JP5841366B2 - Medical equipment - Google Patents

Description

  The present invention relates to a medical device having an insertion portion that is inserted into a tube hole.

  For example, in Patent Literature 1 and Patent Literature 2, for example, a second bending portion is provided at the rear end of the first bending portion so as to follow the shape of the intestinal tract, and the second bending portion is driven while being controlled by a motor. An endoscope is disclosed.

JP-A-6-217929 (two curved portions) JP 2002-177200 A (two curved portions) JP 2003-93328 A (Detection of a dark hole in a tube) JP2009-034421A (Monitor integrated endoscope) International Publication No. 2008/155828 Pamphlet (UPD Device)

  When driving the second bending portion of the endoscope disclosed in Patent Document 1 and Patent Document 2, the start timing, stop timing, and the like may not move as intended by the operator of the endoscope. For this reason, the improvement of the insertion property of the insertion part with respect to a tube hole is desired.

  An object of this invention is to provide the medical device which can improve the insertability of the insertion part with respect to a tube hole.

In order to solve the above problems, a medical device according to an embodiment of the present invention includes a first bending portion and a second bending portion provided on a proximal end side of the first bending portion, and the bending portion is provided. An elongated insertion portion that can be inserted into a tube hole that may be included, a first bending drive mechanism that has a bending operation input portion that bends the first bending portion, and a second bending drive mechanism that bends the second bending portion. And a detection unit that detects a bending angle of the first bending unit, and a predetermined bending angle of the first bending unit that is detected during the bending operation , and the bending operation of the second bending unit that is in a linear state. The predetermined first threshold value that indicates the start and the predetermined bending angle of the first bending portion that is detected when the first bending portion returns to the linear state from the bending state, and is in the bending state before suggesting initiation of operation of the second curved portion is restored to the original linear state Includes a setting unit that absolute value smaller predetermined second threshold value than the first threshold value is set, by driving the first bending drive mechanism and the second bending drive mechanism, the bending angle of the first curved portion Is increased and exceeds the first threshold value, the bending operation of bending the second bending portion in a straight state so as to follow the same direction as the bending direction of the first bending portion is performed, and the bending is performed. when the bending angle of the first curved portion is equal to or less than the decrease in the second threshold value was, prior Symbol by following the operation of the first bending portion, the second curved portion to the straight state from the bent state A control unit that performs an operation of returning .

  According to the present invention, it is possible to provide a medical device that can improve the insertability of the insertion portion into the tube hole.

(A) is the schematic which shows the endoscope system (medical apparatus) which concerns on 1st to 3rd embodiment, (B) is the front-end | tip of the insertion part of the endoscope of the endoscope system in FIG. 1 (A) The schematic front view which shows the state which observed the front-end | tip of the hard part from the arrow 1B direction. The relationship between the 1st bending part of the insertion part of the endoscope of the endoscope system concerning a 1st embodiment, and the 1st and 2nd drum of an operation part, The relationship between the 2nd bending part and the 3rd drum of an operation part FIG. (A) is the first bending portion when the endoscope of the endoscope system according to the first to third embodiments or the first drum of the operation portion of the endoscope according to the fourth embodiment is rotated. (B) is the schematic which shows the state which curved the 2nd bending part, when the 3rd drum of the operation part of an endoscope is rotated. The state of the wire arrange | positioned between the endoscope of the endoscope system which concerns on 1st to 3rd Embodiment, or the insertion part and operation part of the endoscope which concerns on 4th Embodiment is shown, (A ) Is a schematic view showing a state where the second bending portion is straight, and (B) is a schematic view showing a state where the second bending portion is bent in the U direction. The schematic block diagram which shows the relationship between the drive control part of the endoscope system which concerns on 1st Embodiment, and the member controlled by drive control. The flowchart at the time of inserting toward the back | inner side from the near side of the tube hole which twisted the front-end | tip of an insertion part using the endoscope system which concerns on 1st Embodiment. Using the endoscope system according to the first to third embodiments or the endoscope according to the fourth embodiment, the insertion portion of the endoscope is inserted toward the back side of the large intestine (small intestine or stomach side). It is the schematic which shows operation | movement of the insertion part at the time of doing, and is schematic which shows working from (A) to (G) with progress of time. Using the endoscope system according to the first to third embodiments or the endoscope according to the fourth embodiment, the insertion portion of the endoscope is inserted toward the back side of the large intestine (small intestine or stomach side). It is the schematic which shows operation | movement of the insertion part at the time of doing, and is schematic which shows working from (A) to (C) with progress of time from the state which bent the 1st and 2nd bending part. The flowchart at the time of inserting toward the back | inner side from the near side of the tube hole which twisted the front-end | tip of an insertion part using the endoscope system which concerns on the 1st modification of 1st Embodiment. The relationship between the 1st bending part of the insertion part of an endoscope of the endoscope system concerning a 2nd embodiment, and the 1st and 2nd drum of an operation part, The relationship between the 2nd bending part and the 3rd drum of an operation part FIG. The schematic block diagram which shows the relationship between the drive control part of the endoscope system which concerns on 2nd Embodiment, and the member controlled by drive control. The state which displayed the rectangular range in the center side by the image-processing part connected to the drive control part to the observation image imaged by the observation optical system of the endoscope system which concerns on 2nd Embodiment, and was displayed on the monitor is shown. Schematic. It is the schematic which shows operation | movement of the insertion part at the time of inserting the insertion part of an endoscope toward the back side (small intestine or stomach side) of a large intestine using the endoscope system which concerns on 2nd Embodiment. (A) is a schematic diagram showing a state in which the first bending portion is appropriately bent in order to find the insertion direction on the back side of the tube hole, and (B) is an image processing unit when the first bending portion is bent by 90 degrees. Schematic which shows the state from which the dark part was extracted by observation image by (C), Schematic which shows the state which is curving the 2nd bending part in the same direction as the bending direction of a 1st bending part. The flowchart at the time of inserting toward the back | inner side from the near side of the tube hole which twisted the front-end | tip of an insertion part using the endoscope system which concerns on the 1st modification of 2nd Embodiment. The relationship between the 1st bending part of the insertion part of the endoscope of the endoscope system concerning a 3rd embodiment, and the 1st and 2nd drum of an operation part, The relationship between the 2nd bending part and the 3rd drum of an operation part FIG. The schematic block diagram which shows the relationship between the drive control part of the endoscope system which concerns on 3rd Embodiment, and the member controlled by drive control. Schematic which shows the endoscope (medical device) which concerns on 4th Embodiment. The schematic block diagram which shows the internal structure of the endoscope which concerns on 4th Embodiment.

Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.
A first embodiment will be described with reference to FIGS.

  As shown in FIG. 1A, an endoscope system (medical apparatus) 10 according to a first embodiment of the present invention is detachably attached to an endoscope (endoscope body) 12 and an endoscope 12. A light source 14 that is connected and optically connected to the illumination optical system 30 of the endoscope 12 and supplies illumination light, and an observation optical system 28 of the endoscope 12 that is detachably connected to the endoscope 12 are controlled. In addition, a video processor 16 that processes a signal obtained from the observation optical system 28 and outputs a standard video signal, and a monitor 18 that displays an endoscopic image obtained by signal processing by the video processor 16 are provided. Have. An image recording device (not shown) or the like can be connected to the video processor 16. Instead of the light source 14 separate from the endoscope 12, a small light source such as an LED may be incorporated in the endoscope 12 as a part of the illumination optical system 30.

The endoscope 12 is held by an operator and can be operated to bend a first bending portion 34 (to be described later) (an endoscope main body) 22 and a tube hole LI (explained later) that extends from the operation portion 22. An elongated insertion portion 24 to be inserted into a subject (observation target site) in the large intestine intestine shown in FIG. 7 and a side surface of the operation portion 22 are connected to the observation optical system 28. A universal cable 26 having a built-in signal cable and a light guide for transmitting illumination light from the light source 14, and a connector part that is provided at an end of the universal cord 26 and is detachably connected to the light source 14 and the video processor 16 26a. In other words, the operation portion 22 is provided at the proximal end portion of the insertion portion 24, and the universal cord 26 extends from the operation portion 22.
In addition, in the operation unit 22 and the insertion unit 24, an observation optical system (imaging unit) 28 and an illumination optical system (illumination unit) 30 (specifically, refer to the fourth embodiment) shown in FIG. Further, a channel 32a for inserting a treatment tool (not shown) is provided.

The insertion portion 24 includes a distal end hard portion 32 provided at the distal end thereof, a first bending portion 34 provided on the rear end side of the distal end hard portion 32 and capable of being bent by operation of the operation portion 22, and the first bending portion. 34 is a bendable second bending portion 36 provided on the rear end side, and a long and flexible tubular portion provided on the rear end side of the second bending portion 36 and formed by a soft and tubular member. 38. That is, the distal end rigid portion 32, the first bending portion 34, the second bending portion 36, and the tubular portion 38 are sequentially arranged from the distal end side toward the proximal end side to form the insertion portion 24.
As shown in FIG. 18, the operation unit 22 and the insertion unit 24 include an observation window 302, an objective lens 304, an (image guide 306) imaging lens 308, and an image sensor 310 such as a CCD or CMOS as an observation optical system 28. An image sensor control circuit 342 in which a circuit board for driving the image sensor 310 and the like are incorporated is incorporated. The operation unit 22 and the insertion unit 24 incorporate a light guide 294 that transmits illumination light emitted from the light source 14 and an illumination window 296 as the illumination optical system 30. The objective lens 304 may include an image guide 306 and an imaging lens 308 as an objective lens group, for example.
Then, the illumination light emitted from the distal end surface of the distal end hard portion 32 is irradiated onto the subject, and the illuminated subject is imaged by the imaging element 310 of the observation optical system 28, photoelectrically converted, and connected to the observation optical system 28. The processed video processor 16 can perform image processing to display an image of the subject (endoscopic image) on the monitor 18.
The upper side of the monitor 18 corresponds to the upper side (U direction) of a first bending portion 34 (to be described later) of the insertion portion 24 of the endoscope 12, and the lower side corresponds to the lower side (D direction) of the first bending portion 34. The right side corresponds to the right side (R direction) of the first bending portion 34, and the left side corresponds to the left side (L direction) of the first bending portion 34.

As described above, in the present embodiment, the insertion portion 24 of the endoscope 12 includes the first bending portion 34 close to the distal end hard portion 32 and the second bending portion 36 close to the tubular portion 38. It has curved portions 34 and 36.
The first bending portion 34 and the second bending portion 36 shown in FIG. 2 are each a bending tube (first and second bending drive mechanism) 34a, 36a formed of a plurality of known bending pieces, and the bending tubes 34a, 36a. A blade disposed on the outside of the blade and a skin disposed on the outside of the blade. For example, four angle wires (first bending drive mechanisms) 42 (U, D, R, L) corresponding to each bending direction of the first bending portion 34 are provided at the distal end of the bending tube 34a of the first bending portion 34. Is fixed. Further, for example, two angle wires (second bending drive mechanisms) 44 (U ′, D ′) are also fixed to the distal end of the bending tube 36 a of the second bending portion 36. Therefore, the first bending portion 34 is defined as the first and second directions in the up / down (UP / DOWN) direction (indicated by U and D in FIG. 2), and the third and fourth directions are defined as the left and right (RIGHT / LEFT) directions ( 2 (shown by R and L in FIG. 2), and the second bending portion 36 can be bent in the vertical direction as the first and second directions.

As shown in FIG. 2, the two angle wires 42 (U, D) for bending the first bending portion 34 in the vertical direction are wound around the first drum (first bending drive mechanism) 46 inside the operation portion 22. Has been fixed. Two angle wires 42 (R, L) that bend the first bending portion 34 in the left-right direction are wound around and fixed to a second drum 48 inside the operation portion 22. The first and second drums 46 and 48 are arranged on the same axis. A first angle knob (bending operation input unit) 52 that rotates the first drum 46 and a second angle knob 54 that rotates the second drum 48 are disposed outside the operation unit 22. The first and second angle knobs 52 and 54 are disposed on the same axis. The first and second drums 46 and 48 and the first and second angle knobs 52 and 54 are arranged on the same axis. When the first angle knob 52 is rotated about its axis, the first drum 46 is rotated about the same axis by the same angle as the first angle knob 52, and when the second angle knob 54 is rotated about its axis. The second drum 48 rotates about the same axis by the same angle as the second angle knob 54. The bending tube 34a, the wire 42, the first drum 46, and the first angle knob 52 form a first bending drive mechanism that bends the first bending portion 34.
In this embodiment, the position where the first bending portion 34 is straight is defined as the initial position (neutral position) of the first angle knob 52, and the position where the second bending portion 36 is straight is defined. It is defined as the initial position (neutral position) of the motor 64. The rotatable angle in the U direction (plus direction) and the D direction (minus direction) of the first angle knob 52 and the bendable angle ψ in the U direction and D direction of the first and second bending portions 34 and 36 are symmetrical. Preferably there is. In particular, the rotatable angle ψ of the first angle knob 52 and the bendable angle η of the first bending portion 34 are, for example, from the state (initial state) η ₀ where the first bending portion 34 is straight in both the U direction and the D direction. It is preferably about 180 degrees. The rotatable angle of the second angle knob 54 and the bendable angle of the first bending portion 36 are each about 160 degrees, for example, from the straight state (initial state) of the first bending portion 34 in both the R direction and the L direction. Is preferred. The bendable angle (maximum bending angle) θ of the second bending portion 36 is, for example, about 120 degrees from the straight state (initial state) θ _{0 of} the second bending portion 36 in both the U direction and the D direction. The absolute value | V ₀ | of the bending speed of the second bending portion 36 is preferably constant, for example, about 30 degrees / second.

A knob position detection potentiometer (input amount detection unit) 56 as a detection unit (detection unit) for detecting the rotational position of the first drum 46 is attached to the first drum 46. The potentiometer 56 is disposed inside the operation unit 22. By initial setting of the potentiometer 56 in accordance with the initial position of the first angle knob 52 (the position where the first bending portion 34 is straight), the potentiometer 56 can rotate the first drum 46, that is, the first angle. The rotation position (rotation angle) ψ of the knob 52 can be detected. For this reason, the potentiometer 56 detects the bending operation amount input to the first angle knob (first bending operation input unit) 52 as the bending operation input amount. 3A, the rotation amount ψ of the first angle knob 52, that is, the rotation amount ψ of the first drum 46, the bending amount (curving angle) η in the U direction and D direction of the first bending portion 34, and Corresponds approximately. For this reason, by using the potentiometer 56, the bending state of the first bending portion 34 in the U direction and the D direction can be estimated based on the rotation amount of the first angle knob 52, that is, the bending angle can be detected.
Therefore, the potentiometer 56 detects that when the first bending portion 34 is bent by the first bending drive mechanism, the bending angle of the first bending portion 56 exceeds a certain set angle (predetermined angle). Function as.

As shown in FIG. 2, the two angle wires 44 (U ′, D ′) for bending the second bending portion 36 in the U direction and the D direction are the third drum (second bending driving mechanism) inside the operation portion 22. ) 62 and fixed. The third drum 62 includes a motor (drive unit) 64 and an encoder (rotation position detection unit) that detects a rotation amount (rotation angle) ω (see FIG. 3B) of the motor (second bending drive mechanism) 64. 66 is arranged. The motor 64 generates a driving force for bending the second bending portion 36. Therefore, the bending tube 36a, the wire 44, the third drum 62, and the motor 64 form a second bending drive mechanism that bends the second bending portion 36.
In FIGS. 1 and 2, the motor 64 and the encoder 66 are drawn so as to partially protrude outside the operation unit 22, but it is also preferable that they are arranged inside the operation unit 22. In addition, it is also preferable that the motor 64 is disposed not in the operation unit 22 but in the insertion unit 24.

  As shown in FIGS. 4A and 4B, the second angle wires 44 (U ′, D ′) are provided with sag 44 a, 44 b in advance. The amount of sag of the wire 44 varies from a state where the third drum 62 and the motor 64 shown in FIG. 4A are in the neutral position (a state where the second bending portion 36 is straight), as shown in FIG. , The drum 62 is rotated, and even when the second bending portion 36 is bent to the maximum bending angle in the U direction, the slacks 44a and 44b remain slightly in the wires 44 (U ′, D ′). Preferably there is.

  Even if the bent second curved portion 36 touches the wall surface (for example, the body wall) of the tube hole LI, the wires 44 (U ′, D ′) have sufficient slack 44a, 44b, so that the slack 44a, 44b. Therefore, the second bending portion 36 can be further bent in the U direction, or the amount of bending in the U direction can be reduced, so that there is play even in a state where the second bending portion 36 is bent. 36 is not forced to bend in the opposite direction. Therefore, a large force is not applied to the inner wall of the tube hole LI. Although not shown, such a structure is preferably the same for the first bending portion 34 and the wire 42.

For example, a motor power source (torque amount detection unit, tension detection unit) 72 shown in FIG. 5 is arranged inside the video processor 16. For example, a drive control unit (control unit) 74 shown in FIG. 5 that controls the potentiometer 56, the motor 64, the encoder 66, and the motor power source 72 is arranged inside the video processor 16. When the motor power source 72 and the drive control unit 74 are provided in the video processor 16, the motor power source 72 and the drive control unit 74 are electrically connected to the potentiometer 56, the motor 64, and the encoder 66 via the universal cord 26. Connected to.
The motor power source 72 will be described in detail in the fourth embodiment. However, the motor power source 72 is not limited to the inside of the video processor 16 and is preferably provided in any of the endoscope 12, the light source 14, and the monitor 18, for example. is there.
That is, the endoscope 12 itself may include the drive control unit 74, or the drive control unit 74 may be disposed outside the endoscope 12 (the endoscope system 10 has the drive control unit 74. As long as it has Hereinafter, in the present embodiment, description will be made assuming that the drive control unit 74 may be disposed in any of the endoscope 12 itself and the devices of the endoscope system 10 other than the endoscope 12. The case where the drive control unit 74 is connected to the endoscope 12 includes the case where the endoscope 12 itself has the drive control unit 74 and the case where the drive control unit 74 is disposed outside the endoscope 12. Including the case.
Similarly, the endoscope 12 itself may include a motor power source 72, or the motor power source 72 may be provided outside the endoscope 12 (the endoscope system 10 includes a motor power source 72. Just do it). Hereinafter, in the present embodiment, description will be made assuming that the motor power source 72 may be disposed in any of the endoscope 12 itself and the devices of the endoscope system 10 other than the endoscope 12. When the motor power source 72 is connected to the endoscope 12, the endoscope 12 itself has the motor power source 72 and the motor power source 72 is disposed outside the endoscope 12. Including.

The motor power source 72 includes a current measuring unit 82 that measures the current I that flows through the motor 64 and a voltage setting unit 84 that sets a voltage to be applied to the motor 64.
The drive control unit 74 includes a CPU 90, a resistance value measurement unit (bending angle acquisition unit) 92 that measures the resistance value of the potentiometer 56, a count processing unit 94 that counts pulses of the encoder 66, and a torque T generated by the motor 64. A torque calculation unit (torque amount detection unit) 96 to calculate, a threshold value input unit (setting unit) 98, and a storage unit 100 are included.
The resistance value measurement unit 92, the count processing unit 94, the torque calculation unit 96, the threshold value input unit 98, and the storage unit 100 are electrically connected to the CPU 90 and controlled. The motor 64 is controlled by being electrically connected to the CPU 90.
Therefore, by measuring the resistance value of the potentiometer 56 with the resistance value measuring unit 92 of the drive control unit 74, the operation amount of the first angle knob 52 in the U direction and the D direction, that is, the input amount (rotation angle) ψ is obtained. The amount of bending (curving angle) in the U direction and D direction of the first bending portion 34 can be estimated. Therefore, the resistance value measuring unit 92 of the drive control unit 74 functions as a bending amount calculating unit that calculates the bending amount of the first bending unit 34 that is driven to be bent by the first bending driving mechanism (the angle wire 42 and the first drum 46). To do. Further, the count processing unit 94 of the drive control unit 74 can process the encoder pulse count of the encoder 66 to obtain the rotational position information (rotation angle) ω of the motor 64.

Here, the case of calculating the torque T from the current amount of the motor 64, the relationship between the current I flowing through the motor 64, and the output torque T of the motor 64 is expressed as T = k m _· I. k _m is an inherent value for each motor 64 by a torque constant. Therefore, the drive control unit 74 can calculate the torque T generated by the motor 64 by controlling the current I flowing through the motor 64. That is, the drive control unit 74 can calculate the torque based on the current I measured by the current measurement unit 82 of the motor power source 72 and obtain the torque T generated by the motor 64.

The threshold value input unit (threshold value setting unit) 98 is used to set, for example, threshold angles ψ ₀ , ψ ₁ , ψ ₂ , ψ ₃ , ψ ₄ described later. The storage unit 100 is used to store these threshold angles ψ ₀ , ψ ₁ , ψ ₂ , ψ ₃ , ψ ₄ , and the operation amount (rotation angle) ψ of the first angle knob 52 in the U direction and D direction. The rotational position information (rotation angle) ω of the motor 64 can be stored.

In this embodiment, the drive control unit 74 performs the _{first operation} when the absolute values of the threshold angles ψ ₁ and ψ ₃ exceed 90 degrees, that is, when the bending angle of the first bending section 34 exceeds 90 degrees. It is assumed that the first bending portion 34 has passed through the bent portion Fa of the tube hole LI.

The rotation angle ψ of the first angle knob 52 corresponds to the bending angle η of the first bending portion 34. The rotation angle ω of the motor 64 corresponds to the bending angle θ of the second bending portion 36.
In this embodiment, the rotation angle ψ of the first angle knob 52 and the bending angle η of the first bending portion 34 will be described as being the same or substantially the same. For example, when the rotation angle ψ of the first angle knob 52 is rotated from 0 degree (straight state) to, for example, 90 degrees, the first bending portion 34 also bends 90 degrees from the straight state (0 degree). For example, when the rotation angle ψ of the first angle knob 52 is rotated from 0 degree (straight state) to, for example, 120 degrees, the first bending portion 34 also bends 120 degrees from the straight state (0 degree).
In order to simplify the explanation, it is assumed that the rotation angle ω of the motor 64 and the bending angle θ of the second bending portion 36 coincide or substantially coincide. For example, when the drive control unit 74 controls the motor 64 to rotate the rotation angle ω of the third drum 62 from 0 degrees to, for example, 90 degrees, the second bending section 36 also bends 90 degrees from a straight state.

Then, the rotational position of the motor 64 of the endoscope 12 in the linear state (neutral state) θ ₀ in which the second bending portion 36 is straight with no external force is measured, and this is set as the neutral position ω ₀ . Torque Tu ₀ necessary to bend the second bending portion 36 in a straight state with no external force in advance in the U direction by a target bending angle θ ₁ (for example, 120 degrees) with respect to the neutral state (angle θ ₀ ). , And a torque Td ₀ necessary for bending in the D direction by a target bending angle θ ₂ (for example, −120 degrees) is measured. Then, the torques Tu ₀ and Td ₀ measured at this time are stored in the storage unit 100 of the drive control unit 74. The angles θ ₁ (120 degrees) and θ ₂ (−120 degrees) are examples, and can be appropriately set by the threshold value input unit 98 within the range of the rotatable angle of the second bending section 36.
In addition, a time Δtu ₀ required to bend the second bending portion 36 in a straight state with no external force in advance by an angle θ ₁ (for example, 120 degrees) in the U direction with respect to the neutral state (angle θ ₀ ). , And a time Δtd ₀ necessary for bending in the direction D by an angle θ ₂ (for example, −120 degrees) is measured. At this time, the time at each angle from when the bending angle of the second bending portion 36 reaches the angle θ ₁ (for example, 120 degrees) from the neutral state (angle θ ₀ ) is measured.

For example, the voltage of the motor power source 72 is set in order to cause the motor 64 to generate a torque Tu ₀ , for example. As a setting method used for such a purpose, there is PID control. PID control is a kind of feedback control, and is a method in which control of an input value is performed by three elements: a deviation between an output value and a target value, its integration, and differentiation. In the present embodiment, voltage information of the motor power source 72 is used as an input value, torque information generated by the current motor 64 is used as an output value, and PID control is applied using torque information derived in the drive control unit 74 as a target value. Then, voltage information to be given to the motor power source 72 is derived. That is, the generation of the target torque T of the motor 64 is realized by controlling the voltage of the motor power source 72.
As will be described later, when directing the second curved portion 36 at a velocity V ₀ at a neutral position (initial position) theta _0, an input value voltage information of the motor power supply 72, is obtained from the rotation position information of the motor 64 This is realized by applying PID control using the rotational speed of the motor 64 as an output value and the speed information derived in the drive controller 74 as a target value, and deriving voltage information to be supplied to the motor power source 72.
The rotation speed of the motor 64 uses a value calculated from the time difference of the rotation position information of the motor 64. Motor rotation speed V = X (t2) −X (t1), t2> t1. Here, X (t2) is the rotational position of the motor 64 at time t2, and X (t1) is the rotational position of the motor 64 at time t1.

Hereinafter, using the endoscope system 10 according to the present embodiment, when the first bending portion 34 is in a predetermined bending state, the second bending portion 36 is moved in the same direction as the bending direction of the first bending portion 34. A case where the bending operation is performed using the motor 64, the third drum 62, the wire 44, and the bending tube 36a which are bending driving mechanisms will be described with reference to the flowchart shown in FIG. Here, an example in which the first and second bending portions 34 and 36 are moved upward (U direction) will be mainly described.
First, the threshold angle ψ ₀ (for example, 5 degrees), ψ ₁ (for example, 90 degrees), ψ ₂ (for example, 25 degrees), ψ ₃ (for example, −90 degrees), and ψ ₄ (for example, −25 degrees) are input by the threshold value input unit 98. Set. The threshold angle ψ ₀ is preferably an arbitrary value between 0 degrees and 10 degrees, for example.
In the present embodiment, the threshold angle ψ ₁ of the angle ψ in the U direction of the first angle knob 52 detected by the potentiometer 56 is described as 90 degrees, but the threshold angle ψ ₁ is not limited to 90 degrees. Although it can set suitably, such as 100 degree | times and 120 degree | times, it is preferable that it is 90 degree | times or more. Further, the threshold angle ψ ₂ is not limited to 25 degrees, and can be set as appropriate, such as 20 degrees or 30 degrees. The threshold angles ψ ₃ and ψ ₄ can also be set as appropriate. However, the threshold angle ψ ₁ is an angle larger than the threshold angle ψ ₂ , and the threshold angle ψ ₃ is an angle smaller than the threshold angle ψ ₄ . Since threshold angle [psi _3, [psi ₄ is a negative value, the absolute value of the threshold angle [psi ₃ is greater than the absolute value of the threshold angle [psi _4.

When the first angle knob 52 is rotated in the U direction or D direction from the initial position, the rotation angle ψ of the first angle knob 52 can be obtained by the potentiometer 56. When the first angle knob 52 is rotated in the U direction and the absolute value (| ψ |) of the rotation angle ψ of the first angle knob 52 becomes a predetermined threshold angle (for example, 5 degrees) ψ ₀ or more, That is, the processing is started when an operation for bending the first bending portion 34 is started (S1). Here, the determination of the start of such processing is performed by the resistance value measuring unit 92, the CPU 90, and the storage unit 100 of the potentiometer 56, that is, the drive control unit 74 functioning as a determining unit based on the signal detected by the potentiometer (detecting unit) 56. Is done. The determination (S2, S3, S6, S7, S3 ′, S6 ′) described below is also performed by the resistance value measuring unit 92, the CPU 90, and the storage unit 100 of the potentiometer 56, that is, the drive control unit 74 functioning as a determination unit. Done.

  The drive control unit 74 can determine that the first angle knob 52 has begun to rotate in the U direction if the rotation angle ψ is a positive value and in the D direction if the rotation angle ψ is a negative value (S2). Hereinafter, a case where the first angle knob 52 is rotated in the U direction where the rotation angle ψ is a positive value (ψ> 0) will be described.

While rotating the first angle knob 52 in the U direction, the potentiometer 56 detects the rotation angle ψ in the U direction of the first angle knob 52. Or the rotation angle [psi in the U direction of the drive control unit 74 first angle knob 52 is equal to or greater than the threshold angle [psi _{1 (e.g.} 90 degrees), it is determined whether or less than the threshold angle [psi ₁ (S3), the angle [psi ₁ below with In some cases, even when the second bending portion 36 receives an external force, the CPU 90 outputs a bending drive signal to the motor 64 to control the motor 64 to bend the second bending portion 36 at the speed V ₀ . That is, the torque Tu ₁ is applied to the second bending portion 36, and the second bending portion 36 tries to maintain the neutral state (S4). The torque Tu ₁ does not need to be constant, and the torque Tu _{1 can} prevent the second bending portion 36 from being bent in the U direction and can also be prevented from being bent in the D direction. Therefore, when the rotation angle in the U direction of the first angle knob 52 is larger than 0 degree, for example, smaller than the angle ψ ₁ (for example, 90 degrees), even if the second bending portion 36 is curved by receiving an external force, The two bending portions 36 try to maintain a straight state.

When the rotation angle ψ of the first angle knob 52 obtained by the potentiometer 56 is equal to or larger than the angle ψ ₁ (for example, 90 degrees), the drive control unit 74 passes the first bending portion 34 through the bent portion Fa of the tube hole LI. Judge that
That is, the potentiometer 56 detects that the bending angle of the first bending portion 34 exceeds 90 degrees when the first bending portion 34 is bent. Then, the drive control unit 74 determines that the first bending portion 34 has passed through the bent portion Fa of the tube hole LI based on the signal obtained by the potentiometer 56.
At the same time, the drive control unit 74 outputs a bending drive signal from the CPU 90 to the motor 64 to cause the motor 64 to bend the second bending portion 36 in the U direction (the second bending portion 36 is 120 in the U direction). (Torque for bending) Tu ₀ is continuously generated (S5).
That is, when the first bending portion 34 is bent by a predetermined angle (90 degrees), the potentiometer 56 provided in the first angle knob 52 is such that the first bending portion 34 has passed through the bent portion Fa of the tube hole LI. It functions as a detection unit for detecting, and defines the timing for bending the second bending unit 36. For this reason, the second bending portion 36 is bent in the same U direction as the first bending portion 34 via the third drum 62 and the wire 44 with a constant torque Tu ₀ .

Once the rotation angle ψ of the first angle knob 52 becomes equal to or greater than the angle ψ ₁ (for example, 90 degrees), even if the rotation angle ψ of the first angle knob 52 is decreased, the rotation angle ψ is still the angle ψ ₂ (for example, 25). (S6), the drive control unit 74 continues to generate a certain amount of torque Tu ₀ by the motor 64. For this reason, the 2nd bending part 36 is maintained in the predetermined | prescribed curved state curved in the U direction.

After the rotation angle ψ of the first angle knob 52 becomes equal to or larger than the angle ψ ₁ (for example, 90 degrees), the rotation angle ψ of the first angle knob 52 is decreased to be less than the angle ψ ₂ (for example, 25 degrees) (S6). ), Controlling the motor 64 (outputting a bending drive signal from the CPU 90 to the motor 64), the amount of bending (θ) is reduced toward the neutral position θ ₀ at the speed V ₀ (S4). . In other words, after the rotation angle ψ of the first angle knob 52 is set to the angle ψ ₁ or more and then the rotation angle ψ of the first angle knob 52 is reduced to less than the angle ψ ₂ (S6), the motor 64 is controlled. The bending amount θ of the second bending portion 36 is reduced by an arbitrary torque Tu ₂ (which does not need to be constant) so as to maintain the speed V ₀ , and the second bending portion 36 is in a straight state (neutral position) θ _0. (S4).

When the absolute value | ψ | of the rotation angle of the first angle knob 52 reaches a predetermined angle (for example, 5 degrees) ψ ₀ (S7), the process is terminated. Absolute value of the rotation angle of the first angle knob 52 | [psi | is the case where the predetermined angle [psi ₀ or continue processing described above. That is, when the rotation angle ψ of the first bending portion 34 is set to an angle ψ ₁ (for example, 90 degrees) or more again (S3), the drive control unit 74 causes the motor 64 to bend the second bending portion 36 in the U direction. A constant torque Tu ₀ is generated (S5).

Hereinafter, the bending of the first bending portion 34 and the second bending portion 36 in the D direction (rotation angle ψ <0) will be briefly described. When the first bending portion 34 is bent in the U direction after the first bending portion 34 is bent in the U direction, the processing is once ended and restarted along the flow shown in FIG.
Or the drive control unit 74 is less than the rotation angle [psi angles [psi ₃ in D direction of the first angle knob 52 _(e.g., -90 °), greater than or determined than the angle [psi ₃ (S3 '), than the angle [psi ₃ If the second bending portion 36 receives an external force, the motor 64 is controlled and the second bending portion 36 is controlled at a constant speed (−V ₀ (speed opposite to the above-described speed V ₀ )). The bending portion 36 is bent (that is, the torque Td ₁ is applied), and the second bending portion 36 maintains the neutral state (S4 ′). The torque Td ₁ does not need to be constant, and the torque Td ₁ can prevent the second bending portion 36 from being bent in the U direction and the D direction, and the second bending portion 36 tries to maintain a straight state.

When the rotation angle ψ of the first angle knob 52 obtained by the potentiometer 56 is equal to or smaller than the angle ψ ₃ (for example, −90 degrees), the drive control unit 74 causes the motor 64 to bend the second bending portion 36 in the D direction. The constant torque Td ₀ is generated (S5 ′). For this reason, the second bending portion 36 is bent in the same D direction as the first bending portion 34 via the third drum 62 and the wire 44 with a constant torque Td ₀ .

Once the rotation angle ψ of the first angle knob 52 becomes equal to or smaller than the angle ψ ₃ (for example, −90 degrees), even if the rotation angle ψ of the first angle knob 52 is increased, the rotation angle ψ is still the angle ψ ₄ (for example, If it is -25 degrees) or less (S6 '), the drive control unit 74 continues to generate torque Td ₀ a certain amount to the motor 64. For this reason, the 2nd bending part 36 is maintained in the predetermined | prescribed curved state curved in D direction.

After the rotation angle ψ of the first angle knob 52 becomes equal to or less than the angle ψ ₃ (for example, −90 degrees), the rotation angle ψ of the first angle knob 52 is increased to be larger than the angle ψ ₄ (for example, −25 degrees). In the case (S6 ′), the drive control unit 74 controls the motor 64 to reduce the bending amount of the second bending portion 36 toward the neutral position θ ₀ at the speed (−V ₀₎ (S4 ′).

When the absolute value | ψ | of the rotation angle ψ of the first angle knob 52 reaches a predetermined angle (for example, 5 degrees) ψ ₀ (S7), the process is terminated and the rotation angle ψ of the first angle knob 52 is reached. When the absolute value | ψ | is equal to or larger than the predetermined angle ψ ₀ , the above-described processing is continued.

In this manner, the second bending portion 36 maintains a straight state before the first angle knob 52 is rotated to bend the first bending portion 34 by a predetermined bending amount η ₁ (for example, 90 degrees). The second bending portion 36 can be bent in the same direction as the first bending portion 34 by using a trigger when the bending angle η of the first bending portion 34 exceeds a predetermined bending angle η ₁ (for example, 90 degrees). . On the other hand, pre-bending angle eta of the first bending portion 34 is greater than the predetermined bending angle eta _{1 (e.g.} 90 degrees), or, after exceeding a predetermined bending angle eta _{1 (e.g.} 90 degrees), a predetermined bending angle eta When it becomes less than ₂ (for example, 25 degrees), the 2nd bending part 36 can be made into a straight state.

Therefore, when the first bending portion 34 is bent in the U direction or in the D direction, the rotation angle ψ of the first angle knob 52 detected by the potentiometer 56 is set by the threshold value input portion 98 in any case. When the threshold value (first threshold value) ψ ₁ , ψ ₃ is larger than the absolute value, the second bending portion 36 is bent from the initial position θ ₀ to the predetermined bending amounts θ ₁ , θ ₂ , and the second Torques Tu ₀ and Td ₀ for maintaining the state where the bending portion 36 is bent to the predetermined bending amounts θ ₁ and θ ₂ are continuously applied to the motor 64.
Thus, the first threshold angle ψ ₁ , ψ set by the threshold value input unit (setting unit) 98 based on the rotation amount of the first angle knob 52 detected by the potentiometer 56 (the amount of bending for bending the first bending unit 34). _When the absolute value of ₃ is exceeded, the drive controller 74 moves the second bending portion 36 from the initial position θ ₀ to the predetermined direction in the same direction as the first bending portion 34 that is bent according to the rotation amount of the first angle knob 52. bending amount theta _{1 of,} theta ₂ bending amount theta ₁ the second curved portion 36 is curved to _continue adding torque Tu _0, Td ₀ for maintaining a state of being curved up theta ₂ to the motor 64. Therefore, the endoscope system 10 according to this embodiment follows the first bending portion 34 by the absolute values of the first threshold angles ψ ₁ and ψ ₃ set by the threshold input portion 98, and the second bending portion 36. Can be automatically bent in the same direction. Therefore, by defining the bending direction of the second bending portion 36 in the same direction as that of the first bending portion 34, the state where the first bending portion 34 is hooked on a tube hole such as the large intestine is released unintentionally. Can be prevented, and the insertion property when the distal end of the insertion portion 24 is inserted from the near side toward the far side can be improved.

The motor 64 is connected to the drive control unit 74 so that when the first bending portion 34 is bent, the second bending portion 36 is bent in a direction opposite to the bending direction of the first bending portion 34. Torques Tu ₀ , Td ₀ , Tu ₁ , Td ₁ , Tu ₂ , Td ₂ to be prevented are added to the wire 44. For this reason, it can prevent more reliably that the state which bent the 1st bending part 34, for example, was hooked on the pipe hole, for example, is not intended unintentionally.
Further, after the rotation angle ψ of the first angle knob 52 by the potentiometer 56 exceeds the absolute values of the threshold values (first threshold values) ψ ₁ and ψ ₃ set by the threshold value input unit 98, the absolute values of the threshold values ψ ₁ and ψ ₃ Is smaller than the absolute value of the smaller threshold (second threshold) ψ ₂ , ψ ₄ , the second bending portion 36 is maintained in the state of the predetermined bending amounts θ ₁ , θ ₂ , and the threshold (second threshold) ψ Torques Tu ₂ and Td ₂ for returning the second bending portion 36 to the initial position θ ₀ are applied to the motor 64 when the absolute values of ₂ and ψ ₄ are smaller. For this reason, when the amount of bending of the first bending portion 34 is reduced, the amount of bending of the second bending portion 36 can be reduced following the amount of bending, so that the bending state of the two bending portions 34 and 36 can be simplified. Can be adjusted.

When the distal end of the insertion portion 24 of the endoscope 12 operating in this way is inserted from the front side (for example, the anal side) to the back side (for example, the small intestine or the stomach side) inside the large intestine LI that is a kind of tube hole. Will be described with reference to FIG.
The operator holds the flexible tubular portion 38 of the insertion portion 24 with the right hand while holding the operation portion 22 of the endoscope 12 with the left hand. In this state, while confirming a so-called endoscopic image on the screen displayed on the monitor 18, while operating the first and second angle knobs 52 and 54 with the left hand, the inside of the lumen (lumen) of the large intestine LI. The distal end of the insertion portion 24 is inserted from the anal side (front side) toward the back side.

For example, when the distal end of the insertion portion 24 of the endoscope 12 is inserted into the back side of the sigmoid colon having the bent portions Fa and Fb of the large intestine LI shown in FIG. 7A, it is inserted into the bent portion Fa on the near side. The tip of the part 24 is arranged.
As shown in FIG. 7B, when the distal end of the insertion portion 24 is at the bent portion Fa of the large intestine LI, the first angle knob 52 is rotated, for example, in the U direction (see S1 and S2 in FIG. 6), and inserted. The first bending portion 34 of the portion 24 is gradually bent in the U direction (S3 in FIG. 6). At this time, even if the inner wall of the large intestine LI hits the second bending portion 36, the second bending portion 36 tries to maintain a straight state (S3 and S4 in FIG. 6). That is, the second bending portion 36 is prevented from being bent in the D direction, and the two bending portions 34 and 36 are prevented from being S-shaped as a whole.

  As shown in FIG. 7C, the distal end of the insertion portion 24 is moved to the back side while increasing the bending angle of the first bending portion 34 in the bending portion Fa of the large intestine LI in the U direction so as to exceed 90 degrees from the neutral state. When the bending angle of the first bending portion 34 is smaller than 90 degrees, the second bending portion 36 maintains a straight state. Therefore, when the bending angle of the first bending portion 34 is smaller than 90 degrees, the surgeon slowly and carefully does not apply a load to the large intestine LI in order to prevent the bent portion Fa of the large intestine LI from being pushed up. Perform the procedure.

  As shown in FIGS. 7D and 7E, when the first bending portion 34 is bent 90 degrees or more in the U direction (S3 in FIG. 6), the drive control unit 74 causes the second bending portion 36 to be bent. The first bending portion 34 is bent in the same U direction (S5 in FIG. 6). The intent of bending the first bending portion 34 in the U direction by 90 degrees is to ensure that the first bending portion 34 is hooked on the bending portion Fa and to observe the back side of the bending portion Fa. Therefore, the distal end of the insertion portion 24 of the endoscope 12 moves toward the bent portion Fb on the back side of the bent portion Fa. At this time, if the second bending portion 36 is bent, the first bending portion 36 moves toward the bending portion Fb on the back side of the bending portion Fa, so that the bending portion Fa of the large intestine LI is pushed up by the first bending portion 34. The state is relaxed. For this reason, the distal end of the insertion portion 24 automatically moves toward the back side of the large intestine LI. At this time, since the bent portion Fa is firmly held by the first and second bending portions 34, 36, the large intestine LI can be pulled by pulling the insertion portion 24 toward the front side.

When the amount of bending of the first bending portion 34 is 90 degrees or more, the second bending portion 36 is also bent by a considerable amount, so that the bending on the near side rather than observing the bending portion Fb on the back side of the large intestine LI. The inner wall close to the part Fa is observed. For this reason, in order to observe the bending part Fb of the back | inner side of large intestine LI, the bending amount of the 1st bending part 34 is decreased. When the amount of bending of the first bending portion 34 is reduced, if the first bending portion 34 is 25 degrees or more, the second bending portion 36 has the distal end of the insertion portion 24 of the endoscope 12 at the back of the bending portion Fa. The same curved state as when moving toward the bent portion Fb on the side is maintained (S6 in FIG. 6). When the bending amount of the first bending portion 34 is less than 25 degrees, as shown in FIG. 7F, the distal end of the insertion portion 24 of the endoscope 12 faces the bending portion Fb on the back side of the bending portion Fa. while moving Te, bending amount of the second bending portion 36 is reduced at the speed _{V 0} (S6 in FIG. 6, S7). Therefore, as shown in FIG. 7G, the first bending portion 34 and the second bending portion 36 approach a straight state, and the distal end of the insertion portion 24 is easily moved to the bent portion Fb on the back side of the large intestine LI. Can be made. At this time, the flexible tubular portion 38 is bent because it passes through the bent portion Fa of the large intestine LI.

  Then, the first and second angle knobs 52 and 54 are operated to move the first bending portion 34 in four directions, and the operation of causing the second bending portion 36 to follow the first bending portion 34 appropriately is repeated. The distal end of the insertion portion 24 of the endoscope 12 is gradually moved to the back side of the large intestine LI.

As shown in FIG. 7D, when the large intestine LI is pushed up while the first bending portion 34 is bent, the bending angle of the first bending portion 34 is set to a threshold angle ψ ₁ (for example, 90 degrees). If it exceeds, the second bending portion 36 is automatically bent following the first bending portion 34 as shown in FIG. 7E, so that the endoscope system 10 according to the present embodiment is It can prevent as much as possible that the insertion part 24 of the mirror 12 applies a load to the large intestine LI.

As described above, the endoscope system 10 according to the present embodiment triggers the time when the first bending portion 34 is bent, for example, 90 degrees in the U direction or the D direction, from the drive control unit 74 to the second bending portion 36. Can be sent to the motor 64 of the second bending drive mechanism so as to bend in the same direction as the first bending portion 34. By defining the bending start timing of the second bending portion 36 at the time when the first bending portion 34 is bent in a state exceeding 90 degrees, the operator of the endoscope 12 can easily set the bending start timing of the second bending portion 36. Can be expected. Therefore, the insertability of the insertion portion 24 into the tube hole LI can be improved, and the operability can be improved.
Particularly, when the first angle knob 52 of the endoscope 12 according to this embodiment is rotated, the first bending portion 34 is configured to bend by the same angle as the rotation angle of the first angle knob 52. ing. Since the first angle knob 52 grips the operation unit 22 of the endoscope 12 and is rotated by the operator, the timing at which the second bending unit 36 starts bending can be easily predicted.

  And by performing such control with respect to the 1st bending part 34 and the 2nd bending part 36 of the endoscope 12, the back side of the tube hole LI where the front-end | tip of the insertion part 24 of the endoscope 12 was tortuous. It is possible to assist the insertion when inserting into the. Therefore, if the endoscope system 10 according to the present embodiment is used, the second bending portion 36 is followed at a predetermined timing following the operator's operation of the first angle knob 52, that is, the bending operation of the first bending portion 34. Is operated so as to bend or keep straight, so that the operator can assist the operation of inserting the insertion portion 24 of the endoscope 12 into the inner side of the tube hole LI. For this reason, for example, even when performing a procedure that is difficult to insert into the back side of the tube hole LI, such as the large intestine LI, the operator (operator) can easily operate the endoscope 12. Therefore, the fatigue given to the operator can be reduced. In addition, even for a patient who observes the large intestine or the like using the endoscope 12, the operator (operator) can perform the insertion operation of the insertion portion 24 more easily, so that from the anal side to the stomach or the small intestine side. The time it takes for the distal end of the insertion portion 24 to be inserted can be shortened, and the pain given to the patient is reduced.

  In addition, when the first bending portion 34 is bent in the U direction, the second bending portion 36 can be maintained as a straight state or a bent state in the U direction, and the second bending portion 36 is bent in the D direction. It is preventing. Therefore, in order to insert the distal end of the insertion portion 24 into the back side of the large intestine LI, for example, the first bending portion 34 is bent nearly 180 degrees in the U direction, and the first bending portion 34 is hooked on the bending portion Fa of the large intestine LI. In this state, it is possible to prevent the second bending portion 36 from unintentionally bending in the D direction and releasing the state where the first bending portion 34 is hooked on the bent portion Fa.

  When the bending angle of the first bending portion 34 becomes 90 degrees or more, the second bending portion 36 is bent in the same direction as the first bending portion 34, and the bending angle of the second bending portion 36 is 90 degrees, for example. When this is detected by the pulse count processing unit 94 of the encoder 66, the bending of the second bending unit 36 is maintained. At this time, as shown in FIG. 8A, the combined bending angle of the first bending portion 34 and the second bending portion 36 exceeds 180 degrees. In this state, as shown in FIG. 8B, the first angle knob 52 is operated so that the insertion portion 24 is pushed from the near side toward the far side and the bending angle of the first bending portion 34 is decreased. To do. Then, as shown in FIG. 8C, the direction of the distal end surface of the distal end hard portion 32 of the insertion portion 24 can be directed to the inner side of the tube hole LI.

  When such an operation is not performed, as shown in FIG. 8A, the direction of the distal end surface of the insertion portion 24 is directed toward the inner wall surface of the tube hole LI. Performing the above-described operation is preferable when the distal end of the insertion portion 24 is directed toward the back side of the tube hole LI. Then, by performing such an operation, the first curved portion 34 grips the wall surface of the tube hole LI, and the second curved portion 36 on the proximal end side of the first curved portion 34 moves the wall surface at the same position. Since it can be gripped, the position of the tip of the insertion portion 24 can be moved to the back side of the tube hole LI.

In the present embodiment, the second bending portion 36 has been described as being bent only in two directions of the U direction and the D direction. However, the second bending portion 36 may be configured to be bent in four directions. For example, when the first bending portion 34 is bent between the U direction and the R direction, the flowchart shown in FIG. 6 can be extended to the case where the first bending portion 34 is bent in the R direction or the L direction. The bending portion 36 can be bent between the U direction and the R direction. For this reason, when the drive control part 74 curves the 1st bending part 34 in the state exceeding 90 degree | times between the U direction and the R direction, the 2nd bending part 36 is also between the U direction and the R direction. Can be made to follow and curve.
In addition, when the first bending portion 34 is bent at an appropriate angle in the R direction or the L direction and is bent in a state exceeding 90 degrees in the U direction or the D direction, the first bending portion 34 can be changed only by the bending angle in the U direction or the D direction. It is preferable to determine the bending start timing of the two bending portions 36.

  Next, a first modification of the endoscope system 10 according to this embodiment will be described with reference to FIG.

  In a state where the first bending portion 34 is bent in a state exceeding 90 degrees in advance (S3 in FIG. 9), the second bending portion 36 is not straight in the same direction as the bending direction of the first bending portion 34 from the straight state. The relationship between the time and the angle when bending at 30 degrees / second in the loaded state is acquired (S5 in FIG. 9). That is, a unit time when the second bending portion 36 is bent in the same direction as the first bending portion 34 in a state where the first bending portion 34 is bent in a state exceeding 90 degrees in the tube hole LI. The expected bending angle θi per t is obtained. At this time, the drive control unit 74 can measure the planned bending angle θi per unit time t based on a signal from the encoder 66, and can store it in the storage unit 100, for example.

Actually, in a state where the insertion portion 24 is inserted into the tube hole LI, when the first bending portion 34 exceeds 90 degrees (S3 in FIG. 9), the drive control portion 74 sends a signal to the second bending drive mechanism. To bend the second bending portion 36 (S5 in FIG. 9). The drive control unit 74 obtains a difference between the planned bending angle θi of the second bending unit 36 stored in the storage unit 100 and the actual bending angle θr at an appropriate time interval. When the actual bending angle θr is smaller than the planned bending angle θi (S5a in FIG. 9), the drive control unit 74 sends a signal to the second bending drive mechanism to stop the bending of the second bending unit 36 (FIG. 9). Middle S5b).
In this case, considering the actual use state, the bending of the second bending portion 36 is stopped when the actual bending angle θr is smaller than 1 times the planned bending angle θi, for example, 0.9 times or the like. You may make it let it.

  Thus, when the bending of the second bending portion 36 is stopped, it is predicted that, for example, the distal end hard portion 32 is in contact with the inner wall of the tube hole LI. For this reason, the drive control part 74 stops the curve of the 2nd bending part 36, and prevents applying force from the front-end | tip hard part 32 to the pipe hole LI.

  Since the other series of flows shown in FIG. 9 is the same as that described in the first embodiment, description thereof is omitted here.

  Next, a second modification of the endoscope system 10 according to this embodiment will be described. In the first modification, the second bending drive mechanism is controlled by changing the bending angle per unit time. However, in this modification, the second bending drive mechanism is controlled by changing the time per unit angle. To do.

  In a state where the first bending portion 34 is bent in a state exceeding 90 degrees in advance, the second bending portion 36 is straightened from the same direction as the bending direction of the first bending portion 34 to 30 degrees / second in a no-load state. The relationship between the time and angle when curving is acquired in advance. That is, when the second bending portion 36 is bent in the same direction as the first bending portion 34 in a state where the first bending portion 34 is bent in a state exceeding 90 degrees in the tube hole LI, a certain amount is obtained. A time Δt required to operate by the angle θ is obtained. At this time, the drive control unit 74 can measure the time required to bend at a certain angle using a signal from the encoder 66, and can store it in the storage unit 100, for example.

  That is, a unit angle when the second bending portion 36 is bent in the same direction as the first bending portion 34 in a state where the first bending portion 34 is bent in a state exceeding 90 degrees in the tube hole LI. Only the estimated time Δt required to move is obtained. At this time, the unit angle can be appropriately set, for example, every 1 degree or every 10 degrees.

  Actually, in a state where the insertion portion 24 is inserted into the tube hole LI, when the first bending portion 34 exceeds 90 degrees, the drive control portion 74 outputs a signal to the second bending drive mechanism, and the second bending portion. The part 36 is bent. A time Δt required to move the appropriate angle θ is detected. When the time tr required to move the actual unit angle is longer than the scheduled time ti, the drive control unit 74 sends a signal to the second bending drive mechanism, for example, when it takes about 1.2 to 1.3 times the scheduled time ti. The bending of the second bending portion 36 is stopped. In this case, for example, it is predicted that the distal end hard portion 32 is in contact with the inner wall of the tube hole LI. For this reason, the bending of the second bending portion 36 is stopped to prevent a force from being applied to the tube hole LI from the distal end hard portion 32.

  Next, a second embodiment will be described with reference to FIGS. This embodiment is a modification of the first embodiment, and the same members as those described in the first embodiment are denoted by the same reference numerals, and detailed description thereof is omitted.

  In this embodiment, the image processing of the endoscopic image using the observation optical system (observation means) 28 is performed when the bending angle of one of the U direction and the D direction of the first bending portion 34 exceeds 90 degrees. A case will be described in which it is determined whether or not the second bending portion 36 is to be bent by the image processing unit 112 shown in FIG.

  As shown in FIG. 11, the video processor 16 of the endoscope system 10 according to this embodiment is connected to an observation optical system 28 having an imaging unit and an image processing unit (dark part) connected to a drive control unit 74. (Extraction unit) 112.

When the insertion portion 24 is inserted into the tube hole LI and the interior of the tube hole LI is illuminated with illumination light from the illumination optical system 30, the endoscopic image shown in FIG. The near position facing each other is a bright portion, and the dark portion S is a position that is difficult to be illuminated with illumination light or a position far from the distal end of the distal end hard portion 32. As described above, as a means for determining the relative brightness and darkness in the observation image (endoscopic image), in particular, extracting the dark part S, there are a binarization process, a contrast adjustment, a contour extraction technique, and the like, which are known image processing techniques. Since these image processing techniques are publicly known and widely used, description thereof is omitted here. With these image processing techniques, the image processing unit 112 can divide the endoscopic image into a bright part and a dark part relatively, and in particular, can extract the dark part S, if present.
For example, if a threshold that can be set as appropriate is provided for the brightness, a bright part may exist, but a dark part may not exist. The reverse is also possible. When the difference between the bright part and the dark part is small, for example, when the contrast ratio in the endoscopic image is smaller than a predetermined value that can be appropriately set, it can be determined that the bright part and / or the dark part cannot be extracted. As an example, the distal end surface of the distal end hard portion 32 is opposed to the wall surface of the tube hole LI. At this time, depending on the endoscopic image, the destination where the distal end hard portion 32 of the insertion portion 24 can be directed has not been found, so the bending angle of the first bending portion 34 in the U direction or D direction exceeds 90 degrees. Regardless of whether or not the drive control unit 74 has passed, the drive control unit 74 does not determine that it has passed through the bent portion Fa.

  For example, when the image processing unit 112 performs image processing on an image obtained by the observation optical system 28 in a state in which the insertion unit 24 is inserted into the tube hole LI such as the large intestine, as illustrated in FIG. The dark part S of the endoscopic image inside can be shown. Here, the U direction, the D direction, the R direction, and the L direction of the first bending portion 34 of the insertion portion 24 and the direction of the image captured by the imaging element (not shown) of the observation optical system 28, that is, the monitor 18. The orientation of the displayed image matches. For this reason, the image processing unit 112 can signal the position of the insertion portion 24 of the endoscope 12 relative to the distal end hard portion 32 when the dark portion S is detected in the image obtained by the observation optical system 28.

When performing image processing for extracting the dark part S of the endoscopic image using the image processing unit 112, the bending angle of the first bending unit 34 in the U direction or the D direction (at least one of the U direction and the D direction) is 90 degrees. It is assumed that the time point that exceeded is used as a trigger (threshold angle). That is, when the bending angle of the first bending section 34 exceeds 90 degrees, a signal is output from the resistance value measuring section 92 of the potentiometer 56 to the image processing section 112 via the CPU 90, and an image obtained by the observation optical system 28 is obtained. Start image processing. The drive control unit 74 outputs a signal to the image processing unit 112 and starts image processing of the image obtained by the observation optical system 28.
That is, in this embodiment, the signal input from the potentiometer 56 to the drive control unit 74 defines the start timing of image processing by the image processing unit 112.

  In this embodiment, the time when the second bending portion 36 is bent by outputting a signal from the drive control unit 74 to the second bending drive mechanism is the bending angle of the first bending portion 34 described in the first embodiment. From the time when it is detected that the angle exceeds 90 degrees, the image processing unit 112 performs image processing of the subject image into the bright portion and the dark portion S, and the image processing by the image processing unit 112 performs dark processing in the subject image. A delay was made when S was detected. Then, the time point when the dark portion S is detected in the image of the subject by the image processing by the image processing unit 112 is defined as the time point when the first bending portion 34 passes through the bent portion Fa of the tube hole LI. When the dark portion S is detected, the position of the dark portion S indicates a direction (destination) in which the distal end hard portion 32 of the insertion portion 24 can be directed. Therefore, the second bending portion 36 can be bent in the same direction as the first bending portion 34 after confirming the destination of the distal end hard portion 32 of the insertion portion 24.

In this embodiment, when the dark portion S is detected in the endoscopic image by the image processing unit 112 in a state where the first bending portion 34 is bent so as to exceed 90 degrees in the U direction or the D direction, When a dark portion S, particularly the center of the dark portion S, is detected inside a range B indicated by a broken line in FIG. 10 (the position changes by enlarging / reducing the endoscopic image), for example, within a certain rectangular range B, drive control is performed. The unit 74 outputs a signal for bending the second bending portion 36 in the same direction as the bending direction of the first bending portion 34 (a signal for driving the motor 64), and the dark portion S, in particular, the dark portion S of the dark portion S is outside the rectangular range B. When the center is detected, the second bending portion 36 maintains a straight state. In the latter case, when the operator of the endoscope 12 is placed inside the rectangular range B where the dark part S in the endoscopic image is located, for example, by twisting the insertion part 24 held with the right hand, The drive control unit 74 outputs a signal for bending the second bending unit 36 in the same direction as the bending direction of the first bending unit 34.
It should be noted that when the dark portion S, particularly the center of the dark portion S, is detected outside a certain rectangular range B, the second curved portion 36 maintains a straight state in such a state in the U direction or the D direction. This is because when the second bending portion 36 is bent, the movable range in the U direction or the D direction is smaller than the inside of the rectangular range B, so that the distal end hard portion 32 easily comes into contact with the inner wall of the tube hole LI. Note that the rectangular range B can be set as appropriate, and the rectangular range B need not be set.

As shown in FIG. 11, the endoscope system 10 according to this embodiment is configured so that the bending angle detection means of the first bending portion 34 of the insertion portion 24 of the endoscope 12 and the tip position of the first bending portion 34 are determined in real time. A well-known UPD device (detection unit, bending angle detection device of the first bending unit 34) 122 having a function as a position detection unit to detect and a movement detection unit to detect whether or not the first bending unit 34 is moving. Have The UPD device 122 is connected to, for example, the drive control unit 74 of the video processor 16.
As shown in FIG. 10, the first bending portion 34 of the insertion portion 24 of the endoscope 12 has a plurality of coils as position information generating means for generating position information in order to detect the insertion shape of the insertion portion 24. 124a, 124b, 124c, etc. (referred to as UPD coils) are arranged at predetermined intervals, for example.

  Then, by detecting the position of each of these UPD coils 124a, 124b, 124c,... With the UPD device 122 shown in FIG. 11, the first bending portion 34 including the tip position and the bending angle of the first bending portion 34 is detected. The shape and the direction (direction) of the longitudinal axis of the first bending portion 34 can be detected. Therefore, the position of the tip of the first bending portion 34 of the insertion portion 24 and the shape of the first bending portion 34 including the bending angle can be displayed on the monitor 18 by the UPD device 122.

Next, the operation of the endoscope system 10 according to this embodiment will be described.
As described in the first embodiment, the insertion portion 24 of the endoscope 12 is inserted from the near side of the tube hole LI toward the far side. When the distal end hard portion 32 of the insertion portion 24 reaches the bent portion Fa of the tube hole LI, the first angle knob 52 is mainly operated to appropriately bend the first bending portion 34 in the U direction and the D direction. . That is, an operator (for example, a doctor) of the endoscope 12 bends the first bending portion 34 and searches for the dark portion S of the lumen LI while observing the endoscope image displayed on the monitor 18. At this time, for example, as shown in FIG. 13A, the monitor 18 displays the inner wall of the tube hole LI.

  As a result of estimating the bending angle of the first bending portion 34 with the potentiometer 56 described in the first embodiment and / or the position and posture of the UPD coils 124a, 124b, 124c,... As a result, the resistance value measurement unit 92 of the potentiometer 56, that is, the drive control unit 74 and / or the UPD device 122, is driven when the bending angle of the first bending unit 34 in the U direction or D direction exceeds 90 degrees. A trigger signal is output to the image processing unit 112 via the CPU 90 of the control unit 74 (S3 in FIG. 14).

  Then, when the bending angle of the first bending portion 34 in the U direction or D direction exceeds 90 degrees and the image processing unit 112 detects the dark portion S of the tube hole LI shown in FIG. 14, the image control unit 112 further determines whether or not the center position of the dark part S is inside the predetermined range B. In the state shown in FIG. 13B, when it is determined that the dark part S is inside the range B, the image processing unit 112 outputs a signal to the drive control unit 74. The drive control unit 74 determines that this time is the time when the first bending portion 34 has passed through the bent portion Fa of the tube hole LI, and outputs a signal to the motor 64, as shown in FIG. The second bending portion 36 is bent in the same direction as the direction in which the first bending portion 34 is bent.

Even when the second bending portion 36 is bent, the UPD device 122 continues to detect the bending angle and the tip position of the first bending portion 34. For this reason, if the UPD device 122 determines that the amount of movement of the tip of the first bending portion 34 is small or the tip does not move for a set time (S51 in FIG. 14), the UPD device 122 A signal is output so as to prevent the second bending portion 36 from being further bent and to maintain the bending angle of the second bending portion 36 with respect to the motor 64 of the second bending drive mechanism through the CPU 90 of the drive control unit 74 ( S52 in FIG. 14). That is, the UPD device 122 uses the drive control unit 74 to determine the timing for stopping the bending of the second bending unit 36.
Note that when the second bending drive mechanism is operated so as to bend the second bending portion 36, a state in which the amount of movement of the first bending portion 34 is small or a state in which the tip does not move is, for example, that the tip hard portion 32 is moved. In this state, the inner wall surface is pressed against the inner wall surface of the tube hole LI.

  The trigger for stopping the bending operation of the second bending portion 36 is used by detecting the position (moving state) of the first bending portion 34 by the UPD device 122 and estimating the second bending portion 36 per unit time. A bending angle may be used. Since the second bending portion 36 bends at a bending speed of, for example, 30 degrees / second, the estimated bending angle with respect to the time measured by the encoder 66 differs by more than a certain set value set by the threshold value input portion (setting portion) 98. If there is, that is, if the bending angle is smaller than a certain threshold with respect to the target bending angle per unit time of the second bending portion 36, the bending of the second bending portion 36 is stopped.

  As described above, the movement of the first bending portion 34 cannot be detected by the UPD device 122, or the bending angle does not increase when the bending angle of the second bending portion 36 is detected by the encoder 66 connected to the drive control unit 74. Is determined, the drive control unit 74 prevents the motor 64 of the second bending drive mechanism from further bending the second bending unit 36, and the second bending drive mechanism prevents the second bending unit 36 from being bent. A signal for controlling to maintain the bending angle is output.

  When the image processing is performed when the bending angle of the first bending portion 34 exceeds 90 degrees, if the dark portion S of the tube hole LI is not detected, the drive control unit 74 causes the second bending portion 36 to be detected. Keep it straight and keep it straight.

  When the dark portion S of the tube hole LI is detected by image processing again when the bending angle of the first bending portion 34 exceeds 90 degrees, the second bending portion 36 is bent as described above.

  When the bending angle of the first bending portion 34 in the U direction or D direction exceeds 90 degrees and the image processing unit 112 detects the dark portion S of the tube hole LI shown in FIG. 74 determines whether or not the center position of the dark portion S is inside the predetermined range B. When the center position of the dark part S is outside the range B, the storage unit 100 of the drive control unit 74 stores that the dark part S is not detected.

  The operator of the endoscope 12 confirms that the second bending portion 36 does not bend by displaying on the monitor 18 or feeling the right hand, and then, for example, makes the bending angle of the first bending portion 34 smaller than 90 degrees. Then, the insertion portion 24 is twisted.

  If the first bending portion 34 is bent by 90 degrees or more in the U direction or the D direction when the first bending portion 34 is bent, the image processing unit 112 performs the image processing again. When the center position of the dark portion S is inside the rectangular range B, it is determined from the information stored in the storage unit 100 that the dark portion S of the tube hole LI has not been detected during the previous image processing by the image processing unit 112, The second bending portion 36 is bent in the same direction as the bending direction of the first bending portion 34.

  In this embodiment, the example using the image processing unit 112 has been described. However, some endoscopes in recent years have a distance measuring function for measuring the distance from the distal end surface of the distal end hard portion 32 of the insertion unit 24. . The farthest position measured using this distance measuring function may be the center of the dark part S.

  Next, a third embodiment will be described with reference to FIGS. 15 and 16. This embodiment is a modification of the first and second embodiments, and the same members or members having the same functions as those described in the first and second embodiments are denoted by the same reference numerals, and detailed. Description is omitted.

  The endoscope system 10 according to this embodiment includes the known UPD device 122 described in the second embodiment.

As shown in FIG. 15, the endoscope 12 according to this embodiment can bend the first bending portion 34 in four directions by the two motors (drive sources) 134a and 134b of the first bending drive mechanism. . Encoders 136a and 136b are disposed on the motors 134a and 134b, respectively. In this embodiment, the rotation angle of each of the drums 46 and 48 corresponds to the bending angle of the first bending portion 34 as described in the first embodiment. Therefore, by measuring the rotation angles of the drums 46 and 48 with the encoders 136a and 136b, the respective bending angles of the first bending portion 34 in the U direction, the D direction, the R direction, and the L direction can be estimated.
In addition, by measuring the bending angle of the first bending portion 34 and the time required to reach a certain bending angle in advance, the bending angle can be estimated from the time, and the time from the bending angle to the certain bending angle can be estimated. Can be estimated.

  As illustrated in FIG. 16, the drive control unit 74 includes a control circuit (control circuit of the controller 152) 154 to which the controller 152 is detachably connected. By operating the controller 152, the first bending portion 34 can be freely bent in four directions.

  The drums 46 and 48 are connected to the rotation shafts of the motors 134a and 134b, respectively, and are rotated according to the rotation direction of the motors 134a and 134b that can freely rotate forward and backward. The driving of these motors 134 a and 134 b is controlled by a drive control unit 74.

  When the controller 152 is operated, the drive control unit 74 controls the motors 134a and 134b by the control circuit 154 of the controller 152 to rotate the drums 46 and 48. Therefore, the drive control unit 74, the motors 134a and 134b, and the encoders 136a and 136b constitute a bending actuator that electrically drives the first bending unit 34 via the bending wires 42U, 42D, 42R, and 42L.

  The above-described UPD device 122 is connected to the CPU 90 of the drive control unit 74. For this reason, the position and direction of the front-end | tip of the 1st bending part 34 can be obtained in real time.

As a result of measuring the bending angle in the U direction or D direction of the first bending portion 34 with the encoder 136a and / or as a result of detecting the positions and postures of the UPD coils 124a, 124b, 124c,. When one bending angle of the first bending portion 34 in the U direction and the D direction exceeds 90 degrees, the first bending portion 36 is moved to the first bending portion 36 by the signal from the encoder 136a and / or the signal from the UPD device 122. The bending portion 34 is bent in the same direction. As described above, when the second bending portion 36 is bent, the tip of the first bending portion 34 also moves. At this time, if the UPD device 122 determines that the tip of the first bending portion 34 does not move as shown in FIG. 8A, the UPD device 122 uses the drive control unit 74 to perform the second bending drive mechanism. The motor 64 is prevented from further bending the second bending portion 36, and a signal for maintaining the bending angle is output.
When the second bending drive mechanism is operated so as to bend the second bending portion 36, the case where the first bending portion 34 does not move is, for example, that the distal end hard portion 32 contacts the inner wall surface of the tube hole LI. It is in a state where it touches and presses the inner wall surface.

At this time, the encoders 136a and 136b disposed in the motors 134a and 134b detect the absolute position per unit time of the first bending portion 34 to determine whether or not the first bending portion 34 is moving. Also good.
Further, whether or not the first bending portion 34 is moving may also be determined by detecting a change in the bending angle of the first bending portion 34 with time.

  Furthermore, if it is determined that the bending angle does not increase when the bending angle of the second bending portion 36 is detected, and the UPD device 122 determines that the tip of the first bending portion 34 does not move, the second bending drive mechanism. The motor 64 is prevented from further bending the second bending portion 36, and a signal for maintaining the bending angle is output.

  Then, the drive control unit 74 uses the time when the second bending unit 36 stops bending as a trigger, that is, using the signal from the encoder 136a as a trigger, as shown in FIG. A signal is input to the motor 64 so that the bend angle is smaller than 90 degrees and approaches a straight state. For this reason, the UPD device 122 can detect that the tip of the first bending portion 34 moves to the back side of the tube hole LI, and can also be confirmed by the display on the monitor 18.

  Then, as shown in FIG. 8C, the bending angle of the second bending portion 36 is increased so that the tip of the first bending portion 34 does not move.

  Such control is repeated, and the first bending portion 34 is moved to the back side with respect to the bending portion Fa while increasing the bending angle of the second bending portion 36.

  According to this embodiment, the second bending portion 36 can be bent at the timing when it passes through the bending portion Fa, and at the same time the bending driving of the second bending portion 36 is stopped, the first bending portion 34 is bent in the reverse direction. Can be made.

Next, a fourth embodiment will be described with reference to FIGS. This embodiment is a modification of the first to third embodiments. The same members as those described in the first to third embodiments are denoted by the same reference numerals, and detailed description thereof is omitted.
In the first to third embodiments described above, the endoscope system 10 has been described as including the light source 14, the video processor 16, and the monitor 18 in addition to the endoscope 12. In this embodiment, the case where the endoscope (medical device) 210 itself has functions of a light source and a video processor and also has a monitor 18 will be briefly described.

As shown in FIG. 17, an endoscope (medical apparatus) 210 according to this embodiment is directed to a monitor 18, an operation unit 22 provided with the monitor 18, and a test site in a body cavity that is a subject. And an insertion portion 24 to be inserted. Note that the first bending portion 34 of the insertion portion 24 of the endoscope 210 according to this embodiment is described as being curved in two directions (U direction and D direction) for the sake of simplicity.
As shown in FIG. 18, the operation unit 22 includes a control unit 220 that can control the monitor 18, the observation optical system 28, the illumination optical system 30, and the first and second bending drive mechanisms. Is arranged.

  As shown in FIG. 17, the operation unit 22 is provided with a bending operation lever 242. A rotation shaft 242a of the bending operation lever 242 is disposed so as to penetrate the operation unit 22 in the left-right direction in FIG. The rotation shaft 242a is fixed to a drum 48 (see FIG. 2) around which an operation wire 42 is wound inside the operation unit 22. Therefore, as described in the first embodiment, the amount of rotation of the bending operation lever 242 is detected by the potentiometer 56, and when the first bending portion 34 is in an unloaded state, the amount of rotation of the bending operation lever 242 is the first bending portion. This corresponds to a bending angle of 34.

As shown in FIG. 18, an observation optical system 28 and an illumination optical system 30 are disposed in the insertion section 24 and the operation section 22 of the endoscope 12.
The illumination optical system 30 includes a light source 292, a light guide 294, and an illumination window 296. The observation optical system 28 includes an observation window 302, an objective lens 304, an image guide 306, an imaging lens 308, and an image sensor 310 such as a CCD or a CMOS.
As shown in FIGS. 1B and 18, the illumination window 296 and the observation window 302 are fixed to the distal end hard portion 32. As shown in FIG. 18, the distal end of the light guide 294 is fixed to the distal end hard portion 32 on the proximal end side of the illumination window 296. An objective lens 304 is fixed to the distal end hard portion 32 at the proximal end of the observation window 302. Further, the distal end of the image guide 306 is fixed to the distal end hard portion 32 on the proximal end side of the objective lens 304. The light guide 294 and the image guide 306 are extended toward the operation unit 22 through the curved portions 34 and 36 and the tubular portion 38.
For example, a light source 292 such as an LED is fixed inside the operation unit 22. The light source 292 is connected to a power supply control circuit 336 described later (see FIG. 2).

The imaging lens 308 and the image sensor 310 are disposed inside the operation unit 22. The imaging lens 308 is fixed to the base end of the image guide 306. Further, the imaging element 310 is fixed at the imaging position of the observation image by the imaging lens 308. At this time, the observation window 302, the objective lens 304, the image guide 306, the imaging lens 308, and the image sensor 310 are optically connected. Therefore, the reflected light of the light emitted from the illumination window 296 and illuminating the subject is imaged by the image sensor 310 through the observation window 302, the objective lens 304, the image guide 306, and the imaging lens 308. Then, image processing is performed by an image sensor control circuit 342 described later to obtain an observation image (endoscopic image).
As shown in FIG. 18, the operation unit 22 is provided with a control unit 220. The control unit 220 has an outer frame formed by an apparatus main body (housing) 322 having a substantially rectangular parallelepiped shape (box shape). A monitor 18 that displays an endoscopic image is disposed on the outer surface of the apparatus main body 322.

  Further, the apparatus main body 322 includes a battery 334, a power supply control circuit 336, a recording control circuit 338 having a recording medium (not shown) such as an internal memory, a display element control circuit 340, and a processing circuit. The image pickup device control circuit 342 and the drive control unit 74 described in the above embodiment are included. The drive control unit 74 is electrically connected to the potentiometer 56, the motor 64, and the encoder 66 inside the operation unit 22.

  The battery 334 is connected to the power supply control circuit 336. The power supply control circuit 336 is connected to the monitor 18, the recording control circuit 338, the display element control circuit 340, and the image sensor control circuit 342. The power supply control circuit 336 is also electrically connected to the light source 292 and the image sensor 310 described above, and supplies power thereto.

  The power supply control circuit 336 supplies the power supplied from the battery 334 to each of the light source 292, the image sensor 310, the monitor 18, the recording control circuit 338, the display element control circuit 340, and the image sensor control circuit 342. Outputs the corresponding driving power.

  The power supply control circuit 336 includes a power switch 352 arranged outside the apparatus main body 322 like the monitor 18, and the power supply of the endoscope 210 is turned on / off by the operation of the power switch 352. Done. The battery 334 is preferably a secondary battery that can be repeatedly charged and used.

  The display element control circuit 340 visualizes the signal from the recording control circuit 338 or the image sensor control circuit 342 and displays an endoscopic image on the monitor 18. The recording control circuit 338 supplies a power supply instruction signal to the light source 292, the image sensor 310, and the image sensor control circuit 342 in response to signal inputs from various switches to the power supply control circuit 336.

  An observation image of the test site imaged by the image sensor 310 is output from the image sensor 310 to the image sensor control circuit 342. The image sensor control circuit 342 converts the observation image of the test site imaged by the image sensor 310 into a signal and outputs the signal to the recording control circuit 338 and the display element control circuit 340.

Next, the operation of the endoscope 210 according to the present embodiment configured as described above will be described.
The power switch 352 of the endoscope 210 is turned on. When the power switch 352 is turned on, the endoscope 210 is supplied with electric power from the battery 334 of the control unit 220 through the power supply control circuit 336.

  When the control unit 220 enters a still image recording standby state, power is supplied from the power supply control circuit 336 to the light source 292, and power is also supplied to the image sensor 310 and the like.

  Illumination light emitted from the light source 292 from the battery 334 through the power supply control circuit 336 is incident on the proximal end of the light guide 294, guided to the distal end of the light guide 294, and through the illumination window 296 disposed at the distal end of the light guide 294. The desired range of the test site in the body cavity is illuminated.

  The reflected light from the test site S irradiated by the illumination light forms an observation image by the observation window 302 and the objective lens 304 provided in the distal end hard portion 32. The observation image is incident on the other end of the image guide 306 and then transmitted to one end of the image guide 306. Thereafter, the observation image by the reflected light is imaged on the image sensor 310 from one end of the image guide 306 through the imaging lens 308 provided in the operation unit 22. For this reason, an observation image is captured by the image sensor 310 controlled by the image sensor control circuit 342.

  The observation image is transmitted from the image sensor 310 in the order of the image sensor control circuit 342, the display element control circuit 340, and the monitor 18, and is displayed on the monitor 18 in real time.

  Then, as described in the first embodiment, the endoscope 210 according to this embodiment is a time point when the first bending portion 34 is bent in a state exceeding a predetermined angle (for example, 90 degrees) in the U direction or the D direction. As a trigger, the drive control unit 74 can output a signal to the motor 64 to bend the second bending portion 36 in the same direction as the bending direction of the first bending portion 34.

Further, as described in the second embodiment, the endoscope 210 according to this embodiment has the UPD coils 124a, 124b, 124c,... Arranged on the first bending portion 34 of the insertion portion 24, and the endoscope 210. Alternatively, the UPD device 122 may be arranged so that the position, orientation, posture, and the like of the first bending portion 34 are detected in real time and the information can be displayed on the monitor 18. In addition, the image processing unit 112 is disposed between the display element control circuit 340 and the imaging element control circuit 342, or the image processing unit 112 is included in one of the display element control circuit 340 and the imaging element control circuit 342. Is preferred.
Then, as described in the second embodiment, if the dark portion S can be detected by performing image processing by the control unit 220 when the first bending portion 34 is bent by a predetermined angle, the second bending portion 36 is changed to the first bending portion. If the dark portion S is not detected, the shape of the second bending portion 36 is maintained as it is.
When the dark portion S is detected by the image processing of the image processing unit 112 when the first bending portion 34 is bent at a predetermined angle in the U direction or the D direction, the dark portion S is not detected during the previous image processing. On the condition, the second bending portion 36 is bent in the same direction as the bending direction of the first bending portion 34.

  In addition, as described in the third embodiment, it is also preferable to use the motors 134a and 134b to generate a driving force for bending the first bending portion 34.

  As described above, the endoscope system (medical device) 10 includes not only the various devices connected to the outside of the endoscope, but also those having various devices inside the endoscope 210. That is, in the first to third embodiments described above, the embodiment using the endoscope system (medical apparatus) 10 has been described. However, the endoscope 210 described in this embodiment also has the same functions and effects. Can be obtained.

  Although several embodiments have been specifically described so far with reference to the drawings, the present invention is not limited to the above-described embodiments, and all the embodiments performed without departing from the scope of the invention are described. Including implementation.

  DESCRIPTION OF SYMBOLS 10 ... Endoscope system (medical apparatus), 12 ... Endoscope, 14 ... Light source device, 16 ... Video processor, 18 ... Monitor, 22 ... Operation part, 24 ... Insertion part, 26 ... Universal cord, 26a ... Connector part 28 ... observation optical system, 30 ... illumination optical system, 32a ... channel, 32 ... hard tip portion, 34 ... first bending portion, 36 ... second bending portion, 34a, 36a ... bending tube, 38 ... tubular portion, 42 , 44 ... Angle wire, 46, 48 ... Drum, 52 ... First angle knob, 54 ... Second angle knob, 56 ... Pot position meter (detector) for detecting knob position, 62 ... Drum, 64 ... Motor, 66 ... Encoder, 72 ... Motor power supply, 74 ... drive control unit (control unit), 82 ... current measurement unit, 84 ... voltage setting unit, 90 ... CPU, 92 ... resistance value measurement unit, 94 ... pulse count processing unit, 96 ... Click calculating unit, 98 ... threshold input section (setting section), 100 ... storage unit.

Claims (9)

An elongated insertion portion that has a first bending portion and a second bending portion provided on a proximal end side of the first bending portion, and is insertable into a tube hole that may have a bending portion;
A first bending drive mechanism having a bending operation input section for bending the first bending section;
A second bending drive mechanism for bending the second bending portion;
A detection unit for detecting a bending angle of the first bending unit;
A first threshold value that is defined by a predetermined bending angle of the first bending portion that is detected during the bending operation and indicates the start of the bending operation of the second bending portion that is in a linear state, and the first bending portion Is defined by a predetermined bending angle of the first bending portion detected during the operation of returning from the bending state to the linear state, and suggests the start of the operation of returning the second bending portion in the bending state to the original linear state Including a setting unit in which a predetermined second threshold value smaller than the absolute value of the first threshold value is set , and driving the first bending driving mechanism and the second bending driving mechanism , When the bending angle increases and exceeds the first threshold value, a bending operation is performed to bend the second bending portion in a straight state so as to follow the same bending direction as the first bending portion , and bending the bending angle of the first bending portion which has been A control unit for causing a little when it becomes equal to or less than the second threshold value, pre-SL and to follow the operation of the first bending portion, the return operation of the second curved portion is restored to a straight state from the bent state, A medical device characterized by comprising: The controller is
While the bending angle of the first bending portion that exceeds the absolute value of the first threshold is larger than the absolute value of the second threshold set to a value smaller than the absolute value of the first threshold, Maintaining the state of the bending angle of the second bending portion;
The said 2nd bending part is returned to the said linear state which is an initial position, when the bending angle of the said 1st bending part is smaller than the absolute value of the said 2nd threshold value. Medical equipment. An observation optical system capable of capturing an image of the subject;
The control unit is connected to the observation optical system, and is connected to an image processing unit that performs image processing on the image of the subject imaged by the observation optical system.
When the detection unit detects that the bending angle of the first bending unit exceeds the first threshold , the control unit performs image processing on the image of the subject into a bright part and a dark part. A time when the second bending portion is bent by outputting a signal from the control unit to the second bending drive mechanism, the bending angle of the first bending portion exceeds the first threshold value . point or we upon detection by the detecting unit that the image of the subject by the image processing unit and image processing to the light and dark portions, in the image of the subject by the image processing by the image processing unit The medical device according to claim 1, wherein the medical device is delayed from the time point when the dark part is detected.   The medical device according to claim 1, wherein the detection unit includes a bending angle detection device that detects a bending angle of the first bending portion. The bending angle detection device can detect at least one of movement and position information of the tip of the first bending portion in addition to the bending angle of the first bending portion,
The medical device according to claim 4, wherein the control unit is capable of controlling the second bending driving mechanism based on information obtained by the angle detection device. The second bending drive mechanism can detect a bending angle of the second bending portion,
The setting unit of the control unit can set a target bending angle when the second bending unit is bent,
The medical device according to claim 1, wherein the control unit can control the second bending drive mechanism based on a difference between a bending angle of the second bending portion and the target bending angle. The second bending drive mechanism can detect a bending angle of the second bending portion,
The setting unit of the control unit can set a target bending angle when the second bending unit is bent,
The medical device according to claim 1, wherein the control unit can control the second bending drive mechanism based on a required time when the second bending unit is moved by a target bending angle.   The control unit is configured to cause the second bending portion to bend to an angle exceeding a predetermined angle by the second bending drive mechanism, and then bend the first bending portion in a direction opposite to the bending direction of the second bending portion. The medical device according to claim 1, wherein the medical device is output to the first bending drive mechanism. Wherein, when the bending angle is curved from straight state of the first curved portion is less than the first threshold value, irrespective of the influence of a predetermined external force to the second curved portion, a neutral state The medical device according to claim 1, wherein a predetermined torque for maintaining the pressure is applied.

Images