JPH0380825A - Endoscope device - Google Patents

Abstract

PURPOSE:To easily recognize a curved state of an inserting part by providing a detecting element for detecting the degree of a curve in a position of the inserting part of an endoscope, and an informing means for informing stereoscop ically the curved state of the inserting part. CONSTITUTION:In an inserting part 7 of an endoscope 1, a tip part 9, a curved part 11, and a flexible tube part 12 are provided in order, and in the flexible tube part 12, an operating part 8 is connected and provided. Plural curved pieces 34a, 34b,...34n for constituting the curved part 11 are connected by a pivotally supporting pin 36 and curved in the upper and the lower and the left and the right directions. A potentiometer 37 being a detecting element provided on each pivotally supporting pin 36 detects its rotation angle, and inputted to a curved state display control circuit 41 in a centralized control device 3 through a signal line 39. In a curve display device 4 connected to the curved state display control circuit 41, a curve dummy 47 which reproduces a curved state of the inserting part 7 and has a size obtained by reducing the curved part 11 is provided. In such a way, the curved state of the curved part 11 curved by operating a curve switch 16 of the operating part 8 can be repro duced faithfully by the curve dummy 47.

Description

[Detailed description of the invention] “Industrial Application Fields” The main invention allows the insertion state of the insertion section of the endoscope to be viewed in three dimensions.

The present invention relates to an endoscope device for displaying images.

[Prior art and problems to be solved by the invention] In recent years, it has become possible to observe and diagnose organs in a body cavity without making an incision by inserting an elongated insertion section into the body cavity, or to use a treatment instrument. Medical endoscopes, which can perform only a few treatments, are often used. Similarly, industrial endoscopes are used that allow the elongated insertion portion to be inserted into a device to observe the inside of the device or perform treatment.

In the medical endoscope, the insertion section is generally flexible and is curved within the body cavity, but knowing the state of curvature within the body cavity can reduce the pain caused to the patient. This is very important in terms of reducing the number of particles by 111 as much as possible and preventing perforation of the body wall.

Under such circumstances, Japanese Patent Publication No. 61-60689 discloses a technique for two-dimensionally displaying the curved state of a flexible tube on an image display section.

Furthermore, Japanese Patent Application Laid-Open No. 63-292934 discloses a technique in which a surgeon manipulates a dummy provided outside the body to curve a curved part inside the body in accordance with the dummy.

However, since the above-mentioned Japanese Patent Publication No. 61-60689 uses a two-dimensional display, it is difficult to recognize the three-dimensional state of the insertion portion. In addition, when the curved part C hits the body wall etc. using the technique disclosed in Japanese Patent Application Laid-Open No. 63-292934, a black difference occurs between the amount of curve indicated by the curved part dummy and the actual curved part of the curved part. However, there was no guarantee that the curved section would actually curve as shown in the external curved section dummy.

The present invention has been made in view of the above-mentioned circumstances, and an object of the present invention is to provide an endoscope device that can perform a three-dimensional display of the insertion section and makes it easy to recognize the curved state of the insertion section. do.

[Means and effects for solving the problems] The endoscope device of the present invention includes a plurality of detection elements that are provided in the insertion portion of the endoscope and detects the degree of curvature at that position, and an output from the detection element. and a notification means for three-dimensionally notifying the curved state of the insertion portion based on the insertion portion.

In the present invention, from a plurality of detection elements provided in the insertion section,
Curvature information at the position where the detection element is provided is output. The notification means receives the curvature information and three-dimensionally notifies the curvature state of the insertion portion.

[Example] Hereinafter, an example of the present invention will be specifically described with reference to the drawings.

FIGS. 1 to 4 relate to a first embodiment of the present invention.
The figure is an explanatory diagram of the endoscope device, and Figure 2 is the line AA' in Figure 1.
FIG. 3 is a sectional view taken along the line B-B' in FIG. 1, and FIG. 4 is a block diagram of the bending state display control circuit.

In FIG. 1, in this embodiment, the endoscope device 1 is
, a central control device 3, a curved display device 4 as a notification means, and a TV monitor 6.

The endoscope 1 includes an elongated insertion section 7, and an operation section 8 is connected to the rear end of the insertion section 7. The insertion portion 7 is provided with a distal end portion 9, a curved portion 11, and a flexible tube portion 12 in this order from the distal side, and the operating portion 8 is connected to the flexible tube portion 12.

A universal cable 13 extends from the operating section 8 , and a connector 14 provided at the rear end of the universal cable 13 is connected to the central control device 3 . Further, the operating section 8 is provided with a bending switch 16 and a treatment instrument raising table operating lever 17.

An objective optical system 18 is provided on the distal end surface of the distal end portion 9, and a solid-state image sensor 19 is provided behind the objective optical system 18.
is provided so that its imaging surface is at the imaging position of the objective optical system 18. One end of a signal line 21 is connected to the solid-state image element 19, and the other end of the signal line 21 is inserted through the insertion section 7, the operating section 8, and the universal cable 13 to connect the video in the central control neckpiece 3. The processor 22 is connected to the processor 22 .

Further, a treatment instrument raising stand 23 is provided in the distal end portion 9, so that the protruding direction of the treatment instrument (not shown) can be adjusted. One end of a lifting wire 24 inserted through the insertion section 7 and the operation section 8 is connected to the treatment elevator table 23, and the other end of the wire 24 is connected to the slider 2 inside the operation section 8.
6. The slider 26 is provided so as to be freely movable in the longitudinal direction of the operating section 8, and the operating lever 1 for the treatment instrument raising base is provided so as to be freely rotatable about the bin 27.
By operating the lever 17, the wire 24 is pulled and loosened, and the treatment instrument raising table 23 is connected to one end of the wire 24.
It is now possible to stand up.

Furthermore, one ends of curved wires 28a and 28b are fixed to the rear end surface of the distal end portion 9 at positions that are at an angle of approximately 90 degrees to each other in the circumferential direction with respect to the longitudinal center of the insertion portion 7.

The curved wires 28a, 28b are inserted through the insertion portion 7, wound around pulleys 29a, 29b provided on the operating portion 8, and then inserted through the insertion portion 7 again, so that the other end of the wire 28a is One end of wire 28a and wire 28b
The other end is fixed to the tip portion 9 at a position facing each end of the wire 28b.

The pulleys 29a, 29b are driven by ultrasonic motors 31a, 31
b, respectively. One end of the signal lines 32, 32 passed through the universal cable 13 is connected to the ultrasonic motors 31a, 31b, and the other end of the signal line 32, 32 is connected to the bending motor driver 33 in the central control device @3. It is connected.

A first bending piece 34a located at the frontmost portion of the plurality of bending portions 34a, 34b, .

on the outer periphery of the rear end of the first bay DLL piece 34a (with respect to each other
A pivot pin 36.36 is provided in the outer radial direction at a position where the bending piece 34b is connected rotatably to the next second bending piece 34b. A pivot pin 36.36 is provided on the outer periphery of the rear end of the second bending piece 34b at a position making an angle of 90 degrees with respect to the pivot pin 36.36 provided on the first bending rA34a. The pieces 34C are rotatably connected. Similarly, the curved parts 34d, 34e, .
1 is curved in the vertical and horizontal directions.

Each of the above pivot bins 36.36. ... are each provided with a potentiometer 37 as a detection element as shown in FIG. Potentiometer 37 (case 37a
and a case 37b are stacked on top of each other, a bottle 38a protruding from the peripheral wall of the case 37a is fixed to one curved portion 34n connected by a pivot pin 36, and a bottle 38k protruding from the peripheral wall of the case 37b. ) is fixed to the other curved portion 34m. With this configuration, the potentiometer 37 can detect and output the rotation angle of the curved portions 34n and 34m. Each potentiometer 37 has signal wires 39, 39, 39, 39, 39, 39, 39, 39, 39, 39, 39, 39, 39, 39, 46, 39, 39, 39, 39, 39, 39, 39, 39, 39, 39. ... of-
The other end of the eight signal lines 39, 39, . . . is connected to a bending state display control circuit 41 in the central control device 3.

The outer peripheries of the curved portion 11 and the flexible tube portion 12 are covered with a covering tube 42 .

A bending switch 16 provided on the operating section 8 outputs signals instructing bending in the vertical and horizontal directions. One end of the signal line 43 inserted through the inside of the universal cable 13 is connected to the bending switch 16.
The other end of this signal line 43 is connected to the bending motor driver 33 in the central control device 3.

The video processor 22 is connected to the TV monitor 6 and outputs a video signal.

As shown in FIG. 4, the bending state display control circuit 41 includes a plurality of sets of a comparator 44 and a motor driver 46, each set being connected to one potentiometer 37. Further, a curved state display control circuit 41 is connected to the curved display device 4. The curved display device 4 is provided with a curved dummy 47 that reproduces the curved state of the insertion section 7 and has a reduced size of the curved section 11. Inside the bending dummy 47, a first bending piece 48a, a second bending piece 48b, . . . are provided from the tip end side.

The connecting portions of the curved portions 48a, 48b, . . . are constructed as shown in FIG.

The plurality of curved portions 48 are rotatably connected by pivot pins 49, respectively. Among the plurality of curved parts 48, the curved part 48m,
Taking 48n as an example, the curved portions 48m, 48n
are connected by a pivot pin 49. Pivot bottle 49
is fixed to the bay 1111 piece 48m, and the curved part 48n
It can be rotated freely. A first gear 51 whose rotation center coincides with the pivot pin 49 is disposed on the outer periphery of the curved portion 48m.
A is provided. The first gear 51a is fixed to the curved portion 48m.

On the other hand, a motor 52 is installed in the curved portion 48n, and a drive @52a of the motor 52 penetrates the peripheral wall of the curved portion 48n, and a second gear 51b that meshes with the first gear 51a is provided at the tip thereof. ing. Further, the drive shaft 52a has a third
A gear 51G is provided, and a fourth gear 51d attached to the encoder 53 meshes with the third FAm 51c.

The motor 52 is connected to the motor driver 46 of the bending state display control circuit 41, and its driving is controlled by the motor driver 46. By being driven, the second @ wheel 51b and the first fIA car 51
The curved portion 48m is rotated with respect to the curved portion 48n via a. Further, the rotation of the motor 52 is transmitted to the encoder 53 via the third gear 51c and the fourth gear 51d, and the encoder 53 outputs the rotation to the comparator 44 of the bending state display control circuit 41.

The connecting portion of the curved portions 48a, 48b, . . . is the curved portion 1.
The first bending piece 34a on the side of the bending part 11 is the same number as the bending parts 34a, 34b, . . . If the direction is perpendicular to the paper surface), the first
The bending pieces 48a are also at the same position so as to match the left and right directions.

Furthermore, the first bending piece 34a and the second bending piece 3 on the side of the bending part 11
The potentiometer 37 provided between the bending dummy 4b and the bending dummy 4b passes through a comparator 44 and a motor driver 46.
The first bending piece 488 and the second bending piece 48b on the side of The potentiometer 37 provided between the bending piece 34c and the bending piece 34c is connected to a motor 52 and an encoder 53 provided between the second bending piece 48b and the third bending piece 48c on the side of the bending dummy 47. Each person's body 3
The meter 37, motor 52, and encoder 53 correspond to each other.

The operation of the endoscope device 1 configured as described above will be explained.

When bending the bending portion 11 in the left-right direction (perpendicular to the plane of FIG. It is output to the bending motor driver 33 in the central control device 3. Curved motor driver 33
outputs a drive signal in response to this instruction signal to the ultrasonic motor 31a via the signal line 32, and the ultrasonic motor 31a is driven by the drive signal. When the ultrasonic motor 31a is driven, the pulley 29a rotates to pull and relax the curved wire 28a wound around the pulley 29a. By pulling and relaxing the bending wire 28a, the second bending piece 48
a potentiometer 37 provided between the third bending piece 48C1, the fourth bending piece 48d, and the fifth bending piece 48e1...
The cases 37a and 37b that make up the bins 38a and 38
b, and outputs a voltage value of a resistance value according to a relative angle between adjacent curved portions 48. Each potentiometer 37.37. The voltage value output from ... is the signal line 39
, 39. . . to each potentiometer 37, 37, of the bending state display control circuit 41. ... is input to the comparator 44 corresponding to the voltage signal, and a voltage signal is output to the driver 46. Each driver 46, 46°, . . . outputs a driving signal to each motor 52, 52, . . . of the bending dummy 47.

Each motor 52, 52. ... are rotated by the drive signal station to change the relative angle of the adjacent curved portions 48, and feed back the relative angle from the encoder 53 to the comparator 44. The comparator 44 compares the fed-back relative angle with the relative angle from the potentiometer 37 and outputs a signal until they match.

As mentioned above, in this embodiment, the bending switch 16 of the operating section 8
Since the bending state of the curved part 11 that is bent by manipulating can be faithfully reproduced by the bending dummy 47, the operator G can easily observe the curved state of the curved part 11 inside the body cavity, which cannot normally be observed with the naked eye. can be known.

In addition, since the curved state is reproduced three-dimensionally by the curved dummy 47, it is difficult to recognize the curved state on a two-dimensional display. can be easily recognized.

5 to 7 relate to the second embodiment of the present invention, and FIG.
The figure is an explanatory diagram of the endoscope device, and Figure 6 shows the endoscope device inserted into the patient's body cavity. lJ! An explanatory diagram of the curved state of the mirror, Fig. 7 is the sixth
FIG. 2 is an explanatory diagram of the endoscope shown in the figure, viewed from the side.

In contrast to the first embodiment in which a potentiometer 37 is provided on the curved portion 34 of the curved portion 11 to detect the state of the curved portion 11, this embodiment has a pressure sensitive element as a detection element over the entire length of the matchmaker portion 7. (This is to detect the curved state of the inlet portion 7. The same components as in the first embodiment are given the same reference numerals and their explanations will be omitted.

The covering tube 42 of this embodiment has pressure sensitive elements 5, such as strain gauges, arranged in a row in the longitudinal direction of the insertion section 7 and in a row in the vertical and horizontal directions of the insertion section 7, for example, to detect a curved state.
6,56. ..., 57.57°... are provided. Pressure sensitive element for vertical direction detection 56.56. . . , there is a signal)) line 58, 58. ... are connected to each other, and the signal lines 58, 58. ...The other end is connected to five vertical bending state display control devices. In addition, signal lines 61.6 are connected to the pressure-sensitive elements 57, 57, . . . for left and right direction detection.
1. ... are connected to each other, and the signal lines 61,
61. ...The other end is curved in the left and right directions! fII
The device 62 is connected to the device 62 . Each display control device 59.62
Monitors 63° and 64 are connected to the monitors 63 and 64, and the monitors 63 and 64 display the curved state of the insertion section 7 in the vertical direction.
It is designed to display the curvature state in the left and right directions.

In this embodiment, the m control device 59.62 and the monitor 63.6
4 constitutes a notification means.

Next, the operation of this embodiment will be explained.

The insertion section 7 is inserted into the body cavity of the patient 67 by drawing an α luer 66 as shown in FIGS. 6 and 7.

a pressure sensitive element 56°56 provided on the curved insertion portion 7;
..., 57.57. ... is each pressure sensitive cable 56.56,
..., 57, 57. The resistance value changes according to the curvature at the position where ... is provided, and a voltage value is output. These voltage values are input to the bending state display control device 59°62, and this input signal and each pressure sensitive element 56°56, . . . , 5
7.57. ...Calculation is performed based on the distance between
Control t1! 1 device 62 displays a continuous curve that displays the curved state in the left and right direction, the curved state shown in FIG. The curved state shown in the figure is displayed on the monitor 63.

The operator observes the monitors 63 and 64, confirms the curved state of the insertion section 7, and twists the endoscope 2 clockwise to insert the α loop 66.
Solve. Then, the insertion section 7 is further inserted into the body cavity of the patient 67.

According to this embodiment, the curved state of the insertion portion 7 is determined by 9011, respectively.
1. Since the images are obtained as seen from different directions, the three-dimensional curved state of the insertion portion 7 can be understood at a glance.

Note that by performing calculations such as coordinate transformation on the vertical curvature information and the horizontal curvature information, display as viewed from any two directions is possible. Of course, three or more directions are also possible.

In addition, pressure sensitive elements 56.56. ..., 57.57°...
Instead of *, for example, information from two X-ray images taken from directions deviated by 90 degrees may be used, and the display may be displayed as viewed from any two directions.

Other configurations, operations, and effects are the same as those in the first embodiment.

8 to 11 relate to a third embodiment of the present invention, FIG. 8 is an explanatory diagram of the main parts of this embodiment, FIG. 9 is an explanatory diagram of a bending operation mechanism using scissor gears, and FIG. The figure is an explanatory diagram of a bending operation mechanism using an elastic member, and FIG. 11 is a side view taken along the line C-G in FIG. 10.

In this embodiment, the pressure sensitive element 56°56, described in the second embodiment,
...,57,57. . . are input to the three-dimensional construction circuit 69.

Pressure sensitive elements 56, 56. ..., 57.57. The signal containing the curvature information outputted from ... is input to the three-dimensional construction circuit 69, the curvature state of the insertion section 7 is calculated, and the signal is sent to the monitor 71.
will be displayed.

Note that the three-dimensional construction circuit 6.9 and the monitor 71 constitute notification means.

In this embodiment, the vertically curved state is the pressure sensitive element 56.56.
．． The pressure sensitive element 56 of the insertion section 7 is calculated from the resistance change of... ...nearby curvature and pressure-sensitive cord 56.56
．． . . . depending on the distance between the pressure sensitive elements 57.57. The pressure-sensitive element of the insertion portion 7 is calculated from the resistance change of 57.57°... The curvature of the recent example and the pressure-sensitive element 57.57. Each is calculated based on the distance between... The curved state in the left-right direction is inputted as X-axis-Y-axis information, and the curved state in the vertical direction is inputted as Y-axis-Z-axis information to six three-dimensional construction circuits, and three-dimensionally constructed and displayed on the monitor 71.

Other configurations, operations, and effects are the same as those in the first embodiment.

The bending operation mechanism of this embodiment is shown in FIG. The stepping motor 72 is connected to a pulley 75 provided on a third scissor gear 74c via a first gear 73a, a first scissor gear 74a, a second gear 73b, a second scissor gear 74b, a third middle tooth 73c, and a third scissor gear 74c. Transmit rotational force. A bending operation wire 28 is attached to the pulley 75.
The wire 28 is wound around the wire 28, and the wire 28 is pulled and loosened by rotating the stepping motor 72.

The scissor gears 74 are two gears placed back to back and biased in opposite directions to reduce backlash.

For example, the third scissor gear 74c is placed back to back with the gears 76a and 76b being biased in opposite directions, and the third scissor gear 74c is
It is meshed with the gear 73c.

Further, backlash may be prevented from occurring as shown in FIG.

In FIG. 10, the DC motor 77 is a gear 78.79a.
, 80a, 81a, the rotational force is transmitted to the pulley 75 provided on the gear 81a. A bending operation wire 28 is wound around the pulley 75, and the wire 28 is pulled and loosened when the DC motor 77 rotates it.
, 81a and the gears 79b and 80i, each having the same number of strokes.
, 81b are in mesh with each other, and the gears 81a and 81b are provided with disks 83a and 83b having the same outer diameter, respectively.

As shown in FIG. 11, these circles ff183a and 83b are provided with a wire member 84 having elasticity, such as a rubber wire, in a substantially figure-eight shape.
The wire member 84 is wound around the wire member 84, and both ends thereof are fixed to the outer circumferential surface of each of the disks 83a and 83b, and the wire member 84 is always biased in the direction in which it contracts. In this way, the gears 79a and 80 are connected to the line portion 41184.
A and 81a are each subjected to a rotational force in a fixed direction, so that backlash does not occur.

This embodiment not only displays the bending state, but also can be used as an information source for electric bending and electric advancement/retraction twisting (automatic insertion) equipment.

12 to 14 relate to the fourth embodiment of the present invention,
FIG. 12 is an explanatory diagram of the curved portion, FIG. 13 is a block diagram illustrating the outline of the in-house endoscopic device, and FIG. 14 is an explanatory diagram of the mounting portion of the bimorph piezoelectric element.

In this embodiment, a bimorph piezoelectric element is used as a detection element to detect the amount of curvature.

A plurality of curved parts 34a, 34b, configuring the curved part 11,
... are respectively pivot pins 36.36. ... are rotatably connected, and a bimorph piezoelectric element 86 is provided at each connecting portion. For example, curved portions 34m, 34
The connecting portion of n is constructed as shown in FIG. A bimorph piezoelectric element 86 has one end connected to the connecting portion rotatably connected by the pivot pins 3 and 6 to the curved portion 34m.
The other end is fixed to the curved portion 34n with fixing pins 87 and 87.

Each bimorph piezoelectric element 86°86 provided in the connecting part,
... is the detection circuit 88.88. . . , and further connected to each detection circuit 88, 88 . ... is the display circuit 89
It is connected to the. The display circuit 89 is connected to a monitor 91 and outputs curvature information to the monitor 91.

In addition, the detection circuit 88.88. ..., the display circuit 89, and the monitor 91 constitute a notification means.

In this embodiment, when the curved portion 11 is curved, each curved portion 34a
, 34b, . . . bimorph piezoelectric elements 86, 86, . . . . detects the curvature information of each installed position by each detection circuit 88, 88. Output to... In the detection circuit 88, the differential voltage output from the bimorph piezoelectric cable 86 is held, and this held voltage is added to zero (subtracted by n>) and outputted to the display circuit 89. In the display circuit 89, each of the detection circuits 88, 88, . . . outputs a signal including curvature information to a monitor 91, and the monitor 91 displays three-dimensional curvature information.

Other configurations, operations, and effects are the same as those in the first embodiment.

[Effects of the Invention] As described above, according to the present invention, the insertion portion can be displayed in three dimensions, and the curved state of the insertion portion can be easily recognized.

[Brief explanation of drawings]

FIGS. 1 to 4 relate to a first embodiment of the present invention.
The figure is an explanatory diagram of the endoscope device, FIG. 2 is a sectional view taken along the line AA in FIG. 1, FIG. 3 is a sectional view taken along BB' direction in FIG. 1, and FIG. The block diagram and FIGS. 5 to 7 relate to the second embodiment of the present invention, FIG. 5 is an explanatory diagram of the endoscope device, and FIG. 6 is a curved view of the endoscope inserted into the patient's body cavity. FIG. 7 is an explanatory diagram of the endoscope shown in FIG. 6 viewed from the side, and FIGS. 8 to 11 (corresponding to the third embodiment of the present invention; FIG. 9 is an explanatory diagram of the bending operation mechanism using scissor gears. FIG. 10 is an explanatory diagram of the bending operation mechanism using an elastic member.
1 is a side view taken along the line CC in FIG. 10, FIGS. 12 to 14 relate to the fourth embodiment of the present invention, FIG. 12 is an explanatory diagram of the curved portion, and FIG. 13 is an endoscope. FIG. 14 is a block diagram illustrating the outline of the device, and FIG. 14 is an explanatory diagram of the mounting section of the bimorph piezoelectric element. 1... Endoscope device 2... Endoscope 3...
- Central control device 4... Curving display device 7... Insertion section 34... Curving section 37... Potentiometer 41... Curving state display control circuit 47... Curving dummy

Claims (1)

[Scope of Claims] A plurality of detection elements are provided in the insertion section of an endoscope and detect the degree of curvature at that position, and the curvature state of the insertion section is three-dimensionally announced based on the output from the detection element. An endoscope device characterized by comprising: a notification means for: