JPH04263830A - Endoscope device - Google Patents

Abstract

PURPOSE:To further improve the operability of a curved operation of a curved part, thus executing each operation of an endoscope. CONSTITUTION:By gripping an operating part 28 of an endoscope, an inclination angle of this operating part 28 is detected by a gyro 54. Subsequently, an output of the gyro 54 is inputted to a control circuit 57 provided in a curvature motor control circuit 26, and this control circuit 57 drives a curvature motor 51 in accordance with the detected inclination angle, when a recognition button 58 is being pushed. By driving this curvature motor 51, a curvature wire 53 is pushed and pulled, and the curved part executes a curvature operation.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope apparatus equipped with a bending means for electrically bending a bending portion.

0002

[Prior Art] Conventionally, the bending operation of an endoscope was performed by the operator rotating a bending knob himself, and power being transmitted to a tip bending wire that moved in synchronization with the rotation of a pulley linked to the knob. A common method was for the wire to curve in the direction in which the wire was pulled. However, when using an endoscope, the operator often places one hand on the insertion section and grasps the operating section with the other hand, and operating multiple curved knobs with one hand requires considerable skill. Significant improvements in the bending motion means have been desired.

[0003] Therefore, an endoscope apparatus has been proposed that is equipped with a bending means that performs a bending operation using a control stick-type bending operation device, as disclosed in Japanese Patent Application Laid-open No. 136524/1983. In such an endoscope device, the bending operation is performed by displacing the control stick in two directions instead of rotating the bending knob.

[0004] Furthermore, a method of bending by the driving force of a motor has been proposed, as disclosed in Japanese Patent Application Laid-Open No. 61-76126, as shown in FIG. 16, for example. Such an endoscope device includes an operation section 1 for performing various operations of the endoscope;
An endoscope having an elongated insertion section 2 connected to the operating section 1, and a light source and image processing connected to the endoscope via a universal cord extending from the side of the operating section 1. It consists of a device 3 and a monitor 4 connected to this light source and the image processing device 3. In addition, the insertion section 2 is composed of a flexible section 5 having flexibility from the operating section 1 side, a bending section 6 that performs a bending operation, and a rigid distal end section 7. A bending means for operation is provided within the operating section 1.

When a bending signal is input by operating the bending switch 8, the bending means transmits the power of the bending motor 9 to the pulley 10, and bends the bending wire 11 wound around the pulley 10. By pushing and pulling,
The curved portion 6 is curved. In Figure 16,
Although only a vertical bending mechanism is shown, a horizontal bending mechanism is actually provided as well.

[0006] By providing such a bending means,
The operability of the bending operation can be improved compared to the case where the bending operation is performed by operating the bending knob.

[0007] Furthermore, prior to the trend of electrification of the bending operation of the bending section, there has been a trend of video conversion of endoscope images, in which images are captured by a solid-state image sensor placed at the tip and observed on a monitor. There is. With the advent of videoscopes that convert endoscopic images into videos, the role of the endoscope operating section has changed from a video transmission medium holding member to an operating switch terminal, making it necessary to observe the operating section with one's eyes close to it. The elimination of the function increases the degree of functional freedom of the operating section. For this reason, since there are no restrictions on how to hold the operating section, there are no restrictions on the position of the operating section or the direction in which it faces.

[0008]

[Problems to be Solved by the Invention] However, in an endoscope device equipped with an electric bending means that performs an electric bending operation as described above, a two-way bending operation switch is provided in the operating section instead of a bending knob. Therefore, operating these to control the bending motion of the bending portion requires a different level of skill than operating the bending knob. That is, since there is a bending operation switch in two directions, the operating area of the fingers becomes large, and both hands are required to operate in two directions at the same time. Further, even when a curved lever such as a joystick is provided on the operating section, it is difficult to perform stable and delicate operations using only the fingertips. As described above, the purpose of improving the operability of the bending operation cannot be achieved only by performing the bending operation electrically.

[0009] Furthermore, in an endoscope device that performs a bending operation using a control stick-type bending operation device, a stand is required on which a housing in which the control stick is disposed is installed, and the operator has to stand up when changing the patient's body position. It is not easy to move the endoscope in response to changes in position.

The present invention has been made in view of these circumstances, and provides an endoscope device that further improves the operability of the bending operation of the bending portion and allows each operation of the endoscope to be performed easily. is intended to provide.

[0011]

[Means for Solving the Problems] An endoscope apparatus according to the present invention is an endoscope in which an operation part that also serves as a grip part is provided on the proximal side of an insertion part, and a bending part that performs a bending operation is provided in the insertion part. a drive means for driving the bending section; a tilt angle detection means for detecting a tilt angle of the operating section; and a curving control means for controlling the drive means based on an output of the tilt angle detection means. It is equipped with the following.

0012

[Operation] The operating section of the endoscope is grasped, and the inclination angle of the operating section is detected by the inclination angle detection means. Based on the output of the tilt angle detection means, the bending control means controls a driving means for driving the bending portion of the endoscope, and the driving means drives the bending portion, so that the bending portion performs a bending operation.

[0013]

Embodiments Hereinafter, embodiments of the present invention will be described with reference to the drawings. 1 to 4 relate to the first embodiment of the present invention,
FIG. 1 is an explanatory diagram showing the configuration of the main parts of the bending means, FIG. 2 is an explanatory diagram showing the state in which the endoscope operating section of FIG. 1 is gripped, and FIG.
is a flowchart showing the operation of the bending means in FIG. 1, and FIG. 4 is a configuration explanatory diagram showing the general configuration of the endoscope apparatus.

As shown in FIG. 4, the endoscope device 21 includes an endoscope 22, a light source device 23 that supplies illumination light to the endoscope 22, and a video processor that processes signals for the endoscope 22. 24, and a monitor 25 that receives the video signal output from the video processor 24 and displays the subject image.
and a curved portion 3 provided in the insertion portion 27 of the endoscope 22.
6, and an AWS control device 20 that controls the feeding of water, air, etc. to the tip of the insertion section 27, and the suction of dirt, etc. from the tip.

The endoscope 22 includes an elongated insertion section 27 that can be inserted into a subject, a large-diameter operation section 28 connected to the rear end of this insertion section 27, and a side section of this operation section 28. A universal cord 29 is provided which extends from the universal cord 29 and branches into two parts in the middle. A connector 3 is connected to one end of the universal cord 29 to be detachably connected to the light source device 23.
0a, and a connector 30b that is detachably connected to the bending motor control device 26 is provided at the other end.

[0016] The insertion portion 27 includes a hard tip portion 35.
, a curved part 36 connected to the rear end of this tip structure part 35 and capable of bending in up, down, left and right directions, and a combination thereof; and a long flexible part connected to the rear end of this curved part 36 The flexible tube section 37 has flexibility, and the rear end of the flexible tube section 37 is connected to the operating section 28 . Further, the operation section 28 is provided with an air/water supply button 38 and a suction button 39, and by operating the air/water supply button 38, an air/water supply port (not shown) provided on the tip component 35 is opened. Air and water are supplied, and by operating the suction button 39,
A suction channel (not shown) provided inside the endoscope 22 is used to suction dirt and the like.

The distal end component 35 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 27, the operating section 28, and the universal cord 29, and has an incident end connected to the connector 30a. A light source (not shown) is provided in the light source device 23 to which this connector 30a 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 in the drawings, 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 2.
7. Operation unit 28, universal cord 29, connector 3
0a is inserted through the cord 31 and connected to the connector 32.

The video processor 24 to which the connector 32 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 the connector 32.
The output terminal of the video signal processing circuit is connected to the monitor 25, and the output end of the video signal processing circuit is connected to the monitor 25. 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. It is now entered into 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 25 using this video signal.

Further, the connector 30b and the AWS control device 20 are fluidly connected by a tube 42, and the AWS control device 20 is connected to the bending motor control device 26 to which the connector 30b is connected and a signal line 43. It is designed to be electrically connected by.

The operation section 28 includes, as shown in FIG.
A bending motor 51 is provided as a drive means for the bending portion 36, and a bending wire 5 for bending the bending portion 36 is connected to a pulley 52 connected to the rotating shaft of the bending motor 51.
3 is wound. This curved wire 53
7 and its end portion is fixed to the front end portion of the bending portion 36, and the bending portion 36 is bent by pushing and pulling the bending wire 53.

A small gyro 54 serving as a tilt angle detection means for detecting the tilt angle of the operating section 28 is disposed near the upper end of the operating section 28. This gyro 5
4 and the bending motor 51 are connected to a control circuit 57 as a bending control means provided in the bending motor control device 26 via signal cables 55 and 56 inserted through the universal cord 29, respectively. 57 controls the drive of the bending motor 51 according to the output of the gyro 54. That is, the control circuit 57 controls the operation unit 2 detected by the gyro 54.
The bending operation of the bending portion 36 is controlled according to the inclination angle of 8. The operation unit 28 also includes a recognition button 5.
8 is provided, and a control circuit 57 is provided via a signal cable 59.
The bending operation is performed only when the recognition button 58 is pressed.

Next, the operation of this embodiment will be explained. In this embodiment, the operating section 28 is used as a bending control lever, the inclination angle of the operating section 28 is detected by the gyro 54, and the bending section 36 is bent in accordance with this detection output. Here, when inserting an endoscope, in addition to bending the tip as a technique, operations such as twisting the insertion section and inserting forceps are performed, so in addition to controlling the bending operation, the operation section 28 may tilt. Therefore, the operation section 2
There is a problem if the curved portion 36 is always curved due to the slope 8. Therefore, a recognition button 58 is provided on the operation unit 28, and the bending operation is controlled only when the recognition button 58 is pressed.

FIG. 3 shows a flowchart for controlling the bending operation. When the main switch of the endoscope is turned on in Step 1 (hereinafter, Step is omitted and simply referred to as S1), the output of the gyro 54 is inputted to the control circuit 57 in S2, and in S3, the gyro Data on the inclination of the operating section 28 detected by the control circuit 54 is taken into the buffer of the control circuit 57 as the inclination angle ω. Next, in S4,
It is determined whether or not the recognition button 58 is turned on. If the recognition button 58 is not pressed, the process proceeds to S5, where the data in the buffer is dumped, and in S6, I=0 and the process returns to S2. Here, I is the number of times the loop of the bending operation control procedure according to the flowchart is passed after the recognition button 58 is pressed. On the other hand, when the recognition button 58 is turned on, the process advances to S7, where it is determined whether I=0 or not, and I=0.
0, that is, when the bending operation starts, the process proceeds to S8, and the buffer data is stored in the memory of the control circuit 57 as the initial value ω0.

[0025] Then, in S9, the relative inclination amount ω-ω0 between the initial value ω0 and the current output value ω of the gyro 54 is calculated, and this is recognized as a curvature signal, and in S10, it is converted into a motor drive signal. . Based on this motor drive signal, the motor is driven in S11, and the bending portion 36 performs a bending operation. Then, in S12, return to S2 with I=I+1, and while the recognition button 58 is turned on,
Repeat step 12. In this way, the recognition button 5
By tilting the operation part 28 while pressing 8,
The curved portion 36 is curved.

As described above, the bending section can be bent by tilting the operating section itself without particularly providing a switch for outputting a drive signal for the bending operation.
Since the bending operation can be performed with one hand and delicate operations can be performed, the operability of the bending operation can be improved. Note that since there is no need to provide an attached table or the like, the endoscope can be easily moved. Further, by reducing the number of switches arranged on the operating section, erroneous operations can be prevented and the insertion procedure can be simplified, so even beginners can easily use the endoscope. Also, due to the removal of the bending knob from the operation section,
Cleaning and disinfection can be easily performed.

Further, the recognition button 58 may be placed in a position where it can be operated with the thumb, but as shown in FIG. be able to. In other words, the operator
By arranging the recognition button 58 in a position where it can be easily operated with the middle finger 60 or ring finger 61 while holding the button, the degree of freedom of the thumb 62 is greatly increased.
The switch 63 for freezing and recording video images can be placed in a position where it can be operated with the thumb 62 instead of the bending operation switch, allowing complete one-handed operation of the operating section 28. Further, the recognition button 58 can be more easily operated by using a switch using a touch sensor, for example.

5 and 6 relate to a second embodiment of the present invention, FIG. 5 is an explanatory diagram showing the configuration of the main parts of the bending means, and FIG. 6 is an explanatory diagram showing the configuration of the entire endoscope device. be.

As shown in FIG. 5, in the second embodiment, a tilt angle detection means for detecting the tilt angle of the operating section 28 is provided outside the operating section 28. This inclination angle detection means is rotatable about a rotation shaft 71 provided on the base support part 70, and the base outer frame 73 is rotatable about a rotation shaft 72 provided so as to pass through the center of this base outer frame 73. Base inner frame 7
4 are provided respectively. An endoscope fixing part 76 is provided at the center of the base inner frame 74 via a bearing 75, and the insertion part 28 of the endoscope is inserted into the hole provided at the center of the endoscope fixing part 76. It is now fixed. Further, the rotary shafts 71 and 72 are provided with encoders 77 and 77 for detecting the amount of rotation of the rotary shafts 71 and 72, respectively.
78 are installed in series.

As shown in FIG. 6, the base support portion 70 is disposed at the tip of an operating arm 82 extending from an endoscope cart 81. As shown in FIG. Furthermore, an endoscope control device 83 is mounted on the endoscope cart 81.
An endoscope 22 is connected to and controlled by the endoscope 22. A bending motor and a bending motor control circuit (not shown) are provided in the endoscope control device 83, and the encoders 77 and 78 are connected to these via the endoscope 22 and a signal cable 84. The curved portion of the endoscope 22 is configured to curve in accordance with the outputs of 77 and 78. The endoscope 22 is fixed to the base inner frame 74 by inserting the insertion portion 27 into a hole 79 provided at the center of the base inner frame 74 from the direction of arrow C in FIG. Furthermore, the bearing 75 allows the endoscope 22 to
Rotation around the central axis of the endoscope can be freely performed regardless of the bending movement of the tip of the endoscope.

In the second embodiment, the inclination angle of the operating section 28 is detected by the inclination angle detection means provided outside the operating section 28 of the endoscope, and the bending operation of the bending section is performed in accordance with this detection output. . The base outer frame 73 and the base inner frame 74 rotate around rotational shafts 71 and 72, respectively, so that the operating section 28 is displaced in the direction A, the direction B, and a combination thereof in FIG. 5. . This displacement of the operating section 28 is output as the amount of rotation of the encoders 77 and 78, and the displacement of the operating section 28 is
A tilt angle of 8 is detected. The outputs of the encoders 77 and 78 are sent to an endoscope control device 83 via a signal cable 84.
The bending motor control circuit provided therein performs the same control process as in the first embodiment, and a bending motor (not shown) is driven in accordance with the tilt angle. Then, the drive of this bending motor is transmitted to a not-illustrated bending wire provided within the endoscope, and the bending portion is bent.

In this way, the tilt angle detecting means is connected to the operating section 28.
By providing the bending endoscope externally, a type of electric bending endoscope in which the endoscope control device 83 is provided with a bending motor can be used as is, and the operability of the bending operation can be easily improved. Furthermore, since the tilt angle detection means is provided at the tip of the operating arm 82 extending from the endoscope cart 81, it can flexibly follow the movement of the standing position of the operator due to changes in the patient's body position, etc. , it is possible to perform a bending operation without interfering with operability.

[0033] Other configurations, operations, and effects are the same as those of the first embodiment.

[0034] Further, as the bending means becomes more and more electric, problems that did not occur when the bending operation was conventionally performed using a bending knob have arisen. For example, in the past, when the tip of the endoscope was in a dangerous situation such as pressing on an organ and the bending resistance increased, the rotation of the bending knob became difficult and danger information was directly transmitted to the operator. If a bending means is used, it is impossible to convey sufficient danger information unless a special notification means is provided.

Therefore, as a bending resistance notification means that detects the bending resistance of the distal end and transmits a danger signal to the operator when the bending resistance exceeds a certain dangerous level, an operating section as shown in FIG. 7 is used. A conceivable means is to provide a vibrating plate 85 on the gripping portion of 28, and to vibrate the vibrating plate 85 to notify the danger information. The human hand is an excellent sensor with concentrated tactile nerves, but in order to transmit information more efficiently and sensitively, here we use a universal method in which the human hand touches the part that supports the weight of the operating unit 28 while grasping it. A diaphragm 85 is arranged at the base end of the cord 29 and the like. That is, the human skin dents due to external force and becomes more sensitive to touch, allowing the vibration plate 85 to transmit danger information accurately and efficiently. In addition to the bending resistance, such notification means may also be configured to send a signal when the bending angle exceeds a certain value, or to detect an abnormal operation of the endoscope such as abnormal heat generation of the solid-state image sensor. It is also possible to use a means of notifying the operator.

FIGS. 8 and 9 relate to a third embodiment of the present invention, in which FIG. 8 is a configuration explanatory diagram showing the configuration of the main part of the bending means, and FIG. 9 is a cross-sectional explanatory diagram showing the configuration of the switch sensing unit. .

As shown in FIG. 8, in the third embodiment, the second
In place of the encoders 77 and 78 of the embodiment, switch sensing units 87 and 88 incorporating a potentiometer and a motor for changing the operating feel are provided in the tilt angle detection means. One end of the rotation shaft 72 of the base inner frame 74 is connected to a switch sensing unit 88 provided on the base outer frame 73. Further, one end of the rotating shaft 71 of the base outer frame 73 is connected to a switch sensing unit 87 provided on the base support section 70.

These switch sensing units 87
and 88 have the same configuration as shown in FIG. The outer case 91 of the switch sensing unit 87 is
It is fixed to the base support part 70 with screws or the like. Further, the rotating shaft 71 is connected to a potentiometer 92 provided inside the outer case 91. This potentiometer 92 detects the inclination of the base outer frame 73 as a resistance value, and this detection output is sent via a signal cable 93 to a bending motor control circuit 101 provided in the bending motor control device 26 and for changing the operating feeling. The signal is input to the motor control circuit 102. The bending motor control circuit 10
1 is connected to a bending motor (not shown), and the drive of the bending motor is controlled according to a detected value of a potentiometer 92.

From the rear of the potentiometer 92,
A communication shaft 94 that rotates together with the rotating shaft 71 extends and is connected to a motor 95 for changing the operating feel. This operating feel changing motor 95 is connected to the operating feeling changing motor control circuit 102 via a signal cable 96. Further, the operational feel change motor control circuit 102 is connected to a bending resistance detection circuit 103, and this bending resistance detection circuit 103 is connected to the bending motor control circuit 101 and a bending motor (not shown). The bending resistance detection circuit 103 includes:
The drive current of the bending motor is detected, and since the current value increases as the load on the motor increases, this current value is converted into bending resistance. The operation feeling change motor control circuit 102 detects the operation of the potentiometer 92, and depending on the converted bending resistance value,
A drive voltage is generated and driven so that the operating feel changing motor 95 rotates in the opposite direction to the rotation direction of the potentiometer 92. The other configurations of the tilt angle detection means are the same as in the second embodiment.

When the bending portion is to be bent upward, for example, by gripping the endoscope operating portion 28 and operating the base outer frame 73 to tilt it, the inclination of the base outer frame 73 will align with the rotation axis 7.
1 to the switch sensing unit 87. In the switch sensing unit 87, the rotating shaft 7
The potentiometer 92 and the operating feeling changing motor 95 rotate by one rotation angle. The potentiometer 92
The resistance value changes with rotation, and this resistance value is input to the bending motor control circuit 101 through the signal cable 93. This bending motor control circuit 101 applies a voltage corresponding to the resistance value of the potentiometer 92 to a bending motor (not shown), and bends a bending portion (not shown) at a bending angle corresponding to the inclination of the base outer frame 73, that is, the inclination of the operating section 28. to curve.

On the other hand, for example, if the bending part is in contact with the body wall and the body wall must be pushed in order to achieve a predetermined bending angle, the resistance of pushing the body wall becomes a load on the bending motor. The current supplied to the bending motor will increase. In order to notify the operator of the bending state of the bending portion, such as such a dangerous state, the bending resistance detection circuit 103 detects the supplied current value, converts it as a bending resistance value, and converts the supplied current value to the operating feeling changing motor. It is output to the control circuit 102. The operating feel changing motor control circuit 102 supplies a driving voltage to the operating feeling changing motor 95 in accordance with the bending resistance value. At this time, the operating feel changing motor control circuit 102 also detects the resistance value of the potentiometer 92, and supplies a driving voltage so that the operating feeling changing motor 95 rotates in the opposite direction to the rotation direction of the potentiometer 92. That is, the base outer frame 73 is driven to rotate in a direction opposite to the operator's operating direction. This allows the operator to feel resistance in the bending operation and to recognize that a load is being applied to the bending section.

[0042] In this way, by providing the inclination angle detection means with a switch sensing unit that changes the operating feel, the operator can recognize the resistance of the bending part through a tactile sense, so that the magnitude of the bending resistance can be immediately detected. It is possible to judge the bending state of the bending portion, and improve the operability of the bending operation. Moreover, safety of the bending operation can also be ensured.

[0043] Other configurations, operations, and effects are the same as those of the first embodiment.

By the way, a bending operation feeling changing means for changing the operating feeling of the bending operation as described above may be provided in the operation switch that performs the bending operation. A first example of such a bending operation feeling changing means is shown in FIGS. 10 and 11.

As shown in FIG. 10, in this example, a joystick type operation switch having a lever 111 is provided as the bending operation switch 110 on the operation section 108. As shown in FIG. This bending operation switch 110 is a lever 11
By manipulating 1 two-dimensionally, the bending portion 36 can be bent in a desired direction.

The bending operation switch 110 is of a joystick type, as shown in FIG.
The actuating section 116 includes a UD potentiometer 114 for controlling the vertical bending of the bending section 6 and an RL potentiometer 115 for controlling the horizontal bending of the bending section 36 . This actuating portion 116 has one end U
It includes a UD actuating shaft 117 coupled to the rotating shaft of the D potentiometer 114, and an RL actuating plate 120 having a shaft 119 provided at one end coupled to the rotating shaft of the RL potentiometer 115. The UD operating shaft 117 extends through the lever 111 in the radial direction and is fixed to the lever 111. In addition, the RL actuation plate 1
20 is provided with a longitudinal groove 118, into which the end of the lever 111 perpendicularly passes. By moving the lever 111, the UD operating shaft 117 and R
The L actuation plate 120 rotates around its respective axis, so that the UD potentiometer 114 and the RL potentiometer 115 operate, respectively. The other end of the UD actuating shaft 117 and the shaft 121 provided at the other end of the RL actuating plate 120 are rotatably held in a case (not shown).

Further, around the lever 111, four wires 122, 123, 124 are arranged around the lever 111, as bending operation feeling changing means, so as to surround the lever 111 approximately parallel to the UD actuating shaft 117 and the RL actuating plate 120. , 125 are posted. One end of these wires 122, 123 and 124, 125 is connected to a wire support member 12 fixed within the operating section.
6a and 126b, and the other end passes through the wire intermediate support members 127a and 127b fixed in the operating section to the shafts 12 of the operating feeling changing motors 128a and 128b.
Pulleys 130a, 1 connected to the ends of 9a, 129b
30b, respectively. The rest of the structure is the same as that of the first and third embodiments.

When it is desired to bend the bending portion 36 upward, the lever 111 is tilted toward the insertion portion 27.
The D potentiometer 114 outputs a resistance value according to the amount of operation of the lever 111. Then, a vertical bending motor (not shown) provided in the operating section 28 rotates by an angle corresponding to the resistance value of the UD potentiometer 114, thereby bending the bending section 36 upward.

Here, for example, if the bending portion 36 contacts the body wall before reaching a predetermined angle, the load on the bending motor increases to push the body wall, and the current supplied to the bending motor increases. Become. At this time, the bending motor control device 26
A bending resistance detection circuit (not shown) provided inside detects the current supplied to the bending motor, and converts this as a bending resistance. Then, in accordance with this bending resistance value, an operational feel changing motor control circuit (not shown) provided in the bending motor control device 26 applies voltage to the operational feeling changing motor 128a in the direction of pulling the wires 122, 123. . As a result, the wires 122 and 123 urge the lever 111 to return to the neutral position, and this force causes
The operator can feel that the movement of the lever 111 has become heavier with the operating finger, and can recognize the resistance of the curved portion.

[0050] In this way, since the resistance of the curved part can be recognized by the operator through the sense of touch, the magnitude of the bending resistance can be immediately determined and the state of the curved part can be grasped, thereby improving the safety of the bending operation. Can be secured. In addition, by pulling the wire to return the lever to the neutral position, the motor for changing the operating feel can be moved away from the joystick and placed in a free position, making it possible to make the bending operation switch using the joystick smaller. , the degree of freedom in the shape of the operating section is increased, and the operating section can be configured in a shape that is easier to operate.

FIG. 1 shows a second example of the bending operation feeling changing means.
2 and FIG. 13. In this example, the bending operation switch is a seesaw switch instead of a joystick, and a switch sensing unit like the third example is provided at the end of the rotating shaft of the seesaw switch. Moreover, this switch sensing unit is provided with a solenoid and a friction clutch instead of the motor for changing the operating feel.

Rotating shaft 1 of seesaw switch 140 for UD
A switch sensing unit 142 is provided at one end of the switch 41 . This switch sensing unit 142
is covered with an outer case 143, and the rotating shaft 141
The shaft end of is connected to a potentiometer 144. The rotation angle of the seesaw switch 140 is detected by a potentiometer 144 through a rotation shaft 141. Further, a communication shaft 145 that rotates together with the rotating shaft 141 extends from the rear of the potentiometer 144 and is connected to a clutch receiving plate 146 . A clutch plate 147 is arranged opposite to this clutch receiving plate 146, and this clutch plate 147 is connected to a moving shaft 148 extending from a solenoid 149. The solenoid 149 is fixed to the outer case 143 with a stay 150 using a screw or the like.

Signal lines 151 and 152 extend from the potentiometer 144 and solenoid 149, respectively, and are connected to a bending resistance detection circuit and a clutch control circuit provided in a bending motor control device (not shown). Note that RL seesaw switches are similarly provided for the left and right directions. The rest of the configuration is the same as in the first example.

When it is desired to bend the bending portion 36 upward, the seesaw switch 140 is tilted, and the potentiometer 144 in the switch sensing unit 142 outputs a resistance value corresponding to the amount of operation of the seesaw switch 140. Then, a vertical bending motor (not shown) provided in the operating section rotates by an angle corresponding to the resistance value, thereby bending the bending section 36 upward.

Here, for example, if the bending portion 36 contacts the body wall before reaching a predetermined angle, the bending resistance detection circuit (not shown) detects the current supplied to the bending motor, as in the first example. , this is converted into bending resistance. Then, in accordance with this bending resistance value, a clutch control circuit (not shown) provided in the bending motor control device controls the clutch plate 14.
7 is applied to the solenoid 149 so as to press it against the clutch receiving plate 146. As a result, the operator feels that the amount of force required to operate the seesaw switch 140 becomes heavier, and can recognize that the curved portion is in contact with the body wall or the like.

[0056] In this way, as in the first example, the magnitude of the bending resistance can be immediately determined, and the bending state of the bending portion can be grasped, thereby ensuring the safety of the bending operation. Note that a stacked piezoelectric element may be used in the switch sensing unit 142 instead of a solenoid.

[0057] Furthermore, in the above-mentioned bending operation switch,
Curving speed changing means may also be provided for changing the speed of the bending motion. When making a diagnosis using an endoscope, we first take a rough look at the surface of the organ (hereinafter referred to as screening),
It is common to take a step to carefully observe the area that seems to be a problem, and if the bending speed of the endoscope tip is always constant during that time, screening may take too much time or it may be difficult to see the area you want to closely observe on the screen. It has poor operability, such as not being able to bring it to the center. Therefore, a pressure-sensitive conductive switch or the like whose resistance value becomes smaller as the bending operation switch is pushed deeper is used to construct a bending operation switch in which the bending speed changes depending on the depth of depression or the amount of operating force.

The switch has a relationship between the rotation speed of the bending motor and the resistance value of the switch as shown in FIG. 14, for example. Here, as shown in (a), stepwise or
Alternatively, as shown in (b), the rotation speed of the bending motor and the resistance value of the switch are changed linearly. This allows the tip to move quickly by pressing the switch deeply for screening to efficiently observe a large number of areas, and for precision observation to move the tip slowly by pressing the switch shallowly, allowing you to easily see the part you want to see on the screen. You can bring it to the center.

Furthermore, the bending speed changing means may be constructed by providing a slide switch 162 as shown in FIG. 15 on the operating section 161 instead of a push-in type switch. Here, the bending speed can be set to change by moving the slide switch 162 back and forth and changing the rotation speed of the bending motor in accordance with the amount of movement as in FIG. 14.

In this way, the bending speed can be changed by changing the operating speed of the drive means according to the operating amount of the bending operation switch, so screening and precise observation can be easily performed at a desired bending speed. , it is possible to improve the operability of the bending operation.

[0061]

As explained above, according to the present invention, the operability of the bending operation of the bending portion is further improved, and each operation of the endoscope can be easily performed.

[Brief explanation of the drawing]

FIG. 1 is a configuration explanatory diagram showing the configuration of main parts of a bending means according to a first embodiment of the present invention.

[Fig. 2] An explanatory diagram showing a state in which the endoscope operation section in Fig. 1 is grasped.

FIG. 3 is a flowchart showing the operation of the bending means in FIG. 1;

[
Figure 4: Configuration explanatory diagram showing the general configuration of the endoscope device

[Figure 5
] A configuration explanatory diagram showing the configuration of the main parts of the bending means according to the second embodiment of the present invention.

[Fig. 6] Explanatory diagram showing the overall configuration of the endoscope device

[Fig. 7] Explanatory diagram of an example of arrangement of bending resistance notification means

FIG. 8 is a configuration explanatory diagram showing the configuration of main parts of a bending means according to a third embodiment of the present invention.

FIG. 9 is a cross-sectional explanatory diagram showing the configuration of the switch sensing unit in FIG. 8.

FIG. 10 is a configuration explanatory diagram showing the general configuration of an endoscope device.

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FIG. 11 is an explanatory diagram showing the configuration of a first example of the bending operation feeling changing means

FIG. 12 is an explanatory diagram showing the configuration of a second example of the bending operation feeling changing means.

FIG. 13 is a cross-sectional explanatory diagram showing the configuration of the switch sensing unit in FIG. 12.

FIG. 14 is a graph showing the relationship between the rotation speed of the bending motor and the resistance value of the switch in the bending speed changing means.

[Figure 15
】Explanatory diagram showing an example of using a slide switch as the bending speed changing means

FIG. 16 is an explanatory diagram showing the configuration of a conventional endoscope device.

[Explanation of symbols]

22...Endoscope 26...Bending motor control device 27...Insertion part 28...Operation unit 36...Curved part 51...Bending motor 53...Curved wire 54...Gyro 57...Control circuit 58...Recognition button

Claims (1)

[Claims] 1. An endoscope that is provided with an operating section that also serves as a grip section on the proximal side of the insertion section, and a bending section that performs a bending operation on the insertion section; a drive means that drives the bending section; An endoscope apparatus comprising: a tilt angle detecting means for detecting a tilt angle of an operating section; and a bending control means for controlling the driving means based on an output of the tilt angle detecting means.