JP5324953B2 - Endoscope - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an endoscope for re-setting a center point of a curved part in a curved state. <P>SOLUTION: A curve quantity detected by a curve quantity detection means is acquired to compare it with a stored set curve quantity and, when the curve quantity matches the set curve quantity, drive force of a drive means for maintaining the set curved amount is corrected by using operating force detected by an operating force detection means, and drive force of the drive means. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  In detail, regarding endoscopes used for medical purposes, the neutral point of the bending portion provided near the distal end of the insertion portion can be arbitrarily set, thereby enabling easy and safe operation. It relates to the endoscope.

As is well known, an endoscope is connected to an insertion portion to be inserted into a human body, an operation portion for operating the insertion portion, operation of an endoscope such as air supply / water supply, an air supply source, a suction pump, and the like. Connector (LG (Light Guide) connector), and a universal cord (supply hose) for connecting the connector to the operation unit and the insertion unit.
Further, as shown in Patent Documents 1 to 3 and the like, normally, a bending portion (angle portion) is provided near the distal end of the insertion portion of the endoscope, and the vertical direction and By turning an operation knob (operation knob) for bending in the left-right direction, it can be bent up, down, left and right.

The bending of the bending portion is generally performed by pulling the bending portion with a wire.
Specifically, the bending portion has a configuration in which a large number of rings are arranged in a cylindrical shape and connected, and a wire is inserted through the connected rings. The rings are alternately connected so as to be able to rotate (swing) in the vertical direction and the horizontal direction (two directions perpendicular to each other). A total of four wires, two wires spaced in the vertical direction and two wires spaced in the left-right direction, are inserted into the connected ring, and the tip of the wire is placed at the most distal side. Fasten to the ring that is placed on.

On the other hand, the operation knob includes a UD (up / down) knob for bending the bending portion in the vertical direction and an LR (left-right) knob for bending in the horizontal direction.
Two wires that are inserted in the ring of the bending portion and are separated in the vertical direction are hung around a pulley that rotates integrally with the UD knob. Similarly, two wires spaced apart in the left-right direction are hung around a pulley that rotates integrally with the LR knob.
Therefore, by rotating the operation knob, one of the wires connected to the bending portion can be pulled and the other can be sent out to bend the bending portion. Further, by operating both the UD knob and the LR knob, the bending portion can be bent in any direction, including up and down directions and left and right directions.

Incidentally, the bending portion of the endoscope is in a normal state when it is not bent (straight state), that is, the straight state is a neutral point of bending.
Therefore, when the bending portion is bent, a reaction force works so as to return to the straight state, and when the operation knob is released, the reaction state automatically returns to the straight state. Further, since the reaction force increases as the bending amount increases, when the bending amount is large, a large force is required for the operation such as rotation of the operation knob or maintenance of the bending state.
Therefore, depending on the type of examination by the endoscope, the burden on the doctor (endoscope operator) becomes very large.

JP 11-47082 A JP 2000-229061 A JP 2001-346756 A

For example, as illustrated conceptually in FIG. 10, the examination of the fundus is performed with the insertion portion in a state where the bending portion is largely bent in the stomach and the extending direction of the insertion portion is set as the rotation axis. Rotate and do.
That is, the doctor who operates the endoscope needs to rotate the insertion part while holding the heavy operation part and holding the operation knob against the strong reaction force so as not to return. Very burdensome. In addition, if the operation knob is unexpectedly released, the bending portion returns to a straight state at a stretch with a strong reaction force, which may damage the human body.

On the other hand, as shown in Patent Documents 1 to 3, the endoscope has a so-called brake that can fix the bending portion in a curved state.
The brake usually holds the bending portion in a curved state by fixing the operation knob with a frictional force. In an endoscope, the bending of the bending part is maintained in the fixed state (locked state) where the operation knob is not moved completely due to the difference in the frictional force that fixes the operation knob, but the bending part is maintained by turning the operation knob. It is possible to achieve a half brake state in which the amount of bending (the amount of bending) can be changed.
Therefore, by using the brake, it is possible to eliminate the burden of rotating the insertion portion with the operation knob pressed. However, in order to adjust the amount of bending with the half brake applied, it is necessary to rotate / operate the operation knob with a force that exceeds the frictional force to maintain the half brake state. Yes, the burden on doctors is also great.

  An object of the present invention is to solve the above-mentioned problems of the prior art, and in the insertion portion of the endoscope, the neutral point of the bending state of the bending portion is curved in addition to the straight state where the bending portion is not curved. Even if the insertion portion needs to be rotated or the amount of bending needs to be adjusted while the bending portion is largely bent, such as in the examination of the fundus, for example, the doctor can It is an object of the present invention to provide an endoscope that can easily and safely be operated while greatly reducing the burden of the above.

  In order to achieve the above object, the present invention provides an endoscope having a bending portion in the vicinity of the distal end of an insertion portion, bending means for bending the bending portion, and operating means for performing a bending operation of the bending portion; Driving means for bending the bending portion by the bending means; bending amount detection means for detecting the bending amount of the bending portion; operating force detection means for detecting an operating force applied to the operating means; and bending the bending portion. In accordance with the neutral point resetting means for setting the neutral point in the state that has been set, and the neutral point reset by the neutral point resetting means, the corresponding driving state of the driving means is maintained. Control means for controlling driving, and the control means sets the bending portion when the neutral point is reset in response to a neutral point resetting instruction from the neutral point resetting means. The bending amount is calculated from the bending amount detection means. Obtained and stored, and after starting to maintain the bending state of the bending portion in response to the resetting of the neutral point, the bending amount detected by the bending amount detecting means is acquired and stored. The driving force for maintaining the set bending amount based on the operating force detected by the operating force detecting means and the driving force of the driving means when the bending amount and the set bending amount coincide with each other. An endoscope characterized by correcting the driving force of the means is provided.

  Furthermore, it is preferable that the control unit corrects the driving force of the driving unit based on a past correction result of the driving force.

  In addition, the operation force detection means detects an operation force applied to the operation means at all times during the bending operation of the bending portion by the operation means, and the control means is detected by the operation force detection means. In accordance with the operated force, it is preferable that the bending means assists the bending of the bending portion by the driving means with a predetermined ratio of force to the operating force.

Further, the control means acquires the bending amount of the bending portion at the time when the neutral point resetting is performed by the neutral point resetting means from the bending amount detection means, and the acquired bending amount is The driving means is controlled so that the bending portion is maintained as the set bending amount. After that, when the operating force is detected to be 0 by the operating force detecting means, the driving means at this time is detected. It is preferable to control the driving means so that the bending portion is bent by this driving force.
Furthermore, the control means starts the maintenance of the bending state of the bending portion in response to the resetting of the neutral point, and continues to operate the bending portion even if the operation means is operated until the operating force 0 is detected. It is preferable to control the driving means so that the bending state of the lens does not change.

  Alternatively, the control means detects an operation force at that time from the operation force detection means in response to a neutral point resetting instruction from the neutral point resetting means, and this operation force and the drive means at that time It is preferable that the driving means is controlled by using the total driving force as a driving force necessary for maintaining the set bending amount.

Further, the bending means bends the bending portion by pulling a wire inserted through the bending portion, and the bending amount detection means determines a rotation angle of a pulley around which the wire is wound. It is preferable to detect the amount of bending of the bending portion by detecting.
Further, the bending means bends the bending portion by pulling a wire inserted into the bending portion, and the bending amount detection means detects the movement amount of the wire, thereby It is preferable to detect the bending amount of the bending portion.

Further, it is preferable that the bending amount detection unit detects a bending amount of the bending portion by detecting a rotation angle of a gear engaged with the driving unit.
Further, it is preferable that the bending amount detecting means detects the bending amount of the bending portion by detecting a bending angle of the bending portion.

  Further, the resetting means has a bending amount instruction means for the bending portion, and the control means responds to a neutral point resetting instruction by the resetting and a bending amount set by the instruction means. Thus, it is preferable to control the driving of the driving means so that the bending portion is bent by the bending amount.

  In addition, it is preferable that the neutral point can be reset corresponding to the four directions of up, down, left, and right.

The endoscope of the present invention having the above-described configuration rotates, using a motor or the like, a pulley that pulls a wire that bends the bending portion in response to a neutral point resetting instruction by an endoscope operator such as a doctor. The curved portion can be set as a neutral point (reset) by curving the curved portion by the driving means and maintaining the curved portion in a desired curved state.
Therefore, according to the present invention, even when it is necessary to perform rotation of the insertion portion or adjustment of the bending amount in a state where the bending portion is greatly bent, as in the aforementioned endoscopic examination of the stomach fundus, the desired bending is achieved. The endoscope can be operated by resetting the neutral point in the state. Therefore, as in the state where the bending portion is not bent, the insertion portion can be rotated, and also when changing the amount of bending, compared to an endoscope in which the neutral point cannot be reset, The burden can be reduced.

  Furthermore, according to the present invention, the set bending amount of the bending portion at the time when the neutral point resetting instruction is issued is detected, and the bending state of the bending portion according to the neutral point resetting instruction is maintained. After the start, the driving force of the driving means is corrected from the operation force detected when the bending amount of the bending portion coincides with the set bending amount and the driving force of the driving means for bending the bending portion. Therefore, for example, due to surgery, the neutral point reset state continues for a long time, and fluctuations in characteristics due to heat generation of the motor that is the drive means, fluctuations in the reaction force of the bending mechanism of the bending portion, etc. Even if it occurs, an accurate neutral point can be maintained according to the doctor's instructions.

  Therefore, according to the endoscope of the present invention, in response to various types of examinations and medical treatment using the endoscope, the neutral point can be reset in a desired curved state according to a doctor's request, Since the neutral point of the curved portion can be maintained accurately for a long time, the burden on the doctor can be reduced, and the endoscope can be operated accurately, more easily and safely.

It is a perspective view which shows notionally an example of the endoscope of this invention. It is a partial schematic diagram of an example of the operation unit in the endoscope of the present invention. It is a partial schematic diagram of another example of the operation unit in the endoscope of the present invention. It is a figure which shows notionally the bending mechanism of the angle part of the endoscope shown in FIG. It is the schematic of an example of the angle part which can be utilized for the endoscope of this invention. (A) is a conceptual diagram for explaining resetting of the neutral point of the angle portion in the endoscope shown in FIG. 1, and (B) and (C) are neutral views of the angle portion in the endoscope shown in FIG. It is a graph for demonstrating operation at the time of resetting a point. (A) And (B) is a graph for demonstrating another example of the effect | action in the endoscope shown in FIG. It is a flowchart for demonstrating the effect | action of the endoscope shown in FIG. It is a schematic graph for demonstrating the effect | action of the endoscope shown in FIG. It is a conceptual diagram for demonstrating the examination of the stomach fundus by an endoscope.

  Hereinafter, the endoscope of the present invention will be described in detail based on a preferred embodiment shown in the accompanying drawings.

FIG. 1 shows a schematic diagram of an example of the endoscope of the present invention.
As an example, the endoscope 10 shown in FIG. 1 is inserted into an examination site such as a body cavity (digestive organ or the like) to observe the examination site, take a photograph or a video, and further collect a tissue. .
In the illustrated example, the endoscope 10 includes an insertion unit 12, an operation unit 14, a connector 16, and a universal cord 18 in the same manner as a normal endoscope.
This endoscope 10 changes the neutral point of the angle portion 24 (the bending operation is not performed by the operation knob, steady state) from the state where the angle portion 24 is not curved (straight state) to a desired bending state. This is basically the same as a known endoscope (endoscope apparatus) except that it has a function of resetting the neutral point of the angle portion 24 that is set / maintained.

  The insertion part 12 is a long part to be inserted into an examination part such as a body cavity, and includes a tip part 22 at the tip (insertion-side tip = opposite end of the operation part 14), an angle part 24, and a flexible part 26. And have.

The distal end portion 22 has illumination glass for illuminating with a light guide, an air supply / water supply nozzle for inhaling, supplying air, and supplying water to the examination site, and forceps for collecting tissue etc. into the examination site. A forceps port or the like is provided.
The endoscope 10 shown in the drawing is a so-called electronic scope that images an examination site using an image sensor such as a CCD sensor as an example. Therefore, an imaging objective lens or CCD sensor is provided at the distal end portion 22. A substrate for processing an image signal of an image taken by the CCD sensor is also arranged. Note that the endoscope of the present invention is not limited to an electronic scope, and may be a so-called fiberscope that directly observes an examination site using an optical fiber or the like. Are provided with an observation lens and an observation window.

The angle portion (curved portion) 24 is moved up and down by operation of operation knobs (LR knob 36 and UD knob 38) to be described later in order to insert the distal end portion 22 into the target position or to position it at the target position. This is a region that curves to the left and right (four orthogonal directions).
The flexible portion 26 is a portion that connects the distal end portion 22 and the angle portion 24 and the operation portion 14, and is a long portion having sufficient flexibility for insertion into the examination portion. The flexible portion 26 (and the angle portion 24) includes a forceps channel (tube) for inserting forceps, an air / water supply channel connected to an air / water supply nozzle, a light guide for illuminating an examination site, A cable or the like for transferring an image (image signal) taken by the CCD sensor is accommodated.

The operation unit 14 is a part that operates the endoscope 10.
As with a normal endoscope, a forceps port 28 for inserting a treatment tool such as a forceps or a clip treatment tool, a suction button 30 for performing suction from the air / water supply nozzle of the distal end portion 22 and the air supply and An air / water supply button 32 and the like for water supply are arranged. Since the endoscope 10 is an electronic scope, the operation unit 14 is also provided with various operation means related to imaging of the examination site, such as a still image shooting switch and a zoom switch.

As described above, the operation portion 14 is provided with the operation knob for bending the angle portion 24 of the insertion portion 12.
Specifically, an LR knob (left / right knob) 36 that bends the angle portion 24 leftward and rightward, and a UD knob that curves the angle portion 24 upward and downward perpendicular to the left-right direction ( (Up / Down knob) 38 is arranged as an operation knob. In the endoscope 10, like the various endoscopes, the angle portion 24 of the insertion portion 12 is bent (bent) in the left-right direction by turning the LR knob 36, and the angle portion 24 is turned by turning the UD knob 38. Can be bent in the vertical direction (direction orthogonal to the bending direction by the LR knob 36).
Further, the LR brake 40 for fixing the angle portion 24 (LR knob 36) in a state bent in the left-right direction and the angle portion 24 (UD knob 38) fixed in a state bent in the up-down direction are fixed to the operation portion 14. A UD brake 42 is provided.

Further, the operation unit 14 has a reset switch 44 for resetting the neutral point of the angle unit 24 from the normal straight state to a desired curved state, and the reset neutral point is returned to the steady straight state. A release switch 46 is also provided.
The configuration of the operation knob and brake of the operation unit 14, the configuration of the angle unit 24 and the bending action, and the reset switch 44 and the release switch 46 will be described in detail later.

The connector (LG (Light Guide) connector) 16 is a part for connecting the water supply means, the air supply means, the suction means and the like installed in the endoscope processor and the endoscope 10. In addition to the suction connector 50 for connecting the facility suction means, a water supply connector for connecting to the facility water supply (water supply) means, a ventilation connector for connecting to the facility air supply means, and the like are arranged.
In addition, when the connector 16 uses an LG rod 52 for connecting an illumination light guide and a light source installed in the endoscope processor, a high-frequency treatment instrument (a so-called electric knife such as a snare or a knife) is used. In addition, an S terminal 54 or the like for connecting an S cord for escaping the current leaked to the endoscope 10 is also provided.
Further, the connector 16 is connected with a video connector 56 for connecting the endoscope 10 with a video processor that processes and displays an image taken by the endoscope 10 (its CCD sensor).

The universal cord (LG soft part) 18 is a part for connecting the connector 16 and the operation part 14.
The light guide, the air / water supply channel, and the like are connected from the connector 16 through the universal cord 18 to the operation unit 14, and from the operation unit 14 through the flexible portion 26 of the insertion unit 12 as described above, the distal end portion 22. Connected to.

As described above, the operation unit 14 includes the LR knob 36 that bends the angle portion 24 of the insertion portion 12 in the left-right direction, the UD knob 38 that is bent in the same vertical direction, and the angle portion 24 that is bent in the left-right direction. An LR brake 40 for holding, and a UD brake 42 for holding in a curved state in the same vertical direction are arranged.
FIG. 2 shows a schematic diagram (schematic partial cross-sectional view) of an example of the configuration of the LR knob 36, the UD knob 38, the LR brake 40, and the UD brake 42 in the operation unit 14. The endoscope of the present invention is not limited to this configuration, and all known configurations used in various endoscopes can be used.

A housing (non-movable part) 60 constituting the outer shape of the operation unit 14 is provided with a cylindrical shaft support 60a so as to stand up through the wall surface of the housing 60, and a lower end (housing) of the shaft support 60a. A substantially C-shaped fixing portion 60b is provided at an inner side end portion of 60.
A cylindrical central shaft 62 is erected on the fixed portion 60b so as to pass through the center of the shaft support portion 60a and project outside from the housing 60.

A connecting pipe (rotating shaft) 64 is fixed to the lower surface of the LR knob 36, and a pulley 68 is fixed to the lower end of the connecting pipe 64 so as to be included in the fixing portion 60b. In addition, two wires 70 and 72 for bending the angle portion 24 in the left-right direction are wound around the pulley 68 (or the ends of the wires 70 and 72 are fixed).
Further, a bend amount detecting means 106 for detecting the bend amount in the left-right direction of the angle portion 24 from the rotation angle of the pulley 68 is disposed in the fixed portion 60b. The bending amount detection means 106 will be described in detail later.

  The wires 70 and 72 are wires (angle wires / operation wires) for bending the angle portion 24 in the left-right direction, and are separated in the left-right direction by a wire guide or the like as will be described later (see FIGS. 4 and 5). The end portion on the tip portion 22 side is fixed to the tip ring 112 of the angle portion 24 through the angle portion 24. In the endoscope 10, when the LR knob 36 is rotated, the pulley 68 is rotated, and in accordance with this rotation direction, one of the wires 70 and 72 is pulled and the other is sent out, whereby the angle portion 24 is moved in the left-right direction. To curve.

The connecting pipe 64 has a cylindrical shape, is inserted through the central shaft 62, and is rotatably supported by the central shaft 62.
Therefore, the LR knob 36 and the pulley 68 are also rotatably supported on the central axis 62 with the central axis 62 (center line thereof) as the rotation center. When the LR knob 36 is rotated by the operator, the pulley 68 is rotated. Are rotated by the same amount, one of the wires 70 or 72 is pulled, and the other is sent out (the wire is advanced or retracted).

The pulley 68 is also formed with a gear for engaging with an LR neutral point resetting motor 74 (hereinafter referred to as LR motor 74).
The LR motor 74 constitutes a driving means for resetting the neutral point in the left-right direction of the angle portion 24, and is fixed to the housing 60 of the operation portion 14 by a stay or the like (not shown). A gear 78 is fixed to the rotation shaft of the LR motor 74. A gear 80 is pivotally supported on the housing 60. The gear 80 meshes with a gear 78 formed on the rotating shaft gear 78 of the LR motor 74 and the pulley 68.

Therefore, when the LR motor 74 is driven, the rotational force is transmitted and the pulley 68 is rotated. Thus, as will be described later, one of the wires 70 and 72 is pulled and the other is sent out according to the rotation direction of the pulley 68, the angle portion 24 is bent in the left-right direction, and the LR motor 74 is output at a constant output. By continuing to drive, it becomes possible to keep the curved state (that is, it is possible to apply torque to the pulley 68 and keep the angle portion 24 curved in the left-right direction).
Further, the LR motor 74 can be used to assist (assist) the operation of the LR knob 36 directly connected to the pulley 68 by the connecting pipe 64, that is, the operation of bending the angle portion 24 in the left-right direction.

In the operation unit 14, the upper surface of the LR knob 36 has a concave shape, and the lower part of the LR brake 40 is inserted into the concave portion. An LR brake member 76 for fixing the rotation of the LR knob 36 is disposed on the lower surface of the LR brake 40.
The LR brake 40 is rotatably supported on the center shaft 62. On the other hand, the LR brake member 76 has a cylindrical shape, is inserted into the central shaft 62, cannot be rotated, and can be moved up and down (movable in the longitudinal (vertical) direction of the central shaft 62). Supported.

When the LR brake 40 rotates, the LR brake member 76 moves up and down along the central axis 62 by a known means such as a cam mechanism or a screw mechanism according to the rotation direction.
When the LR brake member 76 is positioned above, the LR brake member 76 is completely separated from the LR knob 36. However, the LR brake member 76 contacts / presses the LR knob 36 when lowered. As described above, since the LR brake member 76 is supported by the central shaft 62 so as not to rotate, the rotation of the LR knob 36 can be stopped by the frictional force by pressing the LR brake member 76 (the brake is applied to the LR knob 36). ). Further, since the LR brake member 76 can be moved up and down but cannot rotate, the LR knob 36 is not rotated by the operation of applying the brake.

Here, the LR brake 40 can adjust the pressing force of the LR brake member 76 to the LR knob 36 according to the amount of rotation. The brake applied to the LR knob 36 can be set in two types, a fixed state and a half brake state. Can be in the state of.
The fixed state is a state where the LR brake member 76 is strongly pressed against the LR knob 36 and the LR knob 36 cannot be rotated. On the other hand, in the half brake state, the LR knob 36 is pressed by the LR brake 40, and the automatic rotation of the LR knob 36 due to the reaction force of the curved angle portion 24 is stopped. The LR knob 36 can be rotated only by being heavy.

In the operation unit 14 of the endoscope 10, the UD knob 38 is disposed below the LR knob 36 (between the LR knob 36 and the housing 60).
The UD knob 38 has a recess on the lower surface side. A connecting pipe (rotating shaft) 84 is fixed to the ceiling surface of the recess. A pulley 86 is fixed to the lower end of the connecting pipe 84 so as to be included in the fixing portion 60b. Two wires 88 and 90 that are connected to the angle portion 24 and pull the angle portion 24 to bend are wound around the pulley 86.
Further, a bending amount detecting means 108 for detecting the amount of bending of the angle portion 24 in the vertical direction from the amount of rotation of the pulley 86 is disposed in the fixed portion 60b. The bending amount detection means 108 will be described in detail later.

  The wires 88 and 90 are wires for bending the angle portion 24 in the vertical direction. The wires 88 and 90 are inserted in the angle portion 24 while being separated in the vertical direction (direction perpendicular to the separation direction of the wires 70 and 72) by the wire guide. The end on the side of the portion 22 is fixed to the tip ring 112 of the angle portion 24. In the endoscope 10, when the UD knob 38 is rotated, the pulley 86 is rotated. In accordance with this rotation direction, one of the wires 88 and 90 is pulled and the other is sent out, so that the angle portion 24 is moved in the vertical direction. To curve.

The connecting pipe 84 is cylindrical, is inserted through the connecting pipe 64 fixed to the LR knob 36, is inserted into the shaft support portion 60a of the housing 60, and is rotatably supported by the connecting pipe 64. Since the connecting pipe 84 passes through the connecting pipe 64, the pulley 86 at the lower end of the connecting pipe 84 is positioned above the pulley 68 at the lower end of the connecting pipe 64 of the LR knob 36.
Accordingly, the UD knob 38 and the pulley 86 are also rotatably supported by the connecting pipe 64 with the connecting pipe 64 as the rotation center. When the UD knob 38 is rotated by the operator, the pulley 86 also rotates by the same amount. Then, one of the wires 88 and 90 is pulled and the other is sent out.
Here, as described above, the connecting pipe 64, that is, the LR knob 36 rotates around the central axis 62. Accordingly, the connecting pipe 84, that is, the UD knob 38 also rotates around the central axis 62. That is, the LR knob 36 and the UD knob 38 that are the operation knobs for bending the angle portion 24 rotate coaxially.

As with the previous pulley 68, a gear for engaging with a UD neutral point resetting motor 92 (hereinafter referred to as a UD motor 92) is also formed on the pulley 86 corresponding to the bending in the vertical direction.
The UD motor 92 constitutes a driving means for resetting the neutral point in the left-right direction of the angle portion 24, and is fixed to the housing 60 of the operation portion 14, and a gear 96 is fixed to the rotation shaft thereof. Has been. A gear 98 is pivotally supported on the housing 60. The gear 98 meshes with the gear 96 of the rotating shaft of the UD motor 92 and the gear formed on the pulley 86.

Accordingly, when the UD motor 92 is driven, a rotational force is transmitted and the pulley 86 is rotated. Depending on the direction of rotation, one of the wires 88 and 90 is pulled to send the other, and the angle portion 24 is moved up and down. The angle portion 24 can be kept in a curved state by continuously driving the UD motor 92 with a constant output (that is, the angle portion 24 can be torqued by applying a torque to the pulley 86). Can be kept curved in the vertical direction).
Further, by driving the UD motor 92, it is possible to assist the operation of the UD knob 38 directly connected to the pulley 86 by the connecting pipe 84, that is, the operation of bending the angle portion 24 in the vertical direction.

The UD brake 42 includes an operation lever 42a and a cylindrical portion 42b.
The cylindrical portion 42b is a cylindrical member that is inserted into the concave portion of the UD knob 38 so as to pass through the shaft support portion 60a and is rotatably supported by the shaft support portion 60a. The operation lever 42a is like a lever handle, with one end fixed to the cylindrical portion 42b and the other end protruding from the UD knob 38. Therefore, the cylindrical portion 42b can be rotated by swinging the operation lever 42a.
A UD brake member 94 for fixing the rotation of the UD knob 38 is disposed on the cylindrical portion 42b of the UD brake 42. The UD brake member 94 has a cylindrical shape having the same inner and outer diameter as the cylindrical portion 42b, and is inserted through the shaft support portion 60a so that it cannot rotate and can be raised and lowered, like the LR brake member 76. It is supported by the shaft support 60a.

When the UD brake 42 (cylindrical portion 42b) rotates, the UD brake member 94 moves up and down along the shaft support portion 60a by a known means such as a cam mechanism or a screw mechanism.
As described above, the UD brake member 94 is supported by the shaft support 60a so as not to rotate and to be movable up and down. Like the LR brake member 76, the UD brake member 94 is in a state of being positioned below. The UD knob 38 is completely separated from the UD knob 38. However, when the UD knob 38 is lifted, the UD knob 38 abuts / presses against the UD knob 38 without rotating, and brakes the rotation of the UD knob 38 by a frictional force.
Further, like the previous LR brake 40, this UD brake 42 can also adjust the pressing force of the UD brake member 94 to the UD knob 38 by the rotation amount, that is, the operation amount of the operation lever 42a. The brake applied to 38 can be set in two states, a fixed state and a half brake state.

  In the example shown in FIG. 2, the rotational speed of the motor is reduced by providing gears 80 and 98 between the motors 74 and 92 for bending the angle portion 24. However, the present invention is limited to this. However, by providing a planetary gear or a harmonic drive in the auxiliary motor (motor head), the rotational speed by the motor may be reduced, or the reduction by the gear may be used in combination.

Further, in the example shown in FIG. 2, the rotation of the motor is transmitted by a gear and the pulley (connection pipe = operation knob) is rotated, and the angle portion 24 is bent for resetting the neutral point. However, the present invention is not limited to this, and the angle portion 24 may be curved using a direct drive motor (DD motor).
For example, as shown in FIG. 3 with reference to the configuration shown in FIG. 2, a cylindrical portion 68a is provided at the lower portion of the pulley 68 for bending the angle portion 24 to the left and right. An inner rotor DD motor is used as the LR motor 74D, and the rotor of the LR motor 74D is engaged with the cylindrical portion 68a. By rotating the cylindrical portion 68a with the LR motor 74D, the angle portion 24 is bent in the left-right direction, and a rotational force is applied to the pulley 68 to keep it in a bent state.
Similarly, in the vertical bending assist, the inner rotor DD motor is used as the UD motor 92D, and the connecting pipe 84 is inserted into the rotor of the UD motor 92D to engage. By rotating the connecting tube 84 with the UD motor 92D, the angle portion 24 is bent in the vertical direction, and a rotational force is applied to the pulley 86 to keep it in a bent state.

By the way, as described above, in the operation unit 14, the fixed portion 60 b of the housing 60 includes the bending amount detection means 106 that detects the rotation angle of the pulley 68 corresponding to the bending of the angle portion 24 in the left-right direction, A bending amount detecting means 108 for detecting the rotation angle of the pulley 86 corresponding to the direction bending is disposed.
As described above, in the endoscope 10, the bending operation of the angle portion 24 is performed by rotating the operation knob to rotate the pulley, and depending on the rotation direction of the pulley, the two wires separated in the bending direction are rotated. This is done by pulling one and sending the other. Accordingly, the rotation angle (rotation amount) of the pulley corresponds to the bending amount of the angle portion 24, that is, the bending amount of the angle portion 24 can be detected by detecting the rotation angle of the pulley.

Further, the operation unit 14 is provided with a torque sensor 100 that detects torque applied to the connecting pipe 64 at a position indicated by a diagonal line of the connecting pipe 64. As described above, the LR knob 36, the connecting pipe 64, and the pulley 68 rotate integrally. That is, the torque sensor 100 is detection means for detecting an operating force (rotational torque) applied to the LR knob 36.
In addition, a torque sensor 102 that detects torque applied to the UD knob 38 is disposed at a position indicated by diagonal lines of the connecting pipe 84. Similarly, the UD knob 38, the connecting pipe 84, and the pulley 86 rotate integrally. That is, the torque sensor 102 is detection means for detecting an operating force applied to the UD knob 38.
That is, in the illustrated operation unit 14, a torque sensor is used as a part of a cylindrical connecting pipe that is directly connected to a curved operating knob and rotates integrally with the operating knob (or a part of the connecting pipe). By arranging the torque sensor), the operation force for bending the angle portion 24 applied to the operation knob is directly detected.

As will be described in detail later, in the endoscope 10 of the illustrated example, in response to the neutral point resetting instruction by the resetting switch 44, the pulley amount detected by the bending amount detecting means is detected by the bending amount detecting unit at that time. Knowing from the rotation amount, the motor is driven so as to maintain the bending amount at this time point, and then, when it is detected that the operation force applied to the operation knob is zero by the torque sensor, the motor drive at that time point is driven Until the release command is issued by the release switch 46 after knowing the current value, the neutral point of the angle portion 24 is basically reset by driving the motor with this drive current value.
Further, as a preferable aspect, the endoscope 10 in the illustrated example detects an operation force applied to the operation knob with a torque sensor, and sets the LR motor 74 so as to rotate the pulley 68 with a predetermined force with respect to the operation force. By driving, the bending operation of the angle portion 24 is assisted.

In the present invention, the bending amount detection means 106 and the bending amount detection means 108 are not particularly limited, and all known rotation angle (or rotation amount) detection means can be used.
As an example, an optical type in which a gear-shaped notch is formed at a predetermined interval on the outer peripheral portion of the pulley, and a light-receiving portion and a light-emitting portion that are spaced apart in a direction perpendicular to the rotation direction of the pulley at positions corresponding to the notch A so-called optical encoder that uses a sensor to detect the rotation angle by the number of times that the notch is passed is exemplified. In the illustrated example of the endoscope 10, when this optical encoder is used, the gears formed on the pulleys 68 and 86 may be used as notches for detecting the rotation angle.
In addition to the optical encoder, a rotation angle detecting means using a potentiometer (variable resistor) can be suitably used.

In the present invention, the method of detecting the bending amount of the angle portion 24 is not limited to detecting the rotation angles of the pulleys 68 and 86.
As an example, similarly to the rotation angle of the pulley, the movement amounts of the wires 70 and 72 corresponding to the bending in the left-right direction and the wires 88 and 90 corresponding to the bending in the vertical direction also correspond to the bending amount of the angle portion. Therefore, the amount of bending of the angle portion 24 may be detected by detecting the amount of movement of the wire. The movement amount of the wire may be detected by a known means for detecting the movement amount of the long object, such as an optical method or a mechanical method.
Also, instead of the pulleys 68 and 86, the amount of bending of the angle portion 24 is detected by detecting the rotation angles of the gears 78 and 80 and the gears 96 and 98 that mesh directly or indirectly with these pulleys. May be. The rotation angle of these gears may be detected by the same means as the pulley.
Further, the amount of bending of the angle portion 24 may be detected by detecting the angle of the angle portion 24. There is no particular limitation on the method of detecting the angle of the angle part 24, for example, by detecting the amount of distortion of the elastic body cover constituting the outer skin of the angle part 24 at a position between two adjacent circular rings 110. The bending amount of the angle portion 24 may be detected. For detecting the strain amount of the elastic body cover, a known means such as an electric resistance wire strain gauge may be used.

On the other hand, the torque sensors arranged in the connecting pipe 64 and the connecting pipe 84 are not particularly limited, and various known torque sensors such as a torque sensor using a strain gauge and a magnetostrictive torque sensor can be used.
In the present invention, it is not limited to detecting the bending operation force in the connecting pipe 64 and the connecting pipe 84. For example, angle detection such as torque detection at the pulley 68 and torque detection at the gear 80 is possible. Detection at various positions and parts that can directly or indirectly detect the bending operation force of the unit 24 can be used. In addition to the torque sensor, various force detection means can be used as the operation force detection means.

FIG. 4 is a conceptual diagram of a mechanism for bending the angle portion 24 in the left-right direction in the example shown in FIG. 2, and FIG. 5 is a conceptual diagram of an example of the angle portion 24. Here, although omitted in FIG. 2, reference numeral 118 in FIG. 4 is a control means for controlling the driving of the LR motor 74 (and the UD motor 92).
In the endoscope of the present invention, the bending mechanism of the angle portion of the endoscope is not limited to the illustrated mechanism, and the bending means (curving mechanism) of the angle portion used in the endoscope is All are available. Further, the configuration of the angle portion 24 is not limited to the illustrated example, and all configurations adopted in the endoscope can be used.

The angle portion 24 in the illustrated example is configured by connecting nine rings, for example, eight circular rings 110 and one tip ring 112.
As shown in FIG. 5, when viewed from one side of the circular ring 110, the upper and lower surfaces of the circular ring 110 are convex, with one of the upper and lower sides in the axial direction being convex and the opposite surface recessed in the same direction as the convex. It is a substantially cylindrical member that opens. The tip ring 112 is a substantially cylindrical member, and is disposed on the most tip portion 22 side of the angle portion 24.

The circular ring 110 and the tip ring 112 are connected by a connecting member 114a and a connecting member 114b.
The circular ring 110 is arranged in the longitudinal direction of the insertion portion 12 with the direction of the unevenness alternately. The connecting member 114a connects the circular ring 110 so as to be rotatable (swingable) in the left-right direction (arrow a direction) at both centers on the convex side. On the other hand, the connecting member 114b connects each circular ring 110 and the circular ring 110 at the front end and the front end ring 112 so as to be rotatable in the vertical direction (arrow b direction) at both ends on the concave side.
Further, the connecting members 114 a and the connecting members 114 b are alternately arranged to connect the circular rings 110. That is, the circular rings 110 are alternately connected so as to be rotatable in the vertical direction and the horizontal direction.

The wires 70 and 72 that bend the angle portion 24 in the left-right direction are guided by a wire guide (not shown) and are spaced apart in the left-right direction (up and down in the drawing) and inserted through the circular ring 110. As an example, the wires 70 The tip of the wire 72 is fixed to the right inner surface of the tip ring 112 and the tip of the wire 72 is fixed to the left inner surface of the tip ring 112, respectively.
Further, although omitted in FIG. 5, in the angle portion 24, the two wires 88 and 90 that bend the angle portion 24 in the vertical direction are guided by the wire guide and separated in the vertical direction (perpendicular to the paper surface). As an example, the tip of the wire 88 is fixed to the upper side of the inner surface of the tip ring 112, and the tip of the wire 90 is fixed to the lower side of the inner surface of the tip ring 112.

As described above, the connecting pipe 64 and the pulley 68 are rotated by rotating the LR knob 36 which is a bending operation knob. Depending on the direction of rotation of the pulley 68, one of the wires 70 and 72 is pulled, the other is fed out, and the angle portion 24 curves left or right with the pulled wire inside. As the pulling amount of the wire, that is, the rotation amount of the pulley 68 increases, the angle portion 24 is bent more greatly.
Therefore, the bending amount (bending angle) of the angle portion 24 can be adjusted by the rotation amount of the LR knob 36.

  As described above, the endoscope 10 of the present invention has a function of resetting the neutral point of the angle portion 24 from the normal straight state to a desired curved state, and resetting the neutral point of the angle portion 24. Reset switch 44 for instructing, release switch 46 for releasing the reset neutral point and returning to the straight state, torque sensor 100 (102), bending amount detecting means 106 (108), LR motor 74 (UD motor 92) ) And control means 118 for controlling the driving of the motor.

Hereinafter, referring to FIG. 4, when the torque sensor 100, the bending amount detection means 106 and the control means 118, the neutral point reset in the endoscope 10, and the reset neutral point are maintained. The neutral point correction will be described in detail.
In the following description, with reference to FIG. 4, the bending of the angle portion 24 in the horizontal direction and the resetting of the neutral point, and the correction of the neutral point when the reset neutral point is maintained will be described. However, also in the vertical direction, the curve and the neutral point are reset, and the neutral point is corrected in the same manner when the reset neutral point is maintained. This also applies to assisting the bending of the angle portion 24 described later.

The measurement result of the rotation angle of the pulley 68 by the bending amount detection means 106 is always supplied to the control means 118.
When the reset switch 44 is pressed and a signal is received, the control unit 118 detects the rotation angle of the pulley 68 at the time when the reset switch 44 is pressed (that is, the amount of bending of the angle portion 24 at that time). The driving of the LR motor 74 is controlled so as to store the stored rotation angle as the set bending amount.
The drive control method for the LR motor 74 for maintaining the stored rotation angle (set bending amount) is not particularly limited. For example, various positioning controls using the set bending amount as a target value, such as PID control. Can be used.
Here, in order to surely obtain the state of zero torque detected by the torque sensor 100 described later, that is, the state where the doctor's operation force is zero, the LR knob 36 cannot be turned by the operator's force in a state where the rotation angle is maintained. In addition, it is preferable to control the driving of the LR motor 74. In other words, in this rotation angle maintaining state, it is preferable that the LR knob 36 is locked by drive control of the LR motor 74.

Further, the control means 118 starts to maintain the set bending amount such as positioning control, acquires the torque detection result by the torque sensor 100, and when the torque detected by the torque sensor 100 becomes zero, that is, the LR knob. The current value of the LR motor 74 when the operating force applied to 36 becomes zero is stored, and thereafter, the LR motor 74 is driven with the stored current value, that is, the current value when the operating force becomes zero.
Thereby, the neutral point of the angle portion 24 is reset to the set bending amount that is the bending amount when the reset switch 44 is pressed.

When the angle portion 24 is bent, the angle portion 24 tries to return to a straight state that is not bent, that is, a straight state by a reaction force that the angle portion 24 has, and when the hand is released from the LR knob 36, the reaction force automatically Return to the straight state. Further, the bending reaction force of the angle portion 24 increases as the bending amount increases. In other words, the greater the amount of bending, the stronger the force to return to the straight due to the reaction force, and more force is required for the bending operation of the angle portion 24.
Therefore, the LR motor 74 is driven with a current value (motor torque is proportional to the current value) that can obtain the same torque as the torque applied to the LR knob 36 by the doctor to obtain this reaction force, that is, the desired amount of bending. If the pulley 68 is rotated, the reaction force of the angle portion 24 and the torque of the LR motor 74 are balanced, and the angle portion 24 can be maintained in this curved state.
Therefore, by knowing the rotation angle of the pulley 68 at the time when the neutral point resetting is instructed as the set bending amount, and driving the LR motor 74 with a current value corresponding to the torque that maintains this set bending amount, The neutral point of the angle portion 24 can be reset to the bending amount at the time when resetting is instructed.

Thereby, as conceptually shown in FIG. 6A, the neutral point of the angle portion 24, which is normally in a straight state, can be reset to a curved state by a desired amount of curvature.
Further, at the neutral point in the normal straight state, the relationship between the amount of bending and the torque for bending (the load of the endoscope itself) is in the state shown on the left in FIG. In addition, when the LR motor 74 is driven to reset the neutral point with θ as the amount of curvature of the angle portion, the torque of the LR motor 74 shown in the center of FIG. The relationship between the set bending amount θ and the torque (total load applied to the hand) at the time when is reset is as shown on the right side of FIG. That is, the load applied to the endoscope is shifted upward by the amount of torque by the LR motor 74.
Therefore, for example, if the bending amount of the angle portion 24 is changed by the angle α from the state of the set bending amount θ, in the state where the neutral point is not reset, as shown on the left side of FIG. It is necessary to operate within a large range. On the other hand, as shown on the right side of FIG. 6C, when the neutral point is reset with the set bending amount θ, the operation is performed with the same load as the operation at the neutral point in the normal straight state with a small load. This can be done and the burden on the doctor can be reduced. In particular, as described above, the greater the amount of bending, the more force is required for the operation. Therefore, when operating in the direction of increasing the amount of bending, the operating force can be greatly reduced.

  Even when the doctor operates the LR knob 36 to arbitrarily change the bending amount of the angle portion 24 after the neutral point of the angle portion 24 is reset, the rotation of the pulley 68 by the bending amount detection means 106 is also performed. The measurement result of the corner (the bending amount of the angle portion 24) is always supplied to the control means 118.

The control means 118 compares the supplied amount of bending of the angle portion 24 with the stored set amount of bending, and when the supplied amount of bending of the angle portion 24 matches the set amount of bending, this time Then, the operation force applied to the LR knob 36, that is, the torque detection result by the torque sensor 100 is acquired. From the acquired torque and the current value supplied to the LR motor 74 to maintain the bending amount of the angle portion 24 at the reset neutral point, the control unit 118 sets the reset neutral point, that is, the set bending amount. In order to maintain the position at an accurate position, a current value to be supplied to the LR motor 74 is calculated. That is, the current value necessary for causing the LR motor 74 to generate a torque that balances the operating force applied to the LR knob 36 and the motor torque generated by the LR motor 74 when the bending amount of the angle portion 24 matches the set bending amount. calculate. Thereafter, the LR motor 74 is driven with the newly calculated current value.
As a result, the neutral point of the angle portion 24 is corrected to an accurate set bending amount when the reset switch 44 is pressed.

  As described above, after the resetting of the neutral point, when the reset neutral point is maintained, when the bending amount of the bending portion coincides with the set bending amount, the detected operation force and driving of the driving means are detected. Since the driving force of the driving means is corrected from the force, for example, due to surgery, etc., the neutral point reset state continues for a long time, and the characteristics change due to the heat generation of the motor that is the driving means, Even when the reaction force of the bending mechanism of the bending portion changes due to a change in rigidity caused by a temperature change of the elastic member that constitutes the portion, it is possible to maintain an accurate neutral point according to the doctor's request. The burden on the doctor can be reduced, and the endoscope can be operated accurately, more easily and safely.

Here, a specific example of a method for calculating a new current value supplied to the LR motor 74 at the time of correcting the neutral point will be described.
The control means 118 acquires and stores the set bending amount detected by the bending amount detection means 106 when the neutral point is reset. Further, when the most recent neutral point is corrected (or when the neutral point is reset), the motor torque constant _KT of the LR motor 74 and the current value I _NO (offset current value) supplied to the LR motor 74 are calculated. Get and remember. The torque required to maintain this neutral point is K _T I _NO .

While maintaining the reset neutral point, the control unit 118 always obtains the bending amount of the angle portion 24 from the bending amount detection unit 106, and when this bending amount matches the set bending amount. , the torque sensor 100 acquires the torque T _H i.e. the operation force detected. At this time, the current value supplied to the LR motor 74 is the offset current value I _NO , and the motor torque constant of the LR motor 74 is K _T at the previous neutral point correction time (or neutral point reset time). Since it fluctuates from _KT1 ,
K _T I _NO = K _T1 I _NO + _TH
And a new motor torque constant K _T1 is obtained using this.
_{K T1 = (K T I NO} -T H) / I NO
From this motor torque constant K _T1 and the torque K _T I _NO required to maintain the reset neutral point, a new offset current value to be supplied to the LR motor 74 in order to maintain an accurate neutral point _Find I _NO1 .
I _NO1 = K _T I _NO / K _T1
When the motor torque constant of the LR motor 74 fluctuates due to heat while the reset neutral point is maintained after the neutral point is reset by driving the LR motor 74 with the offset current value _INO1 Even when the reaction force of the bending mechanism of the bending portion fluctuates, it can be corrected to the neutral point when the neutral point is reset. That is, the set bending amount of the angle portion 24 can be corrected to the setting bending amount when the neutral point is reset.

In the above example, the offset current value I _NO1 to be supplied to the LR motor 74 is obtained from the obtained motor torque constant K _T1 . However, the present invention is not limited to this, and the most recent neutral number of times is obtained. An average value K _TA of a plurality of motor torque constants K _T1 obtained by correcting the points is calculated, and an offset current to be supplied to the LR motor 74 in order to maintain a neutral point using the motor torque constants K _TA The value I _NO1 may be obtained. At this time, the average value K _TA may be calculated by weighting the new motor torque constant K _T1 .
Thus, the average value K _TA of the plurality of motor torque constants K _T1 obtained in the past is calculated, and the offset current value to be supplied to the LR motor 74 in order to maintain the neutral point from the motor torque constant K _TA by obtaining the I _NO1, it is possible to reduce the influence of the detection error of the torque T _H by an electric noise.

As described above, according to the endoscope of the present invention, the neutral point is reset even when it is necessary to rotate the insertion portion while the bending portion is greatly bent, as in the above-described examination of the fundus, for example. As a result, the insertion portion can be rotated while the hand is released from the operation knob. Furthermore, unlike the state in which the half brake is applied, even when the bending amount is adjusted from the reset neutral point, the operation can be performed with a small force as in the normal neutral point operation.
Furthermore, if the neutral point is reset, the angle portion 24 can be held in a greatly curved state, so that the angle portion 24 suddenly returns to the straight state due to the reaction force by suddenly releasing the operation knob in the curved state. Accidents such as damaging the human body can also be prevented.

  In addition, after resetting the neutral point, when the reset neutral point is maintained, the bending amount of the bending portion matches the bending amount when the neutral point is reset, that is, the set bending amount. Sometimes, the driving force of the driving means is corrected based on the detected operating force and the driving force of the driving means for bending the bending portion. Even when a change in the reaction force of the bending mechanism of the bending portion occurs due to a change in rigidity caused by a temperature change of the elastic member that constitutes the elastic member, it is possible to continue to maintain an accurate neutral point according to the doctor's instructions. The burden on the doctor can be reduced, and the endoscope can be operated accurately, more easily and safely.

As described above, the operation unit 14 is also provided with the release switch 46 for releasing the reset neutral point and returning the neutral point to the normal straight state.
When the release switch 46 is pressed and receives the signal, the control means 118 stops the driving of the LR motor 74 and releases the torque applied to the connecting pipe 64, and the neutral point of the angle portion 24 is set in a normal straight state. Return to.
Here, the control means 118 does not immediately stop driving the LR motor 74 in response to a signal from the release switch 46, but gradually (preferably gradually) so that the angle portion 24 gradually returns to the straight state. It is preferable to reduce the drive current of the LR motor 74 and stop the drive of the LR motor 74. Thereby, the damage of a human body etc. by the angle part 24 returning to a straight state rapidly can be prevented.

  In the above example, in response to an instruction input from the reset switch 44, the amount of bending of the angle portion 24 (the rotation angle of the pulley 68) at that time is detected, and the LR motor 74 necessary to obtain this amount of bending is detected. By detecting the current value and driving the LR motor 74 with this current value, the neutral point of the angle portion 24 is reset. However, the present invention is not limited to this, and various means can be used. The neutral point of the angle part 24 can be reset.

As an example, the endoscope of the present invention has detection means for detecting an operation force applied to the operation knob, that is, in the illustrated example, the torque sensor 100 (102) is used. The neutral point may be reset.
That is, the torque at the time when resetting of the neutral point is instructed by the resetting switch 44, that is, the operating force is detected from the torque sensor 100, and the driving of the LR motor 74 that outputs this torque using the above-described motor torque constant or the like. The current is calculated, and the neutral point is reset by setting this drive current (or torque at the time of setting) as a current value (torque) necessary for maintaining the set bending amount.

Alternatively, the neutral point of the angle portion 24 may be reset to the bending amount in accordance with the set bending amount instructed to input.
If it demonstrates with reference to FIG. 4, the relationship between the actual bending amount (bending state) of the angle part 24 and the rotation angle of the pulley 68 (wire movement amount / gear rotation angle) can be known beforehand. Using this, the relationship between the actual bending amount of the angle portion 24 and the rotation angle of the pulley 68 is obtained in advance and tabulated, and the operation unit 14 is added to the reset switch 44 ( Alternatively, for example, an input function of the set bending amount is provided such as 60 °, 90 °, and 180 °. Alternatively, the set bending amount may be arbitrarily set using a dial or the like.
When the neutral point is reset and the set bending amount is instructed (input), the control unit 118 reads the rotation angle corresponding to the instructed set bending amount from the table, and the bending amount detection unit 106 reaches the rotation angle. The LR motor 74 is driven until it is detected that the pulley 68 is rotated, and positioning control is performed so as to reset the neutral point with the rotation angle as a set bending amount.

In the endoscope 10 according to the present invention, the neutral point resetting mechanism having the bending amount input means detects the bending amount at the time when the resetting of the neutral point is instructed. It can also be used in combination with an aspect in which the neutral point is reset so that the amount of bending is obtained.
Thus, for example, when the neutral point is reset at 180 ° in response to an input instruction, the LR knob 36 or the like is operated to adjust the amount of bending of the angle portion 24, and the amount of bending considered to be optimum is reached. Thus, various neutral point resetting operations can be performed, for example, the resetting switch 44 issues a neutral point resetting instruction again.

As described above, the endoscope 10 in the illustrated example can reset / cancel the neutral point of the angle portion 24 in the same manner not only in the horizontal direction but also in the vertical direction, but the LR knob 36 and the UD knob UD. When the angle portion 24 is curved by both the knobs 38, when the resetting / releasing of the neutral point is instructed, the neutral point is reset and canceled with respect to the bending in both directions. .
Or you may enable it to reset and cancel a neutral point independently with respect to the left-right direction and the up-down direction.

Moreover, although the endoscope 10 of the example of illustration can reset the neutral point of the angle part 24 with respect to four directions of the up-down / left-right as a preferable aspect, this invention is not limited to this.
In other words, in the endoscope of the present invention, the neutral point may be reset in only one direction such as only the upward curve or the rightward curve, or only in the vertical direction, only in the horizontal direction. There may be two directions such as only a curve. However, in the endoscope of the present invention, it is preferable that at least the upward (so-called up-angle) curve can reset the neutral point, and further, at least the vertical curve can be reset at the neutral point. More preferably, it is particularly preferable that it can be reset at a neutral point by bending in the four directions of up / down / left / right as in the illustrated example.

In the illustrated endoscope 10, the motor driving current value is used to control the motor driving force. However, the present invention is not limited to this, and means for controlling the motor driving force is not limited thereto. For example, a driving voltage of a motor can be used. When the rotational speed of the motor is low, the drive voltage and the drive current are generally in direct proportion. In the endoscope 10 of the present invention, the rotational speed of the motor for resetting the neutral point of the angle portion 24 (and assisting which will be described later) is basically a low speed in which the drive voltage and the drive current are in direct proportion. is there. Therefore, in the endoscope 10 of the present invention, not only the drive current but also the drive control of the motor with the drive voltage can be suitably used.
Furthermore, in the illustrated endoscope 10, the motor is used as the driving means for resetting the neutral point of the angle portion 24. However, the present invention is not limited to this, and as the driving means, for example, Various types such as a solenoid that assists traction by fluid pressure or electromagnetic force can be used.

By the way, the endoscope 10 has an LR motor 74 corresponding to the bending in the left-right direction and a UD motor 92 corresponding to the bending in the up-down direction for resetting the neutral point of the angle portion 24 in the bent state. Furthermore, the endoscope 10 includes a torque sensor 100 that detects a torque applied to the connecting pipe 64, that is, an operating force applied to the LR knob 36, and a torque sensor that detects a torque applied to the connecting pipe 84, that is, an operating force applied to the UD knob 38. 102.
The endoscope 10 of the illustrated example may assist (assist) the bending operation of the angle portion 24 using these as a preferable aspect.

  Similarly, with reference to FIG. 4, the bending assist by the LR motor 74 will be described by taking the operation of the LR knob 36 that bends the angle portion 24 in the left-right direction as an example.

In the endoscope 10, the control means 118 detects the torque detection result by the torque sensor 100, that is, the operation force (operation torque T _H ) applied to the LR knob 36 at a predetermined interval (sampling timing).
Control means 118, based on the detected operating torque _{T H,} LR motor 74 is torque to be applied (the motor torque _{T M)} that is calculated assist amount by the LR motor 74. As an example, let k be the proportionality constant that determines the amount of assist.
T _M = kT _H
After calculating the motor torque T _M , the control means 118 calculates a current value I necessary to obtain the motor torque T _M. That is, the motor-specific torque constant as _{K T,} the nature of the motor _"T M = _{K T} I",
I = (1 / K _T ) T _M
To obtain the current value I. Alternatively, the relationship between the torque of the LR motor 74 and the current value may be stored in a table in advance, and the current value I may be obtained using this.
Further, the control means 18 performs, for example, constant current control so that the LR motor 74 is driven by the current value I.

Therefore, when the neutral point of the angle portion 24 is re-set, re-set the neutral point, i.e. the current value for maintaining the set bending amount (offset current) When I _NO, the power assist and the current value for, at a current value plus the offset current value I _NO, drives the LR motor 74. That is,
I = (1 / K _T ) T _M + I _NO

Thereby, the operator's burden concerning the bending operation of the angle portion 24 of the endoscope 10 can be reduced according to k as a proportional constant that determines the assist amount.
As an example, when there is no assist by the LR motor 74, the torque (operation force) necessary to bend the angle portion to the target bend amount is defined as _TL .
By providing the above assistance,
T _L = T _H + T _M
Where
T _M = kT _H
So
T _L = kT _H + T _H = (1 + k) T _H
Therefore,
T _H = [1 / (1 + k)] T _L
Thus, the torque required for the operator to perform the bending operation of the angle portion 24 is reduced to “1 / (1 + k)” times. Therefore, when the LR motor 74 always assists with the same force as the operation torque by the operator (when k = 1), the torque (operation force) by the operator is 50% of the torque required for bending. can do.

As previously shown in FIG. 6B, in the endoscope 10, when the neutral point of the angle portion 24 is not reset, the relationship between the amount of bending and the torque required for bending is shown in FIG. ) In a state indicated by a dotted line. In order to reset the neutral point with the bending amount θ, a constant torque is applied by the LR motor 74, and a state indicated by a one-dot chain line in FIG. Therefore, in a state where the neutral point is reset, the relationship between the amount of bending and the torque for bending is in a state indicated by a solid line in FIG.
On the other hand, when the LR motor 74 applies a predetermined ratio of assist according to the operating force of the LR knob 36, when the neutral point is reset with the bending amount θ, the torque of the LR motor 74 is as shown in FIG. As shown by the one-dot chain line in B), the LR motor 74 is tilted to the right with the torque at the curve θ as the center. As a result, the relationship between the curve and the torque for the curve is shown in FIG. The state shown by the solid line in (B) is achieved, and the operating force can be reduced.

Thus, the doctor performs a basic bending operation, and the LR motor 74 pulls the wires 70 and 72, that is, the angle portion 24 according to the torque (operating force applied to the operating means) by which the doctor rotates the LR knob 36. By assisting the bending, even if a power failure, a failure of the LR motor 74, or the like occurs, the insertion portion 12 can be safely pulled out by operating the bending of the angle portion 24 with the LR knob 36.
Further, the bending of the angle portion 24 is basically performed by operating means such as the LR knob 36, so that the operator can operate while feeling the reaction force applied to the angle portion 24 from the examination site, such as a drilling accident. Can be suitably prevented, and it is easy to perform delicate operations.

2 and 3, the torque sensor 100 that detects the operating force (torque) applied to the LR knob 36 is disposed at the position indicated by the oblique line of the connecting pipe 64. In addition, a torque sensor 102 that detects an operating force applied to the UD knob 38 is disposed at a position indicated by the oblique line of the connecting pipe 84.
That is, in the illustrated operation section 14, as a preferred mode, a part of a cylindrical connection pipe that is directly connected to the curved operation knob and rotates integrally with the operation knob is used as a torque sensor (or connection pipe). The operation force for bending the angle portion 24 applied to the operation knob is directly detected.

  Hereinafter, the correction of the neutral point after the neutral point of the angle portion 24 is reset while the bending operation is being assisted will be described with reference to the flowchart of FIG.

In the endoscope 10, after the neutral point of the angle portion 24 is reset, the offset current value I _NO necessary to maintain the neutral point is supplied to the LR motor 74. Further, the control means 118 stores the rotation angle of the pulley 68 (the amount of bending of the angle portion 24) when the neutral point is reset.
When the operation of the angle portion 24 is started, as described above, the torque sensor 100 detects the operating torque T _H, the motor torque T _M is T _M for bending assist by a predetermined ratio k for operating torque T _H = calculated by kT _H, calculating a current value required to output the motor torque, a value obtained by adding the offset current value I _NO required to maintain the neutral point, as the current value I to flow to the motor And supplied to the motor.

The control means 118 detects the rotation angle of the pulley 68 from the bending amount detection means 106, and when the rotation angle of the pulley 68 matches the rotation angle of the pulley 68 when the neutral point is reset, the torque sensor from operating torque _{T H} to 100 it has detected, to calculate a correction value _{K T1} of the motor torque constant _{K T} of the LR motor _{74 (K T1 = (K T} I NO -T H) / I), and stored in memory. Control means 118 reads the past n times of the correction value K _T1 from the memory, to calculate the average, new, i.e. obtains the corrected motor torque constant K _T, by using the corrected motor torque constant K _T, the offset current The value I _NO is corrected, and the corrected motor torque constant _KT and the corrected offset current value I _NO are stored in the memory. Later, using the corrected motor torque constant K _T and the corrected offset current value I _NO, performs assist control is continued to maintain the neutral point. Thereafter, when the rotation angle of the pulley 68 detected by the bending amount detection means 106 coincides with the rotation angle of the pulley 68 at the time of resetting the neutral point, the same operation is performed, and the neutral point is reset. Correct to maintain the neutral point of the time.
That is, as the correct timing of the motor torque constant K _T shown conceptually in FIG. 9, each time the amount curvature bend amount detecting means 106 has detected matches the set bending amount, the correction value K _T1 of the motor torque constant calculated, obtaining the motor torque constant K _T corrected from the correction value K _T1 past n times (3 times in the illustrated example). Using this motor torque constant K _T, corrects the offset current value I _NO, continue to maintain the neutral point.
Thereafter, when an instruction to cancel the neutral point resetting is issued by the canceling switch 46, the offset current value _{INO is set} to 0 to cancel the neutral point resetting.

  As described above, when assisting the bending operation by the motor for resetting the neutral point of the angle portion 24, a certain percentage of assist is applied to the detected operation force as in the above example. In addition, various modes (variations) can be used.

  For example, as described above, the operation force necessary for bending the angle portion 24 generally increases as the amount of bending increases. Correspondingly, the ratio of assist by the LR motor 74 may be increased continuously or stepwise in accordance with an increase in operating force applied to the LR knob 36.

In the vicinity of the center where the bending of the angle portion 24 is small, the control system tends to oscillate with respect to the change of the assist angle, and the necessary operation force is very small and no assist is required. Correspondingly, when the operating force applied to the LR knob 36 is small, the LR motor 74 does not need to assist. That is, a region such as a dead zone may be provided in a region where the operating force is small, and assist according to the operating force may be performed when an operating force exceeding the dead zone is applied without assisting in the dead zone.
Alternatively, a region where the operating force is smaller than a predetermined value may be a region where the ratio of the assist force to the operating force is small compared to other regions. For example, instead of the dead zone, an area where the operation force is small is made a low sensitivity area where the response (sensitivity) to the operation force is low, and in this low sensitivity area, other areas (area where the operation force exceeds a predetermined value) ), The ratio of the assist force by the LR motor 74 to the operation force may be reduced.

On the contrary, when the operating force applied to the LR knob 36 becomes very large, the angle portion 24 (tip portion 22) may be caught in the body or may be strongly pressed into the body. There is sex. At this time, if the angle portion 24 is forcibly bent, the human body may be damaged such as a drilling accident. Correspondingly, when the operating force applied to the LR knob 36 exceeds a predetermined value, the assist by the LR motor 74 may not be performed (canceled).
Alternatively, when the operating force applied to the LR knob 36 exceeds a predetermined value, the assist force by the LR motor 74 may not be increased any more, but may be made constant. In other words, the assisting force by the LR motor 74 may be limited according to the operating force applied to the LR knob 36.

Furthermore, in the present invention, when assisting bending (operation) with a motor, the invention is not limited to performing these modes individually, and a plurality of modes may be combined to assist bending.
For example, a mode in which a dead zone is provided in a region where the operating force is small may be combined with a mode in which the assist by the motor is terminated in a region where the operating force exceeds a predetermined value, or a mode in which a limit is provided in the assist force.
In addition, a mode in which a dead zone is provided and a mode in which a low sensitivity range is provided are combined as a dead zone up to the first operating force, and a low sensitivity zone up to a second operating force exceeding the first operating force. When the operating force is exceeded, a higher percentage of assisting force may be applied.
Further, by combining a mode in which the assist force is limited and a mode in which the assist is discontinued, the first operation force is assisted with a predetermined ratio of force according to the operation force, and the first operation force is exceeded. Up to an operating force of 2, the assisting force in the first operating force may be limited, and the assisting force may be constant, and if the second operating force is exceeded, the assist may not be performed.

  Further, in the endoscope of the present invention, the bending assist by the motor for resetting the neutral point may be always performed, or may be performed only in a state where the neutral point is not reset, or neutral. It may be performed only in a state where the points are reset, or the doctor may arbitrarily select the presence or absence of the assist by using the assist selection switch.

  Although the endoscope according to the present invention has been described in detail above, the present invention is not limited to the above-described embodiments, and various improvements and modifications may be made without departing from the scope of the present invention. Of course.

DESCRIPTION OF SYMBOLS 10 Endoscope 12 Insertion part 14 Operation part 16 Connector 18 Universal code 22 Tip part 24 Angle part 26 Soft part 28 Forceps port 30 Suction button 32 Air supply / water supply button 36 LR knob 38 UD knob 40 LR brake 42 UD brake 44 Setting switch 46 Release switch 50 Suction connector 52 LG bar 54 S terminal 60 Housing 60a Shaft support 60b Fixed part 62 Center shaft 64,84 Connecting pipe 68,86 Pulley 70,72,88,90 Wire 74 LR (reset neutral point) Motor 76 LR brake member 78, 80, 96, 98 Gear 92 UD (neutral point resetting) motor 94 UD brake member 100, 102 Torque sensor 106, 108 Bending amount detection means 110 Circular ring 112 Tip ring 114a, 114b Connecting member 118 Control means

Claims (12)

An endoscope having a curved portion near the distal end of the insertion portion,
Bending means for bending the bending portion by pulling a wire inserted through the bending portion ;
Operation means for inputting an operation force for pulling the wire from the outside ;
Driving means for driving the bending means by a motor to bend the bending portion;
A bending amount detecting means for detecting a bending amount of the bending portion;
Operating force detecting means for detecting operating force applied to the operating means;
A neutral point resetting means for setting a bending portion to set a set bending amount as a neutral point in a curved state of the bending portion;
Control means for controlling the motor to continue to be driven at a constant output based on the driving force of the driving means for setting the corresponding curved state according to the neutral point reset by the neutral point resetting means. And
In response to a neutral point resetting instruction from the neutral point resetting unit, the control unit acquires the set bending amount of the bending portion at the time when the neutral point resetting is issued from the bending amount detection unit. And after the driving means starts driving a constant output in response to the resetting of the neutral point, the bending amount detected by the bending amount detecting means is acquired and stored. In comparison, when the bending amount and the set bending amount coincide with each other, the driving means for maintaining the set bending amount from the operating force detected by the operating force detecting means and the driving force of the driving means. An endoscope that corrects driving force. Further, the control means, based on the correction result of the past driving force , from at least one past correction value of the driving force, the operating force detected by the operating force detection means, and the driving force of the driving means. The endoscope according to claim 1, wherein the obtained correction value of the driving force is weighted and averaged, and the driving force of the driving unit is corrected based on the weighted average correction value . The operating force detecting means is for detecting the operating force applied to the operating means at all times during the bending operation of the bending portion by the operating means.
The control means drives the bending means by the driving means and assists the bending of the bending portion with a predetermined ratio of the operating force according to the operating force detected by the operating force detecting means. Or the endoscope according to 2;   The control means acquires the amount of bending of the bending portion from the bending amount detection means when the neutral point is reset by the neutral point resetting means, and the acquired amount of bending is set to the set bending. As a quantity, when the driving means is controlled so that the curved portion is maintained, and then it is detected that the operating force becomes zero by the operating force detecting means, the driving of the driving means at this time is detected. The endoscope according to any one of claims 1 to 3, wherein a force is detected, and thereafter, the driving unit is controlled so that the bending portion is bent by the driving force.   Even if the operation means is operated until the operation force 0 is detected after the control means starts maintaining the bending state of the bending part in response to the resetting of the neutral point, the bending of the bending part is continued. The endoscope according to claim 4, wherein the driving unit is controlled so that the state does not change.   In response to a neutral point resetting instruction from the neutral point resetting unit, the control unit detects an operating force at that time from the operating force detection unit, and the operating force and the driving unit at that time The endoscope according to any one of claims 1 to 3, wherein the driving unit is controlled by using a total driving force as a driving force necessary for maintaining the set bending amount. Before SL bend amount detecting means, by detecting the rotation angle of the pulley in which the wire is wound around endoscope according to any one of claims 1 to 6 for detecting the bend amount of the bending portion. Before SL bend amount detecting means, by detecting the amount of movement of the wire, an endoscope according to claim 1, for detecting the bend amount of the bending portion.   The endoscope according to any one of claims 1 to 8, wherein the bending amount detection unit detects a bending amount of the bending portion by detecting a rotation angle of a gear engaged with the driving unit.   The endoscope according to any one of claims 1 to 9, wherein the bending amount detection means detects a bending amount of the bending portion by detecting a bending angle of the bending portion. The neutral point resetting means includes an instruction means for the amount of bending of the bending portion;
It said control means re-setting instruction neutral point by the neutral point resetting means, or, according to a curve amount set by said instruction means, so as to bend the bending portion by the bending amount, the drive means The endoscope in any one of Claims 1-10 which controls the driving | operation of.   The endoscope according to any one of claims 1 to 11, wherein a neutral point can be reset in correspondence with four directions of up, down, left, and right.

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