JPH042320A - Endoscope apparatus - Google Patents

Abstract

PURPOSE:To enable the inserting of an inserting section on proper conditions according to a part to be inserted by finely vibrating a part of the inserting section by a drive means while conditions of fine vibration are varied by a selection means. CONSTITUTION:A controller 16 connected to an endoscope 1 is equipped with a bending fine vibration changeover switch 25a, a bending and advance/ retraction, rotation and turning setting changeover switch 25b, an angle specifying switch 25c, a speed specifying switch 25d and the like. Each time being depressed, the bending fine vibration changeover switch 25a can change over fine vibration in a direction the same as that of bending, fine vibration in a direction at the right angle to that of bending, clockwise rotation of turning motion and a counterclockwise rotation of turning motion. Each time depressed, the bending, advance/retraction, rotation and turning setting changeover switch 25b can set an angle and speed of fine vibration in varied states. For example, when an angle and speed of rotation fine vibration are to be set, the switch 25b is depressed twice to enter a rotation setting state and then, the speed specifying switch 25d and the angle specifying switch 25a are depressed. Thus, fine vibration in rotation is obtained at desired speed and angle.

Description

[Detailed description of the invention] “Industrial Application Area The present invention relates to an endoscope device with improved insertion operability.

[Prior Art] Conventionally, endoscopes (also called scopes or fiberscopes) are capable of diagnosing or inspecting organs within a body cavity by inserting an elongated insertion portion into the body cavity.

) is widely used.

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.

Furthermore, various endoscopes are also used that use solid-state imaging devices such as charge-coupled devices (CCDs) as imaging means.

The endoscope includes, for example, an elongated and visible insertion section and a large-diameter grip section connected to the rear end of the insertion section. The insertion section includes a rigid tip component, a curved portion that can be bent vertically/left and right, for example, connected to the rear end of the tip component, and a visible curved portion connected to the rear end of the curved portion. It consists of a visible tube section.

For the outer skin member of the curved portion, a curved rubber made of a member such as rubber is used, for example.

[Problems to be Solved by the Invention] However, there is a problem in that when the curved rubber strongly contacts the object to be examined, for example, the wall of a body cavity, the contact resistance increases and it becomes difficult to insert the insertion section.

Therefore, the applicant filed the previously filed patent application No. 123023.
No. 5 proposes an endoscope device equipped with means for slightly vibrating the insertion section.

However, since the appropriate micro-vibration conditions differ depending on the state of the insertion site, if the micro-vibration conditions are fixed, the micro-vibration may not be effective in reducing contact resistance depending on the insertion site. There are cases.

The present invention has been made in view of the above circumstances, and provides an endoscope device in which the insertion portion can be easily inserted by reducing contact resistance under appropriate conditions depending on the insertion site. It is intended to.

[Means for Solving the Problems] An endoscope apparatus of the present invention has an insertion section to be inserted into a subject, and includes a drive means for slightly vibrating at least a part of the insertion section; A control means for controlling the conditions of microvibration is provided.

[Operation] In the present invention, the contact resistance of the insertion portion is reduced by slightly vibrating at least a portion of the insertion portion using the driving means. Moreover, the conditions of microvibration can be changed by the control means.

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

1 to 19 relate to a first embodiment of the present invention, in which FIG. 1 is a block diagram showing the configuration of an endoscope device, FIG. 2 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. The figure is a block diagram showing the configuration of the bending, forward/backward, and rotation control circuits, Figure 4 is a timing chart to explain the operation of the endoscope device during normal bending operation, and Figure 5 is the same direction micro-vibration mode. FIG. 6 is a timing chart for explaining the operation of the endoscope device when the bending operation is not performed, and FIG. 7 is a timing chart for explaining the operation of the endoscope device during the bending operation in the same direction micro vibration mode. 8 is a timing chart for explaining the operation of the endoscope device in the right-angle vibration mode, FIG. 8 is a timing chart for explaining the operation of the endoscope device during rotational movement, and FIG. 9 is a rotational vibration mode. and a timing chart for explaining the operation of the endoscope device during bending micro-vibration operation,
Fig. 10 is a timing chart for explaining the operation of the endoscope device when changing the conditions of rotational micro-vibration, and Fig. 11 is a timing chart for explaining the operation of the endoscope device during forward/backward micro-vibration and bending micro-vibration operations. Fig. 12 is a timing chart for explaining the operation of the endoscope device when changing the conditions of forward and backward micro-vibrations, Fig. 13 is an explanatory diagram showing micro-vibrations in the vertical direction, and Fig. 14 The figure is an explanatory diagram showing fine vibrations in the left-right direction, Fig. 15 is an explanatory diagram showing right-handed turning movement, Fig. 16 is an explanatory drawing showing left-handed turning movement, and Fig. 17 is an explanation showing forward and backward minute vibrations. FIG. 18 is an explanatory diagram showing rotational vibration, and FIG. 19 is an explanatory diagram showing a part of the mode display section of the monitor.

As shown in FIGS. 1 and 2, the endoscope apparatus includes an endoscope 1, a control device 16 to which this endoscope is connected, and a monitor 40 connected to this control device 16. We are prepared.

The endoscope 1 includes an elongated and visible insertion section 2, a large-diameter operation section 6 connected to the rear end of the insertion section 2, and an operation section 6 extending from the side of the operation section 6. universal cable 1
4. A connector 15 is provided at the end of the universal cable 14 and is detachably connected to the control device t16. The insertion section 2 includes a flexible section 43 connected to the operating section 6, a bendable curved section 7 connected to the tip of the flexible section 43, and a tip connected to the tip of the curved section 7. It consists of Section 3. Also,
Attached to the base side of the insertion section 2 are forward and backward rollers 23 that sandwich the insertion section 2 and move it forward and backward, and rotating rollers 23 that sandwich and rotate the insertion section 2.

The distal end portion 3 is provided with an observation window 5a, an illumination window 41a, and an air/water supply port (not shown). An objective lens 5 is provided in the observation window 5a, and a solid-state image sensor 4 is disposed at the imaging position of the objective lens 5. The signal line connected to the solid-state image sensor 4 is connected to the insertion section 2. The connector 1 is inserted through the operation unit 6 and the universal cable 14.
5. Further, a light distribution lens 41 is attached to the illumination window 41a, and a light guide 42 is connected to the rear end of the light distribution lens 41. This light guide 42 is connected to the insertion portion 2. It is inserted through the operating section 6 and the universal cable 14, and its input end is connected to a light guide pipe 26 provided on the connector 15. Further, an air and water supply tube is connected to the air and water supply port, and this air and water supply tube is connected to the insertion portion 2. It is inserted through the operating section 6 and the universal cable 14 and connected to an air supply pipe 27 provided on the connector 15 .

Further, a contact pressure sensor 19a is provided on the outer peripheral portion of the curved portion 7.
is provided. A signal line connected to this contact pressure sensor 19a is connected to the insertion portion 2. It is inserted through the operating section 6 and the universal cable 14 and connected to the connector 15.

The operating section 6 is provided with a joystick 8 for bending the bending section 7, a joystick 9 for moving the insertion section 2 forward, backward, and rotating, and switches 10.11 to be described later.

Furthermore, a bending drive motor 12a12b is provided within the operation section 6. This bending drive motor 12 (12a,
12b. ) are each attached with a bending wire 13 inserted into the insertion section 2, and the tip of the bending wire 13 is fixed to the tip of the bending section 7. Then, by rotating the bending drive motor 12, the bending wire 13 is pushed and pulled, and the bending portion 7 is moved up and down.
It is curved left and right. Further, an encoder 18a is attached to the bending drive motor 12. The signal line connected to this encoder 18a is connected to the insertion section 2. Operation unit 6 and universal cable 14
The connector 15 is inserted through the connector 15 and connected to the connector 15.

Also, in the control device 16, a video processor (hereinafter referred to as
■Write as P. ) 17, a bending angle detection circuit 18 connected to the encoder 18a via the connector 15, a bending resistance detection circuit 19 connected to the contact pressure sensor 19a via the connector 15, and a bending/forward/backward/rotation control circuit 20. A lamp 2] and a pump 22 are built-in.

The VP 17 is configured to perform video signal processing on the output signal of the solid-state image sensor 4 and output the video signal to the monitor 40. A subject image is displayed on this monitor 40. Further, the bending angle detection circuit 18 includes:
The bending angle of the bending portion 7 is detected by the output of the encoder 18a, and the bending angle can be displayed on the monitor 40 via the VP 17. Further, information on the bending angle from the bending angle detection circuit 18 is also sent to the bending forward/backward/rotation control circuit 20. Further, the bending resistance detection circuit 19 detects the bending resistance from the output of the contact pressure sensor 19a provided on the bending portion 7, and monitors this bending resistance via the V P ], 7.
It is now possible to display. Further, information on the bending resistance from the bending resistance detection circuit 19 is also sent to the bending/forward/backward/rotation control circuit 20. Further, the lamp 21 is configured to cause illumination light to enter an incident end of a light guide 42 within the light guide pipe 26. Further, the pump 22 is adapted to supply air to the air supply pipe 27.

As shown in FIG.
0 includes the bending drive motors 12a and 12b, a forward/backward motor 23a that drives the forward/backward roller 23 attached to the insertion section 2, and a rotation motor 24a that drives the rotation roller 24 attached to the insertion section 2. It is meant to be controlled.

Further, as shown in FIG. 2, on the outer wall of the control device 16,
A switch 25, which will be described later, is provided.

As shown in FIG.
0, the joysticks 8, 9, the switch 10,
11.25 is connected, and this curved advance/retreat/rotation control circuit 2
0 is the joystick 8, 9, switch 10.1
1.25 operation status can be displayed on the monitor 40 via the VP 17.

As shown in FIG.
0 is the joystick 8, 9, switch 10, 1
1, 25, a control circuit 28 that inputs information from the bending angle detection circuit 18 and the bending resistance detection circuit 19; and the motor 12.
a, i2b, 23a.

Drivers 32a, 32b, 32c, 3 that drive 24a
2d, speed control circuits 29a to 29d that control the drivers 32a, 32b, 32c, and 32d based on information from the control circuit 28, and a rotation direction instruction circuit 30a.
30d and free/lock circuits 31a to 31d.

As shown in FIG. 1, the switch 10 includes a curved micro-vibration on/off switch 10a, a forward/backward micro-vibration on/off switch 10b, and a rotational micro-vibration on/off switch 1.
It is composed of Oc. Further, the switch 11 is
Curving free/lock switch lla, advancing/retracting free/lock switch llb, and rotating free/lock switch 1
1-C. Further, the switch 25 includes a bending slight vibration changeover switch 25a, a bending/forward/backward/rotation/swivel setting changeover switch 25b, and an angle designation switch 25a.
5c, a speed designation switch 25d, and an all-free switch 25e.

The angle designation switch 25c is, for example, a narrow angle (N),
The angle or length of the microvibration can be specified in three stages: medium angle (M) and wide angle (W). Further, the speed designation switch 25d may be set to a low speed (
L), medium speed (M).

The speed of microvibration can be specified in three stages, including high speed (H).

The joysticks 8 and 9 output information about the direction and degree of the tilt by tilting the levers up, down, left, and right, and this information is input to the control circuit 28.

Next, we will explain the operation of this embodiment.The endoscope device of this embodiment can perform various operations by combining each movement of bending, one rotation of forward and backward movement, and each microvibration of two rotations of bending and forward and backward movement. However, the following typical operations will be explained in order with reference to FIGS. 4 to 12.

(I) Operation during normal bending operation (Figure 4) (II) Operation when bending is not operated in the same direction slight vibration mode (Figure 5) (III) Operation during bending operation in the same direction slight vibration mode ( Fig. 6) (rV) Operation in right-angle micro-vibration mode (Fig. 7) (V)
Rotating motion, forward/backward micro-vibration, motion of single-rotation micro-vibration (Fig. 8) (Vl) Motion of rotational micro-vibration and bending micro-vibration (Fig. 9) (
■) Operation when changing the conditions of rotational vibration (Fig. 10) (■) Operation of forward and backward vibration and bending vibration (Fig. 11) (rX) Operation when changing the conditions of forward and backward vibration (Fig. 11) 12th
(Figure) In Figure 4, (a) and (b) show the operations of the joysticks 8 and 9, respectively.

In addition, (C) to e) are a speed control circuit 29a, a rotation direction indicating circuit 30a, and a free/lock circuit 31 for the bending drive motor 12a. Showing the operation of a, similarly,
(f) or h) is a circuit 2 for the bending drive motor 12b.
9b, 30b, 31b, (i) or k
) is the rotation 1i for the motor 23a for advancing and retreating! 29c, 30c
, 31c, and <1) to n) indicate the operations of the rotation motors 129d, 30d, and 31d for the rotation motor 24a.

In addition, in FIGS. 5 to 12, (a) to c) respectively indicate the operation of switch 10c to switch 10a,
(d) and (e) show the operation of the joysticks 8 and 9, respectively, and (f) or h) respectively show the operation of the switch 25.
The operations of a, 25c, and 25d are shown. Also, (i) and (
j> indicates the operation of the speed control circuit 29a and rotation direction indicating circuit 30a for the bending drive motor 12b, and similarly, (k) and (J) indicate the operation of the rotation direction N29b and 30b for the bending drive motor 12b. , (m) and (n) show the operation of the circuits 29c and 30C for the forward and backward motor 23a, and (0) and (p) show the operation of the circuits 29d and 30d for the rotation motor 24a. .

First, with reference to FIG. 4, <1) Operation during normal bending operation will be described.

As shown in Fig. 4 (a), the joystick 8 is in the upper position (
Hereinafter, it will be referred to as U. ) side, a voltage corresponding to the degree of inclination is applied from the control circuit 28 to the speed control circuit 29a.
sent to. This speed control circuit 29a outputs a pulse with a frequency corresponding to the voltage value, as shown in (c). That is, when the voltage is low, a low frequency pulse is output, and when the voltage is high, a high frequency pulse is output. Then, the motor 12a rotates in the U direction at an increasingly faster speed.

Note that the motors 12a, 12b, 23a, and 24a are stepping motors. Further, the rotation direction indicating circuit 30a is
When the joystick 8 is operated downward (hereinafter referred to as D), a high level (hereinafter referred to as H) is output,
At other times, it is at Low level (hereinafter referred to as L).
When used with respect to signals, it means low level, and when used with direction, it means left.

) is output. This rotation direction indicating circuit 30a is (d)
As shown in the figure, the motor 1.2a is controlled so that when the output is L, the motor rotates in the normal direction, and when the output is H, the motor rotates in the reverse direction. Further, the free/lock circuit 31a outputs L when bending free is instructed by the bending free/lock switch lla or the all free switch 25e, and outputs H in other cases.

The free/lock circuit 31a controls the motor 12a so that the motor 12a is locked when the output is H, and free when the output is L, as shown in (e).

In addition, as shown in (a) and (C) to h), D,
The same applies to the right (hereinafter referred to as R) and left (hereinafter referred to as L) directions, so the explanation will be omitted.

Next, when the joystick 9 is operated in the forward direction (denoted as Pu5h in the figure), a voltage corresponding to the degree of inclination is sent from the control circuit 28 to the speed control circuit 29c, as shown in (i). The motor 23a rotates normally, and the insertion portion 2 is pushed out by the advancing/retracting roller 23. Note that, as shown in (j), the rotation direction indicating circuit 30c is indicated as Pu1l in the figure in which the joystick 9 is pulled. ) direction, it becomes H, and in other cases it becomes L. Incidentally, as shown in (b) and (i) to k), the same applies to the pulling operation, so the explanation will be omitted.

Next, when the joystick 9 is operated in the R-rotation direction, as shown in (j), a voltage corresponding to the degree of inclination is sent from the control circuit 28 to the speed control circuit 29d, causing the motor 24a to rotate forward. , the insertion section 2 is rotated by the rotating roller 24.
is rotated to the right. As shown in (m), the rotation direction indicating circuit 30d becomes H when the joystick 9 is operated in the L-rotation direction, and becomes L otherwise. Incidentally, as shown in (b) and (1) to n), the same applies to the operation in the L rotation direction, so the explanation will be omitted.

Also, free/lock switches lla, llb.

11c is operated together, the free/lock circuit 31
a to 31d have L output, and motors 12a12b, 23
a and 24a become free. The same applies when the all-free switch 25e is turned on.

Further, the bending micro-vibration mode changeover switch 25a is a switch for switching between the micro-vibration direction and the turning movement direction, and each time it is pressed, the micro-vibration in the same direction as the bending direction (hereinafter referred to as same-direction micro-vibration) and the bending direction , microvibration in the right angle direction (hereinafter referred to as "microvibration in the right angle direction"), clockwise rotation of the rotational motion, and counterclockwise rotation of the rotational motion are cyclically switched. Also,
Each time the bending/forward/backward/rotation/swivel setting changeover switch 25b is pressed, it becomes possible to set the slight vibration angle and the slight vibration speed for each state. For example, when you want to set the angle and speed of the rotational vibration, press the switch 25b twice to enter the rotation setting state, and then press the speed designation switch 25d and the angle designation switch 25c to set the rotational vibration at the desired speed and angle. will be held. Incidentally, the switch 25b is curved, forward/backward 1
It is designed to switch cyclically in the order of rotation and turning.

Next, with reference to FIG. 5, the operation when bending is not performed in the (II) same-direction micro-vibration mode will be described.

As shown in FIG. 5(a), a curved micro-vibration switch 10a
When turned on, the bending portion 7 slightly vibrates (reciprocating motion) under the conditions set by the switches 25a, 25c, and 25d. That is, as shown in (f), the setting of the switch 25a is the same direction micro vibration mode, as shown in (g), the speed setting of the switch 25c is low speed, and as shown in (h), the setting of the switch 25d is the same direction vibration mode. When the angle setting is a narrow angle, the rotation direction indicating circuit 30a for the UD motor 12a outputs H and L alternately and sequentially as shown in (j).
As shown in i), the speed control circuit 29a is connected to switch 2.
A pulse is output with a pulse width according to the speed setting value of 5c.

Therefore, the motor 12a repeats forward and reverse rotation, and the bending portion 7 slightly vibrates in the direction of the UD force. Further, as shown in (g), when the speed setting by switch 25C is high speed, (i>
As shown in FIG. 2, the pulse width of the output pulse of the speed control circuit 29a becomes shorter, and the bending portion 7 vibrates slightly at a high speed. Further, when the angle is set to a wide angle, the bending portion 7 vibrates greatly.

In this embodiment, the bending angle is set using the output frequency of the rotation direction indicating circuit 30a as shown in (j), but the bending angle is determined by detecting the rotation angle of the motor 12a using the output of the encoder 18a. You may also control ff1I.

In addition, when the right-angle vibration mode is set by the switch 25a, when the switch 10a is turned on, the R
, the L motor 12b operates, and the bending portion 7 slightly vibrates in the RL force direction.

Note that the above explanation is for the case where the switch 10a is operated while the joystick 8 is not operated.

Next, with reference to FIG. 6, the operation during the bending operation in the (III) same-direction micro-vibration mode will be described. That is, while operating the joystick 8, the switch 10a
The case where is pressed will be explained. To simplify the explanation, the joystick 8 can only be operated on/off (
In other words, the degree of inclination of the joystick 8 is not taken into consideration), the speed of the micro-vibration is described as a low speed, and the angle of the micro-vibration is described as a narrow angle. According to
Speed (high speed/low speed, etc.), angle (wide angle/narrow angle, etc.)
It is possible to set

As shown in FIG. 6(f), when the same direction micro vibration mode is set, the switch 10a is turned on and the U
When the joystick 8 is operated in the direction (j>), the rotation direction indicating circuit 30a outputs H and L alternately, but L is longer than H, that is, U is longer than D direction. direction is driven longer.At this time, the speed control circuit 29a outputs a pulse according to the designated speed as shown in (i).Therefore, the bending portion 7
It curves in the U direction while vibrating slightly in the force direction.

Also, when the joystick 8 is turned off, the curved portion 7
vibrates slightly in the direction of the UD force.

Further, when the joystick 8 is operated to the D side, the rotation direction instruction circuit 30a becomes an H output, and the speed control diagram J
Since i'329a outputs a pulse according to the designated speed, the bending portion 7 is bent toward the D side.

At this time, when the switch 10a is turned on, the rotation direction indicating circuit 30a outputs a pulse whose H is longer than that of the chopper, and the speed control circuit 29a outputs a pulse corresponding to the designated speed. Therefore, the bending portion 7 bends in the D direction while vibrating slightly in the UD force direction.

Similarly, when the joystick 8 is operated in the R direction,
The curved portion vibrates slightly in the RL force direction and then curves in the R direction. When the joystick 8 is operated in the L direction, the curved portion vibrates in the R direction.
It curves in the L direction while vibrating slightly in the L force direction.

Next, referring to FIG. 7, the operation in the (TV) right-angle direction micro-vibration mode will be described.

Again, to simplify the explanation, joystick 8
The explanation will be given assuming that the operation is only on/off, the speed of the micro-vibration is low, and the angle of the micro-vibration is a narrow angle.

As shown in FIGS. 7(a) and 7(d), when the switch 10a is operated without the joystick 8 being operated, the bending portion 7 vibrates slightly in the RL force direction, as described above.

In this state, when the joystick 8 is operated in the U direction, the bending part 7 vibrates slightly in the RL force direction as shown in (k) and (ρ), and as shown in (i) and (j). U
curve in the direction. Similarly, when the joystick 8 is operated in the D direction, the bending portion 7 vibrates slightly in the RL direction and then curves in the D direction.

Moreover, when the joystick 8 is operated in the L direction, the bending part 7 vibrates slightly in the UD force direction as shown in (i) and (j), and moves in the L direction as shown in (k) and (1). curved to Similarly, when the joystick 8 is operated in the R direction, the bending portion 7 bends in the R direction while vibrating slightly in the UD force direction.

In the above explanation, the operation in only one direction of U, D, R, and L was explained, but one of UD and one of RL may be operated at the same time. In that case, the bending part 7 tJ
It curves between the two manipulated directions while slightly vibrating in both the D and RL directions.

Next, with reference to FIG. 8, the operation of (V) turning motion, forward and backward fine vibration, and nine rotation fine vibration will be explained.

Here, as shown in (f), the case where the switch 25a is set to the turning movement clockwise rotation mode or the turning movement left rotation mode will be explained, but one forward and backward rotation will also be explained.

As shown in (a), when the switch 10a is turned on,
As shown in (i) and (k), the speed control circuit 29
a and 29b output pulses according to the speed set by the switch 25c. At this time, as shown in (j) and (1), the rotation direction indicating circuits 30a and 30b output pulses whose phases are shifted by 90 degrees. Note that the setting of the switch 25a determines whether the rotation is clockwise or counterclockwise; in the case of clockwise rotation, the output pulse of the rotation direction indicating circuit 30a is 90 degrees ahead of the output pulse of the rotation direction indicating circuit 30b, and the phase of the output pulse of the rotation direction indicating circuit 30b is 90 degrees ahead of the output pulse of the rotation direction indicating circuit 30b. The opposite is true. As a result, the bending portion 7 performs a right-handed or left-handed pivoting motion, and this pivoting motion is also a form of microvibration (reciprocating motion) in the present invention. This is because the turning motion is a combination of a linear micro-vibration in the UD force direction and a linear micro-vibration in the RL direction. Therefore, by appropriately setting the phase difference between the output pulses of the rotational direction indicating circuits 30a and 30b, an elliptical turning motion is also possible.

During this turning movement, when the joystick 8 is operated, for example, in the R direction, the H output of the switch 30b becomes shorter than the L output, and as a result, the bending part 7 does not make a turning movement, but bends in the R direction. do. Similarly, in other directions, the bending portion 7 bends while making a turning movement according to the operating direction of the joystick 8, but a description thereof will be omitted.

Next, the movement and rotational vibrations will be explained. The forward/backward speed, angle (length), and rotational speed/angle can be set by setting the switch 25b to forward/backward or rotation mode and using the switches 25c and 25d. In the example shown in FIG. 8, both are set to low speed and narrow angle mode.

As shown in (b) and (c), the advance/retreat micro-vibration switch 1
When the 0b1 rotational slight vibration switch 10c is off, (e)
As shown in , when the joystick 9 is operated in the push and R-rotational directions (that is, operated in the diagonal direction between the Pu5h direction and the R-rotational direction), (n) and (p)
As shown in (nl) and (0), the rotation direction indicating circuits 30c and 30d output L, and the speed control circuits 29c and 29d output low speed pulses as shown in (nl) and (0). Therefore, the insertion section 2 advances while rotating to the right.

Further, as shown in (b) and (c), when the advance/retreat micro-vibration switch 10b1 rotation micro-vibration switch 10c is turned on,
As shown in (n> and (p), the rotation direction indicating circuit 30c
, 30d output pulses in narrow angle mode. Then, as shown in (m) and (0), the speed control circuit 29
c and 29d output pulses in low speed mode. Therefore, the insertion portion 2 slightly vibrates forward and backward (moves forward and backward) while performing slight rotational vibration (slight rotation).

Next, when the joystick 9 is operated in the pull and R-rotational directions during rotational slight vibration and forward/backward slight vibration, the speed control circuit 29C129d outputs a pulse at a low speed, and the rotational direction indicating circuits 30c, 30d are each H
The output and L output output long pulses. Therefore, the insertion portion 2 rotates in the R direction without causing slight rotational vibrations, and retreats while making slight vibrations in forward and backward movements.

In addition, when the divo stick 9 is operated in the push and I7-rotation directions during the rotational slight vibration and forward/backward slight vibration, the insertion portion 2 similarly rotates L while making slight rotational vibrations, and moves forward/backward. Slight vibration shift, moving forward from scratch.

The two-rotation micro-vibration of the bending micro-vibration and the forward-backward micro-vibration have been described above, but it goes without saying that these operations can be performed in combination. It goes without saying that a bending motion can also be performed during each micro-vibration motion.

Next, with reference to FIG. 9, the operations of the (Vl) rotational vibration and bending vibration will be described. In order to simplify the explanation, in the same direction micro-vibration mode as shown in (f), (
As shown in g) and (h), examples are shown in which both the rotational vibration and the bending vibration are set at a narrow angle and at a low speed.

As shown in (a) and (c), a curved micro-vibration switch 1
0a and the rotational slight vibration switch 10c are turned on, (
j), <p), the rotation direction indicating circuits 30a, 3
0d outputs pulses in narrow angle mode, and as shown in (i) and (o), speed control circuits 29a and 29d output pulses in low speed mode. Therefore, the insertion portion 2 slightly vibrates in a curved manner while rotating slightly. Note that when the switch 10a or the switch 10c is operated alone, as already explained, the bending microvibration or the rotational microvibration is performed independently.

Next, when the joystick 8 is operated in the U direction as shown in (d) with the bending vibration switch 10a and the rotation vibration switch 10c turned on, the rotation direction indicating circuit is activated as shown in (j). 30a outputs a pulse that is longer than the H output by (■-specific output). The rest is the same as when the joystick 8 is not operated. Therefore, insertion section 2
does not cause rotational vibration and bending vibration, but curves in the direction of tJ force.

Similarly, when the joystick 8 is rotated in the R and L directions, the insertion portion 2 bends in the R and L directions with slight rotational vibrations and slight bending vibrations.

Next, with reference to FIG. 10, the operation when changing the conditions of the (Vl) rotational vibration will be described.

When the rotational slight vibration switch 10c is turned on as shown in (c) in the narrow angle 2 low speed mode as shown in (g) and (h), the rotation direction indicating circuit 30d is activated in the narrow angle 2 low speed mode as shown in (p). The speed control circuit 29d outputs pulses in the low speed mode as shown in (o). Therefore, the insertion section 2 performs rotational slight vibration at a narrow angle and at a low speed.

Here, when the switch 25d is operated to switch to the high speed mode, the speed control circuit 29d
outputs pulses in high speed mode.

That is, the frequency of the pulse increases. As a result, the insertion portion 2 performs slight rotational vibration at a narrow angle and at a high speed.

Further, when the switch 25c is operated to switch to the wide angle mode, the rotation direction indicating circuit 30d outputs a pulse in the wide angle mode, as shown in (p).

That is, the frequency of the pulse becomes lower. As a result, the insertion section 2 performs slight rotational vibrations at a wide angle and at a high speed. Furthermore, when the switch 25d is operated to switch to low speed mode,
As shown in (0), the speed control circuit 29d outputs pulses in the low speed mode. As a result, the insertion section 2 performs slight rotational vibration at a wide angle and at a low speed.

Next, with reference to FIG. 11, the operations of (■) forward/backward micro-vibration and bending micro-vibration will be described. In order to simplify the explanation, in the same direction micro-vibration mode as shown in (f), (
g>, as shown in (h), an example is shown in which both forward and backward minute vibrations and bending minute vibrations are set at a narrow angle and at a low speed.

As shown in (a) and (b), a curved micro-vibration switch 1
0a and forward/backward slight vibration switch], when Ob is turned on, the rotation direction indicating circuit 30 as shown in (, j), (n)
a, 30c output pulses in narrow angle mode, (i>, (
As shown in (m), the speed control circuits 29a and 29c output pulses in the low speed mode. Therefore, the insertion portion 2 slightly vibrates in a curved manner while slightly vibrating forward and backward. In addition, when the switch 10a or the switch 10b is operated alone, as already explained, the bending &11 vibration or the forward/backward slight vibration is performed independently.

Next, curved micro-vibration switch], Oa and forward/backward micro-vibration switch 1. When the joystick 8 is operated in the U direction as shown in (d) with Ob turned on, (j
As shown in >, the rotation direction indicating circuit 30a outputs a pulse whose output is longer than the H output. The rest is the same as when the joystick 8 is not operated. Therefore, the insertion portion 2 curves in the U direction without causing slight forward/backward vibrations and slight bending vibrations.

Similarly, when the joystick 8 is operated in the R and L directions, the insertion portion 2 undergoes slight forward and backward vibrations and slight bending vibrations, and curves in the R and I directions.

Next, with reference to FIG. 12, the operation when changing the conditions of (rX) forward and backward microvibration will be described.

(As shown in g> and (h), in the narrow angle, low speed mode, when the forward/backward slight vibration switch 10b is turned on as shown in (b), the rotation direction indicating circuit 30c is set in the narrow angle as shown in (n). As shown in (m), the speed control circuit 29C outputs pulses in the low speed mode.Therefore, the insertion section 2 performs minute vibrations of forward and backward movement at a narrow angle (short distance) and at a low speed. Here, when the switch 25d is operated to switch to the high speed mode, the speed control circuit 29c outputs pulses in the high speed mode as shown in (m).

That is, the frequency of the pulse increases. As a result, the insertion section 2 has a narrow angle (short distance).

Performs slight vibrations of forward and backward movement at high speed.

Further, when the switch 25c is operated to switch to the wide angle mode, the rotation direction indicating circuit 30c outputs a pulse in the wide angle mode, as shown in (n).

That is, the frequency of the pulse becomes lower. As a result, the insertion portion 2 performs minute vibrations of advance and retreat at a wide angle (long path N) and at high speed. Furthermore, when the switch 25d is operated to switch to the low speed mode, the speed control circuit 29c is activated as shown in (m).
outputs pulses in low speed mode. As a result, the insertion portion 2 performs minute vibrations of forward and backward movement at a wide angle (long distance) and at a low speed.

In addition, FIG. 13 to FIG. 18 respectively show UD direction bending slight vibration, RL direction bending slight vibration, turning movement clockwise rotation,
The state of the turning movement, the counterclockwise rotation forward/backward slight vibration, and the rotational slight vibration are shown.

Further, FIG. 19 shows a part of the mode display section of the screen of the monitor 40. That is, this mode display section shows the insertion length of the insertion section 2, the rotation angle of the insertion section 2, and the curved section 7.
The bending angle and the bending resistance of the bending portion 7 are displayed. Also,
This mode display section shows the mode of forward/backward microvibration, two-rotation microvibration, curved microvibration on/off, and curved microvibration mode (same direction microvibration).

Slight vibrations in the right angle direction, left-handed rotation, and right-handed rotation are displayed. Further, the mode display section displays the speed (eg, 3 levels of L, M, and H), length, or angle (eg, 3 levels of N, M, and W) of each microvibration.

Furthermore, if the output of the bending resistance detection circuit 19 exceeds a predetermined dangerous value, a warning is issued and the bending, advance or retreat is performed.

It is designed to stop the movement of each slight vibration of rotation.

As explained above, according to this embodiment, by slightly vibrating the insertion section 2, the contact resistance of the insertion section 2 is reduced.
Improves insertability. Further, when the bending micro-vibration is performed, the rear of the curved portion 7, that is, the tip side portion of the flexible portion 43 is also micro-vibrated, and the contact resistance of this portion is also reduced.

In addition, since it is possible to operate by selecting the micro-vibration state as appropriate depending on the state of the test part, the inserted part, etc., for example, the curved part 7 can be operated without damaging the test part or the inserted part. It is possible to reduce the contact resistance of the insertion portion 2 including the insertion portion 2, and it is possible to further improve insertability.

Furthermore, since the angle (length) and direction of each microvibration can be selected as appropriate, the optimal microvibration conditions can be selected depending on the size, shape, etc. of the lumen that is the inserted portion. Furthermore, since the speed of each microvibration can be selected as appropriate, the speed can be selected as appropriate depending on the case.

In addition, regarding the bending micro-vibration, the direction of the micro-vibration can be switched from the same direction to the bending direction to the perpendicular direction, and the rotation motion can be rotated clockwise.

Since the rotation movement can be switched to the left as appropriate, the optimum mode can be selected depending on the state of the lumen.

Also, the switches 10a to 10c turn on/off the slight vibration.
Because it can be turned off, it is possible to turn off minute vibrations that may cause perforation, such as in the diverticulum part of the body wall, making it extremely safe. Furthermore, when inserting the test object while observing the internal state in detail, by turning off the microvibration, an easy-to-see image without image blur or noise can be obtained.

In addition, since the bending micro-vibration is performed using the motors 12a and 12b for bending drive, there is no need to newly provide a motor for performing micro-vibration separately from the bending motor, and the endoscope becomes larger and weighs less. There's nothing to do.

In addition, since it is possible to make forward/backward slight vibrations and rotational slight vibrations of the insertion section 2, even when it is difficult to perform curved minute vibrations or when curved minute vibrations are ineffective, these forward/backward minute vibrations and rotational minute vibrations can be applied. By doing so, the contact resistance of the insertion portion 2 can be reduced and the insertability can be improved.

In addition, in the right-angle vibration mode of the curved vibration,
Even if the bending is stopped midway through the bending, the bending can be reliably continued. That is, when bending is stopped midway through bending, a large starting torque is required when bending is resumed because tension is acting on the bending portion 7 in the direction opposite to the bending direction. Therefore, in such a case, bending may become difficult, but by slightly vibrating the bending portion 7 in a direction perpendicular to the bending direction, bending can be made easier when bending is resumed.

In addition, since the curved portion 7 can be bent while making various kinds of slight vibrations, it is possible to insert the bending portion 7 while making slight vibrations along the curved lumen, which improves insertability especially in the bent portion. be able to.

Further, since the insertion section 2 can be moved forward/backward and/or rotated using a joystick, operability is very good.

In addition, various types of micro-vibration, namely curved micro-vibration (same direction micro-vibration, perpendicular direction micro-vibration, rotation movement to the right).

Since it is possible to operate in combination of one or more of the following: rotational movement (left rotation), slight vibration of the insertion part moving forward and backward, and slight vibration of rotation of the insertion part, the optimal vibration can be selected according to the condition of the lumen. be able to.

Further, when the insertion section 2 has drawn a loop, if a slight vibration is applied to the insertion section 2, a force to straighten the insertion section 2 is applied, so that the loop can be easily released.

In addition, each micro-vibration should be performed at least once (reciprocating motion), and the micro-vibration angle should be 1 to 1 except for the forward and backward micro-vibrations.
80 degrees, the length of the vibration during forward and backward vibration is 1 to 5 cm, the vibration speed except for the movement of forward and backward vibration is 1 to 90 degrees/second, and the fine vibration speed during forward and backward vibration is in the range of 1 to 50 mm/second. is preferable, but may be changed as appropriate depending on the judgment of the operator.

In addition, if the micro-vibration is set at an extremely fast speed or at an extremely large angle, it will be extremely difficult to see one field of view of the endoscope, but in this case, make good use of the freeze function and display it intermittently. This can be improved by

Furthermore, as shown in FIG. 19, if the micro-vibration mode and the like are displayed on the same screen as the observation image, the micro-vibration state can be confirmed at a glance, resulting in very good operability.

Note that the speed of the micro-vibration may be gradually changed from a low speed to a high speed, or the angle of the micro-vibration may be gradually changed from a narrow angle to a wide angle. In addition, the direction of the bending vibration can be changed from the vertical direction to the horizontal direction.
Alternatively, the turning movement may be switched from clockwise rotation to counterclockwise rotation, etc.

Furthermore, when the micro-vibration switch is turned off, the insertion section 2 may return to the state before the micro-vibration.

20 and 21 relate to a second embodiment of the present invention, FIG. 20 is a block diagram showing the configuration of an endoscope device, and FIG. 21 is an explanatory diagram showing the external appearance of the endoscope device.

Incidentally, members similar to those in the first embodiment are given the same reference numerals and explanations thereof will be omitted.

As shown in FIG. 21, the endoscope apparatus of this embodiment includes an endoscope 1, a light source to which the endoscope 1 is connected, a bending/advancing/retracting/rotation control device 50, and a device 50 connected to the device 50. vp to be
17, a monitor 40 connected to this VP 17, and an advancing/retracting/rotating device 5 attached to the insertion section 2 of the endoscope 1.
3.

The endoscope 1 in this embodiment has no operating section, and a connector 15 is provided directly at the base of the insertion section 2. As shown in FIG. is provided with motors 12a and 12b.This connector 15 is connected to a light source and a bending/forward/backward/rotation control device 50. - Equipped with a rotation control circuit 20, a bending angle detection circuit 18, a bending resistance detection circuit 19, a lamp 21, a pump 22, and a switch 25.

That is, the device 50 is the control device 16 of the first embodiment.
The configuration is as follows except for VP17.

A VP 17 is connected to the device 50. In addition, the navigation device 50 includes a bending operation section 51 and a forward/backward/rotation operation section 52, each connected to a connecting cable 55.5.
It is designed to be connected via 6. The bending operation section 51 is provided with a joystick 8 and a switch 10, and the forward/backward rotation operation section 52 is provided with a joystick 9.
and a switch 11 are provided.

Further, a forward/backward rotating device 53 is attached to the insertion section 2. Inside this advancing/retracting/rotating device 53, there is provided the advancing/retracting roller 23 of the first embodiment. Motor 23a, rotating roller 24
．． A motor 24a is provided. The advancing/retracting/rotating device 53 is connected to the device 50 via a connecting cable 54.

In addition, the connectors provided on the connection cables between each device are
It is removable.

According to this embodiment, the motors 12a, 1 are provided in the connector 15.
2b, there is no need to provide an operating section in the middle of the insertion section 2. In addition, there is no need to hold a heavy operating section containing a motor, etc., and it is only necessary to hold the eaves operating sections 51 and 52, so the operation is easy.

Further, when the advancing/retracting/rotating device 53 is not provided, only bending operation is possible. At this time, for example, the operator holds the operating section 51 in his left hand and operates the insertion section 2 in his right hand.

Further, since the operating parts 51 and 52 can be held with one hand and operated with both hands, the operability is very good. For example, holding the bending operation section 51 with your left hand,
If you hold and operate the advancing/retracting/rotating operation part 52 with your right hand, the role that is shared with Jinbei during manual operation, that is, your left hand operates the bending operation knob, and your right hand plays the role of advancing/retracting and rotating (twisting) the insertion part. Because it is close, it can be operated without any confusion.

Furthermore, if there is no advancement/retraction/rotation device 53, only the bending can be motorized. Of course, curved microvibration is also possible.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

FIGS. 22 and 23 relate to a third embodiment of the present invention, with FIG. 22 being a block diagram showing the configuration of an endoscope device, and FIG. 23 being an explanatory diagram showing the external appearance of the endoscope device.

Incidentally, members similar to those in the first or second embodiment are given the same reference numerals, and explanations thereof will be omitted.

As shown in FIG. 23, the endoscope apparatus of this embodiment includes an endoscope 1 and a bending device 65. It includes a light source device 72 and V P ], 7, a monitor 40 connected to the VP 17, and an advancement/retraction/rotation device 53 attached to the insertion section 2.

The endoscope 1 in this embodiment is not provided with an operating section, as in the second embodiment, and a connector 15 is provided directly at the base of the insertion section 2. As shown in FIG. 22, transmission gears 61 and 62 are provided in the connector 15,
Pulleys 63 and 64 are attached to the rotation shafts of the transmission gears 61 and 62, respectively. A curved wire] 3 is attached to each of the pulleys 6364. On the other hand, inside the bending device 65, a motor 6869, transmission gears 66, 67 attached to the output shafts of the respective motors 68, 69, and a control circuit 70 for controlling the motors 68, 69 are provided. And the connector 1
5 are connected to the bending device 65, the gears 61, 62 in the connector 15 connect to the gears 66.5 in the bending device 65, respectively.
It is designed to mesh with 67. Further, the bending device 165 is connected to a bending operation section 51 similar to that in the second embodiment. The control circuit 7o controls the motor 6869 according to the operation of the bending operation section 51, and
Control regarding curvature (including micro-vibration of curvature) in the embodiment is performed.

The connector 15 is connected to a light source device 72 via a connection cable 71.

Inside this light source device 72, an air supply pump 73. Water pump 74. A suction pump 74 and a lamp 76 are built-in. Further, a foot switch 77 is connected to this light source device 72, and by stepping on pedals 78, 79, 80 provided on this foot switch 77, air supply, water supply, and suction are performed, respectively. .

Also, the connector 7 of the cable 71 on the light source device 72 side
A connection cable 81 extends from 1a, and is connected to the VP 17.

Further, the forward/backward/rotating device 53 is connected to a forward/backward/rotating operation section 52 similar to that of the second embodiment.

The advancing/retracting/rotating device ff53 has a built-in control circuit 82 and a display section 83. The control circuit 82 controls the forward/backward motor 2 according to the operation of the forward/backward/rotation operation section 52.
The 3a1 rotary motor 24a is controlled to perform control related to forward/backward movement and rotation, including the fine vibration of forward/backward movement in the first embodiment. In addition, the display section 83 shows the insertion length of the insertion section 2, the rotation angle of the insertion section 2, on/off of forward/backward micro-vibration, and the speed (L, M, H) of forward/backward micro-vibration.

Length of advance/retreat micro-vibration (N, M, W), rotational micro-vibration on/off
Off, the speed of rotational vibration (L, M, H), and the angle of rotational vibration (N, M, W) are displayed.

On the other hand, the monitor 40 displays the bending angle, the bending resistance, the on/off of the bending micro-vibration, and the speed of the bending micro-vibration (L, M, I-(
), and the angle (N, M, W) of the curved microvibration are displayed.

In this embodiment, since a foot switch 77 is provided, air and water can be supplied by the foot switch 77 even if the operation parts 51 and 52 are held with both hands.

Suction control is possible.

In addition, when only the advancing/retracting/rotating device 53 is provided, it becomes possible to electrify the advancing/retracting/rotating endoscope and to cause the slight vibration of advancing/retracting to vibrate one revolution in contrast to a normal manual bending type endoscope.

According to this embodiment, the bending device W65 and the advance/retreat/rotate device 53
Since these are separate units, you can use either one or a combination of the two as needed.

Furthermore, since the bending motors 12a and 12b are not present within the endoscope body, it is possible to reduce the weight and cost of the endoscope.

The other functions and effects of Structure 2 are the same as those of the first or second embodiment.

24 and 25 relate to a fourth embodiment of the present invention, FIG. 24 is a block diagram showing the configuration of an endoscope device, and FIG. 25 is an explanatory diagram showing the external appearance of the endoscope device.

Incidentally, members similar to those in the first embodiment are given the same reference numerals and explanations thereof will be omitted.

In the endoscope apparatus of this embodiment, the insertion section 2 is guided to the insertion opening of the subject by a flexible cylindrical guide 90. The base of the guide 90 is connected to a central control device 91 . Inside this control device 91, there are two rails 92.9 parallel to the longitudinal direction of the insertion section 2.
2, and a base 93 that moves forward and backward while being guided by the rails 92 and 92. A rotating drum 94 is provided on the base 93. And this drum 94
The bending/light source/VP device 95 is rotatably held.

The bending/light source/VP device 95 is the bending device 65 of the third embodiment. This is a combination of the light source device 72 and the VP 17. Note that the connector 15 has a built-in transmission gear like the third connector, and is detachable from the device 95.

A control box 96 is detachably connected to the device 95. This control box 96 includes curving buttons 97 for each direction of the UDRL, and for advancing/retracting the insertion section.
A rotation button 98 and a curve/advance/retreat/rotation micro-vibration control switch 99 are provided.

Further, the guide 90 has a cylindrical shape and can be divided into two parts.

In this embodiment, the operation when the curved button 97 is pressed is the same as that in the third embodiment, so a description thereof will be omitted. When a forward/backward switch among the forward/backward/rotate buttons 98 is pressed, the base 93 moves back and forth along the rail 92. At this time,
Because of the guide 90, the insertion section 2 will not come loose, and when the rotation switch of the advance/retraction/rotation buttons 98 is pressed, the drum 94 rotates, and thus the entire device 95 and the insertion section 2 rotate. .

Each movement of the bending micro-vibration, forward/backward micro-vibration, and one-rotation micro-vibration is the first
Since it is similar to the third embodiment, the explanation will be omitted.

According to this embodiment, since the endoscope and the device for driving the endoscope are integrated, handling becomes easy. Also,
Since the guide 90 is provided, the insertion portion 2 will not loosen.

Further, since the control box 96 is operated by a push button, it can be operated with one finger.

Other functions and effects of Configuration 1 are the same as those of the first or third embodiment.

26 to 28 relate to the fifth embodiment of the present invention,
FIG. 26 is a block diagram showing the configuration of the endoscope device.
FIG. 7 is a timing chart for explaining the operation of this embodiment, and FIG. 28 is an explanatory diagram showing the external appearance of the endoscope apparatus.

Incidentally, members similar to those in the first embodiment are given the same reference numerals and explanations thereof will be omitted.

As shown in FIG. 26, the endoscope apparatus of this embodiment includes an insertion section 2 and a curved control light source device 'F' to which this insertion section 2 is connected.
100, a monitor 40 connected to the curve control light source device 100, and a reciprocating roller 23 attached to the insertion section 2.

As shown in FIGS. 26 and 28, the endoscope 1 in this embodiment is not provided with an operating section as in the second embodiment, and a connector 15 is provided directly at the base of the insertion section 2. It is being Further, the bending drive motor 12 is provided within the bending control light source device 100, and a bending wire 123 inserted into the insertion portion 2 is attached to this motor 12. Further, in the curved control light source device 100, the motor 1
A motor driver 101 for driving 2 is built-in.

Furthermore, a lamp 21 and a pump 22 are provided within the curved control light source device 100.

Also, provided separately from the device 100 are a control box 103 connected to the motor driver 101 and a motor driver 102 that is controlled by the control box 103 and controls a motor that drives the advancing/retracting roller 23. It is being The control box 103 is provided with a joystick 8, a forward switch 104, and a backward switch 105. The joystick 8 is connected to the motor driver 101.
It is designed to indicate the direction of RL bending.

Next, the operation of this embodiment will be explained with reference to FIG. 27.

As shown in FIG. 27(a), the control box 1
When the advance switch 104 of 03 is turned on, the control box 103 instructs the motor driver 101 to perform a slight bending vibration. As a result, as shown in FIG. 27(C), the motor 1 driven by the motor driver 101
2 alternately repeats rotation in the U direction and rotation in the D direction, resulting in a curved microvibration mode. Further, the control box 103 is connected to the motor driver 102 with respect to the advancing/retracting roller 2.
Instruct rotation in the forward direction of 3. In this way, the curved portion 7 vibrates slightly when the insertion portion 2 advances.

On the other hand, as shown in FIG. 27(b), when the retraction switch 105 is turned on, the control box 103 instructs the motor driver 102 to rotate the advancing/retracting roller 23 in the forward direction. Do not indicate slight vibrations. As a result, the curved portion 7 does not vibrate slightly when the insertion portion 2 retreats. In addition, the curved part 7 may be made to vibrate slightly even when the insertion part 2 is retreated.

In this embodiment, during normal times when the insertion section is not advanced, the visual field remains stationary because no microvibrations are performed. Therefore, the subject can be observed reliably and the eyes will not get tired.

Further, since the microvibration is automatically turned on when advancing the insertion section 2, the operator does not have to turn on the switch to turn on/off the microvibration one by one, making the operation easy.

Although not shown, the microvibration can be turned off using a switch when the insertion section is advanced.

Note that the micro-vibration is not limited to the curved micro-vibration, but may also be a forward/backward micro-vibration or a rotational micro-vibration, or a combination of these micro-vibrations as appropriate. Furthermore, the micro-vibration may be performed not only during the insertion section advancement operation but also during the bending operation or the rotation operation, and each of these operations and each of the m-vibrations described above may be combined as appropriate.

29 and 30 relate to a sixth embodiment of the present invention; FIG. 29 is an explanatory diagram showing the configuration of an endoscope device, and FIG. 30 is an explanatory diagram showing the external appearance of the endoscope device.

The endoscope apparatus of this embodiment includes an endoscope 1, a control device 117 to which this endoscope is connected, a monitor 40 connected to this control device 117, and an insertion section of the endoscope 1. 2 and a rotating device 113.

The endoscope 1 includes an insertion section 2, an operation section 11 connected to the rear end of the insertion section 2, a universal cable 14 connected to the rear end of the operation section 111, and the universal cable. 14 and a connector 15 provided at the end thereof. The surface layer operation section 111 includes a joystick 1.
14 are connected. As in the first embodiment, a bending drive motor]2 is provided within the operation section 111.

The joystick 114 is connected to the motor 12.
It is designed to give instructions for curving. The control circuit 1]7 includes VP17. lamp 21 and pump 2
2 is built-in.

Further, a forward/backward switch 115 and a rotation switch 116 are connected to the forward/backward device 112 and the rotation device 113, respectively, and each switch 115, 116 is connected to the forward/backward device! 112, it instructs the rotating device 113 to move forward and backward once.

Note that the operation section 111. Advance/retreat bag W112 and rotating device 1
13, respectively, the curve in the first embodiment;
Parts of the rotation control circuit 20 are provided for bending control, advance/retreat control, and one-rotation control, and by operating a switch (not shown), bending microvibration, advance/retreat microvibration, and nine-rotation microvibration are possible, respectively.

In this way, in this embodiment, the devices for driving and controlling each of the bending and two forward and backward rotations are provided separately. Therefore, these devices can be selected and used as required, which is efficient.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

FIG. 31 is an explanatory diagram showing the configuration of an endoscope apparatus according to a seventh embodiment of the present invention.

The appearance of the endoscope apparatus of this embodiment is substantially the same as that of the sixth embodiment, except for the joystick 114 in the sixth embodiment.
Instead of the switch] i,5,116, one central control joystick 120 is provided.

Further, an operation section 121 is provided in place of the operation section 111 in the sixth embodiment. The operating section 121- has a recess 122, and a wire guide 123 is provided in the recess 122 in parallel to the longitudinal direction of the insertion section 2. This wire guide 123 is a cylindrical member having a slit, and a slider 124 is provided therein so that it can slide forward and backward. A curved wire 13 is attached to this slider 124. A convex portion 124a formed on the slider 124 protrudes from the slit of the wire guide 123. A motor unit 1-125 is fitted into the four parts 122. Inside this motor unit 125, a rotatable guide 127 having a male thread is provided in parallel to the longitudinal direction of the insertion portion 2. A concave member 126 is screwed into this guide 127 .

Further, the guide 127 is rotated by a motor 128, and an encoder 129 is attached to this motor 128. Then, the motor 1
By rotating the guide 127 using the guide 28, the recessed member 126 moves forward and backward. Further, when the motor unit 125 is fitted into the recess 122 of the operating section 121, the recess 126a of the recess member 126 is inserted into the slider 1.
It is adapted to fit into the convex portion 124a of No. 24.

In addition, the operation section 121. The advancing/retracting device 112 and the rotating device 113 are respectively provided with parts related to bending control and advancing/retracting control one rotation control of the bending/advancing/retracting/rotation control circuit 20 in the first embodiment. By operating the control joystick 120, bending control, advance/retreat control, and single rotation control are performed.

Note that the position of the recessed member 126 is determined by the position of the encoder 129.
The operating section 1 is recognized based on this position information.
A control circuit provided at 21 performs bending control and bending micro-vibration control such as micro-vibration angle.

Other functions and effects of Structure 2 are similar to those of the first or sixth embodiment.

Below, 8th to 10th items shown in FIGS. 32 to 34.
The embodiment is an example in which the contact pressure, that is, the bending resistance of the bending portion 7 is detected, and when this bending resistance is equal to or greater than a predetermined value, a slight vibration is automatically performed. In addition, Figures 32 to 3
4, (a) shows the output of the bending resistance detection circuit 19, and (b) to d) show the outputs of the switches 10a to 10, respectively.
10c, (e) and (f) show the actions of the joysticks 8 and 9, respectively, and (g) to i) show the actions of the switches 25a, 25c, and 25d, respectively. Moreover, (j) and (k) show the operation of the speed control circuit 29a and the rotation direction instruction circuit 30a for the bending drive motor 12a, and similarly, (1 and (m) show the operation of the circuit 29b for the bending drive motor 12b, 30b, and (n) and (o) are circuits 29c and 30 for the forward and backward motor 23a.
(p) and (q) are the rotation motor 2.
The operation of circuits 29d and 30d for 4a is shown.

FIG. 32 is a timing chart for explaining the operation of the endoscope apparatus according to the eighth embodiment of the present invention.

This embodiment is an example in which bending microvibration is performed when bending resistance is equal to or greater than a predetermined value.

The configuration of this embodiment is substantially the same as that of the first embodiment.

In this embodiment, the output of the bending resistance detection circuit 19 shown in FIGS. 1 and 3 is input to the control circuit 28 in the bending/forward/backward/rotation control diagram H20. This control circuit 28 controls the bending speed control circuits 29a, 29b and the rotation direction indicating circuit 30a30b to cause slight bending vibration when the output of one of the bending resistance detection circuits is equal to or higher than a predetermined value. It has become.

In order to simplify the explanation, Fig. 32 shows an example in which the micro-vibration mode is set in the same direction micro-vibration mode as shown in (g), and the micro-vibration is set at a narrow angle and at a low speed as shown in (h) and (i). shows.

As shown in FIGS. 32(a) and (e), when the output of one bending resistance detection circuit exceeds a predetermined value when the joystick 8 is not operated, as shown in FIG. 32(k), the rotation direction indicating circuit 30a outputs pulses in narrow angle mode and (
As shown in j), the speed control circuit 29a outputs pulses in the low speed mode. Therefore, the bending portion 7 performs a slight bending vibration in the UD force direction at a narrow angle and at a low speed.

On the other hand, if the joystick 8 is operated, for example, in the R direction, and the output of the bending resistance detection circuit 9 is less than the predetermined value,
As shown in (ρ) and (m), the bending portion 7 is bent in the R direction by the normal operation of the speed control circuit 29 b and the rotation direction indicating circuit 30 b. However, as shown in (ρ), the speed of bending is faster than the speed during bending vibration. The same applies when curving in the other UD and L directions.

Next, when the joystick 8 is operated, for example, in the R direction, and the output of the bending resistance detection circuit 19 exceeds a predetermined value, the rotation direction indicating circuit 30b outputs a pulse in the narrow angle mode, as shown in (m>). Then, as shown in (ρ>), the speed control port B29b outputs a pulse in the low speed mode. Therefore, the bending part 7 performs a slight bending vibration in the RL force direction at a narrow angle and at a low speed, and the other U, D, The same applies when the output of the bending resistance detection circuit 19 exceeds a predetermined value during a bending operation in one direction.

In addition, as shown in (a>, (f)), when the joystick 9 is operated to advance, retreat or rotate, and the output of the bending resistance detection circuit 19 exceeds a predetermined value, (j), (
As shown in k) and (n) to q), the bending portion 7 slightly vibrates in the UD force direction independently of the forward/backward or rotational movement.

It goes without saying that when the right-angle micro-vibration mode is set, when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the bending micro-vibration is performed in a direction perpendicular to the bending operation direction.

Moreover, instead of determining whether the output of the bending resistance detection circuit 19 is equal to or greater than a predetermined value in the control circuit 28, the bending resistance detection circuit 19 outputs I when the bending resistance is equal to or greater than a predetermined value, L may be output at other times.

As described above, according to the present embodiment, when the bending resistance of the bending portion 7 exceeds a predetermined value, the bending vibration is automatically performed to reduce the contact resistance, thereby further improving the insertability.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

FIG. 33 is a timing chart for explaining the operation of the endoscope apparatus according to the ninth embodiment of the present invention.

This embodiment is an example in which rotational vibration is performed when the bending resistance is greater than or equal to a predetermined value.

The ellipse of this embodiment is substantially the same as that of the first embodiment.

In this embodiment, as in the eighth embodiment, the output of the bending resistance detection circuit 9 shown in FIGS. This control circuit 28 controls the rotational speed control circuit 29 (3) and the rotational direction indicating port 130d to cause rotational slight vibration when the output of the bending resistance detection circuit j9 is equal to or higher than a predetermined value. It has become.

In addition, in order to simplify the explanation, in FIG. 33, (h),
(As shown in i>, an example is shown in which the microvibration is set at a narrow angle and at a low speed.

As shown in FIG. 33(a), when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the rotation direction indicating circuit 30d outputs a pulse in the narrow angle mode as shown in <q>.
As shown in p), the speed control circuit 29d outputs pulses in the low speed mode. Therefore, the insertion section 2 has a narrow angle.
Performs rotational vibration at low speed.

Furthermore, as shown in (e) and (f), the joystick 8
, 9, and when the output of one bending resistance detection circuit exceeds a predetermined value, as shown in j) or q), the bending or forward/backward operations are performed independently. The insertion section 2 rotates and vibrates slightly.

On the other hand, as shown in (f), when a rotation operation is performed using the joystick 9 and the output of the bending resistance detection circuit 19 exceeds a predetermined value, normal rotation is not performed but rotational vibration is performed.

As described above, according to this embodiment, when the bending resistance of the bending portion 7 exceeds a predetermined value, rotational vibration is automatically performed to reduce the contact resistance, thereby further improving the insertability.

Other functions and effects of Structure 1 are the same as those of the first embodiment or the eighth embodiment.

FIG. 34 is a timing chart for explaining the operation of the endoscope apparatus according to the tenth embodiment of the present invention.

This embodiment is an example in which forward and backward slight vibrations are performed when the bending resistance is greater than or equal to a predetermined value.

The configuration of this embodiment is substantially the same as that of the first embodiment.

In this embodiment, similarly to the eighth embodiment, the output of the bending resistance detection diagram 819 shown in FIGS. This control circuit 28 controls a forward/backward speed control circuit 29c and a rotation direction indicating circuit 30c to cause a forward 3A slight vibration when the output of the bending resistance detection circuit 19 is equal to or higher than a predetermined value. It has become.

In addition, in order to simplify the explanation, in FIG. 34, (h),
As shown in (i), an example is shown in which the microvibration is set at a narrow angle and at a low speed.

As shown in FIG. 34(a), when the output of the bending resistance detection port B19 exceeds a predetermined value, the rotation direction indicating circuit 30c outputs a pulse in the narrow angle mode as shown in (0).
As shown in n), the speed control circuit 29c outputs pulses in the low speed mode. Therefore, the insertion section 2 performs minute vibrations of forward and backward movement at a narrow angle and at a low speed.

Furthermore, as shown in (e) and (f), the joystick 8
, 9, and when the output of the bending resistance detection circuit 19 exceeds a predetermined value, the bending or rotation is performed as shown in (j), (k), (n) or q). The insertion portion 2 slightly vibrates as it moves forward and backward, independently of the rotational movement.

On the other hand, as shown in FIG.
When the output reaches the predetermined value, as shown in (0), the rotation direction indicating circuit 30c outputs a longer pulse for L than for I, as shown in (0). As a result, the insertion section 2 advances while slightly vibrating forward and backward.

As described above, according to this embodiment, when the bending resistance of the bending portion 7 becomes equal to or greater than a predetermined value, slight forward and backward vibrations are automatically performed to reduce contact resistance, thereby further improving insertability.

Other functions and effects of Structure 2 are similar to those of the first or eighth embodiment.

Below, 11th to 1st shown in FIGS. 35 to 39
The fourth embodiment is an example in which slight vibrations are automatically generated during bending, forward/backward, or rotational operations.

In addition, in FIGS. 36 to 39, (a) to c) respectively indicate the operation of the switches 10a to 10c,
(d) and (e) indicate the operation of the joysticks 8 and 9, respectively, and (f> or h> respectively indicate the operation of the switch 25.
The operations of a, 25c, and 25d are shown. Also, (i) and (
j) is a speed control circuit 29 for the bending drive motor 12a.
a and the operation of the rotation direction indicating circuit 30a, and similarly,
(k) and (, Il) indicate the operation of the circuits 29b and 30b for the bending drive motor 12b, (m> and (n, ) indicate the operation of the circuits 129c and 30c for the forward and backward motor 23a, and ( o) and (p) show the operation of the circuits 29d and 30d for the rotation motor 24a.

FIG. 35 and FIG. 36 relate to the eleventh embodiment of the present invention,
FIG. 35 is an explanatory diagram showing the main parts of the control device, and FIG. 36 is a timing chart for explaining the operation of the endoscope device.

This embodiment is an example in which rotational slight vibration is performed during a bending operation.

As shown in FIG. 35, in this embodiment, the switches 25a to 25 of the control device 16 in the first embodiment are
In addition to 25e, a curvature following rotation fine vibration mode setting switch 25f is provided. And this switch 25f
When the bending follow-up rotational vibration mode is set by , the control port &@28 in the bending/advance/retreat rotation control circuit 20 causes rotational vibration to occur during the bending operation. The other configurations are the same as in the first embodiment.

Next, the operation of this embodiment will be explained with reference to FIG.

In order to simplify the explanation, in FIG. 36, the switch 25f is set to the curve following rotational vibration mode, and (g),
As shown in (h), an example is shown in which the microvibration is set at a narrow angle and at a low speed.

When a bending operation is performed using the joystick 8 as shown in FIG. 30d outputs pulses in narrow angle mode, and as shown in (o), speed control circuit 29d outputs pulses in low speed mode. Therefore, during the bending operation of the bending section 7, the insertion section 2 performs slight rotational vibration at a narrow angle and at a low speed.

As described above, according to this embodiment, when the bending portion 7 is bent, rotational slight vibrations are automatically performed to reduce contact resistance, thereby further improving insertability.

Other functions and effects are similar to those of the first embodiment.

FIG. 37 is a timing chart 1 for explaining the operation of the endoscope apparatus in the twelfth embodiment of the present invention.

This embodiment is an example in which slight vibrations in forward and backward movements are performed during forward and backward operations.

The configuration of this embodiment is such that the switch 25f in FIG. 35 is set to the forward/backward tracking fine vibration mode, and the other configurations are the same as those of the first or eleventh embodiment.

In this embodiment, when the switch 35f sets the forward/backward following forward/backward slight vibration mode, the control circuit 28 in the curved forward/backward/rotation control circuit 20 causes the forward/backward slight vibration to be performed during the forward/backward operation. There is.

As shown in FIG. 37(e), when the joystick 9 is used to move forward or backward, the speed control circuit 29c as shown in FIG. Output. Further, as shown in (n), when the joystay link 9 is operated in the forward direction, the rotation direction indicating circuit 30c outputs a pulse with L longer than H, and when the joystay link 9 is operated in the forward direction.
When is operated in the bright direction, H outputs a longer pulse than L. Note that the frequency of the output pulse of the rotation direction indicating circuit 30c changes depending on the mode set by the switch 25C, as shown in (g). As a result, during forward and backward operations, the insertion portion 2 advances and retreats while making slight vibrations.

As described above, according to this embodiment, when the insertion portion 2 is advanced or retreated, slight vibrations are automatically performed to reduce the contact resistance, thereby further improving the insertability.

The other functions and effects of the configuration 9 are the same as those of the first embodiment.

FIG. 38 is a timing chart for explaining the operation of the endoscope apparatus in the thirteenth embodiment of the present invention.

This embodiment is an example in which slight vibrations of forward and backward movement are performed during rotational operation.

The configuration of this embodiment is such that the switch 25f in FIG. 35 is switched to the rotation follow-up forward/backward vibration mode setting switch, and the other configurations are the same as those of the first or eleventh embodiment.

In this embodiment, when the rotation-following advance/retreat micro-vibration mode is set by the switch 35f, the control circuit 28 in the bending/advance/retreat/rotation control circuit 20 causes the advance/retreat micro-vibration to be performed during rotation operation. ing.

When the rotation operation is performed by the joystay link 9 as shown in FIG. 38(e), normal rotation is performed as shown in (o) and (p), and speed control is performed as shown in (m). The circuit 29c is connected to the switch 25d as shown in (h).
Outputs pulses according to the mode set by .

Further, as shown in (n), the rotation direction indicating circuit 30c
As shown in (g), a pulse with a frequency corresponding to the mode set by the switch 25c is output. As a result, during the rotational operation, the insertion section 2 rotates while making slight forward and backward vibrations.9 As described above, according to this embodiment, when the insertion section 2 is rotated, the forward and backward slight vibrations are automatically performed to reduce the contact resistance. Since the weight is reduced, insertability is further improved.

Other functions and effects of Structure 2 are the same as those of the first embodiment.

FIG. 39 is a timing chart for explaining the operation of the endoscope apparatus in the fourteenth embodiment of the present invention.

This embodiment is an example in which slight vibrations of forward and backward movement are performed during a bending operation.

The configuration of this embodiment is such that the switch 25f in FIG. 35 is used as a bending follow-up advance/retreat micro-vibration mode setting switch, and the other configurations are the same as those of the first or eleventh embodiment.

In this embodiment, when the bending follow-up forward/backward fine vibration mode is set by the switch 35f, the forward/backward fine vibration is performed during the bending operation under the control of the control circuit 28 in the bending forward/backward/rotation control circuit 20. There is.

In order to simplify the explanation, FIG. 39 shows an example in which the same direction micro-vibration mode is set as shown in FIG. 39(f).

When a bending operation is performed using the joystick 9 as shown in FIG. Switch 25 as shown in (h)
Outputs pulses according to the mode set by d. Further, as shown in (n), the rotation direction indicating circuit 30c outputs a pulse with a frequency according to the mode set by the switch 25c as shown in (g>). 2 curves while moving forward and backward with slight vibrations.

As described above, according to this embodiment, when the insertion portion 2 is bent, the forward and backward slight vibrations are automatically performed to reduce the contact resistance, thereby further improving the insertability.

Other functions and effects of the configuration 1 are the same as those of the first embodiment.

In addition to the combinations shown in the 11th to 14th embodiments, bending, forward/backward movement, or rotational vibration may be automatically performed during the bending, forward/backward, or rotational operations.

FIG. 40 is a circuit diagram showing a motor and its control circuit in a fifteenth embodiment of the present invention.

This embodiment is the bending motors 12a, 12b and the forward/backward motor 32a in the first to fourteenth embodiments.

As the rotary motor 24a, a direct current (DC) motor 131 is used instead of a stepping motor.

One input end of the DC motor 131 has stop/normal rotation/
It is connected to the movable contact 132a of the reverse changeover switch 132, and the other input end is grounded.

The first of the three fixed contacts of the changeover switch 132
The fixed contact 132b is connected to the positive pole of a variable voltage DC power supply 133, and the negative pole of this power supply 133 is grounded. Further, the second fixed contact 132C of the changeover switch 132
is grounded via a free/lock switch 134. Further, the third fixed contact [32d] of the changeover switch 132 is connected to the negative pole of the variable voltage DC power supply [-35], and the positive pole of this power supply 138 is grounded.

The changeover switch] 32 is switched by rotation direction indicating circuits 30a to 30d shown in FIG.
By selecting 32b or 132d, the DC motor 131 rotates forward or reverse, and by selecting the fixed contact 132C, the DC motor 131 is stopped. Further, the voltage of the power supplies 133 and 135 is controlled by the speed control circuit 29a.
~29d. That is, this power supply 13
By raising and lowering the voltage of 3°135, DC motor 1
31 speed changes. Further, the free/lock changeover switch 134 is the free/lock switch 31a~
31d.

That is, when the fixed contact 132C of the switch 132 is selected, if the free/lock changeover switch 134 is turned on, the DC motor 131 will be locked by the back electromotive force, and if the switch 134 is turned off, the DC motor 131 will be locked.
becomes free.

The other operations and effects of the configuration 9 are the same as those of the first to fourteenth embodiments.

Note that the present invention is not limited to an electronic endoscope in which a solid-state image sensor is provided at the distal end of the insertion section, and the object image formed by the objective lens is transmitted to the base side of the insertion section by an image guide, and this image is transmitted to the base side of the insertion section. The present invention can also be applied to endoscopes of the type in which images are observed with the naked eye through an eyepiece or images are taken with an imaging means.

[Effects of the Invention] As explained above, according to the present invention, since the driving means for slightly vibrating at least a part of the insertion portion and the control means for controlling the conditions of the fine vibration by this driving means are provided, the insertion This has the effect that the insertion portion can be easily inserted by reducing contact resistance under appropriate conditions depending on the site.

[Brief explanation of drawings]

1 to 19 relate to a first embodiment of the present invention, in which FIG. 1 is a block diagram showing the configuration of an endoscope device, FIG. 2 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. The figure is a block diagram showing the configuration of the bending, forward/backward, and rotation control circuits, Figure 4 is a timing chart to explain the operation of the endoscope device during normal bending operation, and Figure 5 is the same direction micro-vibration mode. Timing chart for explaining the operation of the endoscope device when bending is not operated 1-1 Fig. 6 is a timing chart I for explaining the operation of the endoscope device when bending is operated in the same direction micro vibration mode.
~, FIG. 7 is a timing chart for explaining the operation of the endoscope device in the right-angle micro-vibration mode, FIG. 8 is a timing chart for explaining the operation of the endoscope device during rotational movement, and FIG. The figure is a timing chart for explaining the operation of the endoscope device during rotational micro-vibration and bending micro-vibration operations, and Figure 10 is for explaining the operation of the endoscope device when the conditions of rotational micro-vibration are changed. Fig. 11 is a timing chart for explaining the operation of the endoscope device during forward/backward micro-vibration and bending micro-vibration operations, and Fig. 12 is a timing chart of the endoscope device when the conditions of forward/backward micro-vibration are changed. 13 is an explanatory diagram showing slight vibrations in the vertical direction, FIG. 14 is an explanatory diagram showing slight vibrations in the left-right direction, and FIG. 15 is an explanatory diagram showing clockwise rotation movement. Fig. 16 is an explanatory diagram showing the turning movement of left rotation, [7]
FIG. 18 is an explanatory diagram showing fine rotational vibration. FIG. 19 is an explanatory diagram showing a part of the mode display section of the monitor. FIGS. Regarding the second embodiment, FIG. 20 is a block diagram showing the configuration of the endoscope device, FIG. 21 is an explanatory diagram showing the external appearance of the endoscope device, and FIG.
23 and 23 show a third embodiment of the present invention, FIG. 22 is a block diagram showing the configuration of the endoscope device, FIG. 23 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. 24 is a block diagram showing the configuration of the endoscope device. and FIG. 25 relate to a fourth embodiment of the present invention, FIG. 24 is a block diagram showing the configuration of an endoscope device, FIG. 25 is an explanatory diagram showing the external appearance of the endoscope device, and FIGS. 28 relates to a fifth embodiment of the present invention, FIG. 26 is a block diagram showing the configuration of an endoscope apparatus, FIG. 27 is a timing chart 1 for explaining the operation of this embodiment, and FIG. 29 and 30 relate to the sixth embodiment of the present invention, FIG. 29 is an explanatory diagram showing the configuration of the endoscope device, and FIG. 30 is an illustration of the internal structure. FIG. 31 is an explanatory diagram showing the configuration of an endoscope device according to a seventh embodiment of the present invention, and FIG. 32 is an explanatory diagram showing the configuration of an endoscope device according to an eighth embodiment of the present invention. Timing Chart 1-1 for Explaining the Operation FIG. 33 is a timing chart for explaining the operation of the endoscope apparatus of the ninth embodiment of the present invention, and FIG. 34 is a timing chart of the tenth embodiment of the present invention. Timing chart I for explaining the operation of the endoscopy device, No. 35
36 and 36 relate to the 11th embodiment of the present invention, and the 35th embodiment
FIG. 36 is an explanatory diagram showing the main parts of the control device, FIG. 36 is a timing chart for explaining the operation of the endoscope device, and FIG.
38 is a timing chart for explaining the operation of the endoscope apparatus in the 12th embodiment of the present invention, FIG. 38 is a timing chart for explaining the operation of the endoscope apparatus in the 13th embodiment of the present invention, FIG. 39 is a timing chart for explaining the operation of an endoscope apparatus in a fourteenth embodiment of the present invention, and FIG. 40 is a circuit diagram showing a motor and its control circuit in a fifteenth embodiment of the present invention. DESCRIPTION OF SYMBOLS 1... Endoscope 2... Insertion part 6... Operation part 7... Curving part 8.9... Joystick 10.11.25... Switches 12a, 12b... Curving drive motor 16 ...Control device 20...Bending/advancing/retracting/rotation control circuit 23...Advancing/retracting roller 23a...Advancing/retracting motor 24
・Rotating roller 24a・Rotating motor 29a to 29d・
...Speed control circuits 30a to 30d...Rotation direction indicating circuit Fig. 1 Fig. 2! Fig. 20 Fig. n γ8 r go bu 21 Fig. 9 Fig. 23 Fig. 24 Fig. 26 Fig. 27 Fig. 25 Fig. 29 Fig. 31 Fig. 30

Claims (1)

[Claims] An endoscope apparatus having an insertion section to be inserted into a subject, further comprising a drive means for slightly vibrating at least a part of the insertion section, and a control means for controlling conditions of the slight vibration by the drive means. Features of the endoscopic device.