JP4360860B2 - Endoscope bending operation device - Google Patents

Description

  The present invention relates to an endoscope bending operation apparatus.

  In an endoscope, generally, a bending portion is provided near the distal end of the insertion portion, and an operation portion is connected to the proximal end of the insertion portion. By operating a bending operation member arranged in the operation portion, The bending portion is bent by pulling the operation wire inserted through the bending portion.

  In such a bending operation device for an endoscope, as the bending angle of the bending portion increases, the bending portion further bends by increasing the repulsive force to return the bending portion to the original straight state. The pulling force of the operation wire necessary for making it increase becomes large.

  Therefore, even if any kind of operation member such as a lever shape, a rotary knob shape, or a piston shape is used as a bending operation member for performing a bending operation, the bending portion should be bent at a large angle for the operator. In many cases, this is an operational burden.

Therefore, a motor that can rotate forward and backward is connected to a bending operation member for pulling the operation wire (connected through a slip clutch in consideration of safety), and the operation wire is pulled by the driving force of the motor. There is one in which a bending portion is bent (for example, Patent Document 1).
Shoko 55-54481 etc.

  The operator who performs the bending operation feels the reaction force received by the bending portion or the tip of the bending portion against the wall of the body lumen with the fingertip that operates the bending operation member. I know what it is.

  Therefore, if the operation wire is pulled by the driving force of the motor, there are many cases where the endoscope cannot be inserted smoothly because important information such as perception of reaction force received from the body wall is lost. When the bending operation member is simply operated by hand, it becomes a burden to bend the bending portion at a large angle as described above.

  Therefore, the present invention enables the bending operation to be easily performed with a small operation force even when the bending portion is bent at a large angle, and the reaction force received by the bending portion is perceived by the hand operating the bending operation member. An object of the present invention is to provide a bending operation device for an endoscope.

  In order to achieve the above object, the bending operation device for an endoscope according to the present invention has a bending portion provided near the distal end of the insertion portion, and the operation portion is connected to the proximal end of the insertion portion, and is disposed in the operation portion. By operating the bending operation member in the bending operation device of the endoscope in which the bending portion is bent by operating the bending operation member by pulling the operation wire with the wire pulling member inserted and arranged in the insertion portion. A wire pulling amount detection sensor for detecting the pulling amount of the operation wire to be pulled, and a pulling assisting force that assists in pulling the operation wire in accordance with the pulling amount of the operation wire detected by the wire pulling amount detection sensor. An assist motor to be provided to the wire pulling member is provided.

  If the pulling assisting force applied from the assist motor to the wire pulling member is always set smaller than the pulling force required to increase the bending angle of the bending portion, the reaction force received by the bending portion during the bending operation. Is perceived by the operator's hand.

  Further, if the pulling assist force applied from the assist motor to the wire pulling member is increased in response to the increase in the pulling amount of the operation wire detected by the wire pulling amount detection sensor, the bending can be performed with a small operation force. The part can be bent to a large angle.

  In a region where the pulling amount of the operation wire is smaller than a predetermined value, it is not necessary to apply a pulling assist force from the assist motor to the wire pulling member. Further, the wire pulling amount detection sensor may indirectly detect the pulling amount of the operation wire by detecting the rotation angle of the member that is rotationally driven by the bending operation member.

  According to the present invention, the bending assisting force for pulling the operation wire is applied from the assist motor to the wire pulling member corresponding to the pulling amount of the operation wire, so that the bending portion is bent at a large angle. The bending operation can be performed easily with a small operating force, and the reaction force received by the bending portion is perceived by the hand operating the bending operation member, so that the insertion operation of the endoscope can be performed safely and smoothly. it can.

  A gear is formed on the pulley, which is a wire pulling member, and the assist motor meshes directly or indirectly with the gear, and the driving force of the assist motor is applied as an assist for the rotational force of the pulley.

Embodiments of the present invention will be described with reference to the drawings.
FIG. 2 shows an endoscope, and a distal end portion body 3 in which an observation window (not shown) is arranged is connected to the distal end of the bending portion 2 connected in the vicinity of the distal end of the flexible insertion portion 1. Has been.

  The operation unit 4 connected to the base end of the insertion unit 1 is provided with an up / down direction bending operation knob 5UD and a left / right direction bending operation knob 5RL which are bending operation members for bending the bending unit 2 by remote operation. Then, by rotating the knobs 5UD and 5RL, the operation wires 7U and 7D (and 7R and 7L) inserted and arranged in the insertion portion 1 are selectively pulled, and the bending portion 2 is arbitrarily selected. It can be bent at any angle in the direction.

  FIG. 1 shows a bending operation device arranged in the operation unit 4. An up-down direction pulley 9 UD connected to an up-down direction bending operation knob 5 UD via an up-down direction rotating shaft 8 UD and a left-right direction bending operation. A stationary pulley 9RL connected to the knob 5RL via a left-right rotation shaft 8RL is fixed in the operation unit 4 so as to be able to rotate independently of each other around a coaxial line. It is supported by the frame 10.

  A pair of vertical operation wires 7U and 7D are wound around the vertical pulley 9UD, and a pair of left and right operation wires 7R and 7L are wound around the left and right pulley 9RL. The ends of 7D, 7R, and 7L are fixed to pulleys 9UD and 9RL.

  Accordingly, by rotating the up / down bending operation knob 5UD, one of the pair of up / down operation wires 7U, 7D is wound around the up / down pulley 9UD and pulled, and at the same time, the other is sent out. By rotating the direction bending operation knob 5RL, one of the pair of left and right direction operation wires 7R and 7L is wound around the left and right direction pulley 9RL and pulled, and at the same time, the other is sent out.

  As shown in the plan view of FIG. 3, the vertical pulley 9UD is a gear having teeth formed on the outer peripheral portion thereof, and is interposed via a vertical intermediate gear 13UD rotatable around the fixed shaft 15. Thus, it indirectly meshes with the output gear 12UD of the vertical assist motor 11UD fixed to the fixed frame 10.

  Accordingly, by applying the driving force of the output gear 12UD of the vertical assist motor 11UD to the vertical pulley 9UD, a pulling assisting force for pulling the operation wires 7U, 7D is applied to the vertical pulley 9UD. The rotation amount of the intermediate gear 13UD for the vertical direction can be converted as the pulling amount of the operation wires 7U, 7D from the rotation amount of the pulley 9UD for the vertical direction meshing therewith.

  An arc-shaped reflecting member 16 centered on the fixed shaft 15 is attached to the surface of the vertical intermediate gear 13UD, and the position facing the reflective member 16 when the vertical intermediate gear 13UD rotates is as follows. Two optical sensors 14UDa and 14UDb are arranged with a space therebetween (fixedly arranged with respect to the fixed frame 10).

  Each of the optical sensors 14UDa and 14UDb includes a light emitting element and a light receiving element integrally provided, and detects light reflection from the reflecting member 16. However, the optical sensors 14UDa and 14UDb do not face the reflecting member 16 as shown in FIG. 3 in the neutral state (the state in which the bending portion 2 is straight) and in the vicinity thereof.

  Accordingly, when the vertical intermediate gear 13UD rotates counterclockwise, the first optical sensor 14UDa and the second optical sensor 14UDb face the reflecting member 16 in that order, and the vertical intermediate gear 13UD rotates clockwise. The first optical sensor 14UDa and the second optical sensor 14UDb face the reflecting member 16 in the reverse order, and the rotation state (direction and angle region) of the vertical intermediate gear 13UD can be detected.

  Although the plan view is omitted for the left-right direction pulley 9RL, the left-right direction assist motor 11RL, its output gear 12RL, and the left-right direction intermediate gear to which the reflecting member 16 is attached, like the up-down direction pulley 9UD. 13RL and two optical sensors 14RLa and 14RLb are arranged.

  FIG. 4 is a block diagram of the control circuit of the above-described embodiment device. Detection signals output from the optical sensors 14UDa and 14UDb (and 14RLa and 14RLb) are sent to a signal processing circuit 18 incorporating a microprocessor and the like. Correspondingly, a control signal is output from the signal processing circuit 18 to the motor control circuit 19, and the rotation direction and output of the up-down direction assist motor 11UD (left-right direction assist motor 11RL) are controlled. The signal processing circuit 18 may be disposed in the operation unit 4, but may be disposed in an external video processor or the like.

  FIG. 5 is a software flowchart showing the contents of the control processing performed in the signal processing circuit 18 for the operation of the up / down bending operation knob 5UD, and S denotes a processing step. A similar control process is performed for the operation of the left / right bending operation knob 5RL.

  At the start (the neutral state where the bending portion 2 is straight), the detection signals of the two optical sensors 14UDa and 14UDb are off (that is, the reflecting member 16 is not detected), and the assist motor 11UD for the vertical direction at that time The output power of is zero.

  Until either one of the two optical sensors 14UDa and 14UDb is turned on (that is, when the reflecting member 16 is detected), the output power of the vertical assist motor 11UD remains zero, and the vertical bending operation is performed. The knob 5UD is rotated only by the hand of the operator.

  In such a region where the rotation angle of the bending operation knob 5UD for the vertical direction is small, the bending angle of the bending portion 2 is small and the repulsive force against the bending operation is also small. Therefore, it is necessary to assist the traction force of the operation wires 7U and 7D with a motor. Absent.

  When either of the detection signals of the two optical sensors 14UDa and 14UDb is turned on, a current is supplied to the assist motor 11UD for the vertical direction, and a pulling assist force that assists in pulling the operation wires 7U and 7D is provided. This is applied to the vertical pulley 9UD.

  In S1, it is determined whether or not the up / down bending operation knob 5UD has been slightly rotated downward to turn on only the first optical sensor 14UDa. When only the sensor 14UDa is turned on, in S2, the assist motor 11UD for the vertical direction is driven in the d direction (that is, the downward direction) with a very small output.

  As a result, a pulling assist force smaller than the pulling force required to further pull the downward operation wire 7D from that state and increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pull pulley 9UD. To be granted.

  Next, in S3, it is determined whether or not the up / down bending operation knob 5UD is further rotated downward to turn on both the optical sensors 14UDa and 14UDb. If both are not on, the process returns to S1, and the two optical sensors 14UDa, When 14UDb is turned on, in S4, the output of the assist motor 11UD in the vertical direction is increased to a small level and driven in the d direction (that is, downward).

  As a result, a pulling assist force smaller than the pulling force required to further pull the downward operation wire 7D from that state and increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pull pulley 9UD. To be granted.

  Next, in S5, it is determined whether or not the up / down bending operation knob 5UD is further rotated downward to turn off only the first optical sensor 14UDa. If not, the process returns to S3, and the first optical sensor When only 14UDa is turned off, in S6, the output of the assist motor 11UD in the vertical direction is increased moderately and driven in the d direction (that is, downward).

  As a result, a pulling assist force smaller than the pulling force required to further pull the downward operation wire 7D from that state and increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pull pulley 9UD. To be granted.

  Next, in S7, it is determined whether or not the vertical bending operation knob 5UD is further rotated downward to turn off both the optical sensors 14UDa and 14UDb. If both are not turned off, the process returns to S5, and the both optical sensors 14UDa, When 14UDb is turned off, in S8, the output of the assist motor 11UD for the vertical direction is increased to a large extent and driven in the d direction (that is, downward).

  As a result, a pulling assist force smaller than the pulling force required to further pull the downward operation wire 7D from that state and increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pull pulley 9UD. To be granted.

  Next, in S9, it is determined whether or not the up / down bending operation knob 5UD is further rotated downward to turn on only the first optical sensor 14UDa. If not, the process returns to S7, where the first optical sensor When only 14UDa is turned on, the output of the vertical assist motor 11UD is maintained at a large level in S10 and the process returns to S9 to maintain the application of the traction assist force to the vertical pulley 9UD.

  On the other hand, if the up / down bending operation knob 5UD is rotated upward from the neutral state, it is determined in S11 whether only the second photosensor 14UDb is turned on. When only the second optical sensor 14UDb is turned on, the up-down direction assist motor 11UD is driven in the u direction (that is, the upward direction) with a small output in S12.

  As a result, a pulling assisting force smaller than the pulling force required to further pull the upward operation wire 7U from that state to increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pulling pulley 9UD. To be granted.

  Next, in S13, it is determined whether or not the up / down bending operation knob 5UD is further turned upward to turn on the two optical sensors 14UDa and 14UDb. If both are not on, the process returns to S11, and the two optical sensors 14UDa, When 14UDb is turned on, the output of the up-down direction assist motor 11UD is increased to a small level in S14 and driven in the u direction (ie, upward).

  As a result, a pulling assisting force smaller than the pulling force required to further pull the upward operation wire 7U from that state to increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pulling pulley 9UD. To be granted.

  Next, in S15, it is determined whether or not the up / down bending operation knob 5UD is further rotated upward and only the second optical sensor 14UDb is turned off. If not, the process returns to S13, where the second optical sensor When only 14UDb is turned off, the output of the assist motor 11UD for the vertical direction is increased moderately in S16 and driven in the u direction (that is, upward).

  As a result, a pulling assisting force smaller than the pulling force required to further pull the upward operation wire 7U from that state to increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pulling pulley 9UD. To be granted.

  Next, in S17, it is determined whether or not the up / down bending operation knob 5UD is further rotated upward to turn off both the optical sensors 14UDa and 14UDb. If both are not turned off, the process returns to S15 to return to the dual optical sensors 14UDa, When 14UDb is turned off, the output of the assist motor 11UD for the vertical direction is increased to a large extent in S18 and driven in the u direction (that is, upward).

  As a result, a pulling assisting force smaller than the pulling force required to further pull the upward operation wire 7U from that state to increase the bending angle of the bending portion 2 is generated from the vertical assist motor 11UD by the vertical pulling pulley 9UD. To be granted.

  Next, in S19, it is determined whether or not the up / down bending operation knob 5UD is further rotated upward and only the second optical sensor 14UDb is turned on. If not, the process returns to S17 to return to the second optical sensor. When only 14UDb is turned on, the output of the vertical assist motor 11UD is maintained at a large level in S20, and the process returns to S19 to maintain the application of the traction assisting force to the vertical pulley 9UD.

  In this way, when the up / down bending operation knob 5UD is rotated, the rotation amount of the up / down bending operation knob 5UD (that is, the pulling amount of the operation wires 7U and 7D pulled thereby) is corresponded. A pulling assist force for pulling the operation wires 7U and 7D is applied from the vertical assist motor 11UD to the vertical pulley 9UD, and the operator can perform a bending operation with a light operational force.

  At that time, if the pulling amount of the operation wires 7U and 7D increases, the pulling assist force increases accordingly, and if the up / down bending operation knob 5UD is returned to the neutral direction, the control processing increases the pulling assist force accordingly. Return to the direction of decreasing.

  Since the pulling assisting force is always set smaller than the pulling force necessary to increase the bending angle of the bending portion 2, the operator can perform the bending operation for the vertical direction with his / her own force to some extent. The knob 5UD needs to be rotated, and if the bending portion 2 hits the body wall or the like, it can be perceived by the fingertip.

  The present invention is not limited to the above-described embodiments. For example, the wire pulling amount detection sensor for detecting the pulling amount of the operation wires 7U, 7D, 7R, and 7L is not limited to the reflective optical sensor. Any type of transmission type optical sensor, magnetic force sensor, electrical sensor, etc. may be used, and the control of the traction assist force changes steplessly according to the traction amount of the operation wires 7U, 7D, 7R, 7L. Various modes can be taken.

It is side surface sectional drawing of the bending operation apparatus of the endoscope of the Example of this invention. 1 is a side view showing an overall configuration of an endoscope according to an embodiment of the present invention. It is a partial top view of the bending operation apparatus of the endoscope of the Example of this invention. It is a block diagram of the control circuit of the bending operation apparatus of the endoscope of the Example of this invention. It is a software flow figure showing the contents of the control processing performed with the bending operation device of the endoscope of the embodiment of the present invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Insertion part 2 Bending part 4 Operation part 5UD, 5RL Bending operation knob 7U, 7D, 7R, 7L Operation wire 9UD, 9RL Pulley (wire pulling member)
11UD, 11RL Assist motor 13UD, 13RL Intermediate gear 14UDa, 14UDb, 14RLa, 14RLb Optical sensor (wire pulling amount detection sensor)
16 Reflecting member 18 Signal processing circuit

Claims (5)

A wire puller provided with a bending portion provided near the distal end of the insertion portion and an operation portion connected to a proximal end of the insertion portion, and being inserted into the insertion portion by operating a bending operation member disposed in the operation portion. In an endoscope bending operation device in which the bending portion is bent by pulling an operation wire with a member,
Corresponding to the pulling amount of the operation wire detected by the wire pulling amount detection sensor, the wire pulling amount detection sensor for detecting the pulling amount of the operation wire pulled by operating the bending operation member, An endoscope bending operation device, comprising: an assist motor that applies a pulling assisting force to assist the pulling of the operation wire to the wire pulling member. The bending operation of the endoscope according to claim 1, wherein the pulling assisting force applied from the assist motor to the wire pulling member is always set smaller than the pulling force required to increase the bending angle of the bending portion. apparatus. 3. The pulling assisting force applied to the wire pulling member from the assist motor increases in response to an increase in the pulling amount of the operation wire detected by the wire pulling amount detection sensor. Endoscope bending operation device. 4. The bending operation apparatus for an endoscope according to claim 1, wherein the pulling assist force is not applied from the assist motor to the wire pulling member in a region where the pulling amount of the operation wire is smaller than a predetermined value. The said wire pulling amount detection sensor detects the pulling amount of the said operation wire indirectly by detecting the rotation angle of the member rotationally driven by the said bending operation member. Endoscope bending operation device.

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