JP6718255B2 - Endoscope - Google Patents

Description

TECHNICAL FIELD The present invention relates to an endoscope including a standing stand on the distal end side of an insertion section for changing the lead-out direction of a treatment tool.

In an endoscope, various treatment tools are introduced from a treatment tool introduction port provided in the operation section, and the treatment tool is guided to the outside from a treatment tool discharge port opened at the distal end of the insertion section and used for treatment. ing. For example, a treatment tool such as a guide wire or a contrast tube is used in a duodenoscope, a treatment tool such as a puncture needle is used in an ultrasonic endoscope, and a treatment tool such as forceps or a snare is used in other direct-viewing endoscopes and perspective endoscopes. used. In such a treatment instrument, it is necessary to change the lead-out direction at the distal end portion in order to treat a desired position in the subject. For this reason, the tip end is provided with a stand for changing the direction in which the treatment instrument is led out. Further, the endoscope is provided with a treatment instrument standing mechanism that displaces the posture of the standing table between the standing position and the lying position.

As a treatment tool standing mechanism, a wire pulling type (open type) mechanism in which the tip of a pulling wire is directly attached to a stand is known. In this mechanism, the base end of the pulling wire is connected to an operating lever provided in the operating section, and the pulling wire is pushed and pulled by the operating lever to rotate the upright base around the rotation axis, thereby raising and lowering the upright position. Change the posture of the stand between.

Further, as another treatment tool standing mechanism, a lever type (close type) in which a standing stand housing chamber in which a standing stand is housed and a lever housing chamber in which a lever is housed are arranged adjacent to each other via a partition wall at the distal end of the insertion section ) Mechanism is known. In this lever type mechanism, a holding hole for holding the rotation shaft is provided in the partition wall, the lever and the upright stand are connected by the rotation shaft, and the operation wire is further attached to the lever. Further, a seal member (packing or the like) is arranged between the holding hole and the rotary shaft to ensure the airtightness of the lever accommodating chamber. By pushing and pulling the operating wire with the operating lever provided in the operating portion, the upright base is rotated around the rotation axis, and the posture of the upright base is displaced between the upright position and the fall position.

With such a lever-type treatment instrument upright mechanism, cleaning and disinfection properties are ensured as compared with the wire-pulling-type treatment instrument upright mechanism, but the gap between the rotary shaft and the lever accommodating chamber and the seal member surrounding Cleaning and disinfection still takes time. Therefore, there is a demand for the development of a treatment tool upright mechanism having improved cleaning and disinfecting properties.

Therefore, in the endoscope described in Patent Document 1, the first permanent magnet is attached to the stand, and the second permanent magnet is attached to the distal end of the operation wire that is operated to move back and forth from the proximal end side of the insertion portion. It is sealed in the tip of the insertion part. Then, in the endoscope of Patent Document 1, the first permanent magnet and the second permanent magnet are arranged to face each other with the partition wall interposed therebetween. As a result, when the second permanent magnet is moved by advancing and retracting the operation wire, the first permanent magnet moves following the second permanent magnet due to the magnetic force. Therefore, the posture of the standing base can be displaced between the standing position and the lying position without the partition wall between the first permanent magnet and the second permanent magnet penetrating the rotary shaft.

Further, in the endoscope described in Patent Document 2, an ultrasonic motor is configured by a stator or the like provided in an arc shape on the inner surface of the standing base storage chamber, and the posture of the standing base is set to the standing position and the fall position by the ultrasonic motor. Displace to and from position. Also in the endoscope described in Patent Document 2, the posture of the stand can be displaced between the standing position and the lying position without the partition wall penetrating the rotary shaft. Further, the posture of the stand can be displaced without providing the operation wire as described in Patent Document 1.

JP, 2007-135881, A Japanese Utility Model Publication No. 64-43902

By the way, in the endoscope described in Patent Document 1, since the posture of the stand is displaced by using the attractive force due to the magnetic force between the first permanent magnet and the second permanent magnet, elastic force (elastic restoring force) When a strong treatment tool is used, the first permanent magnet and the upright stand may fall off from the second permanent magnet, which causes a problem in operation stability.

Further, although the ultrasonic motor used in the endoscope described in Patent Document 2 generally has high torque, it is generally driven at a low speed in order to prevent reduction in life due to wear. Is. Therefore, in the endoscope described in Patent Document 2 that uses the ultrasonic motor, the responsiveness of the posture displacement of the standing table to the operation of the operator may deteriorate.

The present invention has been made in view of such circumstances, and an object thereof is to provide an endoscope in which all of the cleaning property, the disinfecting property, the operational stability, and the high-speed response property are secured.

An endoscope for achieving the object of the present invention includes an insertion portion having a distal end and a proximal end, a distal end portion main body provided on the distal end side of the insertion portion, and a first accommodating chamber provided in the distal end portion main body. And a stand that is rotatably held by a rotary shaft provided in the first storage chamber, and a position that is separated from the stand in the axial direction of the rotary shaft in the tip body, and is provided in the tip body. A coil having a shape along the rotation locus of a rotating stand, a magnet provided on the stand, and an actuator that supplies a driving current to the coil to generate a driving force between the coil and the magnet are configured. , A current supply unit that rotates the stand by an actuator.

According to this endoscope, it is possible to reduce the number of parts to be cleaned and disinfected as compared with an endoscope including a conventional lever-type treatment tool standing mechanism, and regardless of the elastic force of the treatment tool. The operation can be performed stably, and the responsiveness to the operation of the operator is improved.

An endoscope for achieving the object of the present invention includes an insertion portion having a distal end and a proximal end, a distal end portion main body provided on the distal end side of the insertion portion, and a first accommodating chamber provided in the distal end portion main body. A standing table rotatably held by a rotating shaft provided in the first housing chamber, the standing table having at least a part formed of a magnet, and the rotating shaft from the standing table in the tip body. A coil having a shape that follows the rotation locus of the stand that rotates in the tip body and that is provided at a position that is separated in the axial direction, and that supplies a driving current to the coil to drive the coil between the coil and the magnet. And an electric current supply unit configured to rotate the stand by the actuator.

According to this endoscope, it is possible to reduce the number of parts to be cleaned and disinfected as compared with an endoscope including a conventional lever-type treatment tool standing mechanism, and regardless of the elastic force of the treatment tool. The operation can be performed stably, and the responsiveness to the operation of the operator is improved. In addition, the space of the first storage chamber can be saved.

In the endoscope according to another aspect of the present invention, the coil is provided in the first storage chamber. As a result, the coil can be arranged near the magnet, so that a sufficient magnetic field can be applied from the coil to the magnet without increasing the current value of the drive current supplied to the coil.

In the endoscope which concerns on the other aspect of this invention, the airtight 2nd accommodating chamber provided in the front-end|tip part main body in the position away from the 1st accommodating chamber in an axial direction is provided. This eliminates the need for cleaning and disinfecting the coil, which further improves the cleaning and disinfecting properties of the endoscope.

In an endoscope according to another aspect of the present invention, an operation unit having an operation member is provided on the proximal end side of the insertion unit, and the current supply unit supplies the coil according to the operation of the operation member. The drive current is adjusted to control the rotation of the stand by the actuator. Thereby, the stand can be rotated according to the operation of the operation member.

An endoscope according to another aspect of the present invention includes a stand rotation position detection unit that detects a rotation position of the stand, and the current supply unit supplies the coil based on the detection result of the stand rotation position detection unit. The drive current is adjusted to rotate the stand up to a rotation position according to the operation of the operation member. Thus, the upright table can be rotated to a rotation position according to the operation of the operation member, regardless of the elastic force of the treatment tool.

An endoscope according to another aspect of the present invention includes an operation position detection unit that detects an operation position of an operation member, the current supply unit adjusts a drive current supplied to the coil, and the operation position detection unit detects the operation current. The stand is rotated to the rotation position of the stand corresponding to the operating position of the operating member. Accordingly, the upright table can be rotated to the rotation position corresponding to the operation position of the operation member, regardless of the elastic force of the treatment tool.

In the endoscope which concerns on the other aspect of this invention, an operation part is provided with the operation load provision part which gives an operation load with respect to operation of an operation member. As a result, it is possible to prevent the operation feeling of the operation member from becoming light and prevent the adjustment of the rotation position of the upright base by the operation member from becoming difficult.

In an endoscope according to another aspect of the present invention, a current value detection unit that detects a current value of a drive current consumed by the actuator is provided, and the operation load application unit includes an operation load based on a detection result of the current value detection unit. Control the size of. This makes it possible to change the operation load of the operation member according to the elastic force of the treatment instrument, so that an operation equivalent to that of a conventional endoscope in which the standing base is rotated using the operation wire is performed. A feeling can be given to the surgeon.

In the endoscope according to another aspect of the present invention, the upright base is held in the first housing chamber so as to be displaceable in the axial direction, and is provided on the tip end body, and the upright base is a coil in the axial direction. A biasing member that biases in a direction away from the wall of the first storage chamber toward the wall of the first storage chamber, and the upright base biases the biasing member when the supply of the drive current from the current supply unit to the coil is stopped. When the drive current is started by being pressed against the wall portion and locked by the wall portion, the attraction force generated between the coil and the magnet separates from the wall portion against the bias of the biasing member. With this, when the operating member is not operated, the posture of the stand can be maintained without supplying the drive current to the actuator, so that power saving can be achieved.

In the endoscope according to another aspect of the present invention, the current supply unit stops the supply of the drive current to the coil when the operating member is in a stationary state. As a result, power saving can be achieved.

In the endoscope according to another aspect of the present invention, the distal end body is provided with a cooling unit that cools the actuator. Thereby, heat generation of the actuator can be reduced.

The endoscope of the present invention can ensure all of the cleaning property, the disinfecting property, the operational stability, and the high-speed responsiveness.

It is a side view which shows the whole structure of the endoscope for side views. FIG. 7 is an external perspective view of the tip portion with the cap removed. FIG. 3 is an external perspective view of a tip portion viewed from a direction different from that of FIG. 2. It is an exploded perspective view of the tip part in the state where the cap was removed. (A) is a front view of a tip portion main body, (B) is a sectional view taken along line 5B-5B in (A), and (C) is a sectional view taken along line 5C-5C in (A). Is. It is the schematic of the coil accommodated in the coil accommodation part. It is an exploded perspective view of a stand. (A) is a front view of the stand in the laid-down position, and (B) is a sectional view taken along line 8B-8B in (A). (A) is a front view of the stand in a standing position, and (B) is a sectional view taken along line 9B-9B in (A). It is a schematic diagram showing composition concerning rotation operation of a stand in an endoscope. It is a functional block diagram of endoscope CPU. It is explanatory drawing for demonstrating determination of the target rotation position of the stand by a current supply part. It is an explanatory view for explaining adjustment of drive current by a current supply part. It is an explanatory view for explaining an example of operation load application control by an operation load application control part. It is a flowchart which shows the flow of rotation control of an upright stand, and application control of the operation load of an operating lever. FIG. 16A is a front view of the tip portion main body of the other embodiment 1, and FIG. 16B is a sectional view taken along the line 16B-16B in FIG. It is a front view of the tip part main body of other embodiment 2. FIG. 13 is an explanatory diagram for explaining a posture displacement state and a posture maintaining state of the standing table in the distal end portion main body according to the third embodiment. FIG. 11 is a front view of a tip body which is a modification of the third embodiment. It is a front view of the tip part main body of other embodiment 4.

An endoscope according to the present invention will be described below with reference to the accompanying drawings. FIG. 1 is a side view showing the overall configuration of a side-viewing endoscope 10.

<Overall structure of endoscope>
As shown in FIG. 1, the endoscope 10 includes an insertion portion 12 that is inserted into the body of a subject. An operation section 14 is connected to the proximal end side of the insertion section 12. A universal cord 16 is connected to the operation unit 14. The endoscope 10 is connected via a universal cord 16 to a processor 17 (see FIG. 10) which is an image processing device, a light source device and an air/water supply device (not shown).

<Structure of insertion part>
The insertion portion 12 has a distal end and a proximal end, and is configured such that the distal end portion 18, the bending portion 20, and the flexible portion 22 are connected from the distal end side toward the proximal end side (the operation portion 14 side). .. Inside the insertion portion 12, a treatment instrument insertion channel 24 that guides the treatment instrument 23 to the tip portion 18, a light guide (not shown) that guides illumination light supplied from a light source device (not shown) to the tip portion 18, Various cables or tubes including a signal cable connected to the processor 17 and an air/water supply tube (not shown) for guiding air and water supplied from an air/water supply device (not shown) to the tip portion 18 are inserted. There is.

The distal end portion 18 includes a distal end portion main body 26 provided on the distal end side of the insertion portion 12, and a cap 27 attached to the distal end portion main body 26 and covering the distal end portion main body 26. The distal end body 26 has an imaging unit (not shown) that images the inside of the subject, an illumination unit (not shown) that illuminates the inside of the subject, and a mechanism that changes the direction in which the treatment instrument 23 is led out.

The cap 27 has a substantially cylindrical shape with the tip end side sealed, and is detachably attached to the tip end body 26. An opening window (not shown) is formed on the outer peripheral surface of the cap 27. Through this opening window, the treatment tool 23 can be sent to the outside (inside the subject), and the inside of the subject can be imaged and illuminated.

The bending portion 20 is structured such that angle rings (not shown) are rotatably connected to each other to form a structure, and the outer periphery of the structure is covered with a mesh body woven with metal wires and further covered with a rubber outer cover. It has a broken structure. In addition, a plurality of wires (not shown) extend from the two angle knobs 28 of the operation portion 14 to the bending portion 20, and the tip ends of these wires are fixed to the tip portion of the angle ring that constitutes the bending portion 20. ing. As a result, the bending portion 20 is bent vertically and horizontally by the turning operation of each angle knob 28.

<Structure of flexible part>
The soft part 22 has a spiral tube formed by spirally winding a thin metal strip plate having elasticity. The outer surface of the spiral tube is covered with a tubular mesh body knitted with a metal wire, and the outer peripheral surface of the mesh body is further covered with a resin outer cover.

<Structure of operation unit>
The operation portion 14 includes the above-described two angle knobs 28 for bending the bending portion 20, and the operation lever 30 for changing the derivation direction of the treatment instrument 23 led out from the distal end portion 18 (corresponding to an operation member of the present invention. ), an air/water supply button 32 for ejecting air and water from an air/water supply nozzle (not shown) provided at the tip 18, and a body fluid such as blood from a suction port (not shown) provided at the tip 18. And a suction button 34 for sucking the are provided at predetermined positions.

Further, the operation unit 14 is provided with a treatment instrument introduction port 36 for introducing various treatment instruments 23. The treatment instrument 23 introduced into the treatment instrument introducing port 36 passes through the treatment instrument insertion channel 24 and is led out from the distal end portion main body 26 to the outside.

<Structure of tip>
FIG. 2 is an external perspective view of the tip portion 18 with the cap 27 removed. FIG. 3 is an external perspective view of the tip portion 18 viewed from a direction different from that in FIG. FIG. 4 is an exploded perspective view of the tip portion 18 with the cap 27 removed.

As shown in FIGS. 2 to 4, the tip portion main body 26 is formed of a metal material having corrosion resistance. The tip portion main body 26 is formed by integrally forming a base 45 connected to the bending portion 20 and a first wall portion 46 and a second wall portion 48 that project from the base 45 to the tip side and face each other. The structure.

An optical system accommodating chamber (not shown) is airtightly formed inside the second wall portion 48. Inside the optical system storage chamber (not shown), the illumination unit and the imaging unit, which are not shown, are provided. Further, an illumination window 62 and an observation window 64 (not shown in FIG. 4 and subsequent figures) are provided on the upper surface of the second wall portion 48.

The illumination unit (not shown) includes an illumination lens (not shown) installed inside the illumination window 62, and a light guide (not shown) arranged so that its tip faces the illumination lens. The light guide is inserted through the insertion portion 12, and its base end is connected to the above-mentioned light source device (not shown). As a result, the irradiation light from the light source device is transmitted through the light guide and is emitted to the outside from the illumination window 62.

The photographing unit (not shown) includes a photographing optical system (not shown) arranged inside the observation window 64 and an image sensor (not shown). The image pickup device may be of either a complementary metal oxide semiconductor (CMOS) type or a charge coupled device (CCD) type. The image sensor is connected to the processor 17 (see FIG. 10) via a signal cable inserted through the insertion section 12 and the universal cord 16. The image pickup signal in the subject obtained by the image pickup unit is output by the processor 17 via a signal cable. The processor 17 image-processes an image pickup signal in the subject to generate a picked-up image, and outputs the picked-up image to a monitor (not shown) connected to the processor 17.

Although not shown, the tip body 26 is provided with an air/water nozzle (not shown) directed to the observation window 64. The air/water supply nozzle is connected to the aforementioned air/water supply device (not shown) via an air/water supply tube (not shown) inserted in the insertion portion 12. By operating the air/water supply button 32 (see FIG. 1) of the operation unit 14, compressed air or water is jetted from the air/water supply nozzle toward the observation window 64, and the observation window 64 is washed.

The first wall portion 46, the second wall portion 48, and the base 45 form an upright stand accommodating chamber 44 (corresponding to the first accommodating chamber of the present invention) that houses the upright stand 50. The upright stand accommodating chamber 44 is a slit-shaped space extending in the vertical direction in the figure. A treatment instrument lead-out port 38 for leading the treatment instrument 23 to the outside is formed on the upper surface side of the upright stand accommodating chamber 44.

A tip of the treatment instrument insertion channel 24 (see FIG. 1) connected to the base 45 is open in the upright stand accommodating chamber 44. Further, the proximal end of the treatment instrument insertion channel 24 is connected to the treatment instrument introduction port 36 through the inside of the insertion portion 12. Thereby, when the treatment tool 23 is inserted into the treatment tool insertion channel 24 from the treatment tool introduction port 36, the treatment tool 23 is guided through the treatment tool insertion channel 24 into the upright stand accommodating chamber 44.

A standing stand 50, a coil 53, and a magnet 54 are provided in the standing stand housing chamber 44.

The upright table 50 changes the direction of the treatment instrument 23 guided in the upright table accommodating chamber 44 and guides the treatment instrument 23 out of the treatment instrument outlet 38 on the side of the distal end body 26. The upright table 50 is rotatably held between an upright position and a fall position by a rotary shaft 52 (see FIG. 4) provided in the upright table housing chamber 44.

The rotary shaft 52 is axially supported by bearing holes 55 formed in the facing surfaces of the first wall portion 46 and the second wall portion 48 that face each other. Since these bearing holes 55 are non-through holes, the rotating shaft 52 does not penetrate to the outside of the first wall portion 46 and the second wall portion 48 (the side opposite to the standing base housing chamber 44). Therefore, the liquid such as blood or water that has entered the upright stand chamber 44 does not leak to the outside of the upright chamber 44 through the bearing hole 55. Further, it is not necessary to dispose a seal member such as an O-ring in the bearing hole 55. The rotating shaft 52 is attached to the base end side of the upright stand 50.

The coil 53 and the magnet 54 constitute a direct drive motor 57, that is, an actuator that generates a driving force therebetween, and the direct drive motor 57 causes the stand 50 to move between the standing position and the fall position. Rotate. Hereinafter, the direct drive motor 57 will be simply referred to as the DD motor 57.

5(A) is a front view of the tip portion main body 26, FIG. 5(B) is a sectional view taken along line 5B-5B in FIG. 5(A), and FIG. 5 is a cross-sectional view taken along line 5C-5C in FIG.

As shown in FIGS. 4 and 5(A) to (C), a predetermined distance is formed from the bearing hole 55 on the side surface of the first wall portion 46 on the side of the standing base storage chamber 44 with the bearing hole 55 as the center. By forming the portion in a circular arc shape (including a substantially circular arc shape, the same applies hereinafter) one step lower, an arcuate step region 68 is formed. Further, the base 45 is formed with a cutout portion 69 that is formed by cutting out a portion facing the step region 68 toward the base end side. The step region 68 and the cutout portion 69 form an arc-shaped coil housing portion 70 for housing the coil 53 in the standing base housing chamber 44.

The coil accommodating portion 70 has a shape along the rotation locus of the upright table 50 that rotates between the upright position and the fallen position about the rotary shaft 52 (bearing hole 55). The width of the coil housing portion 70 (the axial length of the rotary shaft 52) is formed to a length corresponding to the total thickness of the coil 53 and the magnet 54. The coil 53 is housed and fixed in the coil housing portion 70. As a result, the coil 53 is fixed in the upright stand chamber 44 at a position apart from the upright stand 50 in the axial direction of the rotating shaft 52.

A through hole 73 through which a power cable 72 (see FIG. 10) for supplying a drive current to the coil 53 is inserted is formed in the cutout portion 69 formed in the base 45. The power cable 72 in the coil housing portion 70 and the connecting portion between the power cable 72 and the coil 53 are sealed.

FIG. 6 is a schematic view of the coil 53 housed in the coil housing part 70. As shown in FIG. 6, in the coil 53, a plurality of coils 53 a forming a so-called stator of the DD motor 57 are arranged in an arc shape along the coil housing portion 70. Therefore, the coil 53 has an arc shape along the rotation locus of the upright table 50 that rotates around the rotation shaft 52, similarly to the coil housing portion 70. It should be noted that the coil 53 is not limited to the one shown in the drawing, and various shapes usable for the DD motor 57 are used.

Liquid tightness around the coil 53 housed in the coil housing part 70 is ensured by applying a sealant (not shown).

FIG. 7 is an exploded perspective view of the stand 50. As shown in FIG. 7 and FIGS. 3 and 4 described above, a so-called rotor of the DD motor 57 is formed at a position facing the coil 53 on the surface side of the stand 50 facing the first wall portion 46. The arc-shaped magnet 54 is fixed.

The magnet 54 is disposed inside the coil housing portion 70 so as to face the coil 53, and rotates around the rotation shaft 52 as the stand 50 rotates, that is, moves along the coil 53 (FIGS. 8 and 9 ). reference). As the magnet 54, for example, various structures including a structure in which a plurality of permanent magnets are arranged along the coil 53 may be adopted. Further, the shape of the magnet 54 is not limited to an arc shape, and is not particularly limited as long as it is a shape that can move along the coil 53 as the stand 50 rotates.

FIG. 8(A) is a front view of the stand 50 at the lying position (bottom dead center), and FIG. 8(B) is a sectional view taken along line 8B-8B in FIG. 8(A). 9A is a front view of the stand 50 at the standing position (top dead center), and FIG. 9B is a sectional view taken along the line 9B-9B in FIG. 9A.

As shown in FIGS. 8A and 8B and FIGS. 9A and 9B, by supplying a drive current (pulse signal) to the coil 53, a magnetic interaction between the coil 53 and the magnet 54 is generated. The rotating torque can be applied to the stand 50 via the magnet 54. That is, the DD motor 57 can be configured between the coil 53 and the magnet 54. Then, by controlling the drive current supplied to the coil 53, the posture of the stand 50 is controlled by the DD motor 57 so that the standing position shown in FIGS. 8(A) and 8(B) and FIGS. 9(A) and 9(B). It can be displaced (rotated) from the standing position shown in FIG.

Inside the optical system accommodating chamber (not shown) of the second wall portion 48, a table rotation position detection sensor 75 (corresponding to the table rotation position detection section of the present invention that detects the rotation position (rotation angle) of the table 50. ) Is provided. As the table rotation position detection sensor 75, for example, a magnetic proximity sensor that detects the position of the magnet 54 fixed to the upright table 50 is used. Since the stand 50 and the magnet 54 rotate integrally, the rotation position of the stand 50 can be detected by detecting the position of the magnet 54.

The table rotation position detection sensor 75 is not limited to the magnetic proximity sensor, and when it is provided on the wall surface of the second wall portion 48 facing the upright table accommodating chamber 44, the table rotation position detection sensor 75 is a contact type sensor. Various displacement sensors such as a displacement sensor can be used.

Further, the base rotation position detection sensor 75 may be provided on the side of the first wall 46 (for example, near the coil 53) instead of being provided on the side of the second wall 48. Here, in order to sufficiently secure the rotation torque of the DD motor 57, it is necessary to secure the sizes of the coil 53 and the magnet 54. Therefore, the platform rotation position detection sensor 75 has the second wall as in the present embodiment. It is preferably provided on the side of the portion 48.

The detection result of the rotation position of the upright table 50 by the table rotation position detection sensor 75 is output to the endoscope CPU (Central Processing Unit) 80 via the signal cable 77 inserted through the insertion portion 12 or the like (see FIG. 10). ).

<Structure for rotating the stand>
FIG. 10 is a schematic diagram showing a configuration related to a rotation operation of the stand 50 in the endoscope 10. As shown in FIG. 10, an endoscope CPU 80 that controls the operation of each part of the endoscope 10 is provided in the connector 16 a of the universal cord 16 that is connected to the processor 17. The position of the endoscope CPU 80 in the endoscope 10 is not particularly limited, and may be provided in the operation unit 14, for example.

A rotating operation mechanism 82 for rotating the upright table 50 is provided in the operation unit 14. The rotation operation mechanism 82 includes a first rotation gear 84 that is connected to the operation lever 30 and is rotatable within a certain angle range, a second rotation gear 85 that meshes with the first rotation gear 84, and a rotation of the second rotation gear 85. A motor 86 connected to the shaft and an encoder 87 provided on the second rotary gear 85 are included.

The motor 86 corresponds to the operation load application unit of the present invention, and applies resistance to the rotation of the second rotary gear 85 under the control of the endoscope CPU 80. As a result, resistance is imparted to the rotation of the first rotary gear 84 via the second rotary gear 85, so that an operational load can be applied to the rotational operation of the operation lever 30. If the force required to operate the operation lever 30 is small, the operation feeling of the operation lever 30 is lightened, and it becomes difficult for the operator to adjust the rotational position (rotation angle) of the stand 50. Therefore, by applying an appropriate operation load (torque) to the rotation operation of the operation lever 30 by the motor 86, it is possible to give the operator a feeling of operation (load of fingers during operation).

The encoder 87 constitutes a part of the operation position detector of the present invention, and is, for example, a rotary encoder that detects the rotation angle of the second rotary gear 85. The encoder 87 outputs the detection result of the rotation angle of the second rotary gear 85 to the endoscope CPU 80. Since the gear ratio of the gear train 88 formed by the first rotary gear 84 and the second rotary gear 85 is known, the rotational position (rotation angle) of the operation lever 30, that is, the present invention, from the rotational angle of the second rotary gear 85. The operation position of can be detected. A variable resistor may be provided instead of the encoder 87, and the rotation angle of the second rotary gear 85 may be detected by the variable resistor.

The power cable 72 connected to the coil 53 of the DD motor 57 and the signal cable 77 connected to the platform rotation position detection sensor 75 are inserted through the insertion portion 12 and the universal cord 16 and connected to the endoscope CPU 80. Has been done.

The endoscope CPU 80 transmits/receives various signals to/from the processor CPU 90 provided in the processor 17. Further, the endoscope CPU 80 receives the supply of the drive current from the power source 92 in the processor 17 under the control of the processor CPU 90, and supplies the drive current to each part of the endoscope 10. Then, the endoscope CPU 80 adjusts the drive current supplied to the coil 53 of the DD motor 57 when the operation lever 30 rotates the standing table 50, and the DD motor 57 rotates the standing table 50. ..

Further, the endoscope CPU 80 drives the motor 86 when the rotating operation of the stand 50 is performed by the operation lever 30, and controls the magnitude of the operation load applied to the rotation operation of the operation lever 30. ..

<Function of endoscope CPU>
FIG. 11 is a functional block diagram of the endoscope CPU 80. As shown in FIG. 11, the endoscope CPU 80 functions as a lever rotation position detection unit 100, a current supply unit 102, a current value detection unit 104, and an operation load application control unit 106.

The lever rotation position detection unit 100 functions as the operation position detection unit of the present invention together with the encoder 87 described above. The lever rotation position detection unit 100 detects the rotation position of the operation lever 30 (operation of the present invention based on the detection result of the rotation angle of the second rotation gear 85 input from the encoder 87 and the known gear ratio of the gear train 88). Position) is detected. Then, the lever rotation position detection unit 100 outputs the detection result of the rotation position of the operation lever 30 to the current supply unit 102.

The current supply unit 102 supplies the drive current supplied from the power supply 92 to the DD motor 57 (coil 53) when the rotation operation of the operation lever 30 is detected by the lever rotation position detection unit 100, and the DD motor 57 causes the drive current to be supplied. , The stand 50 is rotated to the target rotation position according to the rotation operation of the operation lever 30.

FIG. 12 is an explanatory diagram for explaining determination of the target rotational position of the stand 50 by the current supply unit 102. As shown in FIG. 12, a one-to-one relationship is established between the rotational position of the operating lever 30 and the target rotational position that is the target rotational position for rotating the upright table 50. Therefore, the current supply unit 102 determines the target rotational position of the upright table 50 based on the rotational position detection result of the operation lever 30 input from the lever rotational position detection unit 100. The target rotational position is updated at any time as the rotational position of the operating lever 30 is displaced while the rotational operation of the operating lever 30 continues. In the figure, the target rotation position of the stand 50 changes linearly according to the change of the rotation position of the operation lever 30, but the target rotation position may change non-linearly.

Then, the current supply unit 102 supplies the drive current to the DD motor 57 so that the upright table 50 is rotated to the target rotational position based on the rotational position result of the upright table 50 input from the table rotation position detection sensor 75. Adjust.

FIG. 13 is an explanatory diagram for explaining the adjustment of the drive current by the current supply unit 102. As shown in FIG. 13, when the stand 50 is rotated from the lying position of the initial state 200 to the target rotation position, the required drive current value differs depending on the type of the treatment instrument 23 led out from the distal end body 26. ..

Specifically, as shown in the first rotation state 201, when the treatment instrument 23 having a low elastic force (elastic restoring force) that can be easily bent is drawn out from the distal end body 26, the DD motor 57 is operated. Even if the current value of the drive current supplied is small, the upright table 50 can be rotated from the fall position to the target rotation position.

On the other hand, as shown in the second rotation state 202, when the elastic force of the treatment instrument 23 derived from the distal end portion main body 26 is higher than that of the treatment instrument 23 in the first rotation state 201, the first rotation state Even if the drive current having the same current value as the above is supplied to the DD motor 57, the upright stand 50 cannot be rotated from the fall position to the target rotation position (indicated by a dotted line in the drawing). In this case, it is necessary to increase the current value of the drive current supplied to the DD motor 57. Therefore, it is necessary to increase/decrease the current value of the drive current supplied from the current supply unit 102 to the DD motor 57 according to the amount of elasticity (hardness/softness) of the treatment instrument 23 derived from the distal end body 26. is there.

Therefore, the current supply unit 102 adjusts (increases/decreases) the drive current supplied to the DD motor 57 based on the detection result of the rotation position of the upright table 50 by the table rotation position detection sensor 75, thereby elastically ejecting the treatment tool 23. The stand 50 is rotated to the target rotation position regardless of the magnitude of the force.

Returning to FIG. 11, the current value detection unit 104 detects the current value of the drive current supplied from the current supply unit 102 to the DD motor 57 (coil 53), and thus the current of the drive current consumed by the DD motor 57. The value is detected and the detection result is output to the operation load application control unit 106. The current value of the drive current consumed by the DD motor 57 increases or decreases according to the magnitude of the elastic force of the treatment instrument 23 as described above.

The operation load application control unit 106 controls the motor 86 based on the detection result of the current value of the drive current input from the current value detection unit 104, so that the operation load (the operation load applied to the rotation operation of the operation lever 30 ( Hereinafter, the magnitude of “operation load of the operation lever 30” will be simply controlled.

FIG. 14 is an explanatory diagram for describing an example of operation load application control by the operation load application control unit 106. As shown in FIG. 14, the operation load application control unit 106 stores in advance the relationship between the current value of the drive current consumed by the DD motor 57 and the size of the operation load of the operation lever 30.

Specifically, the relationship between the current value of the drive current and the magnitude of the operating load is increased so that the magnitude of the operating load of the operating lever 30 increases as the current value of the driving current consumed by the DD motor 57 increases. Is set. That is, the relationship is set such that the operation load of the operation lever 30 increases as the elastic force of the treatment instrument 23 increases. Here, the relationship between the current value of the drive current and the magnitude of the operating load is not limited to the linear relationship shown in the figure, and may be non-linear.

When the standing table 50 is rotated in the direction from the standing position to the lying position, the elastic force of the treatment instrument 23 acts on the standing table 50, so that the DD motor 57 is operated regardless of the type of the treatment tool 23. The current value of the driving current consumed is greatly reduced. Therefore, the operation load application control unit 106 controls the motor 86 so that the magnitude of the operation load of the operation lever 30 decreases in accordance with the decrease in the current value of the drive current.

<Action of endoscope>
Next, the operation of the endoscope 10 having the above-described configuration, particularly the rotation control of the stand 50 and the application control of the operation load of the operation lever 30, will be described with reference to FIG. FIG. 15 is a flowchart showing the flow of the rotation control of the stand 50 and the operation load application control of the operation lever 30.

When the operator operates the operation lever 30 while the treatment tool 23 is pulled out from the distal end portion body 26 and the upright stand 50 is in the lying position (step S1), the operation lever 30 is operated in response to the operation. The rotation is started (step S2).

Then, the first rotary gear 84 is rotated according to the rotation of the operation lever 30, and the second rotary gear 85 meshed with this is also rotated. Accordingly, the rotation angle of the second rotary gear 85 is detected by the encoder 87, and the detection result of the rotation angle is input from the encoder 87 to the lever rotation position detection unit 100 of the endoscope CPU 80. Next, the lever rotation position detection unit 100 detects the rotation position of the operation lever 30 based on the detection result of the rotation angle of the second rotation gear 85 and the known gear ratio of the gear train 88 to detect the operation lever 30. The rotational position detection result is output to the current supply unit 102 (step S3).

The current supply unit 102 that has received the input of the rotation position detection result of the operation lever 30 determines the target rotation position of the stand 50 based on this rotation position detection result (step S4). Next, the current supply unit 102 supplies the drive current supplied from the power supply 92 to the DD motor 57 (coil 53) (step S5).

The DD motor 57 receives the drive current supplied from the current supply unit 102 and rotates the upright table 50 from the fall position to the target rotation position (step S6). Further, the base rotation position detection sensor 75 detects the rotation position of the stand 50 and outputs the detection result of the rotation position of the stand 50 to the current supply unit 102 (step S7).

Then, the current supply unit 102 supplies the drive current to the DD motor 57 so that the upright table 50 is rotated to the target rotational position based on the rotational position result of the upright table 50 input from the table rotation position detection sensor 75. Is adjusted (step S8).

For example, when the elastic force of the treatment instrument 23 derived from the distal end portion main body 26 is high and the stand 50 does not rotate to the target rotation position, the current supply unit 102 causes the stand 50 to reach the target rotation position. The drive current supplied to the DD motor 57 is increased. This prevents the stand 50 from rotating to the target rotation position corresponding to the rotation position of the operation lever 30 when the operator rotates the operation lever 30.

On the other hand, when the elastic force of the treatment instrument 23 derived from the distal end portion main body 26 is low and the stand 50 is rotating toward the target rotation position at a certain speed or higher, the current supply unit 102 causes the DD motor 57 to rotate. The drive current supplied to the device is appropriately reduced.

As described above, the current supply unit 102 adjusts the drive current supplied to the DD motor 57 based on the rotation position result of the stand 50 from the stand rotation position detection sensor 75 until the stand 50 reaches the target rotation position. Perform (step S9). As a result, the stand 50 can be reliably rotated to the target rotation position corresponding to the rotation position of the operation lever 30, regardless of the amount of elastic force of the treatment instrument 23.

On the other hand, in parallel with the processing from step S3 to step S9, the current value detection unit 104 detects the current value of the drive current consumed by the DD motor 57, and the detection result of the current value of the drive current is used to control the operation load application. The data is output to the unit 106 (step S10).

The operation load application control unit 106 that has received the detection result of the current value of the drive current determines the size of the operation load of the operation lever 30, and applies the operation load of the determined size to the operation lever 30. Then, the motor 86 is controlled (step S11).

For example, when the elastic force of the treatment tool 23 is high and the current value of the drive current consumed by the DD motor 57 increases, the motor 86 causes the operation load application control unit to increase the operation load of the operation lever 30. Controlled by 106.

On the other hand, when the elastic force of the treatment tool 23 is low and the current value of the drive current consumed by the DD motor 57 decreases, the motor 86 controls the operation load application so that the operation load of the operation lever 30 is appropriately reduced. It is controlled by the unit 106. When rotating the standing table 50 from the standing position to the lying position, the elastic force of the treatment tool 23 acts on the standing table 50, so that the current value of the drive current consumed by the DD motor 57 is significantly increased. As a result, the operation load of the operation lever 30 is also reduced.

As described above, in the present embodiment, since an appropriate operation load is applied to the rotational operation of the operation lever 30, it is possible to prevent the operation feeling of the operation lever 30 from being lightened, and to prevent the upright base 50 of the operation lever 30 from operating. The rotational position can be adjusted without any problem.

Further, since the magnitude of the operation load of the operation lever 30 can be changed according to the magnitude of the elastic force of the treatment tool 23, for example, the operational feeling of the operation lever 30 becomes light even though the elasticity of the treatment tool 23 is high. Such a shift in the operational feeling is prevented, and the operator can be provided with an operational feeling equivalent to that of a conventional endoscope in which the upright table 50 is rotated using the operation wire. Further, it is possible to prevent the treatment tool 23 having a particularly high elastic force from being bent suddenly to give a load to the treatment tool 23 or to damage the inside of the subject.

Hereinafter, when the rotation operation of the operation lever 30 is continued, the processing from step S1 to step S11 is repeatedly executed (step S12).

<Effect of this embodiment>
As described above, in the endoscope 10 of the present embodiment, the coil motor 53 provided in the upright stand housing chamber 44 and the magnet 54 provided in the upright stand 50 configure the DD motor 57. Unlike the case where the upright table 50 is rotated by simply using the attractive force due to the magnetic force between the two permanent magnets to rotate the upright table 50, the operation stability is maintained regardless of the elastic force of the treatment instrument 23. Can be secured. Further, unlike the case where the stand 50 is rotated using the ultrasonic motor, high-speed responsiveness to the operation of the operator can be secured. Furthermore, when cleaning and disinfecting the distal end portion 18 of the endoscope 10, it is sufficient to clean and disinfect the inside of the upright stand accommodating chamber 44, and where the cleaning and disinfection is performed as compared with the conventional lever-type treatment tool standing mechanism. Therefore, the cleaning property and the disinfecting property are secured. As a result, it is possible to secure all of the cleaning property, the disinfecting property, the operation stability, and the high speed response.

Hereinafter, other Embodiments 1 to 4 of the tip portion main body 26 of the above embodiment will be described. The other embodiments 1 to 4 may be combined appropriately. Further, since the other Embodiments 1 to 4 have basically the same configuration as the above-described embodiment, the same reference numerals are given to the same functions or configurations as those of the above-described embodiment, and the description thereof will be omitted.

<Other Embodiment 1>
FIG. 16A is a front view of the tip portion main body 26A of the first embodiment, and FIG. 16B is a sectional view taken along line 16B-16B in FIG. 16A. In the above embodiment, the magnet 54 is separately provided on the stand 50, but as shown in FIGS. 16A and 16B, in the other embodiment 1, the stand 50A at least a part of which is formed of a magnet is used. The rotary shaft 52 is held in the upright stand accommodating chamber 44A. In addition, "at least one part is formed of a magnet" here includes that at least one part of the stand 50A formed of a magnetic material is magnetized (magnetized).

When a drive current is supplied to the coil 53 as in the above embodiment, the DD motor 57A is configured between the coil 53 and the stand 50A (magnet). With the DD motor 57A, the upright base 50A can be rotated between the lying position and the upright position as in the above embodiment.

As described above, by using the upright table 50A at least a part of which is formed of a magnet, it is not necessary to separately provide the magnet 54 as in the above embodiment, and the upright table accommodating chamber 44A can be saved in space. As a result, the tip portion main body 26A can be made smaller than in the above embodiment.

<Other Embodiment 2>
FIG. 17 is a front view of the tip portion main body 26B of the second embodiment. In the above-described embodiment, the coil 53 is housed in the coil housing portion 70 in the upright stand housing chamber 44. However, as shown in FIG. 17, in the other embodiment 2, the coil 53 is housed in the first wall portion 46B of the tip body 26B. The coil 53 is housed.

Inside the first wall portion 46B, an airtight coil housing chamber 110 (corresponding to the second housing chamber of the present invention) for housing the coil 53 is provided at a position apart from the upright stand housing chamber 44 in the axial direction of the rotating shaft 52. Has been formed. The coil 53 is housed in the coil housing chamber 110. The coil 53 of the DD motor 57, unlike the stator of the ultrasonic motor described in Patent Document 2, does not have to be in direct contact with the stand 50 or the like, and thus can be housed in the coil housing chamber 110. .. Further, in this case, when the current flows through the coil 53, in order to prevent the entire first wall portion 46B from acting as a magnet and affecting the magnet 54 of the stand 50, the first wall portion 46B is It is preferably formed of a non-magnetic material.

Since the DD motor 57 is configured between the coil 53 and the magnet 54 by supplying the drive current to the coil 53 as in the above embodiment, the posture of the stand 50 can be displaced by the DD motor 57. ..

When the coil 53 is provided inside the coil housing chamber 110 (inside the first wall portion 46B), the strength of the magnetic field acting on the magnet 54 from the coil 53 decreases, so that the drive current supplied to the coil 53 increases. Need to let. In other words, in the above-described embodiment, since the coil 53 is provided in the upright stand accommodating chamber 44, the coil 53 needs to be cleaned and disinfected, but the drive current can be reduced as compared with the second embodiment.

In this way, when the coil 53 is housed in the airtight coil housing chamber 110 outside the upright stand housing chamber 44, cleaning and disinfection operations for the coil 53 are not required, unlike the above-described embodiment. The cleaning property and the disinfecting property can be improved as compared with the above embodiment.

<Other Embodiment 3>
In the above-described embodiment, the upright table 50 is rotated by the DD motor 57 between the fall position and the upright position. However, in order to maintain the upright table 50 in the upright position, the drive current is supplied to the coil 53. Need to continue. On the other hand, in the third embodiment, the posture of the stand 50 can be maintained even when the supply of the drive current to the coil 53 is stopped.

FIG. 18 is an explanatory diagram for explaining a posture displacement state 114A and a posture maintaining state 114B of the upright table 50 in the tip portion main body 26C of the third embodiment. As shown in FIG. 18, in the tip portion main body 26C of the third embodiment, bearing holes that pivotally support the rotating shaft 52 of the upright stand 50 are provided on the opposing surfaces of the first wall portion 46 and the second wall portion 48 that face each other. 115 and 116 are formed. Further, the standing base storage chamber 44C (corresponding to the first storage chamber of the present invention) formed between the first wall portion 46 and the second wall portion 48 is arranged in the axial direction of the rotary shaft 52 rather than the standing base 50. It is formed long.

The bearing hole 115 formed in the first wall portion 46 and the bearing hole 116 formed in the second wall portion 48 are formed longer in the axial direction than the rotary shaft 52 protruding laterally of the upright 50. Has been done. As a result, the upright table 50 is held in the upright table housing chamber 44C so as to be displaceable in the axial direction of the rotary shaft 52.

Further, the inner diameter of the bearing hole 115 is formed longer than the diameter of the rotary shaft 52. A compression coil spring 118 corresponding to the biasing member of the present invention is provided in the bearing hole 115.

The compression coil spring 118 urges the upright table 50 in the axial direction of the rotating shaft 52 in a direction B away from the coil 53 toward the wall portion (wall surface of the second wall portion 48) of the upright table housing chamber 44C. As a result, when the supply of the drive current from the current supply unit 102 to the DD motor 57 (coil 53) is stopped, the upright stand 50 is pressed against the wall portion of the upright stand housing chamber 44C by the urging force of the compression coil spring 118. The stand 50 is locked to the wall of the stand housing chamber 44C. As a result, the standing table 50 is in the posture maintaining state 114B.

On the other hand, when the supply of the drive current from the current supply unit 102 to the DD motor 57 is started, the standing table 50 resists the biasing force of the compression coil spring 118 due to the magnetic attractive force generated between the coil 53 and the magnet 54. It is urged in the direction A away from the wall of the upright stand storage chamber 44C. As a result, the stand 50 is unlocked and the posture of the stand 50 can be displaced by the DD motor 57 including the coil 53 and the magnet 54. As a result, the standing table 50 is in the posture displacement state 114A.

The current supply unit 102 (see FIG. 11) according to the third embodiment is based on the detection result of the rotation position of the operation lever 30 by the lever rotation position detection unit 100, and in the stationary state in which the operation lever 30 is not rotating, the DD motor 57 ( The supply of the drive current to the coil 53) is stopped. Further, the current supply unit 102 starts the supply of the drive current to the DD motor 57 in the operation state in which the rotation of the operation lever 30 is started based on the detection result of the rotation position of the operation lever 30. As a result, the stand 50 can be switched between the posture displacement state 114A and the posture maintaining state 114B.

As described above, in the third embodiment, even when the supply of the drive current to the DD motor 57 (coil 53) is stopped, the upright stand 50 is moved to the wall portion of the upright stand chamber 44C by the biasing force of the compression coil spring 118. It can be pressed and locked. As a result, when the operation lever 30 is not operated, the posture of the stand 50 can be maintained without supplying the drive current to the DD motor 57, and thus power saving can be achieved as compared with the above embodiment.

FIG. 19 is a front view of a tip portion main body 26C1 which is a modified example of the third embodiment. As shown in FIG. 19, in the third embodiment, the upright stand 50 is urged in the direction B by the compression coil spring 118. However, for example, the leaf spring 120 (main body) provided on the wall surface of the first wall portion 46 The standing table 50 may be biased in the direction B using a biasing member of the invention. In the tip body 26C1, the inner diameter of the bearing hole 115 is formed to match the diameter of the rotary shaft 52.

Further, the urging member for urging the stand 50 in the B direction is not limited to the compression coil spring 118 and the leaf spring 120, and various urging members can be used.

<Other Embodiment 4>
FIG. 20 is a front view of the tip portion main body 26D of the fourth embodiment. In the above-described embodiment, it is necessary to supply the drive current to the coil 53 in order to rotate the upright table 50, and if the drive current is continuously supplied to the coil 53, the DD motor 57 (coil 53) generates heat. Further, when a treatment tool 23 having a large elastic force such as a treatment tool 23 having a large diameter is used, a high torque is required when rotating the upright base 50 from the fall position to the upright position, and the coil Since the drive current consumed by 53 increases, the DD motor 57 may further generate heat.

Therefore, a cooling unit 125 that cools the DD motor 57 (in particular, the coil 53) is provided in the tip portion main body 26D of the fourth embodiment. The cooling section 125 is, for example, a water jacket (cooling water passage) provided in the first wall section 46. The cooling unit 125 cools the DD motor 57 via the first wall portion 46 by circulating the cooling water in the first wall portion 46. The circulation of the cooling water may be performed by, for example, an air/water supply device (not shown).

As described above, in the other embodiment 4, since the DD motor 57 can be cooled by the cooling unit 125, heat generation of the DD motor 57 can be reduced. The type and arrangement of the cooling unit 125 are not particularly limited as long as the DD motor 57 can be cooled.

<Other>
In the above-described embodiment, the operation lever 30 that is rotated by the operator is described as an example of the operation member for rotating the stand 50. However, instead of the operation lever 30, a slider-type operation member or the like is used. Various operating members may be used.

In the above-described embodiment, the DD motor that generates the driving force between the coil and the magnet to rotate the upright table has been described as an example. Various actuators that can rotate the table may be used.

In the above-described embodiment, the side-viewing endoscope has been described as an example. The present invention can be applied to an endoscope.

10 endoscope 12 insertion part 14 operation part 16 universal cord 16a connection connector 17 processor 18 tip part 20 bending part 22 flexible part 23 treatment tool 24 treatment tool insertion channel 26 tip part body 26A tip part body 26B tip part body 26C tip part Body 26C1 Tip Body 26D Tip Body 27 Cap 28 Angle Knob 30 Control Lever 32 Air/Water Button 34 Suction Button 36 Treatment Tool Inlet 38 Treatment Tool Outlet 44 Stand Stand Chamber 44A Stand Stand Chamber 44C Stand Stand Chamber 45 Base 46 First Wall 46B First Wall 48 Second Wall 50 Stand 50A Stand 52 Rotating Shaft 53 Coil 53a Coil 54 Magnet 55 Bearing Hole 57 Direct Drive Motor (DD Motor)
57A Direct drive motor (DD motor)
62 Illumination Window 64 Observation Window 68 Stepped Area 69 Notch 70 Coil Housing 72 Power Cable 73 Through Hole 75 Unit Rotation Position Detection Sensor 77 Signal Cable 80 Endoscope CPU
82 rotation operation mechanism 84 first rotation gear 85 second rotation gear 86 motor 87 encoder 88 gear train 90 processor CPU
92 power supply 100 lever rotation position detection unit 102 current supply unit 104 current value detection unit 106 operation load application control unit 110 coil storage chamber 114A posture displacement state 114B posture maintenance state 115 bearing hole 116 bearing hole 118 compression coil spring 120 leaf spring 125 cooling unit 200 Initial state 201 First rotation state 202 Second rotation state S1 to S11 Action of endoscope

Claims (12)

An insertion portion having a distal end and a proximal end,
A tip portion main body provided on the tip side of the insertion portion,
A first storage chamber provided in the tip body,
A stand that is rotatably held by a rotary shaft provided in the first storage chamber,
A coil provided in a position apart from the upright in the axial direction of the rotating shaft in the tip body, and having a shape along a rotation locus of the upright that rotates in the tip body;
A magnet provided on the stand,
A current supply unit that supplies a driving current to the coil to configure an actuator that generates a driving force between the coil and the magnet, and that rotates the upright base by the actuator.
A second accommodating chamber that is provided in the tip body in a position apart from the first accommodating chamber in the axial direction, and that accommodates the coil, is airtight and entirely formed of a non-magnetic material ;
An endoscope equipped with. An insertion portion having a distal end and a proximal end,
A tip portion main body provided on the tip side of the insertion portion,
A first storage chamber provided in the tip body,
A stand which is rotatably held by a rotary shaft provided in the first storage chamber, the stand being at least partially formed of a magnet,
A coil provided in a position apart from the upright in the axial direction of the rotating shaft in the tip body, and having a shape along a rotation locus of the upright that rotates in the tip body;
A current supply unit that supplies a driving current to the coil to configure an actuator that generates a driving force between the coil and the magnet, and that rotates the upright base by the actuator.
A second accommodating chamber that is provided in the tip body in a position apart from the first accommodating chamber in the axial direction, and that accommodates the coil, is airtight and entirely formed of a non-magnetic material ;
An endoscope equipped with. An operation part having an operation member is provided on the base end side of the insertion part,
The endoscope according to claim 1, wherein the current supply unit adjusts the drive current supplied to the coil according to an operation of the operation member, and controls rotation of the upright table by the actuator. A standing stand rotation position detection unit for detecting a rotation position of the standing stand is provided,
The current supply unit adjusts the drive current supplied to the coil based on the detection result of the standing base rotation position detection unit to rotate the standing base to the rotation position according to the operation of the operating member. The endoscope according to Item 3. An operation position detection unit for detecting an operation position of the operation member is provided,
The current supply unit adjusts the drive current supplied to the coil to rotate the stand up to a rotation position of the stand corresponding to the operation position of the operation member detected by the operation position detection unit. The endoscope according to Item 3 or 4. The endoscope according to any one of claims 3 to 5, wherein the operation unit includes an operation load application unit that applies an operation load to the operation of the operation member. A current value detector for detecting a current value of the drive current consumed by the actuator,
The endoscope according to claim 6, wherein the operation load application unit controls the magnitude of the operation load based on the detection result of the current value detection unit. The upright table is held in the first housing chamber so as to be displaceable in the axial direction,
A biasing member that is provided on the tip portion main body and that biases the upright table in a direction away from the coil in the axial direction toward the wall portion of the first storage chamber;
When the supply of the drive current from the current supply unit to the coil is stopped, the stand is pressed against the wall portion by the bias of the biasing member and locked, and the supply of the drive current is performed. The endoscope according to any one of claims 3 to 7, which, when starting, moves away from the wall portion against an urging force of the urging member by an attractive force generated between the coil and the magnet. .. An insertion portion having a distal end and a proximal end,
A tip portion main body provided on the tip side of the insertion portion,
A first storage chamber provided in the tip body,
A stand that is rotatably held by a rotating shaft provided in the first storage chamber,
A coil provided in a position apart from the upright in the axial direction of the rotating shaft in the tip body, and having a shape along a rotation locus of the upright that rotates in the tip body;
A magnet provided on the stand,
A current supply unit that supplies a drive current to the coil to configure an actuator that generates a drive force between the coil and the magnet, and that rotates the upright base by the actuator.
Equipped with
An operation part having an operation member is provided on the base end side of the insertion part,
The current supply unit adjusts the drive current supplied to the coil according to the operation of the operation member, and controls the rotation of the upright table by the actuator,
The upright table is held in the first storage chamber so as to be displaceable in the axial direction,
A biasing member that is provided on the tip portion main body and that biases the upright table in a direction away from the coil in the axial direction toward the wall portion of the first storage chamber;
When the supply of the drive current from the current supply unit to the coil is stopped, the stand is pressed against the wall portion by the bias of the biasing member and locked, and the supply of the drive current is performed. The endoscope which separates from the wall portion against the bias of the biasing member due to the attractive force generated between the coil and the magnet when starting. An insertion portion having a distal end and a proximal end,
A tip portion main body provided on the tip side of the insertion portion,
A first storage chamber provided in the tip body,
A stand which is rotatably held by a rotary shaft provided in the first storage chamber, the stand being at least partially formed of a magnet,
A coil provided in a position apart from the upright in the axial direction of the rotating shaft in the tip body, and having a shape along a rotation locus of the upright that rotates in the tip body;
A current supply unit that supplies a driving current to the coil to configure an actuator that generates a driving force between the coil and the magnet, and that rotates the upright base by the actuator.
Equipped with
An operation part having an operation member is provided on the base end side of the insertion part,
The current supply unit adjusts the drive current supplied to the coil according to the operation of the operation member, and controls the rotation of the upright table by the actuator,
The upright table is held in the first housing chamber so as to be displaceable in the axial direction,
A biasing member that is provided on the tip portion main body and that biases the upright table in a direction away from the coil in the axial direction toward the wall portion of the first storage chamber;
When the supply of the drive current from the current supply unit to the coil is stopped, the stand is pressed against the wall portion by the bias of the biasing member and locked, and the supply of the drive current is performed. The endoscope which separates from the wall portion against the bias of the biasing member due to the attractive force generated between the coil and the magnet when starting. The endoscope according to claim 8, wherein the current supply unit stops the supply of the drive current to the coil when the operation member is in a stationary state. The endoscope according to any one of claims 1 to 11, wherein a cooling unit that cools the actuator is provided on the tip body.

Images