JPH0337035A - Endoscope device - Google Patents

Abstract

PURPOSE:To perform safe diagnosis and inspection without damaging a celomic wall by setting the bent state of a curve section to a free state if the curvature resistance with the preset value or above is detected from an inspected section when the curve section of an endoscope is bent by a motor. CONSTITUTION:A vertical curvature motor control circuit is constituted of a curvature resistance detecting circuit 350, a pulley 355, a curvature switch control circuit 351, a motor 352, a clutch 353, a gear 354 and a pulley 355. The motor 352 is stopped, positively rotated or reversely rotated by control signals of the curvature switch control circuit 351. Its rotating force is transmitted to the gear 354 via the clutch 353 to rotate the pulley 355 and the curvature of the curve section of an endoscope is changed via a vertical curve wire. When a curvature resistance detecting circuit 350 detects the curvature resistance with the preset value or above, it outputs a signal to the clutch 353. The clutch 353 stops the transmission of the rotating force of the motor 352 to the gear 354 and sets the gear 354 and the pulley 355 free. A horizontal curvature motor control circuit is likewise operated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an endoscope II device having a drive means for bending a curved portion of an endoscope using a motor.

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

In recent years, the curved section provided in the insertion section of the endoscope has been
Endoscopes have been proposed that use a motor as a drive means for bending operations to bend vertically/horizontally.

However, when the bending operation of the insertion section is electrified in this way, when the bending operation is performed, the bending state of the insertion section and the magnitude of the load at that time cannot be easily perceived by the touch of the hand. For this reason, there is a problem in that the insertion portion is curved more than necessary inside the body cavity, and the tip of the insertion portion comes into strong contact with the body cavity wall, etc., and in the worst case, the body cavity wall etc. may be damaged.

As a means for solving such problems, there is a prior art technique proposed in, for example, Japanese Patent Application Laid-open No. 87530/1983.

[Problems to be Solved by the Invention] However, in the endoscope device using the prior art described above, when the distal end of the insertion section strongly contacts the body cavity wall etc. when the endoscope device is curved inside the body cavity, the curvature may be prevented. However, the problem still remained that the risk of damaging the body cavity wall etc. could not be avoided.

The present invention has been made in view of the above-mentioned points.If the insertion section is curved inside a body cavity or the like, and the tip of the insertion section comes into strong contact with the body cavity wall, etc., there is a high risk of damaging the body cavity wall, etc. The purpose is to provide an endoscope device that allows safe diagnosis and testing.

[Means for Solving the Problems] The present invention includes a driving means for curving the curved portion of the endoscope using a motor, a means for detecting the curving resistance received from the subject, etc., and a means for detecting the curving resistance when the curving resistance exceeds a predetermined value. control means for controlling a drive means for reversely bending the curved portion of the endoscope by a motor so as to reduce the bending resistance when the bending resistance is reduced; ,
A means for detecting the bending resistance received from the test portion, etc., and means for setting the bending state of the bending portion to a free state when the bending resistance exceeds a predetermined value are provided.

[Function] With the above-described configuration, when the insertion part is curved in a body cavity or the like and the tip of the insertion part comes into strong contact with the body cavity wall, the curved part is bent to prevent the tip of the insertion part from coming into strong contact with the body cavity wall. The bending force is released so as to reversely curve the curved portion, or release the curved state of the curved portion.

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

1A and 2 to 4 relate to a first embodiment of the present invention, in which FIG. 1A shows a block diagram showing an endoscope device, and FIG. 2 shows a configuration of a bending switch control circuit. , 3rd
The figure shows the configuration of the contact pressure detection circuit, and FIG. 4 shows the configuration of the ultrasonic motor control circuit.

As shown in FIG. 1A, the endoscope 1 is detachably connected to a universal control device (hereinafter referred to as UCA) 2 via a connector 3.

This endoscope [1] includes an elongated, for example, flexible insertion section 4 to be inserted into a body cavity, a large-diameter grip section 5 connected to the rear end of this insertion section 4, and this grip section. The flexible universal cable 6 extends from the rear end of the universal cable 5 to the side thereof, and the connector 3 is provided at the distal end of the universal cable 6. The insertion section 4 also includes a hard tip 7, a bendable bending section 8 provided on the rear side adjacent to the tip 7, and a flexible bending section 8 provided on the rear side of the bending section 8. It is composed of a flexible tube section 9.

An objective lens 32 is provided at the distal end 7, and a solid silver ring cord 33 is disposed at the imaging position of this objective lens 32. A subject is imaged on the image carrying plane of the solid-state illumination image 33 and converted into an image signal.

A signal line (not shown) is connected to the solid-state ML image 33, and this signal line is passed through the universal cable 6 and transmits the image signal of the subject to the video processor 24 in the LJCA 2 via the connector 3. It looks like this.

Further, the distal end portion 7 is provided with a contact pressure sensor 41 that curves the curved portion 8 upward and detects the contact pressure when the distal end portion 7 contacts the inside of a body cavity, and similarly detects the downward contact pressure. A contact pressure sensor 42 for detecting contact pressure and contact pressure sensors (both not shown) for similarly detecting leftward and rightward contact pressures are attached. A signal line (not shown) is connected to the contact pressure sensor 40.41, and this signal line is passed through the universal cable 6 and connected to tJcA via the connector 3.
Each contact pressure detection signal is transmitted to a contact pressure detection circuit 26 within the contact pressure detection circuit 26.

Further, inside the gripping part 5, there is a vertically curved wire 10.
An ultrasonic motor (hereinafter referred to as USM) 12 serves as a motor that pulls a wire through a reduction gear 11, and a USM 15 acts as a motor that pulls a horizontally curved wire 13 through a reduction gear 14.
The surface of the gripping part 5 is provided with air supply/
A water supply button, a suction button, a CO2 gas supply button, a forceps lifting mechanism, freeze, release, and VTR start switches for controlling a video camera processor, a bending switch 16 for controlling a bending direction, and free buttons related to the present invention. /lock switch (hereinafter referred to as F/L switch) 42 is provided.The F/L switch 42 is a combination of a switch 43 and a resistor 44 as shown in FIG. can be expressed.

Further, inside [11], a light guide fiber, an air/water supply tube, a treatment instrument insertion channel, etc. (not shown) are built-in.

The IJcA 2 also includes a lamp 17 for supplying illumination light to the endoscopy 11, an air pump 18 for supplying air, a water tank 19 for storing water for supplying water, and a tank 19 for storing water for supplying water. A bending switch for controlling the water pump 20 and the bending switch 16! II m circuit 21 and a USM II for controlling the USM 12.15.
I m circuits 22, 23, a video processor 24 that performs signal processing of image signals obtained by the endoscope, a curvature angle detection circuit 25 that detects the curvature angle of the bending portion 8, and contacts the body cavity wall. A contact pressure detection circuit 26 for detecting pressure is provided. Note that the UCA 2 may be one in which devices having different configurations are electrically and physically connected.

Further, the monitor 7 is connected to the video processor 24, and is configured to display image signals subjected to various signal processing by the video 70 setter 24.

Further, the bending angle detection circuit 25 obtains bending angle detection information from rotation angle sensors 30 and 31 constituted by photoreflectors and the like, and supplies the information to the video processor 24.

Further, the contact detection circuit 26 includes contact pressure sensors 40 and 41.
Also, contact pressure detection signals from the left and right contact pressure sensors (not shown) are inputted, and the contact pressure is detected from the contact pressure detection signals and u S M III
i! 1 circuit 22, 23 and a video processor 24. In addition, contact pressure sensor 40.4
1 is equivalent to a variable resistance as shown in FIG. 3, and the resistance value gradually decreases as the contact pressure increases, and the resistance becomes high when there is no contact pressure.

In the video processor 24, the solid-state sensor I11 element 33
The image signal from the curvature angle detection circuit 25 and the signal from the contact pressure detection circuit 26 are subjected to various signal processing such as synthesis processing, and then displayed on the monitor 27.

By the way, the bending switch 16 is a joystick type switch, and by tilting a lever 28, the bending of the bending portion 8 is controlled in each of the vertical/leftward and rightward directions, and the inclination angle is adjusted depending on the degree of inclination. The smaller the angle of inclination, the smaller the resistance value, and the larger the angle of inclination, the larger the resistance value. In addition, in the vertical and horizontal directions, when it is curved upward (downward), it cannot be curved downward (top), and when it is curved right (left), it cannot be curved left (right). It has become. Also, top and right, top and left,
The combinations of bottom and right, and bottom and left can be curved at the same time. In other words, curvature in each midway direction is possible. Note that the bending switch 6 is automatically returned to the neutral position by a biasing force such as a spring.

Further, the bending switch 16 includes a switch 50 indicating that the lever 28 is tilted upward as shown in FIG.
a variable resistor 52 that indicates the angle of inclination of the lever 28 in the upward direction;
Similarly, a switch 51 that indicates that the lever 28 is tilted downward, a variable resistor 53 that indicates the tilt angle of the lever 28 upward, and a switch that indicates that the lever 28 is tilted in the left-right direction (not shown). It can be equivalently expressed as a variable resistance that indicates the angle of inclination of the lever 28 in the left-right direction.

FIG. 2 shows a configuration of the bending switch control circuit 21 that performs υ1 (211) for bending the bending portion 8 in the vertical direction. Since it is the same as , it is omitted.

The variable resistor 52 has one end connected to a constant current source via the switch 50, the other end grounded, and the middle point connected to the comparator 5.
It is connected to the positive input terminal of the comparator 4 and the positive input terminal of the comparator 56, and also to the S terminal.

The variable resistor 53 has one end connected to a constant current source via the switch 51, the other end grounded, and the middle point connected to the comparator 55.
It is connected to the positive input terminal of the comparator 56, the negative input terminal of the comparator 56, and to the T terminal. The comparator 54 has a positive input terminal connected to the variable resistor 52, and a negative input terminal connected to a comparison potential. The comparator 55 has a positive input terminal connected to the variable resistor 53, and a negative input terminal connected to a comparison potential. The comparator 56 has a positive input terminal connected to a variable resistor 52, and a negative input terminal connected to a variable resistor 53. An output terminal A of the comparator 54,
The output GW B of the comparator 55 is connected to first and second input terminals of an OR circuit 57. The output terminal C of the comparator 56 is connected to a first input terminal of an AND circuit 58 and is also connected to a first input terminal of an AND circuit 59 via an inverter 60 . The output terminal of the OR circuit 57 is connected to the second input terminal of the AND circuits 58 and 59, and also to the P terminal. The output terminal of the AND circuit 58 is connected to the Q terminal,
The output end of the AND circuit 59 is connected to the R terminal.

FIG. 3 shows the configuration of the contact pressure detection circuit 26 for processing the contact pressure detection signals of the contact pressure sensors 40 and 41 attached to the upper and lower positions of the tip 7. The configuration for processing the contact pressure detection signal of the contact pressure sensor is the same as that for the upper and lower parts, so the description thereof will be omitted.

The contact pressure sensor 40 has one end connected to a power source, the other end grounded, and a midpoint connected to a negative input terminal of a comparator 70 and a negative input terminal of a comparator 72. . The contact pressure sensor 41 has one end connected to a power source, the other end grounded, and a midpoint connected to the comparator 7.
1 and the positive input terminal of the comparator 72. One end of the resistor 44 is grounded, and the other end is connected to the power supply via the switch 43 and is also connected as the output terminal G of the switch 42 to the second input terminal of the AND circuits 73 and 74. The contact pressure sensor 40 is connected to the negative input end of the comparator 70, and the comparison potential is connected to the positive input end.

The contact pressure sensor 41 is connected to the negative input end of the comparator 71, and the comparison potential is connected to the positive input end. The contact pressure sensor 40 is connected to the negative input end of the comparator 56, and the contact pressure sensor 41 is connected to the positive input end of the comparator 56. The output end of the comparator 70 is connected to a first input end of an AND circuit 73. An output terminal E of the comparator 71 is connected to a first input terminal of an AND circuit 74.

The output terminals of the AND circuits 73 and 74 are the first terminals of the OR circuit 75.
and a second input terminal. The output terminal of the OR circuit 75 is connected to the second input terminal of the AND circuits 76 and 77, and is also connected to the U terminal. The output terminal of the comparator 72 is connected to the first input terminal of the AND circuit 76 via the inverter 78 and also to the first input terminal of the AND circuit 77. is connected to the V terminal, and the output terminal of the AND circuit 77 is connected to the W terminal.

FIG. 4 shows the configuration of the USM control circuit 22 that controls the USM 12 in the vertical direction, and the USM control circuit 23 that controls the USM 13 in the horizontal direction is the same as that in the vertical direction, so the description thereof will be omitted.

The P-T terminal is connected to the terminal with the same name of the bending switch control circuit 21 shown in FIG. 2, and the U-W terminal is connected to the terminal with the same name of the contact pressure detection circuit 26 shown in FIG. There is.

Further, the P terminal is connected to the AND circuit 8 via the inverter 81.
It is connected to the second input terminal of 2.83.84 and the first input terminal of the OR circuit 80.

The Qfa terminal is connected to the control terminal K of the switch 86 and also to the first input terminal of the OR circuit 85. The R terminal is connected to the control end of the switch 88 and to the first input end of the OR circuit 87. The U terminal is connected to the first input terminal of the AND circuit 82, the ■ terminal is connected to the first input terminal of the AND circuit 83, and the W terminal is connected to the first input terminal of the AND circuit 84. . The output terminal of the AND circuit 82 is connected to the control terminal M of the switch 90 and also to the second input terminal of the OR circuit 80 . The output terminal of the AND circuit 83 is connected to the second input terminal of the OR circuit 85, and the output terminal of the AND circuit 84 is connected to the second input terminal of the OR circuit 87.
is connected to the second input terminal of the. The output terminal of the OR circuit 80 is connected to the υ1tllll terminal of the switch 92. The output terminal of the OR circuit 85 is connected to the control terminal I of the switch 93, and the output terminal of the OR circuit 87 is connected to the control terminal dk: of the switch 94. The variable resistor 91 has one end connected to the power supply, the other end grounded, and the midpoint connected to the input end of the frequency flilJ control circuit 89 via the switch 90. The input terminals of the eight frequency control circuits are connected to switch 8.
It is connected to the intermediate point of the S terminal via 6, the T terminal via switch 88, and the variable resistor 91 via switch 90. The output terminal of the frequency control circuit 89 is connected to the t input terminal of the sine wave generation circuit 95, and the output terminal of the sine wave generation circuit 95 is connected to the 90° phase shifter 96 and the 270° phase shifter via the switch 92. 97 and the input end of an amplifier 98. The input terminal of amplifier 99 is
It is connected to the output end of a 90' phase shifter 96 via a switch 93 and to the output end of a 270° phase shifter 97 via a switch 94. The output end of the amplifier 98°99 is connected to tJsM12.

First, the operation of the bending switch control circuit 21 shown in FIG. 2 will be explained.

When the lever 28 of the bending switch 16 is in the neutral position, that is, when the switch 50.51 is OFF, no current flows through the variable resistor 52.53 and the electromotive voltage is zero.

Therefore, the output IA of comparator 54.55.

Since the voltage at the input end connected to the variable resistors 52 and 53 is zero, B is a logic low level (hereinafter referred to as "L"). As a result, the output terminal of the OR circuit 57 becomes "II L" since the input terminals connected to the comparators 54 and 55 are "L II". That is, the output terminal of the AND circuit 58 is connected to the input terminal connected to the OR circuit 57.
Therefore, whether the input terminal connected to the output terminal of the comparator 56 is "mouth" or IT L 11, 11
1 II. Furthermore, since the input terminal of the output terminal of the AND circuit 59 connected to the OR circuit 57 is II L II, the input terminal connected to the output terminal of the inverter 60 has a logic value high level (hereinafter referred to as "gate"). Even II
Even if L is 11, it becomes PFLI+.

That is, when the lever 28 of the bending switch 16 is in the neutral position, the PR terminal is "on" and the S and T terminals are at zero potential.

Here, when the lever 28 of the bending switch 16 is tilted so that the bending portion 8 bends upward, the switch 50 is turned on and current flows through the variable resistor 52. As a result, a voltage corresponding to the inclination of the lever 28 is generated at the midpoint of the variable resistor 52. Therefore, the output A of the comparator 54 becomes a "mouth" when the voltage at the midpoint of the variable resistor 52 gradually exceeds a threshold level.

Furthermore, as described above, the switch 51 is not turned on at the same time as the switch 50, so no current flows through the variable resistor 53, and the voltage at the midpoint of the variable resistor 53 is zero. Therefore, the output terminal B of the comparator 55 is connected to the variable resistor 5
Since the voltage at the midpoint of 3 is zero, it is "L".

As a result, the output terminal q1 of the OR circuit 57
Since the input terminal connected to the output terminal A of the comparator 55 is the "gate", the input terminal connected to the output terminal B of the comparator 55 is "the".
Even if it is, it becomes a “mouth”.

Further, the output terminal C of the comparator 56 compares the voltage at the midpoint of the variable resistor 52 connected to the positive input terminal and the voltage at the midpoint of the variable resistor 53 connected to the negative input terminal, and performs a comparator. As a result, the output terminal of the AND circuit 58 becomes
The input terminal connected to the output terminal of the OR circuit 57 is "H", and the input terminal connected to the output @C of the comparator 56 is also "mouth", so it becomes "mouth". is II L 11 because the input terminal connected to the output terminal C of the comparator 56 is "H". Therefore, the output terminal of the AND circuit 59 is the input terminal connected to the output terminal of the OR circuit 57. Even if the input terminal is connected to the output terminal of the inverter 60, it is
It's T LIT.

That is, if the lever 28 of the bending switch 16 is tilted so that the bending part 8 curves upward, PM! The child is”
H”, Q terminal becomes “H”, R terminal becomes “L”, S#
The voltage at terminal ii corresponds to the inclination of the lever 28, and the potential at the T terminal becomes zero.

Further, when the lever 28 of the bending switch 16 is tilted so that the bending portion 8 curves downward, the switch 51 is turned on and current flows through the variable resistor 53. As a result, a voltage corresponding to the lever 28 is generated at the intermediate point of the variable resistor 53. Therefore, the output B of the comparator 55 becomes n HH as the voltage at the midpoint of the variable resistor 53 gradually exceeds the threshold level.

Further, as described above, since the switch 50 and the switch 51 are not turned on at the same time, no current flows through the variable resistor 52, and the voltage at the midpoint of the variable resistor 52 is zero. Therefore, the output terminal A of the comparator 54 is connected to the variable resistor 5
Since the voltage at the midpoint of 2 is zero, it becomes "L 11".

As a result, the output terminal of the OR circuit 57 is connected to the comparator 5.
The input terminal connected to the output terminal A of the comparator 55 is IT L II, and since the input terminal connected to the output terminal B of the comparator 55 is 'H', it becomes the "gate".

Further, the output terminal C of the comparator 56 compares the voltage at the midpoint of the variable resistor 52 connected to the positive input terminal and the voltage at the midpoint of the variable resistor 53 connected to the negative input terminal.
As a result, the output terminal of the inverter 60 becomes
The input terminal connected to the output terminal C of the comparator 56 is II
Since L is 11, it becomes "H". - Therefore, the output end of the AND circuit 59 is the "eye" since the input end connected to the output end of the OR circuit 57 is the "eye", and the input end connected to the output end of the inverter 60 is also the "mouth". becomes.

Furthermore, the output terminal of the AND circuit 58 is connected to the output terminal of the OR circuit 57, which is the "gate", but the input terminal connected to the output terminal C of the comparator 56 is "L". It is "shi".

That is, if the lever 28 of the bending switch 16 is tilted so that the bending part 8 is bent downward, the P terminal is
, Q terminal is IT L IT, R terminal is "mouth",
The T terminal has a voltage corresponding to the inclination of the lever 28, and the S terminal has a zero potential.

Next, the operation of the contact pressure detection circuit 26 shown in FIG. 3 will be explained.

F/L switch 42 is locked, that is, switch 43
When is OFF, no current flows through the resistor 44, and the output terminal G of the F/L switch 42 becomes "ON". Therefore, since the input terminal connected to the F/L switch 42 is "L", the output terminal of the AND circuits 73 and 74 is connected to the comparator 70.
．． Whether the input terminal connected to 71 is H" or "L", it becomes L".

As a result, the output terminal of the OR circuit 75 is connected to the AND circuit 73.
．． Since the input terminal connected to the output terminal of 74 is L"
“Shi”.

Therefore, the output terminal of the AND circuit 76 is the output terminal of the OR circuit 75.
Since the input terminal connected to the inverter 78 is II L 11, it is II L II even if the input terminal connected to the output terminal of the inverter 78 is a donkey or II L lj.

Furthermore, since the input terminal of the output terminal of the AND circuit 77 connected to the OR circuit 75 is II L 11, even if the input terminal connected to the output terminal of the comparator 72 is "gate".
Even if it is “L”, it is still 811-IF.

That is, when the F/L switch 42 is locked (L), the voltage at the midpoint of the contact pressure sensor 40 gradually decreases, and the voltage at the midpoint of the contact pressure sensor 40 decreases.
Even if the output end of 2 becomes the "mouth", the contact pressure sensor 4
Even if the voltage at the midpoint of 1 gradually decreases and the output terminal of the comparator 72 becomes "HII", the U-W terminal remains at "L".

Further, when the F/L switch 42 is free (F), that is, the switch 43 is ON, a current flows through the resistor 44, and the F/L switch 42 is turned on.
The output terminal G of the switch 42 becomes n HIT.

In this state, the contact sensor 4 attached to the upper part of the insertion section 7
When the contact sensor 40 comes into contact with a test area such as the inner wall of a body cavity, the contact sensor 40
The voltage at the midpoint of is gradually decreased. As a result, the output end of the comparator 70 becomes H'' when the voltage at the midpoint of the contact sensor 40 exceeds the threshold level. Therefore, the output end of the AND circuit 73 becomes H''. The connected input end is the "mouth", and the input end connected to the output end G of the F/L switch 42 is the "mouth", so it is the "mouth".

However, the output terminal E of the comparator 71 is
1 is high impedance, and its output voltage does not exceed the threshold level (・, so it is "L Tl." Therefore, the output terminal of the AND circuit 74 is such that the output terminal E of the comparator 71 is "L", ', and even if the input terminal connected to the output terminal G of the F/L switch 42 is "Sun", it is "L".

As a result, the output terminal of the OR circuit 75 is connected to the AND circuit 73.
Since the input terminal connected to the output terminal of the AND circuit 74 is "gate", even if the input terminal connected to the output terminal of the AND circuit 74 is NLll, it becomes "gate".

In addition, the output terminal F of the comparator 72 compares the voltage at the midpoint of the contact sensor 40 connected to the negative input terminal and the voltage at the midpoint of the contact sensor 41 connected to the positive input terminal. H”. Therefore, the output terminal of the AND circuit 77 and the input terminal connected to the OR circuit 75 are "H";
The input terminal connected to the output terminal of the comparator 72 is II
Since it is "H", it becomes "mouth". Further, the output terminal of the inverter 78 is II L II because the input terminal connected to the comparator 72 is the input terminal. Therefore, the output terminal of the AND circuit 76 is the input terminal connected to the OR circuit 75. Even if the input terminal is "inverter 78", it is IT L II because the input terminal connected to the inverter 78 is HL N.

That is, the F/L switch 42 is locked (L), the contact sensor 40 contacts the test part such as the inner wall of the body cavity, the voltage at the midpoint of the contact sensor 40 gradually decreases, and the output end of the comparator 70 becomes "robust". Then, the U terminal is "open" and the ■ terminal is "L".
, the W terminal becomes "H".

Further, when the contact sensor 41 attached to the upper part of the insertion section 7 comes into contact with a test part such as the inner wall of the body cavity, the voltage at the midpoint of the contact sensor 41 gradually decreases. As a result, the output terminal E of the comparator 71 becomes N HII when the voltage at the midpoint of the contact sensor 41 exceeds the threshold level. Therefore, the output terminal of the AND circuit 74 is "H" at the input terminal connected to the output terminal E of the comparator 71, and "H" at the input terminal connected to the output terminal G of the F/L switch 42. Therefore, it becomes "H".

However, the output end of the comparator 70 is
PI L II since 0 is high impedance and its output voltage does not exceed the threshold level. Therefore, the output terminal of the AND circuit 73 is the output terminal E of the comparator 70 is L'', and the output terminal of the F/L switch 42 is
Even if the input end connected to the output end G of is a "mouth", II
It is L''.

As a result, the output terminal of the OR circuit 75 is connected to the AND circuit 74.
Since the input terminal connected to the output terminal of the AND circuit 73 is II HII, the input terminal connected to the output terminal of the AND circuit 73 is "L".
Even so, it will be 77 HII.

In addition, the output terminal F of the comparator 72 compares the voltage at the midpoint of the contact sensor 40 connected to the negative input terminal and the voltage at the midpoint of the contact sensor 41 connected to the positive input terminal. It becomes “L”. Therefore, the output terminal of the inverter 78 and the input terminal connected to the comparator 72 are II L
Since it is T9, it becomes "mouth". As a result, the output terminal of the AND circuit 76 is set to the input terminal connected to the OR circuit 75.
Since the input terminal connected to the output terminal of the inverter 78 is "°H", it is "■". Furthermore, even if the input terminal connected to the OR circuit 75 is 'H', the output terminal of the AND circuit 77 is 'H' because the input terminal connected to the comparator 72 is 'L'.

That is, the F/L switch 42 is locked (L), the contact sensor 41 contacts the test part such as the inner wall of the body cavity, the voltage at the midpoint of the contact sensor 41 gradually decreases, and the output terminal E of the comparator 71 becomes "open". ”, the U terminal is “open”, the ■ terminal is “H”,
The W terminal becomes sLt+.

Next, the operation of the LISM control circuit 22 shown in FIG. 4 will be explained.

As mentioned above, when the lever 28 of the bending switch 16 is in the neutral position n and the F/L switch is in the (L) position, the P-R
The terminal and the U-W terminal are II L”. Therefore,
The output end of the inverter 81 becomes a "mouth" because the input end connected to the P terminal is "L". However, even though the input terminal connected to the output terminal of the inverter 81 is H'', the output terminal of the AND circuit 82 is "L" because the input terminal connected to the U terminal is IT L". Furthermore, even if the input terminal connected to the output terminal of the inverter 81 is "H", the output terminal of the AND circuit 83 is "L II" because the input terminal connected to the ■ terminal is "L". , AND circuit 84
Even if the input terminal connected to the output terminal of the inverter 81 is "H", the input terminal connected to the W terminal is "H".
”, so nLn.

Further, the output terminal of the OR circuit 80 is "L" because the input terminal connected to the P terminal is "high" and the input terminal connected to the output terminal of the AND circuit 82 is also "high". As a result, the switch 92 is OFF because the control end connected to the output end of the OR circuit 80 is II L II.

Therefore, the output of the sine wave generating circuit 95 is
2 is OFF, so it is not input to the 90" phase shifter 96, the 270° phase shifter 97, and the amplifier 98.

Note that the output terminal of the OR circuit 85 is "L" because the input terminal connected to the Q terminal is "L II" and the input terminal connected to the output terminal of the AND circuit 83 is also "n L II".

Therefore, the switch 93 is OFF because the output terminal of the OR circuit 85 connected to the control terminal I is at °'L''. Further, the output terminal of the OR circuit 87 is "II L" because the input terminal connected to the R terminal is LIT, and the input terminal connected to the output terminal of the AND circuit 84 is also "L".Therefore, the output terminal of the OR circuit 87 is "II L". , the switch 94 is OFF because the output terminal of the OR circuit 87 connected to the control t[I terminal J is "YES".

Note that the switches 86 and 88 have control terminals connected to the Q and R terminals, and since L is "on", both are OFF, and the switch 90 has a control terminal M connected to the output terminal of the AND circuit 82. is "L", so it is OFF. This results in
The input terminal of the frequency III In circuit 89 is connected to the switch 86
．． Since 88 and 90 are OFF, they are open.

That is, when the lever 28 of the bending switch 16 is at the neutral position and the F/L switch is at l), the output of the sine wave generation circuit 92 is not supplied to 08M12, and tJsM12 is
It is in a stationary locked state so that it does not easily break even if external force is applied.

Next, when the lever 28 of the bending switch 16 is tilted so that the bending part 8 curves upward, the 1M terminal is 'H', the Q terminal is 'H', the R terminal is 'L', and the S terminal is placed on the lever 28. Therefore, the output terminal of the inverter 81 is "H" because the input terminal connected to P@ is "H".Thereby, the output terminal of the AND circuit 82 is "H". , the input terminal connected to the output terminal of the inverter 81 is "L"
”, so the input end connected to the U terminal is ”.

The output terminal of the AND circuit 83 is connected to the ■ terminal because the input terminal connected to the output terminal of the inverter 81 is "L". The output terminal of the AND circuit 84 is "L" regardless of whether it is "H+1" or "II L II", and the input terminal connected to the output terminal of the inverter 81 is "H". ,
Even if the input terminal connected to the W terminal is II HII”
It's IT L 11.

Furthermore, since the input terminal connected to the P terminal of the OR circuit 80 is "H", even if the input terminal connected to the output terminal of the AND circuit 82 is "L", it is not "open". Become. Therefore, the switch 92 is turned ON because the control terminal connected to the output terminal of the OR circuit 80 is "-". As a result, the output of the sine wave generating circuit 95 is transmitted to the switch 92.
is ON, the signal is input to the 90'' phase shifter 96, 270'' phase shifter 97 and amplifier 98.

In addition, since the input terminal connected to the Ql terminal of the output terminal of the OR circuit 85 is "H", the input terminal connected to the output terminal of the AND circuit 83 becomes "gate" even if it is "L II". . Therefore, the switch 93 is turned on because the IIJ tel terminal connected to the output end of the OR circuit 85 is the "gate".Thereby, the output of the 90° phase shifter 96 is turned on because the switch 93 is turned on. , is input to the amplifier 99.

However, the output terminal of the OR circuit 87 is "L II" because the input terminal connected to the R terminal is "TI L" and the input terminal connected to the output terminal of the AND circuit 84 is also HLn. Therefore, the switch 94 is OFF because the control terminal j connected to the output terminal of the OR circuit 87 is "L". As a result, the output of the 270° phase shifter 97 is not input to the amplifier 99 since the switch 94 is OFF.

Further, the switch 86 is turned ON because the control end K connected to the Q terminal is H'', and the switch 88 is OFF because the control end K connected to the R terminal is HIGH. 90 is OFF because the output terminal of the AND circuit 82 connected to the control terminal M is L''. Therefore, the voltage of the Sfa terminal is applied to the input terminal of the frequency control circuit 89.

As a result, the frequency $11111 circuit 89 increases the output frequency of the sine wave generating circuit 95 by IIIwJ.

Therefore, the output of the sine wave generating circuit 95 is input to the amplifier 98, the output of the 90' phase shifter 96 is input to the amplifier 99, and the output of the amplifier 98.99 is connected to the grip part 5 of the endoscope 1f11. The data is input to the USM 12.

Note that the rotation speed of the USM 12 depends on the output frequency of the sine wave generation circuit 95, and if the inclination of the lever 28 of the bending switch 16 is small and the input voltage of the frequency control circuit 89 is low, the output frequency of the sine wave generation circuit 95 will change. becomes lower, LJS
The rotation speed of M12 is slow, the inclination of lever 28 increases, and as the input voltage of frequency control circuit 89 increases, the output frequency increases to be equal to the resonance frequency of USM12, and the inclination of lever 28 becomes maximum. The output frequency is set to be slightly higher than the resonance frequency of the USM 12.

That is, when the lever 28 of the bending switch 16 is tilted so that the bending part 8 curves upward, the output of the sine wave generating circuit 92 is transmitted to the USM 12 through the amplifier 98 and the 90'' phase shifter 96.
is applied via the amplifier 99, and the LJSM 12 rotates at a speed corresponding to the inclination of the lever 28 so as to curve the bending portion 8 upward.

Also, while the lever 28 of the bending switch 16 is operated, the P terminal is set to "day", so even if the U to W terminals are set to "H", the USM12's III! It has no effect on D. That is, the control of the bending switch control circuit 21 takes priority over the control of the contact pressure detection circuit 21.

Also, when the lever 28 of the bending switch 16 is tilted so that the bending part 8 curves downward, the P@ terminal is "H", the Q terminal is "off", the R terminal is "open", and the T terminal is the lever 28. The voltage corresponds to the slope of . Therefore, the output terminal of the inverter 81 becomes "L II" since the input terminal connected to the P terminal is "H".

As a result, the output terminal of the AND circuit 82 is connected to the inverter 8.
Since the input terminal connected to the output terminal of 1 is "L", U
The output terminal of the AND circuit 83 is "L" even if the input terminal connected to the terminal is "L" or "L". L I
Since the input terminal connected to the ■ terminal is "HII" or "L 11", the output terminal of the AND circuit 84 is the input terminal connected to the output terminal of the inverter 81. Since the end is "L", even if the input end connected to the W terminal is "mouth", it is TT L II.
II.

Furthermore, since the input terminal connected to the P terminal of the OR circuit 80 is "H", the output terminal of the OR circuit 80 becomes "II H" even if the input terminal connected to the output terminal of the AND circuit 82 is "L II". Therefore, the switch 92 is turned ON because the control terminal connected to the output terminal of the OR circuit 80 is "H".

As a result, the output of the sine wave generating circuit 95 is
2 is ON, the signal is input to the 90'' phase shifter 96, the 270° phase shifter 97 and the amplifier 98.

Furthermore, since the input terminal connected to the R terminal of the OR circuit 87 is "H", the output terminal of the OR circuit 87 becomes IT HII even if the input terminal connected to the output terminal of the AND circuit 84 is "L".

Therefore, the switch 94 is turned on because the control end I connected to the output end of the OR circuit 87 is at the power H11. As a result, the output of the 270° phase shifter 97 is input to the amplifier 99 since the switch 94 is ON.

However, the output terminal of the OR circuit 85 is "L" because the input terminal connected to the Q terminal is IILH and the input terminal connected to the output terminal of the AND circuit 83 is also 'L''. Therefore, the output terminal of the OR circuit 85 is "L". , the switch 93 is connected to the output terminal of the OR circuit 85 because the control terminal I connected to the output terminal is II L II.
It is FF. As a result, the output of the 90' phase shifter 96 is
Since the switch 93 is OFF, the signal is not input to the amplifier 99.

Further, the switch 86 is OFF because the control terminal K connected to the Q terminal is at "IT L", and the switch 88 is OFF.
The control terminal connected to the R terminal is “H”, so it is ON.
Therefore, the switch 90 is OFF because the control terminal M connected to the output terminal of the AND circuit 82 is "ON". Therefore, the voltage of the T terminal is applied to the input terminal of the frequency control circuit 89.

As a result, the frequency control circuit 89 controls the sine wave generation circuit 9
Controls the output frequency of 5.

Therefore, the output of the sine wave generating circuit 95 is input to the amplifier 98, the output of the 2706 phase shifter 97 is input to the amplifier 99, and the output of the amplifier 98.99 is input to the grip section 5 of the endoscope 1i1. is input to USM12.

That is, when the lever 28 of the bending switch 16 is tilted so that the bending part 8 curves downward, the output of the sine wave generation circuit 92 is applied to the LISM 12 via the amplifier 98, the 2700 phase shifter 97, and the amplifier 99. , tJsM12 rotate at a speed corresponding to the inclination of the lever 28 so as to curve the bending portion 8 downward.

Further, when the lever 28 of the bending switch 16 is in the neutral position, P-Ri) #ii becomes II L 11. In this state, the contact pressure sensor 40 attached to the upper part of the insertion section 4
When the U terminal comes into contact with a test area such as an internal body cavity, the U terminal
, ■ terminal becomes "L", and W terminal becomes "day". Therefore, the output end of the inverter 81 becomes the "output" because the input end connected to the P terminal is the "output". As a result, the output terminal of the AND circuit 82 becomes a "mouth" because the input terminal connected to the U terminal is a "day" and the input terminal connected to the output terminal of the inverter 81 is also a "mouth". Also, the AND circuit 84
The output end of is the input end connected to the W terminal, and
Since the input end connected to the output end of the inverter 81 is also a "mouth", it becomes a "mouth". However, the output terminal of the AND circuit 83 is "L" even if the input terminal connected to the output terminal of the inverter 81 is "L" because the input terminal connected to the terminal (2) is "L".

As a result, the switch 90 is turned ON because the INI tE terminal M connected to the output terminal of the AND circuit 82 is IT HIT. Further, the switches 86 and 88 are Q.

The control tm terminal connected to the R terminal is OFF because L is II L''. Therefore, the voltage at the midpoint of the semi-fixed resistor 91 is applied to the input terminal of the frequency control circuit 89.

Note that the voltage at the midpoint of the semi-fixed resistor 91 is set to such a voltage that the USM 12 rotates slowly.

Furthermore, since the input terminal connected to the AND circuit 82 is the "eye" of the output terminal of the OR circuit 80, it becomes the "mouth" even if the input terminal connected to the P terminal is "L + t." , the switch 92 is turned ON because the control terminal connected to the output terminal of the OR circuit 00 is the "open".Thereby, the output of the sine wave generating circuit 95 is transmitted to the amplifier 98.90° via the switch 92. Phase shifter 96 and 27° phase shifter 97
is input.

Further, since the input terminal connected to the output terminal of the AND circuit 84 is the "gate", the output terminal of the OR circuit 87 becomes the "gate" even if the input terminal connected to the R terminal is L II. Therefore, the switch 94 is turned ON because the control terminal J connected to the output terminal of the OR circuit 87 is "L". input via

That is, when the contact pressure sensor 40 attached to the upper part of the insertion section 4 comes into contact with a test part such as a body cavity site, the output of the sine wave generation circuit 92 is transmitted to the amplifier 98, the 2700 phase shifter 97, and the amplifier at 08M12. 99, and 08M12 rotates at a speed set by the semi-fixed resistor 91 so as to curve the bending portion 8 downward.

Furthermore, when the contact pressure sensor 41 attached to the lower part of the insertion section 4 comes into contact with a test area such as a body cavity site, the U terminal
■The terminal becomes "II H" and the W terminal becomes "L II." Therefore, the output end of the inverter 81 becomes an "eye" since the input end connected to the P terminal is "L". As a result, the output terminal of the AND circuit 82 becomes "H" because the input terminal connected to the U terminal is II Hn and the input terminal connected to the output terminal of the inverter 81 is also "H+1". The output terminal of the AND circuit 83 is the "gate" since the input terminal connected to the terminal (■) is the "gate", and the input terminal connected to the output terminal of the inverter 81 is also "H". ,
Since the input terminal connected to the W terminal is "L", the output terminal of the AND circuit 84 is "L" even if the input terminal connected to the output terminal of the inverter 81 is "open".

As a result, the switch 90 is turned ON because the control terminal M connected to the output terminal of the AND circuit 82 is "'".

Since L is II L II at the control end connected to Rg4, it is OFF. Therefore, the frequency control circuit 8
A voltage at the midpoint of the semi-fixed resistor 91 is applied to the input terminal of the resistor 9 .

Furthermore, since the input terminal connected to the AND circuit 82 is "HII", the output terminal of the OR circuit 80 becomes "gate" even if the input terminal connected to the P9 fiber is +t 1". Therefore, The switch 92 is turned on because the control terminal connected to the output terminal of the OR circuit 80 is the "eye".Thereby, the output of the sine wave generating circuit 95 is transferred to the amplifier 98, 90' via the switch 92. Phase shifter 96 and 270° phase shifter 9
7 is input.

In addition, since the input terminal connected to the output terminal of the AND circuit 83 is a "mouth", the output terminal of the OR circuit 85 becomes a "mouth" even if the input terminal connected to the Q terminal is "shi". Therefore, the switch 93 is turned ON because the control terminal I connected to the output terminal of the OR circuit 87 is the "eye". input via

That is, when the contact pressure sensor 41 attached to the lower part of the insertion section 4 comes into contact with a test part such as a body cavity site, the output of the sine wave generation circuit 92 is transmitted to the amplifier 98 and the 90' phase shifter 96 at 08M12. 08M12 is applied via the amplifier 99, and rotates at a speed set by the semi-fixed resistor 91 so as to curve the bending portion 8 upward.

The above-mentioned bending switch control circuit 21, contact pressure detection circuit 26 and LJSM! The main functions of the IIm circuit 22 are shown in Table 1. In addition, "uO" in the table is the operation direction of the bending part 8 of the bending switch 16, rPJ to rTJ are the logical values or potentials of the terminals of the bending switch control circuit, and "FLJ is F
The state of the /L switch 42, “contact” is the contact sensor 40.4.
1 detection direction, rUJ to rWJ are the logic values of the terminals of the contact pressure detection circuit, 86.88°90.92.93.94 are US
The state of each switch of the M control circuit 22, rsJ
The zero potential of rTJ and the switch OFF state are blank, "
×” indicates that any state is acceptable.

Table 1 In the first embodiment configured as described above, when the F/L switch 42 is switched to free (F) and the bending switch 16 is not operated, the side part of the distal end 7 is placed in the body cavity to be examined. When the object is contacted with a predetermined pressure and receives a bending resistance, the tip 7 is moved in the direction of curving the curved portion 8 and reducing the bending resistance, thereby eliminating the possibility that the tip 7 will damage the test portion. Furthermore, when withdrawing the insertion section 4 from the subject, the distal end 7 can be pulled out smoothly following the shape of the subject without operating the bending switch, allowing for safe diagnosis and testing. It can be carried out. In addition, although the F/L switch 42 is switched to lock (L), it is also possible to bring the distal end 7 into contact with the examined part at the operator's discretion by operating the lever of the bending switch. Since the contact pressure (bending resistance) is displayed on the monitor 27, the operator can make accurate judgments and perform operations.

Figure M5 relates to the second embodiment of the present invention, (J S M i
The configuration of the lJ control circuit is shown. Note that the configuration of the bending switch υ1@ circuit is the same as that in FIG. 2 of the first embodiment, so a description thereof will be omitted.

In this example, family celebration #! In the block diagram showing the L device, the F/L switch 42 shown in FIG. 1A of the first embodiment is removed, and the structure of the contact pressure detection circuit is the same as that of the contact pressure detection circuit shown in FIG. 3 of the first embodiment. ``/[The switch is always on.

FIG. 5 shows the configuration of the USM control circuit that controls the USM 12 in the vertical direction, and the LJSM control circuit that controls the horizontal direction 5M13 is the same as that in the vertical direction, so it will be omitted.

The PR terminal is connected to the first input terminals of AND circuits 101, 102, and 103.

The U terminal is connected to the AND circuit 101 via the inverter 109.
．． 102 and 103, the second input terminal of the OR circuit 106, and the control terminal P of the switch 110. (2) The W terminal is connected to the second input terminal of OR circuits 107 and 108. The output terminal of the AND circuit 101 is an OR circuit 106
It is connected to the first input terminal of the. The output terminal of the AND circuit 102 is connected to the control NN of the switch 104 and to the first input terminal of the OR circuit 107. The output terminal of the AND circuit 103 is connected to the control terminal O of the switch 105 and to the first input terminal of the OR circuit 108. The output terminal of the OR circuit 106 is connected to the control terminal of the switch 92. The output terminal of the OR circuit 107 is connected to the ill m terminal of the switch 93.
The output terminal of 8 is connected to the control terminal port of switch 94. The variable resistor 111 has one end connected to the power supply, the other end grounded, and the intermediate point connected to the frequency control circuit 98 via the switch 110. The input terminals of the frequency υ control circuit are an S terminal via a switch 104, an R terminal via a switch 105, and a switch 110.
It is connected to the intermediate point of the variable resistor 111 via the variable resistor 111.

The output end of the frequency control circuit 89 is connected to the control input end of the sine wave generation circuit 95, and the output end of the sine wave generation circuit 95 is connected to a 90" phase shifter 96, a 270" phase shifter 97 via a switch 92. The input terminal of the amplifier 99 is connected to the output terminal of the 90' phase shifter 96 via the switch 93 and the output terminal of the 270° phase shifter 97 via the switch 94. The output ends of amplifiers 98 and 99 are connected to USM12.

The operation of this USM control circuit will be explained.

When the contact sensor 40 attached to the upper part of the insertion section 4 comes into contact with a test area such as a body cavity site, the U terminal becomes H'' and the V terminal becomes I.
I1", the W terminal becomes "H11".

Therefore, the output of the inverter 109 becomes Tlf' since the input terminal connected to the U terminal is "day". Therefore, regardless of whether the input terminal connected to the P terminal is "H" or "L", the output terminal of the AND circuit 101 is "L". Therefore, it becomes 11111.

Furthermore, even if the input terminal connected to the Q terminal is "H" or L+, the output terminal of the AND circuit 102 is "L", so the input terminal connected to the output terminal of the inverter 109 is "L". The output terminal of the AND circuit 103 becomes "L", regardless of whether the input terminal connected to the R terminal is "L" or "L", the input terminal connected to the output terminal of the inverter 109 becomes "L". II, so tL L T1.

Further, even if the input terminal connected to the output terminal of the AND circuit 101 is II L II, the output terminal of the OR circuit 106 becomes a mouth because the input terminal connected to the U terminal is a "mouth". As a result, the switch 92 is turned on since the control terminal connected to the output terminal of the OR circuit 106 is the "opening".

Further, the switch 104 is OF because the control terminal N connected to the output terminal of the AND circuit 102 is II
F, and the switch 105 is OFF because the control terminal O connected to the output terminal of the AND circuit 103 is "L II".
It is. However, the switch 110 is turned on because the control terminal P connected to the U terminal is at °'H''. Therefore, the semi-fixed resistor 111 is connected to the input terminal of the frequency control circuit 89.
The voltage at the midpoint of is applied.

Furthermore, even if the input terminal connected to the output terminal of the AND circuit 103 is II 1'', the output terminal of the OR circuit 108 is W
Since the input end connected to the terminal is the "mouth", the switch 94 is turned on because the control terminal "a" connected to the OR circuit 108 is "L".

However, the output terminal of the OR circuit 107 is connected to the AND circuit 102.
The input terminal connected to the output terminal of is -IT L", and ■
The input terminal connected to the terminal is also II L II, so
Therefore, the switch 93 becomes OR circuit 1
Since the control 11 terminal I connected to 07 is II L 11, it becomes OF and F.

That is, in this embodiment as well, as in the first embodiment, when the contact sensor 40 attached to the upper part of the insertion section 4 comes into contact with a test area such as a body cavity site, the sine wave generating circuit 92 is activated in the USM 12. is applied via the amplifier 98, 270° phase shifter 97, and amplifier 99, and tJsM12 rotates at a speed set by the semi-fixed resistor 111 so as to curve the bending portion 8 downward.

Further, if the U terminal is "open", even if the PR terminal is "open", the control of the USM 12 is not affected. That is, control of the contact pressure detection circuit takes priority over control of the bending switch control circuit.

In addition, when the contact sensor 41 attached to the lower part of the insertion section 4 comes into contact with a test area such as a body cavity site, the U terminal is
The terminal is “H” and the W terminal is “L II”. Therefore, the output of the inverter 109 is “L” because the input terminal connected to the U terminal is “H”. Therefore, the output of the AND circuit 101 is The output terminal is connected to the inverter 109 regardless of whether the input terminal connected to the P terminal is "eye" or "L".
Since the input terminal connected to the output terminal of Even if the input terminal connected to the output terminal of the inverter 109 is L 11
Therefore, the output terminal of the AND circuit 103 is II even if the input terminal connected to the R terminal is "L".
Even if it is L II, it becomes "L" because the input terminal connected to the output terminal of inverter 109 is "L".

Furthermore, even if the input terminal connected to the output terminal of the AND circuit 101 is II L'', the output terminal of the OR circuit 106 is U
Since the input end connected to the terminal is "L", it becomes "L". As a result, the switch 92 is turned on because the control terminal connected to the output terminal of the OR circuit 106 is an "opening".

Further, the switch 104 is OFF because the control terminal N connected to the output terminal of the AND circuit 102 is 1-'', and the switch 105 is OFF because the control terminal O connected to the output terminal of the AND circuit 103 is ``1-''. Since it is L II, it is OFF.

However, the switch 110 is turned on because the limit terminal P connected to the U terminal is a "gate". Therefore, the voltage at the midpoint of the semi-fixed resistor 111 is applied to the input terminal of the frequency control circuit 89.

Furthermore, even if the input terminal connected to the output terminal of the AND circuit 102 is II L 11, the output terminal of the OR circuit 107 becomes H'' because the input terminal connected to the ■ terminal is the "mouth". Therefore, the switch 93 is turned on because the control terminal (2) connected to the OR circuit 107 is the "open".

However, the output terminal of the OR circuit 108 is connected to the AND circuit 103.
The input terminal connected to the output terminal of is IT L II,
Since the input terminal connected to the W terminal is also IT L II, it becomes t+L''. Therefore, the switch 94 is.

Since the control terminal j connected to the OR circuit 108 is nLh, it is turned off.

Therefore, similarly to the first embodiment, when the contact sensor 41 attached to the upper part of the insertion section 4 comes into contact with a test area such as a body cavity site, the output of the sine wave generating circuit 92 is transmitted to the amplifier 98 at 08M12. and 90' phase shifter 96 and amplifier 99, and 08M12 rotates at a speed set by semi-fixed resistor 111 so as to curve bending portion 8 upward.

Furthermore, when the contact sensor 40 attached to the upper part of the insertion section 4 and the contact sensor 41 attached to the lower part of the insertion section 4 are not in contact with the subject part such as the intrabody cavity part, the lever 2 of the bending switch 16
8 is tilted so that the curved part 8 curves upward, the P terminal is "H", the Q terminal is u Hre, and the R terminal is II L
l! , tJ, l# terminal becomes "L 11", and S
The voltage at the terminal corresponds to the inclination of the lever 28. Therefore, the output end of the inverter 109 becomes a "mouth" because the input end connected to the U terminal is "L". This results in
The output end of the AND circuit 101 is a "mouth" because the input end connected to the P terminal is a "mouth" and the input end connected to the output end of the inverter 109 is also a "mouth". Further, the output terminal of the AND circuit 102 becomes H because the input terminal connected to the Q terminal is "HII" and the input terminal connected to the output terminal of the inverter 109 is also "HII". The output end is the input end connected to the R terminal.
Therefore, even if the input terminal connected to the output terminal of the inverter 109 is "gate", it becomes "L".

In addition, since the output terminal of the OR circuit 106 is connected to the output terminal of the AND circuit 101 as the "mouth", the output terminal becomes H' even if the input terminal connected to the U terminal is IT L 11. . As a result, the switch 92 is turned on because the control terminal connected to the output terminal of the OR circuit 106 is an "opening".

Further, the switch 105 is OFF because the i control terminal O connected to the output terminal of the AND circuit 103 is "L", and the switch 110 is OFF because the control terminal P connected to the U terminal is "L".
”, so it is OFF.

However, the switch 104 is turned ON because the control 11N connected to the output terminal of the AND circuit 102 is the "mouth". Therefore, the voltage of the S terminal is applied to the input terminal of the frequency 11Jtlj circuit 89.

Furthermore, since the input terminal connected to the output terminal of the AND circuit 102 is ``H'', the output terminal of the OR circuit 107 becomes ``HII'' even if the input terminal connected to the ■ terminal is ``L''. . Therefore, the switch 93 is turned ON because the control terminal I connected to the output terminal of the OR circuit 107 is n HP+.

However, the output terminal of the OR circuit 108 is connected to the AND circuit 103.
Since the input terminal connected to the tW terminal is 111 II and the input terminal connected to the tW terminal is also nLn, it becomes "L". Therefore, the switch 94 is turned OFF because the 11110 terminal J connected to the output terminal of the OR circuit 108 is "L".

That is, as in the first embodiment, when the lever 28 of the bending switch 16 is tilted so that the bending section 8 curves upward,
The output of the sine wave generation circuit 92 is connected to the amplifier 9 in the LISM 12.
8 and 90” phase shifter 96 and amplifier 99,
08M12 curves the curved portion 8 upward,
It rotates at a speed depending on the inclination of the lever 28.

Further, when the lever 28 of the bending switch 16 is tilted so that the bending part 8 curves downward, the P terminal becomes "H", the QHi terminal becomes "L", the R terminal becomes "open", and the U-W terminal becomes II L. ”, and the voltage at the T terminal corresponds to the inclination of the lever 28.

Therefore, the output terminal of the inverter 109 becomes "H" since the input terminal connected to the U terminal is "L".Thereby, the output terminal of the AND circuit 101 becomes "H" since the input terminal connected to the P terminal is "H". ”, and the input terminal connected to the output terminal of the inverter 109 is also an “output”, so it becomes “HII”. Also, the output terminal of the AND circuit 102 is the input terminal connected to the Q terminal. Therefore, even if the input terminal connected to the output terminal of the inverter 109 is "n", the output terminal of the AND circuit 103 is "H", and the input terminal connected to the R terminal is "H". Since the input terminal connected to the output terminal of the inverter 109 is also "H91", it becomes N Hpl.

Furthermore, since the input terminal of the output terminal of the OR circuit 106 connected to the output terminal of the AND circuit 101 is the "mouth", even if the input terminal connected to the U terminal is 111 $1, IT H
''.Thereby, the switch 92 connects the OR circuit 10
Since the control end H connected to the output end of 6 is the "mouth", O
It becomes N.

Further, the switch 104 is turned OFF because the control terminal N connected to the output terminal of the AND circuit 102 is II L II.
The switch 110 is OFF because the control terminal P connected to the U terminal is 'L''.

However, the switch 105 is turned ON because the control terminal O connected to the output terminal of the AND circuit 103 is IT H11. Therefore, the voltage at the T terminal is applied to the input terminal of the frequency IIJ Il1 circuit 89.

Further, the output terminal of the OR circuit 107 becomes "L" because the input terminal connected to the output terminal of the AND circuit 102 is "LIT", and the input terminal connected to the (2) terminal is also "LII". Therefore, since the control terminal I connected to the output terminal of the OR circuit 107 is "L II", the switch 93 is OF
It becomes F.

However, the output terminal of the OR circuit 108 is connected to the AND circuit 103.
Since the input end connected to the W terminal is the "mouth", even if the input end connected to the W terminal is 'L', it becomes the "mouth". Therefore, the switch 94 is turned on because the control terminal j connected to the output terminal of the OR circuit 108 is the "opening".

That is, as in the first embodiment, when the lever 28 of the bending switch 16 is tilted so that the bending section 8 curves downward,
The output of the sine wave generation circuit 92 is connected to the amplifier 98 in the USM12.
and added via a 270° phase shifter 97 and an amplifier 99,
The USM 12 curves the curved portion 8 downward.
It rotates at a speed depending on the inclination of the lever 28.

Table 2 shows the above-mentioned bending switch control circuit 21, contact pressure detection circuit 26, and USM control circuit 2/0 section.

In addition, in the table, "UDJ" is the operating direction of the bending part 8 of the bending switch 16, rPJ to rTJ are the logical values or potentials of the terminals of the bending switch control circuit, "contact" is the detection direction of the contact sensor 40.41, and "U1 ~rWJ is the logic value of the terminal of the contact pressure detection circuit, 104, 105, 110, 92, 93.94 is L
The state of each switch in the ISMI control circuit 22, "S"
The zero potential of the ITJ and the state where the switch is OFF are indicated by blank spaces.

In the second embodiment configured in this way, the bending switch 1
6, when the side part of the distal end part 7 comes into contact with a test part such as a body cavity site under a predetermined pressure and receives bending resistance, the bending part 8 is bent and the bending resistance is reduced. By moving the distal end 7 in the direction of decreasing the amount, there is no possibility that the distal end 7 will injure the subject.

1B, 6, and 7 relate to a third embodiment of the present invention, in which FIG. 1B shows the configuration of the USM control circuit, FIG. 6 is a sectional view of the main part of the USM, and FIG. The figure is an operation explanatory diagram for 8M drive.

Figure 1B shows the USM Il that controls the USM in the vertical direction.
The configuration of the l1 circuit is shown, and the LJSM control circuit that controls the USM in the left and right direction is the same as that in the up and down direction, so it will be omitted.

A curved 0N10FF switch (hereinafter referred to as a curved switch) 200 has one end connected to a power supply and the other end connected to a resistor 201.
It is connected to the control end of the analog switch 205 as well as to ground via the analog switch 205 . A bending direction switch (hereinafter referred to as a direction switch) 202 has one end connected to a power source, and the other end grounded via a resistor 203 and connected to a control end X of a ring counter 210. The output terminal of the VCO (voltage controlled oscillator) 204 is connected via an analog switch 205 to the clock terminal a of a ring counter 210, which is a serial-in/parallel-out 4-bit left/right shift register. )20
It is designed to be connected to the input terminal of 6. The output end of the monomulti 206 is connected to the input end of the sawtooth wave generation circuit 207. Sawtooth wave generation circuit 2
07 is, for example, resistors R1, R2, R3, capacitor C1
, C2, a diode D1, and a transistor TR1, one end of the speed control volume 209 is grounded, the other end is connected to wIWA, and the midpoint Q is connected to the positive input terminal of the comparator 208. It is now possible to do so. The comparator 208 has a positive input terminal connected to the intermediate point q of the speed adjustment volume 209, and a negative input terminal connected to the output terminal of the sawtooth wave generation circuit 207. ring counter 210
Output terminals c, d, e are AND circuits 211, 212
, 213, 214. The output terminal of the comparator 208 is connected to the AND circuit 2
11, 212, 213, and 214. AND circuit 211, 212, 21
The output terminal of the 3° 214 is connected to the input terminal of the switching circuit 215. switching circuit 2
15 is, for example, resistors R5, R6, transistors TR2,
It is constituted by four Darlington circuits (only the negative configuration is shown), which are constituted by TR3 and diode D3. The output terminal of the switching circuit 215 is connected to the transformer 2
Push-pull connection is made to the primary side of transformer 216.217, and the midpoint of transformer 216.217 is I! connected to the power source. The secondary sides of the transformers 216 and 217 have negative ends grounded, other ends connected to the USM 225 via current probes 218 and 219, and phase detection circuits 222.
It is connected to the first input terminal of 223. The output end of the current probe 218.219 is connected to the amplifier 220.2.
It is designed to be connected to the input terminal of 21. Amplifier 2
The output terminals of 21 and 222 are phase detection circuits 222 and 223.
is connected to the second input terminal of the. The output terminals of the phase detection circuits 222 and 223 are connected to the piezoelectric element drive circuit 22.
The first input terminal and the second input terminal of 4 are connected to each other. An output terminal n of the piezoelectric element drive circuit 224 is connected to a piezoelectric element 250 shown in FIG. The input end of the feedback circuit 226 is connected to the USM 225, and the output end is connected to the input end of the VCO 204. The feedback circuit 226 includes, for example, variable resistors VR1 and VR2, a resistor R4, a capacitor C4,
It is composed of a diode D2 and a comparator IcI.

Further, FIG. 6 is a cross-sectional view of the essential parts of the USM 225, in which the rotor 251 is pressed against the stator 253 by a piezoelectric element 250, a wire 252 is connected to the circumference of the a-vertical element 251, and the piezoelectric element 250 is The E-ring 254 is connected to the stator 253 by a ring 254.

The operation of the USM ill i11 circuit configured in this way will be explained.

When the bending switch 200 is turned on, a current flows through the resistor 201, and the point connected to the control end of the analog switch 204 becomes the "mouth" of the resistor 201.

Therefore, analog switch 205 is turned on.

As a result, the output signal of the VCO 204, for example, a signal having the waveform shown in FIG. 7(a), is input to the clock terminal a of the ring counter 210 via the analog switch 205. Further, a similar output signal of the VCO 204 is input to the input terminal of the monomulti 206.

Furthermore, when the direction switch 202 is turned on at the same time, a current flows through the resistor 203, and the resistor 203 turns on the ring counter 2.
The point connected to the control terminal X of No. 10 becomes "H". As a result, since IIJ 1111
When the input signal at the output terminal a falls from "H" to "low", the output terminals shift sequentially from output terminals b to d to C, d, and e. In addition, the monomulti 206 has the seventh
The output signal of the VCO 204 shown in FIG. 7(a) controls the sawtooth wave generation circuit 207, and the sawtooth wave generation circuit outputs the sawtooth wave signal shown in FIG. 7<1>. As a result, the comparator 208 is connected to the sawtooth wave generation circuit 207 connected to the negative input terminal, as shown in FIG.
and the speed III connected to the positive input terminal.
By comparing the voltage at the midpoint q of the speed control volume 209, as shown in FIG. Outputs a signal.

Furthermore, as shown in FIG. 7 (+) to (j), the output terminals of the AND circuits 211, 212, 213, and 214 have input terminals connected to the ring counter 210 at "H", and the output terminals of the AND circuits 211, 212, 213. If the connected input terminal is also "°°", it becomes "mouth". That is, the monomulti 206, the sawtooth wave generation circuit 207, the comparator 208, and the AND circuit 21.
1,212.213.214 constitutes a PWM (pulse width modulation) circuit.
．． For example, 1100Vr to LISM225 via 217
+s 3 inch wave and CO8 wave are supplied, and the stator 253 of the USM225 bends the curved portion upward at a speed corresponding to the "mouth" period of the output pulse of the AND circuits 211, 212, 213, and 214. Rotate with. In addition, L
In order to drive the JSM 225 efficiently, the VCO 204 uses υfill of the feedback circuit 226 to
A signal with a frequency slightly higher than the resonant frequency of sM225 is output.

Further, when the direction switch 202 is OFF, the resistor 20
No current flows through 3, and 1131 of the ring counter 210
11 end X becomes "L". As a result, the ring counter 210 sets the output ends b to d to 9.0 because If 60 fa x is "L"t'. In the order of d, C, and b, the "#" is shifted sequentially.
, 214, switching circuit 215 and transformer 216
．． 217 acts in the same way as when the curved portion is curved upward. However, since the shift of the output end of the ring counter is opposite to the upward direction, the stator 2 of USM225
53 is the "H" output pulse of the AND circuits 211, 212, 213, 214 in the direction of bending the bending part downward.
” rotates at a speed according to JIm.

By the way, when the LISM 225 is in an unloaded state, that is, when there is no bending resistance, the phase difference between the voltage and current of the power supplied to the USM 225 is 90'.

However, as the load becomes larger, the phase difference between voltage and current becomes smaller.

Therefore, in this embodiment, the voltage supplied to the USM 225 from the secondary side of the transformer 216, 217 is transferred to the phase detection circuit 225.
22, 223, the current supplied to usM225 is detected by current probe 218, 219, and amplifier 2
20 and 221 to the phase detection circuits 222 and 223.

As a result, the phase detection circuits 222 and 223 detect voltage and f.
The phase difference of JR is determined, and if the phase difference is, for example, 59 or less, the USM 225 outputs a signal to the piezoelectric element drive circuit 224, indicating that the USM 225 is in an overloaded state, that is, the bending resistance is very large.

Furthermore, the piezoelectric element drive circuit 224 includes a phase detection circuit 222
．． If the signal from 223 is not input, piezoelectric element 2
50 in the extending direction, the phase detection circuits 222, 22
When the signal from 3 is input, the piezoelectric element 250 is driven in the direction of contracting.

That is, when the USM 225 is in an unloaded state with no bending resistance, the piezoelectric element 250 presses the rotor 251 against the stator 253, and the rotor 251 rotates together with the stator 253.
When the wire 252 is pushed or pulled and the LISM 225 is in an overloaded state with very large bending resistance, the piezoelectric element 250 separates the rotor 251 and the stator 253, and the wire 252 becomes free.

Note that the r61-like effect can be obtained by providing either one of the current probe 218, amplifier 220, and phase detection circuit 222, and [E probe 219, amplifier 221, and phase detection circuit 223].

This embodiment also has the same effects as the second embodiment described above.

FIG. 8 relates to the fourth embodiment of the present invention, and shows the USM in the vertical direction.
The configuration of the control circuit is shown. Note that the left and right USM control circuits have the same configuration and will therefore be omitted.

The switch control circuit 302 has input terminals connected to the bending resistance detection circuit 300 and the bending switch circuit 301, and an output terminal connected to the control terminals of the switch 304 and the switch 308. Sine wave generation circuit 30
The output terminal of No. 3 is connected via a switch 304 to a 90" phase shifter 305 and a 270" phase shifter 306, and is also connected to the input terminal of an amplifier 307. 9
The output end of the 0° phase shifter 305 and the output end of the 270° phase shifter 306 are connected to the input end of an amplifier 309 via a switch 308.

The output terminals of amplifiers 307 and 308 are connected to LISM 310.

The operation of the USM control circuit configured in this way will be explained.

When the bending switch is operated, the bending switch circuit 301
outputs a signal according to the bending direction to the switch control circuit 302. The switch control circuit 302 turns on the switch 304 whether the bending direction is upward or downward.
Make it. As a result, the output of the sine wave generation circuit 303 is
The 90° phase shifter 305.270° is input to the input terminals of the phase shifter 306 and the amplifier 307 via the switch 304.

Further, the switch control circuit 302 includes the bending switch circuit 3
If the output of 01 is an upward bending signal, switch 3
08, ill III L to connect the 90° phase shifter 305 and the amplifier 309, and the curved switch circuit 301
If the output of switch 308 is a downward curvature signal, switch 308
is controlled to connect the 270° phase shifter 306 and the amplifier 309.

Therefore, tJsM310 includes the output of amplifier 307 and either 90" phase shifter 305 or 27" via switch 308.
Either one of the outputs of the 0° phase shifter 306 is added. As a result, the 08M310 outputs the output of the amplifier 307 and the 90'
When the output of the phase shifter 305 is applied, the bending section is rotated in the direction of curving upward, and when the output of the amplifier 307 and the output of the 270° phase shifter 306 are added, the bending section is turned in the direction of curving downward. Rotate.

However, when the bending resistance detection circuit 300 detects the bending resistance, the bending resistance detection circuit 300 detects the bending resistance in the switch control circuit 3.
Outputs a signal to 02. As a result, the switch control circuit 302 sets the switch 308 to the neutral state, that is, sets the input terminal of the amplifier 309 to the I! 1m long.

Therefore, only the signal from the sine wave generating circuit 303 via the switch 304 and the amplifier 307 is applied to the LISM 310 . As a result, standing waves are generated in the USM 310, and as a result, the holding torque of the LJSM 310 is significantly reduced.

That is, since the holding torque of 08M310 is reduced, the curved portion held by 08M310 becomes free.

Further, when the bending switch is not operated, that is, when the switch 304 is OFF'r- and the switch 308 is in the neutral state, when the bending resistance detection circuit 300 detects the bending resistance, the bending resistance detection circuit 300 detects the bending resistance. outputs a signal to the switch control circuit 302. This results in
The switch Ma11 circuit 302 turns on the switch 304.
control so that

Therefore, only the signal from the sine wave generating circuit 303 via the switch 304 and the amplifier 307 is applied to the 08M310. As a result, a standing wave is generated in the 08M310, and as a result, the holding torque of the 08M310 is significantly reduced.

That is, since the holding torque of 08M310 is reduced, the curved portion held by 08M310 becomes free.

The effects of this embodiment are also similar to those of the second to fourth embodiments.

FIG. 9 shows a vertical bending motor 352 m1 circuit according to a fifth embodiment of the present invention. Note that the bending motor control circuit in the left and right direction is the same as that in the up and down direction, so a description thereof will be omitted.

The bending motor control circuit includes a bending resistance detection circuit 350, a bending switch circuit 351, a motor 352, and a clutch 3.
53, a gear 354, and a pulley 355.

The operation of the bending motor control circuit having such a configuration will be explained.

The motor 352 is stopped, rotated forward, and reversed by a control signal from the bending switch 11111m circuit 35. The rotational force of the motor 351 is transferred to the gear 354 through the clutch 353.
and causes the pulley 355 to rotate once.

However, the bending resistance detection circuit 350 detects the bending resistance.

When detected, a signal is output to the clutch 353.

As a result, the clutch 353 engages the gear 354 to stop transmitting the rotational force of the motor 351. As a result, the gear 354 and pulley 355 are in the free state.

That is, the bay C portion held by the motor 352 becomes free.

The effects of this embodiment are also similar to those of the second to f4 embodiments.

Note that the means for detecting the bending resistance is not limited to the two-part example described above; for example, as shown in the 106th example,
Slack removing mechanism 40 provided in the middle of the curved wire
A pressure sensor 403 attached to at least one of the pull-out stoppers 402 provided at the ends of the curved wires 400 in the curved wire 400 may be used.

The means for releasing the pressure contact (biasing force) between the rotor and stator of the LJSM may also be made of, for example, a shape memory alloy.

Note that the motor is not limited to an ultrasonic motor, and can also be applied to a stepping motor, a DO motor, a ΔC motor, and the like.

Also, does the present invention use an image guide? JAt? !
It can also be applied to equipment.

Furthermore, in addition to endoscope devices used for medical purposes,
For example, it can also be applied to endoscope devices used for industrial purposes.

[Effects of the Invention] As described above, according to the present invention, when the curved portion of the endoscope comes into strong contact with a subject to be examined, etc. in a body cavity, the curved portion can be operated to avoid the contact. It is easy to operate, and allows safe diagnosis and testing.

[Brief explanation of drawings]

1A and 2 to 4 relate to the first embodiment of the present invention, and FIG. 1A is a block diagram showing an endoscope apparatus, and FIG.
The figure is a circuit diagram showing the specific configuration of the bending switch control circuit.
Figure 3 is a circuit diagram showing the specific configuration of the contact pressure detection circuit, Figure 4 is a circuit diagram showing the specific configuration of the USM control circuit, and Figure 5 is a circuit diagram showing the specific configuration of the USM control circuit.
The figure relates to a second embodiment of the present invention,
! The circuit diagrams 1B, 6 and 7 showing the specific configuration of the 0 circuit relate to the third embodiment of the present invention, and FIG.
J S M IIJ 1 A specific configuration diagram of the circuit, FIG. 6 is a sectional view of the main part of LjSM, FIG. 7 is a time chart showing the operation of the USM control circuit, and FIG. 8 is a diagram of the fourth embodiment of the present invention. FIG. 9 is a block diagram of the bending motor t8I1m circuit according to the fifth embodiment of the present invention.
FIG. 10 is a cross-sectional view of a means for detecting bending resistance.
...inside? jll 2...UCA8...
Curved part 12...LJSM15...USM
16...Bending switch 21...Bending switch control circuit 22...U S M 1liil+control circuit 23...U
S M 1ltlj control circuit 26... Contact pressure detection circuit 40... Contact pressure sensor 41... Contact pressure sensor 4
2...F/L switch 218...Current probe 219...Current probe 220...Amplifier 221...Amplifier 222
... Phase detection circuit 223 ... Phase detection circuit 224
・・・Piezoelectric element drive circuit Figure 2 Figure 3 Procedures manual (voluntary)

Claims (1)

[Scope of Claims] 1. An endoscope apparatus having a drive means for bending a curved portion of an endoscope by a motor, comprising means for detecting a bending resistance received from a subject, etc., and a means for detecting a bending resistance received from a subject, etc.; and control means for controlling the driving means to reduce the bending resistance when the bending resistance exceeds a value of . 2. An endoscope device having a driving means for bending the curved portion of the endoscope by a motor, and a means for detecting bending resistance received from a subject, etc., and when the bending resistance exceeds a predetermined value. An endoscope apparatus comprising: means for bringing the curved portion into a free state.