JPH0326227A - Endoscope device - Google Patents

Abstract

PURPOSE:To bent a bending part and to improve the operability and the energy efficiency by providing a driving power varying means for varying the pulse width of a driving pulse and the amplitude of a driving signal, etc., in accordance with a bending manipulated variable of a bending operating means. CONSTITUTION:In a gripping part 7, an ultrasonic motor(USM) 15 being as an oscillating wave motor for drawing a curved wire 13 in the up-and-down(UD) direction through a reduction gear 14, and a USM 18 for drawing a bent wire 16 in the left and right(RL) direction through a reduction gear 17 are provided. For instance, at the time of switching in the UD direction, when a switch 36 is turned on, the output X of a comparator 41 goes to an 'H' level, and its signal is supplied to the terminal X of a ring counter 53. Consequently, from four output terminals 53a, 53b, 53c and 53d, pulses whose phases are delayed successively are outputted in order of these terminals, and the USM 15 bends a curving part 11 in the UP direction. On the contrary, when a switch 37 is turned on, the output X of the comparator 41 goes to an 'L' level, and the bending part 11 is bent in the DOWN direction.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope apparatus provided with a control means for bending a bending portion using an ultrasonic motor.

[Prior art 1] In recent years, by inserting a III-length insertion section into a body cavity, organs within the body cavity can be observed, and if necessary, various treatments can be performed using a treatment instrument inserted into a treatment instrument channel. Inside? ! Mirrors became widely used.

The above-mentioned endoscope has a curved portion formed in a portion adjacent to the distal end of the insertion section so that when inserted into a body cavity, etc., it can be observed in a region other than the direction opposite to the distal end of the insertion section.
This bending portion can be remotely bent by operating a bending operation member such as an angle knob of a bending drive device provided in the operation section.

Generally, a mechanical bending (drive) device is used that bends the wire by pulling and relaxing it, but in this case, a large force is required especially when making a large bend, so a small force is used. An electric bending device that can be bent by hand is easy to operate.

As a conventional example of an electric bending device, for example, Japanese Patent Application Laid-Open No. 58-6
As described in Japanese Patent No. 5132, a device is disclosed in which the amount of operating force applied to a bending operation switch is detected to control the drive power to a bending drive motor.

The present applicant also proposed in Japanese Patent Application No. 63-321537 an endoscope that is driven in a curved manner by an ultrasonic motor. In this application, speed or torque control is performed by variable control of the drive frequency.

[Problems to be Solved by the Invention] It is clear that the speed or torque of the ultrasonic motor cannot be controlled using the power drive control method as disclosed in Japanese Patent Application Laid-Open No. 58-65132M.

Furthermore, in Japanese Patent Application No. 63-321537, the speed or torque is controlled by changing the drive frequency, but with the control method using frequency changes proposed in this proposal, the amount of electric power required can be reduced by lowering the speed or Even if the torque was reduced, it was the same as the maximum speed or maximum torque, and the efficiency of electrical energy was poor.

The present invention has been made in view of the above-mentioned points, and provides an internal mirror device that can realize an electric bending device that can reduce power consumption and increase the efficiency of electric energy when the speed of the ultrasonic motor is reduced. The purpose is to provide.

[Means for Solving the Problems] In the present invention, a drive power changing means is provided that changes the pulse width of the drive pulse supplied to the motor drive circuit, the amplitude of the drive signal, etc. in response to the bending operation amount of the bending operation means. This makes it possible to drive the bending portion by changing the vibration waves, the torque of the ultrasonic motor as a motor, etc., thereby realizing a bending device with good operability and energy efficiency.

[Example 1 Hereinafter, the present invention will be specifically explained with reference to the drawings.

FIGS. 1 to 4 relate to a first embodiment of the present invention.
The figure shows the configuration of the control system of the ultrasonic motor.
The overall configuration of the embodiment is shown, FIG. 3 shows the configuration of the bending switch and the bending switch control system, and FIG. 4 is an explanatory diagram of the operation.

As shown in FIG. 2, the endoscope system 1 of the first embodiment includes a videoscope (electronic scope) 2 and a universal control system to which a connector 3 of the videoscope 2 is detachably attached. (Hereinafter abbreviated as UCA.)
4 is connected to this ucA4, and the video scope 2
and a color monitor 5 for displaying a mirror image of the funeral ceremony.

The videoscope 2 includes a flexible insertion section 6 with a length of Ill to be inserted into a living body, and a large-diameter grip section (operation section) 7 connected to the rear end of the insertion section 6. , a flexible universal cable 8 extending from the rear end of the gripping part 7 to the side thereof, and the universal cable 8.
The connector 3 is provided at the distal end of the connector 3. Further, a hard tip 9 is provided on the tip side of the insertion portion 6, and a bendable curved portion 11 is provided on the rear side adjacent to the tip 9. Furthermore, a flexible tube section 12 is provided at the rear of this curved section 11.

Inside the gripping part 7, there are an ultrasonic motor (hereinafter referred to as USM) 15 as a vibration wave motor in the UD direction that pulls the curved wire 13 in the vertical (hereinafter referred to as UD) direction via a reduction gear 14, and (hereinafter referred to as RL) is provided with a USM 18 in the RL direction that pulls the curved wire 16 in the direction via a reduction gear 17, as well as an air supply/water supply button, a suction button, a CO2 gas supply button, a forceps upper mechanism,
Phrase, release and VT for video processor control
Each switch for R start (none of the above are shown) and a bending switch 19 for controlling the bending direction are provided.

Furthermore, a light guide fiber 20, an air/water supply tube, a treatment tool insertion channel, etc. are built into the videoscope 2.

Also, inside the LJCAJ, there is a lamp 21 that supplies illumination light to the videoscope 2, and an air supply pump 2 that supplies air.
3, a water tank 24 for storing water for water supply, a water supply pump 25 for water supply, and a control switch 19 for controlling the bending switch 19. LI SM 1111 control circuits 27 and 28 for controlling the USM 15 and 18, respectively, and a video processor 29 that performs signal processing of image signals obtained by the video scope 2. A bending angle detection circuit 31 that detects the bending angle of the bending portion 11, and a contact pressure detection circuit 32 that detects the pressure in contact with the body cavity wall are provided.

By the way, the bending switch 19 is a joystick type switch, and by tilting the handle 33, the bending switch 19 can be bent in the up/down (UD) and right/left (RL) directions.
At the same time, the change in resistance value is also υIll according to the degree of inclination (the smaller the inclination angle, the smaller the resistance value, and the larger the inclination angle, the larger the resistance value). Also, U.D. R
In each direction of L, when it is curved upward (down) and when it is curved to the right (left), it is downward (top) and left (
Right) cannot be bent. Also, top and right,
Combinations of top and left, bottom and right, and bottom and left can be curved at the same time. That is, curvature in the respective intermediate directions is possible.

The bending switch 19 is automatically returned to the neutral position by a biasing force such as a spring.

Further, the bending angle detection circuit 31 obtains bending angle detection information from rotation angle sensors 34 and 35 constituted by photoreflectors and the like, and supplies the information to the video processor 29. Further, the contact pressure detection circuit 32 is configured to receive a contact pressure detection signal from a contact pressure sensor (not shown) provided at an appropriate position on the insertion portion 6, and to determine the contact pressure from this detection signal. is detected and supplied to the video processor 29. Videobu O processor 2
9, these bending angle information and contact pressure information are combined with an image signal and displayed on the monitor 5.

Next, the control system of USM15.18 will be explained.

FIG. 1 is a diagram showing the USM control circuit 27 in the UD direction of this USM 15, and the UD direction in the RL direction.
Since it is the same as the direction, it will be omitted.

As shown in FIG. 3, the UD direction of the switch 19 can be equivalently expressed by a switch 36, 37 and a variable resistor 38, 39. That is, when the handle 33 of the bending switch 19 is tilted upward, for example, the switch 36 is turned on, and the resistance value of the variable resistor 38 changes depending on the degree of inclination of the handle 33. Therefore, the voltage value (
That is, when the slope is small, a low voltage is output, and when the slope is large, a high voltage (U) is output from the variable end which is the output end of the variable resistor 38.

Similarly, when the handle 33 is tilted downward, the switch 3
7 is turned on, and depending on the inclination of the handle 33, the variable resistor 3
The resistance value of the variable resistor 39 changes, so that a voltage value d corresponding to the degree of inclination of the handle 33 is outputted from the variable end serving as the output end of the variable resistor 39.

The output end of the variable resistor 38 is connected to the non-inverting input end of the comparators 41 and 42, and the output end of the variable resistor 39 is connected to the inverting input end of the comparator 41 and the non-inverting input end of the comparator 43.

Thus, the comparator 41 compares the output levels of both variable resistors 38 and 39, and outputs a binarized signal @X from the output terminal X according to the comparison result. This signal X is applied to the switching control terminal of the analog switch 44 and is applied to the variable resistor 38.
9 is connected to the terminal TU.9. The switching of TD is controlled, and a signal of the selected terminal TU or TO, that is, a voltage value U or d corresponding to the inclination of the handle 33 is output from the output terminal Z.

Voltage values obtained by dividing 5V by resistors r1, r2: r3, r4 are applied to the inverting input terminals of the converters 42 and 43, respectively, and binary values are compared with voltages u and d at the output terminals of the variable resistors 38 and 39, respectively. The logical sum signal is roughly passed through an OR circuit 45, and the logical sum output thereof is outputted from the output 11jfY.

The voltage values divided by the resistors r1 to r4 are at a low level, and are set so that when the handle 33 is slightly tilted, the output in that case becomes larger than these voltage values. Therefore, in practice, only when the handle 33 is not operated, the output of the OR circuit 45 is at the "L+t" level.

In addition, FIG. 3 shows the bending switch IL control circuit 26 in the UD direction.
-, and the control circuit in the RL direction (the configuration is the same as in Figure 3)
This constitutes the bending switch control circuit 26 shown in FIG.

By the way, as shown in FIG.
The al1 circuit 27 is a voltage controlled oscillator 5 that generates an oscillation output that drives the USM 15.
1 (hereinafter abbreviated as VCO) and a ring counter 53 that cyclically outputs pulses in sequence by inputting the output of this VC051 via a switch 52.
A monostable multipipulator (hereinafter abbreviated as monomulti) outputs pulses by the output of the VCO 51 via the switch 52. ) 54 and the pulse of this monomulti 54 creates a sawtooth wave <ip. a sawtooth wave generation circuit 55 that generates a toothed wave), and uses this sawtooth wave as a reference voltage;
A converter 56 that generates a gate opening pulse with a pulse width corresponding to the voltage value supplied to the terminal Z, a gate circuit 57 that passes the output of the ring counter 53 only during this gate opening pulse period, and a gate opening pulse that passes through the gate circuit 57. A transformer 59A. whose output constitutes the motor drive circuit 58. 59B
A switching circuit unit (drive circuit unit) 60 that generates a signal for driving the LJSM15 via the LJSM1
The feedback circuit 61 compares the voltage value corresponding to the speed of the VCO 5 with the standard voltage and returns the difference signal to the VCO 51 to control its oscillation frequency.

The oscillation frequency of the VCO 51 is the i. lI III
It is controlled by the voltage value applied to the terminal, and in this case is set by the output voltage of the feedback circuit 61. In this case U
The SM15 is always driven at a frequency slightly younger than its resonant frequency.

In this feedback circuit 61, a signal voltage corresponding to the driving speed of the USM 15 is passed through a variable resistor 62, and a diode 6
3, the capacitor 64 is charged, and the comparison output is compared with the reference voltage set by the variable resistor 66 by the comparator 65, and the oscillation frequency of C051 becomes LISM1.
Control @1 to maintain the frequency slightly higher than the resonance frequency of 5. Note that a resistor 67 in parallel with the capacitor 64 is used to discharge the charge of the capacitor 64 with an appropriate time constant, so as to prevent the response speed from decreasing.

The VCO 51 outputs a pulse as shown in FIG. 4(a), and when the analog switch 52 is turned on, this pulse is supplied to the ring counter 53 and the monomulti 54 via the switch 52. .

The on/off of the switch 52 is controlled by the output of an OR circuit (Fig. 3) 45 supplied to its control terminal Y, and the output of the OR circuit 45 is turned on at the "H + t level" and "L".
In the case of TT level, it is off. In other words, it turns on only when the handle 33 of the bending switch 19 (of the Joyce deck type) is operated.

Therefore, when the switch 52 is off, the ring counter 53 and the monomulti 54 are in a non-operating state, and when the switch 52 is on, they are in an operating state.

The ring counter 53 is composed of serial-in/parallel-out left and right shift registers (left and right), and the shift direction of either the left or right is the 2nd shift register of the ring counter 51.
It is designed to be switched by a value signal (“mouth” level or “L” level).

That is, in switching in the UD direction, for example, the switch 36
When turned on, the output of the converter 41 in FIG.
That is, a signal at the "H" level is supplied to the terminal X of the ring counter 53. When a signal at the "H" level is supplied to this terminal X, the ring counter 53 outputs the four output terminals 53a
．． 53b. 53c. 4 (b) in order from 53d to this terminal.
) As shown in (e), pulses whose phases are sequentially delayed are output, and in this case, the USM 15 becomes a signal that causes the bending portion 11 to bend in the UP direction. Conversely, when the switch 37 is turned on, the output X of the comparator 41 becomes "L" level, and therefore the output terminal 53a . 53b
, 53c, 53d, the direction in which the phase is delayed is opposite to that shown in FIGS. 4(b) to 4(e), and the pulses are sequentially output.
This is a signal for curving in the N direction.

On the other hand, the monomulti 54 outputs a pulse of a certain width (for example, becomes "H" level for a much shorter time than the CO circuit) by the output signal of the VICO 51 that has passed through the switch 52, and this pulse Sawtooth wave generation circuit 55
input to generate a sawtooth wave.

This sawtooth wave generating circuit 55 includes a DC blocking capacitor 7
The <signal> pulse that has passed through the resistor 72 is applied to the base of the transistor 73. The connection point between the capacitor 71 and the resistor 72 is grounded through a parallel circuit of a resistor 74 and a reverse diode 75, and when a pulse (signal) is not input, the transistor 73 is kept off.
A diode 75 protects the base potential from becoming negative.

The collector of the transistor 73 serves as an output terminal, and is connected to the 5V voltage IQ terminal via a resistor 76 and grounded via a capacitor 77.

Therefore, when a pulse is input from the monomulti 54, the transistor 73 is turned on by the pulse, and the charge of the capacitor 77 connected to its collector is discharged. Thereafter, when this transistor 73 turns A/i, the capacitor 77 is charged via the resistor 76, and the voltage rises with the product of the resistance value of this resistor 76 and the capacitance of this capacitor 77 as a time constant, as shown in FIG. A sawtooth wave as shown in (') is output.

This sawtooth wave is input to the converter 56 and compared with the signal u/d (=Q) that has passed through the analog switch 44 (FIG. 3) and is input to the terminal Z.

The signal q at the terminal Z varies depending on the degree of inclination of the handle 33 of the bending switch 19. The larger the angle of inclination, the higher the level of the signal. Further, when the handle 33 is tilted in the UP direction, the signal 9 becomes U, and when the handle 33 is tilted in the DOWN direction, the signal 9 becomes d.

As described above, the level of the signal q supplied to the non-inverting input terminal of the comparator 56 changes depending on the degree of inclination of the handle 33, while the constant waveform of the sawtooth wave is supplied to the inverting input terminal. The output h of the comparator 56 is the signal q
A pulse whose pulse width changes depending on the level (that is, the degree of inclination of the handle 33) is output.

For example, when the signal q has a level as shown in FIG. 4(0), the output h of the comparator 56 becomes as shown in FIG. 4(h).

Therefore, the monomulti 54, the sawtooth wave generation circuit 55, and the comparator 56 are connected to the gate circuit 57 to generate a so-called pulse signal.
This constitutes a width modulation (hereinafter abbreviated as PWM) circuit.

The output h of the converter 56 is the output h of the gate circuit 57.
AND circuits 57a. 57b. This serves as a gate opening signal for gates 57c and 57d, and controls passage of the output signal of the ring counter 53.

In other words, only during the period when the above output h is at the ``1'' level,
Each output b, c, d, e of the ring counter 53 is passed to the switching circuit section 60 side.

Therefore, the outputs i, j, k,
I is shown in Figure 4(i). (j) ． (k). (l
)become that way.

The switching circuit section 60 is composed of four sets of Darlington-connected transistors (drive circuits>60a, 6ob.60c, and 60d. Each switching circuit 60n (n=a, b, c, d
) is configured to receive the output of an AND circuit 57n that controls the gate circuit 57. For example, the input end of the switching circuit 60a is connected to the base of a first transistor 82 via a resistor 81, and this base is grounded via a resistor 83. The emitter of this transistor 82 is grounded via a resistor 84 and also connected to the base of a second transistor 85, whose emitter is grounded and whose collector is connected via a reverse diode 86 for protection. It is grounded and connected to the collector of the other transistor 82. This collector is connected to the output end.

Other switching circuits 60b. Configuration of 60c and 60d (
The same applies to the case (not shown).

Each of the switching circuits 60n is turned on when the output of the AND circuit 57n becomes "H)j".

a pair of switching circuits 60a. 60b; 60c. 60
Each output terminal of d is push-pull connected to both ends of each primary winding of transformers 59A and 59B.
A sine wave and a COS wave of 100 Vrms can be supplied to the LJSM15 connected to the secondary windings of A and 59B, respectively. In addition, each transformer 59A. 59B
A power supply of 12V is supplied to the hinter tap of the primary winding of the transformer 59A. A driving current flows from the primary winding of 59B, and an induced current of a sine wave and a COS wave with one cycle being four cycles of the VCO 51 flows through the secondary winding, and the induced current drives the USM15. ing.

The configuration of the USM control circuit 28 for the other (JSM 18) is also similar, and its configuration is omitted.

The operation of this first embodiment will be explained below. Note that for the sake of simplicity, only the UD direction will be described.

The VCO 5 1 outputs a pulse signal as shown in FIG. 4(a). In this case, when the handle 33 of the bending switch 19 is not operated and is not tilted, both switches 36 and 37 are off, so the outputs of both the converters 41 and 42 are at the "L II level," and therefore the output of the OFF circuit 45 is also off. It is L II level.

Therefore, the analog switch 52 is open (open). Therefore, each output of the gate circuit 57 is "L I
It is at the T level, each switching circuit 60n is also turned off, and no U power is supplied to the USM 15. That is, the curved portion 11 is maintained in a straight state without being curved.

Further, in this case, as described above, when each switching circuit 60n is off, no drive current flows from the 12V power supply terminal, so power consumption becomes extremely small.

On the other hand, when the handle 33 of the bending switch 19 is tilted in either direction, for example, the switch 36 is turned on and the variable resistor 38 outputs a voltage U corresponding to the degree of the tilt. In other words, the comparator 41 outputs a signal X of "1" level. This signal X is applied to the terminal X of the ring counter 53.

Further, this signal X at the 1' level is applied to the control end of the analog switch 44 shown in FIG. 3, so that the terminal TLI side is selected. Therefore, be wary of PWM circuits.
The output voltage value of the variable resistor 38 is applied to the terminal Z of the converter 56.

In addition, the output of the amplifier 42 becomes the "mouth" level, and the output from the OR circuit 45 to the switch Y of the analog switch 52 is
A ``+1'' level signal is applied to turn on the switch 52. Therefore, the output a of the VCO 51 is input to the ring counter 51 and the monomulti 54, and the output terminals 53a to 53d of the ring counter 53 are as shown in FIG. (b)～
Outputs a pulse like (e).

On the other hand, the sawtooth wave generation circuit 55 to which the output a of the CO 51 is inputted via the monomultiplier 54 outputs a sawtooth wave as shown in FIG. 4(f).

This sawtooth wave is input to the comparator 56, and the variable resistor 3 is supplied to the other terminal 2 in response to this sawtooth wave.
8-pronged G. During the period when the output voltage value at t39 is positive, the comparator 56 outputs a pulse as shown in FIG. 4(h).

This pulse is applied to each AND circuit 5 constituting the gate circuit 57.
4(b) to 7a to 57Cl become gate open signals, and are outputted from each output terminal of the ring counter 53.
The pulse in (e) is generated by this gate opening signal in the same figure (
The pulses shown in i) to (1) are output to the switching circuit section 60.

This switching circuit section 60 receives an input pulse of "H".
”The level is turned on and driving power is supplied to the USM 15 via transformers 59A and 59B.

Now, when the operator wants to slowly curve the bending section 11, he tilts the bending switch 19 a little.

Then, in this case, the level of the signal Q to the terminal Z of the comparator 56 becomes low, and the pulse width of the "H II level" of the output pulse of the comparator 56 becomes short. Since the supplied distance is short and the torque is small, the bending portion 11 is slowly curved by this PwM control.In this case, the transformers 59A and 59B that constitute the motor drive circuit 58 have this short Since power is supplied from the 12V power supply only during this period, power consumption can be reduced.On the other hand, when the bending switch 19 is tilted greatly, the pulse width becomes longer than the "output" level pulse width of the output pulse of the converter 56. , the torque increases and the bending portion 11 quickly bends.If you want to stop bending, release the bending switch 19 and the bending switch 19 returns to the neutral state.Therefore, the switches 36 and 37 are turned off. The curved portion 11 is locked in that state.

By the way, in general, the resonance frequency of the USM 15 may shift when the driving power of the USM 15 changes.

In this case, the feedback circuit 61
The USM 15 is controlled to oscillate at a slightly higher frequency than the resonance frequency of the USM 15. Therefore, even if the drive power amount is changed and controlled, the υSM15 can be driven efficiently.

According to this first embodiment, by driving the LJSM 15 under PWM control, the bending portion 11 of the video scope 2 can be bent slowly or quickly, using the minimum amount of power required. This makes it possible to bend the bending device, thereby realizing a bending device with good power consumption efficiency and good operability.

Furthermore, USM
Even if the resonant frequency of 15 shifts, the feedback circuit 61
This allows the resonant frequency to be set to a more efficient (rather than optimal) resonant frequency.

FIG. 5 shows the structure of the bending switch control circuit 100 (for LJDh direction) in the second embodiment of the present invention, and FIG.
A second embodiment can be constructed by using this control circuit 100 in place of the control circuit 26' shown in the figure.

Since the UD side of the bending switch 19 and the CRL side equivalently represented by the variable resistor 101 have the same configuration, the explanation will be omitted. Since both ends of the variable resistor 101 are connected to ±12V, the output is approximately O■ in the neutral state. This one bending switch is not receiving any bias and is held at the position (inclination) where its operation is stopped.

As will be described later, the degree of inclination corresponds to the bending angle of the bending portion 11, and the bending angle can be estimated by feeling with the hand.

In this embodiment, the output from the bending angle detection circuit 31 shown in FIG. 1 is input to the terminal Q shown in FIG. The output signal to terminal Q of this bending angle detection circuit 31 is set to have characteristics as shown in FIG.

That is, when the bending angle is the maximum LJPmax in the UP direction (in this case, for example, 180"), +12V1DOW
-12V when the maximum DOWNmax (in this case -180'') is applied in the N direction, and O when the bending angle is 06
v is output. Therefore, this characteristic is expressed by the variable resistor 10
The output characteristics almost match those of No. 1. That is, when the bending switch 19 is in the neutral state, Ov is output, +12V is output when the bending switch 19 is at the maximum tilt in the LIP direction, and -12V is output when the bending switch 19 is at the maximum tilt in the DOWN direction.

The terminal Q is connected to the non-inverting input terminal of the comparator 102 and the inverting input terminals of the comparators 103 and 104, respectively. The output terminal of the variable resistor 101 is connected to the inverting input terminal of the converter 102, the converter 103 through the diode circuit 105, and the diode circuit 105.
They are respectively connected to the non-inverting input terminals of the converter 104 which does not pass through.

The diode circuit 105 is configured by connecting two diodes in parallel with opposite polarities.

Further, a capacitor C1. C2 is connected.

By the way, these comparators 102, 103, and 104 are driven by a power supply voltage of ±12V. Therefore, the output of each comparator 102, 103, 104 is about -12V or +
It becomes 12V. Therefore, comparators 102.103
．． A converter 102.103.1 is used to convert each output of 104 to a digital logic level of (for example) 5V.
Level conversion circuits 106, 107, 1 are provided at each output terminal of 04.
08 are connected to each other.

These level conversion circuits 106, 107, and 108 have the same configuration. For example, the level conversion circuit 106 divides the output signal of the comparator 102 using resistors 109 and 110 to convert the human input signal B of approximately 12V to approximately 5V, and connects a reverse diode 111 between this voltage division point and ground. When the input signal is at a negative level, this diode 111 converts the level to approximately O.

The output signal of the converter 104 is inputted from the terminal X to the ring counter 53 (see FIG. 1) via the level conversion circuit 108.

Further, the output numbers of the comparators 102 and 103 are input to the OR circuit 112 via level conversion circuits 106 and 107, respectively. The output of this OR circuit 112 is output from terminal Y via an analog switch 113 as a control signal for turning on/off the analog switch 52 in FIG.

By the way, in this embodiment, a bending section free/engage switch (hereinafter abbreviated as F/E switch) 114 is provided as shown by the dotted line in FIG. 2, and this F/E switch 114 is provided as shown in FIG. One contact E is open, the other contact F is connected to the power supply end of 5■ via a low resistor 115, and the switching contact is connected to GND.

Further, the contact F is connected to the control terminals of analog switches 113 and 116. This analog switch 1
+5V is supplied to the contact TF on the "side" of the analog switch 13, and the output of the OR circuit 112 is supplied to the contact TE on the E side. Also, &;t5V is supplied to the contact TE on the "side" of the other analog switch 116. A voltage divided by 118r is supplied, and a bending speed control [118r volume (hereinafter referred to as BSC volume) 1], which is not shown in FIG. 2, is supplied to contact TE on the E side.
The output voltage from 19 is supplied.

The output of this analog/date switch 116 is supplied to terminal Z of the converter 56 in FIG.

Therefore, when the F/E switch 114 is operated so that the contact E side is selected, 5V (“H”) is applied via the resistor 115.
II level) voltage across both analog switches 113.11
6, 5V ("H" level) is output from the terminal Y, and a free-time voltage divided by the resistors 117 and 118 is output from the terminal Z.

On the other hand, when an operation is performed that selects the contact F side, the analog switches 113 and 118 go to Ov (゛L” level).
The output voltage of the OR circuit 112 is output from the terminal Y, and the output voltage of the BSC volume 119 is output from the terminal Z. By the way, the resistors 117 and 118G1 which output the voltage in the free state are determined as follows.

For example, if the driving voltage of tJsM15 is constant at 100Vrms, the current value is gradually increased (in other words, the power supply is gradually increased), and the current (+f{ (power set), so that
By setting the voltage division ratio of these resistors 117 and 118, the output voltage is determined.

Therefore, the shape of USM15 at this time is r9. If the frictional force is small and an external force is applied,
It is designed to rotate by that external force.

According to the output voltage change of the variable resistor 101, USM1
5 rotates, but USM15 is determined as follows.

That is, the diode circuit 1 is provided before the converter 103.
05, the threshold values of the comparators 102 and 103 (at which the outputs are inverted) differ slightly by the forward voltage drop of the diode circuit 105. If this diode circuit 105 is not provided, the output of the comparator 102 will be the inverted version of the output of the converter 103, but by providing the diode circuit 105, a very small voltage will be generated at which both the converters 102 and 103 have the same polarity. A range (fl1 (the above-mentioned forward drop voltage range) exists).

Therefore, the difference between the voltage between the input terminals of the comparator 102 and the voltage between the input terminals of the comparator 103 (that is, the voltage between the input terminals of the variable resistor 1
When the voltage difference between the output terminal of 01 and the terminal Q is within this range, the output of the OR circuit 112 becomes ゛L'' level, the analog switch 52 in FIG. 1 is turned off, and the ring counter 53
The USM 15 is brought into a state in which no pulses are output, and power is not supplied to the USM 15, so that this state is maintained (positioned).

The operation of this second embodiment will be explained below.

First, the case when the F/E switch 114 is on the E side will be explained. In this case, the analog switch 113.116 is connected to the contact T
E side is closed. For example, the curved switch 19 is
When tilting toward the JP side, the output voltage of the variable resistor 101 becomes 0.
The voltage gradually rises from ■, and is about 0.
When the voltage increases by 7V (the voltage corresponding to the forward drop of the diode circuit 105), the output of the level conversion circuit 107 becomes the "T1" level (at this time, the output of the level conversion circuit 106 is already at the "L" level). ), the OR circuit 112, and the ablog switch 113, a voltage of level "11" is supplied to the control end of the analog switch 52 in FIG. 1, thereby causing the switch 52 to close.

Therefore, the pulse a of the VCO 51 is equal to the pulse a of the ring counter 53.
, is output to the mono multi 54.

Further, the output of the level conversion circuit 108 is at the "low" level, and the ring counter 53 is output at the level shown in FIG.
b) Output pulses as shown in (0). At this time,
The output voltage of the BSC volume 119 is supplied to the terminal Z of the comparator 56 in FIG. 1, and the tJsM15 rotates in the UP direction at a speed according to the set voltage.

Assuming that the movement of the bending switch 19 is stopped and the output voltage of the variable resistor 101 at that time is, for example, +10■, the output voltage ff of the terminal Q of the LJSM15 is approximately 9.3V (1
It rotates from 0V to a value calculated by adding the voltage drop of the diodes constituting the diode circuit 105, and the voltage is 9.3■
, both level conversion rotations 106 and 107 become ゛L
” level, the analog switch 52 is in an open contact state,
In other words, it is turned off. Therefore, the curved portion 11 is locked at its curved angular position.

Next, when the handle 33 of the bending switch 19 is moved to the DOWN side by one angle, the LJSM1 is moved to the DOWN side (the opposite side to the LJP side).
5 rotates, and the bulge portion 11 curves to a camber-to-west angle corresponding to the amount of inclination of the handle 33, and then enters a locked state.

On the other hand, when the F/E switch 114 is set to the F side, the contacts TF side of the analog switches 113 and 116 are turned on, so that the analog switch 52 in FIG. 1 is always on.

Therefore, the voltage set by the resistors 117 and 118 is supplied to the converter 56, and the bending part 11 is stopped in the bending state immediately before the F/E switch 114 is operated, but if an external force is applied, the USM 15 rotates, and therefore the bending part 11 is stopped. The curved state of the portion 11 can also become feminine due to external force.

J《Ha second implementation If! According to 4l2, F/E switch 1
14, the video scope 2 can be safely removed from the subject by turning the switch 114 to the F side.

FIG. 7 shows a USM control circuit 1 in a third embodiment of the present invention.
21 is shown. If the part shown in FIG. 1 in the first embodiment is replaced with this circuit 121, the third embodiment will be obtained.

As shown in FIG.
23 to the first drive amplifier 124 and 90 for generating signals for rotating in the UP direction and DOWN direction.
゜Phase shift tolerance 125.270' A sine wave is output to the phase shifter 126.

Each phase shift 28125.126 is a switching analog switch 1
The signal is input to the second driving amplifier 128 via 27.

Both the amplifiers 124 and 128 have a gain of i! Il control circuit 1
29 controls the rate of increase, and both amplifiers 124.
Change the output level of 128 to an appropriate value and use this output to
M15 is driven. The feedback output of this USM 15 is input to a feedback circuit 130, and the output of this circuit 130 controls the oscillation frequency of the sine wave generating circuit 122 to a frequency slightly higher than the resonance frequency of the USM 15.

Note that each control end of the switches 127 and 123 is connected to a terminal X. The input terminal of the gain control circuit 129 is connected to the terminal Z.

The operation of this third embodiment will be explained below. switch 12
7 and 123 are respectively turned on/off by the output of the comparator 41 and the output of the OR circuit 45 in FIG. 3 (or FIG. 5 may be used).

A signal from terminal 2 in FIG. 3 or 5 is also input to the gain control circuit 129. According to the voltage value of the input signal, the gain control circuit 129, amplifier 124, .
6rI to change the gain of 128 and control the output voltage
When the control circuit 26 shown in FIG. 3 is used, the higher the output voltage of the variable resistor 38 or 39, the higher the output voltage of the amplifier 124.1.
28 controls to output a drive signal of high voltage (amplitude).

Further, when the control circuit 100 shown in FIG. 5 is used, the gain control circuit 129 controls the output voltages of the amplifiers 124 and 128 according to the output voltage of the variable resistor 119.

The effects of this third embodiment are similar to those of the first or second embodiment.

Furthermore, the Bay III device can be realized with a relatively simple configuration.

In the above embodiment, videoscope 2 is used, but
It is clear that it can be applied to fiberscopes.

Furthermore, the present invention is not limited to the above-mentioned embodiments.

For example, it can be applied to an endoscope that only curves in two directions.

Roughly speaking, the USM is not limited to an annular type, but may be a disk type or a linear type. The USM is not limited to being provided within the operating section, but may be provided within the entry section or within the connector.

For example, in the first embodiment, when the oscillation frequency of the VCM 51 is changed based on the output voltage of the variable resistor 38 and 39 to reduce the amount of curvature, the rotational speed (and torque) of the USM 15 is reduced. It's okay. In this case, controlling the rotational speed using the output voltage allows the torque to rotate between the LJSM rotor and stator without causing slippage even when the rotational speed is reduced, and generates almost no heat due to friction (slippage). The curved portion 11 may be rotated without any rotation.

Note that the application of the present invention is not limited to the medical and industrial fields, but can also be used in other fields.

[Effects of the Invention] As described above, according to the present invention, the drive ω1 of the vibration wave motor
Since the speed or torque is controlled by increasing or decreasing the driving force applied to the circuit, by reducing the speed etc., the bending device can be driven with less electric power, and a bending device with high power consumption efficiency can be realized.

[BRIEF DESCRIPTION OF THE DRAWINGS] Figures 1 to 4 relate to the first embodiment of the GJA invention. Figure 1 shows the configuration of the ultrasonic motor control system, and Figure 2 shows the overall structure of the first embodiment. 3 is a circuit diagram of the bending switch ill control system, FIG. 4 is an explanatory diagram of the operation of the first embodiment, and FIG. 5 is a circuit diagram of the bending switch control system in the second embodiment of the present invention. FIG. 6 is a characteristic diagram showing the relationship between the rotation angle and output voltage of the bending speed control volume comb, and FIG. 7 is a diagram showing the configuration of the ultrasonic motor il+ control system in the third embodiment of the present invention. 1... Endoscope device 2... Video scope (electronic scope) 4... Universal control device (UCA) 6... Insertion section
7... Operating section 11... Curving section 15.18... Ultrasonic motor (USM) 19... Curving switch 26... Curving switch control circuit 27.28... LISM control circuit 33...・Pattern 51...vCO52...
・Analog switch 53...Ring counter 54...Mono multi 55
... Sawtooth wave generation circuit 56 ... Converter 57 ... Gate circuit 58
...Motor drive circuit 59A. 59B...Transformer 60...Switching circuit section Fig. 1 Fig. 2 Fig. 5 Fig. 6

Claims (1)

[Claims] In an endoscope apparatus that includes a vibration wave motor that curves a bending section provided in the insertion section and a motor drive circuit that drives the vibration wave motor, the vibration can be reduced by changing the driving power of the motor drive circuit. An endoscope apparatus comprising a control means for controlling at least one of the speed and torque of a wave motor.