JPH0131895B2 - - Google Patents

Info

Publication number
JPH0131895B2
JPH0131895B2 JP56176917A JP17691781A JPH0131895B2 JP H0131895 B2 JPH0131895 B2 JP H0131895B2 JP 56176917 A JP56176917 A JP 56176917A JP 17691781 A JP17691781 A JP 17691781A JP H0131895 B2 JPH0131895 B2 JP H0131895B2
Authority
JP
Japan
Prior art keywords
section
control lever
deflection
curved
contact
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired
Application number
JP56176917A
Other languages
English (en)
Other versions
JPS5878639A (ja
Inventor
Shuichi Takayama
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Olympus Corp
Original Assignee
Olympus Optical Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Olympus Optical Co Ltd filed Critical Olympus Optical Co Ltd
Priority to JP56176917A priority Critical patent/JPS5878639A/ja
Priority to US06/438,459 priority patent/US4503842A/en
Priority to DE8282110131T priority patent/DE3275624D1/de
Priority to AT82110131T priority patent/ATE25812T1/de
Priority to EP82110131A priority patent/EP0079525B1/en
Publication of JPS5878639A publication Critical patent/JPS5878639A/ja
Publication of JPH0131895B2 publication Critical patent/JPH0131895B2/ja
Granted legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G9/04785—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks the controlling member being the operating part of a switch arrangement
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00002—Operational features of endoscopes
    • A61B1/00039—Operational features of endoscopes provided with input arrangements for the user
    • A61B1/00042—Operational features of endoscopes provided with input arrangements for the user for mechanical operation
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/00147—Holding or positioning arrangements
    • A61B1/0016—Holding or positioning arrangements using motor drive units
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61B—DIAGNOSIS; SURGERY; IDENTIFICATION
    • A61B1/00—Instruments for performing medical examinations of the interior of cavities or tubes of the body by visual or photographical inspection, e.g. endoscopes; Illuminating arrangements therefor
    • A61B1/005—Flexible endoscopes
    • A61B1/0051—Flexible endoscopes with controlled bending of insertion part
    • A61B1/0052—Constructional details of control elements, e.g. handles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/04703—Mounting of controlling member
    • G05G2009/04707—Mounting of controlling member with ball joint
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04744—Switches
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05G—CONTROL DEVICES OR SYSTEMS INSOFAR AS CHARACTERISED BY MECHANICAL FEATURES ONLY
    • G05G9/00—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously
    • G05G9/02—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only
    • G05G9/04—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously
    • G05G9/047—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks
    • G05G2009/0474—Manually-actuated control mechanisms provided with one single controlling member co-operating with two or more controlled members, e.g. selectively, simultaneously the controlling member being movable in different independent ways, movement in each individual way actuating one controlled member only in which movement in two or more ways can occur simultaneously the controlling member being movable by hand about orthogonal axes, e.g. joysticks characterised by means converting mechanical movement into electric signals
    • G05G2009/04748—Position sensor for rotary movement, e.g. potentiometer

Landscapes

  • Life Sciences & Earth Sciences (AREA)
  • Health & Medical Sciences (AREA)
  • Surgery (AREA)
  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radiology & Medical Imaging (AREA)
  • Public Health (AREA)
  • Nuclear Medicine, Radiotherapy & Molecular Imaging (AREA)
  • Optics & Photonics (AREA)
  • Pathology (AREA)
  • Veterinary Medicine (AREA)
  • Biophysics (AREA)
  • Biomedical Technology (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Medical Informatics (AREA)
  • Molecular Biology (AREA)
  • Animal Behavior & Ethology (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Endoscopes (AREA)
  • Instruments For Viewing The Inside Of Hollow Bodies (AREA)

Description

【発明の詳細な説明】 この発明は、内視鏡、特にモータドライブによ
り彎曲部を駆動する内視鏡に関する。
最近、モータドライブにより彎曲部を駆動する
内視鏡が開発されているが従来のモータドライブ
式内視鏡では、彎曲部を上下左右の４方向に移動
させるため４つのスイツチが設けられている。こ
のような多数のスイツチを操作して彎曲部の方向
を変える方法では、誤つてスイツチを操作し意図
しない方向に彎曲部が移動してしまうことがあ
り、操作性が悪るいという欠点がある。
従つて、この発明の目的は、１つの操作手段に
よつて任意に彎曲部の彎曲方向を変えることがで
きるモータドライブ式内視鏡を提供することにあ
る。
以下図面を参照してこの発明の実施例を説明す
る。
第１図に示す内視鏡によると、操作部１１には
彎曲部モータドライブユニツト１２が設けられて
いる。このモータドライブユニツト１２におい
て、モータ１３及び１４のシヤフトにはウオーム
ギヤ１５及び１６が夫々取着されている。ウオー
ムギヤ１５及び１６はギヤ１７及び１８に夫々噛
合される。ギヤ１７及び１８はワイヤドラム１９
及び２０に同軸に固着される。ワイヤドラム１９
及び２０にはワイヤ２１及び２２が巻着される。
ワイヤ２１及び２２は挿入部２３の軟性部２４及
び彎曲部２５を通り先端が先端構成部２６に固着
される。この場合、ワイヤ２１の先端は上下に位
置するよう固着されワイヤ２２の先端は右左に位
置するように固着される。彎曲制御レバー２７は
操作部１１に設けられる。制御レバー２７にはス
イツチユニツト２８が連結される。このスイツチ
ユニツト２８は第２図に示すように制御レバー２
７に同軸に取着された円形接触板２９とこの接触
板２９に所定間隔をもつて対向して設けられ放射
状に配列された複数、例えば16個の接触片ａ乃至
ｐが取着された接点板３０とで構成される。制御
レバー２７は解放状態では直立するようにバネ３
１により引張られている。制御レバー２７はスイ
ツチユニツト２８で支えられた支点１００を中心
に回転するが通常ではバネ３１がスイツチユニツ
ト２８の一面に設けられた穴１０１に入つていて
直立を保つ構造になつている。制御レバー２７に
力が加えられたとき例えば第３図に示すように接
触板２９が接点板３０の接触片に接触する。この
時バネ３１は第３図のように一方が穴１０１に規
制されているので変形し、レバー２７が復帰する
方向に力が加わつている。
内視鏡の接眼部３２には接眼レンズ３３及び彎
曲部２５の彎曲方向を表示するLED３４乃至３
７が設けられる。イメージガイド３８は接眼部３
２から操作部１１を介して挿入部２３の先端構成
部２６まで延びている。ライトガイド３９は先端
構成部２６から挿入部２３及び操作部１１を介し
てユニバーサルコード（図示せず）に導かれる。
第４図乃至第６図にはモータドライブユニツト
１２の電気回路が示されている。第４図の回路に
よると、NORゲート４１の入力端は接触片ａ，
ｂ，ｃに接続され、NORゲート４２の入力端は
接触片ｃ，ｄ，ｍ，ｎに接続され、NORゲート
４３の入力端は接触片ｄ，ｅ，ｆに接続され、
NORゲート４４の入力端は接触片ｂ，ｃ，ｇ，
ｈに接続され、NORゲート４５の入力端は接触
片ｈ，ｉ，ｊに接続され、NORゲート４６の入
力端は接触片ｆ，ｇ，ｋ，ｌに接続され、NOR
ゲート４７の入力端は接触片ｌ，ｍ，ｎに接続さ
れ、NORゲート４８の入力端は接触片ｊ，ｋ，
ｏ，ｐに接続される。また、これらNORゲート
４１乃至４８の入力端は抵抗を夫々介して電源７
０の接地端に接続される（図示せず）。NORゲー
ト４１乃至４８の出力端はフオトカプラ５１乃至
５８のLED５１ｅ乃至５８ｅのカソードに夫々
接続される。LED５１ｅ乃至５８ｅのアノード
は抵抗６１乃至６８を夫々介して電源７０の
VCC端に接続される。また、この電源７０の
VCC端は接触片２９に接続される。フオトカプ
ラ５１及び５５のフオトトランジスタ５１ｒ及び
５５ｒのコレクタエミツタ路は互に直列に接続さ
れ接続点はLED３４及び３７のアノードに接続
される。LED３４及び３７のアノードは抵抗７
１及び７２を介してフオトカプラ５２のフオトト
ランジスタ５２ｒのエミツタ及びフオトカプラ５
６のフオトトランジスタ５６ｒのコレクタに接続
される。LED３４及び３５のカソードはトラン
ジスタ７３及び７４のベースに接続される。トラ
ンジスタ７３及びトランジスタ７４のエミツタは
モータ１４の一端に接続される。モータ１４の他
端は電源７５，７６の接続点に接続される。ま
た、この電源７５，７６の接続点は抵抗７７及び
７８を介してLED３４のアノード及びLED３５
のカソードに接続される。電源７５の正極はトラ
ンジスタ７３並びにフオトトランジスタ５１ｒ及
び５２ｒのコレクタに接続され、電源７６の負極
は、トランジスタ７４のコレクタ並びにフオトト
ランジスタ５５ｒ及び５６ｒのエミツタに接続さ
れる。
第６図の回路は第５図と同様に接続される。
尚、第６図において、抵抗７９及び８０は抵抗７
１及び７２に対応し、トランジスタ８１及び８２
はトランジスタ７３及び７４に対応し、抵抗８５
及び８６は抵抗７７及び７８に対応し、電源８３
及び８４は電源７５及び７６に対応する。但し、
第５図の回路は彎曲部２５を上下に動かすモータ
ドライブ回路であり、第６図は彎曲部２５を左右
に動かすモータドライブ回路である。
次に、上述した内視鏡の動作を説明する。制御
レバー２７が解放状態にあるとき接触板２９は接
触片ａ乃至ｐのいずれにも接触していないのでフ
オトカプラ５１乃至５８は動作しておらず従つて
モータ１３及び１４は給電されず停止している。
制御レバー２７が上方に動かされ接触板２９が接
触片ａに接触するとNORゲート４１の出力が低
レベルとなりフオトカプラ５１のLED５１ｅが
点灯する。このため、第５図に示すフオトトラン
ジスタ５１ｒが導通しこのフオトトランジスタ５
１ｒ及びLED３４を介してトランジスタ７３に
ベース電流が流れ、このトランジスタ７３が導通
する。このトランジスタ７３のコレクタエミツタ
を介してモータ１４が正転する。モータ１４が正
転すると第１図に示すワイヤドラム２０が矢印の
方向に回動される。これに伴つて上側のワイヤ２
２が引張られ彎曲部２５が上方に屈曲される。上
方彎曲状態はLED３４の点灯によつて表示され
る。所望位置まで屈曲されたとき制御レバー２７
が解放されるとモータ１４の回転が停止し彎曲部
２５はそのときの彎曲角度に維持される。
接触板２９が接触片ｃに接触するように制御レ
バー２７が操作されると第４図のNORゲート４
２及び４４の出力が低レベルとなりフオトカプラ
５２及び５４が光結合しフオトトランジスタ５２
ｒ及び５４ｒ（第５図及び第６図）が導通する。
この結果、トランジスタ７３及び８１には抵抗７
１，７７及び抵抗７９，８５の分圧電圧がバイア
ス電圧として印加され、モータ１３及び１４には
これらバイアス電圧に応じた駆動電流が流れモー
タ１３及び１４は正規の回転速度例えば1/2の速
度で回転する。この回転速度に応じて第１図に示
すワイヤドラム１９及び２０は矢印の方向にゆつ
くり回動する。この場合、彎曲部２５は45度の方
向に彎曲する。この彎曲方向はLED３４及び３
６の点灯により認識できる。
以上説明したようにこの発明によると、１つの
制御レバーを所望の位置へ移動させることにより
彎曲部を所望位置へ彎曲させることができるので
操作性がかなり向上する。また、彎曲方向は制御
レバーの位置により知ることができるが内視鏡の
視野内に彎曲方向を表示する表示体が設けられて
いるので彎曲方向が視覚的にも知ることができ正
確な位置判断ができる。
尚、上記実施例では、接触片が円周方向に16個
設けられ、彎曲部は16方向に彎曲できるように構
成されているが彎曲方向は16方向以上または以下
であつてもよい。また、接触片を用いる代りにマ
イクロスイツチを用いてもよい。
【図面の簡単な説明】
第１図はこの発明の一実施例に従つた内視鏡の
概略構成を示す斜視図、第２図及び第３図は第１
図に示すスイツチユニツトの斜視図、そして第４
図乃至第６図はモータドライブユニツトの回路図
を示す。 １１…操作部、１２…モータドライブユニツ
ト、１３，１４…モータ、１９，２０…ワイヤド
ラム、２１，２２…ワイヤ、２３…挿入部、２４
…軟性部、２５…彎曲部、２６…先端構成部、２
７…彎曲角制御レバー、２８…スイツチユニツ
ト、３２…接眼部、３４乃至３７…LED、３８
…イメージガイド、３９…ライトガイド。

Claims (1)

    【特許請求の範囲】
  1. １ 操作部と、前記操作部から延在し、軟性部、
    湾曲部及び先端構成部から成る挿入部と、前記湾
    曲部を湾曲駆動するモータドライブユニツトと、
    前記操作部に設けられ、湾曲方向を指示する湾曲
    制御レバーと、前記湾曲制御レバーの操作により
    駆動される複数個のスイツチと、前記スイツチに
    より前記モータドライブユニツトを制御する制御
    手段とにより構成される内視鏡。
JP56176917A 1981-11-04 1981-11-04 内視鏡 Granted JPS5878639A (ja)

Priority Applications (5)

Application Number Priority Date Filing Date Title
JP56176917A JPS5878639A (ja) 1981-11-04 1981-11-04 内視鏡
US06/438,459 US4503842A (en) 1981-11-04 1982-11-02 Endoscope apparatus with electric deflection mechanism
DE8282110131T DE3275624D1 (en) 1981-11-04 1982-11-03 Endoscope apparatus with electric deflection mechanism
AT82110131T ATE25812T1 (de) 1981-11-04 1982-11-03 Endoskopisches geraet mit elektrischem biegemechanismus.
EP82110131A EP0079525B1 (en) 1981-11-04 1982-11-03 Endoscope apparatus with electric deflection mechanism

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP56176917A JPS5878639A (ja) 1981-11-04 1981-11-04 内視鏡

Publications (2)

Publication Number Publication Date
JPS5878639A JPS5878639A (ja) 1983-05-12
JPH0131895B2 true JPH0131895B2 (ja) 1989-06-28

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JP56176917A Granted JPS5878639A (ja) 1981-11-04 1981-11-04 内視鏡

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DE3275624D1 (en) 1987-04-16
US4503842A (en) 1985-03-12
EP0079525B1 (en) 1987-03-11
ATE25812T1 (de) 1987-03-15
EP0079525A1 (en) 1983-05-25

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