding to the actuator 39.

  A more detailed shape of the dip switch 63 is shown in FIG. 10A, FIG. 10B shows details of the setting information, and FIG. 10C shows specific specifications of the setting information.

  As shown in FIG. 10 (A), the dip switch 63 is composed of, for example, seven switches SW1 to SW7. As shown in FIG. 10 (B), each switch SWI (I = 1 to 7) is turned ON / OFF. A function is assigned.

  For example, the function of setting the W → T drive frequency is assigned to the switch SW1. More specifically, as shown in FIG. 10C, when the switch SW1 is OFF, the W → T drive frequency is set to 19.5 kHz, and when the switch SW1 is ON, the W → T drive frequency is 13.0 kHz. Will be set to.

  Here, W → T means a case of moving in the T direction, and T → W means a case of moving in the W direction.

  The switches SW2 and SW3 are assigned the function of setting the W → T drive pulse ratio. More specifically, as shown in FIG. 10C, when both the switches SW2 and SW3 are OFF, the W → T drive pulse ratio is 40%, and when the switch SW2 is OFF and SW3 is ON, W → T When the drive pulse ratio is 60%, the switch SW2 is ON and SW3 is OFF, the W → T drive pulse ratio is 80%, and when both the switches SW2 and SW3 are ON, the W → T drive pulse ratio is 100%. Is set to be

  The switch SW4 is assigned a function of setting the T → W drive frequency. The switches SW5 and SW6 are assigned a function of setting the T → W drive pulse ratio. Furthermore, the switch SW7 is assigned a scope connection detection function. When the CPU 55 detects the scope connection by turning on the switch SW7, the setting of the drive pulse frequency and the drive pulse ratio is made with reference to the setting information by the switches SW1 to SW6. Like to do.

FIG. 11 shows the configuration of the receiving circuit 62 that receives the setting information of the DIP switch 63.
One end of each switch SWI of the DIP switch 63 is connected to one end of a resistor R1 constituting the receiving circuit 62 via the zoom cable 20, and the other end of the resistor R1 is connected to a power supply terminal via an LED 72 constituting the photocoupler 71. (Specifically, + 5V). The other end of each switch SWI is connected to the ground.

The collector of the phototransistor 73 constituting the photocoupler 71 in pair with the LED 72 is connected to the power supply terminal via the resistor R2, the emitter of the phototransistor 73 is connected to the ground, and the collector serves as the output terminal of the receiving circuit 62. To the I / O port 59.
One end of the resistor R1 to which each switch SWI of the DIP switch 63 is connected via the zoom cable 20 is connected to the power supply end and the ground via two diodes D1 and D2 constituting the limiter circuit 74, respectively. In FIG. 11, only the portion connected to the switch SW1 is shown, but the circuit configuration for the other switches SW2 to SW7 is the same, and is omitted.

  For example, when the switch SW1 is OFF, no current flows through the LED 72, so no light is emitted, the phototransistor 73 is turned OFF, the collector potential becomes the power supply end level, and the CPU 55 passes through the I / O port 59. CPU 55 determines that the CPU 55 is OFF.

  Further, when the switch SW1 is ON, a current flows through the LED 72 to emit light, the phototransistor 73 is turned ON, and the collector potential becomes almost ground level and is transmitted to the CPU 55 via the I / O port 59. The CPU 55 determines that it is ON.

  Then, the CPU 55 sets the drive pulse frequency and the drive pulse ratio in each mode stored in the RAM 54 according to the setting information of the dip switch 63, for example, so that the movement characteristics by the actuator 39 mounted on the endoscope 2 and the like. Even if there is variation, the drive pulse frequency and the drive pulse ratio are set according to the characteristics of the actuator 39, so that the movement characteristics and the like by the actuator 39 are aligned, that is, the variation is eliminated.

According to the reference example 1 configured as described above, even when the actuator 39 mounted on the endoscope 2 has variations, the connector 24 is connected to the zoom control device 6 via the zoom cable 20 or the like. The setting information such as the drive pulse frequency and the drive pulse ratio suitable for the actuator 39 by the dip switch 63 provided in the endoscope 2 is sent to the CPU 55 in the zoom control device 6 through the receiving circuit 62 and the like. A drive condition for driving the actuator 39 is set by setting information.

  For example, when the moving speed of the zoom lens 38 when operating in the speed mode by the actuator 39 mounted on the endoscope 2 is larger than the standard value, the drive pulse ratio is set in advance from the standard value. Information is set by the dip switch 63 so that the moving speed of the zoom lens 38 when it is reduced and operated in the speed mode is not much different from that of the standard value, and the endoscope 2 is used. At this time, according to the information set by the dip switch 63, the CPU 55 makes the drive pulse ratio (appearance state of the drive waveform in a broad sense) smaller than the standard value.

  For this reason, even if there is a variation in the actuator 39 mounted on the endoscope 2, it is possible to operate with an operational feeling that there is almost no variation in terms of operation characteristics when actually operated.

  In this case, since the drive pulse ratio can be easily changed by changing the drive waveform data read from the ROM 53 by software, the variation can be eliminated more easily and at a lower cost than when the drive voltage is changed.

In Reference Example 1, the drive pulse ratio is set as shown in FIG. 9 by the switches SW2, 3 and SW5, 6 of the DIP switch 63, but it may be set as in the modification shown in FIG.

  In other words, when driving in the T direction, as shown in FIG. 12A, a drive signal having a basic period of the number of energized pulses of Pa and the number of pause pulses of Pb thereafter is output to the actuator 39. Also good.

In this case, by setting the dip switch 63, for example, the pause pulse number Pb is made constant and the energization pulse number Pa is adjusted to be variable, or conversely, the energization pulse number Pa is made constant and the pause pulse number Pb is made variable. It may be adjusted as. Further, both may be adjusted as variable.
In this case, the drive pulse ratio is Pa / (Pa + Pb) (in the case of a percentage setting, it is multiplied by 100).

  In the case of driving in the W direction, as shown in FIG. 12B, a drive signal having the basic period of the number of energized pulses of Pa ′ and the number of pause pulses of Pb ′ thereafter is output to the actuator 39. You may do it.

In this case, for example, by setting the dip switch 63, the number of pause pulses Pb ′ is made constant and the energization pulse number Pa ′ is adjusted to be variable, or conversely, the energization pulse number Pa ′ is made constant. Pb ′ may be adjusted as variable. Further, both may be adjusted as variable.
In this case, the drive pulse ratio is Pa ′ / (Pa ′ + Pb ′) (in the case of the percentage setting, it is multiplied by 100).

  The basic periods Tb and Tb ′ in FIG. 9 and the basic periods Pa + Pb and Pa ′ + Pb ′ in FIG. 12 cannot be confirmed with the naked eye that the actuator 39 is repeatedly driven and stopped, and are recognized as continuous movements. It is desirable that the time is set to a short time (number of pulses).

In the first reference example , the dip switch 63 is provided with drive information that can eliminate variation when the actuator 39 mounted on the endoscope 2 is driven. Similar information may be stored in the ROM.

  In addition, an endoscope identifier (ID information identification code) corresponding to ID information such as an ID code is provided at least on the endoscope 2 side for each endoscope 2 or for each actuator mounted on the endoscope, An endoscope identifier (ID information identification code) reading unit is provided in the zoom control device 6 and the like, and the zoom control device 6 stores in advance a drive information that eliminates variations corresponding to each ID information identification code in a ROM or the like. The drive information corresponding to the ID information identification code read by the reading means is read out, and the actuator is driven by the drive signal of the drive waveform corresponding to the drive information (appearance state such as drive pulse ratio). Accordingly, the drive characteristics may be set so as to reduce or eliminate the variation.

( Reference Example 2 )
Next, Reference Example 2 of the present invention will be described with reference to FIG. FIG. 13 shows a functional configuration of the zoom control device 6 in the second reference example . This reference example 2 applies a drive signal to the actuator 39 when the remote switch is operated in the reference example 1 , and monitors whether a release state and a short-circuit state have occurred from the current flowing through the actuator 39 at that time. When the released state and the short circuit state are detected, the driving of the actuator 39 is stopped. Hereinafter, the configuration and the operation thereof will be specifically described.

  When a remote switch such as the zoom switch 40 is operated after the power is turned on, a signal generation command from the signal generation command means 81 configured by the CPU 55 or the like is output to the FPGA 56, and the FPGA 56 receives a (drive) waveform from the ROM 53. Read data. In this case, waveform data is read from the ROM 53 as a driving condition that almost matches a predetermined driving characteristic of the actuator 39 mounted on the endoscope that is actually connected and used by the information by the dip switch 63 omitted here. .

This waveform data is converted into an analog signal by the D / A converter 57, then amplified by the amplifier circuit 58, and applied to the actuator 39 as a drive signal.
The current value of the drive signal flowing through the actuator 39 is detected by the current detection circuit 82, further converted into a digital signal by the A / D converter 83, and then input to the FPGA 84 for integration. The integrated current area is compared with the threshold value of the threshold value setting circuit 86 by the discrimination circuit 85 by the CPU 55 or the like.

If it is within the threshold range, the operation of the signal generation command circuit 81 is continued, and if it deviates from the threshold range, it is stopped.
This threshold value is set, for example, as shown in FIG.

  That is, the first threshold value Ssh for detecting a short circuit (short circuit) and the second threshold value Sop for detecting release (or disconnection) are set. The first threshold value Ssh is a slightly smaller value than the area Sshort of the current flowing when actually short-circuited, and is larger than the area Snor of the current flowing to the actuator 39 in a normal state.

  On the other hand, the second threshold value Sop is a value slightly larger than 0 (or a value Sopen in the case of release), and is smaller than the case of the area Snor of the current flowing in the actuator 39 in a normal state.

  FIG. 14B shows a current waveform flowing through the actuator 39 in a normal state, and FIG. 14C shows a current waveform in a state where a drive signal is applied in a short-circuited state. The current areas Snor and Ssh indicated by hatching with lines are output to the discrimination circuit 85. The current detection circuit 82 outputs a current of one polarity (for example, positive polarity).

FIG. 15 is a flowchart for explaining the operation of FIG. 13 when the zoom switch 40 is turned on.
As shown in FIG. 15, when the zoom switch 40 is turned on, the operation signal is input to the I / O port 59 in step S1, and further input to the CPU 55 via the I / O port 59. The signal generation command is processed as shown in FIG.

  That is, this signal generation command is sent to the FPGA 56, and the FPGA 56 performs an address designation process to the ROM 53 in step S3. The waveform data read from the ROM 53 is further amplified by the amplification circuit 58 through the A / D converter 57 and output to the actuator 39. That is, the drive pulse energization process in step S4 starts.

  Then, as shown in step S5, a current detection / integration calculation process is performed on the drive signal flowing through the actuator 39 to calculate the area S, and the area S calculated in the next step S6 is calculated from the threshold value. A determination is made whether or not there is a deviation. That is, it is determined whether the area S is smaller than the threshold value Sop for detecting release or larger than the threshold value Ssh for detecting short circuit.

  If the calculated area S does not deviate from the threshold value, that is, is within the range of the two threshold values, the process returns to step S2, and the same operation is repeated, and the calculated area S deviates from the threshold value. If so, the CPU 55 outputs a signal stop command to the FPGA 56 as shown in step S7. Then, the FPGA 56 stops reading the waveform data from the ROM 53, and the energization to the actuator 39 is stopped as shown in step S8.

According to this reference example 2 , when a remote switch is operated, a drive signal is applied to the actuator 39, and when the release state and the short-circuit state occur at that time, the actuator 39 is driven promptly. Since the operation is stopped, it is possible to quickly prevent an excessive current from flowing due to a short circuit and damaging electrical components, deteriorating characteristics, shortening the service life, and disconnection.

Also, if the drive power is applied as it is because of the disconnection due to the disconnection, the disconnected part may touch the conductive part and cause a problem. Can be prevented. The other effects are the same as in Reference Example 1.

Next , an endoscope apparatus according to an embodiment of the present invention will be described with reference to FIG. In the present embodiment, the zoom control device 6 shown in FIG. 13 is set such that the threshold value set by the threshold value setting circuit 86 is the threshold value Sth for determining whether or not the actuator 39 is in a heat generation state. The other configurations are the same as those in the above reference example .

  Then, when the remote switch is being operated, the current flowing through the actuator 39 in that state is monitored, and it is determined whether or not the area S exceeds the threshold value Sth. In such a case, the zoom lens 38 is set to the wide-angle end, and the energization is temporarily stopped to suppress the heat generation state.

  In this case, the threshold value Sth for detecting the heat generation state is slightly larger than the current area Snor in the normal use state as shown in FIG. 14A, and this value Sth is the threshold value Ssh for detecting a short circuit. Smaller than.

  For example, processing performed when the zoom switch 40 is turned on in this embodiment will be described with reference to FIG. When the zoom switch 40 is turned on, the operation signal is input to the CPU 55 via the I / O port 59 in step S11.

  As shown in step S12, the CPU 55 determines whether the operation signal is an instruction in the T direction or the W direction.

  If the direction is the W direction, the CPU 55 performs a W signal generation command processing in step S13a, the FPGA 56 performs address designation to the ROM 53 in step S14a according to the command, and the drive waveform data read from the ROM 53 is D / A. The signal is converted into an analog value by the converter 57, amplified and applied to the actuator 39 as a drive signal. That is, the drive pulse energization process in step S15a is performed.

  Then, detection of current flowing through the actuator 39 and integration calculation are performed by the current detection circuit 82 in step 16a and the area S is calculated, and this area S is compared with the threshold value Sth in step 17a. That is, it is determined whether or not S> Sth by the discrimination circuit 85 (by the CPU 55). If this is not the case, the process returns to step S13a. I do.

On the other hand, if it is determined in step S12 that the direction is the T direction, the CPU 55 performs processing of a T signal generation command in step S13b, and the FPGA 56 performs address designation to the ROM 53 in step S14b according to the command and reads from the ROM 53. The output drive waveform data is converted to an analog value by the D / A converter 57, amplified and applied to the actuator 39 as a drive signal. That is, the drive pulse energization process in step S15b is performed.
Then, the current flowing through the actuator 39 is detected and integrated by the current detection circuit 82 in step 16b and the area S is calculated, and the area S is compared with the threshold value Sth in step 17a. That is, it is determined whether or not S> Sth by the discrimination circuit 85 (by the CPU 55). If this is not the case, the process returns to step S13b, and conversely if S> Sth, the T signal in step S18b. The stop command process is performed, and then the energization stop process of step S19b is performed, and the processes after step S20 are performed.

  In step S20, the CPU 55 issues a W signal generation command with a (P5 + α) pulse having a value obtained by adding, for example, α to the number of drive pulses P5 required to move from the widest end to the widest end, and the FPGA 56 performs step S21 according to the command. Address designation to the ROM 53 is performed, and the drive waveform data read from the ROM 53 is converted into an analog value by the D / A converter 57, amplified and applied to the actuator 39 as a drive signal. That is, the drive pulse energization process in step S22 is performed.

As a result, the zoom lens 38 is moved to the widest-angle end and set to that position.
Then, in step 23, the W signal stop command is processed, and then the energization stop process in step S24 is performed.

  According to the present embodiment, for example, when the user uses the remote switch with a frequency of use far more severe than the ON / OFF of the remote switch with the normal usage frequency, the friction plate 44 and the sliding pipe 67 are used. As a result, there is a possibility that the heat generation due to the above will increase, the durability will deteriorate, the drive characteristics will deteriorate due to thermal deformation or thermal damage, and the life will be reduced.

Furthermore, if the heat is excessively generated, there is a possibility that the robot cannot move and may break down. In this case, if the zoom lens 38 is not set to the wide angle side, the surrounding visual field cannot be secured. However, according to the present embodiment, the movement is set to the widest angle end, so that such an operation can be easily performed. In addition, it is possible to prevent the occurrence of problems such as deterioration of durability and deterioration of drive characteristics due to heat generation. The other effects are the same as in Reference Example 1 .

  In addition to the threshold value Sth, a lower threshold value for attention to heat generation is set. In this case, the process is repeated up to step 23 as in FIG. For example, it is possible to measure a relatively short time when the heat generation of the battery is predicted to decrease to a normal level, and to accept the operation signal from the remote switch after this time so that the endoscopic examination can be resumed.

Note that the operation of this embodiment may be performed when a drive signal is applied to the actuator 39 by operating the remote switch. In this case, it has the same effect as the embodiment .

( Reference Example 3 )
Next, Reference Example 3 of the present invention will be described below with reference to FIG. FIG. 17 shows the relationship between the number of drive pulses and the set magnification when moving the zoom lens 38 including the Wide end and Tele end. For example, the number of pulses is P1, P2, P3, P4, P5. Is set to 20, 40, 60, 80, and 100 respectively.

In this reference example 3 , when the main power supply is turned on, the operation shown in FIG. 18 is performed in the step mode.
That is, when the main power supply is turned on, after performing the operation of automatically setting the Wide end, when the T-direction switch 40T is pressed in the step mode, when level 1 is selected, The number of pulses P1 is output and set to 20 times.

  If the T-direction switch 40T is further pressed in this 20 times state, the number of pulses P1 is further output (in this case, 20 + α times), and if the W-direction switch 40W is pressed, Wide is selected. Return to the end.

  That is, when level 1 of the step mode is selected, the number of pulses P1 is output every time the T-direction switch 40T is pressed, and conversely, when the W-direction switch 40W is pressed, the mode is returned to the Wide end.

  When level 2 is selected, the number of pulses is set to P2 each time the T-direction switch 40T is pressed. In the same manner for other levels, the number of pulses P3 every time the T-direction switch 40T is pressed when the level 3 is selected, and the number of pulses P4 every time the T-direction switch 40T is pressed when the level 4 is selected. However, when level 5 is selected, the number of pulses P5 + α is output every time the T-direction switch 40T is pressed. Conversely, when the W-direction switch 40W is pushed, it is returned to the Wide end.

FIG. 19 shows an operation example in the step mode in the first modification of the reference example 3 .
In the reference example 3 , the movement is performed by a predetermined number of pulses, but in the first modified example, the movement is performed so as to have a predetermined magnification.

  That is, in the state in which the main power supply is turned on and set to the wide end, when the step mode level 1 is selected, the position is set to a position where the magnification increases by 20 times each time the T-direction switch 40T is pressed. When the direction switch 40W is pushed, it returns to the Wide end.

  For example, in the state of the Wide end, when the T direction switch 40T is pressed, the P1 pulse set to 20 times is output and set to the 20 times position, and when the T direction switch 40T is further pressed, the time is set to 40 times. When (P2-P1) pulse is output and set to 40 times position, and further when T-direction switch 40T is pressed, 60 times (P3-P2) pulse is output and set to 60 times position. When the T-direction switch 40T is further pressed, the pulse is set to 80 times (P4-P3) and is set to the 80-fold position. When the T-direction switch 40T is further pressed, the pulse is set to 100 times ( The P5-P4 pulse is output and set to a position of 100 times (that is, the Tele end), and when the W-direction switch 40W is pressed in an arbitrary magnification state (P5 alpha) pulse is output returns to Wide end.

  When the T-direction switch 40T is pressed while the level 2 is selected, a P2 pulse that is initially set at a 40-fold position is output, and the subsequent operation is the same as that of the level 1.

  Similarly, for the other levels, when the level 3, 4, and 5 are selected and the T-direction switch 40T is pressed, P3, which is initially set at 60, 80, and 100 times positions, respectively. P4 and P5 pulses are output, and the subsequent operation is the same as level 1.

FIG. 20 shows an operation example in the step mode in the second modification of the reference example 3 .
In the first modification, each time the T-direction switch 40T is pressed, the magnification is set to a position increased by 20 times. When the W-direction switch 40W is pressed, the position is returned to the Wide end. This second modification In the state of Wide except for level 5, the magnification is set to a position where the magnification is increased by 20 times each time the T-direction switch 40T is pressed up to twice. When the W direction switch 40W is pressed while the magnification is set, the position of the magnification set by the first T direction switch 40 is set, and when the W direction switch 40W is further pressed, the position returns to the Wide end. .

  That is, when the main power is turned on and set to the Wide end, when the T-direction switch 40T is pressed in the state where the step mode level 1 is selected, the P1 pulse is output and set to a position 20 times larger. When the direction switch 40T is pressed (P2-P1), a pulse is output and set to a position of 40 times. When the T direction switch 40T is pressed further, the magnification does not change, and when the W direction switch 40W is pressed (P2- P1) A pulse is output and set to a 20-fold position. When the W-direction switch 40W is further pressed, a (P1 + α) pulse is output and is reliably set to the Wide end.

  For example, in level 2, when the T-direction switch 40T is pressed in the state of the wide end, the P2 pulse is output and set to a 40 times position, and when the T-direction switch 40T is further pressed, the pulse (P3-P2) is output. When the T direction switch 40T is pressed, the magnification does not change. When the W direction switch 40W is pressed (P3-P2), a pulse is output and the position is set to 40 times. When the W-direction switch 40W is further pressed, a (P2 + α) pulse is output and is reliably set to the Wide end.

  At level 5, when the T-direction switch 40T is pressed in the state of the Wide end, a (P5 + α) pulse is output and is set to a position 100 times (that is, the Tele end), and beyond that, the T-direction switch 40T is pressed. However, when the W direction switch 40W is pressed without changing the magnification, a (P5 + α) pulse is output and the wide end is surely set.

( Reference Example 4 )
Next, Reference Example 4 of the present invention will be described with reference to FIG. In this reference example 4 , the contents described in reference examples 1-3 and the above-described examples are applied to an endoscope visual field conversion mechanism. The structure of the visual field conversion mechanism mounted at the distal end of the endoscope is different from that of Reference Example 1-3 and the above example .

  FIG. 21 shows the configuration of the distal end portion 13 of the endoscope 2. The distal end main body 91 constituting the distal end portion 13 is provided with the objective optical system 34 in the axial direction (left and right direction in FIG. 21) of the distal end portion main body 91, and the CCD 35 is disposed at the imaging position thereof.

  A mirror 92 is housed in a notch provided in the front position of the optical path of the objective optical system 34. One end of the mirror 92 is rotatably supported, and is provided at a position closer to the other end than the one end. A pin provided on the output shaft 39a of the actuator 39 is inserted into the long hole that is not connected and is rotatably connected.

An actuator 39 is attached to a recess provided in the distal end main body 91 near the proximal end of the output shaft 39a. The actuator 39 is connected to the zoom control device 6 in the same manner as described in the first reference example .
The CCD 35 is also connected to the CCU 4 through the amplifier 36.

  Then, by operating a remote switch including the zoom switch 40 or the foot switch 7, a drive signal is applied from the drive circuit 51 to the actuator 39 via the control circuit 52 (the CPU 55 constituting the zoom switch 40), and the output shaft 39a is illustrated. 21. In this direction, the mirror 92 is rotated as shown by an arrow b with one end as a rotation center so that the visual field direction can be changed or the visual field can be changed. .

  For example, the light coming from the direction of the light beam 93 in FIG. 21 is reflected by the mirror 92 and enters the CCD 35 through the optical axis of the objective optical system 34. That is, in this state, the direction of the light beam 93 becomes the visual field direction, and the visual field direction changes when the tilt angle of the mirror 92 is changed by operating the remote switch.

This reference example has the following effects.
Since various modes are provided, the field of view can be changed according to the preference of the endoscope operator, the difference of cases, etc., and the operability is improved. The improvement in the operability of the visual field conversion according to this reference example is semantically the same by rereading the effects described in the above reference examples 1-3 and the embodiments from the viewpoint of the operability of the visual field conversion (the same configuration) Because it uses the control device of).

  In the above description, the zoom lens 38 as the driven body is provided with means for moving to one position or the intermediate position which is the widest angle end in the moving range, but the zoom lens 38 is moved to the other maximum enlargement end. Means for setting may be provided.

  The zoom lens 38 provided in the objective lens system 34 may be a focus optical system that moves and sets the focus state (in-focus state). In this case, the zoom lens 38 (to be exact, the zoom lens 38) Instead, a focus lens may be used.

  Further, the objective lens system 34 may be a zoom optical system in which the focus distance does not change even when the magnification is changed, and in this case, a zoom lens may be used instead of the zoom lens (more precisely, the variable magnification lens) 38. .

  Further, the direction of the observation field of view may be changed (converted) by providing a rotatable mirror in the objective lens system 34 and driving the rotation angle of the mirror by the actuator 39.

The driven body driven by the actuator 39 may be a forceps raising base instead of the objective lens system 34, and the forceps raising base may be driven to vary the raising angle of the forceps raising base.
Note that a configuration example configured by partially combining each reference example with the above-described embodiment also belongs to the present invention.

[Appendix]
1. In an endoscope apparatus including an endoscope having a driven body driven by an actuator and a control device that is detachably connected to the endoscope and drives and controls the actuator.
Setting means provided in the endoscope, for setting information in the endoscope;
Transmitting means for transmitting an output signal of the setting means to the control device;
Receiving means for receiving the output signal of the setting means in the control device;
Drive control means for setting the appearance state of the drive waveform of the actuator based on the reception signal of the reception means;
An endoscope apparatus comprising: drive means for generating a drive waveform based on an output signal from the drive control means.

  1-0. In Supplementary Note 1, information in the endoscope relates to the actuator. 1-0-1. In Supplementary Note 1-1, the information in the endoscope relates to the driving speed of the actuator.

  1-1. The drive control means sets the magnitude of the appearance rate of the drive waveform per unit time.

  1-2. The drive control means sets the duration of the drive waveform pause time.

  1-3. In Supplementary Note 1, the setting means is a dip switch. 1-4. In Supplementary Note 1, the setting means is a ROM. 1-5. In Supplementary Note 1, the driving means includes a waveform generating circuit and an amplifier circuit. 1-6. In Supplementary Note 1, the driven body is a zoom lens.

  1-7. In Supplementary Note 1, the driven body is a focus lens. 1-8. In Appendix 1, the driven body is a variable magnification lens. 1-9. In Supplementary Note 1, the driven body is a treatment instrument raising base. 1-10. In Supplementary Note 1, the driven body is visual field direction changing means.

1 '. In an endoscope apparatus comprising: an endoscope having a driven body driven by an actuator; and a control device that is detachably connected to the endoscope and drives and controls the actuator.
A means for generating identification information corresponding to each of the endoscopes equipped with the actuators or each of the actuators;
A means for reading the identification information in an endoscope connected to the control device;
Drive control means for setting an appearance state of a drive waveform for driving an actuator mounted on the endoscope based on the identification information read by the reading means;
An endoscope apparatus characterized by comprising:

2. In an endoscope apparatus including an endoscope having a driven body driven by an actuator, and a control device that is detachably connected to the endoscope and controls the actuator drive.
Current detection means for detecting a current flowing through the actuator in the control device;
Threshold setting means set to two or more thresholds for detecting a short circuit and a release state;
Comparison determination means for comparing and determining the magnitude of the threshold level and the current amount level detected by the current detection means;
Drive control means for setting a drive waveform of the actuator based on a determination result of the comparison determination means;
An endoscope apparatus comprising: drive means for generating a drive waveform based on an output signal from the drive control means.

  2-1. In Supplementary Note 2, one of the two or more threshold values is set slightly larger than a current amount level detected by the current detection means when the energization line is disconnected to the actuator, and the drive control means When the current amount level detected by the current detection means is smaller than the threshold value, the power supply to the actuator is cut off. 2-1-1. In Supplementary Note 2-1, the means for cutting off the current supply cuts off the power supply to the amplifier circuit.

  2-2. In Supplementary Note 2, one of the two or more threshold values is set to be slightly smaller than a current amount level detected by the current detection means when the conductive line to the actuator is short-circuited, and the drive control means When the current amount level detected by the current detection means is larger than the threshold value, the energization to the actuator is immediately cut off. 2-2-1. In Additional Statement 2-2, the means for cutting off the current supply cuts off the power supply to the amplifier circuit.

  2-3. In Supplementary Note 2, the threshold value is set to be slightly larger than a current amount level detected by the current detection means when the actuator is normally energized, and the drive control means includes the comparison means When the detected output value exceeds the threshold value, the generation of the drive waveform is temporarily stopped, and the normal control is performed so as to generate the drive waveform that immediately moves the actuator to a predetermined position.

2-3-1. In Additional Statement 2-3, the predetermined position is one end of a movement range of the actuator.
2-3-1-1. In Additional Statement 2-3, the one end is a wide angle end.
2-4. In Appendix 2, the driving means includes a waveform generating circuit and an amplifier circuit.
2-5. In Supplementary Note 2, the driven body is a zoom lens.

2-6. In Appendix 2, the driven body is a focus lens.
2-7. In Appendix 2, the driven body is a variable magnification lens.
2-8. In Supplementary Note 2, the driven body is a treatment instrument raising base.
2-9. In Supplementary Note 2, the driven body is visual field direction changing means.

2 '. In an endoscope apparatus including an endoscope having a driven body driven by an actuator, and a control device that is detachably connected to the endoscope and controls the actuator drive.
Current detection means for detecting a current flowing through the actuator in the control device;
Threshold setting means set to a threshold value slightly larger than the current amount level detected by the current detection means when the actuator is normally energized;
Comparison determination means for comparing and determining the magnitude of the threshold level and the current amount level detected by the current detection means;
Drive control means for setting a drive waveform of the actuator based on a determination result of the comparison determination means;
An endoscope apparatus comprising: drive means for generating a drive waveform based on an output signal from the drive control means.

2 '. In an endoscope apparatus including an endoscope having a driven body driven by an actuator, and a control device that is detachably connected to the endoscope and controls the actuator drive.
Current detection means for detecting a current flowing through the actuator in the control device;
Threshold setting means set to at least two thresholds in a short circuit, release and heat generation state;
Comparison determination means for comparing and determining the magnitude of the threshold level and the current amount level detected by the current detection means;
Drive control means for setting a drive waveform of the actuator based on a determination result of the comparison determination means;
An endoscope apparatus comprising: drive means for generating a drive waveform based on an output signal from the drive control means.

  2 ″ -1. The drive control means is a drive in which, in the comparison / determination means, when the detected output value exceeds a threshold value, the generation of the drive waveform is temporarily stopped and the actuator is immediately moved to a predetermined position. Normal control to generate a waveform.

(Problems of the prior art for Addendum 2, 2 ', 2 ")
As a conventional technique, there is one that detects the connection between the endoscope and the control device by a dip switch or the like provided in the endoscope. In this case, the actuator conducting wire in the endoscope or the control device is not connected. It is not possible to detect that the actuator has become unable to drive due to disconnection, and the drive power is being supplied to the actuator energization line. There is a risk of malfunction due to contact with the part.

  If the zoom operation is repeated excessively and complicatedly, the actuator may generate heat and the characteristics may shorten the life or the characteristics may be deteriorated. In addition, when a malfunction occurs due to excessive heat generation, for example, when the image stops moving at the enlarged end, it is difficult to remove the endoscope when interrupting the endoscopy because the entire visual field inside the body cavity cannot be secured. .

(Purpose of Addendum 2, 2 ', 2 ")
Providing an endoscopic device that can prevent a decrease in the service life and can easily interrupt an endoscopic examination.

The perspective view which shows the external appearance of the endoscope apparatus of the reference example 1 of this invention. The block diagram which shows the whole structure of an endoscope apparatus. The figure which shows the actuator which drives the objective optical system and zoom lens which were provided in the front-end | tip part of an endoscope. The perspective view which shows the external shape of an actuator. Sectional drawing which shows the internal structure of an actuator. The figure which shows a drive waveform. The front view of a zoom control apparatus. FIG. 3 is a diagram illustrating a schematic configuration of a drive system in the zoom control device. Explanatory drawing which shows a drive pulse ratio. The figure which shows the external shape of a dip switch, the function allocated to each switch, etc. The specific circuit diagram of a receiving circuit. The figure which shows the drive pulse ratio in a modification. The functional block diagram of the zoom control apparatus in the reference example 2 of this invention. The figure which shows the relationship between a threshold value, and the detected current waveform. The flowchart figure which shows the operation | movement content in the reference example 2 . The flowchart figure which shows the operation | movement content in one Example of this invention. The figure which shows the relationship between the drive pulse number in the case of moving a zoom lens, and the set magnification. The figure which shows the operation example in step mode in the reference example 3 of this invention. The figure which shows the operation example in the step mode in the 1st modification of the reference example 3 . The figure which shows the operation example in the step mode in the 2nd modification of the reference example 3. FIG. The figure which shows the visual field conversion mechanism part of the front-end | tip part of the endoscope in the reference example 4 of this invention.

DESCRIPTION OF SYMBOLS 1 ... Endoscope apparatus 2 ... Endoscope 3 ... Light source apparatus 4 ... Video processor 5 ... Color monitor 6 ... Zoom control apparatus 7 ... Foot switch 8 ... Insertion part 9 ... Operation part 13 ... Tip part 34 ... Objective optical system 35 ... CCD
38 ... Zoom lens 39 ... Actuator 40 ... Zoom switch 49 ... Step mode switch 50 ... Speed mode switch 51 ... Drive circuit 52 ... Control circuit 53 ... ROM
54 ... RAM
55 ... CPU
56 ... FPGA
57 ... D / A converter 59 ... I / O
62 ... Receiving circuit 63 ... Dip switch

Claims (1)

An endoscope apparatus comprising: an endoscope having a zoom lens driven by an actuator; and a control device that is detachably connected to the endoscope and drives and controls the actuator.
The controller is
Current detecting means for detecting an actuator current flowing through the actuator;
First, second and third thresholds corresponding respectively to a short circuit, release and heat generation state of the actuator,
Threshold value setting means for setting a threshold value having a relationship of: second threshold value <third threshold value <first threshold value;
Comparison determination means for comparing the current value of the actuator current detected by the current detection means with any one of the threshold values set by the threshold setting means;
Drive waveform setting means for setting the drive waveform of the actuator based on the determination result of the comparison determination means;
Drive waveform control means for controlling the drive waveform of the actuator based on an output signal from the drive waveform setting means;
Comprising
The drive waveform control means has a current value of the actuator current,
If it is greater than the first threshold, the actuator is assumed to be in a short circuit state, and the actuator driving waveform is controlled to stop the actuator;
If it is greater than the third threshold value and less than or equal to the first threshold value, it is assumed that the actuator is in a heat generating state and the zoom lens is moved to a position where the entire field of view is secured, and then the actuator is stopped. Control the drive waveform of the actuator,
If the second threshold value or more and the third threshold value or less, the actuator is assumed to be in a normal state, and the actuator is controlled so that the actuator performs a normal operation.
The endoscope apparatus characterized by controlling the drive waveform of the actuator so as to stop the actuator when it is smaller than the second threshold value, assuming that the actuator is in a released state .

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