JPH0368327A - Endoscope device - Google Patents

Abstract

PURPOSE:To cause an operator to recognize the state of a drive power fed to a motor by providing a means to detect a drive power fed to a motor, a means to detect the drive force of the motor, and a means to report a detecting signal from the detecting means. CONSTITUTION:The curved part of an endoscope device is curved and worked by means of the drive force of an ultrasonic motor 32. By means of a signal detecting part 104, a drive power fed to the motor 32 is detected. A detecting signal from the detecting part 104 is reported to a monitor 63. As a result, the state of a drive power fed to the motor for an endoscope can be recognized by an operator, and the operator enables execution of smooth operation.

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Field of Application 1] The present invention relates to an improvement in an endoscope device in which a bending portion is bent by a driving force of 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. In addition, it is used not only for medical purposes but also for industrial purposes to observe and inspect objects inside pipes of boilers, machines, chemical blunts, etc., or inside machines.

Furthermore, endoscopes using a solid-state image element such as a charge-coupled device (COD) as an image carrier are also used in various types of endoscopes.

As a bending operation means for bending the western part of the bay provided in the insertion section of the endoscope, for example, up and down/left and right, there is a method in which a bending operation knob is provided on the operation section and the bending operation knob is rotated. Furthermore, it has been considered to use a motor as an in-bay operating means.

In recent years, an endoscope using an ultrasonic motor as a drive means for bending operation has been proposed, for example, in Japanese Patent Application Laid-open No. 87530/1983.

In an endoscope equipped with the ultrasonic motor as a bending drive means, when the bending section is to be bent, the ultrasonic motor is caused to generate a traveling wave, and when the bending section dl1 is in a free state, Driving power is supplied to the ultrasonic motor to generate standing waves.

Further, when the driving power is not supplied, the ultrasonic motor is in a locked state, and therefore the bending portion is in a locked state whose state cannot be easily changed.

[Problems to be Solved by the Invention] However, in the above-mentioned endoscope that uses a motor as the bending operation means, there is no means for making the operator aware of the driving power being supplied to the motor or the state of the driving force of the motor. is not provided. Therefore, there may be a difference in consciousness between the endoscope and the operator, such as when the endoscope and the operator do not apply the bending dji even if they operate the bending switch to perform a bending operation.

The present invention has been made in view of the above-mentioned points, and provides an endoscope device that allows an operator to recognize the state of the driving power or the driving force of the motor that is being supplied to the setter of the endoscope. The purpose is to

Means for Solving Problem F] The present invention provides a means for detecting the driving power supplied to the motor or a means for detecting the driving force of the motor, and a means for notifying the detection signal of the detecting means. ing.

[Operation] With the above-described configuration, the state of the driving power being supplied to the motor or the transmission state of the driving force of the motor is notified so that the operator can recognize it.

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

1 to 4 relate to the first embodiment of the present invention, FIG. 1 is a block diagram showing the configuration of a circuit that detects and notifies the driving state of the endoscope bending section, and FIG. A configuration diagram of the mirror device, FIG. 3 is a sectional view of the main part of the ultrasonic motor, FIG. 4 is an explanatory diagram of the bending section drive mechanism, and FIG. 5 is a configuration diagram of the bending drive circuit of the endoscope bending section. .

As shown in FIG. 2, the electronic endoscope device includes, for example, an endoscope 11 formed to be elongated so that it can be inserted into a body cavity, and a universal cord 14 of the endoscope ff 111 connected by a connector 22. A video processor device 60 with a light source unit installed therein, and a monitor 6 that displays a subject such as a body cavity internal region based on the output signal of the video processor [@60]
It is made up of 3.

The endoscope 11 includes an elongated insertion section 12, a large-diameter operation section 13 connected to the rear end of the insertion section, and an operation section 13.
a universal cord 14 extending laterally; and a connector 22 provided at the end of the universal cord 14.
It is composed of. The insertion section 12 includes a distal end section 15 in which an image sensor for capturing an image of a subject is disposed, a bending section 16 connected to the rear end of the distal end section 15 and capable of bending vertically/horizontally. It is composed of a flexible tube section 17 connected to the rear end of the curved section 16. The operating section 13 includes a case 25 in which a bending operation Vt placement section (to be described later) for bending the bending section is disposed, and includes an air/water supply switch 19, a suction switch 20,
A switch section 21 is provided.
includes an upward bending switch 21a and a downward bending switch 21b for instructing the bending direction of the bending portion 16;
Leftward bending switch 21c and rightward bending switch 21
d is provided.

The video processor device 60 includes the connector 22
The light source unit 10 described above is composed of a reflector plate 65 and an illumination light bulb 66 for supplying illumination light to the light guide 23 protruding from the light guide 23, and an image is captured from an image element disposed at the tip component. To control a video signal processing unit 62 for converting a signal, performing six scale signal processing, and outputting it to the monitor 63 as a video signal, and the bending operation device section 29 disposed in the operation section 13, which will be described later. A motor control unit 61 and a free switch 64 for freeing the bending portion 16 disposed on the exterior of the video processor device 60 are provided 4-1.

As shown in FIG. 3, inside the case 25 installed inside the operating section 13, there is a two-phase frame ( Only one frame (shown as a frame 28) is arranged symmetrically. A bending operation device section 29 for upstream and downstream 1lII operations is assembled to one of the frames 28, and a bending operation device section (not shown) for left and right bending operations is assembled to the other frame. .

Since these bending operation device sections for vertical/horizontal bending operations have similar configurations, one of them, the bending operation iii29 for vertical bending operations, will be explained. An ultrasonic motor unit 31 is incorporated into the subframe 27 supported by the main frame 26. The ultrasonic motor 32 in the ultrasonic motor unit 31 includes a substantially disc-shaped stator 33 and a rotor 34 that is in close contact with the surface of the stator 33 that faces the case 25 side, and is located on the opposite side of the rotor 34. A piezoelectric body 35 is fixed in contact with the peripheral surface of the stator 33 located at the stator 33 . The rotor 34 is fixed by being fitted onto the tip of the rotor 36. Intermediate portion i of rotating shaft 36 and thrust bearing 37
and a first radial bearing 38. The thrust bearing 37 and the first radial bearing 38 are housed and supported within the same first bearing box 39. This first bearing box 39 is connected to the subframe 27 and fixed by screws 41. Also, the stator 33 is attached to the outer periphery of the three first bearing boxes.
This stator 33 is fixed by being tightened by a put 43 which is screwed into a screw 42 formed on the outer periphery of the bearing box 39 of the sword 1.

That is, the stator 33 is fixed and cannot rotate.

Further, the thrust bearing 37 is fixed to the stereotactic stomach on the circumferential surface of the rotating shaft 36 by a snap ring 45.

The snap ring 45 is supported by a washer 47 fitted into a groove 46 formed on the circumferential surface of the rotating shaft 36. The inner end portion of this rotating shaft 36 is connected to a second bearing box 7 attached to the main frame 26.
It is supported by a second radial bearing 48 which is held at zero.

On the other hand, at the outer end of the rotating shaft 36 supported in this way,
A disc spring 49 is attached by caulking, and the disc spring 49 strongly biases the rotor 34 in a direction against the stator 33. Note that a rubber sheet 44 is provided between the rotor 34 and the spring 49 to protect the rotor 34 from damage and to prevent the rotor 34 and the rotating shaft 36 from slipping.

Further, on the rotating shaft 36 of the ultrasonic motor unit 31, a transmission gear mechanism, for example, a drive gear 51 of a transmission gear train 50, is mounted between the first radial bearing 38 and the second radial bearing 48. It is fixed by some means. This driving gear 51 meshes with a driven gear 52. The driven gear 52 is rotatably supported by a shaft 53 installed between the main frame 26 and the subframe 27. This driven gear 52 and subframe 27
A washer 54 made of resin, for example, is inserted between the two and so on to ensure smooth rotation. Further, a sprocket 55 as a rotating body for traction operation is supported between the driven gear 52 and the main frame 26 so as to be able to freely rotate with respect to the shaft 53. They are engaged or connected, for example, with screws (not shown), so that they rotate in one direction.

Roughly, as shown in FIG. 4, a chain 56 is wound around this sprocket 55, and a bending operation wire 58.5 is connected to each end of the chain 56 via a connecting piece 57.57.
8 are connected. The chain 56 and the bending operation wires 58, 58 constitute a pulling member. Further, each bending operation wire 58 , 58 is connected to the tip of the bending portion 16 or the rear end of the tip forming portion 15 through the insertion portion 12 . Then, as described later, the sprocket 55
When it rotates, the bending operation wires 58, 58 are pushed or pulled depending on the direction of rotation, thereby bending the bending portion 16 of the insertion portion 12.

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

On the other hand, as shown in FIG. 4, the rotating shaft 36 and the sprocket 55 are disposed offset in the longitudinal direction of the operating section 13.

The chain 5 corresponds to the outer diameter of the sprocket 55.
6 is larger than the outer diameter d of the second bearing box 70 located within this width a. Therefore, the second
The bearing box 70 is arranged between the chains 56 with a margin. Moreover, for this reason, the second bearing box 70 is prevented from coming into contact with the chain 56.

FIG. 1 shows the configuration of a circuit that detects and notifies the vertical bending drive state of the endoscope bending section. Note that the configuration of the circuit for detecting and notifying the bending drive state in the left-right direction is also similar, and will therefore be omitted.

The motor control unit 61, as shown in FIG.
A switch control section 67 to which the upward bending switch 21a1, the downward bending switch 21b, and the free switch 64 are connected to the input end; a power source 102 for supplying driving power to the ultrasonic motor 32; It is composed of a signal detection section 104 for detection, and a 90-degree phase shifter 103 for controlling the phase of one drive power supplied to the ultrasonic motor. To the power supply 102 (yo,
A switch 121 is provided to change the drive power to 0N10FF, and the power is supplied via this switch 121 to the electrode 100 installed on the piezoelectric body 35 of the ultrasonic motor 32.
and a first input terminal of the signal detection section 104. Further, the power supply via the switch 121 is supplied to the second signal detecting section 104 via a changeover switch 120 that controls the rotational state and free state of the ultrasonic motor 32.
It is connected to the input end of the 90-degree phase shifter 103. The output ends of the signal detection sections 1 and 04 are connected to the input ends of the video signal processing unit 62 mentioned above, and the output ends of the video signal processing unit 62 are connected to the input ends of the monitor 63. Further, the output end of the 90 degree phase shifter 103 is connected to the piezoelectric body 3 of the ultrasonic motor 32.
It is connected to the power line 1ioi provided in 5. The switch control section 6 is connected to the control end of the switch 121.
The power control output terminal of 7 is connected, and the changeover switch 12
The drive control output terminal of the switch control section 67 is connected to the illumination terminal of 0. Said 90113 phase shifter 10
The -[ direction control end of No. 3 is connected to the upward direction control output end of the switch control section 67. The 90 degree phase shifter 10
The downward control terminal 3 is connected to the downward control output terminal of the switch control section 67.

Inside? +71J! FIG. 5 shows the configuration of a bending drive circuit for bending the bending portion 16 in the vertical direction. Note that the circuit for driving the circuit to curve in the left-right direction has the same configuration, and will therefore be omitted.

The output terminal of the switch 21a that outputs a logic signal for upwardly bending the bending portion 16 is connected to the first input terminal of the OR circuit 130, the first input terminal of the OR circuit 132, and the 90-degree phase shifter 103. It is connected to the upper direction control end. The output end of the switch edge 21b that outputs a logic signal for bending the bending portion 16 downward is connected to a second input end of an OR circuit 130, a second input end of an OR circuit 132, and a 90-degree phase shifter. It is connected to the lower control end of 103. The output terminal of the switch 64 that outputs the logic signal for freeing the bending section 16 is connected to the inverter 133 and the OR circuit 1.
30, and is also connected to a circuit (not shown) for controlling left and right ultrasonic morphs. The output end of the OR circuit 130 is connected to the control end of the switch 121 described above. The output terminal of the OR circuit 132 is connected to the first input terminal of the AND circuit 131. The output terminal of the inverter 133 is connected to the second input terminal of the AND circuit 131. The output terminal of the AND circuit 131 is connected to the control terminal of the switch 120. Further, other connections are the same as those in FIG. 1 described above, and therefore will be omitted.

The operation of the electronic endoscope device configured as described above will be explained. In addition, although this description describes the case where the bending portion 16 is controlled to bend in the vertical direction, the operation of the circuit etc. when controlling the bending in the left-right direction is also the same as that in this description, so a description thereof will be omitted.

The light from the illumination bulb 66 is reflected by the reflection plate 65 shown in FIG.
A subject (not shown) is irradiated with light from an output end face of the light guide 23 disposed in the tip component 15 of the light guide 23 . The image of the subject illuminated by this light source is formed on the photoelectric conversion surface of the image carrier disposed in the tip component 15 and becomes a photoelectric conversion signal, which is input to the video signal processing unit 62 via a signal line and is imaged. The signal becomes an 8I signal and is displayed on the monitor 63.

Furthermore, when the free switch 64 is not pressed (y), the output of the free switch 64 shown in FIG.
I L II. As a result, the output of the inverter 133 becomes a logical signal, and the second output of the AND circuit 131
It goes to the input end. Therefore, the logic signal output from the AND circuit 131 is the same as the OR circuit 1 connected to the first input terminal.
Depending on the output signal of 32, the output signal causes switch 1 to
Control 20. That is, when the upward bending switch 21a or the downward inward bending switch 21b is pressed, the changeover switch 120 is turned ON.

Therefore, when the upward bending switch 21a is pressed and the output of the upward bending switch 21a becomes the logic signal "open", the output of the OR circuit 130 becomes the logic signal "open", and the output of the OR circuit 132 becomes the logic signal "open". The logical signal becomes paro. The switch 121 is turned on by the OR circuit 130, and the drive voltage o3in (ωt) is applied to the electrode 100 from the power supply 102. At the same time, as described in f11, the output of the AND circuit 131 becomes Since the logic signal II H11 becomes the changeover switch 120, the drive pressure VoS in (ωt> is applied to the 90-degree phase shifter 103 and the signal detection section 104. As a result, the 90-degree phase shifter 103 , a logic signal that is input to the upward bend control@end and is the output of the above-mentioned upward inner bend 11JI switch 21a.
H'', the phase of the drive voltage VO3i n (ωt) is advanced by 90 degrees and the drive voltage VoSin (ωt+π/2) is applied to the electrode 101.

That is, the drive voltage VoSin(ωt>
is applied, and a driving voltage V is applied to the electrode 101 of the piezoelectric body 35.
oS + n (ωt+π/2) is applied, and a traveling wave is generated in the stator 33.

As a result, the rotor 34 rotates in a predetermined direction, and the rotating shaft 36 fixed to the rotor 34 and the driving gear 51 fixed to the rotating shaft 36 are interlocked and coupled to the driven gear 52. sprocket 55 rotates. As a result, the chain 56 wound around the sprocket 55 reacts, and one side of the curved wire 58 58 connected to the end of the chain 56 via the connecting piece 57 is pushed out, and the other side is pulled in. Therefore, the curved portion 16 of the insertion portion 12 is curved so that the distal end portion 15 is directed upward.

Further, when the downward bending switch 21b is pressed and the output of the downward warm switch 21b becomes the logic signal IT H11, the output of the OR circuit 130 becomes the logic signal ``TO1'''', and the output of the OR circuit 132 becomes The output becomes a logic signal (''''. As a result, the drive voltage VO8i n (ω
t> is applied to the electrode 100.

At the same time, the driving voltage VoS i n (ωt) is 90
The signal is applied to the degree phase shifter 103 and the signal detection section 104. As a result, the 90-degree phase shifter 103 uses the logic signal "day" which is the output of the downward inward bending DH switch 21b inputted to the control end of the downward bending 11 to cause the drive voltage VO31 to
Driving voltage VoS i that delays the phase of n(ωt) by 90 degrees
n (ω=1π/2) is applied to the electrode 101.

That is, the drive voltage VO8i n (ω
t) is applied, a driving voltage vos rn (ωt-π/2) is applied to the electrode 101 of the piezoelectric body 35, and a traveling wave is generated in the stator 33. As a result, the rotor 34
The curved portion 16 rotates in the opposite direction to the upward curve, and as described above, the chain 56 wound around the driven sprocket 55 responds, and the chain 56 is connected to the end of the chain 56 via the connecting piece 57. One of the connected curved wires 58, 58 is pushed out, and the other is pulled in. therefore,
The curved portion 16 of the insertion portion 12 is curved so that the distal end portion 15 is directed downward.

Further, the signal detection unit 104 detects that a traveling wave is generated in the ultrasonic motor 32 due to the drive voltage VoS in (ωt) applied to the first input terminal and the second input terminal, and outputs a detection signal. is output to the video signal processing unit 62 shown in FIG.
An image signal such as a character indicating that a traveling wave is occurring in the bending section, that is, that the bending section is bending, is synthesized and output, and displayed on the monitor 63.

Here, when the free switch 64 is pressed and the output of the free switch 64 becomes a logic signal "gate", the inverter 1
The output of 33 becomes the logic signal IT L", and the AND circuit 1
It is added to the second input terminal of 31. As a result, AND circuit 1
The output signal of 31 is the OR circuit 1 connected to the first input terminal.
Even if the output of 32 is the logic signal "TOBI", the logic signal I
In other words, the upper (ill curved switch 21
Even if the switch a and the downward bending switch 21b are pressed, the changeover switch 120 is not turned on. Therefore, 90
No drive voltage is applied to the phase shifter 103 and the signal detection section 104. However, since the output of the free switch 64 connected to the third input terminal is a logic signal, the output of the OR circuit 130 becomes a logic signal ++H+t, the switch 121 is turned on, and the drive voltage is output from the power supply 102. V
oS i n (ωt) is applied to electrode 100. That is, the electrode 100 of the piezoelectric body 35 attached to the stator 33 of the ultrasonic motor 32 has a driving force "cold pressure VoS in (
ωt) is applied, and a drive voltage is applied to the electrode 101 of the piezoelectric body 35.
No J voltage is applied, and a standing wave is generated in the stator 33. As a result, the rotor 34 becomes free, and the curved portion 16 of the insertion portion 12 is freely curved by the external force applied to the distal end portion 15.

Further, the signal detection unit 104 detects that a standing wave is generated in the ultrasonic motor 32 due to the drive voltage vos in (ωt) applied to the first input terminal and the no-signal state at the second input terminal. The detected signal is outputted via the output terminal M to the video signal processing unit 62 shown in FIG. Image signals such as characters indicating what is occurring, that is, the bending portion is in a free state, are synthesized and output, and displayed on the monitor 63.

Generally speaking, when the upward bending switch 21a, the downward flow 1 switch 21b, and the free switch 64 are not pressed, that is, when the switch 121 and the changeover switch 120 are OFF, the No driving voltage is applied to the electrodes 100 and 101 of the piezoelectric body 35 . As a result, the rotor 34 enters a locked state in which it does not easily rotate, and the curved portion 16 of the insertion portion 12
is not easily bent even by external force applied to the tip portion 15.

Due to the above-described operation, the signal detection unit 104 constantly monitors the drive voltage supplied to the ultrasonic motor 32,
The fact that a traveling wave or a standing wave is generated in the stator 33 of the ultrasonic motor 32, that is, a rotating state or a free state, can be displayed on the monitor 63 to notify the operator and make him/her aware of it.

FIG. 6 is a block diagram showing the configuration of a circuit for detecting and notifying the driving state of the endoscope bending section in the vertical direction, according to a second embodiment of the present invention. Also, a3, the configuration of the circuit for detecting and notifying the bending drive state in the left-right direction is the same configuration, and will therefore be omitted. Furthermore, the structure of the endoscope casing is the same as that of the second embodiment of the first embodiment.
The same reference numerals are used for circuits and the like that are similar to those in the figure and have the same configuration or function as those of the first embodiment.

As shown in FIG. 6, the motor control unit 61 includes a switch control section 64 having an input end connected to the upward bending switch 21a, the downward bending switch 21b, and the free switch 64. , a power supply 102 for supplying driving power to the ultrasonic motor 32, a power supply unit 104 for detecting the driving power, and a phase control unit for controlling the phase of one of the driving powers supplied to the ultrasonic motor. 90-degree phase shifter 1'03. Said m'FA
102 is provided with a switch 121 for turning the drive vJ power 0N10FF, and the power source via this switch 121 is connected to the iJ electrode 100 provided on the piezoelectric body 35 of the ultrasonic motor 32 and the signal detection unit 104. The first input terminal of the first input terminal is connected to the first input terminal of Furthermore, the power source via the switch 121 is connected to the second input terminal of the signal detection unit 104 and the 90-degree phase shifter 103 via the ON contact of the changeover switch 105 that controls the rotational state and free state of the ultrasonic motor. is connected to the input end of the The output terminal of the signal detection section 104 is
It is connected to the input end of the sound generation unit 106, and the output end of the sound generation unit 106 is connected to the speaker 107. Also, the output end of the 90 degree phase shifter 103, the OFF contact of the switch 105, and the ultrasonic motor 3.
It is connected to the electrode 101 provided on the piezoelectric body 35 of No. 2. A control end of the switch 121 is connected to a power control output end of the switch control section 67, and a control end of the changeover switch 105 is connected to a drive control output end of the switch control section 67. The 90 degree phase shifter 103
The upper control output end of the switch control section 67 is connected to the upper control end. The downward control end of the 90-degree phase shifter 103 is connected to the downward control output terminal of the switch control section 67 .

The operation of the circuit that detects and notifies the driving state of the endoscope bending section in the vertical direction will be explained.

Similarly to the first embodiment, the switch control unit 67 controls the switch 121 and the switch 105 to turn on when the upward bending switch 21a is pressed. moreover,
The switch control circuit 67 controls the 90-degree phase shifter 103 so that the driving voltage applied to the 90-degree phase shifter 103 is advanced in phase by 90 degrees and applied to the electrode 101 as in the first embodiment.
Control 3.

Further, similarly to the first embodiment, when the downward bending switch 21b is pressed, the switch control unit 67 controls the switch 121.
and switch 105 are controlled to be turned on. Furthermore, the switch control circuit 67 delays the drive voltage applied to the 90-degree phase shifter 103 by 90 degrees, similar to the first embodiment, and adjusts the 90-degree phase 31°3 so that the drive voltage is applied to the electrode 101. Control.

Here, when the free switch 64 is pressed, the switch control section 67 turns the switch 121 into the
N, and the changeover switch 105 is controlled to be OFF. As a result, the switch 121 of the power supply 102
Drive through [pressure V.

5 in (ωt) is applied to electrode 100 and also to electrode 101 via the OFF contact of switch 105. As a result, a standing wave is generated in the stator 33,
The ultrasonic motor 32 is in a free state as in the first embodiment. Furthermore, by applying the same driving voltage to the electrode 1°O and the electrode 101, the standing wave generated in the stator 33 is larger than that in the first embodiment, and is smaller than that applied to the tip 15 of the insertion section 12. The warm section 16 is free to respond to external forces.

Further, as in the first embodiment, the signal detection unit 104 detects that a driving voltage is supplied to the piezoelectric body 35 so that a standing wave is generated in the stator 33, and transmits the detection signal to the sound generation unit. 106.

As a result, the sound generation unit 106 uses the speaker 107 to notify by sound that a standing wave is generated in the ultrasonic motor 32, that is, that the bending portion 16 is in a free state.

In this embodiment, the operator can recognize that the bending portion 16 is in the free state by being notified by voice even if he does not constantly monitor the monitor.

7 and 8 relate to the third embodiment of the present invention, FIG. 7 is a configuration diagram of a fiberscope, and FIG. 8 is a circuit for detecting and notifying the driving state of the endoscope bending section in the vertical direction. FIG. 2 is a block diagram showing the configuration of FIG. Note that the configuration of the circuit for detecting and notifying the bending drive state in the left-right direction is also similar, and will therefore be omitted. Further, the same reference numerals are used for the same members or circuits that perform the same functions as in the first embodiment.

In this embodiment, the present invention is applied to an endoscope 11 using an image guide fiber, and the endoscope 11 uses an image guide fiber.
1 is provided with an objective lens (not shown) in the distal end component 15, and the incident end surface of the image guide fiber installed in the insertion part 12 and the operation part 13 is disposed at the imaging position of this objective lens. There is. Further, an eyepiece section 108 is provided at the rear end of the operation section 13, and an end face (A) of the image guide fiber is disposed opposite to an eyepiece (not shown) provided in the eyepiece section 108. As a result, an image of a subject inside a body cavity or the like can be observed with the naked eye through an eyepiece.

Further, the operation section 13 is provided with a free switch 64 that was provided in the light source device 60 in the first embodiment, and furthermore, the operating section 13 is provided with a free switch 64 that is provided in the light source device 60 in the first embodiment. ii! Bimorph 11 to make you aware
A vibrating body 112 attached to the vibrating portion of the bimorph 114 protrudes from the exterior of the operating section 13.

a light source unit 10 that supplies a light source to the endoscope 11;
Drive control of the ultrasonic motor installed in the operation unit 2Il'?
The motor control unit 61 is connected to the connector 109.1.
10 is connected by a cable 111 provided at the end, and the connector 22 of the endoscope 11 is connected to the light source unit 10.
It is connected to the endoscope 11 by.

In this embodiment, the means for controlling the ultrasonic motor 32 and detecting that a standing wave is generated in the ultrasonic motor are the same as in the first embodiment.
The driving vJ voltage applied to the electrodes 100 and 101 provided at the terminal 5 is detected by the signal detection section 104, and the bimorph drive unit 113 is controlled by this detection signal. The bimorph drive unit 113 vibrates the bimorph 114 when a standing wave is generated in the ultrasonic motor, that is, when the bending section 16 is in a free state, thereby causing the vibrating body 112 to vibrate. This vibration allows the operator to recognize that the curved portion is in the free state C.

In the present embodiment, the operator is notified by vibration that the bending portion 16 is in a free state, and is therefore able to perform HH with a tactile sensation.

In each embodiment, a means for detecting the drive wJ voltage applied to the ultrasonic motor has been described, but a means for detecting a drive current flowing into the ultrasonic motor may also be used.

Further, the notification means may be a combination of the above-mentioned embodiments, and display means such as an LED may be provided on the operation section.

Furthermore, in an endoscope having an eyepiece, a display means such as L[D] may be provided in the eyepiece, and a signal detection part may be provided in the operation part.

Furthermore, it can be applied not only to traveling wave type ultrasonic motors but also to complex transducer type ultrasonic motors.

Furthermore, for example, for a combination of a DC motor and an electromagnetic clutch, the control signal of the electromagnetic clutch may be used as the input signal of the signal detection section.

[Effects of the Invention] As explained above, according to the present invention, by notifying the driving state of the bending motor of the endoscope and making the operator aware of it,
The operator can always keep track of the driving state, which has the effect of facilitating smooth operation.

[Brief explanation of drawings]

1 to 4 relate to a first embodiment of the present invention, and FIG. 1 shows an endoscope 8/! 'Block diagram showing the configuration of the circuit that detects and notifies the drive status of the western part, Figure 2 is the electronic endoscope system♂
7 is a configuration diagram, Fig. 3 is a cross-sectional view of the main part of the ultrasonic motor, and Fig. 4 is a sectional view of the main part of the ultrasonic motor.
The figure is an explanatory diagram of the bending part drive mechanism, FIG. 5 is a configuration diagram of the bending drive circuit of the endoscope bending part, and FIG. 6 is related to the second embodiment of the present invention, in the vertical direction of the endoscope VL bending part. FIGS. 7 and 8 are block diagrams showing the configuration of a circuit for detecting and notifying the driving state of the fiber path, and FIGS. 7 and 8 relate to the third embodiment of the present invention. FIG. FIG. 3 is a block diagram showing the configuration of a circuit that detects and notifies the driving state of the endoscope vL bay 3 section in the vertical direction. 32...Ultrasonic motor 62...Video signal processing unit 63...Monitor 1071I...A3 Bow detection unit Fig. 1 Fig. 2 Fig. 1 $5 Fig. 7 Fig. 1 Fig. 8 1.8i '; display 2, name of excuse 3, ? + [Person who writes i correction - 1) Address related to i'1 Name 4, representative P11 address procedure name] Letter E (self-motivated) November 60, 1989 Special revision application No. 204126 of 1989 Endoscope equipment

Claims (1)

[Scope of Claims] An endoscope whose bending portion is bent by the driving force of a motor, comprising means for detecting driving power supplied to the motor or means for detecting the driving force of the motor, and a means for detecting the driving force of the motor; 1. An endoscope device comprising means for notifying a detection signal.