JP6063773B2 - Insertion device - Google Patents

Description

  The present invention relates to an insertion device including an operation input unit that maintains a bending state of a bending portion even when a hand is released during operation and returns to a range including a neutral position when a predetermined bending operation range is exceeded.

  2. Description of the Related Art Conventionally, as an insertion device, typically, an insertion portion having a slender flexibility and having a bending portion provided at a distal end portion thereof is used for visual observation in a body cavity or a duct having a bending portion. Medical or industrial endoscope devices to be inserted are used. For example, when a medical endoscope apparatus is used for a medical examination or a surgical operation in a body cavity, the bending portion provided on the distal end side of the insertion portion is bent in the vertical direction and the horizontal direction by operating the operation portion. However, it is inserted into the body cavity.

  If the operation dial of the bending operation unit described above is configured to perform a multi-rotation operation of one rotation or more (360 degrees or more), the operator repeatedly performs the rotation operation by repeating the rotation direction of the operation dial. This makes it difficult to understand the original neutral position and makes it difficult to grasp the actual bending state of the bending portion. In this case, the operator once performs the bending operation again after returning the operation dial to the neutral position while visually recognizing.

  For example, Patent Document 1 proposes an endoscope apparatus that performs a bending operation of a bending portion by driving a motor. The operation unit of the endoscope apparatus has a neutral return mechanism in which two spiral springs wound in opposite directions to the rotation shaft of the operation dial are arranged to face each other in order to return the operation dial to the neutral position. Is provided.

  When the operation dial is rotated, this neutral return mechanism compresses one of the spiral springs and expands the other spiral spring, so that the curved portion is in a linearly extended state. The biasing force returning to the position (neutral position) is adjusted.

JP 2009-219822 A

  In the neutral return mechanism according to Patent Document 1 described above, the operation dial determines the neutral position based on the balance of the urging force using two springs in which the urging force always acts in the opposite direction. For this reason, when the finger is separated from the operation dial, the distal end position of the insertion portion starts to return due to the urging force, and the observation target part is out of the observation visual field.

  Therefore, for an operator who cannot operate the two operation dials with one hand or an operator who has a habit of operating with both hands due to the size of the hand or the like, even if it is not necessary to return to the intermediate position, the spring It is returned by the urging force, and in some cases, the operation is unintentional. Some types are equipped with a lock button that temporarily locks the curved state, but the setting must be canceled each time.

  Further, the rotation shaft of the input operation part (potentiometer or the like) and the spring of the neutral return mechanism are configured as an integral input unit. When the input unit is incorporated in the operation unit, the installation position in the operation unit is determined from the position of the fingertip to be operated. For this reason, not only affects the outer shape of the operation unit, but also the fingertip side becomes heavier, so the weight balance of the operation unit so far may be changed, and the burden on the operator for gripping may increase. is there.

  Accordingly, the present invention suppresses the increase in size of the operation unit by separating the input operation site in the input unit from the neutral return mechanism and using the empty space in the operation unit when incorporated in the operation unit of the endoscope. In addition, an object of the present invention is to provide an electric bending endoscope apparatus including an operation unit with a balanced weight.

To achieve the above object, an embodiment according to the present invention, traction and bendable bending portion in a first direction, a grip forming a rectangular shape having a longitudinal axis, connected to said grip, said bent portion an operating unit having a plurality of first wire to bend in the first direction is built by,
The grip or attached to the operation portion, by rotating a direction substantially perpendicular to the longitudinal axis, an input unit for bending operation the bending portion, is connected to the first wire, bending the bending portion A power unit that generates a driving force to be driven; a control unit that outputs a control signal to the power unit to control the bending of the bending portion based on an input amount of the input unit;
Disposed in the input portion and the different surface position by the operation portion, connected by the input unit and the second wire, the second wire is pulled by the input unit, the moving direction of the second wire The second wire is pulled back in the opposite direction, and a return force generator that generates a traction force to return to a predetermined neutral position, and a position where the second wire is bent in the middle of the second wire A coupling portion that is provided and includes at least one direction changing portion that changes the direction so as to reciprocate the second wire in a crossing direction, and the second wire, and connects the input portion and the return force generating portion; And having.

  According to the present invention, when incorporating in the operation unit of the endoscope, the input operation site in the input unit and the neutral return mechanism are separated from each other and arranged using the empty space in the operation unit, thereby increasing the size of the operation unit. It is possible to provide an electric bending endoscope apparatus including an operation unit that is suppressed and has a weight balance.

FIG. 1 is a diagram illustrating an external configuration of an endoscope body according to the first embodiment. FIG. 2 is a diagram illustrating an arrangement configuration example of an input operation portion and a neutral return mechanism in an input unit arranged separately in an operation unit. FIG. 3 is a diagram conceptually showing an arrangement relationship between an input operation part and a neutral return mechanism in an input unit arranged on the board viewed from the board front in the operation unit. FIG. 4 is a diagram conceptually showing an arrangement relationship between an input operation portion arranged on the substrate viewed from the substrate side in the operation unit and the neutral return mechanism. 5A is a diagram illustrating a detailed configuration of the input operation part, FIG. 5B is a diagram illustrating an appearance of the exterior bracket, and FIG. 5C is a diagram illustrating a configuration of the operation element main body. is there. FIG. 6A is a diagram showing an external configuration viewed from above the neutral return mechanism 2, and FIG. 6B is a diagram showing an external configuration viewed from the side of the neutral return mechanism 2. FIG. 7A is a diagram showing a state of a neutral return mechanism that suppresses loosening of the wire when the operation dial is in the vicinity of the neutral position. FIG. 7B is a diagram in which a braking force acts on the operation dial and the neutral position is the center. FIG. 7 (c) shows a state in which the neutral return mechanism within the engagement range does not return, and FIG. 7 (c) shows a state in which the neutral return mechanism 2 returns by applying an urging force exceeding the braking force by rotating the operation dial. FIG. FIG. 8 is a diagram showing a conceptual configuration of an input unit on which the brake mechanism of the second embodiment is mounted. 9A is a view of the brake mechanism as viewed from the front side, FIG. 9B is a view of the brake mechanism as viewed from the side, and FIG. 9C is a view of the brake mechanism as viewed obliquely from above. FIG. 9D is a view of the brake mechanism as viewed obliquely from below, and FIG. 9E is a view of the brake mechanism as viewed from the back side. FIG. 10A is a view of the brake mechanism of the third embodiment as viewed from the front side, and FIG. 10B is a view of the brake mechanism as viewed from the side. FIG. 11A is a diagram of a brake mechanism provided in the operation unit of the fourth embodiment as viewed from the front side, and FIG. 11B is a diagram illustrating a detailed configuration of the brake mechanism. FIG. 12A is a diagram of a brake mechanism provided in the operation unit of the fifth embodiment as viewed from the front side, and FIG. 12B is a diagram illustrating a detailed configuration of the brake mechanism. FIG. 13A is a diagram showing a conceptual configuration of a brake mechanism provided in the operation unit of the sixth embodiment, and FIG. 13B is an elastic member when the operation dial is rotated in the m direction. FIG. 13C is a diagram showing the state of the elastic member when the operation dial is rotated in the n direction. FIG. 14 is a diagram illustrating a conceptual configuration of a brake mechanism 81 provided in the operation unit according to the seventh embodiment. FIG. 15 is a diagram illustrating a conceptual configuration of a brake mechanism provided in the operation unit according to the eighth embodiment. FIG. 16 is a diagram illustrating a conceptual configuration of a brake mechanism provided in the operation unit according to the ninth embodiment. FIG. 17 is a diagram illustrating a conceptual configuration of a brake mechanism provided in the operation unit according to the tenth embodiment. FIG. 18 is a diagram illustrating a conceptual configuration of the input operation portion 97 of the input unit of the operation unit according to the eleventh embodiment. FIG. 19A is a diagram showing a conceptual configuration of a brake mechanism provided in the operation unit of the twelfth embodiment, and FIG. 19B is a diagram showing a return range when the operation dial is rotated. FIG.19 (c) is a figure which shows the AA cross section of Fig.19 (a).

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
[First Embodiment]
FIG. 1 is a diagram illustrating a configuration of a conceptual electric bending endoscope system including an operation unit according to the first embodiment. In the following description, the operation unit 102 has a rectangular parallelepiped shape, the surface on which the UD operation dial is disposed is the front surface, the surface on the opposite surface where the palm abuts is the back surface, and the universal cable 103 Is defined as the first side surface, and the surface on which the input unit 1 is disposed is defined as the second side surface. Further, the side to which the grip portion 105 is connected is a base end portion or a lower portion, and the opposite side is an upper portion (or upper surface). The endoscope apparatus according to this embodiment includes a medical endoscope apparatus for observing the inside of a lumen or a body cavity of a living body or the like, and an industrial endoscope for observing the internal state of a pipe or an engine. Applies to equipment.

  The electric bending endoscope system of the present embodiment is mainly composed of an endoscope main body 100 and a drive control device (not shown). The endoscope body 100 is provided with an insertion portion 101 to be inserted into a lumen, an operation portion 102 provided on the proximal end side of the insertion portion 101, and a connector that can be connected to a drive control device at the end portion. It is possible to bend the universal cable 103 including a light guide fiber (or an optical fiber cable) that is a light guide path of illumination light, a signal cable, and the like, and the bending portion 107 provided in the operation unit 102 or the universal cable 103. And a bending mechanism (not shown). The drive control device has a known configuration, for example, an image processing unit that performs image processing on a captured video signal, a universal light source unit that generates illumination light, and a component provided in an imaging unit and an operation unit described later. A control unit (control unit) that performs overall control including each drive control, a motor drive power supply unit that supplies drive power to a drive source (power unit: bending drive motor 110) that drives the bending mechanism, and image processing And an input device such as a keyboard for performing setting and selection.

Here, the drive source (motor 110) may be provided in the operation unit 102 as shown in FIG. 1 or may be provided in the connector of the universal cable 103. When the drive source (motor 110) is provided in the connector of the universal cable 103, the bending mechanism is provided in the universal cable 103 and has a flexibility that can transmit rotation from one end to the other end. The driving force generated by the driving source (motor 110) is transmitted to the operation unit 102 via the coil shaft. Hereinafter, the case where the drive source (motor 110) is provided in the operation unit 102 will be described. As described above, the arrangement of the drive source (motor 110) is not limited to this.
The control unit sends an instruction signal to bend the bending portion 107 to the motor drive power supply unit in accordance with a rotation operation (moving position) of an operation dial 5 (input operation portion 4) of the input unit 1 to be described later. To perform a bending operation.

  The insertion portion 101 includes a grip portion 105 held by an operator on the proximal end side, a long flexible tube 106, a bending portion 107 provided on the distal end side of the flexible tube 106, and a bending portion 107. And a distal end portion 108 provided on the distal end side. The grip portion 105 is provided with a forceps port 104 for inserting a treatment tool such as forceps, and a through hole is formed in the flexible tube 106. Although not shown, the distal end 108 is provided with an imaging unit, an illumination light irradiation window, and a cleaning nozzle for cleaning the imaging unit on the distal end surface, and is further inserted into the forceps inlet 104 through the through hole. The forceps opening is opened.

  Above the operation unit 102, a bending drive motor 110 serving as a drive source for the bending unit 107 is disposed integrally with the operation unit casing. A UD operation dial 111 that is manually rotated to perform a bending operation in the up / down direction is provided on the front of the operation unit 102, and a UD that temporarily locks the UD operation dial 111 is provided in the vicinity thereof. A brake knob 109 is arranged. The input unit 1 is provided on the second side surface side of the operation unit 102. Here, the input unit 1 corresponds to an RL operation unit for performing a bending operation in an RL (right / left) direction. Although not shown, a plurality of wires are wired in the bending portion 107, one end side of each wire is connected to a motor driving mechanism (curving unit) driven by the motor 110, and the other end side is The plurality of bending pieces constituting the bending portion 107 are connected to each other. The wire pulled by the motor drive mechanism pulls the bending piece, and the bending portion 107 is bent.

  In this embodiment, when the operator grips the operation unit 102, as an example, the universal cable 103 is held with the base portion between the thumb and the index finger in contact with the thumb, and the thumb is directed to the UD operation dial 111. In this case, the palm is put on the back side, and the little finger or the ring finger is brought into a gripping state in which the operation dial 5 of the input operation part (RL operation unit) 1 is addressed. In this embodiment, an example in which an input unit having a neutral return mechanism is used for the RL operation of the bending portion is proposed, but of course, the present invention is not limited to this example, and only by changing the installation position of the operation dial, It can be used equally as an input unit for performing UD operation.

  FIG. 2 is a diagram illustrating an arrangement configuration example of the input operation portion of the input unit and the neutral return mechanism that are separately arranged in the operation unit. FIG. 3 conceptually shows the positional relationship between the input operation site and the neutral return mechanism arranged on the substrate viewed from the front (main surface) of the substrate, and FIG. 4 shows the input operation site and the neutral return mechanism viewed from the side of the substrate. It is a figure which shows notionally the arrangement | positioning relationship.

  The operation unit 102 accommodates a board 3 on which various electrical components are mounted. The input unit 1 is separated into an input operation part (operator) 4 and a neutral return mechanism (force generation unit: return force generation unit) 2 which are input units, and is arranged on both sides of the substrate 3 respectively. (Engagement part) 6 is drivably connected. In the present embodiment, the neutral return mechanism 2 is illustrated as being disposed in the operation unit casing on the side to which the universal cable 103 is coupled. However, basically, the neutral return mechanism 2 is disposed in an empty space in the casing and coupled. The mechanism 6 can be connected.

Here, the configuration of the input operation portion 4 will be described with reference to FIGS. 5A is a diagram illustrating a detailed configuration of the input operation part, FIG. 5B is a diagram illustrating an appearance of the exterior bracket, and FIG. 5C is a diagram illustrating a configuration of the operation element main body. is there.
The input operation part 4 includes an operation element main body 14 and a bracket 20.

  As shown in FIG. 5 (c), the operator main body 14 has an uneven surface provided with the tip of the output shaft 21 extending from the potentiometer 23 and the tip of the operation shaft 33 extending from the operation dial 5. Are connected with each other. The output shaft 21 is provided with a potentiometer 23 that functions as a rotation angle detection unit that detects the rotation angle of the output shaft 21 (operation dial 5). A nut 31 for attaching and fixing to the wire and a wire fixing ring 25 for connecting to the wire 10 which is a long member are fitted. Further, the operation shaft 33 has a retaining washer 32 such as an E ring that prevents the operation dial 5 side from coming out of the bracket 20, an O ring 22 that acts as a watertight and acts as a brake described later, and the O ring 22 is crushed. An adjusting screw 34 for adjusting the state (braking force) is fitted. Here, the O-ring 22 and the adjusting screw 34 function as a rotation resistance generating unit that generates a rotation resistance that prevents the output shaft 21 from rotating.

  The bracket 20 has a tube shape and has openings at both ends, and a central portion is cut out over a semicircular shape so that a window 20a is opened. When the window 20a is attached to the operation unit 102, the window 20a is formed so as to be spatially connected to the operation unit case, and is attached to the operation unit case in a watertight manner.

  The operation element main body 14 exposes a part of the operation dial 5 and the potentiometer 23 from the openings at both ends of the bracket 20 and accommodates the others in a watertight manner. On the operation dial 5 side, the operation shaft 33 is inserted from one opening of the bracket 20, the retaining washer 32 is inserted into a groove formed at a predetermined position of the operation shaft 33, and the operation shaft 33 and the output shaft 21 are connected. Secure with. At this time, the O-ring 22 is crushed to prevent water and the like from entering the bracket 20 from the outside. On the potentiometer 23 side, the output shaft 21 is inserted from the other opening, and is fixed to the bracket 20 with a nut 31. At this time, the nut 31 prevents water or the like from entering the bracket 20 from the outside. Moreover, it arrange | positions so that the wire fixing ring 25 can be seen from the window 20a.

  With this configuration, when the operation dial 5 is rotated, the output shaft 21 of the potentiometer 23 rotates integrally, the volume value between the output ends 23a of a plurality (for example, three terminals) changes, and the input value changes. Can be output. The output end 23a is connected to a control unit provided in the operation unit, for example, on the substrate 3, through a wiring (not shown), and instructs the rotation direction of the bending drive motor 110 (the bending direction of the bending unit 107).

Next, the neutral return mechanism 2 will be described.
FIG. 6A is a diagram showing an external configuration viewed from above the neutral return mechanism 2, and FIG. 6B is a diagram showing an external configuration viewed from the side of the neutral return mechanism 2. FIG. 7A is a diagram showing a state of the neutral return mechanism 2 that suppresses the slackness of the wire 10 when the operation dial 5 is in the vicinity of the neutral position, and FIG. FIG. 7C is a diagram illustrating a state in which the neutral return mechanism 2 that is in the engaged range (angle) centered on the neutral position does not return, and FIG. 7C rotates the operation dial 5 to exceed the braking force. It is a figure which shows the state which the urging | biasing force acted and the neutral return mechanism 2 resets.

  As shown in FIG. 6B, the neutral return mechanism 2 is fixed to the spring plate 29a for fixing to the substrate 3, the slide plate 29b, the hook 28a fixed to the spring plate 29a, and the slide plate 29b. Hook 28b, a coil spring (force generating portion) 27a spanned between hook 28a and hook 28b, a coil spring 27b having one end mounted on hook 28b, and the other end of coil spring (force generating portion) 27b. A wire stopper 26 for connecting the wire 10 to be described later, and a positioning plate 35 for positioning the spring plate 29a by screwing the substrate 3 are configured.

  The material of the wire 10 is not particularly limited as long as it has durability against pulling by the coil spring 27a and the coil spring 27b and a low elongation rate. For example, fluorocarbon lines and PE lines used for fishing lines are suitable. It is also possible to use an extremely thin and hard metal line used for guitar strings.

  Two elongated holes 29c and 29d are formed in the spring plate 29a so as to be continuous in the pulling direction of the wire 10. A hook 28b is movably fitted in the long hole 29c and fastened with a fixing bracket such as an E-ring. Similarly, a slide jig 30 fixed to the slide plate 29b is movable in the long hole 29d. It is fitted and fastened with a fixed washer such as an E-ring. With this configuration, the slide plate 29b can slide in the pulling direction of the wire 10 with respect to the spring plate 29a. The coil spring 27 a has an urging force (spring force) smaller than the maximum braking force of the O-ring 22 and acts to eliminate the slack of the wire 10.

  The engagement range of the present embodiment is a rotation angle range or a rotational movement distance of the operation dial 5 set depending on the bending angle θ1 of the bending portion 107 shown in FIG. 1. Here, the bending portion 107 is in a neutral state. This suggests a range of a rotation angle or a rotational movement distance in the predetermined operation dial 5 including a neutral position (a position where the bending portion is in the straight extension state) corresponding to being (a position where the bending portion is in the straight extension state) as 0. . In the case of the maximum bending angle θ2 of the bending portion 107, the rotation range of the operation dial 5 corresponding to the range from 0 ° to the bending angle θ1 is the engagement range, and the bending angle is from the bending angle θ1 to the bending angle θ2. The rotation range of the operation dial corresponding to the above range becomes the neutral return range or the return range. This is because when the rotation position of the operation dial 5 is located in the neutral return range or the return range, the neutral return mechanism 2 sets the rotation position of the operation dial 5 within the rotation range (engage range) including the neutral position or the neutral position. It suggests that it functions as a return force generating part that generates a return force so as to return to a maximum. The bending angle (bending amount) θ1 is, for example, 70 ° or less.

  If the stop position of the operation dial 5 is within the engagement range, the neutral return mechanism 2 applies the braking force of the O-ring 22 to maintain the bending state of the bending portion 107 without returning the operation dial 5. . The actual engagement range of the operation dial 5 is determined by the moving distance of the slide plate 29b from the hook 28a, that is, the hole width (length in the longitudinal direction) of the long hole 29c and the position of the hole end.

  In the neutral return mechanism 2, when the wire 10 is pulled, the slide plate 29b is moved, and the coil spring 27b is moved from the time when the hook 28b and the slide jig 30 come into contact with the distal end side (positioning plate 35 side) of the long holes 29c and 29d. The urging force acts in the direction of expansion and contraction, and the operation dial 5 is returned to the neutral position or at least within the engagement range.

Next, the connection mechanism 6 will be described.
The connection mechanism 6 is a member that connects the input operation part 4 and the neutral return mechanism 2. Specifically, the wire 10 is configured to connect the wire fixing ring 25 and the wire stopper 26, and the direction changing portions 7 and 12 that change the pulling direction of the wire 10. The connection mechanism 6 of the present embodiment is a unit that changes the direction so that the respective pulling directions match because the input operation part 4 and the neutral return mechanism 2 are arranged on both sides of the substrate 3.

  The direction change part 7 is a structure which arrange | positions the two pulleys 8 and 9 which rotate in the direction orthogonal to a L-shaped fixed metal fitting near. In this example, the pulley 8 is arranged to rotate in parallel with the main surface of the substrate 3, and the pulley 9 is arranged to rotate in parallel to the side surface (end surface) of the substrate 3. In addition, the direction changing portion 12 is configured such that a pulley 11 that rotates in a direction intersecting the main surface of the substrate 3 is provided on a fixing bracket having an overhanging support portion.

  The direction changing portion 7 receives the wire 10 extending parallel to the side surface of the substrate 3 from the wire stopper 26 of the neutral return mechanism 2 by the pulley 9 and passes it to the pulley 8, thereby passing in the orthogonal direction, that is, the substrate 3. Change to the main direction. The direction-changed wire 10 is connected to the wire fixing ring 25 through the pulley 11 of the direction changing portion 12 across the main surface of the substrate 3.

  With such a configuration, by rotating the operation dial 5, the wire 10 is wound around the output shaft 21 and the operation shaft 33 and pulled, and the slide plate 29 b is moved by pulling the wire 10 of the neutral return mechanism 2. Then, after exceeding the engagement range, the coil spring 27b extends to return the operation dial 5 to the engagement range.

  As described above, according to the present embodiment, the input unit 1 is separated from the input operation part 4 and the neutral return mechanism 2 and is arranged separately in the operation unit casing, so that the installation position in the casing can be reduced. Freedom is possible, and it is also possible to use the empty space that was previously wasted. Moreover, the increase in weight can also be suppressed by connecting the input operation site | part 4 and the neutral return mechanism 2 with a simple structure.

  Further, since the input unit 1 is arranged separately from the input operation part 4 and the neutral return mechanism 2 in the operation unit 102, a change in the weight balance in the operation unit 102 is suppressed, and the weight is biased to the fingertip side and increases. Can be prevented, and can be gripped in a well-balanced manner as in the prior art. Further, by adjusting the adjustment screw 34 in the input operation portion 4, the crushing state of the O-ring 22 can be changed and the braking force can be adjusted. Even if the O-ring 22 has manufacturing variations, Fine adjustment can be easily performed.

By using springs with different elastic forces in the neutral return mechanism 2, the bending state of the bending portion 107 is maintained without returning to the neutral position even if the finger is released from the operation dial 5 within a preset engagement range. Can be made. Further, when a rotation operation exceeding the engagement range is performed, the neutral position or at least within the engagement range can be restored. This engagement range is mechanically set by the movement distance of the ride plate 29b, and can be finely adjusted by adjusting the relationship between the elastic force (biasing force) of the coil spring 27a and the braking force by the O-ring 22. it can. Also, at the start of neutral return, the return can be started gradually by adjusting the braking force by the O-ring 22.
In this embodiment, the input operation site 4 and the neutral return mechanism 2 are connected by a wire 10 that is a long member. However, instead of the wire 10, a rubber or spring that expands and generates elastic force. The long member may be formed of an elastic member such as.

[Second Embodiment]
Next, a second embodiment will be described.
FIG. 8 is a diagram showing a conceptual configuration of an input unit on which the brake mechanism of the second embodiment is mounted. 9A is a view of the brake mechanism as viewed from the front side, FIG. 9B is a view of the brake mechanism as viewed from the side, and FIG. 9C is a view of the brake mechanism as viewed obliquely from above. FIG. 9D is a view of the brake mechanism as viewed obliquely from below, and FIG. 9E is a view of the brake mechanism as viewed from the back side. This embodiment differs in the structure of the brake mechanism in the input unit of 1st Embodiment mentioned above, and a structure other than this is equivalent.

  As shown in FIG. 8, the present embodiment has a configuration in which a brake mechanism 41 is provided in the direction changing portion 7 of the coupling mechanism 6 in place of the braking action by the O-ring 22 of the first embodiment described above. In the second embodiment, the O-ring 22 is not used as a brake but is used as a watertight waterproof member.

  As shown in FIGS. 9A, 9 </ b> B, and 9 </ b> E, the brake mechanism 41 includes a brake cover 42 that is fitted to the fixing bracket of the direction changing portion 7, and a brake provided on the brake cover 42. The jig 43 includes a brake screw 44 for adjusting a braking force, and a sliding member 45 serving as a braking portion. The brake mechanism 41 is configured to apply braking by pressing the sliding member 45 against the pulley 8 of the direction changing portion 7.

  As shown in FIGS. 9 (c) and 9 (d), the brake cover 42 includes an engagement plate portion 42a provided with a hook 42c to be fitted and locked in the opening of the fixing bracket, and a fixing bracket. A brake plate portion 42b facing the pulley 8 when fitted is integrally formed.

  The brake plate portion 42b is formed with a cylindrical raised fixed portion, and a cylindrical brake jig 43 is fitted in the fixed portion. A female screw is formed at the center of the brake jig 43, and a brake screw 44 is screwed therein. A pad-shaped sliding member 45 that functions as a brake is provided on the distal end side of the brake screw 44. By screwing the brake screw 44, the sliding member 45 is pushed out from the back surface (the surface facing the pulley 8) side of the braking plate portion 42b and pressed against the flange surface of the pulley 8, depending on the contact condition. The pulley 8 is braked.

  One end of the wire 10 is fixed to the output shaft 21 by a wire fixing ring 25 and is wound around the pulley 8 in the middle. The pulley 8 rotates in accordance with the pulling operation of the wire 10. The pulley 8 is given a rotation resistance that prevents the rotation by the sliding member 45, so that the movement of the wire 10 is stopped. That is, the brake mechanism 41 can generate a rotational resistance that prevents the output shaft 21 from rotating. Therefore, the brake mechanism 41 functions as a rotational resistance generation unit that generates a rotational resistance force that stops the return force that returns the operation dial 5 to the neutral position within the rotational range including the neutral position. As the sliding member 45, an elastic member made of a rubber material or the like, a resin material, or the like can be used.

  In this brake mechanism 41, when slip occurs between the pulley 8 and the wire 10 and the wire 10 slides even when the pulley 8 is stopped, FIG. 9B shows. Thus, it is necessary to stop the sliding of the wire 10 by winding the wire 10 around the pulley 8 at least once.

  According to the present embodiment described above, it is possible to obtain an operational effect equivalent to the operational effect of the first embodiment described above. In the first embodiment, the O-ring 22 is required to have a watertight function and a brake function. However, in this embodiment, only the watertight function is required for the O-ring 22 and the brake mechanism 41 is separately provided. By suppressing the deterioration of the durability of the ring 22 and selecting the material of the sliding member 44, a braking function having a wide application range can be provided.

[Third Embodiment]
Next, a third embodiment will be described.
FIG. 10A is a view of the brake mechanism of the third embodiment as viewed from the front side, and FIG. 10B is a view of the brake mechanism as viewed from the side. In the above-described second embodiment, the sliding member is brought into contact with the pulley for braking, but the brake mechanism 5 of the present embodiment slides on the side surface of the cam 51 integrated with the pulley 8. The member 52 is pressed and braked.

In this embodiment, the configuration of the brake mechanism in the input unit of the first embodiment described above is different, and the other configurations are the same.
The brake mechanism 50 of the third embodiment includes a disc-shaped brake cam plate 51 fixed to the flange surface of the pulley 8 and a sliding member 52 that presses against the side surface of the brake cam plate 51 to brake. The The brake cam plate 51 has a disk shape having different radii R1, R2 (R1 <R2) for each semicircle. An outer peripheral surface with a radius R1 is a braking side 51a, and an outer peripheral surface with a radius R2 is a non-braking side 51b.

  In the vicinity of the brake cam plate 51, a sliding member 52 that is moved forward and backward by a moving mechanism (not shown) so as to be pressed against the braking side surface 51a is disposed. Basically, the sliding member 52 is arranged at the center position of the braking surface 51a. In the present embodiment, the braking force is effectively generated by forming the sliding surface 51 a of the sliding member 52 in contact with the plate surface into a curved shape along the circumferential shape of the brake cam plate 51.

  In this embodiment, the half-braking range and the non-braking range of the brake cam plate 51 are divided into two. However, this ratio can be changed according to the design specifications, and the radius can be set as appropriate. Further, not only the curved sliding surface but also the thickness of the brake cam plate 51, that is, the area contacting the sliding member 52 can be changed to change the braking force.

  Similar to the second embodiment, one end of the wire 10 is fixed to the output shaft 21 by the wire fixing ring 25, and is wound around the pulley 8 in the middle, and rotates in accordance with the pulling operation of the wire 10. Further, when the sliding member 52 is pressed against the integral brake cam plate 51, the pulley 8 is given a rotational resistance that prevents the rotation, and the movement of the wire 10 is stopped. That is, it is possible to generate a rotational resistance that prevents the output shaft 21 from rotating. Therefore, the brake mechanism 50 functions as a rotational resistance generating unit that generates a rotational resistance for stopping the return force that the operation dial 5 returns to the neutral position within the rotational range including the neutral position.

  In the present embodiment, the brake cam plate 51 having a uniform thickness is proposed. However, the braking force transmitted when the operation dial 5 is rotated by partially changing the thickness (the height of the braking side surface 51a). Can be varied step by step. For example, if the thickness of the center side and both end portions of the braking side surface 51a are formed to have different thicknesses (or shapes) in steps, the operator suddenly changes the braking force, for example, the operation dial becomes heavy. If you rotate the button more than this, you can feel beyond the engagement range with your fingertips. If the operator has empirically understood the bending angle of the bending portion 107 when he / she reaches the end of the engagement range, the operator can easily estimate the bending state at that time by the change in the braking force felt at the fingertip. it can. Accordingly, it is possible to estimate the current bending angle by setting the thickness of the braking surface 51a to a plurality of thicknesses within a range where the change of the braking force can be felt with the fingertip.

  In the configuration of the present embodiment, when the bending portion 107 has a maximum bending angle from the straight state to one side, the rotation angle of the brake cam plate 51 by the rotation operation of the operation dial 5 is the center position (sliding member 52). The braking surface 51a is set at an angle from the sliding member 52 to the opposite end of the non-braking side surface 51b. This can be implemented by setting the diameter of the pulley 8 and the diameter of the brake cam plate 51.

Also, in this brake mechanism 50, when slip occurs between the pulley 8 and the wire 10 and the wire 10 slides even when the pulley 8 is stopped, FIG. As shown, it is necessary to stop the sliding of the wire 10 by winding the wire 10 around the pulley 8 at least once.
As described above, according to the input unit of the present embodiment, in addition to the operational effects of the first embodiment described above, it is possible to generate a braking force with a simple brake mechanism configuration.

[Fourth Embodiment]
Next, a fourth embodiment will be described.
FIG. 11A is a diagram of a brake mechanism provided in the operation unit of the fourth embodiment as viewed from the front side, and FIG. 11B is a diagram illustrating a detailed configuration of the brake mechanism. In this embodiment, the configuration of the brake mechanism in the input unit of the first embodiment described above is different, and the other configurations are the same.
As shown in FIG. 11A, the brake mechanism 55 of the present embodiment includes a sliding member 56 disposed on the substrate 3 and an annular braking member fitted in the wire 10 that slides with the sliding member 56. 57.

  The sliding member 56 is formed such that a U-groove is formed at the center and the braking member 57 slides on the wall surface of the U-groove. The brake range, that is, the engagement range in the brake mechanism 55 is within the range in which the braking member 57 is in contact with the U groove of the sliding member 56. At the position where the center position of the U groove and the center position of the braking member 57 overlap (neutral position), the bending portion 107 is in a straight line.

  In this configuration, when the operation dial 5 is rotated, the braking member 57 moves as the wire 10 moves, and when the braking range by the sliding member 56, that is, the engagement range is exceeded, The urging force by the neutral return mechanism 2 acts to return the operation dial 5 to the neutral position or the engagement range.

  The wire 10 is fixed to the output shaft 21 by the wire fixing ring 25, and the output shaft 21 rotates in accordance with the pulling operation of the wire 10. The brake mechanism 55 generates a frictional resistance that prevents the wire pulling operation and generates a rotational resistance force that prevents the output shaft 21 from rotating. That is, the brake mechanism 55 functions as a rotation resistance generating unit that generates a rotation resistance for stopping the return force that the operation dial 105 returns to the neutral position within the rotation range including the neutral position.

  According to the input unit of the present embodiment, the brake mechanism can be realized with a very simple configuration, can be reduced in size, and an increase in weight can be suppressed low. Further, the engagement range can be changed only by changing the length of the sliding member 56 (length of the groove). In this embodiment, the brake mechanism 55 is shown as a combination of a pair of sliding members 56 and a braking member 57. However, the present invention is not limited to this. And a braking member 57 can also be arranged.

[Fifth Embodiment]
Next, a fifth embodiment will be described.
FIG. 12A is a diagram of a neutral return mechanism provided in the operation unit of the fifth embodiment as viewed from the front side, and FIG. 12B is a diagram illustrating a detailed configuration of the brake mechanism. In this embodiment, the configuration of the neutral return mechanism in the input unit of the first embodiment described above is different, and the other configurations are the same.

  In this embodiment, a worm gear (rotation transmission member) 62 that meshes with a gear (not shown) formed on the output shaft 21, and a gear (not shown) is formed on the back side that meshes with the worm gear 62. A plate-shaped slide member 63 and a slide member 64 that slides in contact with the flat braking surface of the slide member 63 are configured.

  In the brake mechanism 61, the output shaft 21 connected to the operation shaft 33 is rotated by the rotation operation of the dial operation unit 5. The rotation of the output shaft 21 is transmitted to the meshing worm gear 62 (CW / CCW). The slide member 63 moves in accordance with the rotation direction of the worm gear 62, and the braking surface of the slide member 63 is slid on the sliding member 64 to generate a braking force. The slide member 63 is moved in any repetition direction according to the rotation direction (CW / CCW) of the dial operation unit 5.

  The neutral position of the dial operation unit 5 is a position where the area where the slide member 63 contacts the slide member 64 is the largest. In FIG. 12B, the end of the slide member 63 is located closest to the nut 31 side. As the dial operation unit 5 is rotated, the slide member 63 moves and comes off the slide member 64. In the present embodiment, the engagement range in which the braking force is applied while the slide member 63 is in contact with the slide member 64 is the engagement range.

This means that by generating a frictional resistance at the contact surface between the sliding member 163 and the sliding member 164, it is possible to generate a rotational resistance force that prevents the output shaft 121 from rotating. That is, the brake mechanism 161 functions as a rotational resistance generating unit that generates a rotational resistance for stopping the return force that the operation dial 105 returns to the neutral position within the rotational range including the neutral position.
As described above, according to the present embodiment, since it is arranged not on the substrate 3 but in the vicinity of the operation element main body 14 in the bracket 20 of the input unit, there is no arrangement space in the unit casing. Can also be implemented easily.

[Sixth Embodiment]
Next, a sixth embodiment will be described.
FIG. 13A is a diagram showing a conceptual configuration of a brake mechanism provided in the operation unit of the sixth embodiment, and FIG. 13B is an elastic member when the operation dial is rotated in the m direction. FIG. 13C is a diagram showing the state of the elastic member when the operation dial is rotated in the n direction. In this embodiment, the configuration of the brake mechanism in the input unit of the first embodiment described above is different, and the other configurations are the same.

  In the brake mechanism of this embodiment, the operation dial 5 is attached to the tip of the shaft (the output shaft 21 or the operation shaft 33) 74 of the potentiometer 23, and a pulley 75 is provided in the middle of the shaft (or the operation shaft 33) 74. Is fitted. Neutral return mechanisms 71 and 72 having the same urging force (tension) are fixed to either the operation unit 102 housing or the bracket 20 with one end of the potentiometer 23 interposed therebetween. The neutral return mechanisms 71 and 72 of this embodiment are assumed to have the same configuration as that of the first embodiment described above. Both ends of the wire 10 are fixed to the neutral return mechanisms 71 and 72 via two pulleys 73 and 75 on the way. That is, in FIG. 13A, the wire 10 is wound around the pulley 75 at the central position of the length of the wire 10 and fixed to the neutral return mechanisms 71 and 72 through the pulley 73 respectively, and the same tensions A and B are applied. It is balanced and stopped in the state. The position of the operation dial 5 at this time is set to the neutral position.

  From this state, as shown in FIG. 13B, when the operation dial 5 is rotated in the m direction, the pulley 75 is integrally rotated, and the wire 10 is fed to the neutral return mechanism 72 side. When the tension Ar (Ar> Br) exceeds the engagement range, the urging force is applied to return the operation dial 5 to the original neutral position or the engagement range. On the other hand, as shown in FIG. 13C, when the operation dial 5 is rotated in the n direction, the pulley 75 rotates and feeds the wire 10 to the neutral return mechanism 71 side, and the tension Bl ( The biasing force is applied from the time when Al <Bl) exceeds the engagement range, and the operation dial 5 is returned to the original neutral position or within the engagement range.

In addition, since this embodiment is shown as a conceptual configuration in FIG. 13A, the neutral return mechanisms 71 and 72 are shown as being arranged in the vicinity of the potentiometer 23. Can be arranged. Furthermore, in this embodiment, although the center position (length) of the wire 10 is set so as to be wound around the pulley 75 provided on the shaft, the wire 10 does not need to have the same length on the left and right. In other words, the neutral return mechanisms 71 and 72 only need to apply tension to the pulley 75 when the operation dial 5 is in the neutral position or the engagement range. For this reason, if the same tension can be applied to the pulley 75 by adjusting the spring force, the wire 10 is not at the center position where the length is the same, and the wire 10 has a short length difference on either side. Can also be implemented.
As described above, the input unit of the present embodiment is pulled by the wire 10 with the same tension from the left and right, so that the structure for supporting the shaft can be simplified compared to the structure in which the wire is wound around the shaft.

[Seventh Embodiment]
FIG. 14 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the seventh embodiment. In the neutral return mechanism 81 of the present embodiment, in the potentiometer 23 of both bearings provided with a penetrating output shaft, the operation dial 5 is attached to one end of the output shaft, and the wire fixture 84 of the wire 10 is attached to the other end. . One end of the wire 10 is fixed to the wire fixture 84. The other end of the wire 10 is converted into the extending direction of the output shaft by the pulley 83, is directed to the operation dial 5 side, and is connected to the neutral return mechanism 82. The neutral return mechanism 82 has the same configuration as the neutral return mechanism 2 of the first embodiment, and is fixed to the above-described substrate 3, operation unit housing, or bracket 20 of the input operation portion 4.

In this configuration, when the operation dial 5 is rotated in either direction, the wire 10 is wound around the output shaft and the spring in the neutral return mechanism 82 is pulled, so that the operation dial 5 is within the neutral position or the engagement range. An urging force is generated to return.
According to the present embodiment, in addition to the function and effect of the first embodiment, the structure can be simplified and further miniaturization can be realized.

[Eighth Embodiment]
FIG. 15 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the eighth embodiment. The neutral return mechanism 85 of the present embodiment fixes one end of the wire 10 by attaching the operation dial 5 to the tip of the output shaft of the potentiometer 23 and attaching a wire fixing tool to the output shaft. The direction of the other end of the wire 10 is changed to the extending direction of the output shaft by the tie roller 87, and the direction toward the potentiometer 23 is connected to the neutral return mechanism 86. The neutral return mechanism 86 has the same configuration as the neutral return mechanism 2 of the first embodiment, and is fixed to the above-described substrate 3, operation unit housing, or bracket 20 of the input operation portion 4.

In this configuration, when the operation dial 5 is rotated in either direction, the wire 10 is wound around the output shaft and the spring in the neutral return mechanism 82 is pulled, so that the operation dial 5 is within the neutral position or the engagement range. An urging force is generated to return.
According to the present embodiment, in addition to the operational effects of the first embodiment, the structure of the input unit can be simplified and further miniaturization can be realized.

[Ninth Embodiment]
FIG. 16 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the ninth embodiment. In the neutral return mechanism 90 of the present embodiment, the operation dial 5 is attached to the tip of the output shaft of the potentiometer 23. The wire 10 fixed to the two neutral return mechanisms 91 and 92 disposed on both sides rearward of the potentiometer 23 extends and is wound around the output shaft in an eight-letter shape. The two neutral return mechanisms 91 and 92 have the same configuration as the neutral return mechanism 2 of the first embodiment.

In this configuration, when the operation dial 5 is rotated in either direction, the wire 10 is wound around the output shaft. For example, when the wire 10 is fed out to the neutral return mechanism 91 side, the spring of the neutral return mechanism 92 is pulled. The urging force is generated so that the operation dial 5 returns to the neutral position or the engagement range. When the operation dial 5 is rotated in the opposite direction, the wire 10 is drawn out to the neutral return mechanism 92 side, and the spring of the neutral return mechanism 91 is pulled to return to the neutral position or the engagement range of the operation dial 5. A biasing force is generated. In this case, it is preferable that the surface of the output shaft is subjected to processing such as forming a coating of an elastic material so that the wire 10 is easily entangled.
According to the present embodiment, in addition to the function and effect of the first embodiment, the structure can be simplified and further miniaturization can be realized.

[Tenth embodiment]
FIG. 17 is a diagram illustrating a conceptual configuration of a neutral return mechanism provided in the operation unit according to the tenth embodiment. In the operation element main body 93 of this embodiment, the operation dial 5 is attached to the tip of the output shaft of the potentiometer 23. A wire fixing roller 95 that integrally has a bevel gear 95 a that meshes with the bevel gear 94 is provided in the middle of the output shaft of the potentiometer 23. One end of the wire 10 is fixed to the wire fixing roller 95 and extends in the output shaft direction, and the other end is connected to the neutral return mechanism 96. The neutral return mechanism 96 has the same configuration as the neutral return mechanism 2 of the first embodiment.

In this configuration, when the operation dial 5 is rotated in any direction, when the wire 10 is wound around the wire fixing roller 95, the spring of the neutral return mechanism 96 is pulled, and the neutral position or the engagement range of the operation dial 5 is pulled. A biasing force is generated so as to return to the inside.
According to the present embodiment, in addition to the operational effects of the first embodiment, the structure of the input unit can be simplified and further miniaturization can be realized.

[Eleventh embodiment]
FIG. 18 is a diagram illustrating a conceptual configuration of the input operation portion 97 of the input unit of the operation unit according to the eleventh embodiment.
In the first embodiment described above, the tip of the output shaft of the potentiometer 23 and the tip of the operation shaft extending from the operation dial 5 are connected by fitting the unevenness provided on each. In the case of this configuration, the output shaft and the operation shaft in the rotation operation of the operation dial are integrally rotated one to one.

In this embodiment, a gear 98 is attached to the tip of the operation shaft, and a planetary gear 99 is attached to the tip of the output shaft. In this configuration, the stroke of the spring in the neutral return mechanism is shortened by making the rotation amount (rotation angle) of the output shaft larger than the rotation amount (rotation angle) of the operation shaft by the rotation operation of the operation dial.
According to the present embodiment, it is possible to reduce the size and weight of the input unit by reducing the size of the neutral return mechanism. In particular, in the present embodiment, since the input operation site and the neutral return mechanism are arranged apart from each other in the operation unit, the neutral return mechanism can be reduced in size, so that even when the arrangement space is narrow, the arrangement is further performed. It becomes easy to do. In the first to seventeenth embodiments described above, the example in which the wire 10 having a low elongation rate is applied has been described. Conversely, a resin wire having elasticity, for example, a nylon (registered trademark) wire is applied. Thus, the stroke of the spring in the neutral return mechanism can be shortened.

[Twelfth embodiment]
Next, a twelfth embodiment will be described.
FIG. 19A is a diagram showing a conceptual configuration of a brake mechanism provided in the operation unit of the twelfth embodiment, and FIG. 19B is a diagram showing a return range when the operation dial is rotated. FIG.19 (c) is a figure which shows the AA cross section of Fig.19 (a). In this embodiment, the configuration of the brake mechanism in the input unit of the first embodiment described above is different, and the other configurations are the same.

  In the brake mechanism of the present embodiment, the operation dial 5 exposed to the outside is attached to the tip of the output shaft 121 of the potentiometer 23 in the operation unit housing in a watertight manner. The output shaft 121 is spirally threaded, and a movable arm 122 having a rounded arm tip is movably screwed. The moving arm 122 is provided with a rotation stop member 124 provided with a sliding member 123 on which the arm tip slides. Further, a rotation detection sensor 125 that detects the rotation of the output shaft of the potentiometer 23 is connected.

  As shown in FIG. 19C, the rotation stop member 124 is formed with a groove portion through which the arm tip can pass. As shown in FIG. 19B, a sliding member 123 made of an elastic material and provided with a trapezoidal convex portion at the center is attached in the groove.

In the sliding member 123, the convex portion to which the arm tip passing through the groove is pressed acts as a brake member, and the braking range corresponds to the engagement range. The range from the central position 0 of the braking range L1 to the ends of both protrusions corresponds to the bending range θ1 of the bending shown in FIG. In addition, a range L2 from the end of the convex portion to the maximum movement position is a neutral return range or a return range. The neutral return range or the return range suggests that the arm tip, that is, the operation dial 5 returns to the neutral position or the engagement range. By causing the moving arm 122 to abut against the sliding member 123 and generating frictional resistance, it is possible to generate rotational resistance that prevents the output shaft 121 from rotating. That is, the sliding member 123 and the moving arm 122 function as a rotational resistance generation unit that generates a rotational resistance force that stops the return force that attempts to return the operation dial 105 to the neutral position or the rotation range including the neutral position.
According to the present embodiment, in addition to the operational effects of the first embodiment, the structure of the input unit is simplified and further downsizing can be realized.

  DESCRIPTION OF SYMBOLS 1 ... Input unit, 2 ... Neutral return mechanism, 3 ... Board | substrate, 4 ... Input operation part (operator), 5 ... Operation dial, 6 ... Connection mechanism, 7, 12 ... Direction change part, 8, 9, 11 ... Pulley DESCRIPTION OF SYMBOLS 10 ... Wire, ... Direction change part, 14 ... Operating element main body, 20 ... Bracket, 20a ... Window 21 ... Output shaft, 22 ... O-ring, 23 ... Potentiometer, 25 ... Wire fixing ring, 26 ... Wire stop, 27a, 27b ... Coil spring, 28a, 28b ... Hook, 29a ... Spring plate, 29b ... Slide plate, 29c, 29d ... Long hole, 30 ... Slide jig, 31 ... Nut, 32 ... Lock washer, 33 ... Operation shaft, 34 ... Adjustment Screws 35 ... Positioning plate 41 ... Brake mechanism 42 ... Brake cover 42a ... Engagement plate portion 42b ... Brake plate portion 43 ... Brake jig 44 Brake screw, 45 ... sliding member, endoscope body 100, 101 ... insertion portion, 102 ... operation portion, 103 ... universal cable, 104 ... forceps inlet, 105 ... grip portion, 106 ... flexible tube, 107 ... Curved portion 108... Input unit 1 tip, 109 UD brake knob 110, bending drive motor 111 UD operation dial.

Claims (10)

A bending portion that can be bent in a first direction;
A grip forming a rectangular shape having a longitudinal axis,
An operation unit that is coupled to the grip and includes a plurality of first wires that bend the bending unit in the first direction by pulling ;
An input unit that is attached to the grip or the operation unit and rotates the bending unit in a direction substantially perpendicular to the longitudinal axis;
A power unit connected to the first wire and generating a driving force for driving the bending portion to bend;
A control unit for outputting to the power unit a control signal for controlling the bending of the bending portion based on an input amount of the input unit;
Disposed in the input portion and the different surface position by the operation portion, connected by the input unit and the second wire, the second wire is pulled by the input unit, the moving direction of the second wire A return force generator that generates a traction force that pulls back the second wire in the opposite direction and returns it to a predetermined neutral position ;
In the middle of the second wire, the second wire is provided at a position where the second wire is bent, and at least one direction changing portion that changes the direction so as to reciprocate the second wire in a crossing direction and the second wire. A connecting portion that connects the input portion and the return force generating portion,
Insertion device. 2. The insertion device according to claim 1, wherein the input unit is provided at a position opposite to an arrangement position of a thumb of a hand holding the grip across the longitudinal axis. The bending portion can be bent in a second direction substantially orthogonal to the first direction,
The operation unit includes a knob having a first rotation axis and an operation input for bending the bending unit in the second direction.
The operating portion, the insertion device of claim 2, wherein the knob has a second bending mechanism for bending the bending portion in the second direction while rotating in Ri Jikukai of the first rotary shaft . The input unit has a second rotating shaft extending in the axial direction of the longitudinal axis , and a dial that rotates together with the second rotating shaft,
The insertion device according to claim 2, wherein the control unit detects a rotation amount of the second rotation shaft as the input amount. At least one of the direction changing portions has a first pulley and a second pulley,
2. The insertion according to claim 1, wherein the rotation axis of the first pulley and the rotation axis of the second pulley are arranged in a direction in which the axial directions intersect with each other, and reciprocate in the direction in which the second wire intersects. Equipment . The return force generator is
A first spring connected to one end of the second wire ;
A first hook provided on a plate that locks the first spring and is movable in the axial direction of the second wire;
A second spring connected to the first hook and deterring movement of the first hook;
The insertion device according to claim 1 , further comprising: a second hook that locks the second spring and is fixed to the plate . A path defining section that defines the path of the second wire ;
It said path defining portion, or to the second wire, and the resistance adding portion for adding the sliding resistance,
The insertion device according to claim 1 , comprising: The insertion apparatus according to claim 7 , wherein a bending amount bent by the control unit corresponding to an input amount at a position where the sliding resistance and a force pulling the input unit are balanced is a predetermined bending amount or less. The insertion device according to claim 8 , wherein the predetermined bending amount is smaller than a maximum bending angle of the bending portion. The insertion apparatus according to claim 8 , wherein the predetermined bending angle is 70 degrees or less.

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