JP5856865B2 - Electric bending endoscope - Google Patents

Description

  The present invention relates to an electric bending endoscope that electrically assists a bending operation of a bending portion provided in an endoscope insertion portion.

  In recent years, endoscopes having an elongated insertion portion have been used in the medical field or the industrial field. In endoscopes in the medical field, observation is performed by inserting an insertion portion into the body from the oral cavity or anus. On the other hand, in an endoscope in the industrial field, observation is performed by inserting an insertion portion into piping of a plant facility such as a boiler or inside an engine.

  In general, in an endoscope, an observation optical system is provided at a distal end portion of an insertion portion. In addition, on the distal end side of the insertion portion, for example, a bending portion that is bent in the vertical and horizontal directions is provided in order to direct the observation optical system in a desired direction. The bending portion is configured such that a bending wire is pulled and loosened by rotating a bending operation knob provided in the operation portion, and a plurality of internal bending pieces are rotated and bent. .

  On the other hand, in recent years, for example, as disclosed in Patent Document 1, a driving unit is provided inside an operation unit of an endoscope, and an operator placed upright on the operation unit is operated with one finger, for example. There has been proposed an electric bending endoscope in which a bending operation of a bending portion is performed by a driving force of a driving unit. This Patent Document 1 discloses a technique of an electric bending endoscope that allows an operator to easily recognize that the mechanical life of a component that electrically bends a bending portion is near.

JP 2007-222671 A

  By the way, it is desirable for the electric bending endoscope to be able to change the bending of the bending portion as expected by the operator who operates the operation element. However, in a conventional electric bending endoscope, if a component that electrically bends a bending portion wears down before the mechanical life, it is desirable even if the operator operates with an operation feeling that assumes an operator. In some cases, the bending state of the bending portion cannot be obtained. As a result, the conventional electric bending endoscope has a problem that the bending reaction of the bending portion based on the operation of the operator by the operator becomes dull and the operability is lowered.

  Therefore, the present invention has been made in view of the above-described points, and the object of the present invention is to keep the bending reaction of the bending portion constant corresponding to the operation feeling of the operator by the operator. It is an object of the present invention to provide an electric bending endoscope that detects a state of a component that electrically bends a bending portion and notifies an operator of a maintenance time.

In order to achieve the above object, an electric bending endoscope according to an aspect of the present invention includes a pulling member that bends a bending portion of an insertion portion, an operation member that inputs an amount of force for pulling the pulling member, A driving unit that generates a driving force for pulling the pulling member to bend the bending portion; and a state in which the driving force is not transmitted to the pulling member in conjunction with the operation of the operation member. A traction member operating device that can be switched to a state in which the driving force is transmitted, a driving force transmitting portion that is provided in the traction member operating device and transmits the driving force of the driving portion to the traction member, and the driving force transmitting portion determination means for detecting and replacement time the wear state of deterioration of, organic, and transmission state of the driving force driving state of the driving force transmitting portion from amplitude of current value supplied to the drive unit is abnormal To determine whether or not In the case it is confirmed that it stops the drive unit.
The medical device according to one aspect of the present invention includes a pulling member that bends the bending portion of the insertion portion, an operation member that inputs a force to pull the pulling member, and the bending portion that pulls the pulling member to bend the bending portion. A drive unit that generates a driving force to be switched, and a state in which the driving force is not transmitted to the traction member in association with an operation of the operation member, and a state in which the driving force is transmitted to the traction member can be switched. A traction member operating device, a driving force transmitting portion provided in the traction member operating device for transmitting the driving force of the driving portion to the traction member, and a wear deterioration state of the driving force transmitting portion are detected to determine the replacement time. Determining means for determining whether or not the driving force transmission state is abnormal from the fluctuation range of the current value supplied to the driving unit, and determining whether or not the driving force transmission state is abnormal. If you confirm that Stopping said driving unit.

  According to the present invention, maintenance is performed on the operator by detecting the state of wear deterioration of the component that electrically bends the bending portion so that the bending reaction of the bending portion can be kept constant in response to the operation feeling of the operator by the operator. An electric bending endoscope that notifies the time can be provided.

1 is a schematic configuration diagram showing an entire endoscope system including an endoscope according to a first embodiment of the present invention. The block block diagram which shows the schematic structure of the endoscope system The schematic block diagram which shows a traction member operating device among the internal structures of the endoscope in an endoscope system similarly The perspective view which takes out only the traction member installation part (rotary body) among the traction member operation apparatuses in the endoscope of the endoscope system, and shows it The principal part expansion block diagram which shows the arrangement configuration of the traction member operating device in the endoscope of the endoscope system The principal part expansion block diagram which shows the arrangement structure of the operation member linked with the traction member operation apparatus in the endoscope of the endoscope system, and the traction member The flowchart which shows the example of control which a control apparatus performs similarly Same as above, a graph showing an example of displacement of the integrated current value during operation of the endoscope of the endoscope system The flowchart which shows the example of control which the control apparatus of a 1st modification similarly performs. The graph which shows the example of a displacement of the electric current integrated value at the time of operation | movement of the endoscope of the endoscope system of a 1st modification similarly. The flowchart which shows the example of control which the control apparatus of a 2nd modification performs similarly The graph which shows the example of a displacement of the electric current integrated value at the time of operation | movement of the endoscope of the endoscope system of a 2nd modification similarly. The figure which shows schematic structure of the traction member operating device in the endoscope of the 2nd Embodiment of this invention. Sectional drawing which shows the structure of a pulley and a rotary body same as the above Cross-sectional view of worn pulley and rotating body Sectional drawing which shows the structure of the pulley and rotary body of a 1st modification same as the above Sectional drawing of the pulley and rotary body of the abrasion state of a 1st modification same as the above Sectional drawing which shows the structure of the pulley and rotary body of a 2nd modification same as the above Sectional drawing which shows the structure of the pulley and rotary body of a 3rd modification same as the above The figure which shows schematic structure of the traction member operating device in the endoscope of the 3rd Embodiment of this invention. Sectional drawing which shows composition of pulley and pressing plate The figure which shows schematic structure of the traction member operating device in the endoscope of the 4th Embodiment of this invention. Sectional drawing which shows composition of pulley and pressing block Cross-sectional view of worn pulley and pressing block Sectional drawing which shows the structure of the pulley of a modification, and a press block The figure which shows schematic structure of the traction member operating device seen from the side in the endoscope of the 5th Embodiment of this invention. The figure which shows schematic structure of the traction member operating device seen from the top in the endoscope similarly Sectional drawing showing the configuration of the pulley and friction plate Cross section of worn pulley and friction plate Sectional drawing which shows the structure of the pulley and friction plate of a 1st modification same as the above Sectional drawing which shows the structure of the pulley and friction plate of a 2nd modification same as the above

  The present invention will be described below with reference to the illustrated embodiments. In each drawing used for the following description, each component may be shown with a different scale in order to make each component recognizable on the drawing. Therefore, according to the present invention, the quantity of components, the shape of the components, the ratio of the sizes of the components, and the relative positional relationship of the components described in these drawings are limited to the illustrated embodiments. It is not a thing.

(First embodiment)
FIGS. 1-12 is a figure explaining the 1st Embodiment of this invention. FIG. 1 is a schematic configuration diagram showing an entire endoscope system including an endoscope, FIG. 2 is a block configuration diagram showing a schematic configuration of the endoscope system, and FIG. 3 is an internal configuration of the endoscope in the endoscope system. 4 is a schematic configuration diagram showing a traction member operation device, FIG. 4 is a perspective view showing only a traction member installation portion (rotary body) of the traction member operation device in the endoscope of the endoscope system, and FIG. FIG. 6 is an enlarged configuration diagram of a main part showing an arrangement configuration of a traction member operation device in an endoscope of an endoscope system, and FIG. 6 is an arrangement configuration of an operation member and a traction member interlocked with the traction member operation device in the endoscope of the endoscope system. FIG. 7 is a flowchart showing an example of control executed by the control device, FIG. 8 is a graph showing an example of displacement of the integrated current value during operation of the endoscope of the endoscope system, and FIG. Control executed by control device of first modification FIG. 10 is a graph showing an example of displacement of the integrated current value during operation of the endoscope of the endoscope system of the first modification, and FIG. 11 is a control executed by the control device of the second modification. FIG. 12 is a graph showing an example of displacement of the integrated current value during the operation of the endoscope of the endoscope system of the second modified example.

First, the configuration of the entire endoscope system including the endoscope according to the first embodiment of the present invention will be described below.
As shown in FIG. 1, an endoscope system including an electric bending endoscope (hereinafter simply referred to as an endoscope) 1 according to the present embodiment includes an endoscope 1 and a control device 15 serving as a determination unit. And the display device 16 and the light source device 17.

  The endoscope 1 is configured by an elongated tube-like insertion portion 2, an operation portion 3 connected to the proximal end side of the insertion portion 2, a universal cord 4 extending from the side portion of the operation portion 3, and the like. Yes.

  The insertion portion 2 includes, in order from the distal end side, a distal end portion 2a, a bending portion 2b configured to be able to bend in the vertical and horizontal directions, and a flexible tube portion 2c that is long and flexible. It is configured by connecting. An imaging device (not shown) having an imaging device is built in the distal end portion 2a.

  The operation unit 3 includes a grip portion 3a provided continuously with the insertion portion 2 and an operation portion main body 3b provided continuously with the grip portion 3a. The longitudinal axis of the grip portion 3a and the insertion axis of the insertion portion 2 are in a coaxial or parallel positional relationship. An operation element 5 that is an operation member that performs an operation for bending the bending portion 2b by inputting a force for pulling a pulling member (bending wire 8), which will be described later, to the side portion on the distal end side of the operation portion main body 3b. Is provided. The longitudinal axis of the operation portion main body 3b (that is, the longitudinal axis of the operation portion 3) and the longitudinal axis of the grip portion 3a are in a coaxial or parallel positional relationship.

  The operation element 5 is formed in a so-called joystick shape including a shaft portion 5a and a spherical finger rest portion 5b provided at the tip of the shaft portion 5a. The operation element 5 is provided so as to protrude outward from an opening (not shown) provided on one side surface of the operation unit main body 3b in a direction perpendicular to the longitudinal axis of the operation unit 3. A cover member 7 is provided in an opening (not shown) from which the operation element 5 protrudes. The cover member 7 is in close contact with the shaft portion 5a of the operation element 5 while water-tightly closing the opening, and holds the operation element 5 in a tiltable manner.

  Then, the bending portion 2b is pulled or relaxed by pulling or relaxing the bending wire 8 to be described later according to the tilting operation including the tilting direction (arrows Yu, Yd, Yl, Yr in FIG. 1) and the tilting angle of the operation element 5. Can be bent in any direction in the vertical and horizontal directions.

  In the present embodiment, the bending portion 2b is configured to bend in four directions, up, down, left, and right. However, the bending portion 2b may be configured to bend only in the vertical direction. The symbols u, d, l, and r represent the vertical and horizontal directions that are the bending direction of the bending portion 2b. In the following description, for example, the symbol 8u represents the bending wire 8 for the upward direction (u), and the symbol 9d represents The rotating body (traction member installation part) for the downward direction (d) shall be represented. In the drawings, the lowercase letter “l” is written in cursive to distinguish it from the numeral “1”.

  On the exterior of the operation unit main body 3b, in addition to the operation element 5, for example, a switch 6a for instructing an imaging operation of an imaging device (not shown) provided in the tip 2a, an air / water supply button 6b, a suction button 6c Etc. are provided at predetermined positions. In addition, a channel insertion port 6d that communicates with a treatment instrument channel (not shown) that is inserted and disposed inside the grip portion 3a and the insertion portion 2 is provided on the exterior of the grip portion 3a.

  When the operator grips the grip portion 3a of the operation portion 3 with the left hand as in the conventional endoscope, the operator 5 is provided at a position where the operator operates with the thumb of the hand gripped by the operator. The water supply button 6b and the suction button 6c are provided at a position where the operator can operate with a finger other than the thumb held by the operator, and the switch 6a is provided at a position where the operator can operate with the thumb held by the operator or another finger. ing.

  In the universal cord 4, a signal cable 51 (see FIG. 5) connected to an imaging device (not shown), a power line for supplying power to the motor 12 (see FIGS. 2 and 3), and a light source device 17. A light guide cable 52 (see FIG. 5) for transmitting illumination light, an air supply tube, a water supply tube, a suction tube, and the like are inserted therethrough. A connector 4 a is provided at the tip of the universal cord 4. A control device 15, a display device 16, and a light source device 17 are electrically connected to the connector 4a via connection cables. Although not shown, the air supply tube, the water supply tube, the suction tube, and the like are connected to an air supply / water supply device, a suction device, and the like via the connector 4a.

  The control device 15 is a determination unit according to the present embodiment, and is also a control unit configured to include a control circuit that comprehensively controls the endoscope 1 and the entire endoscope system including the endoscope 1. As shown in FIG. 2, the control device 15 includes, for example, a motor control unit 15a, a detection unit 15b, a determination unit 15c, a storage unit 15d, and the like. The control device 15 is connected to an internal determination unit 15c and a notification unit 18 that exchanges signals.

The motor control unit 15a is a drive control unit that performs drive control of the motor 12 described later.
The detection unit 15b is a detection unit and a detection unit that acquires the transmission state of the driving force transmitted from the motor 12 (driving unit) to the rotating body 9 (traction member installation unit) as driving force transmission state information. Specifically, the detection unit 15b electrically detects a current value supplied to the motor 12 as driving force transmission state information.

  The storage unit 15d stores various parameters set in advance, a current value in a normal driving state, a current integrated value supplied to the motor 12 so far, a threshold value of a current integrated value at which normal operation can be performed, a driving time of the motor 12, The electric circuit unit includes a storage medium (for example, a semiconductor memory) in which a current value supplied to the motor 12 during operation is stored.

  The determination unit 15c is described later based on a current value (absolute value, displacement amount per unit time, etc.) detected by the detection unit 15b and a parameter stored in the storage unit 15d, for example, an integrated current value supplied to the motor 12. It is a circuit part which determines the state of the component of the pulling member operating device 10 (after-mentioned) to perform. That is, the determination unit 15c is a determination unit that determines the maintenance time (part replacement time) of the traction member operating device 10 using the integrated current value supplied to the motor 12 acquired by the detection unit 15b (detection unit). is there.

  The motor control unit 15a of the control device 15 stops the motor 12 (drive unit) when the determination unit 15c confirms that it is the maintenance time (part replacement time) of the traction member operating device 10. As a control unit that outputs to the motor 12 (drive unit).

  In the present embodiment, the motor control unit 15a, the detection unit 15b, and the determination unit 15c are configured to be included in the control device 15, but these components are configured inside the endoscope 1 (for example, the operation unit 3). It may be arranged in the inside).

  The notification unit 18 gives a warning by which an operator can easily recognize an abnormality (here, a part replacement time) by an alarm, a warning light display, or the like. In addition, this notification part 18 is good also as a structure which outputs a signal to the below-mentioned display apparatus 16, and displays a warning message.

  The display device 16 drives a display device such as a liquid crystal display device (LCD) monitor and the like, and receives an output signal from an imaging device (not shown) of the endoscope 1 and receives the output signal. It has a display processor 16a for generating a video signal for displaying video using a display device.

  The light guide cable 52 (see FIG. 5) is connected to the light source device 17 via the connector 4a. The light guide cable 52 (see FIG. 5) is inserted into the universal cord 4 as described above, and further inserted into the operation unit 3 and the insertion unit 2, and an illumination light exit window (not shown) at the tip of the insertion unit 2. Has reached. Therefore, with this configuration, the illumination light from the light source device 17 can be emitted forward from the illumination light emission window at the tip of the insertion portion 2 via the light guide cable to illuminate a desired subject. It has become.

Next, the configuration of the traction member operating device 10 that is a part related to the present invention in the internal configuration of the operating unit 3 will be described in detail below.
As shown in FIG. 3, a traction member operating device 10 that bends the bending portion 2 b by operating the operation element 5 and pulling the bending wire 8 that is a traction member is provided inside the operation portion 3. .

  The traction member operating device 10 includes four bending wires 8 that are traction members and four traction member installation portions around which the middle portions of these bending wires 8 are wound, and one of the driving force transmission portions. A rotating body 9, a pulley 11 as one of substantially cylindrical driving force transmitting portions that rotatably hold the rotating body 9, and a pulley 11 that is driven to rotate at a predetermined rotational torque. Under the condition, the four rotating bodies 9 are rotationally driven to pull the bending wire 8 (traction member) to generate a driving force for bending the bending portion 2b, and the four bending wires 8 are driven. A suspension frame 13 having a wire attachment portion to which each base end portion is coupled and having a substantially cross shape, an operation element 5 in which a shaft portion 5a is integrally coupled to the suspension frame 13, and four bending wires 8 Change the travel route in the operation unit 3 By wire travel path changing member a and the guide roller group 21 comprising a plurality of guide rollers is mainly composed.

  5, reference numeral 51 denotes a signal cable, reference numeral 52 denotes a light guide cable, reference numeral 53 denotes a coil pipe stopper, and reference numeral 59 denotes a partition plate. In this embodiment, it is comprised so that the gravity center of the operation part 3 may be located in the holding part 3a.

  As shown in FIGS. 5 and 6, the four bending wires 8 include a pair of bending wires for upward and downward bending operations (upper bending wire 8 u and lower bending wire 8 d) and a pair of lateral bending operations. Bending wires (left bending wire 8l, right bending wire 8r).

  In the present embodiment, as shown in FIG. 5, the longitudinal axis of the pulley 11 and the longitudinal axis of the motor 12 intersect each other. Specifically, the drive shaft 12a of the motor 12 is disposed in the grip portion 3a so as to be in a positional relationship parallel to the longitudinal axis of the grip portion 3a. The positional relationship between the motor 12 and the pulley 11 is set so that the virtual line 12b obtained by extending the drive shaft 12a of the motor 12 and the virtual line 11b obtained by extending the pulley shaft 11a, which is the rotation shaft of the pulley 11, are orthogonal to each other. Has been.

  In addition, the pulley 11 and the motor 12 are disposed in each of two spaces partitioned by a partition plate 59 that is an internal fixing member in the operation unit 3 with the partition plate 59 interposed therebetween.

  The driving force of the motor 12 is configured to be transmitted to the pulley 11 via the driving force transmission mechanism 30 that includes the first and second gear gears 31 and 32. The first bevel gear 31 is integrally fixed to the distal end portion of the drive shaft 12 a of the motor 12, and the second bevel gear 32 is integrally fixed to the distal end portion of the pulley shaft 11 a of the pulley 11. With this configuration, the driving force of the motor 12 is transmitted to the pulley shaft 11a via the first and second gear gears 31 and 32, whereby the pulley 11 is configured to rotate around the pulley shaft 11a. Has been.

  As shown in FIG. 4, the rotating body 9 includes an annular portion 9a and a rotation amount adjusting portion 9b, and is formed to be elastically deformable. A gap 9c is formed in the annular portion 9a. Circumferential groove-shaped wire guide portions 9s and 9t are formed in the annular portion 9a and the rotation amount adjusting portion 9b. The wire guide portions 9s and 9t are formed in a predetermined shape so as to smoothly guide the bending wire 8 from the winding start position indicated by S in FIG. 4 to the winding end position E. Four rotating bodies 9 are prepared corresponding to the four bending wires 8 (u, d, l, r) for bending the bending portion 2b in the vertical and horizontal directions, respectively. That is, the four rotating bodies 9u, 9d, 9l, and 9r are arranged side by side in a predetermined loose fit with respect to the outer peripheral surface of the pulley 11 as shown in FIG. It has become. As shown in FIG. 5, the four rotating bodies 9 (u, d, l, r) are denoted by reference numerals 9r, 9d, 9u from the driving force input side, that is, from the second bevel gear 32 side with respect to the pulley 11. , 9l in this order.

  The suspension frame 13 is disposed in an empty space on the distal end side of the operation unit main body 3b. As shown in FIG. 6, the suspension frame 13 includes four frames 13u, 13d, 13l, and 13r having the same length from the center O to the end portion, and is configured in a substantially cross shape. The upper frame 13u and the lower frame 13d corresponding to the pair of bending wires 8u and 8d are arranged in a straight line with the shaft portion 5a of the operation element 5 interposed therebetween, and an upper wire is disposed at the end of the upper frame 13u. An attachment portion 13u2 is provided, and a lower wire attachment portion 13d2 is provided at an end of the lower frame 13d.

  The upper frame end 13u is provided with an upper frame end bent portion 13ub that is bent in one direction with respect to the upper and lower frame center line 13a, and the lower frame 13d is provided with an upper and lower frame center line 13a. On the other hand, a lower frame end bending portion 13db that is bent in the other direction is provided. An upper wire attaching portion 13u2 is provided at the upper frame distal end bent portion 13ub, and a lower wire attaching portion 13d2 is provided at the lower frame distal end bent portion 13db. A distance w1 between the upper wire attaching portion 13u2 and the lower wire attaching portion 13d2 in the direction perpendicular to the longitudinal axis of the operation portion 3 is set to a predetermined dimension.

  On the other hand, the left frame 13l and the right frame 13r corresponding to the pair of bending wires 8l and 8r are arranged in a straight line perpendicular to the vertical frame center line 13a with the shaft portion 5a interposed therebetween, and the end of the left frame 13l. The left wire attachment portion 13l2 is provided at the portion, and the right wire attachment portion 13r2 is provided at the end of the right frame 13r.

  The upper frame 13u, the upper wire attaching portion 13u2, and the like are set in consideration of the tilting direction of the operation element 5 and the bending direction of the bending portion 2b. That is, in the present embodiment, when the operation element 5 is tilted in the direction of the arrow Yu in FIG. 1, the upper wire attaching portion 13u2 swings and is tilted in the direction of the arrow Yu in FIG. It is configured to be curved. On the other hand, when the operator 5 is similarly tilted in the direction of arrow Yd in FIG. 1, the lower wire attaching portion 13d2 swings and tilts in the direction of arrow Yd in FIG. 6, and the bending portion 2b is bent downward. Further, when the operation element 5 is tilted in the direction of the arrow Yl in FIG. 1, the left wire attachment portion 1312 is swung and tilted in the direction of the arrow Yl in FIG. 6, and the bending portion 2b is bent in the left direction. On the other hand, when the operation element 5 is tilted in the direction of the arrow Yr in FIG. 1, the right wire attachment portion 13r2 swings and is tilted in the direction of the arrow Yr in FIG. 6, and the bending portion 2b is bent in the right direction. In the present embodiment, the suspension frame 13 is disposed in the operation unit 3 so that the vertical frame center line 13a and the longitudinal axis of the gripping unit 3a are parallel to each other.

  As shown in FIGS. 3 and 5, the guide roller set 21 includes, for example, a cylindrical roller shaft 21p that is a support, and four guide rollers 21u, 21d, 21l that are rotatably disposed on the roller shaft 21p. 21r. The four guide rollers 21u, 21d, 21l, and 21r correspond to the four bending wires 8u, 8d, 8l, and 8r, and are provided apart from the pulley 11 and the suspension frame 13 by a predetermined distance. The four guide rollers 21u, 21d, 21l, and 21r serve as attachment path setting members that guide the four bending wires 8u, 8d, 8l, and 8r to the wire attachment portions 13u2, 13d2, 13l2, and 13r2 of the suspension frame 13. .

  The roller shaft 21p is disposed immediately below the shaft portion 5a in a positional relationship orthogonal to the longitudinal axis of the grip portion 3a. The center of the roller shaft 21p is located on the central axis of the upright shaft portion 5a.

  In FIG. 6, in order to explain the positional relationship between the bending wires 8 u, 8 d, 8 l, 8 r and the wire attachment portions 13 u 2, 13 d 2, 13 l 2, 13 r 2, the position of the suspension frame 13 is illustrated with respect to the roller shaft 21 p. The position is shifted in the middle right direction.

  The curved wires 8u, 8d, 8l, and 8r have their travel paths changed by the guide rollers 21u, 21d, 21l, and 21r, so that the upper wire attaching portion 13u2, the lower wire attaching portion 13d2, and the left wire attaching portion of the suspension frame 13 1312 and the right wire attachment portion 13r2.

  As shown in FIG. 6, the guide rollers 21u, 21d, 21l, and 21r are arranged in order of reference numerals 21r, 21d, 21u, and 21l from one end with respect to the roller shaft 21p as shown in FIG.

  The guide rollers 21r and 21l disposed at both ends of the roller shaft 21p and the guide rollers 21u and 21d disposed inside the guide rollers 21r and 21l across the center of the roller shaft 21p have different diameters or widths. It is composed. In the present embodiment, the diameter and width dimensions of the guide rollers 21l and 21r are set to predetermined dimensions so as to be larger than the diameter and width dimensions of the guide rollers 21u and 21d.

  Here, the traveling route of the bending wires 8u, 8d, 8l, and 8r in the operation unit 3 will be described with reference to FIGS. As shown in FIG. 6, the base ends of the four bending wires 8u, 8d, 8l, and 8r are fixed to a predetermined position on the suspension frame 13, that is, the wire attachment portions 13u2, 13d2, 13l2, and 13r2. Yes.

  On the other hand, the distal ends of the bending wires 8u, 8d, 8l, and 8r are formed of, for example, coil pipes that are made of metal and have through-holes through which the wires can be inserted and retracted. 5) and is fixed at a position corresponding to the top, bottom, left and right of a not-shown tip bending piece which forms the bending portion 2b. The distal bending piece is a bending piece that constitutes the forefront of the bending portion set that is configured to bend in the vertical and horizontal directions by connecting a plurality of bending pieces (not shown) constituting the bending portion 2b.

  The bending wires 8 u, 8 d, 8 l, 8 r with the distal ends fixed to the distal bending pieces are extended into the operation unit 3 through the guides 24. The bending wires 8u, 8d, 8l, and 8r are wound around rotating bodies 9u, 9d, 9l, and 9r arranged in a relaxed state with respect to the pulley 11. That is, the bending wires 8u, 8d, 8l, and 8r are wound around the rotating bodies 9u, 9d, 9l, and 9r so as to be in a predetermined relaxed state from the respective winding start positions S (see FIG. 4). Derived from the removal end position E (see FIG. 4) toward the guide rollers 21u, 21d, 21l, and 21r.

  The bending wires 8u, 8d, 8l, and 8r led out from the rotating bodies 9u, 9d, 9l, and 9r are guided to the guide rollers 21u, 21d, 21l, and 21r to change the wire travel path. The base ends of the bending wires 8u, 8d, 8l, and 8r are fixed to the corresponding wire attaching portions 13u2, 13d2, 13l2, and 13r2 of the suspension frame 13, respectively.

  It should be noted that the shaft portion 5a of the operating element 5 and the frame convex portion 13f (see FIG. 3) which is the central axis of the suspension frame 13 are universal joints 14 (FIG. 3) which are rotatably disposed on a frame (not shown). (See Fig.) And is fixed on the same axis. When the shaft portion 5a of the operation element 5 is in the upright state, the bending wires 8u, 8d, 8l, and 8r extending from the guide rollers 21u, 21d, 21l, and 21r toward the suspension frame 13 are all in a predetermined relaxed state. It has become. A spherical finger rest 5b is integrally fixed to the tip of the shaft portion 5a of the operation element 5.

  The configuration of the endoscope 1 of the present embodiment is as described above. The operation unit 3 includes various components (elements) for performing basic functions as an endoscope, in addition to the pulling member operation device 10 and the motor 12 serving as a drive unit. Is provided. However, these various components are portions not directly related to the present invention. Therefore, the endoscope 1 of the present embodiment has various components similar to those of the conventional endoscope, and detailed description and illustration thereof are omitted.

The operation of the endoscope 1 of the present embodiment configured as described above will be described below.
For example, an operation when the bending portion 2b is bent upward will be described. First, the endoscope system is energized and activated. Thereby, the motor control unit 15a of the control device 15 drives the motor 12. The driving force of the motor 12 is transmitted to the pulley 11 via the first and second gear gears 31 and 32 of the driving force transmission mechanism 30. As a result, the pulley 11 is constantly rotating.

  In this state, the operator tilts the shaft portion 5a in the direction of the arrow Yu in FIG. 1 by bringing the thumb's belly into contact with the finger contact portion 5b of the operator 5 while holding the grip portion 3a with the left hand. Then, in accordance with the tilting operation of the operating element 5, the suspension frame 13 is tilted, and the upper bending wire 8u fixed to the upper wire attaching portion 13u2 changes from a slack state to a gradually pulled state. . On the other hand, the other bending wires 8d, 8l, and 8r change to a more relaxed state.

  Of the bending wires 8u, 8d, 8l and 8r wound around the rotating bodies 9u, 9d, 9l and 9r of the pulley 11 in a relaxed state, only the upper bending wire 8u is pulled and the upper rotating body 9u is pulled. The gap 9c is narrowed against the elastic force and reduced in diameter, and the upper rotating body 9u and the pulley 11 are brought into close contact with each other. Then, a frictional resistance is generated between the upper rotating body 9u and the pulley 11, and the upper rotating body 9u is rotated while sliding with respect to the pulley 11 in the same direction as the pulley 11, and from the upper rotating body 9u. The upward bending wire 8u disposed on the insertion portion 2 side is pulled and moved so that the bending portion 2b is bent upward.

  Here, the operator continues to tilt the shaft portion 5a in the same direction so that the upper rotating body 9u is kept in close contact with the pulley 11. As a result, the frictional force with the pulley 11 is further increased in the close-up upper rotating body 9u, and the upper bending wire 8u disposed on the insertion portion 2 side is further pulled and moved from the upper rotating body 9u. Thus, the bending portion 2b is further bent upward.

  On the other hand, when the operator continues to hold the tilting position of the operator 5, the adhesion between the upper rotating body 9u and the pulley 11 is maintained. Then, the pulling movement of the upper bending wire 8u is stopped in a state where a tensile force is generated in the upper bending wire 8u disposed on the distal end side from the upper rotating body 9u. At this time, the other bending wires 8d, 8l and 8r are in a relaxed state. Accordingly, by continuing to hold the operating element 5 in this tilting operation state, the state where the upper bending wire 8u is pulled and the relaxation state of the bending wires 8d, 8l and 8r are maintained, and the bending portion 2b is moved upward. The curved state is maintained.

  When the operator releases the tilting operation of the operating element 5, the operating element 5 returns to the neutral position where the shaft portion 5a is in the upright state by its own restoring force. As a result, the upper bending wire 8u that has been pulled is in a relaxed state similar to the other bending wires 8d, 8l, and 8r, and the bending state of the bending portion 2b is also released.

  The above operation will be briefly described. In the endoscope 1 of the present embodiment, as described above, the operator performs the tilting operation of the operator 5 to bend the bending portion 2b in a desired direction. It is configured to be able to. In this case, the tilting operation of the operation element 5 pulls one of the bending wires 8 and the pulled bending wire 8 acts to tighten the rotating body 9. The rotating body 9 is disposed on the outer peripheral surface of the pulley 11 in a relaxed state. Therefore, when the bending wire 8 acts on the rotating body 9 in the tightening direction, the loosened state of the rotating body 9 with respect to the pulley 11 changes to the tightening state according to the pulling amount of the bending wire 8, that is, the tilt angle of the operation element 5. Displace. The pulley 11 is always in a rotating state as described above. Therefore, when the rotator 9 shifts to a state in which the pulley 11 is tightened, the rotator 9 rotates by a predetermined rotation amount by the frictional force generated between the rotator 9 and the pulley 11. Thereby, the bending part 2b curves.

  In other words, the rotating body 9 that is the pulling member installation portion is provided between the motor 12 that is the driving portion and the bending wire 8 that is the pulling member. Then, the driving force is applied to the bending wire 8 from the state where the driving force is not transmitted to the bending wire 8 (relaxed state of the rotating body 9 and the pulley 11) in conjunction with the pulling operation of the bending wire 8 (traction member). It is a component that enables switching to a state of transmission.

  As described above, when the endoscope system is activated, the pulley 11 is always in a rotating state, and when the operation element 5 is in the neutral position, the four rotating bodies 9 on the outer circumferential surface of the pulley 11 are pulleys. 11 in a relaxed state. When the operator 5 is tilted in a predetermined direction by the operator, the corresponding rotating body 9 is tightened by the bending wire 8 to reduce the diameter, and contacts the pulley 11 as described above.

  In this state, if the pulley 11 and the rotating body 9 of the traction member operating device 10 are in contact with each other, for example, wear, the driving force is transmitted from the pulley 11 to the bending wire 8 via the rotating body 9. Changes, and the angle amount of the tilting operation of the operation element 5 for the operator to bend the bending portion as desired, that is, the operation feeling also changes. That is, in the endoscope 1, the operation sensation assumed by the user in order to bend the bending portion as desired is not uniform, and changes depending on the use state (total use time).

  Therefore, in the endoscope 1 of the present embodiment, as described above, the detection unit 15b is provided in the control device 15, and the current integration from the current value supplied to the motor 12 detected by the detection unit 15b. The value is calculated to predict the worn state of the rotating body 9 and the pulley 11 as consumable parts in the traction member operating device 10. That is, the endoscope 1 determines the wear state of each contact portion of the pulley 11 and the rotating body 9 by the determination unit 15c based on the integrated current value in driving of the motor 12 calculated by the detection unit 15b. Then, the notification unit 18 notifies the operator of an appropriate replacement time for the pulley 11 and the rotating body 9.

  In that case, the determination unit 15c compares the current integrated value threshold stored in the storage unit 15d in advance with the current integrated value supplied to the motor 12 calculated by the detection unit 15b, It is determined whether or not the pulley 11 and the rotating body 9 have reached a predetermined wear state, that is, the part replacement time due to wear deterioration of the pulley 11 and the rotating body 9 here.

  When the motor control unit 15a of the control device 15 determines that it is the part replacement time based on the determination result of the determination unit 15c, the motor 12 stops driving and drives the notification unit 18 to notify the operator. Take control. The above threshold value of the current integrated value is a value that is appropriately set according to the material and shape of the pulley 11 and the rotating body 9 as consumable parts in the traction member operating device 10.

  The operation of such component replacement time detection control (current integrated value control of the motor 12) is as shown in the control example of the flowchart of FIG. 7 and the graph of FIG.

  First, when the power is turned on, the control device 15 calls the current integrated value IΣ previously supplied to the motor 12 stored in the storage unit 15d in step S1 of FIG. Then, in step S2, the controller 15 determines whether or not the current integrated value IΣ is equal to or less than the maximum current integrated value Iσmax as a threshold preset in the storage unit 15d.

  At this time, when it is confirmed that the called current integrated value IΣ is equal to or less than the set maximum current integrated value Iσmax, the process proceeds to step S3, and the motor control unit 15a drives the motor 12. On the other hand, if the current integrated value IΣ is not less than or equal to the maximum current integrated value Iσmax, that is, if the current integrated value IΣ exceeds the maximum current integrated value Iσmax, the control device 15 proceeds to step S6 and does not drive the motor 12, The notification unit 18 warns the operator that the pulley 11 and the rotating body 9 as consumable parts are worn by an alarm, a warning light, or the like.

  Further, the control device 15 proceeds to the process of step S3, and the current integrated value IΣ that changes (increases) by calculation while the motor 12 is rotating is less than or equal to the maximum current integrated value Iσmax set in the storage unit 15d. It is determined by the determination unit 15c whether or not there is (step S4). This step S4 is loop-processed while the motor 12 is being driven.

  In the loop process of step S4, when the current integrated value IΣ exceeds the maximum current integrated value Iσmax, the supply of current from the motor control unit 15a is stopped and the motor 12 is stopped (step S5). That is, as shown in FIG. 8, when the current integrated value IΣ that changes (increases) by calculation reaches the set maximum current integrated value Iσmax (point P in the figure), the control device 15 is in a power-on state. However, control is performed so that the motor 12 is not driven. Then, the control device 15 proceeds to step S6 and drives the notification unit 18 to notify that the pulley 11 and the rotating body 9 as consumable parts are worn and need to be replaced, such as an alarm and a warning light. To present a warning to the operator.

  As described above, according to the present embodiment, the detection unit 15b is provided in the control device 15, and the current integrated value IΣ supplied to the motor 12 by the detection unit 15b is compared with the set maximum current integrated value Iσmax. Then, when the maximum current integrated value Iσmax is reached, the driving of the motor 12 is stopped. Then, based on the current value detected by the detection unit 15b and predetermined information stored in advance in the storage unit 15d (current accumulated value so far, set threshold value, etc.), the determination unit 15c is a pulley as a consumable part. 11 and the wear state of the rotating body 9 are predicted, and when the replacement time at which wear deterioration is expected is reached, the motor 12 is stopped and the notification unit 18 is driven to perform a control to warn the operator. Yes.

  Therefore, with such a configuration, in the endoscope 1 according to the present embodiment, the bending portion 2b is electrically driven so that the bending of the bending portion can be made uniform as expected by the operator who operates the operation element 5. When the usage state (use time) in which the bending component is expected to be worn out is reached, a warning is given to the operator to replace the consumable part. Thereby, the endoscope 1 is a component that electrically bends the bending portion 2b so that the bending reaction of the bending portion can be kept constant in accordance with the sense of operation of the operator 5 by the operator. It is possible to predict and detect the wear state of the pulley 11 and the rotating body 9 as parts and notify the operator of the replacement (maintenance) time.

  The above-described configuration for controlling the current integrated value by comparing it with a predetermined threshold value is an example. The total time during which the endoscope 1 is used, the integrated current load of the motor 12, the total rotation speed or the total rotation speed, the pulley 11, the total number of rotations, the total amount of movement or normal force, the total distance or tension of the bending wire 8, the total amount or speed of movement of the operating element 5, the total number of sterilizations of the endoscope 1, the endoscope 1 The number of connections with the external device may be detected and compared with a predetermined threshold value, and control for predicting and determining the wear state of the pulley 11 and the rotating body 9 as consumable parts may be performed.

  Furthermore, here, the endoscope 1 that electrically bends the bending portion 2b has been described. However, the present invention is not limited to this. For example, an endoscope having a configuration in which the wire is electrically pulled and relaxed can be used. This technique can be applied to medical devices such as a forceps raising base, a treatment tool, surgical forceps, a suture instrument, and an anastomosis instrument.

(First modification)
Here, the operation of the above-described component replacement timing detection control (current integrated value control of the motor 12) may be as shown in the control example of the flowchart of FIG. 9 and the graph of FIG.

  Specifically, first, when the power is turned on, the control device 15 calls the current integrated value IΣ previously supplied from the storage unit 15d to the motor 12 in step S11 of FIG. In step S12, the control device 15 determines whether or not the current integrated value IΣ is equal to or less than the maximum current integrated value Iσmax preset in the storage unit 15d by the determining unit 15c.

  Also at this time, if the called current integrated value IΣ is equal to or less than the set maximum current integrated value Iσmax, the process proceeds to step S13, and the motor control unit 15a drives the motor 12. On the other hand, if the current integrated value IΣ is not less than or equal to the maximum current integrated value Iσmax, that is, if the current integrated value IΣ exceeds the maximum current integrated value Iσmax, the control device 15 proceeds to step S18 and does not drive the motor 12, The notification unit 18 warns the operator that the wear of the pulley 11 and the rotating body 9 as consumable parts has reached the limit by an alarm, a warning light, or the like.

  Further, while the process proceeds to step S13 and the motor 12 is rotating, the control device 15 determines that the current integrated value IΣ that changes (increases) by calculation is a predetermined value in the storage unit 15d than the maximum current integrated value Iσmax. It is determined by the determination unit 15c whether or not it is equal to or less than a preset recommended replacement value Iσe as a current integrated value that is only small (step S14). This step S14 is looped while the motor 12 is being driven.

  In the loop process of step S14, when the current integrated value IΣ exceeds the recommended replacement value Iσe, the notification unit 18 gives a warning to the operator with an alarm, a warning light, or the like (step S15). That is, as shown in FIG. 10, when the integrated current value IΣ that changes (increases) by calculation reaches the set recommended replacement value Iσe (point P1 in the figure), the control device 15 is consumed by the notification unit 18. A part replacement recommendation due to wear deterioration of the pulley 11 and the rotating body 9 as a part is presented to the operator with an alarm, a warning light, or the like.

  Further, the control device 15 determines whether or not the current integrated value IΣ that changes (increases) by calculation while the motor 12 is rotating is equal to or less than the maximum current integrated value Iσmax set in the storage unit 15d. It is determined by 15c (step S16). This step S16 is loop-processed while the motor 12 is being driven.

  In the loop process of step S16, when the current integrated value IΣ reaches the maximum current integrated value Iσmax, the supply of current from the motor control unit 15a is stopped and the motor 12 is stopped (step S17). That is, as shown in FIG. 10, when the current integrated value IΣ reaches the set maximum current integrated value Iσmax (point P2 in the figure) and the current integrated value IΣ exceeds the maximum current integrated value Iσmax, the control device 15 Even when the power is on, the motor 12 is controlled not to be driven. Then, the control device 15 proceeds to step S18 and drives the notification unit 18 to notify that the pulley 11 and the rotating body 9 as wear parts are worn and need to be replaced. To present a warning to the operator.

  As described above, in the endoscope 1 here, as shown in FIG. 10, the calculated current integrated value IΣ of the motor 12 is a current integrated value that is smaller than the maximum current integrated value Iσmax by a predetermined value. An exchange grace period is provided between a preset time t1 until the recommended replacement value Iσe (point P1 in the figure) and a time t2 when the maximum current integrated value Iσmax is reached, so that the motor 12 is not forcibly stopped. ing. Thereby, in addition to the above-described effects, the endoscope 1 prevents the bending operation of the bending portion 2b from being disabled while the user is using the endoscope 1 (in the case). In the replacement grace period (t1 to t2), a predetermined recommended replacement value Iσe is set as a time during which one case using the endoscope 1 can be sufficiently performed.

(Second modification)
In addition to the control examples described above, the operations shown in the control example of the flowchart of FIG. 11 and the graph of FIG. 12 may be executed.

  Here, for example, if a foreign matter such as dust enters the gap between the pulley 11 and the rotating body 9, the friction between the pulley 11 and the rotating body 9 becomes a frictional sliding state. The bending portion is bent with an operation force amount lighter than the operation force amount, and the bending portion may be bent even if the operator does not intend to touch the operation element 5 lightly. This state is referred to as a biting state.

  Therefore, as described above, the endoscope 1 according to the modified example monitors (monitors) the current value supplied to the motor 12 as the driving force transmission state information. And the determination part 15c determines the biting state of the pulley 11 and the bending wire 8 or the rotary body 9 based on the electric current value detected by the detection part 15b.

  In that case, the determination unit 15c is bitten by comparing the amplitude of the current value during normal operation stored in advance in the storage unit 15d with the amplitude of the current value detected by the detection unit 15b. Whether or not an abnormality has occurred is determined.

  When the abnormality is detected based on the determination result of the determination unit 15c, the motor control unit 15a of the control device 15 stops driving the motor 12 and drives the notification unit 18 to notify the abnormality and warning. Control is performed to present a warning to the operator using a lamp or the like.

  Specifically, first, when the power is turned on, the control device 15 performs control to drive the motor 12 by the motor control unit 15a in step S21 of FIG. Then, while the motor 12 is rotating, in step S22, the determination unit 15c of the control device 15 detects the fluctuation width of the current value supplied to the motor 12 detected by the detection unit 15b (breakage in FIG. 12). It is determined whether or not the curve (curve) is within the range of the current value fluctuation widths Ia and Ib (broken lines in FIG. 12) as threshold values preset in the storage unit 15d. This step S22 is loop-processed while the motor 12 is being driven.

  In the loop process of step S22, the control device 15 determines that the fluctuation width of the current value supplied to the motor 12 detected by the detection unit 15b is out of the range of the fluctuation widths Ia and Ib of the current value as threshold values, for example. Then (for example, point Pa1 in FIG. 12), the drive of the motor 12 in step S23 is stopped, and the notification unit 18 in step S24 is driven to perform a control for presenting a warning to the operator by an alarm, a warning light, etc. notifying abnormality. Do.

  As described above, in this modification, the detection unit 15b is provided in the control device 15, and the fluctuation range of the current value supplied to the motor 12 by the detection unit 15b is monitored (monitored) as driving force transmission state information. Yes. Based on the fluctuation width of the current value detected by the detection unit 15b and the fluctuation widths (P1, P2) of the predetermined current value stored in the storage unit 15d in advance, the pulley 11 and the rotating body 9 are engaged. Is determined by the determination unit 15c, and when the abnormality is determined, the motor 12 is stopped and the notification unit 18 performs a control to warn the operator.

  Therefore, in addition to the control for presenting the parts replacement recommendation due to the wear of the pulley 11 and the rotating body 9 to the operator with an alarm, a warning light, etc., in the endoscope 1 of this modification, the pulley 11 and the rotating body 9 For example, foreign matter such as dust enters the gap between the pulley 11 and the rotating body 9 so that the friction between the pulley 11 and the rotating body 9 becomes a frictional sliding state. Therefore, it is possible to avoid the bending portion from being bent only by lightly touching the operation element 5 unintentionally by the operator.

(Second Embodiment)
13-19 is a figure explaining the 2nd Embodiment of this invention. 13 is a diagram showing a schematic configuration of a pulling member operating device in an endoscope, FIG. 14 is a sectional view showing the configuration of a pulley and a rotating body, FIG. 15 is a sectional view of a worn pulley and a rotating body, and FIG. FIG. 17 is a sectional view of a pulley and a rotating body in a worn state according to the first modification, and FIG. 18 is a sectional view of a pulley and a rotating body according to a second modification. FIG. 19 is a cross-sectional view showing a configuration of a pulley and a rotating body of a third modified example.

  The basic configuration of the second embodiment of the present invention is substantially the same as that of the first embodiment described above. The endoscope 1 of the first embodiment described above is configured to notify the parts replacement (recommended) time due to wear of the pulley 11 and the rotating body 9 in an electrically controlled manner. In contrast, the endoscope 1 according to the second embodiment of the present invention is configured to mechanically notify the operator of the parts replacement (recommended) timing due to wear of the pulley 11 and the rotating body 9.

  Specifically, here, as shown in FIG. 13, the pulley 11 of the traction member operating device 10 has a double laminated structure in which members having different friction coefficients are overlapped in the radial direction as shown in FIG. ing. The pulley 11 has a predetermined thickness so as to cover a substantially cylindrical core member 61 on the inner diameter side and an outer periphery of the core member 61 as determination means for determining the replacement time based on the wear deterioration state here. And a substantially tubular surface material 62 integrally formed with the core material 61.

  The core material 61 and the surface material 62 are each formed from a material (material) having a different friction coefficient. Here, the core material 61 is formed from a material having a lower friction coefficient than the surface material 62. Further, the core member 61 has a convex portion 61 a having a triangular cross section protruding in the outer diameter direction from each outer peripheral surface at a position facing the inner peripheral surface of the four rotating bodies 9 via the surface material 62. .

  The pulley 11 and the rotator 9 of the pulling member operating device 10 configured as described above have a reduced diameter when the operation assist during bending of the bending portion 2b is used for a long period (multiple cases). By contacting, the rotating body 9 and the surface material 62 of the pulley 11 that contacts the inner peripheral surface of the rotating body 9 are rubbed and worn. That is, the surface material 62 of the pulley 11 is worn by rubbing in the inner diameter direction by contact with the rotating body 9 (see FIG. 15). Here, the state in which the convex portion 61 a of the core member 61 is exposed by the wear of the surface material 62 is the recommended replacement time for the pulley 11 and the rotating body 9.

  With the surface material 62 of the pulley 11 thus worn and the convex portion 61a of the core material 61 exposed, for example, the rotating body 9 is squeezed by the bending wire 8 pulled when the bending portion 2b is bent. When the diameter is reduced, the frictional resistance is reduced due to the difference in friction coefficient between the core material 61 and the surface material 62, and the operation assist force is reduced. That is, as the wear of the pulley 11 proceeds, the exposure amount of the convex portion 61a of the core material 61, which is a material having a lower friction coefficient than the surface material 62, increases, and the contact area between the convex portion 61a and the rotating body 9 increases. The frictional resistance gradually decreases and the operation assist force also decreases.

  Thereby, the operator can recognize the part replacement (recommended) time due to wear of the pulley 11 and the rotating body 9 because the operation feeling of the operation element 5 is different from the feeling assumed when the bending portion 2b is bent. Furthermore, since the contact between the core material 61 and the surface material 62 having different friction coefficients and the rotating body 9 may cause resonance, sound, or the like between different members, the operator is more than the difference in operation feeling. In some cases, it is possible to easily recognize the part replacement (recommended) time due to wear of the pulley 11 and the rotating body 9.

  Therefore, with such a configuration, also in the endoscope 1 according to the present embodiment, similarly to the first embodiment, the bending of the bending portion that is assumed according to the sense of the operator who operates the operation element 5 can be changed. A configuration in which the operator can easily recognize from a feeling of operation of the operator 5 that the component that electrically bends the bending portion 2b has reached a use state that is expected to be worn and deteriorated so that the bending can be performed uniformly. It has become. Thereby, the endoscope 1 is a component that electrically bends the bending portion 2b so that the bending reaction of the bending portion can be kept constant in accordance with the sense of operation of the operator 5 by the operator. It can be set as the structure which can recognize the replacement (maintenance) time to the operator about the abrasion state of the pulley 11 and the rotary body 9 as components.

  Furthermore, here, the endoscope 1 that electrically bends the bending portion 2b has been described. However, the present invention is not limited thereto, and has a configuration that functions by electrically pulling and relaxing the wire. This technique can be applied to medical devices such as a forceps raising base, a treatment tool, surgical forceps, a suture instrument, and an anastomosis instrument.

(First modification)
As shown in FIGS. 16 and 17, a hole 61b having a triangular cross section is formed in the pulley 11 at the boundary between the core material 61 and the surface material 62 so that the frictional resistance between the pulley 11 and the rotating body 9 is reduced. It may be formed. Furthermore, the pulley 11 may be made of a single material having a predetermined coefficient of friction without being divided into the core material 61 and the surface material 62 as long as the hole 61b can be formed. That is, when the wear reaches the hole 61b, the frictional resistance between the pulley 11 and the rotating body 9 is lowered, and the operation feeling of the operation element 5 may be different from the assumed feeling or resonance, sound, etc. may occur. Thus, the operator can easily recognize the part replacement (recommended) time due to wear deterioration of the pulley 11 and the rotating body 9.

(Second modification)
Further, as shown in FIG. 18 or FIG. 19, a radial double laminated structure in which the rotating body 9 side is formed by members having different friction coefficients may be used.

  In FIG. 18, the rotating body 9 has a C-ring-shaped inner surface material 64 and a C-ring made of a material having a lower friction coefficient than the inner surface material 64 as determination means for determining the replacement time based on the wear deterioration state. The outer surface material 65 has a convex portion 65 a having a triangular cross section toward the inner surface material 64.

  In FIG. 19, the rotating body 9 has a configuration in which a hole 65 b having a triangular cross section is formed at the boundary between the inner surface material 64 and the outer surface material 65. Also here, the rotating body 9 may be made of a single material having a predetermined friction coefficient without being divided into the inner surface material 64 and the outer surface material 65 as long as the hole 65b can be formed.

  Also in these configurations, the pulley 11 and the rotating body are caused by the wear of the inner surface material 64 so that the convex portion 65a of the outer surface material 65 contacts the pulley 11 or the contact area is reduced by the hole 65b. The frictional resistance with the actuator 9 is reduced, and the operator may feel that the operation feeling of the operation element 5 is different from the assumed feeling or resonance or sound may be generated. Recognize when parts are replaced (recommended) due to wear.

  Further, although not shown here, if the pulley 11 or the rotator 9 has a double laminated structure made of materials having different friction coefficients as described above, the protrusions 61a and 65a or the holes 61b and 65b are formed. The frictional resistance between the pulley 11 and the rotating body 9 decreases due to wear of the surface material 62 or the inner surface material 64. As a result, the operator feels that the operation sensation of the operator 5 is different from the sensation assumed, or that resonance, sound, etc. may occur, and parts replacement due to wear of the pulley 11 and the rotating body 9 (recommended) ) Can recognize the time.

  The pulley 11 or the rotating body 9 may be made of a material whose friction coefficient is reduced by repeated use.

(Third embodiment)
FIG. 20 is a diagram showing a schematic configuration of a traction member operating device in an endoscope according to a third embodiment of the present invention, and FIG. 21 is a sectional view of a pulley and a pressing plate. The pulling member operating device in the endoscope of the present embodiment shows an example in which a pressing plate is used instead of the rotating body in the first embodiment described above. Since the basic configuration of the endoscope of the present embodiment is substantially the same as that of the first and second embodiments described above, only the different configurations will be described in detail in the following description, and the same configurations are the same. It will be briefly described using reference numerals.

  The pulley 11 disposed in the operation unit 3 here is configured as a drive unit that is rotated by a drive motor (not shown) in the arrow Yc direction (clockwise direction) in FIG. The motor drive shaft of this drive motor is provided with a motor side bevel gear (not shown) as in the first embodiment, and the pulley side bevel gear (not shown) meshing with the motor side bevel gear is provided on the pulley shaft 11a. ) Is provided. Then, the rotation of the motor drive shaft is transmitted from the motor side bevel gear to the pulley side bevel gear, and the pulley 11 is rotated clockwise.

  As for each bending wire 8 (8u, 8d, 8l, 8r), the edge part in the operation part 3 is being fixed to the one end side of the coil spring 115, respectively. The coil spring 115 is a slack eliminating mechanism and has a predetermined spring constant. One coil spring 115 is provided corresponding to each bending wire 8u, 8d, 8l, 8r. The other ends of the coil springs 115 corresponding to the bending wires 8u, 8d, 8l, and 8r are fixed in a row on a partition provided in the operation unit 3.

  Each of the bending wires 8 (8u, 8d, 8l, 8r) here is introduced into the operation unit 3, and then the travel path is changed by, for example, a plurality of guide rollers (not shown), and the pulley 5 has the operator 5 side. Is passed in a positional relationship orthogonal to the pulley shaft 11a. Each bending wire 8 (8u, 8d, 8l, 8r) has the bending portion 2b stretched with a predetermined tension in a linear state, and is close to or in contact with the outer peripheral surface of the pulley 11.

  In addition, when the bending part 2b is a straight state, each coil spring 115 is an expansion | extension state in the elastic range. When the bending portion 2b is bent in a predetermined direction, the corresponding coil spring 115 contracts within the elastic range with respect to the original extended state. And if the bending part 2b is returned to a substantially linear state, the coil spring 115 will further expand | extend within an elastic range with respect to the original expansion | extension state.

  The pulling member operating device 10 includes a suspension frame 13, a pressing plate 108, an operation input transmission wire 109, the pulley 11 described above, and a motor 12 that is a driving unit. The hanging frame 13 includes four frames respectively corresponding to the upper, lower, left, and right bending directions of the bending portion 2b, and is configured in a substantially cross shape. A frame shaft that is a central shaft portion is erected on the suspension frame 13. The shaft portion 5a of the operation element 5 and the frame shaft of the suspension frame 13 are coaxially attached and fixed via a universal joint (not shown).

  The pressing plate 108 is a member that presses each bending wire 8 (8 u, 8 d, 8 l, 8 r) against the outer peripheral surface of the pulley 11. The pressing plate 108 is provided one by one corresponding to the four bending wires 8 (8u, 8d, 8l, 8r). The four pressing plates 108 (108u, 108d, 108l, 108r) are rotatably arranged on a fixed shaft portion that is fixed to a frame (not shown) provided in the operation portion 3 and arranged in parallel to the pulley shaft 11a. Established.

  Each pressing plate 108 (108u, 108d, 108l, 108r) is, for example, a metal plate member. These pressing plates 108 (108u, 108d, 108l, 108r) are pivotally supported in the operation section 3 by a pivot shaft 108a. In addition, a tip that is one end of the operation input transmission wire 109 is fixed to the pressing plate 108 (108u, 108d, 108l, 108r). The lower surface of the pressing plate 108 (108u, 108d, 108l, 108r) sandwiches the bending wire 8 (8u, 8d, 8l, 8r) passing through the vicinity of the outer peripheral surface of the pulley 11 with the outer peripheral surface of the pulley 11. It arrange | positions so that it may oppose.

  With such a configuration, for example, when the operator performs an operation of bending the bending portion 2b upward, that is, when the operator 5 is tilted in a predetermined direction, the suspension frame 13 is swung and the operation input transmission wire 109 is The operation input transmission wire 109 corresponding to the swing direction is pulled. Then, the pressing plate 108 to which the tip of the operation input transmission wire 109 to be pulled is fixed rotates around the rotation shaft 108a (fixed shaft portion), and the pressure facing the pulley 11 is accompanied with this rotation. The lower surface of the plate 108 contacts the bending wire 8. Thereafter, the pressing plate 108 presses the bending wire 8 against the outer peripheral surface of the pulley 11 as the tilting angle of the tilting operation of the operator 5 is increased.

  When the bending wire 8 is pressed against the outer peripheral surface of the pulley 11 by the pressing plate 108, a frictional resistance is generated between the outer peripheral surface and the bending wire 8. Along with the generation of the frictional resistance, the rotational driving force of the pulley 11 is transmitted to the bending wire 8 through the outer peripheral surface. As a result, the bending wire 8 moves in the rotation direction of the pulley 11 corresponding to the magnitude of the frictional resistance. That is, traction by the bending wire 8 is started by the rotational driving force transmitted from the outer peripheral surface of the pulley 11 to the bending wire 8, and the bending portion 2b performs a bending operation in any of up, down, left, and right directions.

  In the endoscope 1 configured as described above, here, the parts replacement (recommended) timing due to wear of the pulley 11 and the pressing plate 108 (108u, 108d, 108l, 108r) of the traction member operating device 10 is mechanically operated. It is configured to notify the person.

  Specifically, as illustrated in FIGS. 20 and 21, the pulley 11 of the traction member operating device 10 has a diameter formed by a member having a different friction coefficient as a determination unit that determines the replacement time based on the wear deterioration state. It has a double laminated structure. As in the second embodiment, the pulley 11 is fixed to a substantially cylindrical core member 61 on the inner diameter side and a predetermined thickness so as to cover the outer periphery of the core member 61. 61 and a substantially tubular surface material 62 integrally formed with 61.

  The core material 61 and the surface material 62 are each formed from a material (material) having a different friction coefficient. Here, the core material 61 is formed from a material having a lower friction coefficient than the surface material 62.

  The pulley 11 of the pulling member operating device 10 configured as described above is configured such that when the operation assist during bending of the bending portion 2b is used for a long period (a plurality of cases), the pressing plate 108 rotates and contacts. The surface material 62 of the pulley 11 contacting the pressing plate 108 is rubbed and worn. That is, the surface material 62 of the pulley 11 is worn by rubbing in the inner diameter direction due to contact with the pressing plate 108. Here, the state in which the core material 61 is exposed due to wear of the surface material 62 is the recommended replacement time for the pulley 11 and the pressing plate 108.

  Thus, when the surface material 62 of the pulley 11 is worn and the core material 61 is exposed, for example, when the curved portion 2b is bent and the pressing plate 108 is brought into contact, the core material 61 and the surface material are contacted. Due to the difference in the friction coefficient of 62, the frictional resistance decreases and the operation assist force decreases. That is, when the wear of the pulley 11 proceeds, the core material 61, which is a material having a lower friction coefficient than the surface material 62, is exposed, the frictional resistance is lowered, and the operation assisting force is also lowered.

  Accordingly, the operator can recognize the part replacement (recommended) time due to wear of the pulley 11 and the pressing plate 108 because the operation feeling of the operation element 5 is different from the assumed feeling at the time of the bending operation of the bending portion 2b.

  Therefore, with such a configuration, in the endoscope 1 of the present embodiment, similarly to the first and second embodiments, the bending portion assumed as the operator's sense of operating the operator 5 is assumed. The operator can easily recognize from the operational feeling of the operator 5 that the component that electrically bends the bending portion 2b has reached a use state that is expected to be worn down so that the bending can be made uniform. It has a configuration that can. Thereby, the endoscope 1 is a component that electrically bends the bending portion 2b so that the bending reaction of the bending portion can be kept constant in accordance with the sense of operation of the operator 5 by the operator. The wear state of the pulley 11 and the pressing plate 108 as parts can be configured so that the operator can recognize the replacement (maintenance) time.

  Furthermore, here, the endoscope 1 that electrically bends the bending portion 2b has been described. However, the present invention is not limited thereto, and has a configuration that functions by electrically pulling and relaxing the wire. This technique can be applied to medical devices such as a forceps raising base, a treatment tool, surgical forceps, a suture instrument, and an anastomosis instrument.

(Fourth embodiment)
FIG. 22 is a diagram showing a schematic configuration of a pulling member operating device in an endoscope according to a fourth embodiment of the present invention, FIG. 23 is a sectional view of a pulley and a pressing block, and FIG. 24 is a worn pulley and pressing block. FIG. 25 is a sectional view of a modified pulley and a pressing block. Also in the traction member operating device in the endoscope of the present embodiment, an example in which a pressing block is used instead of the rotating body in the first and second embodiments or the pressing plate of the third embodiment described above. Show. Since the basic configuration of the endoscope of the present embodiment is substantially the same as that of the above-described first to third embodiments, only the different configurations will be described in detail in the following description, and the same configurations are the same. It will be briefly described using reference numerals.

  The pulley 11 disposed in the operation unit 3 here is also configured as a drive unit that is rotated by a drive motor (not shown) in the arrow Yc direction (clockwise direction) in FIG.

  Here again, each bending wire 8 (8u, 8d, 8l, 8r) has its end in the operation section 3 fixed to one end of the coil spring 115, respectively. Each of the bending wires 8 (8u, 8d, 8l, 8r) here has a press block 112 (112u, 112d, 112l, 112r) interposed in the middle part above the pulley 11, respectively.

  The pulling member operating device 10 includes a suspension frame 13, a pressing block 112, an operation input transmission wire 109, a link member 111 provided with a roller 110 at one end, a pulley 11, and a motor 12 that is a driving unit. It is prepared for.

  The other end of each link member 111 is connected to the operation input transmission wire 109, and is pivotally supported in the operation portion 3 by a rotation shaft 111a. The roller 110 provided at one end of the link member 111 is a member that presses the pressing block 112 (112u, 112d, 112l, 112r) against the outer peripheral surface of the pulley 11 by the rotation of the link member 111.

  The pressing blocks 112 (112u, 112d, 112l, 112r) are provided one by one corresponding to the four bending wires 8 (8u, 8d, 8l, 8r). The four pressing blocks 112 (112u, 112d, 112l, 112r) are inserted through the corresponding bending wires 8u, 8d, 8l, 8r, and are fixed to these bending wires 8 (8u, 8d, 8l, 8r) by caulking or the like. ing.

  Each pressing block 112 (112u, 112d, 112l, 112r) is, for example, a metal rectangular block. These pressing blocks 112 (112u, 112d, 112l, and 112r) are pressed against the roller 110 when the link member 111 is rotated about the rotation shaft 111a. That is, the lower surface of the pressing block 112 (112u, 112d, 112l, 112r) is disposed so as to face the outer peripheral surface of the pulley 11.

  With such a configuration, for example, when the operator performs an operation of bending the bending portion 2b upward, that is, when the operator 5 is tilted in a predetermined direction, the suspension frame 13 is swung and the operation input transmission wire 109 is The operation input transmission wire 109 corresponding to the swing direction is pulled. Then, the link member 111 to which the tip of the pulled operation input transmission wire 109 is fixed rotates about the rotation shaft 111a (fixed shaft portion), and the roller 110 faces the pulley 11 along with this rotation. The pressing block 112 is pressed toward the pulley 11 side. Thereafter, as the tilting angle of the tilting operation of the operator 5 is increased, the pressing block 112 is pressed against the outer peripheral surface of the pulley 11 under the pressing force from the roller 110.

  When the pressing block 112 is pressed against the outer peripheral surface of the pulley 11 by the roller 110, a frictional resistance is generated between the outer peripheral surface and the pressing block 112. As the frictional resistance is generated, the rotational driving force of the pulley 11 is transmitted to the pressing block 112 via the outer peripheral surface, and the pressing block 112 moves rearward. As a result, the pressing block 112 moves in the rotational direction of the pulley 11 corresponding to the magnitude of the frictional resistance with the pulley 11. That is, by the rotational driving force transmitted from the outer peripheral surface of the pulley 11 to the bending wire 8 via the pressing block 112, the pulling by the bending wire 8 is started, and the bending portion 2b is bent upward, downward, left and right.

  In the endoscope 1 configured as described above, here, the operator is mechanically notified of the part replacement (recommended) timing due to wear of the pulley 11 and the pressing block 112 of the pulling member operating device 10. .

  Specifically, as shown in FIG. 23, the pressing block 112 (112u, 112d, 112l, 112r) of the traction member operating device 10 has a friction coefficient as a determination means for determining the replacement time based on the wear deterioration state here. It has a double laminated structure formed by different members. The pressing block 112 has a double laminated structure having a core portion 113 that contacts the roller 110 and a contact portion 114 that contacts the pulley 11.

  The core portion 113 and the contact portion 114 are made of a material (material) having a different friction coefficient. Here, the core portion 113 is made of a material having a lower friction coefficient than the contact portion 114. Furthermore, the core part 113 has the convex part 113a of the cross-sectional triangle protruded on the pulley 11 side.

  The pressing block 112 of the pulling member operating device 10 configured as described above is configured such that when the operation assist during bending of the bending portion 2b is used for a long period (a plurality of cases), the rotating pulley 11 comes into contact. The contact portion 114 is rubbed and worn. In other words, the contact portion 114 is rubbed and gradually worn by contact with the pulley 11. Here, as shown in FIG. 24, a state in which the convex portion 113 a of the core portion 113 is exposed due to wear of the contact portion 114 is a recommended replacement time for the pulley 11 and the pressing block 112.

  Thus, when the contact part 114 of the press block 112 is worn and the convex part 113a of the core part 113 is exposed, for example, when the press block 112 contacts the pulley 11 that rotates when the bending part 2b is bent. Because of the difference in friction coefficient between the core portion 113 including the convex portion 113a and the contact portion 114, the frictional resistance is reduced and the operation assisting force is reduced. That is, as the wear of the pressing block 112 proceeds, the exposure amount of the convex portion 113a of the core 113, which is a material having a lower friction coefficient than the contact portion 114, increases, and the frictional resistance decreases and the operation assist force also decreases.

  Thereby, the operator can recognize the part replacement (recommended) time due to wear of the pulley 11 and the pressing block 112 because the operation feeling of the operation element 5 is different from the assumed feeling during the bending operation of the bending portion 2b. Furthermore, since the contact between the core part 113, the contact part 114, and the pulley 11 having different coefficients of friction may cause resonance, sound, and the like between different members, it is easier for the operator than the difference in operation feeling. In addition, it may be possible to recognize the part replacement (recommended) time due to wear of the pulley 11 and the pressing block 112.

  Therefore, with such a configuration, also in the endoscope 1 according to the present embodiment, similarly to the first embodiment, the bending of the bending portion that is assumed according to the sense of the operator who operates the operation element 5 can be changed. A configuration in which the operator can easily recognize from a feeling of operation of the operator 5 that the component that electrically bends the bending portion 2b has reached a use state that is expected to be worn and deteriorated so that the bending can be performed uniformly. It has become. Thereby, the endoscope 1 is a component that electrically bends the bending portion 2b so that the bending reaction of the bending portion can be kept constant in accordance with the sense of operation of the operator 5 by the operator. It can be set as the structure which can recognize the replacement | exchange (maintenance) time to the operator about the abrasion state of the pulley 11 and the press block 112 as components.

  Furthermore, here, the endoscope 1 that electrically bends the bending portion 2b has been described. However, the present invention is not limited thereto, and has a configuration that functions by electrically pulling and relaxing the wire. This technique can be applied to medical devices such as a forceps raising base, a treatment tool, surgical forceps, a suture instrument, and an anastomosis instrument.

  As shown in FIG. 25, the pressing block 112 may form a hole portion 115 having a triangular cross section along the longitudinal direction instead of the convex portion 113a. The pressing block 112 here is not a double laminated structure, but is formed from a single material. In addition, in the structure of the press block 112 having such a hole 115, it is needless to say that the press block 112 having a double laminated structure of the core 113 and the contact 114 may be used.

(Fifth embodiment)
FIG. 26 is a diagram illustrating a schematic configuration of a traction member operating device viewed from the side in an endoscope according to a fifth embodiment of the present invention, and FIG. 27 is a schematic diagram of the traction member operating device viewed from above in the endoscope. FIG. 28 is a sectional view showing the configuration of the pulley and the friction plate, FIG. 29 is a sectional view of the pulley and the friction plate in a worn state, and FIG. 30 shows the configuration of the pulley and the friction plate of the first modified example. FIG. 31 is a cross-sectional view showing a configuration of a pulley and a friction plate of a second modification.

  The pulling member operating device in the endoscope of the present embodiment also shows an example in which a friction plate is used instead of the rotating body in the first embodiment described above. The basic configuration of the endoscope of the present embodiment is substantially the same as that of the first embodiment described above. In the following description, only the configuration different from the first embodiment will be described in detail, and the same configuration will be briefly described using the same reference numerals.

  In the operation unit 3, the shaft 5 a of the operator 5, the suspension frame 13, the four disk-shaped pulleys 11 U, 11 D, 11 L, and 11 R, the motor 12, and the motor drive shaft 12 a of the motor 12 are fixed. A driving gear 115 provided, four bending wires 8u, 8d, 8l, and 8r as traction members, and a traction member operation device 10 including a traction member operation device and the like are provided.

  The traction member operating device includes driven gears 119U, 119D, 119L, and 119R, and transmission force adjusting units 119AU, 119AD, 119AL, and 119AR.

  The bending wires 8u, 8d, 8l, and 8r are four wires corresponding to the four bending directions of the bending portion 2b. The upper bending wire 8u, the lower bending wire 8d, the left bending wire 8l, and the right bending wire. 8r.

  One end of each bending wire 8u, 8d, 8l, 8r is fixed at a predetermined position on the distal end side of the bending portion 2b. The other ends of the bending wires 8u, 8d, 8l, and 8r are fixed to the four pulleys 11U, 11D, 11L, and 11R. That is, the other end of the upper bending wire 8u is on the upper pulley 11U, the other end of the lower bending wire 8d is on the lower pulley 11D, the other end of the left bending wire 8l is on the left pulley 11L, and the right bending wire 8r. The other end of each is fixed to the right pulley 11R. Then, after each bending wire 8u, 8d, 8l, 8r is introduced into the operation unit 3, the traveling path is changed by a plurality of guide rollers 120, and is tensioned with a predetermined tension.

  On the other hand, the drive gear 115 is integrally fixed to the motor drive shaft 12a of the motor 12 as described above. The drive gear 115 meshes with the driven gears 119U, 119D, 119L, and 119R. The driven gears 119U, 119D, 119L, and 119R are integrally formed on the outer peripheral edges of the four pulleys 11U, 11D, 11L, and 11R. Accordingly, the rotational driving force of the motor 12 is transmitted to the driven gears 119U, 119D, 119L, and 119R via the motor driving shaft 12a and the driving gear 115, and thereby transmitted to the pulleys 11U, 11D, 11L, and 11R. It is configured to be. In the present embodiment, the motor 12, the drive gear 115, and the driven gears 119U, 119D, 119L, and 119R function as a drive unit.

  In addition, the transmission force adjusting units 119AU, 119AD, 119AL, and 119AR among the pulling member operating devices are disposed between the driven gears 119U, 119D, 119L, and 119R and the pulleys 11U, 11D, 11L, and 11R, and are each driven. Each rotation of the gears 119U, 119D, 119L, and 119R is configured to be transmitted to each of the pulleys 11U, 11D, 11L, and 11R.

  The driven gears 119U, 119D, 119L, and 119R are an upper driven gear 119U, a lower driven gear 119D, a left driven gear 119L, and a right driven gear 9R.

  The upper driven gear 119U is attached to the upper shaft 116u, the lower driven gear 119D is attached to the lower shaft 116d, the left driven gear 119L is attached to the left shaft 116l, and the right driven gear 119R is attached to the right shaft 116r. ing. Each shaft 116 u, 116 d, 116 l, 116 r is fixed to a frame that is a fixed part in the operation unit 3.

  Each of the transmission force adjusting units 119AU, 119AD, 119AL, and 119AR includes a friction plate 130 having a biasing spring (not shown), and is configured to have a predetermined biasing force by the biasing spring. The friction plate 130 has an axial through hole, and the shafts 116u, 116d, 116l, and 116r are inserted through the through hole.

  Note that the upper transmission force adjustment unit (hereinafter abbreviated as the upper adjustment unit) 119AU is disposed on the upper driven gear 119U. Similarly, a lower transmission force adjustment unit (hereinafter abbreviated as a lower adjustment unit) 119AD is disposed on the lower driven gear 119D, and a left transmission force adjustment unit (hereinafter abbreviated as a left adjustment unit) 119AL is a left driven unit. A right transmission force adjustment unit (hereinafter abbreviated as a right adjustment unit) 119AR is provided on the gear 119L, and is provided on the right driven gear 119R.

  An upper pulley 11U is provided on the upper adjustment portion 119AU, a lower pulley 11D is provided on the lower adjustment portion 119AD, a left pulley 11L is provided on the left adjustment portion 119AL, and a right pulley is provided on the right adjustment portion 119AR. 11R is respectively arranged.

  In the present embodiment, the drive gear 115 rotates counterclockwise (CCW direction) in FIG. Therefore, each driven gear 119U, 119D, 119L, 119R rotates clockwise (CW direction).

  The hanging frame 13 constitutes a part of the bending operation device, and includes four arm portions respectively corresponding to the bending directions of the bending portion 2b in the vertical and horizontal directions, and is formed in a substantially cross shape as shown in FIG. Yes. The central shaft portion of the suspension frame 13 is coaxially connected and fixed via the shaft portion 5 a of the operation element 5 and the universal joint 14. The universal joint 14 is disposed so as to be rotatable with respect to a frame (not shown) which is a fixed portion provided in the operation unit 3. The suspension frame 13 configured in this manner swings as the operating element 5 is tilted.

  With such a configuration, for example, when the operator performs an operation of bending the bending portion 2b in a predetermined direction, that is, when the operation element 5 is tilted in a predetermined direction, the suspension frame 13 is swung and the four arm portions of the suspension frame 13 are moved. Any one abuts against the corresponding pulley 11. Further, when the operation element 5 is tilted, the pulley 11 with which the arm portion comes into contact moves along the corresponding shaft 116 against the urging force of the urging spring of the corresponding transmission force adjusting unit 119A. It is pushed down in the direction of the friction plate 130 provided on the driven gear 119. As the pulley 11 is pushed down, the urging spring of the transmission force adjusting unit 119A is compressed. Then, the distance between the pulley 11 and the driven gear 119 changes from the initial state to the compressed state. Then, when a predetermined distance is reached, the friction plate 130 provided on the driven gear 119 comes into contact with the pulley 11 and is transmitted to the pulley 11 via the friction plate 130.

  As a result, the pulley 11 rotates and the corresponding one of the four bending wires 8u, 8d, 8l, and 8r is pulled to bend the bending portion 2b in a corresponding predetermined direction.

  In the endoscope 1 configured as described above, here, the operator is mechanically notified of the parts replacement (recommended) timing due to wear of the pulley 11 and the friction plate 130 of the traction member operating device 10. .

  Specifically, as shown in FIG. 28, the friction plate 130 of the traction member operating device 10 is a double laminate formed by members having different friction coefficients as determination means for determining the replacement time based on the wear deterioration state here. Has a structure. The friction plate 130 has a double laminated structure including a plate-like surface material 131 that contacts the pulley 11 and a plate-like core member 132 that is fixed to the driven gear 119. Each of the surface material 131 and the core material 132 is formed of a material (material) having a different friction coefficient. Here, the core material 132 is formed of a material having a lower friction coefficient than the surface material 131.

  The friction plate 130 of the traction member operating device 10 configured as described above has a surface material 131 that comes into contact with the pulley 11 when the operation assist during bending of the bending portion 2b is used for a long period (a plurality of cases). Rub and wear. That is, the surface material 131 is rubbed and gradually worn by contact with the pulley 11. Here, as shown in FIG. 29, the state in which the core member 132 is exposed by the wear of the surface member 131 is the recommended replacement time of the pulley 11 and the friction plate 130.

  When the surface material 131 of the friction plate 130 is thus worn and the core material 132 is exposed, for example, when the friction plate 130 contacts the pulley 11 that rotates when the bending portion 2b is bent, the core material 132 is contacted. And the friction coefficient of the surface material 131, the frictional resistance is reduced and the operation assist force is reduced. That is, when the wear of the friction plate 130 proceeds, the core material 132, which is a material having a lower friction coefficient than the surface material 131, is exposed, the frictional resistance is lowered, and the operation assisting force is also lowered.

  Thus, the operator can recognize the part replacement (recommended) time due to wear of the pulley 11 and the friction plate 130 because the operation feeling of the operation element 5 is different from the feeling assumed when the bending portion 2b is bent.

  Therefore, with such a configuration, also in the endoscope 1 according to the present embodiment, similarly to the first embodiment, the bending of the bending portion that is assumed according to the sense of the operator who operates the operation element 5 can be changed. A configuration in which the operator can easily recognize from a feeling of operation of the operator 5 that the component that electrically bends the bending portion 2b has reached a use state that is expected to be worn and deteriorated so that the bending can be performed uniformly. It has become. Thereby, the endoscope 1 is a component that electrically bends the bending portion 2b so that the bending reaction of the bending portion can be kept constant in accordance with the sense of operation of the operator 5 by the operator. It can be set as the structure which can recognize the replacement | exchange (maintenance) time to the operator about the abrasion state of the pulley 11 and the press block 112 as components.

  Furthermore, here, the endoscope 1 that electrically bends the bending portion 2b has been described. However, the present invention is not limited thereto, and has a configuration that functions by electrically pulling and relaxing the wire. This technique can be applied to medical devices such as a forceps raising base, a treatment tool, surgical forceps, a suture instrument, and an anastomosis instrument.

  Further, as in the first modification shown in FIG. 30, the core member 132 has a cross section of a plurality of convex portions 132 a having a triangular section projecting toward the pulley 11 and the second modification shown in FIG. 31. A triangular hole 132b may be formed. In addition, if it is the structure which has the hole 132b shown in FIG. 31, you may form the friction board 130 from a single material instead of a double laminated structure.

  The present invention described above is not limited to the above-described embodiments, and it is needless to say that various modifications and applications can be implemented without departing from the spirit of the invention. Further, the above embodiments include inventions at various stages, and various inventions can be extracted by appropriately combining a plurality of disclosed constituent elements. For example, even if several constituent requirements are deleted from all the constituent requirements shown in the above-described embodiment, if the problem to be solved by the invention can be solved and the effect of the invention can be obtained, this constituent requirement is deleted. The structure thus constructed can be extracted as an invention.

IΣ ... current integrated value Iσe ... replacement recommended value Iσmax ... maximum current integrated value 1 ... electric bending endoscope 2 ... insertion part 2a ... tip 2b ... bending part 2c ... flexible tube part 3 ... operation part 4 ... universal cord 5 ... Operator 8 ... Bending wire 9 ... Rotating body 10 ... Twing member operating device 11 ... Pulley 12 ... Motor 15 ... Control device 15a ... Motor control unit 15b ... Detecting unit 15c ... Determining unit 15d ... Storage unit 16 ... Display device 16a ... Display processor 17 ... Light source device 18 ... Notification unit 21 ... Guide roller set 24 ... Guide 30 ... Driving force transmission mechanism 31, 32 ... Bass gear 51 ... Signal cable 52 ... Light guide cable 59 ... Partition plate 61 ... Core 61a , 65a ... convex portion 61b, 65b ... hole 62 ... surface material 64 ... inner surface material 65 ... outer surface material

Claims (6)

A traction member for bending the bending portion of the insertion portion;
An operation member for inputting an amount of force for pulling the pulling member;
A driving unit that generates a driving force that pulls the pulling member to bend the bending unit;
A traction member operating device capable of switching from a state in which the driving force is not transmitted to the traction member in conjunction with an operation of the operation member to a state in which the driving force is transmitted to the traction member;
A driving force transmitting portion provided in the pulling member operation device, for transmitting the driving force of the driving portion to the pulling member;
Determination means for detecting a wear deterioration state of the driving force transmission unit and determining a replacement time;
I have a,
When determining whether or not the driving force transmission state is abnormal from the fluctuation range of the current value supplied to the driving unit for the driving state of the driving force transmission unit and confirming that it is abnormal, An electric bending endoscope characterized in that the driving unit is stopped .   The determination means compares the current integrated value supplied to the drive unit with a predetermined threshold value preset in the storage unit, and predicts and determines the replacement time of the drive force transmission unit by calculation. The electric bending endoscope according to claim 1, wherein the electric bending endoscope is characterized in that:   3. The electric bending endoscope according to claim 2, wherein when the current integrated value reaches and exceeds the predetermined threshold, the determination unit performs stop control of the driving unit.   The electric bending endoscope according to claim 3, wherein the determination unit includes a notification unit that presents to the operator the replacement timing of the driving force transmission unit.   The determination means drives the notification section to control the driving force transmission means when the current integrated value reaches and exceeds a predetermined value as a recommended replacement time of the driving force transmission section smaller than the predetermined threshold. The electric bending endoscope according to claim 4, wherein the operator is notified that the replacement is recommended. A traction member for bending the bending portion of the insertion portion;
An operation member for inputting an amount of force for pulling the pulling member;
A driving unit that generates a driving force that pulls the pulling member to bend the bending unit;
A traction member operating device capable of switching from a state in which the driving force is not transmitted to the traction member in conjunction with an operation of the operation member to a state in which the driving force is transmitted to the traction member;
A driving force transmitting portion provided in the pulling member operation device, for transmitting the driving force of the driving portion to the pulling member;
Determination means for detecting a wear deterioration state of the driving force transmission unit and determining a replacement time;
I have a,
When determining whether or not the driving force transmission state is abnormal from the fluctuation range of the current value supplied to the driving unit for the driving state of the driving force transmission unit and confirming that it is abnormal, A medical device characterized in that the driving unit is stopped .
that's all

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