JPH03268735A - Endoscope device - Google Patents

Abstract

PURPOSE:To constitute the endoscope device so that it can be inserted into an insertion part which necessitates a twisting operation by a simple operation by providing an advance/retreat driving means for moving forward and backward an inserting part of the endoscope, and a rotation driving means for driving to rotate, and also, making both the driving means controllable by a single manual type operating means. CONSTITUTION:An insertion driving device 7 provided so as to be pressed against a flexible part 15 of an inserting part 8 is constituted of an advance/retreat driving motor 38 for moving forward and backward an inserting part 8 and a rotation driving motor 39 for rotating it, and an advance/retreat roller 38a and a rotation roller 39a driven to rotate by the motors 38, 39 in a state pressed against the inserting part 8. The motors 38, 39 are constituted of, for instance, a stepping motor, connected to a curvature-advance/retreat-rotation control circuit 31 through driving signal lines 41, 42, respectively, and driven by its driving signal. An operating part 9 is provided with a joy stick 45 for executing advance/retreat and rotational operations for inserting the inserting part 8, a microvibration switch group 46 for executing microvibration, and a state changeover switch group 47 for switching the curvature-advance/retreat- rotation to a free state and a lock state.

Description

[Detailed description of the invention]

[Industrial Field of Application] The present invention relates to an endoscope device in which the forward/backward movement and rotational movement of an insertion section can be controlled by one manual operating means. [Prior Art J] In recent years, the inside of a body cavity can be observed by inserting an elongated insertion part into a body cavity, and if necessary, treatment can be performed using a treatment instrument, or the insertion part can be inserted into a boiler or the like. Endoscopic SEA, which can be inserted into a tube hole to observe the inner wall of the tube hole and inspect defective parts such as cracks, is widely used. The insertion section used is longer than the length of the conduit from the insertion port of the subject to be observed to the site to be observed. Therefore, it is 1v1! If the inspection site is located deep in the conduit, the work of inserting the insertion section to the inspection site and taking it out becomes complicated. To deal with this, for example, Japanese Patent Application Laid-Open No. 1-148232
The conventional example of the publication discloses a technique in which a forward/backward driving means for advancing and retracting the insertion section is disposed outside the conduit, and the insertion and withdrawal of the insertion section can be performed using this driving means. has been done. By the way, when inserting the insertion section into the large intestine, it is difficult to insert the insertion section directly into the sigmoid colon, so a technique called the alpha loop method has conventionally been used. This α-loop method involves twisting the insertion part as it progresses and curving the curved part to form an α-shaped loop. By making the large intestine into a smooth curve, the insertion part can be easily inserted. It is something to do. When using this method, generally the left hand grips the operation part and operates the angle knob to perform the bending operation, and the right hand grips the lower part of the insertion part and moves forward and backward, or moves forward and backward and rotates at the same time. operation is required. In other words, this procedure requires forward and backward movement and twisting of the insertion section. [Problems to be solved by the invention] Among these forward/backward motions and twisting motions, the forward/backward motion is −F.
Although it is possible to add the twisting motion using the conventional example described above, the twisting motion must be added manually, and the complexity of the operation cannot be reduced much. Incidentally, it has been empirically known that applying twist to the insertion portion is effective in making the insertion and removal of the insertion portion easier when the insertion portion is inserted into and removed from a lumen. The present invention has been made in view of the above-mentioned points, and it is an object of the present invention to provide an endoscope Vt position with good operability that can reduce the burden of insertion operations due to surgical procedures. E Means and Effects for Solving Problem 1 In the present invention, an advance/retreat drive means for advancing and retracting the J4i human body part and a rotary drive means for rotationally driving are provided, and the advance/retreat drive means and the first stage of rotary drive are operated by a manual type. By being controllable with the operating means, it is possible to insert it into an insertion site that requires a twisting operation by simply operating the manual operating means. [Example] The present invention will be specifically described below with reference to the drawings. 1 to 18 relate to a first embodiment of the present invention, FIG. 1 is an overall configuration diagram of an endoscope apparatus of the first embodiment, and FIG. 2 is a configuration of a bending, advancement/retraction, and rotation control circuit. Figure 3 shows the joystick, Figure 3 (a) is a perspective view, Figure 3 (B) is a sectional view, Figure 3 (C) is a bottom view, and Figure 4 shows various information displayed on the monitor screen. 5 is a perspective view when the joystick is tilted, FIG. 6 is a timing chart showing the operation when the operation shown in FIG. 5 is performed, and FIG. Figures 8 to 13 are explanatory diagrams showing the movement of the distal end of the insertion tube when performing the operations shown in the figure.
4 to 18 are timing charts for explaining operations when performing various micro-vibration operations. As shown in FIG. 1, an endoscope device 1 according to the first embodiment includes an electronic endoscope (also referred to as an electronic scope) 2 having a built-in image carrier.
A control device 5 that includes a light source section 3 that supplies illumination light to the electronic scope 2, a signal processing section (also referred to as a video processor) 4 that performs signal processing for the image carrier of the electronic scope 2, and a video processor. 4, and an insertion drive device 7 for inserting the electronic scope 2 into the subject. The electronic scope 2 includes an elongated insertion section 8, a large operation section 9 formed at the rear end of the insertion section 8, and an operation section 9 formed at the rear end of the insertion section 8.
and a universal cable 11 extending from the universal cable 11, and a connector 12 at the end of the universal cable 11.
is the provision. The insertion section 8 includes a hard tip (configuration) section 13 formed at the tip, a curved section 14 that is freely curved adjacent to the tip section 13, and an operation section 9 extending from the rear end of the curved section 14. The flexible portion 15 extends to the front end of the flexible portion 15. A light guide 16 for transmitting illumination light is inserted into the insertion section 8, and a universal cable 11 extending from the operating section 9 is inserted into the light guide 16.
By connecting the connector 12 to the men's clothing @5, illumination light is supplied from the light source section 3. The white light from the lamp 17 constituting the light bulb section 3 is collected by a concave mirror, protrudes from the connector 12 toward the control device 5, and is irradiated onto the end faces of the lights 1 to guide vibes 18 facing the lamp 17. The illumination light irradiated to this end face is transmitted by this light guide 16, and is emitted from the output end face attached to the tip portion 13 to illuminate the front. The object to be examined, such as the illuminated part to be examined, is placed at its focal plane by the objective lens system 19 attached to the tip 3, and the CO
The image is formed on a solid-state image device (hereinafter abbreviated as SID) 21 such as D. The 5ID 21 photoelectrically converts the optical image and sends it to the video processor 4 via the signal line 22, where the video processor 4 processes the signal and displays the subject image on the monitor 6. The curved portion 14 connected to the tip portion 13 has a large number of joint pieces 23, 23 . ... are connected in tandem in the longitudinal direction of the insertion portion 8, and the joint piece 23 at the tip is fixed to a hard tip member 24. Joint pieces 23, 23 arranged in tandem. . . . are rotatably supported by a pair of vertically opposing pivot members such as rivets, and a pair of horizontally opposing pivot members 25 (only one is shown in Figure 1). ) are alternately supported, and each has a structure that can be bent in the left-right direction and up-down direction. A pair of curved wires 26 are provided along each of the multiple pairs of pivot members.
u, 26d: 26r, 261 (26u, 2 in Figure 1)
Only 6r is shown. ) is inserted through the curved portion 14 and the flexible portion 15, and is a pulley 27A, respectively. It is installed on 27B. These pulleys 27A and 27B are driven by bending drive motors 28A and 2 for driving the pulleys in the vertical and horizontal directions, respectively.
8B, and when the motors 28A and 28B rotate, a pair of curved wires 26u and 26d, respectively;
By pulling one of 26r and 261 (for example, 26u and 26r) and relaxing the other, the bending portion 14 can be bent toward the pulled bending wire. The motors 28A and 28B are constituted by, for example, stepping motors, and are connected to the bending, forward/backward, and rotation control circuit 31 in the control device 5 via drive lines 29 and 29. Further, encoders 32a and 32b of a rotary type or the like are attached to each motor 28A and 28B, respectively, and the encoder 32a. The signal detected at 32b is input to the bending angle detection circuit 34 in the control device 5 via signal lines 33.33. That is, the bending angle of the bending portion 14 is detected from the encoder output corresponding to the rotation angle of the motors 28A and 28B, and is output to the bending/forward/backward/rotation tilJ m1 circuit 31 and the video processor 4. The video processor 4 superimposes this bending angle signal on the video signal and displays the bending angle on a monitor screen. Further, a contact pressure sensor 35 is provided on the outer periphery of the bending portion 14, and the output of the sensor 35 is inputted to the bending resistance detection circuit 37 in the control device 5 via a signal 4136. This bending angle resistance detection circuit 37 detects the contact pressure from the output of the sensor 35 and displays the contact pressure on the monitor 6 via the video processor 4. The output of this bending angle resistance detection circuit 37 is also input to the bending/advancing/retracting/rotation control circuit 31. The insertion drive device 7 provided in pressure contact with the flexible portion 15 of the insertion section 8 includes a forward/backward drive motor 38 for advancing and retracting the insertion section 8 and a rotary drive motor 39 for rotating the insertion section 8. Advance and retreat rollers 38 are rotated by motors 38 and 39 while in pressure contact with the insertion portion 8.
a and a rotating roller 39a. Furthermore, the first
In the figure, one O-roller 38a, 39a side is rotated by a motor 38, 39, and the other roller 38a'39a'
are not directly rotationally driven by the motors 38 and 39, but they may be directly rotationally driven. The motors 38 and 39 are configured, for example, by stepping motors, and are connected to each other via drive signal lines 41 and 42, respectively.
It is connected to the advance/retreat/rotation control circuit 31 to control this bending, advance/retreat,
It is driven by a drive signal from the rotation control circuit 31. The operation section 9 includes a joystick 44 for performing a bending operation of the bending section 14, a joystick 45 for performing forward/backward and rotational operations for inserting the insertion section 8, a micro-vibration switch group 46 for slightly vibrating, - A state changeover switch group 47 for switching rotation between a free state and a locked state is provided. These shimmy sticks 44, 45 and switch group 46
．． 47 is curved and connected via signal lines 48.49, 50.51.
It is connected to the advance/retreat/rotation control circuit 31. A switch group 52 is also provided, for example, on the front panel of the control device 5, and is connected to the bending, forward/backward, and rotation control circuit 31 via a signal line 53. G♂ slight vibration switch 146 is curved slight vibration 0N10F)
- Switch 46a, forward/backward slight vibration ON/OF [Switch 46b, rotational slight vibration ON, '0FF=Switch 4
3 consisting of 6c, etc., and a state changeover switch group 47
It consists of a bending free/1 switch 47a1, a forward/backward swing switch 47b1, a rotation free/lock switch 47b, and a rotation free/lock switch 7c. In addition, the switch group 52 provided in the control device 25 includes a bending micro-vibration mode changeover switch 52a1, a bending/advancing/retreating/rotation/miso filling setting changeover switch 52b, and a speed designation switch 52c.
, angle designation switch b2d, A-le free switch 59
Consists of e. Note that the electronic scope 2 includes an air supply vibrator 54 for supplying air.
By connecting the connector 12 to the control unit 5, air for air supply is supplied from the air supply pump 55 in the control unit N5. The above joysticks 44, 45, switch group 46.4
The bending/advancing/retracting/rotation control circuit 31 to which operation signals such as 7.52 are input has a configuration as shown in FIG. Joystick 44, 45, switch group 46° 4-7
．． When the signal from 52 is input to the control circuit 55, the contact pressure sensor 35 and the contact pressure sensor 32 (32a, 32b)
(representative)) are also detected by the bending resistance detection circuit 37,
The person 1) is sent to the control circuit 61 via the bending angle detection circuit 34,
The control circuit 61 transmits a signal corresponding to the input signal to speed control circuits 62a, 62b, 62c, 62d, rotation direction indicating circuits 63a, 63b, 63c, 63d, and free 10-track control circuits 64a, 64b, 64c, 64d. Output to. For example, the joystick 44 includes a variable resistor 44u for detecting up/down operations and a variable resistor 44r for detecting right/left operations. Two variable resistors 44u, 44 depending on the tilt angle
The resistance value of r changes. In other words, the resistance values of the two variable resistors 44u and 44r change depending on the direction and angle of inclination. Each variable resistor 44. A constant N is applied to both ends of u and 44r.
Since H+Vc and -Vc are supplied, the variable end f(
The voltage output from the output terminal) has a value corresponding to the number of tilt angles. The control circuit 61 sends a signal corresponding to the output signal from each variable resistor 44u, 44r to a speed 1 pure circuit 62a.
, 62b and rotation direction indicating circuits 63a, 63b. The speed control circuit outputs pulses with a frequency depending on the input terminal. Further, the rotation direction indicating circuits 63a and 63b compare the input signals to zero voltage using a comparator circuit (not shown),
It detects whether the level is positive or negative and outputs it as a rotation direction instruction signal. Similarly, the joystick 45 has a variable resistance 45a for detecting forward/backward operation and a variable resistance 45r for detecting rotation operation, and sends signals corresponding to the direction in which the stick is operated and the tilt angle in each direction to the speed control circuits 62C, 62d and It is output to rotation direction indicating circuits 63c and 63d. The speed control circuit 62C162d outputs a pulse with a frequency corresponding to the level of the input signal. Also, the rotation direction indicating circuit 63c
, 63d detects the polarity and outputs it as a rotation direction instruction signal. Further, when the tree/lock operation switch group 47 is operated, a signal corresponding to the ON/OFF status is sent to the tree 70.
79 circuits 64a-646, and the circuits 64a-6
Each output signal of 4(1 is
t-ta 2ε3A is input to 65d and rotated through coin drivers 65-65d. Control the operation of 28B, 38.39 l! ′? As if to jump,
There are 0. When a signal instructing 0N10FF of various micro-vibrations is input to the control circuit 61 by the switch group 46, the control circuit 61 causes the speed control circuits 628 to 62d1, rotation direction instruction circuit 63a, 63d, etc. to perform various micro-vibrations. Outputs a control signal. In addition, the switch group 52 sends command signals to the control circuit 61 by operating the switch group 52 to change the micro-vibration mode, change the bending/advancing/backward 7-turning/miso drawing operations, specifying the number of stations, or setting the Or-free operation, etc. The control circuit 61 outputs control signals corresponding to these command signals to the speed control circuit 62a.
~62d, rotation direction indication circuit 638~63d, free/
Output to lock circuits 648-64d. For example, the bending micro-vibration mode changeover switch 52a is a switch for selecting the micro-vibration direction and the miso portion movement, and each time it is pressed, it causes a micro-vibration in the same direction as the bending direction, a micro-vibration in a direction perpendicular to the bending direction, and a clockwise rotation of the miso portion movement. , the same movement and counterclockwise rotation are cyclically switched. The bending/advancing/retracting/rotating/miso bubbly setting switch 52b allows setting of the micro-vibration angle and micro-vibration speed for each state depending on the type of push. For example, when you want to set the angle and speed of the rotational vibration, press the switch twice to enter the rotation setting state, then press the speed designation switch 52d, the angle designation switch 5.
If you press 2c, the rotation will start with slight vibrations at the desired speed and angle. The switch 52b is cyclically switched each time the switch 52b is pressed in the order of bending, forward/backward, rotation, and miso portion. One of the features of this first embodiment is that the insertion section 8 can be moved forward/backward/rotated using a single joystick 45 as shown in FIGS. 1 and 3(a). There is. This joystick 45 (or 44) is, for example, a third joystick.
It has a 41I structure as shown in Figures (b) and (C). Inside the frame 45A, O-shaped engagement pieces 45B, 45B are housed in a cross shape, crossing at the center, and each engagement piece 45B, 4
Each end of 5B is rotatably supported by a bearing 45C, and one end of each is connected to variable resistors 45a and 45r, respectively.
The resistance value of the variable resistor 458.45r changes with the rotation of the engaging pieces 45B, 45B. Each engagement piece 45B has long grooves 45D, 4
5D is formed, crossed long grooves 4.5D, 45D
The proximal end of the stick 45E is engaged in the box 4.5A, and the top of the stick 45E projects outward from the box body 4.5A. When the stick 45F is tilted, the engaging piece 45B rotates around the bearing, and the value of the variable resistor 45a or 45r changes. Also, joystick 44.45, switch group 4.6.
4.7.52 etc. are displayed on the monitor screen 6A as shown in FIG. The length of insertion of the insertion section 8 into the subject, the rotation angle of the insertion section 8,
The bending angle of the bending portion 14 and the bending resistance of the bending portion 14 are displayed in the first column on the right side of the monitor screen 6A. In addition, the states of 0N10FF and curved vibration modes of forward and backward vibrations, rotational vibrations, and curved vibrations are displayed in the second column. Furthermore, the speed of the micro-vibration is displayed in the third column, and the amplitude (length) and angle of the micro-vibration are displayed in the fourth column. Incidentally, if the output of the bending resistance detection circuit 37 exceeds a predetermined dangerous value, a warning is given and the bending, forward/backward, rotation, and each micro-vibration operations are stopped. Next, the operation when inserting the insertion section 8 into the subject will be described below. First, the slight vibration switches 45b and 46C are OFF, and the free/lock switches 47a and 47b. 4. Assume that 7c is in a state where it is not operated. (Assume that the all-free switch 52efp is OFF.) In order to insert the insertion section 8 into the subject, move the joystick 45 in the forward direction (indicated by push in FIG. 6) as shown by the solid line in FIG. tilt to If this tilting operation causes a temporal change as shown in FIG. 6(a), the output voltage of the variable resistor 45a shown in FIG. 2 also changes as shown in FIG. 6(a).
). In this case, the rotation direction indicating circuit 63c is in the "L" state as shown in FIG. 6(d) (the free/flock circuit 64c is also in the "H" locked state as shown in FIG. 6(e)),
The speed control circuit 62c outputs pulses with a frequency corresponding to the inclination angle to the driver 65G, as shown in tc> in the figure. Therefore, the motor 38 rotates at a rotational speed proportional to the number of pulses per unit time of the drive signal by the drive signal output from the driver 65C, and moves the insertion section 8 forward. For example, if it is easier to insert it by twisting it forward to the right, tilt it to the right as shown by the dotted line from the solid line in Figure 5, so that it faces in the /) direction between forward and right. tilt to If this tilting operation is a temporal change as shown in FIG. 6(1)), the rotation direction indicating circuit 63
(The output of j is “l-” and one speed all 1
The circuit 62d, not shown in FIG. 6(f), outputs a pulse having a frequency corresponding to the sea urchin inclination angle to the driver 65d. Therefore,
The motor 39 also rotates at a rotation speed proportional to this pulse. In this case, if the state of the distal end side of the insertion section 8 at the time when the joystick 45 is tilted to the right is the position of the distal end surface at 51 as shown by the solid line in FIG. 7, then the distal end surface is s2. ．． It moves as shown in s3, but since it is rotated clockwise by the insertion portion 8, the position of point a1 is moved forward in a spiral (twisted) manner as shown in points a2 and a3. In addition, in this embodiment, micro-vibration t! is generated in various micro-vibration modes as shown in FIGS. It is designed so that it can be inserted and removed while doing so. Figure 8 shows the mode of slight vibration in the up direction and down direction, Figures 9 and 12 show the mode of miso wetting movement (1 difference movement) where miso is wetted with a saw, and Figure 10 shows the mode of miso wetting movement (one difference movement). FIG. 11 shows a mode in which slight vibrations are made in the forward and backward directions, FIG. 11 shows a mode in which slight vibrations are made in the left and right directions, and FIG. 13 shows a mode in which slight vibrations are caused in rotation. Further, the operation of this embodiment will be explained with reference to FIG. 14 and subsequent figures. As shown in FIG. 14(a), for example, when the joystick 44 is tilted upward and then tilted downward, a voltage value corresponding to the tilt angle is outputted from the variable resistor 44u. Ru. This voltage value is, for example, proportional to the amount of inclination, so that the υ control circuit 61 is lightened and the speed control circuit 62
a, and the speed control circuit 62a is as shown in FIG.
As shown in C), a pulse with a frequency corresponding to the tilt angle in the up direction and the down direction is output to the driver 65a. Also, when the direction of tilting the joystick 44 is changed from the up direction to the down direction, the rotation direction is indicated. The circuit 63a is
A comparator circuit (not shown) detects this, and as shown in FIG. 14(d), the period "'
A signal that becomes H is output to the driver 658. The driver 65a outputs a drive signal to the up/'down bending motor 28A, which is a stepping motor, based on the signals output from the speed control circuit 62a and the rotation direction indicating circuit 63a. This drive signal is a signal that inverts (reverses) the motor 28A when the rotation direction instruction signal is "L", and the rotation speed of the motor 28A is proportional to the frequency of the pulse output from the speed control circuit 62a. It becomes what it is. When the motor 28A is reversed, the gear 26u is pulled and the bending portion 14 is bent in the upward direction.On the other hand, when the rotation direction instruction signal becomes "H", the motor 28A is rotated once, and The rotational speed of the driver 65a corresponds to the output signal of the speed control circuit 62a.
As shown in FIG. 4(e), in the locked state of H", the rotation of the motor 28A is controlled via the driver 65a, but in the free state of 11 L", the rotation of the motor 28A is controlled via the driver 65a.
No drive signal is supplied to 8A, and when a force is applied to the bending portion 14, the bending portion 14 becomes in a free state where it can be bent freely by the force. It is clear from the timing chart of FIG. 14 that the same operation occurs when the joystick 44 is bent in the right or left direction, so the explanation thereof will be omitted. Next, as shown in FIG. 14(b), the joystick 4
For example, when an operation is performed to move the insertion section 8 forward by pushing and tilting the insertion section 5 forward, that is, an operation to move the insertion section 8 toward the subject side,
The speed control circuit 62G outputs a pulse having a frequency corresponding to the tilt angle to the driver 55c as shown in FIG. 14(i). Also, in this case, the rotation direction instruction signal is as shown in Fig. 14 (
As shown in j), the driver 650 reverses the motor 38 and rotates the insertion portion 8 in a rotational direction that moves it forward. It can be seen from the timing chart of FIG. 14 that when the joystick 45 is tilted backward in a pull direction, the motor 38 rotates forward at a speed corresponding to the tilt angle. Furthermore, when the joystick 45 is tilted in one direction, the motor 39 rotates clockwise at a speed corresponding to the tilt angle, and when it is tilted in the let direction, the motor 39 rotates in the right direction at a speed corresponding to the tilt angle. This can be seen from Taiminoguchi 1 art in Figure 14. Further, when the tree/lock switch group 47 is operated together, the free/lock circuits 648 to 64d change from "H" to "
L", all motors 28A, 28B, 38, and 39 are free. The same operation occurs when the all free switch 52e is turned on. When the bending micro-vibration mode changeover switch 52a is operated. Each time you press the button, you can select the desired micro-vibration mode by cyclically switching between micro-vibration in the same direction as the bending direction, micro-vibration in the direction perpendicular to the bending direction, right rotation of the miso catching motion, and counterclockwise rotation of the same miso catching motion. / forward/backward/rotation/miso tofu setting switch 52
The desired micro-vibration mode can be set by operating b, the speed designation switch 52d, and the angle designation switch 52G.
This makes it possible to vibrate slightly at a desired speed, angle, etc. As shown in Figure 15(a), the curved micro-vibration switch f46a
When turned on, the switches 52a and 52c. There is a slight vibration as set in 52d. (In addition, the 15th
As shown in Figures (d) and (e),
4.45 will be explained based on the case where no operation is performed. ) For example, the first
As shown in Figure 5 ([), the setting of the switch 52a is the same direction slight vibration mode, as shown in Figure 5 (0), the speed designation switch 52c is set to 1 (low speed), and as shown in Figure 5 (h). As shown in the figure, when the angle setting is N (included angle), the rotation direction indicating circuit 63a (for the up-down motor) is set as shown in the figure (,
As shown in j), a rotation direction instruction signal in which "H" and "L" are sequentially output at short time intervals is output, and furthermore, the speed control circuit 62a outputs a pulse with a pulse width according to the speed setting value of the switch 52a. Therefore, the motor 28A repeats forward and reverse rotation, and the bending section 8
As shown in the figure, it vibrates slightly in the up and down directions. Further, when the speed setting value is H (High 5 peed), the frequency of the pulse output from the speed υ1111 circuit 62a is high<4, so the bending portion 8 vibrates very slightly. Further, when the angle is WNlide), the rotation direction instruction signal output from the rotation direction instruction circuit 63a is "14".
The periods of " and L'' become longer, and therefore the bending portion 8 vibrates slightly with a large vibration width. In this embodiment, the bending angle is set using the output nof frequency of the rotation direction indicating circuit 63a. However, for example, the rotation angle of the motor 28A may be detected by the output of the encoder 32a, and the forward/reverse rotation of the motor 28Δ may be controlled.Next, the switch 52a is set to the fine vibration mode in the right angle direction. In this case, when the switch 46a is turned on, the right-left motor 39 slightly vibrates, and the distal end side of the insertion section 8
As shown in the figure, it will vibrate slightly from side to side. Next, while operating the joystick 44, switch 4
The case when 6a is pressed will be explained. In addition, in order to simplify the explanation, the operation of the joystick 44 is 0N10F.
F, speed will be explained assuming L1 angle is N, but the speed and angle settings (F4.
1-1N/W)'i-kiru. First, the microvibration mode in the same direction as shown in FIG. 16U will be explained. When the switch 46a is turned on as shown in FIG. 16(a) and the chair gate 44 is tilted upward as shown in FIG. 16(d), the rotation direction indicating circuit 63a As shown in the same figure (j>), “1” is smaller than “T1”.
-'' outputs a longer decoder pulse. (In other words, the motor 28△
A rotation direction instruction signal to rotate is output. ) At this time, the speed control circuit 62a outputs a pulse (see FIG. 16(i)) corresponding to the speed designated by the speed designation switch 52c (that is, low speed) shown in FIG. The portion 14 curves while vibrating slightly in the direction of the protrusion. When the joystick 44 is turned off, the shape shown in FIG.
As shown in j), the rotation direction instruction signal P1"" and "L"
11 becomes equal, and the insertion portion 8 vibrates slightly in the up and down directions. Next, for example, when the switch 46a is turned off and the joystick 44 is operated to the down side, the rotation direction instruction circuit 63
The output of a becomes "I-4", and the speed control circuit 62
In the case of 8G, tA, a pulse is output according to the set speed, and the bending portion 14 is bent to the down side. Next, as shown in FIG. 16(a), the switch 46a is turned on.
Then, the rotation direction indicating circuit 638 outputs a day-day pulse in which the h- of "to" is longer than "1" as shown in FIG. , a pulse corresponding to the specified speed is output. Therefore, in this case, the joystick 44 is bent to the down side while vibrating slightly in the up and down directions. Next, the joystick 44 is tilted in the right direction. It can be seen from the timing chart in Fig. 16 that when the operation is performed, it is curved in the right direction while being slightly vibrated in the right and left directions.The direction in which it curves also occurs when it is tilted in the left direction instead of in the right direction. The only difference is that it is the same as the case of the right direction, so it will be omitted. Next, the case of slight vibration in the right angle direction will be explained with reference to Fig. 17. As shown in Fig. 17 (a>), Vibration switch 46a is O
When the switch 52a is set to N, the vibration mode is set by the switch 52a, and slight vibrations are made in the right and left directions. As shown in FIG. 17(d), when the joystick 44 is tilted in the up direction, the bending portion 14 bends in the up direction while vibrating slightly in the right and left directions. In other words, the rotation direction instruction signal remains at "1." as shown in FIG. 17(j), and the speed control circuit 62a tilts in the upward direction as shown in FIG. 17(1). A pulse with a frequency corresponding to the angle is output, and the curved part 1
4 curves upward. In this case, since the slight vibration in the right angle direction is the same as the state before this operation, it will be bent with slight vibration in the right and left directions. Joy soup wick 44 is tilted to the down side (J is thrown,
The output of the rotation direction indicating circuit 63a becomes "1", and the motor curves toward the down side while vibrating slightly in the right and left directions.
That will happen. (The case of the down side is not shown in FIG. 17.) Next, after the slight vibration switch 46a is turned off and the joystick 44 is placed in the neutral state, this switch 46a is turned off.
When a is turned on and the joystick 44 is tilted to the left, the switch 52a is in the right-angle micro-vibration mode, so the bending portion 14 is bent to the left with slight vibrations in the up and down sides. Becoming is the 17th
It can be seen from the diagram. In addition, most of the explanations so far have only explained C in the up/down or right/left direction, but these
It is clear that they can be operated together. Next, with reference to FIG. 18, a case will be described in which the switch 52a is set to the right rotation slight vibration mode or the left rotation slight vibration mode of the miso rubbing motion. The fine vibration modes of forward/backward movement and rotation will also be explained in Ii]. When the switch 46a is turned on as shown in FIG. 18(a), the speed control circuits 62a and 62b output pulses corresponding to the set speed. At this time, the rotation direction indicating circuits 63a and 63b are shown in FIG. 18 (j> and (1)).
- Outputs pulses with a phase shift of 90".
Right rotation or left rotation is determined by the setting of the switch 52a. Accordingly, the bending portion 14 performs a so-called miso catching motion by rotating clockwise or counterclockwise as shown in FIG. 9 or FIG. 12 according to the setting of this switch 52a. (In Fig. 18, the rotation is clockwise at first, and then it is switched to counterclockwise rotation.) In this case, when the joystick 44 is tilted, for example, in the right direction, as shown in Fig. 18 (1), The "H" output of the switch 63b becomes shorter than the "L" output, and therefore, the miso is caught and curved in the Lie 1 direction. Similarly, in other directions, a curves while performing a miso catching motion according to the direction in which the joystick 44 is operated. Regarding advance/retreat speed, angle, rotation speed, and angle, set switch 52b to advance or rotation upper mode, and press switch 52b.
This is possible by setting c and 52d. FIG. 18 shows the case where the low speed, narrow angle mode is set. When the slight vibration switches 46b and 46c are OFF, the joystick 45 moves as shown in FIG. 18(e).
When the stick is rotated in the R direction (in other words, the stick is tilted in the intermediate direction between the forward direction and the right rotation direction), the same figure (n
), as shown in (p), the rotation direction indicating circuit 63c
, 63d is "1" output, Shi 1-'MID circuit 62c
, 62d output low-speed pulses as shown in (ml) and (0) in the same figure. Therefore, the insertion section 8 advances while rotating to the right. (This has already been explained in Figs. 5 to 7.) As shown in Figs.
When the rotation direction indicating circuit 63C, 63d is
n) Outputs narrow angle mode pulses in which H'' and L'' switch at short time intervals as shown in (D). Further, the speed control circuits 62c and 62d are shown in FIG.
), outputs low speed mode pulses as shown in (o). Therefore, the insertion portion 8 slightly vibrates forward and backward while rotating slightly. In this state, when the joystick 44 is operated in the Pu1l &R direction as shown in FIG. 18(e), the speed control circuits 62c and 62d become fmS(1). The rotation direction indicating circuits 63c and 63d output pulses at low speed as shown in (0), while the rotation direction indicating circuits 63c and 63d are shown in (n) and (p
), pulses are output whose output times are longer for each of "H'" and "L"'. Therefore, the insertion portion 8 rotates clockwise with a slight rotational vibration, and retreats while making a slight vibration in the advancing/retreating direction. Furthermore, when the joystick 45 is operated in the Pu5h&L rotational direction as shown in FIG. 18(e), the insertion section 8 similarly rotates to the left with a slight rotational vibration and moves forward and backward with a slight vibration.L Although the bending micro-vibration, rotational micro-vibration, and advance/retreat micro-vibration have been explained with reference to Figs. As mentioned above, in the first embodiment, the single joystick 45 can be used to perform forward/backward operations and rotation operations, so it can be adjusted depending on the state of the examined part, the inserted part, etc. hand,
It is also possible to easily insert a combination of these while twisting. Therefore, the operation of inserting the insertion section 8 into the target site and removing the inserted insertion section 8 can be performed with simple operations. In addition, since it is equipped with means for performing various microvibrations, the microvibration state can be selected as appropriate depending on the state of insertion, so the insertion resistance of the curved portion 14, the insertion portion 8, etc. can be reduced, and insertion ease can be improved. can. Furthermore, since the angle of each microvibration can be selected appropriately, the optimal microvibration can be selected depending on the size of the lumen, etc. Furthermore, the speed of each microvibration can be selected as appropriate.
The speed can be selected as appropriate depending on the case. Also, regarding the curved micro vibration, the direction of the micro vibration can be switched between the same direction and the vertical direction, and even clockwise rotation is possible.
Since the J-massive motion can be switched as appropriate, the optimal mode can be selected depending on the condition of the lumen. Since 0N10FF of micro-imaging is possible, the micro-vibration can be turned off in the diverticulum part of the body cavity where there is a risk of perforation, making it extremely safe. Furthermore, in the vertical micro-vibration bending mode, even when 5TOP is applied in the middle of bending, the bend can be reliably applied. That is, when the S-way is opened during bending, a large starting torque is required because tension is acting in the opposite direction. Therefore, in such a case, it may be difficult to bend, but by slightly vibrating in a direction perpendicular to the bending direction, it was possible to make it easier to bend. In addition, since it can be bent while making slight vibrations, it is possible to insert it while making slight vibrations along the curved lumen, and it is possible to improve C insertability especially at the bent part. . Each micro-vibrating part is curved (same direction, vertical i direction, stone four rotation taste le')
L catch, miso delivery to the left) slight vibration, slight vibration of the insertion part moving forward and backward,
Since it is possible to operate at least one rotational micro-vibration of the insertion section in combination as appropriate, it is possible to select the optimal micro-vibration according to the state of the lumen. Furthermore, when the insertion section forms a loop, slight vibrations act to create a force that slates the insertion section, making it easy to release the loop. Note that each micro-vibration may be repeated at least once. Microvibration angle B1=180! The length of the micro-vibration is preferably 1 to 5 cm, and the speed of the micro-vibration is preferably in the range of 1-90 degrees/second or 1-50 mm/second, but may be changed as appropriate at the discretion of the operator. Also, if the microvibrations are made at an extremely fast speed and at a large angle, the field of view and screen will become extremely difficult to see, but this can be improved by making good use of the nollize function and displaying intermittent displays. As shown in FIG. 4, if the minute vibration 11 is displayed on the same screen as the observed image, the condition of the minute vibration 11 can be visually recognized, so the operability is very good. In addition, for micro-vibration, "slow-fast" is 1, and the angle of micro-vibration is 1.
You can gradually change the small angle to a ten-person angle αl, or change the direction of the microvibration to "smell - ten sides", 1-6 miso beam → left miso drawing.
Switching to C is also good. When the micro-vibration switch 46a is OFF, it may be set to L so that the state returns to the state before the micro-vibration. Note that when the bending is slightly vibrated, h in front of the insertion section 8 (curved section 1
4) also vibrates slightly. . Next, a second embodiment of the present invention will be described with reference to FIG. Components similar to those in the first embodiment are given the same reference numerals.

[':! Explanation will be omitted. In this embodiment Q, motors 28A and 28B are provided within the 2'' connector 12. No operating section is provided, and a connector 12 is directly connected to the rear of the insertion section 8. :' is connected to the connector 12μ light source & bending/advancing/retracting/rotation control device 71. This light & curvature/advance/retreat/rotation control device 711. ! , 1st
Curving/advancing/retracting/rotating sub-section circuit 31, bending angle detection circuit 34, bending resistance detection circuit 37, run 117, and pump 5 of the embodiment
5. You can think of it as having a built-in switch N-52. control! @ Place 71 has video bus setter 4 connected to cable 72
connected via. Further, a bending operation section 73 and a forward/backward/rotation operation section 74 are connected to the control m+ device 71. The bending operation section 73 is provided with a dial switch 44 and a switch group 46, and the operation section 74 is provided with a joystick 45 and a switch group 47. Advance/retreat/rotation motor 3
B, 39 is installed in a forward/backward/rotating device 75, and the device 75 is connected to a control device 171 via a cable 76. Note that the connectors provided on the connection cables 72, 76, etc. between the respective locations are removable. The operation of this second embodiment is similar to that of the first embodiment, so a description thereof will be omitted. The effects of this second embodiment include that the motors 28A and 28B are installed inside the connector 12,
:The provision of the operating section 9 gives peace of mind. JLW:: There is no need to hold the heavy operation part 9 containing the shutters 28A, 28B, etc., and it is easy to hold it in the light bamboo control part 73, 74. It is possible to operate only the bending unit without the advance/retreat/co-rotation device 74. At this time, hold the operation unit 73 to the left 1,
Operate the insertion section 8 with the right hand: J'. Ru. Advance/retreat/rotate! If there is no position 74, only the bending can be motorized. Of course, it is the curved microvibration (right) l'lT function. Since the operation parts 73 and 74 can be operated with both hands, the operability is very good. For example, if you hold the bending operation section 733 in your right hand and the forward/backward/rotation operation section 74 in your right hand, you can perform manual operations (left hand operates the bending knob, right hand advances/retracts and rotates (twists) the insertion section). ), so it is very easy to operate, even if you are confused. FIG. 20 shows a third embodiment of the invention. Components similar to those in the first and second embodiments are denoted by the same numbers and explanations thereof will be omitted. A transmission gear 81.82 is provided within the connector 12, and rotation is transmitted to the pulley 83.84. Gear 81.
82, when the connector 12 is connected to the bending device 85,
It meshes with transmission gears 86 and 87, so that the power of motors 88 and 89 can be transmitted. Curved mounting M85 is control circuit 9
The motors 88 and 89 are controlled in accordance with the operation of the bending operation section 73. The connector 12 connects to the light source device 92 via the connection cable 91.
connected to. The light source device 92 includes an air pump 93, a water pump 94, a suction pump 95, and a lamp 17. A foot switch 97 is connected to the light source device 92 via a cable 96, and when pedals 98, 99, and 100 are stepped on, air, water, and suction are performed, respectively. Connecting cable 101 from the light source side connector of cable 91
extends and is connected to the video processor 4. The advancing/retracting/rotating device 75 has a built-in control circuit 102 and controls the advancing/retracting motor 38 and the rotary motor 39 (path shown) according to the operation of the advancing/retracting/rotating operation section 74. Includes the insertion length, insertion part rotation angle, advance/retreat minute vibration 0N10FF1 speed (L, M, H), length (N, M, W), rotational minute vibration 0N10FF, speed (L, M. H), angle ( N, M, W) are displayed.The monitor 6 displays the bending angle, bending resistance, and bending microvibration 0N1.
0FF, curved microvibration mode, speed (L, M, H),
The angle (N, M, W>) is displayed. The operation of this third embodiment is the same as that of the second embodiment, so the explanation will be omitted. Note that since the foot switch 97 is provided, the operation parts 73, 74 Air, water, and suction can be performed even when holding the endoscope with both hands.In addition, if only the forward/backward/rotating device 74 is provided, the forward/backward/rotating endoscope can be motorized and the forward/backward movement can be finely controlled. It is possible to generate vibrations and rotational slight vibrations.The effects of this third embodiment include the bending device 85 and the forward/backward movements.
Since the rotating device M74 is a separate unit, either one or a combination can be used as required. Since there is no bending motor inside the endoscope body, the endoscope can be made lighter and less expensive. FIG. 21 shows a fourth embodiment of the invention. The insertion section 8 is guided to the insertion opening of the subject by a flexible cylindrical guide 110. The guide 110 is connected to the centralization side m device 111. Rails 112, 112 are provided within the control device 111. Guided by the rails 112, 112, the base 1
13 advance and retreat. On the base 113 is a rotating drum 114,
114 are provided. A curved, light source, and VP device 115 is rotatably held by a drum 114.114. The bending/light source/VP device 115 is the bending device 8 of the third embodiment.
5. Light source device [92, video processor 4 are combined into one. The connector 12 has a built-in transmission gear and is detachable from the device 115. The control box 117 is connected to the control box 117 via a cable 116. The box 117 includes a curved up/down and right/left (abbreviated as UDRL) button 118, an insertion section forward/backward/rotation button 119, and a curve/advance/backward/rotation micro-vibration control switch 1.
20 are provided. The guide 110 is cylindrical and can be divided into two in the axial direction. Note that the centralized control device 111 is connected to the monitor 6. The curved LIDRL button 118 has the same function as the joystick 44, and the insertion section advancement/retraction/rotation button 119 has the same function as the joystick 45. The internal structure of the buttons 118 and 119 will be described later (see Figs. 25 to 28).The function of this fourth embodiment is similar to that of the third embodiment when the curved button 118 is pressed, so no explanation will be given. Omitted.Advance/retreat/
When the forward/backward buttons 119a and 119t of the rotation button 119 are pressed, the base 113 moves back and forth along the rails 112 and 112. At this time, since the guide 110 is present, the insertion portion 8 will not slacken. Rotation buttons 119r, 119f
When J is pressed, the drum 114 rotates and therefore the device 1
The entire 15 rotates. Regarding bending micro-vibration, advance/retreat micro-vibration, and rotational micro-vibration, please refer to Part 1~
Since it is similar to the third embodiment, the explanation will be omitted. The advantage of this fourth embodiment is that the device is integrated, making it easier to handle. Since the guide 110 is provided, the insertion portion 8 will not become slack. The control box 117 can be operated with one finger because it is a push button type. FIG. 22 shows a fifth embodiment of the invention. In this embodiment, the insertion section 8 has a forward/retractable mounting M121 and a rotation 1
41f122 are provided, and these devices 121°122
is connected to the central burial joystick 123. The operating section 9 has a recess 124 and a wire guide 125. The wire guide 125 is a cylindrical member with a slit on the right side. A slider 126 is provided therein so as to be able to slide forward and backward. -ta unit 127 Ut slider 1
A concave member 128 that fits into the convex portion of 26 is provided. The concave member 128 moves forward and backward as the guide 129 rotates. The motor unit 127 is fitted into the recess 124. The position of the recessed member 128 is recognized by an index card (not shown). Based on this information, bending system-1 micro-vibration system @(
micro-vibration angle, etc.). By the way, the manual operation device used for advancing/retracting and rotating operations is not limited to the one shown in FIG. 3, etc., but also the one shown in FIG.
, (b), (c), (d) You may use the Yona Shoi Sticks 201, 202, 203, and 204. 23(a) shows a stick 205 without a ball on the top, and FIG. 23(b) shows the same structure as that used in FIG. 19, with a remote control grip 206.
A joystick 202 is formed on the top of the holder. In addition, FIG. 23(C) shows a joystick 208 for forward/backward movement and rotation, and a joystick 209 for downward movement and left/right movement.
The joystick 204, which can switch between UDRI- and forward/backward right functions, is attached to the remote control grip (fd) in the same figure. It is installed on the top of 211. Note that, for example, the remote control grip 206 may be connected to the operation section 9 of the endoscope.
It may also be provided. Moreover, as shown in FIG. 24(a), the remote control grip 2
A joystick 222 and a joy switch 223 may be provided on the top of the controller 21. For example, the joystick 222 is for forward, backward, left and right rotation operations, and the joy switch 222
3 is for bending operation, but it may be reversed. Further, a joy switch 231 as shown in FIG. 24(b) may be used instead of the joystick 201 in FIG. 23(a). Also, instead of the joy switch 2310 shown in FIG. 24(b), as shown in FIG. 24(c), (d), and (e),
Joy switches 241, 242, and 243 whose operation switch portions or button portions have different shapes may be used. By the way, the resistance value of the above-mentioned slide changes depending on the pressing force, and the amount of forward/backward movement and left/right rotation can be set depending on the use of the pusher. Its structure is shown in Figs. 25 to 28. Accepted. A joy switch 334 shown in FIG. 25 is provided on the operating section 9 in place of the joystick 45 of the first embodiment, for example. As shown in FIG. 25, a cylindrical digital switch 334 is deeply buried in, for example, a box-shaped frame 333. The joy switch 334 includes a base 335, a base holder 336 and a nut 337 for fixing the base 335 to the frame 333, a flexible substrate 338 adhesively fixed to the base 335, and the flexible substrate 338.
It is composed of a pressure-sensitive conductive rubber 339 placed on top, a plate 340 made of an insulating material such as Bushistic, which is tiltably placed in the recess of the base holder 336, and a switch cover 341 that covers these. ing. This switch cover 341 is made of elastic rubber such as silicone rubber, and the inside of this cover 341 is designed to have a watertight structure. A first through hole 333a is provided in the center of the frame 333, and four second through holes 333b are arranged at 90° intervals around the first through hole 333a, and third through holes are arranged around the first through hole 333a. 333G (see FIG. 27), and a fourth through hole 333d arranged around the fourth through hole 333G (see FIG. 27). The base 335 has a disc shape, and the base 335
Also, a first through hole 335a and a second through hole 335b correspond to the through holes 333a, . . . 333d of the frame body 333.
, a third through hole 335C1, and a fourth through hole 335d. Moreover, as shown in FIG. 28, this base 33
A notch 335g for positioning is provided in a part of the outer periphery of 5. The base holder 336 passes through the first through holes 333a and 335a provided at the center of the frame 333 and the base 335, and the nut 3 is inserted at the threaded end (lower end) of the base holder 336.
It is fixed at 37. The disk-shaped flexible substrate 338 is adhesively fixed to the upper surface of the base 335. An electrode pattern is provided on the upper surface of the flexible substrate 38. This electrode pattern corresponds to the base 335 (7) through hole 335
Land portions 338b and 3 are located at positions corresponding to 335c and 335c.
38d (see FIG. 26), and this land portion 33
A comb-shaped electrode portion 338e extending from 8b (at all four locations) in the outer circumferential direction is provided. This comb-shaped electrode part 33
One pattern part of 8e is connected to the land part 338b, and the other part is used as a common GND (ground), and goes around the outer periphery of the flexible substrate 338 once and connects to the land i!
It! 338 d. Further, each land portion 338b, 338d is provided with a through hole. The pressure-sensitive conductive rubber 339 is made of 2DEX manufactured by Mitsuboshi Belting Co., Ltd., for example, and has a resistance value that changes depending on the pressing opening. A through hole 339 is located in the center of this rubber 339.
a, Land 1B338d of the flexible substrate 338
A through hole 339c (see FIG. 27) is provided at a position corresponding to , so as not to come into contact with a soldered portion of a flexible substrate 339, which will be described later. The plate 340 has a tilting shaft 34, O
a is bored and is supported in contact with the conical notch recess of the base presser 336. Further, a total of four pressing convex portions 340b are provided at positions corresponding to each comb-shaped electrode portion 338e of the flexible substrate 338. On the opposite side of each pressing convex portion 340b, four positioning portions 34 are provided.
0c (4 pieces in total) are provided. The switch cover 341 includes a disc-shaped main body 341a and a skirt portion 341b provided on the outer periphery of the main body 341a. The main body 341a has a recess 341C formed by slightly cutting out the center of its outer surface, and a positioning protrusion 341d is provided on its inner surface so as to fit into the positioning recess 340C of the plate 340. A protrusion 341e for direction indication is provided on the outer surface opposite to each positioning protrusion 341d. A constricted portion 341f is provided at the lower part of the skirt portion 341b over the entire circumference, and is fitted into a recess provided in the frame 333 by the base 335. Note that a positioning convex portion 3 is provided at the bottom of the skirt portion 341b.
41q (see FIG. 28) is provided and fitted into the positioning notch 3350 of the base 335. Land portions 338b, 33 of the flexible substrate 338
Lead wires 342, 343 (total of 4 each) are soldered to 8d, and each lead wire 342, 343
is passed through the universal cord 11 and connected via the connector 12 to a control circuit 61 provided in the bending/advancing/retracting/rotation control circuit 31. Note that the fourth through hole 333d,
A positioning pin 345 is fitted into 335d, and the base 3
35 positioning is being performed. The joy switch 334 is a constant low circuit as shown in FIG. That is, the joy switch 334 is constituted by a forward/backward joy switch section 351 and a left/right rotation joy switch section 352. For example, the forward/backward joy switch section 351 (for Push/PuI I) is connected to a switch S1.82 and a variable resistor V1, respectively. ．． It is composed of V2. The first switch of the interface 354 is connected to the Pu5h switch 353 consisting of the switch S1 and the variable resistor v1.
A constant current is supplied from a constant current circuit 355 constituting the detection system 354A, and the amount of pressure on the joy switch 353 is detected by the voltage detection circuit 356 and transmitted to the control circuit 61. Similarly, a constant current circuit 358 is connected to the Pu1l joy switch 357 consisting of a switch S2 and a variable resistor v2.
A constant current is supplied from the voltage detection circuit 359.
The amount of pressure on the joy switch 357 is detected and transmitted to the control circuit 61. Note that the left/right rotation joy switch section 352 and the second detection section 354B that detects the amount of pressing thereof are also the same, and therefore will be omitted. FIG. 30 shows the appearance of a sixth embodiment of the present invention. In this device 401, for example, in the first embodiment, a joystick 45 is not provided on the endoscope 2, and a remote control joy grip 402 extends from the insertion drive device 7. is provided with a joy switch 334.The operation section 9 of the endoscope 2 is also provided with an air/water supply switch 403 and a suction switch 404.
, VTR control switch 405, freeze switch 406
, release switch 4.07, etc. are provided. Further, in this embodiment, the control device 5 in the first embodiment is separated into an angle/resistance detection circuit 411, a video processor 412, and a light source device 413. The effects of this embodiment are almost the same as those of the first embodiment. FIG. 31 shows the appearance of a first modification of the third embodiment shown in FIG. 20. In this modification, a control device 421 is formed by integrating the bending device M85 shown in FIG. 20, the light source device 92, the control circuit 102, etc. Therefore, the connector receiver of this device 421 is provided with a light guide connector receiver 124 in addition to the transmission gears 86 and 87 in the connector receiver section 422, and also includes a forceps lifting transmission gear 425, air supply, water supply, Suction connection port 426, 4
27,428 is installation J. Further, this device 421 is provided with a connector receiver 430 to which a connector 429 attached to the cable of the remote control grip 73 for bending operation can be connected. Also, in the connector receiver 431 of F4 + F4,
Cable 432 extending from connector 12 of endoscope 2
This allows connection of a signal connector 433. By connecting the connector 436 of the cable 435 extending from the insertion drive device 7 to this connector 12,
This allows a signal from the remote control grip 402 to be transmitted to the control device 421. FIG. 32 shows a further modification of FIG. 31. The universal cable 11 extending from the operating section 9 of the endoscope M2 is provided with a connector 12 and a connector 433. The operating section 9 is provided with various switches as shown in FIG. In addition, a forceps raising switch 409 is also installed [
It is a pool. In addition, the insertion drive device 7 is connected to the connector 436 of the cable 435.
can be connected to the =J connector receiver 451 of the control II device city 21. FIG. 33 shows an overall view of a seventh embodiment of the present invention (in this embodiment, the insertion portion 8 is advanced and retreated while being slightly vibrated. Something similar to the first embodiment is The same reference numerals are given (descriptions are omitted). The curved control light source device 520 has a built-in motor driver 521 that drives the motor 28, etc. A motor driver 522 that drives the motor 38 of the advance/retreat roller 38a.
is controlled according to the operation of a forward/backward forward switch 524 and a backward switch 525 from a control box 523. The joystick 44 is connected to the motor driver 521.
D Indicates the direction of RL bending. The operation will be explained below with reference to the flowchart in FIG. 34. When the insertion section advance switch 524 is operated, the control box 523 instructs the motor driver 521 to vibrate slightly. Therefore, motor 28A is
It repeatedly goes down and becomes what is called micro-vibration mode. Needless to say, the advancing and retracting rollers 38a and 38a' rotate in the advancing direction. When the insertion section retraction switch 525 is turned on, the retraction roller 38
a, , 38a' rotate in the selection direction. At this time motor 2
8△ does not vibrate slightly. It should be noted that the vehicle may also be configured to vibrate slightly when moving backward. The effect of this seventh embodiment is that the field of view is stationary because the slight vibrations are normally turned off. Therefore, you can observe with certainty and your eyes won't get tired. Furthermore, since the microvibration is automatically turned on when the insertion section 8 is advanced, the operator can turn off the microvibration each time using the 0N10FF switch. Incidentally, the micro-vibration is not limited to the curved micro-vibration, and may be forward/backward/rotational, or may be combined as appropriate. Furthermore, it goes without saying that the micro-vibrations may be generated not only during the advancement of the insertion section but also during the bending operation, the rotation operation, or any combination thereof as appropriate. FIG. 35 shows an eighth embodiment of the present invention. In this embodiment, each device for bending, rotating, advancing and retracting is separate. The bending motor is located within the operating section 611. A forward/backward movement device 612 and a rotation device 613 are provided separately, and can be controlled by operating a forward/backward movement switch 614 and a rotation switch 615, respectively. Further, a bending joystick 617 can be connected to the operation section 611 via a cable 616. The advantage of this embodiment is that since the bending, rotation, and advance/retreat devices are separate units, they can be selectively used as needed, which is efficient. FIG. 36 shows a schematic configuration of the main parts of a ninth embodiment of the present invention. In the above-described embodiment, stepping motors are used to control the bending motors 28A, 28B, the forward/backward motor 38,
Although the motor 39 for left and right rotation is configured, in this embodiment, the motor 39 is
C motor 701A. 701B are used to configure motors for forward and backward movement and for left and right rotation, respectively. Each of the above Tanabata 7011 (1=A or B) operates the forward rotation and reverse rotation speed control section 703I by pressing the stop/forward rotation/reverse rotation changeover switch 702I. 704I, and also connected to a free/lock changeover switch 705r. The speed control section 7031 or 704■ is
For example, by changing the value of a variable resistor or equivalent variable resistor such as a joystick or joy switch, the voltage supplied to the DC motor 7011 can be varied to control the rotation speed. In other words, it can be used in place of a stepping motor. It is clear that the above embodiments can be combined to form different embodiments. [Effects of the Invention] As described above, according to the present invention, the driving means for advancing and retracting and rotating the insertion section can be controlled by a common manual operating means, so that the insertion section can be advanced or withdrawn while twisting. This makes it easy to perform operations such as inserting the insertion section into the insertion site.

[Brief explanation of drawings]

Figures 1 to 18 (regarding the first embodiment of the present invention)
Fig. 1 is an overall configuration diagram of the endoscope device of the first embodiment, Fig. 2 is a configuration diagram of the bending, advancement/retraction, and rotation control circuit, Fig. 3 shows the joystick, and Fig. 3(a) is a perspective view. , same figure (b)
is a sectional view, (C) is a bottom view, Fig. 4 is an explanatory diagram showing examples of various information displayed on the monitor screen, Fig. 5 is a perspective view when the joystick is tilted, and Fig. 6 is the fifth
Figure 7 is an explanatory diagram showing the movement of the distal end of the insertion tube when the operation shown in Figure 5 is performed, and Figures 8 to 13 are timing charts that do not show the operation when the operation shown in the figure is performed. 14 to 18 are timing charts illustrating the operation when various micro-vibration operations are performed. FIG. 19 is a second diagram of the present invention. 20 is an overall view of the third embodiment of the present invention, FIG. 21 is an overall view of the fourth embodiment of the present invention, and FIG. 22 is an overall view of the fifth embodiment of the present invention. , Figure 23 shows
FIG. 24 is a perspective view showing a modification of the joystick; FIG. 24 is a perspective view showing a modification of the joy switch; FIGS.
Figure 9 relates to the joy switch, Figure 25 is a sectional view, and Figure 2
Figure 6 is a partially cutaway plan view of Figure 25, and Figure 27 is a partially cutaway plan view of Figure 25.
6 is a sectional view taken along the OA line, FIG. 28 is a sectional view taken along the OB line in FIG. 26, FIG. 29 is an equivalent circuit diagram of the joy switch and a circuit diagram of the press amount detection system, and FIG. FIG. 31 is an external view of a modification of the third embodiment of the present invention;
Fig. 32 is an external view of a modification of Fig. 31, Fig. 33 is an overall view of the seventh embodiment of the present invention, Fig. 34 is an explanatory diagram of the operation of the seventh embodiment, and Fig. 35 is a diagram of the seventh embodiment of the present invention. Overall diagram of 8th embodiment, 3rd
FIG. 6 is a schematic diagram of the main parts of a ninth embodiment of the present invention. 1... Endoscope device 2... Electronic endoscope (electronic scope) 3... Light source section 4... Video processor 5... Control bag M 6... Monitor 7...
- Insertion drive device [8... Insertion section 9... Operation section 12... Connector 14
...Bending portions 27A, 27B...Pulleys 28A, 28B...Bending drive motor 31...Bending/backward/backward/rotation control circuit 38...Advance/backward drive motor 39...Rotation drive motor 38a, 39a. ...Loaf 44.45...Joystick 2nd diagram 6th diagram ut Figure 8 (UD food l and V) Figure 10 (Nao Eijashi Tetsu) υ) Fig. 1 (PL pickup 11) + Fig. 12 (1 Lido - 5 group army t) Fig. 13 (Rotating Spring □) 1 Rahi □ Part Fig. 21 118 19 20 (0) ( C) Fig. 22 Fig. 24 (b) (d) (e) (a) (C) Fig. 23 (b) (d) Fig. 27 Fig. 30 Fig. 29 Gei 1 To Shizuka Hill 61 No. 31 Figure 32 Figure 33 Figure 34

Claims (1)

[Claims] An endoscope including an elongated insertion section, a forward/backward drive means for advancing and retracting the insertion section, a rotation drive means for rotating the insertion section, and operations of the forward/backward drive means and the rotation drive means can be controlled. An endoscope device characterized by being provided with a common manual operation means.