JPH03280919A - Endoscope - Google Patents

Abstract

PURPOSE:To stop action wire operating mechanisms correctly and surely at an optional position by short-circuiting the input terminals of motors with a short-circuiting means when the motors driving the action wire operating mechanisms are stopped. CONSTITUTION:Motors 22, 23 driving the operating mechanisms 26-31 of action wires 32, 33 and a motor controller controlling the motors 22, 23 are provided. When the above wire action operating mechanisms 26-31 are not driven, input terminals 22a, 22b of the above motors 22, 23 are short-circuited by a drive/lock transfer switch 36. When the action wire operating mechanisms 26-31 are driven with the motors 22, 23 utilizing the electromagnetic force represented by a DC motor, the action wire operating mechanisms 26-31 can be stopped correctly and surely at an optional position.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope device that drives a manipulation wire actuation mechanism by a motor.

[Prior Art] In recent years, endoscopes M (scopes or fiberscopes), which can diagnose and examine organs in body cavities by inserting an elongated insertion section into body cavities, have been widely used. This endoscope is used not only for medical purposes but also for industrial purposes to observe and inspect objects inside pipes of boilers, machines, chemical plants, etc., or inside machines.

Furthermore, various types of electronic endoscopes that use solid-state image carriers such as charge-coupled devices (CODs) as image carriers are also used as the endoscopes, and endoscopes including these electronic endoscopes are For example, it is composed of an elongated insertion section to be inserted into a subject, a large-diameter operation section connected to the rear end of the insertion section, and a universal cord extending from the operation section.

A connector is provided at the end of the universal cord, and the universal cord can be detachably connected to, for example, a light source device.

The insertion portion includes a hard tip, a curved portion connected to the rear end of the tip and capable of bending, for example, vertically/left and right, and an elongated bendable portion connected to the rear end of the curved portion. The flexible tube section is connected to the operating section.

The tip of the endoscope is provided with an entrance window through which an image of a subject, such as a subject to be examined, enters.For example, an objective optical system is disposed in this entrance window, and an image is formed at the imaging position of the objective optical system. An entrance end face of the guide or a solid-state image carrier is disposed.

In order to insert the aforementioned endoscope into a subject and direct the objective optical system toward, for example, a subject, the bending section can be bent up and down/left and right with an operating wire, and means for bending the bending section is provided. For example, the applicant has
As shown in Japanese Patent No. 7529, an endoscope has been proposed in which a motor is used to drive an operating wire drive mechanism to improve operability, and the motor that drives the operating wire drive mechanism is usually a DC motor. Types that use electromagnetic force, such as , or types that use frictional force, such as ultrasonic motors, are used.

[Problems to be Solved by the Invention] However, when the above-mentioned operating wire drive mechanism is driven using a motor that uses electromagnetic force, such as a DC motor, the power to the motor is cut off at a position desired by the operator, and the internal When the bending part of the endoscope is stopped, an external force such as the tension of the operating wire that bends the bending part acts, causing the motor to rotate.
As a result, there was a problem in that the curved portion etc. did not stop at the position desired by the operator.

The present invention has been made in view of the above-mentioned points, and when driving the operating wire operating mechanism using a motor that utilizes electromagnetic force, such as a DC motor, the operating wire operating mechanism can be moved at any position. It is an object of the present invention to provide an endoscope device that can be stopped accurately and reliably.

[Means for Solving 12 Problems] An endoscope device according to the present invention includes a motor that drives an operating wire actuating mechanism and a motor control section that controls the motor. The motor is equipped with a short-circuit means for short-circuiting the input terminals of the motor when the operating mechanism is not driven.

[Operation] With this configuration, when the motor that drives the operating wire drive mechanism is stopped, the input terminals of the motor are short-circuited by the short-circuiting means.

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

1 to 3 relate to the first embodiment of the present invention, in which FIG. 1 is a circuit diagram of the motor drive circuit, FIG. 2 is an explanatory diagram of the operation wire actuation mechanism, and FIG. 3 is an electronic endoscope device. FIG.

(Configuration) As shown in FIG. 3, the electronic endoscope device 1 includes a solid rim.
An electronic endoscope 2 in which an element such as a charge-coupled device (hereinafter referred to as COD) is installed, a light source device 3 that supplies illumination light to the electronic endoscope M2, and a CO of the electronic endoscope 2.
A video processor 4 that drives the 8J D and obtains the 11611 signal from the COD, a monitor 5 that displays the video signal of the video processor 4, and a bending unit that controls the bending of the bending portion 16 of the electronic internal 8J mirror 2, which will be described later. It consists of a motor control device [6].

The electronic endoscope 2 includes an insertion section 77 formed to be elongated so as to be inserted into a subject, a large-diameter operation section 8 connected to the rear end of the insertion section 7, and a side of the operation section 8. It is composed of a universal cord 9 extending from the universal cord 9, and a connector 10 provided at the end of the universal cord 9.

A video processor cord 11 and a motor control device cord 13 are extended from the side of the connector 10,
A connector 12 is provided at the end of the cord 11 for the video processor, and a connector 14 is provided at the end of the cord 13 for the motor control device.

The electronic endoscope 2 is removably connected to the light source device 3 through the connector 10, and removably connected to the video processor 4 through the connector 12, and further connected to the bending endoscope through the connector 14. It is designed to be detachably connected to the motor control device 6.

The insertion section 7 of the electronic endoscope 1!2 is rigid, and is connected to a tip structure section 15 in which a CCD or the like is disposed, and to the rear end of this tip structure section 15, and is bendable, for example, vertically/horizontally. Curved part 1
6, and a long flexible tube section 17 connected to the rear end of this curved section, and this flexible tube section 17 is connected to the operation section 8.

The operation section 8 is provided with an air/water supply button 18, a suction button 19, and an operation switch section 20.

By operating the air/water supply button 18, air or water is supplied from the tip component 15, and by operating the suction button 19, the air or water is supplied to the electronic endoscope 2 (not shown). Suction is drawn from the suction channel.

The operation switch section 20 includes a switch button 20a that controls the bending section 16 to curve upward, a switch button 20b that similarly controls the bending section 16 downward, and a switch button 20G that similarly controls the bending section 16 to the left. , and a switch button 20d that similarly controls the right direction.

By operating the switch button 20a, the bending portion 16 curves upward, and the switch button 20a is bent upward.
By operating b, the curved portion 16 curves downward, by operating the switch button 20C, the curved portion 16 curves leftward, and by operating the switch button 20d, the curved portion 16 curves downward. The curved portion 16 is curved to the right.

Further, the switch button 20a and the switch button 20C1, the switch button 20a and the switch button 20d, the switch button 20b and the switch button 20C1, the switch button 20b and the switch button 20d can be operated at the same time,
This allows the curved portion 16 to be freely curved, for example, to curve the curved portion 16 in the upper left direction.

An output end surface of a light guide (not shown) is disposed in the tip forming part 15, and this light guide is connected to the insertion part 7.
, the operating section 8 , and the universal cord 9 , and an incident end surface thereof is disposed on the connector 10 .

The light source device 3 is provided with a light source (not shown),
Illumination light from this light source is supplied to the incident end face of the light guide and guided, and is irradiated onto the test portion or the like from the output end face.

The tip component 15 further includes, for example, an objective optical system (not shown) on the tip surface and a COD (not shown) at the imaging position of the objective optical system, and a signal line (not shown) connected to the COD. , the insertion section 7 , the operation section 8 , the universal cord 9 , the connector 10 , and the video processor cord 11 , and are connected to the connector 12 .

The video processor 4 is provided with a video signal processing circuit (not shown), and an input end of the video signal processing circuit is connected to a receptacle (not shown) connected to the connector 12, and an output end of the video signal processing circuit is connected to a receptacle (not shown) connected to the connector 12. It is connected to the monitor 5.

The COD is driven by the video signal processing circuit,
An image of a subject such as a test portion formed on the photoelectric conversion surface of the COD by the objective optical system is photoelectrically converted and inputted to the video signal processing circuit as an imaging signal. The video signal is then converted into a video signal by the video signal processing circuit, and an image of the subject to be examined is displayed on the monitor 5 using this video signal.

Further, as shown in FIG. 2, inside the case 21 of the operating section 8, there is a drive motor 22 consisting of a DC motor that drives the bending section 16 in the vertical direction, and a drive motor 22 that drives the bending section 16 in the left-right direction. Drive motor 23 consisting of a DC motor to drive
are installed, and sprockets 28.29 for indexing chains 26.27 are respectively fixed to drive shafts 24.25 of these drive motors 22.23.

Each said chain 26.27 connects said each sprocket 28.
29, and connecting pieces 30 and 31 are fixed to both ends, respectively, and bending operation wires 32 and 33 connected to the bending part 16 are fixed to these connecting pieces 30 and 31. .

Each of the drive motors 22 and 23 is connected to the operation switch section 2.
The sprockets 28 and 29b, which are fixed to the drive shaft 2425, are rotated by a driving signal from the bending motor control device 6 in response to the operation of the switch buttons 20a to 20d of 0. 28.
The chains 26 and 27 wound around the chain 29 are pulled. Then, the operating wire 32.33 connected to the chain 26.27 via the connecting piece 30.31 is pulled, causing the bending portion 16 to curve.

The bending motor control 11 device 6 is provided with a motor drive unit that drives the drive motors 22 and 23 by operating the switch buttons 20a to 20d of the operation switch section 20. The circuit will be described as a representative example of the drive motor 22 that drives the bending section 16 to bend in the vertical direction.

As shown in FIG. 1, the motor drive circuit includes, for example,
a direction changeover switch 3 connected to the drive motor 22;
4.35, drive/lock switch 36, power supply 37
, and an OR gate 38°39.40. to which the signal from the operation switch section 20 is input. Inverter 41.42
It is composed of etc.

The drive motor 22 has one input terminal 22a connected to a first contact terminal 348 of the direction changeover switch 34, and the other input terminal 22b connected to a first contact terminal 35a of the direction changeover switch 35. There is.

The direction changeover switch 34 has its second contact terminal 34
b is connected to the first contact terminal 36a of the drive/lock changeover switch 36 and also to the third contact terminal 35C of the direction changeover switch 35.

Further, the positive terminal of the power source 37 is connected to the third contact terminal 34c of the direction changeover switch 34 and the second contact terminal 35b of the direction changeover switch 35, and the third contact terminal 34c of the direction changeover switch 35 is connected to the positive terminal of the drive/lock changeover switch 36. A three-contact terminal 36c is connected thereto, while a second contact terminal 36b of the drive/lock changeover switch 36 is connected to the negative terminal of the power source 37.

The direction changeover switch 34, 35 and the drive/
The lock changeover switch 36 is composed of, for example, a relay switch, and is configured by the OR gates 38, 39, 40, respectively.
The output end of the OR gate 38, 39.4 is connected to a relay coil via a buffer (not shown), for example.
0, each first contact terminal 34
a, 35a, 36a as common contacts, each first contact terminal 34a, 35a, 36a and each second contact terminal 34b 35b
, 36b are respectively connected, and each first contact terminal 34a, 35a 36a is connected to each third contact terminal 34c, 35c, 36c, respectively, by a low level signal.

Further, the switch button 20a for bending the bending portion 16 upward is connected to the or gates 38.3, 9.
40, the switch button 20 is connected to one input terminal of the switch button 20 for bending the bending portion 16 downward.
b is connected to the other input terminal of the OR gate 38 via an inverter 41, and is also connected to the other input terminal of the OR gate 39 via an inverter 42; Connected to the other input terminal.

The switch buttons 20a and 20b are configured to output a high level signal when turned on by pressing the button, and output a low level signal when turned off by releasing and returning.

(Function) Next, the function of the electronic endoscope device configured as described above will be explained.

The insertion section 7 of the electronic endoscope 2 is inserted into the body cavity, and the curved section 16
When bending, switch buttons 20a, 20b, 20c, 20c control the bending direction of the operation switch section 20.
Press at least one of j.

Here, the vertical bending drive motor 22 will be explained, but the horizontal bending drive motor 23 has a similar effect, and the explanation will be omitted by changing the reference numerals.

When bending the bending portion 16 upward, when the switch button 20a is pressed and turned on, a high level signal is output, and the OR gate 38 of the motor drive circuit.
Entered at 39.40.

On the other hand, a low-level signal is output from the switch button 20b for bending the bending portion 16 downward, and this low-level signal is input to the OR gate 40 and to the inverters 41 and 42, respectively. A high level signal is inverted by the OR gate 38.
39.

Therefore, the output signals from the OR gates 38, 39, and 40 are all at high level, and the direction changeover switch 3
4.35 first contact terminal 34a.

35a and the second contact terminals 34b and 35b are connected, respectively, and the first contact terminal 36a and the second contact terminal 36b of the drive/lock changeover switch 36 are connected.

As a result, the drive motor 22 is connected to the power source 37, the drive shaft 24 rotates, and the sprocket 28 fixed to the drive shaft 24 rotates. When pulled, one side of the chain 26 wound around this sprocket 28 is pulled, and the other side is bent.

Operating wires 32 are connected to both ends of the chain 26 by connecting pieces 30, and when one of the chains 26 is pulled, one of the operating wires 32 is pulled.

The operating wire 32 is connected to a bending piece at the tip of the bending section 16, which is one of a plurality of bending pieces (not shown), and when one of the operating wires 32 is pulled,
The bending pieces operate with each connection point as an axis, and the bending portion 16 curves.

At this time, the other operating wire 32 connected to the bending piece is pulled by the bending piece at the tip mentioned above, and by this pulling, the deflection of the other chain 26 is removed.

Here, when the bending operation of the bending portion 16 is to be stopped, when the switch button 20a is released and the switch is turned off, the output signal of the switch button 20a changes from a high level to a low level, and the OR gate 38, 39, 40
input becomes low level.

On the other hand, as described above, a low level signal is output from the switch button 2ob, and a low level signal is sent to the OR gate 40, and the OR gate 38.39
Since a high level signal is input to each of the OR gates 38 and 39, only the output signal of the OR gate 40 is inverted from high level to low level, and the output signals of the OR gates 38 and 39 are held at a high level state.

Unfortunately, the direction changeover switches 34, 35 are not switched with the first contact terminals 34a, 35a and the second contact terminals 34b, 35b connected, respectively, and the drive/direction switch 34, 35 is not switched.
The lock changeover switch 36 changes instantaneously, and the first
The contact terminal 36a and the third contact terminal 36C are connected to short-circuit each input terminal 22a, 22b of the drive motor 22.

Thereby, in order to stop the bending operation of the bending part 16, when the switch button 20a is switched off to cut off the power supply to the drive motor 22, the bending part 16
Even if a force is applied to forcibly rotate the drive motor 22 due to the tension of the operating wire 32 indexed to bend the drive motor 22, the drive motor 22 is locked by self-electromotive force. Since the curved portion 16 is prevented from returning to its original shape, the curved portion 16 can be stopped at a desired position.

Next, when the bending portion 16 is to be bent downward, the switch button 20b is pressed to turn on the switch.

Then, a high-level signal is output from the switch button 20b, and this high-level output signal is input to the OR gate 40, and is inverted to a low-level signal by the inverters 41 and 42, respectively, and is input to the OR gate 38. 39.

On the other hand, since a low level signal is input to the OR gates 38, 39.40 from the switch button 20a for bending the bending portion 16 upward, the output signal of the OR gate 38, 39 is at a low level. The output signal of the OR gate 40 becomes high level.

Therefore, the first contact terminals 34a, 35a and the third contact terminals 34c, 35c of the direction changeover switch 34.35 are connected, respectively, and the first contact terminal 36a and the second contact terminal of the drive/lock changeover switch 36 are connected. terminal 36
b is connected, whereby the drive motor 22
The switch button 20a is connected to the power source 37 with a polarity opposite to that when the switch button 20a is turned on, and rotates in the opposite direction, resulting in the bending portion 16 bending downward.

Next, in order to stop the bending operation of the bending portion 16, the switch button 20b is released and turned off, and the output signal of the switch button 20b changes from high level to low level and is input to the OR gate 40. , the inputs to the OR gates 38 and 39 go from low level to high level via the inverters 41 and 42.

At this time, since the OR gates 38, 39, and 40 are outputting low level signals from the switch button 20a, the output signals of the OR gates 38 and 39 are inverted from low level to high level, and the output signals of the OR gate 40 are inverted from low level to high level. is reversed from high level to low level.

Therefore, the first contact terminals 34a, 35a of the direction changeover switches 34, 35 are the third contact terminals 34G, 35a, respectively.
35C to the second contact terminal 34b.

35b, and the first contact terminal 36a of the drive/lock changeover switch 36 is instantly switched and connected from the second contact terminal 36b to the third contact terminal 36c, and each input terminal 22a of the drive motor 22, 22b is short-circuited, and as described above, the drive shaft 24 of the drive motor 22 is locked by self-electromotive force, and the curved portion 16
The curvature will not return due to external force.

(Second Embodiment) FIGS. 4 to 6 relate to the second embodiment of the present invention, in which FIG. 4 is an external view of the operating section, FIG. 5 is a view taken in the direction of arrow A in FIG. 4, and FIG. is a circuit diagram of a motor drive circuit.

In each of the embodiments described below, the same members as in the first embodiment described above are given the same reference numerals, and the explanation thereof will be omitted.

(Structure) In the second embodiment, as shown in FIG. 4, the electronic endoscope 2 is a fiberscope 51 having an eyepiece 50, and an operation switch section 53 is provided on one side of the operation section 52. An air/water supply button 18 and a suction button 19 are provided on the opposite side of the operation switch section 53, for example.

The operation switch section 53 includes a toggle switch 54 that controls bending of the bending section 16 upward and downward by 1/I, a toggle switch 55 that controls bending of the bending section 16 leftward and rightward, and a drive motor 22. It is comprised of a bending part free switch button 56 that makes the bending part 16 free from external force when the rotation angle 23 is stopped.

As shown in FIG. 5, when the levers 54a and 55a of the toggle switch 5455 are tilted toward the eyepiece 50, the switch is turned on and a high-level signal is output. Curving control can be performed. And the lever 54a.

When 55a is released, it is returned to the neutral position by an internal spring (not shown) and becomes an OFF state, and its output signal becomes a low level.

On the other hand, the lever 54a of the toggle switch 54.55,
When the eyepiece 55a is tilted to the opposite side from the eyepiece 50, the switch is turned on and a high level signal is output, allowing for downward and leftward bending control, respectively.

When the curved portion free switch button 56 is pressed, it becomes switched on, outputs a high level signal, and maintains that state. When the switch is pressed again, the switch is turned off and the output signal becomes low level.

Furthermore, as shown in FIG. 6, the motor drive circuit is different from the motor drive circuit of the first embodiment in that a free switch 57 is added between the direction changeover switch 34 and the drive/lock changeover switch 36. , connect the third contact terminal 35c of the direction changeover switch 35 to the second contact terminal 34b of the direction changeover switch 34, connect one contact terminal of the free switch 57, and switch the other contact terminal between drive and lock. It is connected to the first contact terminal of the switch 36.

The free switch 57 is a so-called normally closed type switch, in which a high level signal from the curved part free switch button 56 causes the terminals to be disconnected from each other, and a low level signal causes the terminals to be electrically connected. It is configured as.

Note that the free switch 57 may be connected between the drive motor 22 and the direction changeover switch 34 or between the drive motor 22 and the direction changeover switch 35.

(Function) When bending the bending section 16 of the fiberscope 51 upward, for example, when the lever 54a of the toggle switch 54 of the operation switch section 53 is tilted toward the eyepiece section 50 with a finger, a high-level signal is output. be done.

At this time, since the curved portion free switch button 56 is not pressed, the free switch 57 is in a conductive state, and the first
As described in the embodiment, the drive motor 22 rotates and the bending portion 16 is bent.

When the bending portion 16 is bent to a desired position, when the finger is released from the lever 54a of the toggle switch 54, the lever 45a is automatically returned to the neutral position by an internal spring (not shown), and the switch is turned off. Therefore, the drive motor 22 is short-circuited and the bending portion 1
6 stops at the desired position, and as in the first embodiment, the bending does not return due to external force.

Here, when the insertion section 7 is removed from the body cavity, or when it is desired that the curve is restored by an external force applied to the curved section 16, the curved section free button 56 is pressed to turn on the switch.

Then, the free switch 57 is activated by the high level signal output from the curved portion free switch button 56.
The conduction between the terminals of the drive motor 22 is broken, and the short circuit of the drive motor 22 is released.

Therefore, when the insertion portion 16 returns from the curved state due to an external force, there is no resistance that prevents rotation of the drive motor 22 due to self-electromotive force, and the lock of the curved portion 16 is released.

If you want to lock the curved section 16 again, press the curved section free switch button 56 again.
The output signal to the free switch 57 is set to low level. As a result, the free switch 57 becomes conductive, the drive motor 22 is short-circuited, and the bending portion 16 is short-circuited.
is locked.

This second embodiment has the advantage that the insertion section 7 can be safely removed from the body cavity because the curved section 16 can be made free. Toggle switch 54 to control the switch
．． 55 switches has the advantage that the number of parts can be reduced.

(Third Embodiment) FIG. 7 is an explanatory diagram of the operation wire actuation mechanism according to the third embodiment of the present invention.

(Structure) In the third embodiment, drive gears 60.61 are fixed to drive shafts 24.25 of drive motors 22.23 installed in the case 21 of the operation unit 8, and these drive gears 60. 61, a driven gear 62 is installed in the opposite direction to the insertion portion 7.
．． 63 are meshed.

The gear train consisting of the drive gear 60 and @ distribution driven gear 62 and the gear train consisting of the drive gear 61 and the driven gear 63 are set to appropriate reduction ratios, and the driven gears 62 and 63 are provided with a sprocket 28.
．． 29 are coaxially fixed so that operating wires 32, 33 are pulled through chains 26, 27.

(Function) By operating the operation switch section 20, for example, the drive motor 2
When the drive shaft 24 of No. 2 rotates, the drive gear 60 that is fixed to the drive shaft 24 rotates, and the driven gear 62 that meshes with the drive gear 60 and the driven gear 62 that is fixed coaxially with this driven gear 62 rotate. The sprocket 28 rotates at a predetermined reduction ratio.

Then, the operating wire 32 is guided through the chain 26 wound around the sprocket 28, and the bending portion 16 is bent.

In this case, by appropriately setting the reduction ratio of the gear train, the restoring force against the bending of the bending portion 16 acting on the drive shaft 24.25 of the drive motor 22.23 due to the tension of the operation wire 32.33 can be reduced. This makes it possible to lock the drive shaft 24.25 more strongly by shorting the drive motor 22.23.

Furthermore, by appropriately setting the reduction ratio of the gear train, the torque of the drive motor 22.23 can be reduced, the drive motor 22.23 can be downsized, and the operation section 8 can be made smaller.
It has the advantage of being able to be made smaller.

Note that the gear train may be configured not only in one stage but also in multiple stages, and a gear head may be integrated with the drive motors 22 and 23.

(Fourth Embodiment) FIGS. 8 and 9 relate to the fourth embodiment of the present invention.
The figure is a configuration diagram of the electronic endoscope device, and FIG. 9 is a circuit diagram of the motor drive circuit.

(Configuration) In the fourth embodiment, the bending motor control wave nail 6 in the first embodiment is replaced with a bending resistance detection unit 7 as shown in FIG.
0 and a motor drive unit 71, and further includes an operating wire 32 within the electronic endoscope 2.
33, a bending resistance measuring section 75, 76 with a strain gauge 73, 74 attached thereto is interposed.

In the bending resistance detection unit 70, the operation wire 3
The bending resistance due to the tension during the bending operation in step 2.33 is detected by the change in resistance value from the strain gauge 73.74 of the bending resistance measuring section 75.76, and the motor drive unit 71 is operated according to this bending resistance. It is designed to send control signals.

Further, as shown in FIG. 9, the motor drive circuit of the motor drive unit 71 is different from the motor drive circuit of the first embodiment in that a bending resistance switch is provided between the direction changeover switch 34 and the drive/lock changeover switch 36. 77 is added, and the second contact terminal 34b of the direction changeover switch 34 is added.
The third contact terminal 35c of the direction changeover switch 35 is connected to the switch, one contact terminal of the bending resistance switch 77 is connected to the third contact terminal 35c of the direction changeover switch 35, and the other contact terminal is connected to the first contact terminal of the drive/lock changeover switch 36. It is.

The bending resistance switch 77 operates as a so-called normally closed type switch, in which a high level signal from the bending resistance detection unit 70 operates to break the continuity between terminals, and a low level signal causes continuity between the terminals. It is configured.

(Function) When bending the bending section 16 upward, for example, the switch button 20a of the operation switch section 20 is pressed to operate the drive motor 22, and the operation wire 32 is indexed to bend the bending section 16. .

At this time, the resistance value of the strain gauge 73 provided in the bending resistance measuring section 75 changes due to the tension generated in the operation wire 32, so this change in resistance value is detected by the bending resistance detection unit 70 in the bending control wave M72. , shining bending resistance.

Then, the bending resistance calculated by the bending resistance detection unit 70 is set in advance and inputted to a threshold value °.
In this case, a high level signal is output from the bending resistance detection unit 70 to the bending resistance switch 77 of the motor drive unit 71.

Then, the bending resistance switch 77 is actuated by the high level signal from the bending resistance detection unit 70, and the conduction between the terminals is released. As a result, if the drive motor 22 is in operation, it is automatically stopped, the short circuit is released, the drive shaft 24 is unlocked due to self-electromotive force, and the curved portion 16 can be easily moved by external force. state.

(In other words, in this example, even if an erroneous operation such as forcing the body cavity to bend,
This has the advantage that the drive motors 22, 23 are automatically stopped and the drive shafts 24, 25 are unlocked, ensuring safety.

Incidentally, the bending resistance may be detected by the load applied to the drive motors 22, 23, and in this case, the bending resistance may be detected by the load applied to the drive motors 22, 23.
No. 33 requires any special equipment to be added.

(Fifth Embodiment) FIGS. 10 and 11 relate to the fifth embodiment of the present invention,
FIG. 10 is an explanatory diagram of the operation wire operating mechanism, and FIG. 11 is a circuit diagram of the motor drive circuit.

(Configuration) In the fifth embodiment, as shown in FIG.
．． Brake drive gear 8 is attached to drive shaft 24 and 25 of 23.
0 and 81, and a sprocket 28.29 is fixed to the end of the drive shaft 24.25, and the brake gear 82.29 meshes with the brake drive gear 80.81.
Solenoids 84 and 85 equipped with friction plates 84a and 85a are arranged opposite to the flat surface of 83.

These solenoids 84, 85 attract the operating shaft when energized, and the friction plates 84a, 85 fixed to the end of the operating shaft attract the operating shaft.
5a is separated from the brake gears 82, 83, and in a non-energized state, the friction plates 84a, 85a are pressed against the flat surface of the brake gears 82, 83 by the biasing force of a return spring (not shown).

As shown in FIG. 11, the motor drive circuit is different from the motor drive circuit in the first embodiment in that an OR gate 86 is connected in parallel to the input side of the OR gate 40 so that the outputs of the switch buttons 20a and 20b are input. It has become.

Further, the solenoid 84 is connected to the solenoid switch 8.
The output terminal of the OR gate 86 is connected to the solenoid switch 87.

The solenoid switch 87 is connected to the OR gate 86.
A high level signal from the terminal turns it on and conducts between the terminals, and a low level signal turns it off and disconnects the terminals.

(Function) When the switch button 20a is pressed in order to bend the bending part 16 upward, for example, by operating the operation switch part 20, a high level signal is output from the switch button 20a. Since a low level signal is output from the switch button 20b for bending the bending portion 16 downward, the drive motor 22 is activated to bend the bending portion 16, as explained in the first embodiment. .

At this time, the switch button 2 is connected to the OR gate 86.
A high level signal from 0a and the switch button 2
A low level signal from 0b is input, and a high level signal is output from the OR gate 86. Then,
The high level signal from the OR gate 86 turns on the solenoid switch 87, making the terminals conductive and energizing the solenoid 84.

Therefore, the solenoid 84 attracts the operating shaft to separate the friction plate 84a fixed at the end from the brake gear 82, and the brake drive gear 80 meshing with the brake gear 82 and the The drive shaft 24 of the drive motor 22 on which the brake drive gear 80 is fixed rotates without any hindrance, and the curved portion 16 is curved.

Then, when the curved portion 16 is curved to a desired position,
When the switch button 20a is released to turn off, the output signal from the switch button 20a becomes low level, and as explained in the first embodiment, the drive motor 22 is stopped and short-circuited, and the self-electromotive force causes the drive motor 22 to stop and short-circuit. locked.

At the same time, the switch button 2 to the OR gate 86
The input signal from 0a becomes low level, and the output signal of the OR gate 86 becomes low level due to the low level input signal from the switch button 20b, the solenoid switch 87 is turned off, and the conduction between the terminals is released. , the connection between the solenoid 84 and the power source 88 is cut off.

As a result, the friction plate 84a of the solenoid 84 is pressed against the flat surface of the brake gear 82 by the biasing force of a return spring (not shown), and the drive motor 22 lock the drive shaft 24 of the

That is, in addition to locking the self-electromotive force due to a short circuit, the drive motors 22 and 24 also lock the friction plates 8 of the solenoids 84 and 85.
4a and 85a, the lock is stronger.

f. Sixth Embodiment) FIG. 12 is a configuration diagram of an electronic endoscope device according to a sixth embodiment of the present invention.

In the sixth embodiment, the operation section 91 of the electronic endoscope 190 does not have a built-in operation wire actuation mechanism, and the external bending drive device 93
It is set up inside.

That is, through the connector 92, the front endoscope l1t9
0 and the external bending drive device 93 are connected, and the drive shaft 2 of the drive motor 22 23 in this external bending drive device 93 is connected to the external bending drive device 93.
A sprocket 28.29 is fixed at 4.25, and a chain 26.27 is wound around this sprocket 28.29.
An operating wire 94.95 is fixed to the connecting piece 3'0.31.

By connecting the connector 92, the operating wires 94 and 95 are connected to operating wires 98 and 99 on the electronic endoscope 90 side via wire connectors 96 and 97.

Further, the external bending drive device 93 has a built-in motor drive unit 100, which is connected to the operation switch section 20 of the electronic endoscope 190 via the connector 92 to control the drive motors 22 and 23.

Note that the operation of this embodiment is similar to that of the first embodiment, so a description thereof will be omitted, and the illustration of the light source device 3 will be omitted in FIG. 12.

(Seventh Embodiment) FIG. 13 is an explanatory diagram of a forceps lifting device according to a seventh embodiment of the present invention.

(Structure) In the endoscope 1110 according to the seventh embodiment, a drive motor 112 for raising the forceps is installed in an operation section 111, and a pulley 114 is fixed to a drive shaft 113 of the drive motor 112.

The pulley 114 has an operating wire 115 for raising the forceps.
is wound around and connected to a forceps raising stand 118 provided at the distal end component 117 of the insertion section 116.

One end of the forceps lifting stand 118 is rotatably attached to the tip structure part 117 via a bottle 119, and by indexing the operating wire 115, the forceps opening 119 provided in the operating part 111 can be opened. Forceps 1 inserted from
It is designed to raise up 20 people.

Further, the operation unit 111 includes a switch button 121a for raising the forceps elevator 118, and a switch button 121a for lowering the forceps elevator 118.
An operation switch section 121 consisting of a first
It is controlled by the same motor drive circuit as in the embodiment.

(Function) In this seventh embodiment, the switch button 20a in the first embodiment for curving the bending portion 16 upward is replaced by the switch button 121a for raising the forceps raising base 118.
In this case, the switch button 20b for bending the bending part 16 downward is replaced with a switch button 121b for lowering the forceps lift h118, and the bending part 16 is replaced by a forceps lift stand 118. , its operation and effects are similar to those of the first embodiment described above.

That is, for example, if the switch button 121a is pressed to operate the drive motor 112 and the switch button 121a is turned off when the forceps 120 is at the desired position, the drive motor 112 is stopped and the input terminals are short-circuited. Therefore, the drive shaft 113 is locked and the forceps lifting base 118 does not return due to the tension of the forceps lifting wire 115.

(Eighth Embodiment) FIG. 14 is an explanatory diagram of a visual field conversion device according to an eighth embodiment of the present invention.

(Structure) A drive motor 132 for visual field conversion is installed in the operation section 131 of the endoscope 130 in the eighth embodiment, and a pulley 134 is fixed to a drive shaft 133 of the drive motor 132.

The pulley 134 has an operation wire 135 for changing the field of view.
is wound around and connected to one end of a visual field conversion mirror 138 provided at the distal end component 137 of the insertion section 136.

The other end of the field-of-view conversion mirror 138 is rotatably attached to the distal end component 137 via a pin 139, and by indexing the operation wire 135, the field-of-view conversion mirror 138 is tilted. The observation image incident on the objective optical system 140 and CCD 141 disposed in the tip component 137 can be changed.

Further, the operation unit 131 includes the viewing field conversion mirror 1.
An operation switch section 142 is installed, including a switch button 142a for raising the mirror 38 and a switch button 142b for lowering the field-of-view converting mirror 138, and a motor drive circuit similar to that of the first embodiment. IIJ is controlled by.

(Function) In this eighth embodiment, the forceps raising base 118 in the seventh embodiment described above is replaced with a mirror 138.

For example, the field of view is changed by pressing the switch button 142a to raise the field of view conversion mirror 138,
When the observation image incident on the objective optical system 140 and the CGD 141 disposed in the distal end component 137 of the endoscope 130 becomes the observation image of the part to be examined that the operator wants to observe, the operator releases the switch button 142a. In the off state, the drive motor 132 is stopped and the drive shaft 133 is locked. Therefore, the visual field conversion mirror 138 does not return due to the tension of the operating wire 135, and the subject can be observed accurately.

Incidentally, the drive motor 132 may be installed in an external device of the endoscope 130 as in the sixth embodiment.

[Effects of the Invention] As explained above, according to the present invention, the input terminals of the motor that drives the operating wire actuating mechanism are short-circuited when the operating wire actuating mechanism is not driven. The motor is locked by self-electromotive force and prevented from rotating due to external force.

Therefore, when the motor is stopped, the operating wire operating mechanism does not move due to external force, and the stopping position of the operating wire operating mechanism can be accurately determined.

[Brief explanation of drawings]

1 to 3 relate to the first embodiment of the present invention, in which FIG. 1 is a circuit diagram of the motor drive circuit, FIG. 2 is an explanatory diagram of the operation wire actuation mechanism, and FIG. 3 is an electronic endoscope device. 4 to 6 relate to the second embodiment of the present invention, FIG. 4 is an external view of the operating section, FIG. 5 is a view taken from arrow A in FIG. 4, and FIG. 6 is a view of the motor. The circuit diagram of the drive circuit, FIG. 7, relates to the third embodiment of the present invention, and the explanatory diagram of the operating wire actuation mechanism, FIGS. 8 and 9, relate to the fourth embodiment of the present invention, and FIG. The configuration diagram of the electronic endoscope device, Figure 9 is the circuit diagram of the motor drive circuit, and Figure 10 is the circuit diagram of the motor drive circuit.
The figures and FIG. 11 relate to the fifth embodiment of the present invention, and the tenth embodiment
11 is a circuit diagram of the motor drive circuit, FIG. 12 is a configuration diagram of an electronic endoscope device according to the sixth embodiment of the present invention, and FIG. 13 is a diagram of the present invention. 7th of
FIG. 14 is an explanatory diagram of a forceps lifting device according to the embodiment, and FIG. 14 is an explanatory diagram of a visual field conversion device according to the eighth embodiment of the present invention. 22.23, 112.132... Drive motor 20.5
3,121,142...Operation switch section 36...Drive/lock changeover switch 32.33.94,95.9
8.99,115°135...
・Operation wiresFigure 2Figure 3Figure 4Figure CFigure 5Figure 6Figure jI7Figure 9Figure 1oFigure 11Figure 12 rl! J

Claims (1)

[Scope of Claims] In an endoscope apparatus that includes a motor that drives an operating wire actuating mechanism and a motor control section that controls this motor, when the operating wire actuating mechanism is not driven, an electric current between input terminals of the motor is provided. An endoscope device comprising short-circuiting means for short-circuiting.