JPH02161929A - Endoscope - Google Patents

Abstract

PURPOSE:To change a bent shape by external force even when a bending part is kept to a fixed bent state by using an oscillatory wave motor as a bending driving means for the bending part and generating a standing wave in the oscillatory wave motor. CONSTITUTION:When an inserting part 2 of an endoscope 100 is inserted into a body cavity, and a bending part 4 is to be bent upward, an operator moves a bending operating switch 7 upward. Further, when the operator desires to operate the bending part 4 downward, rightward, and leftward, switch control circuits 17, 18, and 19 are actuated, and the bending part 4 is bent in the respective directions by moving the switch 7 downward, rightward, and leftward. On the other hand, when the fixed holding power of the bending part 4 is to be changed, a free/lock changeover switch 8 is operated Thus, a switch control circuit 28 switches the output of an H level and the output of an L level, and the bending part 4 is made into a free state. Thus, since the bent shape can be changed by the external force even when the bending part 4 is fixed to the bent state, a bending angle can be naturally decreased, a high load is never applied to a body cavity wall 110, and the fear of drilling can be eliminated even when the bending part 4 touches the body cavity wall 100.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope that uses a vibration wave motor as a bending drive means for a bending portion.

[Prior Art] In recent years, by inserting an elongated insertion section into a body cavity, it has become possible to observe fA organs, etc. in the body cavity, and to perform various therapeutic treatments as necessary using a treatment instrument inserted into a treatment instrument channel. Endoscopes are widely used.

By the way, some of the endoscopes are provided with a bendable curved section on the distal end side of the insertion section, and this curved section can be manipulated to bend. The means for operating the curved portion C is
In addition to those in which a bending operation knob is provided on the operating section and the bending operation knob is rotated, there are also those in which a driving means such as a motor is provided near the bending section.

For example, in Japanese Patent Application Laid-Open No. 61-106126, a vibration wave motor is installed as a driving means near the curved part of the insertion part.
Noda endoscope has been disclosed.

In an endoscope that uses a C vibration wave motor as a bending drive means, conventionally, when operating a bending part, a traveling wave is supplied to the vibration wave motor to reduce the resistance of the bending part against external force. If the amount is to be decreased, a free state is created by supplying a standing wave. Further, when neither the traveling wave nor the standing wave is supplied, the bending portion is in a locked state.

[Problem to be solved by the invention 1 By the way, the sufficient bending angle is 1! ? In order to achieve this, it is necessary to make the output torque of the vibration wave motor relatively large. The fact that the output torque is large means that the holding torque is also large, and the 1-1 ivy state of the curved portion has a considerable fixing force.

However, the surgeon relies on the locked state to fix the curved portion, but if this fixing force becomes too great, it can cause problems.

For example, as shown in FIG. 16(a), when the insertion portion 2 is moved with the bending portion 4 in the locked state, the bending portion 4 may be moved as shown in FIG. 16(b). body vA
Occurs when the wall 110 is contacted. That is, when the body cavity wall 110 is pushed with more than a certain force, it is desirable that the curve angle naturally decreases, but since the fixing force is strong, a high load is applied to the body cavity wall 110, and there is a risk of perforation.

The present invention has been made in view of the above-mentioned circumstances, and uses a vibration wave motor as a means for driving the bending portion, and even when the bending portion is fixed in a curved state, the curved shape changes due to external force. The aim is to provide an endoscope that can

[Means for Solving the Problems] The endoscope of the present invention is one in which the bending portion of the insertion section is bent by the driving force of a vibration wave motor, in which the vibration wave
The vibration wave motor is provided with a control means capable of generating a standing wave in the vibration wave motor when at least fixing the curved state of the curved portion.

[Function] In the present invention, when fixing the curved state of the curved portion, a standing wave is generated in the vibration wave [-ta], thereby making it possible to change the curved shape by external force.

[Example] Hereinafter, the present invention will be described in detail with reference to the drawings.

FIGS. 1 to 5 relate to the first embodiment of the present invention.
Figure 1 shows the configuration of the control device. Figure 2 is a side view showing the entire endoscope. Figure 3 is a cross-sectional view of the operating section of the endoscope. Figure 4 shows the traction section for bending operation. Explanatory diagrams shown in FIGS. 5(a) and (b) 1. FIG. 7 is an explanatory diagram showing a state in which the insertion section is widened from inside the body cavity with the i-curved section fixed in a curved state.

As shown in FIG. 2, an endoscope 100i, an operating section 1,
An elongated and flexible insertion section 2 extending from the operating section 1, a universal cord 3 extending laterally from the operating section 1, and a cord installed at the tip of the universal cord 3. ] connector 5 for connecting an external device. The connector 5 is connected to a video processor 101 containing a light source device and a signal processing circuit.

A bending part 4 that can be bent in vertical and horizontal directions is provided on the distal end side of the insertion part 2. Further, the operating section 1 is provided with a grip section 6, a bending operation switch 7 for bending the bending section 4, and a free/lock changeover switch 8 for changing the fixing force of the bending section 4. It is being

The distal end of the insertion section 2 is provided with an illumination window and an observation window. A light distribution lens (not shown) is mounted inside the illumination window, and a light guide is connected to the rear end of the light distribution lens. This light guide is inserted into the insertion section 2.
It is inserted through the operating section 1 and the universal cord 3 and connected to the connector 5. At the end of the light guide, the illumination light emitted from the light source device in the video processor 101 illuminates the human body! 8. Furthermore, an objective lens system (not shown) is mounted inside the observation window, and a solid-state imaging device such as a COD (not shown) is disposed at the imaging position of this objective lens system. Connected to this solid-state image sensor! ,: The image transmitting body 10, that is, the lead wire is inserted through the insertion section 28, the operation section 1, and the universal cord 3 (connected to the connector 5). The signal processing circuit is driven by a signal processing circuit, and the read signal is subjected to video signal processing in the signal processing circuit.The video signal from this signal processing circuit is input to a monitor (not shown). , the subject image is displayed on this monitor.

As shown in FIG. 3, two ultrasonic motor units 31 are installed in the operating section 1 as vibration wave generators serving as bending drive means for the bending section 4. As shown in FIG.

Ultrasonic waves in this ultrasonic motor unit 31
2 includes a disc-shaped stay 933 and a rotor 34 that contacts the surface of the stay 933 that faces the case 25 side, and the rotor 34 that contacts the surface of the stay 933 that faces the case 25 side. A piezoelectric body 35 is adhesively fixed to the surface. The rotor 34 is fitted onto and fixed to the tip of the one-rotation shaft 36. The rotating shaft 36 is supported by a thrust bearing 37 and a first radial bearing 38. The thrust bearing 37 and the first
The radial bearing 38 of the bearing box 39
It is housed and supported inside.

This bearing box 39 is connected to the subframe 27 and fixed with screws 41. Also, the stator 33 is fitted on the outer periphery of the bearing box 39. is fixed by being tightened by a nut 43 that is screwed into a screw 42 formed on the outer periphery of the bearing box 39. In other words, the stator 33 is fixed and cannot rotate.

Further, the thrust bearing 3 is fixed at a fixed position on the rotating shaft 36 by a nap ring 45.

The snap ring 45 is supported by a washer 47 fitted into a groove 46 provided around the rotating shaft 36.

7'l, A disc spring 49 is attached by caulking to the outer end of the rotating shaft 36 supported in this way, and this spring 49 is strongly attached in the direction of pressing the rotor 34 against the stator 33. It is strong. Furthermore, the rotor 34 and the disc spring 4
A rubber sheet 44 is provided between 9 and 9 to protect the rotor 34 from (U).

Further, the rotation shaft 36 of the ultrasonic unit 31 is provided with a transmission gear mechanism, for example, a drive gear 51 of a transmission gear train 50.
is N6 by means such as shrink fitting. This drive gear 51
is meshed with the driven gear 52. 1) The driven gear 52 shown in θ is supported by a shaft 53 installed between the main frame 26 and the subframe 27 so as to be freely rotatable. A washer 54 made of wood, for example, is inserted between the driven gear 52 and the subframe 27 to ensure smooth rotation. In addition, driven gear 5
2 and the main frame 26 is the shaft 5.
A sprocket 55 as a rotating body for traction operation is supported so as to be freely rotatable relative to the sprocket 55. Further, the driven gear 52 and the sprocket 55 are connected by, for example, a screw (not shown), so that they rotate integrally.

Furthermore, a chain 56 is wound around this sprocket 55, as shown in FIG.
8 are connected. The chain 56 and the bending operation wires 58 constitute a traction member. Furthermore, each bending operation wire 58 , 58 is connected to the bending part 4 through the insertion part 2 . As will be described later, when the sprocket 55 rotates, the bending operation wires 58 and 58 are pushed and pulled to bend the bending portion 4 in accordance with the direction of rotation.

In addition, as shown in FIG. 3, the transmission gear train 50 and the chain 5
A partition plate 5 is provided between the 6 side and the 6 side to prevent contact between the two sides.
9 has been installed.

1) The nub frame 27 is U-shaped and is fixed to the main frame 26 with screws. The main room 26 is fixed to the case 25 with screws 125. This screw 125 is covered by bonding the plate 9 to the case 25.

Also, take two ultrasonic motor units 31 and 31 (
, one-digit main frame 261, inside the case 25,
10. A suction tube 11 and the like are housed.

The case 25 is provided with a hole 12, into which the end cap 13 of the universal cord 3 is fitted, and the end cap 13 is fixed to the rib frame 27 with screws.

In addition, the control lead wire 14 of the ultrasonic motor unit 31
passes through the universal cord 3, with one end connected to the ultrasonic motor 32 and the other end connected to the connector 5.

By the way, the pair of ultrasonic motors 31.3
1 is controlled by a control device 15 shown in FIG. The main part of this control device 15 is provided within the video processor 101. This control device 1
5 indicates the up, down, right, left (
UDRL) direction switch control circuits 16 to 19. These switch control circuits output high level H/low level L voltages in conjunction with the operation of the bending switch 7.

On the other hand, the free lock changeover switch 8 is provided with a corresponding switch control circuit 28 (indicated by FE in FIG. 1). This switch control circuit 28 outputs the torque when the angle-free operation is performed, and the torque is output when the angle-lock operation is performed.

The control device 15 also includes a driving constant voltage power source 60 and a pulse generator 61 connected to the constant voltage power source 60. Turn right on the switch box 30 that performs switching.The pulse generator 61, which receives voltage from the constant voltage power supply 60, outputs a voltage -VOsin(1)t, and this voltage is applied to the switch box 63. 64
and upper and lower (UD) ultrasonic motors 32. The power is supplied to the right and left (RL) super wave motors 32.

The switch boxes 63 and 64 are changeover switches for the first circuit and the second circuit, respectively. The first circuit of the switch box 63 is connected to the switch boxes 20 and 21, and the second circuit is connected to one terminal of the UD ultrasonic motor 32. Further, the first circuit of the switch box 64 is connected to the switch box 22.23.
The second circuit is connected to one terminal of the RL ultrasonic motor 32.

The output ends of the switch boxes 20.22 are connected to 1-90 degree shifters 62.65, which change the phase by +90 degrees, respectively.
The output end of the switch box 21゜23 is connected to
190 degree phase shifter 66 that changes the phase by -90, respectively.
．． 67.

Furthermore, the output ends of the phase shifters 62 and 66 are connected to the other terminal of the UD ultrasonic motor 32, and the output ends of the phase shifters 65 and 67 are connected to the other terminal of the RL ultrasonic motor 32. connected to the terminal.

Each terminal of the ultrasonic motor 32 is connected to a first phase and a second phase, respectively, each having a piezoelectric body 35 arranged to generate a standing wave. In addition, the first phase and the second phase "C11,
The piezoelectric bodies 35 are arranged with a deviation of H≈nλ+λ/4 (n: integer, λ: wavelength).

Therefore, when a voltage with the same phase is supplied to both terminals of the ultrasonic motor 32, a standing wave is generated in the stator 33, and when a voltage with a phase shift of 90 degrees is supplied to both terminals of the ultrasonic motor 32, a standing wave is generated in the stator 33. A traveling wave in the direction of is generated.

Further, the output of the switch control circuit 16 is output from the OR circuit 24.
68 and the control input terminal of the switch box 20. The output of the switch control circuit 17 is input to the OR circuit 24.68 and the control input terminal of the switch box 21. The output of the switch control circuit 18 is input to the OR circuit 24.69 and the control input terminal of the switch box 22.

The output of the switch control circuit 19 is input to the OR circuit 24.69 and the control input terminal of the switch box 23. Moreover, the output of the switch box 28 is
The signal is input to an OR circuit 24. Said OR
Each output of circuit 24, 68, 69, 4Q is, respectively,
It is connected to the control input terminal of the switch box 30, 63, 64.

The input terminals and output terminals of each of the switch boxes 20.21, 22.23 are electrically connected when the control input terminal voltage is at a torque level, and are cut off when the control input terminal voltage is at a torque level.

The switch boxes 63 and 64 are such that when the control input terminal voltage is at Trubel, the first circuit side is conductive, and when the control input terminal voltage is at Trubel, the second circuit side is conductive.
The circuit side becomes conductive. The switch box 30 outputs a high voltage when the control input terminal voltage is at the ['' level, and outputs a low voltage when it is at a torque level.

Next, the operation of this embodiment will be explained.

When inserting the insertion section 2 of the endoscope 100 into a body cavity and wishing to bend the bending section 4 upward, for example, the operator moves the bending operation switch 7 upward. As a result, the switch box 16 is activated, and a drive voltage controlled by the control device 15 is applied to the piezoelectric body 35 in the stator 33. That is, a high voltage is output from the constant voltage power supply 60 by the operation of the switch box 30, the first circuit side of the switch box 63 is made conductive, the switch box 20 is made conductive, and as a result, the UD ultrasonic motor 32
Each terminal is supplied with a voltage whose phase is shifted by -90 degrees. Therefore, a traveling wave in a predetermined direction is generated in the stator 33 of the LJD ultrasonic motor 32. As a result, the rotor 34 is rotated in a predetermined direction by the traveling wave. This rotation of the rotor 34 is transmitted to the rotation @ 36 and rotates the drive gear 51 attached to the rotating shaft 36. Furthermore,
The rotation of the drive 1'-751 is transmitted to the driven gear 52,
A sprocket 55 integrated therewith is rotationally driven.

Then, rotate the chain 56, pull the upper bending operation wire 58 connected to one end of the chain, and let out the lower bending operation wire 58 by 1°.Thereby, the bending part 4 is forced upward. be curved.

This transmission gear train 50 has a diameter of its driving gear 51.
Since the diameter of the driven gear 52 is made sufficiently small, the driving force vJh can be increased. Further, as shown in FIG. 4, the sprocket 55 is disposed offset in the axial direction of the operating section 1, and the width a between the chains 56 corresponding to the outer diameter of the sub-kerat 55 is 51, the drive gear 51 and driven gear 52 of the transmission train 50 will not come into contact with the chain 56 and their movement will be inhibited.

Also, when you want to operate the bending part 4 downward, right, left, 1, L,
If the bending operation switch 7 is moved to -F, right, )[, the switch control circuits 17, 18, and 19 are activated, and the bending is performed in each direction in the same way as in the upward direction.

On the other hand, when changing the fixing force of the curved portion 4, the free lock changeover switch 8 is operated.

By pressing the free lock changeover switch 8,
The switch control circuit 28 switches the output between I level and L level. When the switch control circuit 28 outputs the torque, the human control of the switch box 30 becomes the torque, and the driving constant voltage power supply 60 outputs a high voltage. At this time, if the bending operation switch 7 is not operated, the switch box 63.6/l is switched to the second circuit side, so voltages of the same phase are supplied to both terminals of each ultrasonic motor 32. , a standing wave is generated in the stator 33, the sliding resistance between the stator 33 and the rotor 34 is reduced, and the holding force of the curved portion is reduced, so the curved portion 4
becomes free.

On the other hand, when the switch control circuit 28 outputs a torque level and the bending operation switch 7 is not operated, the control input terminal of the switch box 30 becomes a torque level, and the driving constant voltage power supply 60 outputs a low voltage. At this time, a fi1 phase voltage is supplied to both terminals of the ultrasonic motor 32, a standing wave is generated in the stator 33, and the (biased resistance of the stator 33 and rotor 34 decreases, but the supplied voltage Since the sliding resistance is low, the reduction in sliding resistance is smaller than when the switch control circuit 28 is a truvel.Therefore, the curved portion 4 is fixed in a curved state, but the curved shape can be changed by external force.In this case, the stator 33 and rotor 34), the bending operation wire 58 is heated to 1 to 3 K.
The voltage of the constant voltage power supply 60 is set to such an extent that the rotor 34 rotates when pulled with a force of g.

If the bending operation wire 58 rotates even if the tensile force is smaller than this, the fixation holding force of the bending part 4 is insufficient, and conversely, if it does not rotate unless the tensile force is larger than this, the bending part 4 is removed from the body cavity wall. Since the curved shape of the curved portion 4 is not corrected even if force is applied to the curved portion 4, there is a safety problem.

In this way, according to the present embodiment, even when the bending portion 4 is fixed in the curved state by operating the free-lock changeover switch 8, it is possible to avoid changing the curved shape due to external force. Therefore, for example, as shown in FIG. 5(a), when the insertion section 2 is moved with the bending section 4 kept in the curved state, the bending section 4 is moved into the body cavity as shown in FIG. 5(b). wall 11
Even if it touches 0, the curvature angle will naturally decrease. Therefore,
A high load is not applied to the body cavity wall 110, and there is no risk of perforation or the like.

FIG. 6 is a circuit diagram showing the configuration of a control device in J3 according to a second embodiment of the present invention.

This first embodiment is different from the first embodiment in the configuration of the control device 15.

That is, the output of the pulse generator 61 is transmitted to the switch boxes 23, 22, 21.20 and the RL ultrasonic motor 3.
An input δ can be input to each terminal of the 2UD ultrasonic motor 32. Said switch box 23.22.
21 and 20 are connected to phase shifters 65 and 6, respectively.
7,62,66 to each other terminal of the ultrasonic motor 32,32.

In addition, each switch control circuit 16.17.18゜19.2
The output number 8 is input to the OR circuit 24, and the output of this OR circuit 24 is input to the control 1 input terminal of the switch box 30.

In addition, each switch control circuit 16, 17, 18, 19,
They are connected to control input terminals of switch boxes 20, 21, 22, and 23, respectively.

In this embodiment, similarly to the first embodiment, the ultrasonic motor 32 is activated by the operation of the switch control circuits 1, 6.17, and 18.
rotates and avoids bending the bending part 4.

On the other hand, when the switch control circuits 16, 17, 18, 19 are not operating, each ultrasonic motor 32 in the first embodiment
, 32 are supplied with voltages of the same phase, but in this embodiment, voltage is supplied only to one side. Even in this case, a standing wave is generated in the stator 33, and the opening resistance of the stator 33 and the [1-tor 34] decreases. Similarly to the first embodiment, by operating the switch control circuit 28, the switch box 30 tfil, IJ 1 of the constant voltage power supply 60 is
%, the bending portion 4 is brought into a free state and a locked state.

The other functions and effects of Structure 2 are the same as those of the first embodiment.

FIG. 7 is a circuit diagram showing the 4111 configuration of the L control device I'J in the third embodiment of the present invention.

In this embodiment, the configuration of the control device 15 is similar to that in the first embodiment.

However, instead of the constant voltage power supply 60, a constant current power supply 70 is used.
The output of this constant current power supply 70 is input to a pulse generator 61, and the output of this pulse generator 61 is input to the -Ji terminal of each ultrasonic motor 32, 32, and the output of each switch Boxes 20.21.71, 22.23
．． 72. The outputs of the switch boxes 20, 21, 22, and 23 are input to phase shifters 62, 66, 65, and 67, respectively. Phase shifter 62. '66 and the output of the switch box 71 are input to the other input terminal of the UD ultrasonic motor 32, and the phase shift 1565.67 and the output of the switch box 72 are input to the other input terminal of the RL ultrasonic motor 32. It is now entered into

In addition, the outputs of the switch control circuits 16, 17, 18, and 19 are connected to the switch boxes 20, 21, 22, and 2, respectively.
It is designed to be input to the control input terminal of No. 3.

Further, the negation of the output of the switch control circuit 16, the negation of the output of the switch control circuit 17, and the output of the switch control circuit 28 are input to an AND circuit 73.
The output is connected to the control input terminal of the switch box 71.

Further, the negation of the output of the switch control circuit 18, the negation of the output of one switch control circuit, and the output of the switch control circuit 28 are input to an AND circuit 74.
The output of -C becomes input to the control input terminal of switch box 72.

In this embodiment, as in the first example, the ultrasonic motor 32 is rotated by the operation of the switch control circuits 16, 17, 18, and 19, and the bending portion 4 is bent.

On the other hand, switch control circuits 16.17. ”) If the switch control circuit 28 is set to H level when 8.19 is not operating, the switch boxes 71 and 72 become conductive, and voltages of the same phase are applied to the two terminals of each ultrasonic motor 32 and 32. is supplied to the stator 33 and generates a standing wave in the stator 33.
The sliding resistance of the rotor 34 is reduced, and the curved portion 4 is brought into a free state.

Furthermore, if the switch control circuit 28 is set to the L level, the switch boxes 71 and 72 are cut off, and each ultrasonic wave is transmitted at one time.
Voltage is supplied to only one terminal of the terminals 2 and 32, generating a standing wave in the stator 33, but the standing wave is smaller than when the switch control circuit 28 is in trubel mode, and the voltage is supplied to only one terminal of the stator 33 and [1-34]. The reduction in sliding resistance is also small. Therefore, the curved portion 4 is appropriately locked.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

8 to 10 relate to a fourth embodiment of the present invention, in which FIG. 8 is a sectional view showing an ultrasonic motor unit, FIG. 9 is a sectional view taken along line A-A in FIG. 8, and FIG. is B-8 in Figure 9.
= line sectional view.

This embodiment differs from the first embodiment in the ultrasonic motor unit 31.

That is, in this embodiment, a C1 linear type ultrasonic motor is used as the ultrasonic motor 32 of the ultrasonic motor unit 31. This linear type ultrasonic motor 932 has a stator 33. The rotor 34 is moved to the right, but the rotor 34 moves linearly with respect to the stator 33.

As shown in FIG. 9, the bending section 4 is bent (Up).
For the bending operation A758, one end of the rotor 34 in the ultrasonic motor 31 is
The bending operation wire 58 is fixed to the other end of the rotor 34 by hanging over the rotating drum 75.

Similarly, the right (Riqht) bending operation wire 58 and the left (Lel't) bending operation wire 58 are fixed to each end of the rotor 3/l in the other ultrasonic motor unit 31.

In addition, as shown in FIG. 10, a part of the cover 76 housing the two ultrasonic sweater units 31 and 31 is deformed to form a leaf spring 78, and the stator 33 is moved between the rotors by the leaf spring 78. It is biased toward the 34 side.

In addition, the leaf spring 78 is omitted in FIG. 9, and the lower part (
The bending operation wire 58 for [)own) is omitted.

As shown in FIG. 8, two ultrasonic sweater units 31
．． 31 is arranged on the opposite side of the partition plate 77. Therefore, two ultrasonic motor units 31.31
Since the stators 33,33 can be arranged one over the other in a direction perpendicular to the cross section, the thickness in this direction can be reduced.

In this embodiment, when the bending operation switch 7 is operated, the rotors 34, 34 move, pull the desired bending operation wire 58, and bend the bending portion 4.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

11 and 12 relate to a fifth embodiment of the present invention, in which FIG. 11 is a sectional view of the ultrasonic motor, and FIG. 12 is a side view showing the holding force switching means.

This embodiment differs from the first embodiment in the means for switching the holding force of the curved portion. However, in this embodiment, the holding force is changed by mechanically changing the pressure saving of the stator 33 and the D-tor 34.

A piezoelectric body 35 is fixed to the bottom surface of the stator 33, which is non-rotatably attached to seven fixed shafts, and the rotor 34 is in contact with the top surface, and the stator 33 and rotor 34 are biased by a disc spring 49. There is.

The free lock changeover switch 8 includes a hollow cylindrical portion 80 protruding from the case 25 , a flange portion 81 provided on the outer periphery of the hollow cylindrical portion 80 to receive the disc spring 49 , and a flange portion 81 on the hollow cylindrical portion 80 . It is composed of convex portions 82 arranged at equal intervals on the inner periphery, and a cylindrical portion 83 which is provided in a circumferential manner below the flange portion 81 and whose bottom surface height changes in a serrated manner.

Further, this cylindrical portion 8 is arranged opposite to the bottom surface of the cylindrical portion 83
Rotating auxiliary body 8 whose serrated top surface corresponds to the bottom surface of 3.
4 is fixed to the fixed shaft 79. Furthermore, locking portions 8G having different heights in the axial direction are installed on the outer circumferential portion of the fixing member 179 at equal intervals in the circumferential direction.

An O-ring 85 is interposed between the outer peripheral surface of the hollow cylindrical portion 80 and the case 25 to maintain watertightness.

In this embodiment, when the free lock changeover switch 8 is pressed against the biasing force of the book spring 49, slipping occurs on the bottom surface of the cylindrical portion 83 and the top surface of the rotation auxiliary body 84, and the free lock changeover switch 8 rotates. When pressed once, it rotates 90 degrees and the locking portion 86 that locks the convex portion 82 is shifted to the adjacent locking portion 86, so that the height of the free lock switching switch 8 in the axial direction M changes. When this value changes, the amount of deformation of the disc spring 49 changes, so the biasing force between the stator 33 and the rotor 34 changes. As a result, the stator 33 and the rotor 3
Two types of fixation holding force between 4 and 4 are obtained, each corresponding to a free lock state.

In this embodiment, the OR circuit 24 and switch box 30 shown in FIG. 1 are not necessary.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

13 and 14 relate to a sixth embodiment of the present invention, in which FIG. 13 is a side view of an ultrasonic motor, and FIG. 14 is a circuit diagram showing the configuration of a control tll device.

This embodiment is similar to the fifth embodiment in that the holding force is changed by changing the pressure force between the rotor 34 and the stator 33, but the structure is different.

That is, a laminated piezoelectric element 87 is installed between a seven-lunge member 89 fixed to the upper end of the fixed shaft 79 and the disc spring 49, and the laminated piezoelectric system R-87 and the disc spring 49 rotate the rotor. 34 to the stator 33.

Supplied to the laminated piezoelectric element 87 via a lead wire 88
When the voltage is changed, the total length of the laminated piezoelectric element 87 is changed, so that the biasing force of the rotor 34 against the stator 33 is changed. This results in free and locked states.

The control 3 (I device 15 in this embodiment is substantially the same as the one shown in FIG. 6, but the constant voltage power supply 60 on the right side of the switch box 30 is A voltage is supplied to the city element 87.

Then, the pulse generator 61'\ is connected to another constant voltage -8 source 1
Voltage is supplied from 60.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

In this embodiment, the stator 3 of the rotor 34 is connected only by the laminated piezoelectric cord 87 without providing the disc spring 49.
It is also possible to obtain a biasing force for 3.

FIG. 15 is a side view showing the entire endoscope according to the seventh embodiment of the present invention.

This embodiment is an example of a fiber scope rather than an electronic scope.

This fiber scope 200 has an eyepiece section 202 provided at the rear end of the operating section 1. Moreover, the connector 5 is connected to the light source device 201.

1) At the imaging position of the objective lens system at the distal end of the insertion section 2 of the fiberscope 200, a distal end surface of an image guide made of a fiber bundle (not shown) is arranged instead of a solid-state image sensor.

This image guide is inserted into the insertion section 2, and its rear end extends past the eyepiece section 202.

The object's surface formed by the objective lens system is guided to an eyepiece 202 by an image guide, and is observed from the eyepiece 202.

The main parts of the control device 15 are numbered in the light source device 201.

Functions and effects of other configuration 1 (J, same as in the first to sixth embodiments).

Note that the present invention is not limited to the above embodiments, and for example, the vibration wave motor may be provided near the curved portion.

In addition, as a locked state, in addition to a state in which the curved shape can be changed by external force while avoiding the generation of standing waves on the top of the vibration wave, a C-curved state that does not create standing waves in the vibration wave motor is firmly fixed. The state of having done so b)7.

[Effects of the Invention] As explained above, according to the present invention, when fixing the curved state of the curved part, a standing wave can be generated in the vibration wave E-ta, and the curved part can be fixed in the curved state. Even when fixed, the curved shape can be changed by external force.

[Brief explanation of the drawing]

FIGS. 1 to 5 relate to the first embodiment of the present invention.
The figure is a circuit diagram showing the configuration of the control device, Figure 2 is a side view of the entire endoscope, and Figure 3 is an internal view. j4 A cross-sectional view of the operation part of the mirror, Figure 4 shows the pulling part for bending operation.
> and (b) are explanatory diagrams showing how the insertion section is handled from within the body cavity with the curved section fixed in the curved state, and FIG. 6 shows the configuration of the control Il equipment in the second embodiment of the present invention. FIG. 7 is a circuit diagram showing the configuration of the control device in the third embodiment of the present invention, FIGS. 8 to 10 relate to the fourth embodiment of the present invention, and FIG. 9 is a cross-sectional view showing the motor unit.
The figure is a sectional view taken along the line B-8 in FIG. 9, FIGS. 11 and 12 relate to the fifth embodiment of the present invention, FIG. A side view showing the switching means,
13 and 14 relate to a sixth embodiment of the present invention, FIG. 13 is a sectional view of an ultrasonic motor, FIG. 14 is a circuit diagram showing the configuration of a control device, and FIG. 15 is a circuit diagram of the present invention. FIGS. 16(a) and 16(b) are side views showing the entirety of the endoscope in the seventh embodiment. It is an explanatory diagram showing the state of the nail. 4...Bending portion 7...Bending operation switch 8...Free/lock changeover switch 15...Control device 28...Switch control circuit 30...Switch box 31...Ultrasonic motor unit 32 ...Ultrasonic motor 33...Rotor 34...Stator 35...
...Piezoelectric body 60... Constant voltage power supply Fig. 2 Fig. 4 Fig. 11 Fig. 12 Fig. 13 Fig. 16 (G) Fig. 16 (b)

Claims (1)

[Claims] In an endoscope that bends a bending portion of an insertion section using a driving force of a vibration wave motor, driving and controlling the vibration wave motor,
An endoscope comprising: a control means capable of generating a standing wave in the vibration wave motor at least when fixing the curved state of the curved portion.