JPH04261636A - Endoscope - Google Patents

Abstract

PURPOSE:To obtain an endoscope by allowing the setting of the maximum angle of bending without complicating the construction of an endoscope. CONSTITUTION:A bending motor 34 is built into an operating section 8 and is provided with an encoder 36. Moreover, a resistance 38 for discriminating the type is provided. A control circuit 40 is in a bending motor controller 6. Output signals of a bending switch 20 and an encoder 36 are inputted. The resistance 38 for discriminating the type is inputted into the control circuit 40 through a comparator 42. A remote control section 28 is provided with a bending switch 44, a straight switch 46 and a preference switch 48 and inputted into the control circuit 40. The control circuit 40 is connected to bases of transistors 54 and 56 through an inverter 50 and a buffer 52. The transistors 54 and 56 are connected in series and a collector of the transistor 56 is connected to the motor 34 through a relay 58.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope apparatus having a driving means for bending a curved portion of an endoscope using a motor.

0002

2. Description of the Related Art Conventionally, endoscopes have been widely used, which are capable of diagnosing and inspecting internal organs in a body cavity by inserting an elongated insertion portion into the body cavity. In addition, not only for medical purposes but also for industrial purposes, we can observe objects inside pipes such as boilers, machines, chemical plants, etc., or inside machines.
It is used for inspection.

[0003]Furthermore, various endoscopes are also used that use solid-state imaging devices such as charge-coupled devices (CCDs) as imaging means.

[0004] In recent years, an endoscope has been proposed in which a motor is used as a driving means for a bending operation to bend a bending section provided in the insertion section of the endoscope, for example, vertically and horizontally.

[0005] For example, the present applicant has filed Japanese Patent Application No. 2-86178.
No. 2-284987 and Japanese Patent Application No. 2-284987 propose an electric endoscope device capable of detecting a bending angle. Furthermore, as shown in Utility Model Application No. 57-51573, a mechanical stopper mechanism was provided for each endoscope to set the maximum bending angle.

[0006]

[Problems to be Solved by the Invention] However, these conventional means for setting the maximum bending angle of the bending portion have been provided with a mechanical stopper mechanism for each endoscope. It may become complicated, and the maximum bending angle must be mechanically adjusted for each endoscope.

The present invention has been made in view of the above circumstances, and it is an object of the present invention to provide an endoscope apparatus in which the maximum bending angle can be set without complicating the structure of the endoscope.

[0008]

[Means for solving the problems] The endoscope device of the present invention includes:
Endoscope type discrimination for determining the type of endoscope in an endoscope apparatus having a drive means for bending a curved part of an endoscope by a motor and a bending angle detection means for detecting a bending angle of the curved part a discriminating means for discriminating a maximum bending angle in at least one direction of the bending portion by the endoscope type discriminating means and the bending angle detecting means, and a storage means for storing the maximum bending angle. .

[0009]

[Operation] The endoscope type determining means determines the type of endoscope, the bending angle detecting means detects the bending angle of the curved portion, and the endoscope type determining means and the bending angle detecting unit detect the bending angle of the bending portion. The means determines and stores the maximum bending angle of the bending portion in at least one direction.

0010

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings.

1 to 5 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 a block diagram explaining the functions of the endoscope device, and FIG. 4 is a flowchart for explaining endoscope model discrimination, FIG. 4 is a flowchart for explaining Z-phase discrimination, and FIG. 5 is a flowchart for explaining bending resistance display.

As shown in FIG. 1, an endoscope apparatus 1 includes an endoscope 2, a light source device 3 that supplies illumination light to the endoscope 2, and a video camera that performs signal processing for the endoscope 2. a processor 4; a monitor 5 that receives a video signal output from the video processor 4 and displays a subject image; and a curving unit that controls the curving of a curving section 16 provided in the insertion section 7 of the endoscope 2. A motor control device 6 is provided. The endoscope 2 includes an elongated insertion section 7 that can be inserted into a subject, and a large-diameter operation section 8 connected to the rear end of the insertion section 7.
A universal cord 9 extends from the side of the operating section 8, and a connector 10 is provided at the end of the universal cord 9 and is detachably connected to the light source device 3. A video processor cord 11 and a motor control device cord 1 are connected from the side of the connector 10.
3 has been extended. The end of the video processor cord 11 is provided with a connector 12 that is detachably connected to the video processor 4, and the end of the motor control device cord 13 is provided with a connector 12 that is detachably connected to the motor control device 6. A connector 14 is provided.

The insertion section 7 of the endoscope 2 includes a rigid distal end component 15 and a curved section connected to the rear end of the distal end component 15, which can be bent in up, down, left and right directions, and in a combination thereof. section 16 and a long flexible tube section 17 connected to the rear end of this curved section 16, and the rear end of the flexible tube section 17 is connected to the operation section 8. has been done.

Further, the operation section 8 is provided with an air/water supply button 18, a suction button 19, and a bending operation switch section 20 as a bending operation means. The air supply
By operating the water supply button 18, air or water is supplied from the air/water supply port provided in the tip component 15, and by operating the suction button 19, the internal components of the endoscope 2 are supplied. Suction is performed using a suction channel (not shown) provided in the drawing. Further, the bending operation switch section 20 is of a joystick type having a lever 21, and by operating the lever 21 two-dimensionally, the bending section 16 can be bent in a desired direction. It looks like this.

The distal end portion 15 is provided with an illumination window and an observation window (not shown). An output end face of a light guide (not shown) is arranged inside the illumination window. This light guide is inserted through the insertion section 7, the operation section 8, and the universal cord 9, and its input end is connected to the connector 10. A light source (not shown) is provided in the light source device 3 to which this connector 10 is connected, and illumination light emitted from this light source enters the incident end surface of the light guide, passes through this light guide, and exits from the illumination window. It is designed to irradiate the area to be examined.

Although not shown, an objective optical system and a solid-state image pickup device, for example, a CCD, are provided inside the observation window. A signal line (not shown) connected to the CCD is connected to the insertion section 7.
, the operating section 8 , the universal cord 9 , the connector 10 , and the cord 11 , and are connected to the connector 12 .

The video processor 4 to which the connector 12 is connected is provided with a video signal processing circuit (not shown), and the input end of this video signal processing circuit is connected to a receptacle (not shown) connected to the connector 12. , an output end of the video signal processing circuit is connected to the monitor 5. The CCD is driven by the video signal processing circuit, and an image of a subject such as a test portion formed on a photoelectric conversion surface of the CCD by the objective optical system is photoelectrically converted and sent to the video signal processing circuit as an image signal. is input. The image signal is converted into a video signal by the video signal processing circuit, and an image of the subject to be examined is displayed on the monitor 5 using this video signal.

Although not shown, four curved wires each having one end fixed to the front end of the curved section 16 are inserted into the insertion section 7 . In addition, inside the case of the operation unit 8,
For example, two bending motors are provided as driving means for pushing and pulling the bending wire to bend the bending portion 16.

Note that the connector 10 is connected to the connecting cable 2.
4, it is connected to the air/water/suction device 22. Further, the bending motor control device 6 is electrically connected to the air/water supply/suction device 30 via an electric cable 26 . Further, the bending motor control device 6 is connected to the remote control operation section 28 via an electric cable 30.

As shown in FIG. 2, the bending switch 20 of the endoscope 2 is a two-circuit ON/OFF switch. The operating section 8 has a built-in bending motor 34. This motor 34 is provided with an encoder 36. The connector 10 is provided with a model discrimination resistor 38.

A control circuit 40 is provided in the bending motor control device 6, and output signals from the bending switch 20 and encoder 36 are input thereto. Further, the model discrimination resistor 38 is inputted to the control circuit 40 via a comparator 42.

The remote control operation section 28 is provided with a bending switch 44, a straight switch 46, and a priority switch 48. Curved switch 44, straight switch 4
6 is a two-circuit switch. These curved switches 44,
A straight switch 46 and a priority switch 48 are input to the control circuit 40. Curving switch 20 for endoscope 2
is a two-circuit ON/OFF switch.

The control circuit 40 is connected to the bases of transistors 54 and 56 via an inverter 50 and a buffer 52. The transistors 54 and 56 are connected in series, and the collector of the transistor 56 is connected to the motor 34 via a relay 58. (The * in the figure indicates a logic element with open collector output.) By the way, the outputs of the curved switch 44 and the straight switch 46 are connected to the EX-OR circuits 60 and 6 as signal mismatch detection circuits.
2,64. In addition, the input signals of the inverter 50 and the buffer 52 are input to EX-NO as a coincidence detection circuit.
It is input to the R circuit 66. These, EX-OR, EX-
The outputs of the NOR circuits 60, 62, 64, and 66 are input to a 4-input open collector output OR circuit 68. The output of this circuit 68 is input to the excitation circuit of relay 58.

In the first embodiment, for the sake of simplicity, the bending switch 20 is used only in the upward direction of the bending operation of the bending portion 16.
Although the motor 34 has also been described as being used to drive the bending in that direction, the bending switch 20 instructs the operation in the up, down, left and right directions, and also drives the bending portion 16 in the down, left and right directions (not shown) in addition to the motor 34. It has three motors.

The functions explained in this first embodiment are (1) determining the model and setting the MAX bending angle, (2) stopping bending when the bending angle reaches MAX, (3) bending switch; The straight switch is 2 for SFC countermeasures.
(4) When the two-system input is other than a predetermined value, the motor is set free. (5) A remote control operation section is provided in addition to the operation section. (6) A plurality of operation sections are provided. You can set priorities.

The above function (1) will be explained.

When the connector 14 is connected to the device 6, the control circuit 40 reads the output of the comparator 42, and as shown in FIG.
According to the flowchart from S35 shown in
to determine the model, and select each S38, S40, and S according to the model.
42 sets the MAX bending angle. When the endoscope is not connected, up/down Z phase is not detected (in S44, flag UDZ=0), which will be described later. Note that the down, right, left and F/L=F in S46 in FIG. 8, the bending speed in S48 as Min, and the AV mode in S50 as UD are ignored in the first embodiment. Further, the MAX bending angle is not set.

Function (2) will be explained.

When the bending switch 20 is turned on, FIG.
, 5 is controlled as shown in the flowchart. That is, when the motor 34 rotates, the encoder 36 outputs A-phase, B-phase, and Z-phase pulse trains depending on the rotation angle. The Z phase is an output for zero adjustment, and is output when the curved portion 16 is substantially straight. First, when the Z phase is not input to the control circuit 40,
UDZ=0. Therefore, the bending switch 20 is turned on.
Even if it is curved in the UP direction, MA
The X-curvature angle is not determined. Therefore, it curves in the UP direction. In this first embodiment, the MAX bending resistance is not determined. Also, MAX is not displayed.

Next, in FIG. 4, when the Z phase is input to the control device 40, UDZ=1 is set. Then, when the bending switch 20 is turned on, since UDZ=1, MA
Is it an X-curved angle? If the curving angle is MAX, it is not bent any further, and if it is not MAX, it is bent in the upward direction. That is, the bending stops when the bending angle set in FIG. 3 is reached. Incidentally, when the bending switch 20 is not pressed, the bending is stopped.

If the bending switch 20 is replaced with the bending switch 44, the operation will be explained when operated by the remote controller.

Function (3) will be explained. If one of the electric wires from the bending switch 20 and the bending switch 44 to the control device 40 is shorted to the ground level, for example, when the bending switch 20 and the bending switch 44 are OFF, one of the wires is at a high level and the other is at a high level. becomes low level. As a result, the output of the EX-OR circuit 60 or 62 becomes high level, the contact of the relay 58 is broken, the circuit of the motor 34 is opened, and the bending portion 16 is placed in a so-called free state. In addition, when the electric wire short-circuits with the power supply, the bending switch 20 and the bending switch 44
When turned on, the relay breaks. Note that once the relay breaks, that state is maintained.

The same applies to the straight switch 46, so the explanation thereof will be omitted.

The output of the control circuit 30, that is, the inverter 50
The inputs to the buffer 52 and 52 become "low level" and "high level" respectively when the bending is stopped. That is, transistors 54 and 56 are OFF. Applying up curvature results in "high level" and "low level". That is, the transistors 54 and 56 are turned on, power is supplied to the motor 34 through the contacts of the relay 58, and the motor 34 is bent upward.

Here, the control circuit 40 goes out of control and its output signal becomes "low", "high" or "high" or "high".
When this occurs, the output of the EX-NOR circuit 66 becomes high, and therefore, the contact of the relay 58 is broken in the same manner as described above.

Function (4) is included in function (3). In addition, since two transistors 54 and 56 (two systems) are provided, even if one of them is short-circuited, the motor 34 will not continue to rotate.

Function (5) includes a bending switch 20 and a bending switch 44 on both the operating section 8 of the endoscope 2 and the remote control operating section 33. Therefore, a novice doctor can use the operation switch 20, and a veteran doctor can use the operation switch 44.
The doctor can teach the ``tricks'' of operation, and if a novice doctor makes a mistake, the doctor can correct the operation.

Function (6) is provided with a priority switch 48 on the remote control operation section 28, and each time this switch 48 is turned on, the priority is switched between the endoscope 2 priority and the remote control operation section 28 priority.

A lever (not shown) provided in the operating section 8 is used to engage and disengage a gear (not shown) provided in the operating section 8, and by operating this lever, the bending section 16 is moved. Becomes free.

FIGS. 6 to 15 relate to the second embodiment,
FIG. 6 is a block diagram explaining the functions of the endoscope device, FIG. 7 is a block diagram showing the configuration of the endoscope device, FIG. 8 is a block diagram showing the configuration of the control device of the endoscope device, and FIG. 9 is a block diagram showing the configuration of the endoscope device. A circuit diagram explaining the output to the discrimination circuit, FIG. 10 is a flowchart explaining the switch reading operation, FIG. 11 is a flowchart explaining the bending angle display, FIG. 12 is a flowchart explaining the power ON setting, and FIG. 13 is a flowchart explaining the free lock operation. FIG. 14 is a flowchart for explaining the straight operation, and FIG. 15 is a flowchart for explaining the AV operation.

In addition to the first embodiment, the second embodiment has an angle vibration (hereinafter abbreviated as AV) function. The bending angle and bending resistance are displayed on the monitor. In one box, VP, air supply, water supply, suction, light source, monitor,
A motorized bending control device is provided.

Since the endoscope 2 of the second embodiment is basically the same as the first embodiment, only the different parts will be described, and the other parts will be given the same reference numerals and the explanation will be omitted.

As shown in FIG. 6, a motor 34 (for up-down) capable of forward and reverse rotation is provided. Although not shown, a similar right-left motor is provided.

As shown in FIG. 7, the endoscope 2 is detachably connected to a central control device 140 via its universal cord 142. The control device 140 is provided with a monitor 156, a joystick 146 for bending operation, a switch unit 144, an air/water supply switch button 148, a suction switch button 150, a release switch button 154, a photometry changeover switch 156, and a light source light amount setting switch 152. There is. A grip 141 is provided. Connector 10 is connected only to device 140.

As shown in FIG. 8, the bending switch 20 has four directions, namely an up switch 20a, a down switch 20b, a right switch 20c, and a left switch 20.
Consists of d. Further, a straight switch 186 and a speed setting switch 187 are provided. Furthermore, a type signal output circuit 188 is provided.

The outputs of the bending switches 20a to 20d, speed setting switch 187, straight switch 186, and comparator 184 of the endoscope 2 are input to the control circuit 80 of the control device 140. In addition, a straight switch 160 provided in the switch unit 78, an AVO
N/OFF switch 162, AV mode switch 164
, AV speed switch 166, AV cycle switch 16
8. Free lock switch 170, priority switch 17
2. The output signals of the up switch 174, down switch 176, right switch 178, left switch 180, and bending speed switch 182 are input. Furthermore, SF
Functions that require countermeasures against C have two input circuits. These two system inputs are then input to the discrimination circuit 100.

This discrimination circuit 100 is based on the EX of the first embodiment.
-OR circuits, and all outputs of the EX-OR circuits are outputted to the open collector output OR circuit of FIG. 6 via the OR circuits.

The output of the encoder 36 is input to the control circuit 80 . Similarly to the first embodiment, the circuit 80 converts the transistor control output into open collector output inverters or buffers 82, 84, 86, 88, 90, 92, 9.
4 and 96, and also to the discrimination circuit 100. This discrimination circuit 100 consists of four EX-NOR circuits similar to those of the first embodiment and a circuit for ORing their outputs, and the output thereof is input to an OR circuit 102.

Control circuit 80 outputs a relay make/break signal to OR circuit 102. The operation of control circuit 80 is monitored by watchdog timer circuit 104. The output of the circuit 104 is output to the OR circuit 102. The power supply voltage supplied to the circuit 80 is supplied to the voltage monitoring circuit 106.
When the power is turned off, a relay make/break signal is output to the OR circuit 102.

The inverter or buffer 82, 8
The outputs of 4, 86, 88, 90, 92, 94, and 96 are connected to transistors 110, 112, 114, and 11 through resistors.
6, 118, 120, 122, 124 bases. These transistors 110, 112, 114, 11
6, 118, 120, 122, and 124 receive power from the power supply V2 through the power supply stop transistor 111, and also supply forward/reverse rotation power to the motor 34 through the relay 58. The current value supplied to this motor 34 is detected by a current detection circuit 132, one of which is sent to the control circuit 80 via the A/D conversion circuit 134, and the other is sent to the comparator 130. The comparator 130 outputs a high level when the current value is below a predetermined value, and outputs a low level when the current value is above a predetermined value.

The voltage value of the power supply V2 is determined by the voltage detection circuit 13.
2 and input to the control device 80 via the A/D conversion circuit 134.

The control circuit 80 converts the input signal from the encoder 36 into a bending angle signal and displays it on the upper left of the monitor 156. Furthermore, when the bending angle reaches MAX, MA
Display X. Further, the input signal from the current detection circuit 132 is converted into a bending resistance signal and displayed at the lower left of the monitor 156. Note that the display method is, for example, a cross.

Next, a description will be given based on a flowchart. When the power is turned on, the program starts in S88 of FIG. That is, flag F/L=F at S90, bending speed: Min at S92, AV mode: UD at S94, S9
6: AV speed: Min, S98: AV cycle: Mi
n, respectively, and the process ends in S100. This routine is executed only when the power is turned on.

After the power is turned on, control is performed as shown in FIG. That is, the states of the switches of the operating unit 8 and the switch unit 144 are read in the "switch reading routine" in S2, the model is determined in the "model discrimination routine" in S4 (see FIG. 3), and the "Z phase discrimination routine" in S6 is carried out. ” (see Fig. 4), the “bending angle determination routine” in S8 (see Fig. 11), and the “bending resistance display routine” in S10 are performed, and then in S12 V2 is compared with the set value, and if it is larger than the set value, Break relay 58 (main when the power is turned on). If V2 is less than the set value, it is determined in S16 whether the bending switch is turned on, and if it is turned on, the "bending operation routine" (see FIG. 5) in S18 is executed. If OFF, S2
After setting the "bending stop" at 0, it is determined in S22 whether the straight switch is turned on, and if it is turned on, the "straight operation routine" in S24 (see FIG. 14) is executed. OF
If it is F, then S26 is used as a “straight stop”, then S
28 determines whether the AV switch is ON, and if it is ON, S3
The "AV operation routine" (FIG. 15) of 0 is executed. OF
If F, "AV stop" is performed in S32, and then the "F/E operation routine" (see FIG. 13) in S34 is executed. Repeat the above operations.

The above-mentioned "switch reading routine" also reads the output signal of the encoder 36, the output signal of the current detection circuit 126, and the output signal of the comparator 130.

Based on FIG. 3, the process from identifying the model to setting the MAX curvature value will be explained. In the switch reading routine, the output of the type signal output circuit 188 is read, and the model is determined based on the signal. That is, in S36 the GI
Determine whether F, CF, JF is unconnected. And S38
, S40, and S42, the MAX bending angle is set for each model. When not connected, "UDZ=RLZ=0" in S44, S4
6: "F/L=F", S48: "Bending speed: Min"
", and the "AV mode: UD" is set in S50.

The "Z phase determination routine" will be explained based on FIG. In S64, it is determined whether UDZ=0, and if Yes, in S66, is there a Z-phase output? to decide. If yes, S68
In S70, "UDZ=1" is set, and in S70, "UD bending angle=0 degree" is set. If no, do nothing. The same applies to the RL direction, so the explanation will be omitted.

Once the Z-phase output is detected, UDZ=1, so nothing is done after that. However, when the connector 10 of the endoscope 2 is disconnected, this routine has meaning because UDZ=RLZ=0.

The "bending angle display routine" will be explained with reference to FIG. That is, it is determined in S74 whether UDZ=0, and if Yes, the output of the encoder 36 is converted and displayed in S76. If No, all bar graphs in the UD direction are lit in S78. Next, in S80, it is determined whether RLZ=1 or not.
If s, the output of the encoder 36 is converted and displayed in S82. If No, all bar graphs in the RL direction are lit in S84. In this way, the bending angle is displayed on the monitor 156, and all lights are turned on when the Z phase is not input.

The "bending operation routine" will be explained based on FIG. 13. First, in S104, it is determined whether the curve is in the upward direction, and if No, nothing is done. If yes, S106
It is determined whether UDZ=1 or not, and if Yes, it is determined in S108 whether or not it is the MAX bending angle. If Yes, the MAX display is made on the monitor 156 in S110, if No, it is determined whether it is the MAX bending resistance in S112, and if Yes, nothing is done. If no, S11
4 to curve up. That is, when the up switch is turned on, it is determined whether the Z phase is output, the MAX bending angle, or the MAX bending resistance, and only when the Z phase output is present, the MAX bending angle is below, and the MAX resistance is below, up bending is performed. be done. Note that down, right, and left are also the same, so explanations will be omitted.

The "straight operation" will be explained based on FIG. 14. Determine whether UDZ=1 in S120, and if Yes, S
In S122, it is determined whether RLZ=1, and if Yes, it is bent in the straight direction in S124. If no, do nothing. Straight means curving in a direction with a curvature angle of 0 degrees. When there is no Z-phase input, the straight switch is ignored.

"AV operation" will be explained based on FIG. 15. AV is turned on by the above "switch reading routine"
If the flag is FAV=1, if it is OFF, FAV=0. If FAV=1, control is performed as follows; if FAV=0, control is performed as described below. That is, FAV=1 in S130
If so, determine whether the AV mode has been changed, and if Yes, S134
to turn AV: OFF, and set AV speed: Mi to S136.
"AV cycle: Min" in S138, S140
"AV mode change" is performed in step S142, and "FAV=0" is set in step S142. If No, go to S156 for "AV speed setting routine"
(Description omitted), an "AV cycle setting routine" (description omitted) is performed in S158, and the AV operation is turned off in S160.

[0063] If FAV=0, turn off AV operation in S144.
F, determine whether the AV mode has been changed in S146, and select Yes.
If s, perform the "AV mode setting routine" in S148,
If No, pass and select “AV mode: Min” on S150.
", "AV cycle: Min" in S152, "AV cycle: Min" in S154,
FAV=0".

As described above, if the setting of the AV mode switch is changed while AV is ON, AV will be turned OFF and the "AV mode: Min", "AV cycle: Min", "
FAV=0". You can also set the AV speed and
Setting of the V cycle is possible only when AV:ON. In other words, when AV is turned on, it is always "AV mode: Min".
Starting from “AV cycle: Min” and “FAV=0”,
When AV: OFF, "AV mode: Min"
“AV cycle: Min” is reset to “FAV=0”.

As shown in FIG. 3, curved, straight, AV
When all are OFF, the "F/E operation routine" (Fig. 13
)I do. In other words, if flag F/E=F, bending is free, F
/E=E, it becomes a curved clock.

As shown in FIG. 10, priority is given to straight switches over AV and curved switches over straight switches. That is, it can be straight or curved during AV. Can be curved while straight.

As shown in FIG. 13, when the MAX curving angle is reached, the curving is stopped and the MAX curving angle is displayed.

As shown in FIG. 6, the watchdog timer circuit 104 detects an abnormality in the control circuit 80 and outputs a "high level". The discrimination circuit 100 detects a mismatch between the two input systems, and outputs a "high level" if there is a mismatch. When the current flowing through the motor is greater than or equal to the set value, the control circuit 80
When the bending speed voltage is equal to or higher than the set value, a "high level" signal is output to the OR circuit 102. It also outputs a "high level" signal when up and down, right and left bending switch signals are input at the same time. The comparator 130 outputs a "low level" signal when the current flowing through the motor 34 is equal to or higher than a set value based on the output of the current detection circuit 132.

As shown in FIG. 7, in addition to the operating section 8, there is also a device 14.
0 also has a control switch. In addition, switch unit 1
44 is provided with a priority switch 172.

By the way, FIG. 9 shows an AV (angle vibration) control circuit. The pulse generating circuit 190 outputs a pulse with a duty of 50%. This pulse is ±
The signal is input to the 90-degree phase shifter 194 and also to the open collector output inverters 200 to 206 or buffers 209 to 214. When this pulse is "high level", transistors 110, 112, 122, 12
4 is ON and at "low level", transistor 114
, 116, 118, and 120 are turned on. That is, motor 3
4 repeats forward/reverse rotation. This pulse is also input to the retriggerable one-shot circuit 192. This circuit 19
2 outputs a "high level" as long as a pulse is input from the circuit 190. That is, the contacts of the relay 58 are made. However, when the pulse is no longer input, it outputs a "low level". That is, the contacts of the relay 58 are broken and the motor 34 is stopped. Therefore, circuit 190
It is safe even if it breaks down.

The output of the ±90 degree phase shifter 194 is input to the open collector output inverters 216 to 222 or buffers 224 to 230 and the retriggerable one-shot circuit 196. This is the control circuit on the RL side, but since it is similar to the UD side, the explanation will be omitted.

The control circuit 198 controls the AVON/OFF 23
2. Each switch output of AV mode 234, AV cycle 236, and AV speed 238 is input. This circuit 198 controls the pulse generating circuit 190 and the ±90 degree phase shifter 194. That is, control according to the state of each switch, for example, the pulse is stopped when AV OFF, the pulse frequency is changed when AV cycle is set, the transistor supply voltage V2 is changed when AV speed is set, and the circuit 194 OF when AV mode is UD.
F, AV mode: CW output of circuit 194 +90 degrees, A
V mode: -90 degrees when CCW.

In the second embodiment, the bending angle is detected by the bending angle detection encoder and the MAX bending angle is set. Therefore, for example, if you change the setting of the MAX bending angle depending on the year and month of use of the endoscope, you can change the setting of the so-called bending down (
As the curved wire is used repeatedly, the wire stretches and the MAX curve angle decreases.

Note that the MAX bending angle may be set manually using the switch unit 144.

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

FIG. 16 is a configuration diagram showing the configuration of an endoscope apparatus according to the third embodiment. The endoscope of the third embodiment is shown in FIG.
As shown in , a light guide 337, a pipe line 325, an air supply pipe line 327, a water supply pipe line 328, a suction pipe line (not shown), etc. are provided, and in particular, the operating section includes a motor 321, a bending operation wire 317, a drum. 318 etc. are provided.

Further, at the distal end of the insertion section 303, facing the objective optical system 343, an image pickup element 364 consisting of a CCD and its amplifier 365 are provided, and a CCD driving line and a signal line are connected to these elements.

[0078] The central control device 307 has a CCD drive circuit 3 connected to the CCD drive line and signal line via a universal cord 304 and a connector 306.
66, a motor drive circuit 367 connected to the motor drive line, a water tank 368 connected to the water supply pipe 328,
Water supply pump 369, air supply pump 371 connected to air supply pipe line 327, light source 372, suction tank 373, suction pump 374, and circuit 375 that drives water supply pump 369.
, a circuit 376 that drives the air supply pump 371, and a circuit 377 that drives the suction pump 374 are built in.

Furthermore, the central control device 307 is provided with various operation switches for operating the endoscope. That is, the joystick 1 that controls the motor drive circuit 367
46, water supply switch 148 that controls the circuit 375, air supply switch 150 that controls the circuit 376, light source intensity adjustment switch 152 that controls the light source 372, suction switch 154 that controls the circuit 377, and controls the color sensitivity of the monitor screen (not shown). adjustment switch 158, priority switch 172
The control circuit 300 is provided with output signals of various switches, and the control circuit 300 is provided with circuits 366, 367, and 37.
5, 376, 372, and 377. . The control circuit 300 also includes a transmitting/receiving circuit 301.
Also input the signal. The remote control operation unit 302 is the antenna 3
03, various switch signals are transmitted to the device 78 via the antenna 304. Operation section and remote control operation section 3
02 is provided with various switches to operate the endoscope.

Note that the AV cycle may be gradually increased. Alternatively, the AV speed may be gradually increased.

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

[0082]

As explained above, according to the present invention, the endoscope apparatus of the present invention includes a driving means for bending a curved portion of an endoscope by a motor, and a bending means for detecting the bending angle of the curved portion. An endoscope apparatus having an endoscope type determination means for determining the type of the endoscope, and an endoscope type determination means for determining the type of the endoscope, and an endoscope type determination means for determining the type of the endoscope, and an endoscope type determination means for determining the type of the endoscope, and the endoscope type determination means and the bending angle detection means for detecting the angle of the curved portion in at least one direction. Since the apparatus includes a determining means for determining the maximum bending angle and a storage means for storing the maximum bending angle, the maximum bending angle can be set without complicating the structure of the endoscope.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing the configuration of an endoscope apparatus according to a first embodiment.

FIG. 2 is a block diagram illustrating the functions of the endoscope apparatus according to the first embodiment.

FIG. 3 is a flowchart illustrating endoscope model discrimination according to the first embodiment.

FIG. 4 is a flowchart illustrating Z phase determination according to the first embodiment.

FIG. 5 is a flowchart illustrating a curved resistance display according to the first embodiment.

FIG. 6 is a block diagram illustrating the functions of an endoscope apparatus according to a second embodiment.

FIG. 7 is a configuration diagram showing the configuration of an endoscope apparatus according to a second embodiment.

FIG. 8 is a configuration diagram showing the configuration of a control device for an endoscope apparatus according to a second embodiment.

FIG. 9 is a circuit diagram illustrating an output to a discrimination circuit according to a second embodiment.

FIG. 10 is a flowchart illustrating a switch reading operation according to the second embodiment.

FIG. 11 is a flowchart illustrating curve angle display according to the second embodiment.

FIG. 12 is a flowchart illustrating power ON setting according to the second embodiment.

FIG. 13 is a flowchart illustrating a free lock operation according to the second embodiment.

FIG. 14 is a flowchart illustrating a straight operation according to the second embodiment.

FIG. 15 is a flowchart illustrating AV operation according to the second embodiment.

FIG. 16 is a configuration diagram showing the configuration of an endoscope apparatus according to a third embodiment.

[Explanation of symbols]

2...Endoscope 6...Bending motor control device 28...Remote control unit 34...Motor 36...Encoder 40...Control circuit 58...Relay

Claims (1)

[Claims] Claims: 1. An endoscope apparatus having a drive means for bending a curved portion of an endoscope by a motor, and a bending angle detection means for detecting a bending angle of the curved portion, wherein the type of the endoscope is determined. The endoscope type discriminating means, the endoscope type discriminating means, and the bending angle detecting means detect at least one of the curved portions.
An endoscope apparatus comprising: a determining means for determining a maximum bending angle in a direction; and a storage means for storing the maximum bending angle.