JPH042322A - Endoscope apparatus - Google Patents

Abstract

PURPOSE:To facilitate the insertion of an inserting section by advancing or retracting the inserting section by a fine advance/retraction means while operating condition of a fine advance/retraction control means is selected by a selection means. CONSTITUTION:A controller 16 connected to an endoscope 1 contains a bending, advance/retraction and rotation control circuit 20 and a pump 22. A switch 25 provided on an external wall of the controller 16 is made up of a bending fine vibration changeover switch 25a, a bending, advance/retraction, rotation and turning setting changeover switch 25d, an angle specifying switch 25c, a speed specifying switch 25d and a fully free switch 25e. Advance or retraction of an inserting section 2, an advance/retraction speed and angle (length) of fine rotary vibration and a rotation speed and angle thereof are set by turning the switch 25b to an advance/retraction or rotation mode and using switches 25c and 25d. When the fine bending vibration switch 10a and an advance/ retraction fine vibration switch 10b are turned ON, a rotational direction indicating circuit outputs a pulse in a narrow angle mode and a speed control circuit outputs a pulse in a low speed mode. Thus, the inserting section 2 makes a fine bending vibration while finely advancing or retracting.

Description

[Detailed description of the invention] [Industrial application field] 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 flexible insertion section and a large-diameter grip section connected to the rear end of the insertion section. The insertion portion includes a hard tip component, a curved portion connected to the rear end of the tip component and capable of bending, for example, vertically/left and right, and a flexible tip component connected to the rear end of the curved portion. It consists of a flexible 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, the fixed curved rubber has a problem in that when it comes into strong contact with an object to be examined, for example, a body cavity wall, contact resistance increases, making it difficult to insert the insertion section.

Therefore, the applicant filed the previously filed patent application No. 123023.
No. 5 proposes an endoscope device that is provided with means for slightly vibrating the insertion section in a direction perpendicular to the axial direction of the insertion section.

However, depending on the insertion site, it may be difficult to generate slight vibrations in a direction perpendicular to the axial direction of the insertion portion, or the effect of reducing contact resistance may not be obtained due to such minute vibrations.

The present invention has been made in view of the above circumstances, and even when it is difficult or ineffective to produce slight vibrations in a direction perpendicular to the axial direction of the insertion portion, the present invention reduces contact resistance and provides a vibration-resistant device for the insertion portion. An object of the present invention is to provide an endoscope device that can be easily inserted.

[Means for Solving the Problems] An endoscope apparatus of the present invention has an insertion section inserted into a subject, and includes means for slightly advancing and retracting the insertion section;
A fine advance/retreat control means for controlling the fine advance/retreat means and a selection means for selecting an operating state of the fine advance/retreat control means are provided.

[Operation] In the present invention, the contact resistance of the insertion portion is reduced by slightly advancing and retracting the insertion portion using the means for slightly advancing and retracting. Further, by selecting the operating state of the fine advance/retreat control means using the selection means, conditions such as on/off of fine advance/retreat, speed, length, etc. are selected.

[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 1-1 for explaining the operation of the endoscope device during normal bending operations. Figure 5 is a microvibration in the same direction. FIG. 6 is a timing chart for explaining the operation of the endoscope device when bending is not 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 turning motion, and FIG. A timing chart for explaining the operation of the endoscope device during rotational micro-vibration and bending micro-vibration operations, and FIG. 10 is a timing chart for explaining the operation of the endoscope device when the conditions of rotational micro-vibration are changed. Chart, 11th
The figure is a timing chart for explaining the operation of the endoscope device during forward/backward micro-vibration and bending micro-vibration operations, and Figure 12 is for explaining the operation of the endoscope device when the conditions of forward/backward micro-vibration are changed. 13 is an explanatory diagram showing fine vibrations in the vertical direction, FIG. 14 is an explanatory diagram showing fine vibrations in the left-right direction, and FIG. 15 is an explanatory diagram showing right-handed turning movement.
Fig. 16 is an explanatory diagram showing counterclockwise turning movement, Fig. 17 is an explanatory diagram showing forward and backward micro-vibrations, Fig. 18 is an explanatory diagram showing rotational micro-vibrations, and Fig. 19 is a part of the mode display section of the monitor. FIG.

As shown in FIGS. 1 and 2, the endoscope apparatus includes an endoscope 1, a control device 16 to which the endoscope 1 is connected, and a monitor 10 connected to the control device 16. It is equipped with

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 16. 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 tip portion 3 includes an observation window 5a and an illumination window 41a.

Also, an air/water supply port (not shown) is provided. 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. It is inserted through the operating section 6 and the universal cable 14 and connected to the connector 15. In addition, the lighting window 41a
A light distribution lens 41 is attached to the light distribution lens 41.
A light guide 42 is connected to the rear end of the light guide 42 . 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 operation 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 and 11 to be described later.

Moreover, inside the working part 6, there is a bending drive motor 12a.

12b is provided. This bending drive motor 12 (
12a and 12b are represented. ), each insert part 2
A bending wire 13 inserted therein is attached, and the tip of this bending wire 13 is fixed to the tip of the bending portion 7 . Then, by rotating the bending drive motor 12, the bending wire 13 is pushed and pulled, and the bending portion 7
is curved vertically and horizontally. 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. It is inserted through the operating section 6 and the universal cable 14 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 diagram N18 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 21 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/advancing/retreating rotation control circuit 20. Further, the bending resistance detection circuit 19 detects the bending resistance from the output from the contact pressure sensor 19a provided on the bending portion 7, and
This bending resistance can be displayed on the monitor 40 via P17. Further, the bending resistance information from the bending resistance detection circuit 19 is transmitted to the bending/advancing/retracting/rotation control circuit 2.
0 is also sent. In addition, the lamp 2
1 is configured to allow illumination light to enter the incident end of a light guide 42 within the light guide pipe 26. Also,
The pump 22 is configured to supply air to the air 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 bending/forward/backward/rotation control circuit 20 includes the joysticks 8, 9, the switch 10,
11.25 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] 8 and the bending resistance detection circuit 19, and the motor 12.
a, 12b, 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 10c.
It is made up of. Further, the switch 11 includes a bending free/lock switch 1 ], a, and a forward/backward free/
It consists of a lock switch 1lb and a rotation free/lock switch llc. In addition, the switch 2
5 is composed of a bending micro-vibration changeover switch 25a, a bending 7/forward/backward/rotation/swivel setting changeover switch 25b, an angle designation switch 25c, 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).

It is possible to specify the speed of microvibration 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, the operation of this embodiment will be explained. The endoscope device of this embodiment is capable of performing various operations by combining each movement of bending, one forward and backward rotation, and each microvibration of one forward and backward rotation of bending. The following typical operations will be explained in order with reference to the figures.

(I) Operation during normal bending operation (Fig. 4) (II) Operation when bending is not operated in same-direction micro-vibration mode (Fig. 5) (I [[) During bending operation in same-direction micro-vibration mode Operation (Fig. 6) (IV) 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) (
VI) Operation when changing the conditions of rotational vibration (Fig. 10) (■) Operation of forward and backward vibration and curved vibration (Fig. 11) (rX) Operation when changing the conditions of forward and backward vibration (Fig. 11) 12th
(Figure) In Figure 4, (a) and (b) each show the operation of the joystick 8.9.

Further, (C) or e) shows the operation of the speed control circuit 29a, rotation direction instruction circuit 30a, and free/lock circuit 31a for the bending drive motor 12a, and similarly, (f
) or h) is the circuit 2 for the curved drive motor 1.2 b
9 b , 30 b , 3 l b operations are shown,
(i) or k) is 1 yen for the motor 23a for advancing and retreating.
1G shows the operation of 29c, 30c, and 31c, and (1) or n> is a circuit 29 d for the rotation motor 24a,
The operation of 30d and 31d is shown.

In addition, in FIGS. 5 to 1-2, (a) to C) respectively indicate the operations of the switches 1.0a to 10c, and (d) and (e) respectively indicate the operation of the joystick 8.0a to 10c.
9, and (f) to h) respectively show the operations of switches 25a, 25c, and 25d. Also, (1)
and (j) show the operation of the speed control port ii'829a and the rotation direction indicating circuit 30a for the bending drive motor 12a, and similarly, <k) and (11) show the circuit 29b for the bending drive motor 12b, 30b is shown, and (m) and (ri> are the rotations i￥＠29c for the motor 23a for advancing and retreating.
, 30c, and (0) and (p) indicate the rotation 1i! for the rotation motor 24a! 829d, 3oa operation.

First, with reference to FIG. 4, (I) 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], 2a rotates in the U direction at progressively faster speeds.

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 I) is output, and in other cases, a low level (hereinafter referred to as L) is output. When used for signals, it means Low level, and when used for direction, it means left.) is output. This rotation direction indicating circuit 30a is
As shown in (d), when the output is I-, the rotation is normal;
When H, the motor 12a is controlled so as to be reversed. Moreover, the free/lock circuit 31a is a curved free/lock switch lla or an all-free switch 25e.
When free bending is instructed by , it outputs 1, and otherwise it outputs H.

The free/lock circuit 31a controls the motor 1-2a so that the motor 1-2a is locked when the output is 11 and free when the output is L, as shown in (e).

In addition, as shown in (a) and (C) to h), D,
Below on the right, it is written as R. ), and the left (hereinafter referred to as L) directions are also the same, 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 drawn out by the reciprocating roller 23. As shown in (j), the rotation direction indicating circuit 30c becomes 1-(when the joystick 9 is operated in the pull direction (denoted as Pu1l in the figure), and becomes L in other cases. (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, a voltage corresponding to the degree of inclination is sent from the control circuit 28 to the speed control circuit 129d, as shown in (Jl).
The motor 24a rotates normally, and the rotating roller 24 rotates the insertion portion 2 clockwise. In addition, as shown in (m), the rotation direction indicating circuit 30d becomes ``T'' when the joystick 9 is operated in the L-rotation direction, and otherwise becomes ``L''. Note that (b) and (J) ) to n), the same applies to the operation in the L rotation direction, so the explanation will be omitted.

Also, free/lock switch lla, 1lb1], c
When both are operated, the free/lock circuits 31a to 3
1d is ■-specific output, motor 1.2 a12b, 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. Note that the switch 25b is curved, forward/backward 7
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 sequentially outputs H and L alternately, as shown in (j), and <
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. In addition, when the speed setting by switch 25C is high speed as shown in (g>), (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 at a high speed m. 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. may be controlled.

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 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 (I[[) 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. In order 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 being low, and the angle of the micro-vibration is a narrow angle. According to 25d,
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 L5 is longer than H. In other words, the direction of dust is longer than the direction of D. is driven for a longer time.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 D force direction.

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

Furthermore, when the joystick 8 is moved to the D side, the rotation direction indicating circuit 30a outputs an H output, and the speed control circuit 29a outputs a pulse according to the designated speed, so the bending portion 7 is bent to 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 the L, and the speed control circuit 29a outputs a pulse corresponding to the specified speed. Therefore, the bending portion 7 vibrates slightly in the tJD direction and then curves in the D direction.

Similarly, when the joystick 8 is operated in the R direction,
The curved portion vibrates slightly in the RL 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 direction.

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

Again, to simplify the explanation, joystick 8
The explanation will be based on the assumption 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 direction as described above.

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

In addition, in the above explanation, the operation in only one direction of U, D, R, and L was explained, but one side of UD and one side of RL may be operated together, and in that case, the bending part 7 is U.D.
, RL while being slightly vibrated in both directions.

Next, with reference to FIG. 8, the operation of (V) turning motion, forward and backward micro-vibration, and two-rotation micro-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, (j) and CfJ
), the rotational direction indicating circuits 30a and 30b output pulses whose phases are shifted by 90 degrees. In addition, switch 25
The setting of a determines whether the rotation is clockwise or counterclockwise, and in the case of clockwise rotation, the rotation direction is indicated by FI! ! 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 opposite is true in the case of counterclockwise rotation. As a result, the bending portion 7 performs a right-handed or left-handed turning motion. Note that this turning 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 micro-vibration linear in the RL force direction. Therefore, the rotation direction indicating circuits 30a, 30
By appropriately setting the phase difference between the output pulses b, an elliptical turning motion is also possible.

When the joystick 8 is operated, for example, in the R direction during this turning movement, the H output of the switch 30b becomes shorter than the L output, so that the bending portion 7 curves in the R direction without making the turning movement. 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 the 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 0b9 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 (m>), the rotation direction indicating circuits 30c and 30d output L, and as shown in (m> and (0)), the speed control circuits 29c and 29d output low speed pulses. 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 10b2 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 (o)), 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 pulled out (Pu I ]) and rotated in the R-rotation direction during rotational slight vibration and forward/backward slight vibration, the speed control circuit 29c29d outputs a pulse at a low speed, and the rotation direction indicating circuit 30c and 30d output long pulses with I-] and L outputs, respectively. Therefore, the insertion portion 2 rotates in the R direction while slightly vibrating, and retreats while slightly vibrating forward and backward.

Furthermore, when the joystick 9 is operated in the push and L-rotation directions during the rotational slight vibration and forward/backward slight vibration, the insertion portion 2 similarly rotates L while making a slight rotational vibration, and also causes the forward/backward slight vibration. Proceed while doing so.

Although the bending micro-vibration, one-rotation micro-vibration, and forward/backward micro-vibration have been explained above, 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 the rotation WJ, S motion, and bending microvibration are all set at narrow angles and at low speeds.

<As shown in a) and (c), the curved micro-vibration switch 1
0a and the rotational slight vibration switch 10c are turned on, (
As shown in j) and (p), the rotation direction indicating circuits 30a, 3
0d is narrow angle mode, pulse output 12, (i), (o)
As shown in FIG. 2, the speed control circuits 29a and 29d output pulses in the low speed mode. Therefore, the insertion portion 2 vibrates slightly while rotating and vibrating slightly. In addition, when the switch 10a or the switch 10c is operated semi-independently, as already explained, the bending micro-vibration or the rotational micro-vibration 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 30a outputs a pulse whose I-output is longer than the H-output.The rest is the same as when the joystick 8 is not operated.Therefore, the insertion section 2
curves in the U direction while making slight rotational vibrations and slight bending vibrations.

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

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

When the rotation slight vibration switch 10c is turned on as shown in (c) in the narrow angle, low speed mode as shown in (g) and (h), the rotation direction indicating circuit 30d is activated in the narrow angle 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 25 ( ) is operated to switch to the high speed mode, the speed control circuit 29 changes as shown in (0).
d 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.

Furthermore, when the switch 25c is operated to switch to the wide angle mode, the rotation direction indication diagram 1i'83 is displayed as shown in (p).
0 d outputs pulses in wide angle mode.

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>), (
As shown in g) and (h), examples are shown in which both forward and backward microvibrations and bending microvibrations are set at narrow angles and at low speeds.

As shown in (a) and (b), a curved micro-vibration switch 1
0a and forward/backward slight vibration switch 10b are turned on,
As shown in (j) and (n>), a rotation direction indicating circuit 30a,
30c outputs pulses in narrow angle mode, (i), (m)
As shown in the figure, 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 micro-vibration or the advancing/retreating micro-vibration is performed independently.

Next, when the joystick 8 is operated in the U direction as shown in (d) with the bending micro-vibration switch 1.0a and forward/backward micro-vibration switch 10b turned on, the joystick 8 rotates as shown in (j). The 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 bends in the R and L directions with slight forward and backward vibrations and slight bending vibrations.

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

In the narrow angle, low speed mode as shown in (g) and (h), when the forward/backward slight vibration switch 10b is turned on as shown in (b), the rotation direction indicating circuit 30c is shown in (n).
outputs a pulse in the narrow angle mode, and as shown in (m), the speed control circuit 29C outputs a pulse in the low speed mode. Therefore, the insertion portion 2 performs minute vibrations of forward and backward movement at a narrow angle (short distance) and at a low speed. If you operate switch 25d to switch to high speed mode, the speed will increase as shown in (m).
The speed control circuit 29c outputs pulses in the high speed mode. That is, the frequency of the pulses becomes high. As a result, the insertion section 2 is inserted at a narrow angle (short distance).

Perform b-backward vibration 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 forward and backward movement at a wide angle (long distance) 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>).
is in low speed mode) (outputs a pulse. This causes
The insertion section 2 performs minute vibrations of forward and backward movement at a wide angle (long distance) and at low speed.

In addition, FIGS. 13 to 18 respectively show the state of UD direction bending vibration, RL direction bending vibration, right rotation of turning movement, left rotation of turning movement, forward and backward movement vibration, and rotational vibration. There is.

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 forward/backward micro-vibration, single-rotation micro-vibration, on/off of curved micro-vibration, and the mode of curved micro-vibration (same direction micro-vibration, right-angle direction micro-vibration, rotational movement to the left, rotational movement to the right). Is 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.

Furthermore, since the micro-vibration state can be selected and operated as appropriate depending on the condition of the part to be examined, the part to be inserted, etc., the bending part 7 can be operated without damaging the part to be examined, the part to be inserted, etc. The contact resistance of the insertion portion 2 can be reduced, and the insertability can be further improved.

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, as for the bending micro-vibration, the direction of the micro-vibration can be switched to the same direction or perpendicular to the bending direction, and furthermore, the rotation movement can be changed to the right or the rotation movement to the left can be changed as appropriate. The most suitable mode can be selected depending on the situation.

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.

Since the bending micro-vibration is performed using the highly sophisticated motors 12a and 12b for bending drive, there is no need to newly provide a motor for performing micro-vibration in addition to the bending motor, making the endoscope larger and heavier. In addition, since the insertion section 2 can be moved forward and backward and rotated slightly, it can be used even when it is difficult to perform curved vibrations or when curved vibrations are ineffective. By performing micro-vibration, the contact resistance of the insertion portion 2 can be reduced and 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.

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

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 a combination of one or more of the following: rotational movement (left rotation), fine vibration of the insertion part moving forward and backward, and fine vibration of rotation of the insertion part, it is possible to select the most suitable vibration according to the condition of the lumen. I can do it.

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.

Note that each micro-vibration may be performed at least once (reciprocating motion). The micro-vibration angle is 1 to 1, except for the slight vibration when advancing and retracting.
80 degrees, the length of slight vibration during forward and backward movement is ]-・~5cm,
Excluding slight forward and backward vibrations, the vibration speed is 1 to 90 degrees/second,
The speed of micro-vibration during forward and backward micro-vibrations is preferably in the range of 1 to 50 mm/sec, but may be changed as appropriate based on the operator's judgment.

In addition, if the micro-vibration is set to an extremely fast speed or an extremely large angle, it will become extremely difficult to see the two viewing angles 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 low to high, or the angle of the micro-vibration may be gradually changed from a narrow angle to a wide angle. The direction of the long curved R vibration is 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 refinement of the 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.
3.

The endoscope 1 in this embodiment is not provided with an operating section, and the connector 15 is provided directly at the base of the insertion section 2. As shown in FIG. 20, motors 12a and 12b are provided within the connector 15. As shown in FIG. This connector 15 is connected to a light source and a bending/advancing/retracting/rotating control device 50. This device 50 includes the bending/advancing/retracting/rotation control circuit 20, the bending angle detection circuit 18, the bending resistance detection circuit 19, the lamp 21, the pump 22, and the switch 25 in the first embodiment.

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

VP], 7 is connected to the device 50. In addition, the surface layer device 50 includes a bending operation section 5] and an advance/retraction/rotation operation section 52, respectively, and a connection cable 55.
56. 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.

Furthermore, 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 M 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 operation section containing a motor, etc., and it is only necessary to hold the light operation 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 advancement/retraction/rotation operation part 52 with your right hand, your left hand will be responsible for operating the bending operation knob and your right hand will be responsible for advancing, retracting, and rotating (twisting) the insertion part, which is the role that is shared during manual operation in winter. 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 are based on the third real conical example of the present invention,
Fig. 22 is a block diagram showing the configuration of the endoscope device;
The figure is an explanatory diagram showing the 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 1.7, a monitor 40 connected to this P17, and a forward/backward movement/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. Curved wires] 3 are attached to the pulleys 63 and 64, respectively. On the other hand, there are 686 motors in the bending device 65,
A transmission gear 66, 67 installed on the output shaft of each motor 68, 69, and a control circuit 7o for controlling the motor 68, 69 are provided. When connected to device 65, connector 15
Gears 61 and 62 therein mesh with gears 66 and 67 in the bending device 65, respectively.6 Also, a bending operation section 51 similar to the second embodiment is connected to the bending device 65. ing. The control circuit 7o controls the motors 68 and 69 according to the operation of the bending operation section 51, and performs control regarding bending (including bending microvibration) in the first embodiment.

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. A foot switch 77 is connected to the light source device 72, and by stepping on pedals 78, 79, and 80 provided on the foot switch 72, air supply, water supply, and suction are performed, respectively. ing.

Also, the connector on the light source device 72 side of the cable 71 is
A connecting cable 81 is extended from / 1 a, and this connecting cable 81 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 53 has a built-in control circuit 82 and a display section 83. The control circuit 82 is
In response to the operation of the forward/backward/rotation operation section 52, the forward/backward motor 23
The a1 rotation motor 24a is controlled 7 to perform control related to forward/backward movement and rotation, including the fine vibration of forward/backward movement and two rotations of fine vibration in the first embodiment. The display section 83 also shows the insertion length of the insertion section 2, the rotation angle of the insertion section 2, on/off of forward/backward microvibrations, and the speed of forward/backward microvibrations (1=, M, H).
.

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

On the other hand, the monitor 40 displays the bending angle, the on/off of the bending resistance bending micro-vibration, and the speed of the bending micro-vibration (L, , M, H
), 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.

If only the advancing/retracting/rotating device 53 is provided, it becomes possible to electrify the advancing/retracting rotation and to cause the slight vibration of advancing/retracting by one revolution compared to a normal manual bending type endoscope.

According to this embodiment, the bending device 65 and the advancing/retracting/rotating device 53
Since they 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.

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

24 and 25 are based on the fourth embodiment of the present invention,
Fig. 24 is a block diagram showing the configuration of the endoscope device, Fig. 25
The figure is an explanatory diagram showing the 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 W91, 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. The light source device 72 and the VP 17 are combined into one. 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 in the third embodiment, and detailed explanation 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 loosen. Further, when the rotation switch of the advance/retraction/rotation buttons 98 is pressed, the tram 94 rotates, and the entire device 95 and the insertion section 2 rotate accordingly.

Each movement of bending micro-vibration, advance/retreat micro-vibration, 9-rotation micro-vibration is the first
The explanation is omitted because it is the same as the first to third embodiments.

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, and FIG.
The figure 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, the same parts H as in the first embodiment are given the same reference numerals, and the explanation 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 1 to which the insertion section 2 is connected.
00, a monitor 40 connected to this curved control light source device 100, and a reciprocating roller 2 attached to the insertion section 2.
3.

As shown in FIGS. 26 and 28, the endoscope 1 according to this embodiment is not provided with an operating section like the second embodiment, and the connector 15 is directly connected to the base of the insertion section 2. is provided. 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.

Separately from the equipment W100, there is also a control water/control unit 103 connected to the motor driver 101, and a motor that is controlled by the control box 103 and controls the motor that drives the advancing/retracting roller 23. A driver 102 is provided. The control box 103 is provided with a joystick 8, a forward switch 104, and a backward switch 105. The joystick 8 instructs the motor driver 101 in the direction of bending the IJ D RL.

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 10
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 m when the insertion portion 2 advances.

On the other hand, as shown in FIG. 27(b), the exit switch 105
When turned on, the control box 103
The motor driver 102 is instructed to rotate the advancing/retracting roller 23 in the feeding direction, but the motor driver 101 is not instructed to cause slight vibration. As a result, the bending section 7 does not vibrate slightly when the insertion section 2 retreats; however, the bending section 7 may vibrate slightly even when the insertion section 2 retreats.

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 the overtranslation micro-vibration may be appropriately combined.

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 17 to which the endoscope 1 is connected, a monitor 40 connected to the control device 117, and an insertion point for the endoscope 1. It is provided with an advancing/retracting device 112 and a rotating device 113 attached to the section 2.

The endoscope 1 includes an insertion section 2, an operation section 111 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. The connector 15 provided at the end of the connector is replaced. The operation section 11] includes a joystick 1.
14 are connected. As in the first embodiment, a bending drive motor 12 is provided within the operating section 111.

The joystick 114 is connected to the motor 12.
It is designed to give instructions for curving. In the control circuit 117, 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 configured to instruct the forward/backward device 1121 and the rotating device 113 to perform two forward/backward rotations. It has become.

Note that the operation section 111. Advance/retreat device 112 and rotation device 1
13 respectively shows the curve, advance and retreat, and
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, Honji M! In the example, the devices for driving and controlling each of the bending, forward and backward rotations are separate devices. 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.
Switch 1. ], 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. This operation section 121 has four parts]
-22, and a wire guide 123 is provided within this recess 122 in parallel to the longitudinal direction of the insertion portion 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 ] 3 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 125 is fitted into the four parts 1-22. 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 28. 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 operation section 12, 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 each provided with a portion related to bending control, advancing/retracting control, and one rotation control of the bending/advancing/retracting/rotation control circuit 20 in the first embodiment, and these are each provided with a part related to one rotation control of the bending/advancing/retracting/rotating control circuit 20, and these are each provided with a portion related to one rotation control of the bending/advancing/retracting/rotation control circuit 20 in the first embodiment. By operating the joystick 120, bending control, advance/retreat control, and single rotation control are performed.

Note that the position of the recessed member 126 is the same as that of the encoder ]-2.
9, and based on this position information, a control circuit provided in the operating section 121 performs bending control and bending micro-vibration control such as the micro-vibration angle.

Other functions and effects of Configuration 1 are the same as 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
In Figure 4, <a) shows the output of the bending resistance detection circuit] 9, and (b) or d) respectively show the output of the switch 1.0.
(e) and (f) each show the operation of the joystick 8.9, (g) or i
) indicate the operations of the switches 25a, 25c, and 25d, respectively. In addition, (j) and (k> are the curved drive motor 12a
speed control circuit 29a and rotation direction indicating circuit 30 for
Similarly, (fJ) and (m) show the operation of the circuit 29b to 30b for the bending drive motor 12b, and (n) and (0) show the operation of the circuit 2 for the motor 23a for advancing and retracting.
9c and 30c, and (p) and (q) show the operations of circuits 29d and 30d for the rotation motor 24a.

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. 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 the bending resistance detection circuit 19 is equal to or higher than a predetermined value. It has become.

In order to simplify the explanation, in FIG. 32, as shown in (g), the vibration mode is in the same direction (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 FIGS. 32(a) and 32(e), when the output of the bending resistance detection circuit 19 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 (IJ) and (m), the bending portion 7 is bent in the R direction by the normal operation of the speed control circuit 129b and the rotation direction instruction circuit 30b. However, as shown in (ρ), the speed of bending is faster than the speed during bending vibration.

Other people.

The same holds true when curving in the D 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>). However, as shown in (ρ), the speed control circuit 29b outputs a pulse in the low speed mode.Therefore, the bending portion 7 performs the RL force direction bending vibration at a narrow angle and at a low speed.Other U, D, The same applies when the output of the bending resistance detection circuit 19 becomes equal to or greater than a predetermined value during the bending operation in the L direction.

In addition, as shown in (a) and (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 greater than or equal to a predetermined value in the control circuit 28, one bending resistance detection circuit outputs H when the bending resistance is greater than or equal to a predetermined value. , L may be output at other times.

As described above, according to this embodiment, when the bending resistance of the bending portion 7 exceeds a predetermined value, bending microvibrations are automatically performed to reduce contact resistance, thereby further improving 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 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 circuit 19 shown in FIGS. 1 and 3 is input to the control circuit FI@28 in the bending forward/backward rotation control circuit 20. This control circuit li'828 controls the speed control circuit 29d for rotation and the rotation direction indicating circuit 30d to cause rotational 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. 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 FIG. 33(q).
As shown in p), the speed control circuit 29d outputs pulses in the low speed mode. Therefore, the insertion section 2 performs rotational slight vibration 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, as shown in (j>or q), independently of the bending or forward/backward operation, 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 2 are similar to those of the first or 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 less than a predetermined value.

The structure of the true fruit color tone is substantially the same as that of the first embodiment.

In this embodiment, similarly to the eighth embodiment, the output of one bending resistance detection circuit shown in FIGS. 1 and 3 is input to the control circuit 28 in the bending forward/backward/rotation control circuit 20. This control circuit FI@28 is a speed control circuit 29c for forwarding when the output of the bending resistance detection circuit 19 is equal to or higher than a predetermined value.
And the rotational direction indicating circuit 30c is controlled to cause forward and backward slight vibrations.

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 circuit 19 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> and (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 (f), when the joystick 9 performs a forward (P u s h ) operation and the output of the bending resistance detection circuit 19 exceeds a predetermined value, as shown in (o), the rotation The direction indicating circuit 30c outputs a pulse that is longer at L than at H. 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 10a and Oc, and (d) and (e) respectively indicate the operation of the joystick 8.9.
(f) to h) respectively indicate the operations of the switches 25a, 25c, 25 (:]. In addition, (i) and (j) indicate the operation of the bending drive motor 12a.
speed control circuit 29a and rotation direction indicating circuit 30 for
Similarly, (k) and ('') indicate the operation of circuits 29b and 30b for the bending drive motor 12b, and (
m) and (n) are circuits 29c for the motor 23a for advancing and retracting
, 30c, and (0) and (p) show the operations 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 the switch 25e, a curve following rotational vibration mode setting switch 25f is provided. When the bending follow-up rotational slight vibration mode is set by this switch 25f, the control circuit 28 in the bending/forward/backward/rotation control circuit 20 controls the rotational slight vibration 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 the narrow angle mode, and as shown in (0), the speed control circuit 29d outputs pulses in the low speed mode.Therefore, during the bending operation of the bending part 7, the insertion part 2 is in the narrow angle, low speed mode. Performs rotational vibration at high speed.

As described above, according to this embodiment, when the bending portion 7 is operated to bend, rotational slight vibration is automatically performed and contact resistance is reduced, so that insertability is further improved.

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

FIG. 37 is a timing chart 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 used as a forward/backward follow-up forward/backward fine vibration mode setting switch, 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 tracking fine vibration mode, the control circuit 28 in the bending, forward/backward, and rotation control circuit 20 causes the forward/backward slight vibration to be performed during the forward/backward operation. ing.

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. Furthermore, as shown in (n>), when the joystick 9 is operated in the forward direction, the rotational direction indicating circuit 30c outputs a pulse that is longer in L than F(, and when the joystick 9 is operated in the bow direction. In this case, H outputs a longer pulse than L.The frequency of the output pulse of the rotation direction indicating circuit 30c changes according to the mode set by the switch 25c, as shown in (g). .Thus,
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.

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

FIG. 38 is an evening/imming yard 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 used as a 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 joystick 9 is rotated as shown in FIG. 38(e), normal rotation is performed as shown in (o) and (p), and speed control circuit R29c is performed as shown in (m). outputs a pulse according to the mode set by the switch 25d, as shown in (h). 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. This results in
During the rotation operation, the insertion section 2 rotates while moving forward and backward with slight vibrations.

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

Other functions and effects of the configuration 1 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 slight vibration mode is set by the switch 35f, the bending/advance/backward/rotation control port FI! Under the control of the control circuit 28 in 120, slight forward and backward vibrations are performed during the bending operation.

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. 39(d), normal bending is performed as shown in (i) to 11), and the speed control circuit 29c is , switch 2 as shown in (h)
It outputs a pulse according to the mode set by 5d. Also, 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). As a result, during the bending operation, the insertion portion 2 bends while slightly vibrating forward and backward.

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 Structure 2 are the same as those of the first embodiment.

In addition, in combinations other than those shown in the eleventh to fourteenth embodiments, bending, forward/backward, or rotational slight vibrations may be automatically performed during a single bending forward/backward or rotational operation.

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

In this embodiment, the bending motors 12a, 12b, the forward/backward motor 32a and the rotating motor 24a in the first to fourteenth embodiments are used.
In this case, 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 132d 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 132 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 32C, the DC motor 131 is stopped. Further, the voltage of the power supply 133, 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] 34 is turned on, the DC motor 131 is locked by the back electromotive force, and when the switch 134 is turned off, the DC motor 131 is locked.
becomes free.

The other functions and effects of Structure 1 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 a means for slightly advancing and retracting the insertion portion is provided, contact resistance is reduced and the insertion portion can be easily inserted by slightly advancing and retracting the insertion portion. In addition, since the operating state of fine advancement and retraction can be selected, there is an effect that it is possible to turn on/off the fine advancement and withdrawal and select appropriate conditions depending on the insertion site.

[Brief explanation of drawings]

1 to 19 show 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. Figure 3 is a block diagram showing the configuration of the bending forward/backward rotation control circuit, Figure 4 is a timing chart 1-5 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. 6 is a timing chart for explaining the operation of the endoscope device during the bending operation in the same direction micro vibration mode.
FIG. 7 is a timing chart 1-1 for explaining the operation of the endoscope apparatus in the right-angle micro-vibration mode; FIG. 8 is a timing chart 1-1 for explaining the operation of the endoscope apparatus during turning motion; 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. timing chart, 1st
Figure 1 shows timing charts 1 to 1 to explain the operation of the endoscope device during forward/retreat micro-vibration and bending micro-vibration, and Figure 12 shows the operation of the endoscope device when the conditions of advance/retreat micro-vibration are changed. Timing charts for explanation; FIG. 13 is an explanatory diagram showing fine vibrations in the vertical direction; FIG. 14 is an explanatory diagram showing fine vibrations in the left-right direction; FIG. 15 is an explanatory diagram showing right-handed turning motion; Figure 16 is an explanatory diagram showing left-handed turning movement, Figure 17
The figure is an explanatory diagram showing forward and backward micro-vibrations, Fig. 18 is an explanatory diagram showing rotational micro-vibrations, Fig. 19 is an explanatory diagram showing a part of the mode display section of the monitor, and Figs. 20 and 21- are in accordance with the invention. 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.
2 and 23 relate to the third embodiment of the present invention, and FIG.
23 is an explanatory diagram showing the external appearance of the endoscope device, FIGS. 24 and 25 relate to the fourth embodiment of the present invention, and FIG. 24 is a block diagram showing the configuration of the endoscope device. FIG. 25 is an explanatory diagram showing the external appearance of the endoscope device, FIGS. 26 to 28 relate to the fifth embodiment of the present invention, and FIG. 26 is a block diagram showing the configuration of the endoscope device. A block diagram showing the configuration of the endoscope device, FIG. 27 is a timing chart for explaining the operation of this embodiment, FIG. 28 is an explanatory diagram showing the external appearance of the endoscope device, and FIGS. 29 and 30 are in accordance with the present invention. Regarding the sixth embodiment of the invention, FIG. 29 is an explanatory diagram showing the configuration of an endoscope device, FIG. 30 is an explanatory diagram showing the external appearance of the endoscope device, and FIG. 31 [71 is a seventh embodiment of the present invention] Explanatory diagram showing the configuration of an example endoscope device, Part 3
2 is a timing chart for explaining the operation of the endoscope apparatus according to the eighth embodiment of the present invention, and FIG. 33 is a timing chart for explaining the operation of the endoscope apparatus according to the eighth embodiment of the present invention.
A timing chart for explaining the operation of the endoscope apparatus according to the embodiment, FIG.
5 and 36 relate to the eleventh embodiment of the present invention, and the third embodiment
5 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.
FIG. 7 is a timing chart for explaining the operation of the endoscope apparatus in the second embodiment of the present invention, and FIG. 38 is a timing chart for explaining the operation of the endoscope apparatus in the thirteenth embodiment of the present invention. Chars 1 to 39 are the first embodiments of the present invention.
FIG. 40 is a timing chart for explaining the operation of the endoscope apparatus in the fourth embodiment, and FIG. 40 is a circuit diagram showing a motor and its control circuit in the fifteenth embodiment of the present invention. 1... Endoscope 2. Insertion section operation section 7... Curving section 9 Joystick 0.11.25... Switch 2a 12b... Curving drive motor 6... Control device O... Curving, advancement/retraction, rotation control circuit 3... Advance/retreat roller 23a... Advance/retract motor 4...
Rotating roller 24a/rotating motor 9a to 29d...
Speed control circuit Oa ~ 30 d...Rotation direction indicating circuit 1 Figure 20 Figure 18 /cj 8υ Figure 21 0ri Figure 24 Figure 26 Figure 27 (C) [) [5 Ibar lO! Figure 29 Figure 31 Figure 30

Claims (1)

[Scope of Claims] An endoscope apparatus having an insertion section to be inserted into a subject, comprising: means for slightly advancing and retracting the insertion section; a fine advancement and retraction control means for controlling the means for slightly advancing and retracting; and the fine advancement and retraction control. 1. An endoscope apparatus comprising a selection means for selecting an operating state of the means.