JPH0523298A - Endoscopic apparatus - Google Patents

Abstract

PURPOSE:To prevent curving motion of a curved portion which an operator does not intend if accurate information about angles of curvature is not obtained so as to enhance safety. CONSTITUTION:A curved portion which can be freely curved is driven by motors 32, 33 and put in curving motion and the angle of the curve is detected by rotary encoders 34, 35 and curve angle detection circuits 40, 50. A control circuit 48 stops the drive control of the motors 32, 33 based on indications from a curve switch portion 36a when a zero point setting signal for setting the zero point of the angle of the curve is not input from the curve angle detection circuits 40, 50 and also when the curve switch portion 36a provided with joysticks 64, 65 each of which indicates the amount of the curve up to a target angle of curvature is selected by a priority switch 66.

Description

Detailed Description of the Invention

[0001]

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

[0002]

2. Description of the Related Art In the medical field, an endoscope capable of observing a deep part in a body cavity by inserting it into a body cavity or the like and also performing a medical treatment by using a treatment tool as needed. It has become widely used. Also in the industrial field, endoscopes are widely used for inspecting the inside of jet engines or the inside of plants. This endoscope is formed in a flexible insertion part so that it can be inserted into a bent body cavity, and by operation on the proximal side,
A bendable portion is provided so that it can bend freely.

In order to easily bend the bending portion, an electric bending type endoscope is provided which is provided with electric driving means for the bending portion and which can be bent in a desired direction by operating a switch or the like on the hand side. Is also proposed.

In such an electric bending type endoscope, the operator can grasp the actual bending angle of the bending portion.
A device provided with a bending angle detecting means has been proposed. As this bending angle detecting means, a rotary encoder may be used to detect the bending angle with high accuracy. As an example of this rotary encoder, so-called A / B / Z
There is a phase output type, and by using this, the device can be downsized. The A / B / Z phase output type rotary encoder detects the count pulse and the normal and reverse rotation directions by the advance and delay of the A phase and B phase pulses and the phase of this pulse, and the Z phase is input. By doing so, the position of the zero point is detected. This makes it possible to accurately detect in which direction and how much rotation has been performed, and to detect the drive amount of the electric drive means, so that the bending angle of the bending portion can be accurately detected.

[0005]

However, in the endoscope apparatus using the above-mentioned A / B / Z-phase type rotary encoder as the bending angle detecting means, the position of the zero point is not changed until the Z-phase is input. Since it is not detected, the actual bending angle cannot be grasped. Immediately after the power is turned on or the endoscope is connected to the control device, the Z phase may not be input, and if a bending operation is performed in this state to bend the bending portion, there is a possibility that the bending may occur in a state not intended by the operator. is there. As a result, a problem such as damage to the test portion may occur.

The present invention has been made in view of these circumstances, and by performing an abnormal processing operation when a zero-point setting signal is not input, it is possible to prevent a surgeon's unintended bending operation and improve safety. It is an object of the present invention to provide an endoscopic device that can be operated.

[0007]

An endoscope apparatus according to the present invention is configured such that a bendable bending portion provided in an insertion portion, bending driving means for driving the bending portion to bend, and a bending angle of the bending portion. A bending angle detecting unit for detecting, a bending amount instructing unit for instructing a bending amount so that the bending portion has a desired bending angle, and a drive control for the bending driving unit,
And a bending control means for stopping drive control according to an instruction from the bending amount instruction means when a zero point setting signal for setting the zero point of the bending angle is not input from the bending angle detection means.

[0008]

The bending amount instructing means instructs the bending amount so that the bending portion provided in the insertion portion has a desired bending angle. The bending portion is driven by the bending driving means to perform a bending operation, and the bending angle at this time is detected by the bending angle detecting means. The bending control means stops the drive control of the driving means according to the instruction from the bending amount instructing means when the zero point setting signal for setting the zero point of the bending angle is not input from the bending angle detecting means.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 3 relate to a first embodiment of the present invention, FIG. 1 is a perspective view showing an appearance of an endoscope apparatus, FIG. 2 is a configuration diagram showing a specific configuration of the endoscope apparatus, and FIG. It is a flow chart explaining operation of control means.

As shown in FIG. 1, an endoscope apparatus 1 of the first embodiment supplies an electronic endoscope (hereinafter referred to as an electronic scope) 2 having a built-in image pickup means and illumination light to the electronic scope 2. Light source device 3, a video processor (hereinafter referred to as VP) 4 that performs signal processing, a motor control unit (hereinafter referred to as MCU) 5 that controls the bending driving means of the electronic scope 2, and an output from VP 4. And a monitor 6 such as a CRT for displaying a standard video signal.

The electronic scope 2 has an elongated and flexible insertion portion 7 so that it can be inserted into a body cavity and the like, and a wide-width gripping portion (operation portion) continuously provided at the rear end of the insertion portion 7. 8
And a universal cable 9 extending from a side portion of the grip portion 8, and a connector 11 attached to an end portion of the universal cable 9 can be detachably connected to the light source device 3. ..

The insertion portion 7 has a hard tip portion 12, a bendable bending portion 13, and a flexible flexible tube portion 1 from the tip end side.
It consists of 4. The connector 11 can be detachably connected to the VP 4 via a connection cable 15. Connectors 15a and 15b are provided at both ends of the connection cable 15, respectively.
4 can be connected. This VP4 is connection cord 1
It is detachably connected to the MCU 5 via 6. That is,
Connectors 16a are provided on both ends of the connection cord 16, respectively.
And 16b are provided, respectively VP4 and MCU5
It can be detachably connected to.

A remote control unit (hereinafter abbreviated as a remote controller) 17 can be detachably connected to the MCU 5 through a connector 18a provided at an end of a remote controller cable 18. The video output of the VP 4 is input to the monitor 6 via the connection cable 19.

Connector 1 of the universal cable 9
By connecting 1 to the light source device 3, white light from a lamp (not shown) in the light source device 3 is applied to the end surface of the light guide. The illumination light transmitted by this light guide is emitted forward from the end surface of the insertion portion 7 on the side of the distal end portion 12 and illuminates a subject (not shown) in front.

The illuminated subject is, as shown in FIG.
An image is formed on a CCD 24 as a solid-state image pickup element arranged on the focal plane of the objective lens 23 provided at the tip portion 12, and photoelectrically converted by the CCD 24. This CC
The image signal photoelectrically converted by D24 is amplified by the amplifier 25 and then input to the video process circuit 26 in the VP4. The video process circuit 26 performs signal processing to generate a standard video signal, and the monitor 6 The subject image is displayed on the display screen.

The bending portion 13, which is formed adjacent to the rear end of the tip portion 12 and is bendable, has a large number of bending pieces (not shown).
The upper and lower bending wires 27 and the left and right bending wires 28 are fixed to a leading edge bending piece or the like so as to be vertically and horizontally rotatable so as to be vertically connected. The bending wires 27 and 28 are inserted through the bending portion 13 and the flexible tube portion 14, and the rear ends thereof are wound around pulleys 29 and 31 inside the grip portion 8, respectively.

The pulleys 29 and 31 are, for example, shafts 32 of DC motors 32 and 33 as bending driving means.
The pulleys 29 and 31 are also rotated by the rotations of the DC motors 32 and 33, respectively, and one of the bending wires 27 and 28 is rotated by the rotation of the pulleys 29 and 31, respectively. The bending portion 13 is bent on the pulled side, while the other is relaxed.

Rotary encoders 34 and 35 are attached to the shafts of the bending drive DC motors 32 and 33 that project to the opposite side from the pulleys 29 and 31, and the bending portions 13 are detected by detecting the rotation amounts of the DC motors 32 and 33, respectively. The bending angle of is detected. The rotary encoders 34 and 35 are A, B, and Z phase output type encoders, and count pulses and forward and reverse rotation directions are generated depending on the advance and delay of the A phase and B phase pulses and the phase of these pulses. Is detected and a Z-phase pulse is input as a zero-point setting signal, whereby the position of the zero point is detected. That is, the Z-phase is reset to zero, and it is possible to detect the direction and the amount of rotation thereafter.

The operation section 8 is provided with a bending switch section 36 and a switch unit section 37. The bending switch unit 36 includes a vertical bending switch 38 and a horizontal bending switch 39. These curved switches 38, 3
Reference numeral 9 is an ON / OFF type switch.

On the other hand, the switch unit section 37 includes a speed setting switch 41 for setting the bending speed and the bending section 1.
3. An angle vibration (AV) ON / OFF switch 42 for vibrating 3 in a small angle range, an AV setting switch 43 for setting an angular range of vibration, an AV cycle setting switch 44 for setting a vibration cycle, and an AV for setting a vibration mode. A mode setting switch 45 and a straight switch 46 for setting the bending portion 13 in a straight state are provided.

The switch signals of the bending switch section 36 and the switch unit section 37 are input to the control circuit 48 via the input / output interface (I / O) 51 in the MCU 5. As shown in FIG. 2, the contacts on the I / O 51 side of each of the switches 38, 39, 41 to 46 are pulled up to the power source end by resistors,
When turned on, an ON signal of "0" is output.

The control circuit 48 is, for example, C (not shown).
It is composed of a PU, a ROM, a RAM and the like, and as a bending control means, it controls forward / reverse rotation of the motor 32, that is, up / down bending via an I / O 51 and a driver 52, and also controls the I / O 51 and the driver 54. Through the motor 3
The forward / reverse rotation of 3, that is, the control of the right / left curve is performed. The drive currents that drive the motors 32 and 33 are detected by the current detection circuits 57 and 58 via the current probes 55 and 56, respectively, and the A / D converter 5 is detected.
It is output to the control circuit 48 via 9. This control circuit 4
By the control of 8, for example, the driver 52 supplies the motor 32 with positive power in the case of up-curving and negative power in the case of down-curving. The supplied power is detected by the current probe 55, converted into a current value by the current detection circuit 57, A / D-converted, and then output to the control circuit 48.

The rotary encoders 34 and 35 are also provided.
Are connected to bending angle detection circuits 40 and 50, respectively, and the output values of the rotary encoders 34 and 35 are converted into bending angles and output to the control circuit 48. The bending angle detection circuits 40 and 50 output to the control circuit 48 a determination signal as to whether or not the Z phase is input from the rotary encoders 34 and 35 together with the detected bending angle value. These rotary encoders 34, 3
5 and the bending angle detection circuits 40 and 50 constitute a bending angle detection means.

The output of the control circuit 48 is input to the control circuit 61 in the VP4, and the control circuit 61 controls the video process circuit 26. For example, when a freeze switch (not shown) is operated, the operation signal of the freeze switch is input to the control circuit 61 in the VP4 via the control circuit 48, and the control circuit 61 writes the frame memory in the video process circuit 26. The still image is displayed on the monitor 6 by setting the prohibition state. Further, the control circuit 48 outputs information indicating the bending control state to the video process circuit 26 via the control circuit 61, and displays the information in a corner of the display screen of the monitor 6, for example, and the surgeon can control the current bending control. I am able to know the condition.

The remote controller 17 has a bending switch portion 36a and a switch unit portion 37 as bending amount instruction means.
a and are provided. The bending switch portion 36a is formed of joysticks 64 and 65 for performing bending operations in four directions. The joysticks 64 and 65 (equivalently shown by two potentiometers in FIG. 2) tilt the operating rod upward or downward or to the left or right, and the like. ) Changes, and the potential divided by the resistance is input to the control circuit 48 via the A / D converter 59. Figure 2
In the example above, the side with high potential is the operation signal to instruct bending in the up (up) or right (right) direction, and the side with low potential is the operation signal to instruct bending in the down (down) or left (left) direction. Become.

On the other hand, the switch unit portion 37a has the same switches as those provided in the switch unit portion 37 of the grip portion 8, that is, the speed setting switch 41a, AV ON / OFF switch 42a, AV.
Setting switch 43a, AV cycle setting switch 44a, A
V mode setting switch 45a, straight switch 46
In addition to a, a priority switch 66 is provided. In FIG. 2, the switches 41a to 46a and 66 are pulled up, for example, by the symbol ∇.

When the priority switch 66 is turned on, the operating means on the remote controller 17, that is, the setting of the various switches 41a to 46a and the setting of the bending switch portion 36a have priority over the setting of the operating means on the electronic scope 2 side. The control circuit 48 controls various switches 41 on the remote controller 17 side.
The control corresponding to the setting of Nos. 46 to 46 and the bending operation (operation related thereto) set by the bending switch section 36a is performed. When the priority switch 66 is turned off, the operating means on the electronic scope 2 side, that is, (various switches 41 to 46)
The switch unit portion 37 (comprising) and the bending switch portion 36 (comprising the up / down bending switch 38 and the left / right bending switch 39) have priority over the operating means on the remote controller 17 side.

Next, the operation of this embodiment will be described.
In the connected state as shown in FIG. 1, a power switch (not shown) is turned on to turn on the power to bring it into use. In this state, the bending angle detection circuits 40 and 50 cannot output accurate bending angle information until the first Z-phase output pulse is input to the bending angle detection circuits 40 and 50 after the power is turned on. At this time, for example, the bending switch unit 36 is used as the bending operation means.
When a is prioritized, the bending operation is performed such that the bending angle of the bending portion 13 and the instruction values of the joysticks 64 and 65 have a one-to-one correspondence, and thus the bending may occur in a state not intended by the operator. Occur. Therefore, when the power is turned on, the control circuit 48 performs control as shown in the flowchart of FIG.

First, in step S1 (hereinafter, the step will be omitted and simply referred to as S1), the bending angle detection circuit 40,
It is determined whether or not the Z phase is input to 50, and if the Z phase is input, this control is ended and the following other control is performed. On the other hand, if the Z-phase has not been input, the flow advances to S2 to determine the type of bending operation switch. In the first embodiment, the bending switch section 36 provided in the operation section 8 of the electronic scope is an ON / OFF type switch,
Since the bending switch portion 36a of the remote controller 17 is a joystick type switch, the priority switch 6
It is judged by the ON / OFF of 6. That is, when the priority switch 66 is ON, it is determined that the remote controller 17 is selected and the joystick type is selected. When the priority switch 66 is OFF, the operation unit 8 of the electronic scope is selected.
Judged as N / OFF type.

When the bending operation switch is the joystick type (JS) in S2, the process proceeds to S3, the drivers 52 and 54 are instructed to stop the motor, and the abnormality is notified in S4. This abnormality notification is performed by, for example, sounding a warning buzzer (not shown) provided in the MCU 5 and instructing the control circuit 61 in the VP 4 to display an abnormality. Then, the control circuit 61 instructs the video process circuit 26 to display an abnormality, and the monitor 6 displays an abnormality warning. On the other hand, the bending operation switch is ON / OFF
In the case of the type, this control is ended and the following other control is performed. In the case of the ON / OFF type, since the bending operation does not occur unless the switch is pressed, the motor is not particularly stopped.

The Z-phase input to the bending angle detection circuits 40 and 50 is performed by turning on the bending switch unit 36 provided in the operation unit 8 immediately after the power is turned on.
It is obtained by bending the bending portion 13 and passing a straight position. As a result, the position where the bending angle is 0 ° is set, and thereafter, the bending angle detection circuits 40 and 50 detect the accurate bending angle of the bending portion 13.

After inputting the Z-phase, the bending switch section 36a (joystick type) of the remote controller 17 or the bending switch section 36 (ON / OFF type) of the operating section 8 is selected, and the desired bending switch is operated by operating this bending switch. Can be bent at an angle.

As described above, according to the first embodiment, since the bending control means for performing the abnormality processing operation is provided when the Z phase as the zero point setting signal is not input, accurate bending angle information can be obtained. When it is not present, it is possible to prevent the surgeon's unintentional bending operation, and thus prevent a dangerous situation such as damage to the body cavity wall from occurring, and it is possible to realize a highly safe endoscope apparatus.

FIG. 4 is a configuration diagram showing a specific configuration of the endoscope apparatus according to the second embodiment of the present invention. The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

In the second embodiment, bending drive DC motors 32 and 33 and rotary encoders 34 and 35 are provided in the MCU 5, and each shaft 32a is provided.
The transmission gears 71 and 72 attached to the transmission gears 33a and 33a transmit the driving force to the transmission gears 75 and 76 provided in the connector of the electronic scope 2. These transmission gears 75 and 76 are connected to the pulleys 29 and 31 via shafts 73 and 74, respectively. The pulley 2
Bending wires 27 and 2 wound around 9 and 31, respectively
8 is a universal cord 9, a grip portion 8, a flexible end portion 4,
It is inserted into the curved portion 13 and is fixed to the tip portion 12.

Further, in this embodiment, as shown in FIG. 4, the second remote controller 77 is provided so as to be detachably connectable to the MCU 5 like the other remote controller 17 (referred to as the first remote controller). There is. This second remote control 77
Is a switch unit portion 37b having the same function as the switch unit portion 37 provided in the grip portion 8 and a joysticks 64a and 65a similar to the joysticks 64 and 65 of the first remote controller 17, and the bending switch portion 36b.
Is formed, and the output of the switch unit section 37b is I / O.
The output of the joysticks 64a and 65a is input to the control circuit 48 via 51, and is input to the control circuit 48 via the A / D converter 59.

In this embodiment, for example, the electronic scope 2 has the grip portion 8, but it may have a structure not having it. (In the case of the structure not having it, the flexible tube portion 14 is extended, and the connector having the transmission gears 75 and 76 and the like built therein is attached to the rear end thereof.) Further, the first remote controller 17 has the first embodiment. A priority switch 66 is provided similarly to the above.

The operation of the second embodiment is almost the same as that of the first embodiment shown in FIG. 3 except that the electronic scope 2 does not have the grip portion 8. The electronic scope 2 is the grip portion 8
In the case of the structure not having, there is no bending operation switch of the ON / OFF type, so the step S2 of FIG. 3 is omitted, and abnormal processing is performed depending on whether the Z phase is input to the bending angle detection circuits 40 and 50. The action is taken. When the Z-phase is not input and the grip portion 8 has the bending switch portion 36, the type of the bending operation switch is determined by the output of the priority switch 66 as in the case of the first embodiment. In the case of the joystick type, the motor is turned on. The drivers 52 and 54 are instructed to stop, and an abnormality is notified.
Other functions and effects are similar to those of the first embodiment.

The bending switch portion 36 provided on the grip portion 8 in the second embodiment may be a joystick type switch. In this case, the same control as in the case of the structure without the grip portion 8 is performed.

FIG. 5 is a configuration diagram showing a specific configuration of the endoscope apparatus according to the third embodiment of the present invention. The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.
The endoscope apparatus of the third embodiment has an automatic insertion function. In the third embodiment, the bending switch portion 36 provided on the grip portion 8 is composed of an up / down bending joystick 64c and a left / right bending joystick 65c. Gripping part 8
A priority switch 66 is provided in the switch unit section 37 provided in the. In this embodiment, the remote controller 17
Bending switch section 36a and switch unit section 37a
Each signal of is multiplexed by the signal multiplexing circuit 91,
It is input to the interface (I / F) 92 in the MCU 5. By the I / F 92, it is returned to the original state and then input to the control circuit 48.

A curve direction detection circuit 93 is provided in the VP4 so that the output of the video process circuit 26 is input. The curving direction detection circuit 93 detects the direction of the darkest dark part in the output image of the video process circuit 26 and outputs a signal indicating the position direction of the dark part to the MCU.
It outputs to the control circuit 48 via I / O51 in 5. The control circuit 48 outputs a control signal for controlling the operation of the drivers 52 and 54 so as to bend the bending portion 13 in the direction of the dark portion, based on the signal indicating the position direction of the dark portion, and rotationally drives the motors 32 and 33. Is controlled to control the bending angle so that the position of the dark portion is located near the center of the image, for example.

Further, although not shown in FIG. 5, this embodiment has a motor for rotationally driving a pulley which contacts the outer peripheral surface of the insertion portion 7, and the control circuit 48 controls the rotational operation of this motor through a driver. In the automatic insertion (automatic insertion) mode, control is performed so that the position of the dark portion is located near the center of the image, and this motor is rotated so that the insertion portion 7 can be automatically inserted. There is.

A mode selection switch 94 for switching between an automatic insertion mode for automatic insertion and a manual insertion mode for manual insertion is provided in the switch unit section 37, for example.

The bending direction detection circuit 93 is V in FIG.
Although it is provided in P4, it may be a separate body.

Next, the operation of this embodiment will be described. In the third embodiment as well, similar to the first embodiment, the operation of the abnormality processing is performed according to the flowchart of FIG. Here, S2
If it is a joystick type operation switch or the automatic insertion mode is selected by the mode selection switch 94 when determining the type, the process proceeds to S3 to stop the motor and notify the abnormality.

The operation when the automatic insertion mode is selected when the power is turned on is shown in the flowchart of FIG. If the automatic insertion mode is selected when the power is turned on, the automatic insertion will be stopped without the Z phase being input. Therefore, in S11, it is determined whether or not the Z phase is input. If not input, the process proceeds to S12 to bend in the direction in which the drive current is small, that is, in the straight direction in which the load on the bending wire is small. By repeating this, the bending portion 13 becomes straight and the Z phase is input to the bending angle detection circuits 40 and 50. After that, the bending angle of the bending portion 13 is controlled according to the output of the bending direction detection circuit 93 so that the position of the dark portion is located near the center of the image, and automatic insertion is performed.

The Z-phase input control shown in FIG.
It can also be applied to the case of an electronic scope having no grip portion 8 in the embodiment. That is, when the bending operation switch of the ON / OFF type is not provided, the Z phase can be input in the same manner as described above, and the bending operation can be performed by the bending operation switch. Further, when the joystick type bending operation switch is selected, the Z phase input control may be performed after the Z phase is not input and the abnormality processing operation is performed.

As described above, also in the endoscope apparatus having the automatic insertion function, if the Z phase is not input when the automatic insertion mode is selected, the abnormal processing operation is performed to obtain accurate bending angle information. It is possible to prevent an unintentional bending motion of the operator when not being performed, and prevent a dangerous situation such as damage to the body cavity wall from occurring. Thereby, safety can be improved.

The present invention is not limited to the above, and various modifications can be constructed. For example, the first
In the embodiment, AC is used instead of the DC motors 32 and 33.
A motor, a stepping motor, an ultrasonic motor or the like may be used. In addition, joysticks 64, 6
A trackball may be used instead of 5. Further, the present invention can also be applied to the case of having three or more bending operation means.

Further, for example, in the first embodiment, the priority switch 66 is set to which of the switch unit sections 37 and 37.
For example, the switch unit portion 37 or 37a, which is operated later in time, may be prioritized by providing the switch unit 37a.

[0051]

As described above, according to the present invention, it is possible to prevent a bending operation which is not intended by the operator by performing the abnormal processing operation when the zero point setting signal is not input.
There is an effect that it is possible to improve safety.

[Brief description of drawings]

FIG. 1 is a perspective view showing an appearance of an endoscope apparatus.

FIG. 2 is a configuration diagram showing a specific configuration of the endoscope apparatus according to the first embodiment of the present invention.

FIG. 3 is a flowchart illustrating the operation of the bending control means.

FIG. 4 is a configuration diagram showing a specific configuration of an endoscope apparatus according to a second embodiment of the present invention.

FIG. 5 is a configuration diagram showing a specific configuration of an endoscope apparatus according to a third embodiment of the present invention.

FIG. 6 is a flowchart illustrating the operation of Z-phase input control.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope device 2 ... Electronic scope 4 ... VP (Video processor) 5 ... MCU (Motor control unit) 6 ... Monitor 7 ... Insertion part 8 ... Gripping part 13 ... Bending part 17 ... Remote control 27, 28 ... Bending wire 32 , 33 ... Motors 34, 35 ... Rotary encoders 36, 36a ... Bending switch parts 37, 37a ... Switch unit parts 40, 50 ... Bending angle detection circuit 48 ... Control circuits 64, 65 ... Joystick 66 ... Priority switch

Claims (1)

Claim: What is claimed is: 1. A bendable bending portion provided in the insertion portion, a bending driving means for driving the bending portion to bend, and a bending angle detecting means for detecting a bending angle of the bending portion. A bending amount instructing means for instructing a bending amount so that the bending portion has a desired bending angle; and a drive control of the bending driving means, wherein a bending angle zero point from the bending angle detecting means. And a bending control means for stopping the drive control according to the instruction from the bending amount instruction means when a zero point setting signal for setting is input.