JPH06105799A - Endoscope device - Google Patents

Abstract

PURPOSE:To provide a curving operation means which is able to control the curving speed and grasp the curved condition and which allows easily embodying in a waterproof structure and in a small size. CONSTITUTION:A curving operation switch to be mounted in the operation part of an endoscope is so structured that an operation chip 31 is movably provided being attracted to a recess 32 at the oversurface of a case 30. Under the operation chip 31, a follower chip 37 to move in pursuit of the chip 31 apart from the case oversurface 30a is accommodated in a recess 33 inside of the case 30. A CCD 35 is fitted in and accommodated by an accommodation part 34 under the follower chip 37, and its position, i.e., the operating position of the operation chip 31, is sensed by photographing the image of the recess 33 inside of the case 30.

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 bending drive means for driving a bending portion of an elongated insertion portion by an operation signal based on an operation of a bending operation means.

[0002]

2. Description of the Related Art In recent years, an optical or electronic endoscope apparatus has been widely used, which is capable of observing the inside of a body cavity, a plant, or other lumens by inserting an elongated insertion portion. There is.

In many of such endoscope apparatuses, in order to direct the distal end of the insertion portion toward the observation site, a bending portion composed of a plurality of bending rings is provided in a part of the insertion portion. Usually, in order to bend the bending portion, an angle knob provided on the operation portion on the proximal side of the endoscope is rotated, and the bending wire locked to the bending ring is pulled and loosened.

Recently, in order to improve operability,
It has been proposed to provide an electric bending means for driving the bending portion to bend by driving means such as a motor by turning on / off a bending operation switch.

By the way, when guiding the visual field direction from the distal end of the insertion portion to a desired portion, there are cases where the visual field direction needs to be largely changed and fine adjustment is required.

In the former case, the faster the bending speed of the bending portion is, the easier it is to direct the distal end of the insertion portion to a desired portion, which is convenient, while in the latter case, the lower bending speed provides a visual field. Easy fine adjustment of direction.

That is, it is desirable that the bending speed of the bending portion can be freely changed by the operator of the endoscope.

As a means for freely changing the bending speed, the applicant of the present application, in Japanese Patent Application No. 4-129073, arranges four multi-stage switches under a cross-shaped operation pad, and depending on the number of steps to push in the multi-stage switches. It is proposed to control the bending speed.

However, in this apparatus, the operator cannot grasp the information on how many times the bending portion is bent at present, so that the bending operation switch can be checked while confirming the bending state of the bending portion by other means. Need to operate.

Further, Japanese Patent Laid-Open No. 61-106125 discloses a device using a joystick as a bending operation switch. With this device, the bending speed can be controlled by the operation amount of the joystick, and the inclination of the bending portion can be grasped by hand.

[0011]

As described above, in the device of Japanese Patent Application No. 4-129073, the operator cannot grasp the bending state of the bending portion by hand, so the bending state can be changed by other means. It is necessary to check, and there are problems that the device becomes complicated, and there is a possibility that it may be in a curved state that the operator does not intend.

Further, in the device disclosed in Japanese Patent Laid-Open No. 61-106125, when the bending operation switch is constituted by a joystick, it is structurally difficult to provide a waterproof structure or downsize.

The present invention has been made in view of these circumstances, and it is possible to control the bending speed, grasp the bending state of the bending portion by hand, and realize a waterproof structure and downsizing. It is an object of the present invention to provide an endoscope device including a bending operation means that can be easily performed.

[0014]

An endoscope apparatus according to the present invention includes a bending mechanism for bending a distal end portion of an elongated insertion portion, a driving means for driving the bending mechanism, and a bending operation for the insertion portion. What has a bending operation means to operate, and a control means which controls the said drive means by the operation signal from the said bending operation means WHEREIN: The said bending operation means, the cover means which protects the inside of the said bending operation means, and operation. Instruction means for instructing the bending operation of the insertion portion from the outer surface of the cover means, and operation position transmission for transmitting the operation position of the instruction means from the outer surface of the cover means to the inside according to an operation position based on an operation by a person Means and an operation signal output means for outputting an operation signal to the control means in accordance with the operation position transmitted by the operation position transmitting means.

[0015]

When the operating position based on the operation of the operator is designated from the outer surface of the cover means for protecting the inside of the bending operating means by the indicating means, the operating position of the indicating means is changed by the operating position transmitting means to the outer surface of the cover means. Is transmitted from inside to inside. Then, the operation signal output means outputs an operation signal to the control means according to the operation position transmitted by the operation position transmission means, and the control means controls the drive means to bend the distal end portion of the insertion portion.

[0016]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 6 relate to a first embodiment of the present invention, and FIG. 1 is a perspective view showing a schematic configuration of a bending operation switch, and FIG.
Is a cross-sectional explanatory view showing the configuration of the bending operation switch, FIG. 3 is an explanatory view showing the overall configuration of the endoscope device, FIG. 4 is an explanatory view showing the configuration of the bending mechanism, and FIG. 5 is a bending operation unit and a bending control unit. FIG. 6 is a block diagram showing the configuration of the bending operation switch CC
It is explanatory drawing explaining the operation position detected by D.

In FIG. 3, reference numeral 1 is an endoscope apparatus. The endoscope apparatus 1 includes an endoscope 2 in which a solid-state image pickup device such as a CCD is installed, and an illumination light to the endoscope 2. A light source device 3 for supplying, a video control device 4 for driving the solid-state image pickup device to convert an image pickup signal from the solid-state image pickup device into a video signal, and a monitor 5 for displaying a video signal from the video control device 4. A bending motor control device 6 for controlling the bending operation of the bending portion 10 of the endoscope 2 described later is configured.

The endoscope 2 is provided with an elongated insertion portion 7 which can be inserted into a subject, and a large diameter operation portion 8 which is connected to the rear end side of the insertion portion 7. , The insertion part 7
Is a flexible soft part 9, a plurality of bending pieces are connected in order from the operation part 8 side, and a bending part 10 that can be bent in four directions of up, down, left and right, and a hard tip forming part 11 are connected. Is configured.

The tip forming portion 11 is provided with an objective optical system, an illumination optical system, etc., which are not shown, and a solid-state for photoelectrically converting a subject image at an image forming position of the objective optical system and outputting it as an image pickup signal. The photoelectric conversion surface of the image pickup device is provided, and the illumination optical system is provided with an emission end of a light guide formed of a fiber bundle that transmits illumination light.

Further, a universal cord 12 which bifurcates in the middle is connected to a side portion of the operating portion 8, and the bending motor control device is provided at each end of the branch destination of the universal cord 12. 6, a motor control device connector 13 that is detachably connected to 6 and a light guide connector 14 that is detachably connected to the light source device 3.
Each is provided.

Further, a video control cord 15 is extended from a side portion of the light guide connector 14, and a video control device connector 16 detachably connected to the video control device 4 is provided at an end portion thereof. Has been.

A signal cable connected to the solid-state image pickup device is inserted through the insertion portion 7, the operation portion 8 and the universal cord 12, and the video control is performed from the side portion of the light guide connector 14. Code 15
Through to the video control device connector 16.

Similarly, the ride guide is inserted through the insertion portion 7, the operation portion 8 and the universal cord 12 and extends to the light guide connector 14, and the incident end is the light source device. It is exposed in 3.

The light source device 3 is provided with a light source (not shown). Illumination light emitted from the light source is incident on the light guide entrance end of the light guide connector 14 and is emitted from the illumination optical system to the subject or the like. It is supposed to be irradiated.

Further, the video control device 4 is provided with a video signal processing circuit (not shown). The input terminal of this video signal processing circuit is the connector 1 for the video control device.
6 is connected to the connector receiver and the output end is connected to the monitor 5, drives the solid-state image pickup device of the endoscope 2, converts the image pickup signal from the solid-state image pickup device into a video signal, and outputs the image signal. Output to monitor 5. As a result, an observation image of the subject is displayed on the monitor 5.

On the other hand, the operation portion 8 of the endoscope 2 is provided with an air / water feeding button 17 for cleaning the observation window of the objective optical system (not shown) and a suction button 18 for sucking body fluid or the like. It is provided. By operating the air / water supply button 17, air or water is supplied, and by operating the suction button 18, a suction channel (not shown) provided in the endoscope 2 (for inserting a treatment instrument). Bodily fluids are sucked from the channel).

A bending operation switch 19 as bending operation means for bending the bending portion 10 is provided on the operation portion 8.
Is provided. The bending operation switch 19 is watertightly adhered to the operation portion 8 so that water does not enter from the side portion thereof.

The bending operation switch 19 is provided so that an operation tip described later can be moved in each corresponding direction so that the bending portion 10 can be operated to bend in four directions of up, down, left and right. It is connected to the bending motor control device 6 by a motor control device connector 13 via a signal cable (not shown) inserted through the inside 12.

In addition, the bending portion 1 is provided in the operating portion 8.
A bending mechanism for bending 0 is built in. As shown in FIG. 4, this bending mechanism includes a drive motor 21 including a DC motor, a sprocket 23 fixed to a drive shaft 22 of the drive motor 21, and an encoder 24 also fixed to the drive shaft 22. , A chain 25 that meshes with the sprocket 23, and a connecting member 2 at the end of the chain 25.
The bending operation wire 27 and the like are connected to each other via 6.

The bending operation wire 27 includes the flexible portion 9
Through the bending portion 10, and is connected to a bending piece (not shown) at the tip of the bending portion 10.

By operating the bending operation switch 19, the drive motor 21 is driven, and the bending operation wire 27 is driven.
When is pulled or loosened, the bending portion 10 is driven to bend in the vertical direction or the horizontal direction. Further, at this time, the drive motor 2 is moved by the encoder 24.
The rotation amount of 1 is detected.

The bending mechanism has two similar mechanisms for bending in the vertical direction and bending for the horizontal direction.
It is provided in pairs. This bending mechanism includes a drive motor 21.
A bending motor control device 6 as a control means for controlling the above-mentioned bending operation is performed based on the operation amount of the bending operation switch 19 and the rotation amount of the drive motor 21 detected by the encoder 24 in each of the up, down, left, and right bending directions. The driving is controlled at the bending angle and the bending speed designated by the instruction.

Next, the detailed structure of the bending operation switch 19 will be described with reference to FIGS.

The bending operation switch 19 is provided with a case 30 made of, for example, black plastic or the like as a cover means for protecting the inside, and a small cylindrical operation tip 31 as an instruction means for instructing a bending operation. Has been done. The operation tip 31 is arranged in a circular recess 32 formed on the upper surface of the case 30 so as to be movable in the radial direction. Further, on the upper surface of the case 30, direction indications are provided corresponding to respective directions of up (U), down (D), right (R), and left (L).

FIG. 2 is a sectional view taken along a vertical section taken along the line AA of FIG. The case 30 has a concave portion 33 of the same shape formed from the lower side corresponding to the circular concave portion 32 formed on the upper surface portion, and below the concave portion 33, a rectangular storage portion larger than the concave portion 33. 34 is formed. A CCD 35, which is a solid-state image sensor, is fitted and stored in the storage portion 34, and is fixed by adhesion or the like.

In addition, in the space formed by the recess 33 inside the case 30 formed above the light receiving surface 35a of the CCD 35,
A driven chip 37 is housed as an operation position transmitting unit that moves following the movement of the operation chip 31 and transmits the operation position of the operation chip 31 to the inside.

The operation tip 31 has a magnet 39 inside a tip cover 38 made of plastic or the like. The driven tip 37 attracts the driven tip 37 by magnetic force across the case upper surface portion 30a and drops itself from the case 30 upper surface. It is adapted to be adsorbed in the concave portion 32 without doing so. Therefore, the driven tip 37 is made of a magnetic material, for example, cylindrical iron. The axial height of the operation tip 31 is longer than the depth of the recess 32 on the upper surface of the case 30, that is, the end portion of the operation tip 31 projects from the upper end surface of the case 30.

A miniature light bulb 40 is provided on the side peripheral portion of the recess 33 inside the case 30 so as to illuminate the interior of the recess 33.

The operation chip 31 is attached to the recess 3 on the upper surface of the case 30.
When it is moved in the radial direction within 2, the driven tip 37 follows the case upper surface portion 30a and moves in the recess 33 inside the case 30 and always attracts the operation tip 31. For this reason,
The operation tip 31 does not fall off the surface of the case 30. The suction force between the operation tip 31 and the driven tip 37 is set so as not to be released when the normal operation tip 31 is operated in the radial direction, and to be released when the operation tip 31 is strongly pulled in the axial direction.

The light receiving surface 35a of the CCD 35 faces the recess 33 inside the case 30. CCD35 is
It is a sensor that detects the brightness of the target portion and outputs an image pickup signal that is the original data of the subject image, and functions as an operation signal output unit that outputs the position of the driven chip 37 as image data. Here, since the inside of the case 30 is made of, for example, black plastic, it is detected as a dark portion, and the driven chip 37 is made of iron, and since it is a bright silver color, it is detected as a bright portion. That is, when the operation tip 31 is moved, the driven tip 37 moves following the movement, so that the CCD 35 detects the position of the driven tip 37, that is, the position of the operation tip 31 as a bright portion.

The material of the driven chip 37 is not limited to iron, and any material having a bright color that can be detected as a bright portion in the CCD 35 can be used as long as it is a material attracted by a magnet.

FIG. 5 shows the configuration of the bending operation section including the bending operation switch 19 and the bending control section in the bending motor control device 6.

The bending motor control device 6 is provided with a bending control section 41 and a power supply 41 for supplying driving power to the driving motor 21 in the operating section 8. The bending operation switch 19 provided on the operation unit 8 is used for the bending motor control device 6
It is connected to the bending control section 41 inside.

In the bending operation switch 19, the position of the operation chip 31 is detected as a bright portion by the CCD 35 in the case 30, and this image data is transmitted to the bending control unit 41. The bending control unit 41 has a CC
A data conversion unit A43 for converting the image data output from D35 into the input angle data in each of the upper (U), lower (D), right (R), and left (L) directions is provided and transmitted. The image data thus obtained is converted into input angle data and sent to one input end of the comparing section 45.

In addition, the bending controller 41 includes an encoder 2
The data of the rotation amount of the drive motor 21 detected in 4 corresponds to the actual bending angle, and the output angle of the upper (U), the lower (D), the right (R), and the left (L). A data conversion unit B44 for converting the data is provided. The bending state of the bending portion 10 is detected by detecting the amount of rotation of the drive motor 21 by the encoder 24 connected to the drive motor 21 in each of the vertical direction and the horizontal direction. This bending amount data is transmitted to the data conversion unit B44 in the bending control unit 41, converted into output angle data, and sent to the other input end of the comparison unit 45.

The comparison section 45 compares the input angle data with the output angle data, and outputs the comparison result to the power supply control section 46. This power control unit 4
6 controls the power supply 42 so that the output angle data becomes equal to the input angle data on the basis of the comparison result of the comparison unit 45, and supplies electric power to the drive motor 21.

Next, the operation of this embodiment will be described.
In order to perform the bending operation of the bending portion 10 of the insertion portion 2, for example, when the operation tip 31 of the bending operation switch 19 is moved upward (in the U direction) from the center in FIG. It is attracted by the magnet 39 and follows the movement of the operation tip 31, and the recess 33 inside the case 30
Move from the center to the U direction.

The position of the driven chip 37 is detected as a bright portion by the CCD 35. Here, the image of the object detected by the light receiving surface 35a of the CCD 35 is shown in FIG. In FIG. 6, the position of the driven chip 37 is detected as a bright portion 47, and the other portion is detected as a dark portion 48.
Note that the R direction and the L direction are opposite to each other in FIG. 6 because the light receiving surface 35a of the CCD 35 faces upward, and is opposite to the RL direction on the upper surface of the case 30 of the bending operation switch 19.

The image data at the position of the operation chip 31 detected by the CCD 35 is converted into input angle data in the U, D, R, and L directions by the data conversion unit A43 in the bending control unit 41. In the example of FIG. 6, the input angle data is, for example, 120 ° in the U direction, 0 ° in the D direction, 0 ° in the R direction, and 0 ° in the L direction.

On the other hand, the bending state of the bending portion 10 is detected by the encoder 24 connected to the drive motor 21, and the bending amount data is obtained by the data converting portion B44 in the bending control portion 41. The output angle data is converted to how many times in each of the U, D, R, and L directions that match the actual bending angle of 10.

In the state in which the operation tip 31 before operating the bending operation switch 19 is in the center, the bending portion 10 is not bent, and the output angle data is 0 ° in the U direction, 0 ° in the D direction, and R. The data was 0 ° in the direction and 0 ° in the L direction. After that, when the operation tip 31 is moved in the U direction as described above, the input angle data and the output angle data have different values.

The input angle data and the output angle data are compared by the comparison unit 45, and the power supply control unit 46 controls the power supply 42 so that the output angle data becomes equal to the input angle data according to the comparison result. Electric power is supplied to the drive motor 21.

In this case, since the input angle data and the output angle data are different only in the U direction, power is supplied so that the U direction of the output angle data is 0 ° → 120 °. As a result, the bending portion 10 bends upward.

At this time, the bending angle of the bending portion 10 is detected by the encoder 24, and the driving motor 21
Bends the bending portion 10 until the output angle data converted by the data conversion unit B44 becomes 120 ° in the U direction.

Although only the upward movement is described here, the same applies to the other downward, rightward and leftward movements.

In such a bending operation switch 19, the operator can easily grasp the bending state of the bending portion by the position of the operation tip 31. Further, it is also possible to control the drive speed of the drive motor 21 by the bending control section 41 according to the moving speed and the moving amount of the operation chip 31.

When the endoscope 2 constructed as described above is to be washed, the operation tip 31 may be washed by strongly pulling it in the axial direction and removing it.

In this state, C for detecting the bending operation position
Since the CD 35 and the outer exposed surface of the bending operation switch 19 are completely separated by the case upper surface portion 30a, moisture does not enter the inside of the bending operation switch 19 when the endoscope 2 is washed, and the CCD 35 Etc. will not get wet.

That is, since the bending operation switch 19 is watertightly adhered to the operation portion 8 so that water does not enter from the side portion, and the surface of the bending operation switch 19 is substantially flat, the bending operation switch 19 is bent. A waterproof structure can be easily provided on the 19 surface portion. Further, the bending operation switch 19 can be downsized.

As described above, in this embodiment, the movement of the operation tip is transmitted to the driven tip inside the bending operation switch by the magnetic force, and the position of the driven tip is detected by the CCD. Therefore, the operation tip and the operation signal are detected. To output C
A mechanical connection with the CD can be eliminated, the bending speed can be controlled with a simple structure, and the bending state of the bending portion can be grasped by hand. Further, since the operation chip can be coupled and separated from the bending operation switch body by magnetic force, the waterproof structure can be easily obtained, and since the switch surface has no unevenness, the cleaning property can be improved.

7 to 12 relate to the second embodiment of the present invention, FIG. 7 is a perspective view showing a schematic structure of a bending operation switch, and FIG. 8 is a sectional explanatory view showing a structure of the bending operation switch.
9 is a perspective view showing the configuration of the electrode pattern plate, FIG. 10 is a circuit diagram showing the circuit configuration of the electrode pattern plate, FIG. 11 is a block diagram showing the configuration of the bending operation unit and the bending control unit, and FIG. 12 is the electrode pattern plate. FIG. 6 is an explanatory view showing a state in which a driven chip on the conductor of FIG.

In the second embodiment, in the bending operation switch, as the operation signal output means for detecting the operation position and outputting the operation signal according to the position, instead of the CCD of the first embodiment, as shown in FIG. This is an example using an electrode pattern plate.
The other parts of the endoscope device are configured in the same manner as in the first embodiment, and the same reference numerals are given to the same components and the description thereof will be omitted.

As shown in FIG. 7, the bending operation switch 51
Is provided with a case 30 and an operation tip 31 in the form of a small cylinder, as in the first embodiment.

FIG. 8 is a cross-sectional view taken along the line BB of FIG. Rectangular storage 3 at the bottom of case 30
An electrode pattern plate 52 is fitted and housed in 4 and is fixed by adhesion or the like. Further, in this embodiment, since the illumination light is not required in the recess 33 inside the case 30, the miniature bulb 40 for illumination is omitted. Other configurations of the bending operation switch are the same as those in the first embodiment.

As shown in FIG. 9, the electrode pattern plate 52 has an upper surface exposed in the recess 33 inside the case 30.
For example, an electrode pattern in which a round conductor 54 is formed is provided so as to be exposed at the central portion of nine sets of annular conductors 53.

The circuit structure of the electrode pattern plate 52 is shown in FIG. The ring-shaped conductor 53 is grounded, and the circular conductor 54 on one side is + V (for example, +5) via a resistor.
V) has been pulled up. In addition, the round conductor 54 is
Each is connected to a bending control unit 55 described below.

A driven chip 37 is in contact with the electrode pattern plate 52, as shown in FIG. Driven chip 37
Is, for example, the magnet 3 of the operating tip 31 as in the first embodiment.
It is composed of iron that is sucked into the 9. That is, since the driven tip 37 is a conductor, when the driven tip 37 is located on the annular conductor 53 and the round conductor 54, the two electrode patterns are electrically connected. At this time, in FIG. 10, since the annular conductor 53 and the round conductor 54 are connected by the driven tip 37, the potential of the round conductor 54 is +.
It goes from 5V to 0V. Therefore, the output to the bending control unit 55 also becomes + 5V → 0V.

FIG. 11 shows the construction of the bending operation section including the bending operation switch 19 and the bending control section in the bending motor control device 6.

The bending operation switch 51 has nine output lines connected to the bending control section 55 in the bending motor control device 6. The bending control unit 55 is provided with a data conversion unit C56 that detects a position on the electrode pattern plate 52 having a potential of 0 V from the output from the bending operation switch 51 and converts it into input angle data. Nine outputs from 51 are input. In this data converter C56, the potential is 0 V among the nine output lines.
Driven chip 3 on the electrode pattern plate 52
The position 7 is detected, that is, the position of the operation tip 31 of the bending operation switch 51, and this position data is converted into input angle data and sent to one input end of the comparison section 45.

On the other hand, the bending amount of the bending portion 10 detected by the encoder 24 is the same as in the first embodiment.
44 and converted into output angle data, and the comparison unit 4
5 is sent to the other input terminal. Then, the comparison unit 45 compares the output angle data with the input angle data, and based on the comparison result, the power supply control unit 46 controls the power supply 42 so that the output angle data becomes equal to the input angle data. Power is supplied to the drive motor 21.

In the present embodiment, for simplification of description, the ring-shaped conductor 53 and the round-shaped conductor 54 on the electrode pattern plate 52 are described as nine sets. Therefore, the position information of the operation chip 31 detected in this case is the center, U, D,
It is nine pieces of rough information of R, L, UR, UL, DR, and DL. The bending operation is controlled so that the bending angle of the bending portion 10 matches the input angle data corresponding to this position information.

The numbers of the ring-shaped conductors 53 and the round-shaped conductors 54 are not limited to 9 sets, and the number of electrode patterns may be increased to 25 sets, 100 sets, or the like, and can be increased by increasing the number of electrode pattern sets. Fine angle control can be performed.

Although the number of output lines increases as the number of electrode pattern sets increases, the number of output lines can be collectively reduced by using a plurality of decimal-binary encoders (BCD encoders). it can.

Next, the operation of this embodiment will be described.
In order to perform the bending operation of the bending portion 10 of the insertion portion 2, for example, when the operation tip 31 of the bending operation switch 51 is moved upward (in the U direction) from the center in FIG. The magnet 39 attracts the
As shown in FIG. 2, the operation tip 31 moves in the U direction from the center in the recess 33 inside the case 30 following the movement of the operation tip 31.

Then, the circular conductor 53 and the circular conductor 54 located in the U direction below the driven tip 37 are electrically connected. The circular conductor 54 under the driven chip 37 is electrically connected to the grounded annular conductor 53, so that the potential is from +5 V to 0.
Since it is V, the output from the round conductor 54 at this position is 0.
It becomes V.

There are a total of nine outputs from the bending operation switch 51, that is, outputs from the round conductor 54, and these are supplied to the data conversion unit C56 in the bending control unit 55. The data conversion unit C56 detects that the potential is 0 V among the nine output lines, and determines that there is the driven chip 37, that is, the operation chip 31, on the electrode pattern corresponding to the output line.
The position data of the electrode pattern is converted into input angle data of how many times in each of the U, D, R, and L directions.

For example, at the position of the driven tip 37 in FIG. 12, 120 ° in the U direction, 0 ° in the D direction, 0 ° in the R direction,
It is converted into input angle data of 0 ° in the L direction.

The bending state of the bending portion 10 is detected by the encoder 24 as in the first embodiment and converted into output angle data by the data converting portion B44.

Then, the comparing unit 45 compares the input angle data with the output angle data, and according to the comparison result, the power supply control unit 46 drives the power supply 42 so that the output angle data becomes equal to the input angle data. Electric power is supplied to the motor 21 for bending, whereby the bending portion 10 bends upward to 120 °.

Although only the upward movement is described here, the same applies to other downward, rightward and leftward movements.

When the endoscope 2 having the bending operation switch 51 constructed as described above is washed, the operation tip 31 may be strongly pulled in the axial direction and removed to wash as in the first embodiment. .

As described above, according to this embodiment, similarly to the first embodiment, the bending speed can be controlled with a simple structure, and the bending state of the bending portion can be grasped by hand. In addition, the waterproof structure can be easily achieved. In addition, in the present embodiment, a miniature bulb for lighting and a C for imaging.
Since a CD or the like is not used, it is possible to save power and simplify the circuit configuration.

13 to 16 relate to the third embodiment of the present invention, FIG. 13 is an explanatory view showing the structure of an electrode pattern plate provided in the bending operation switch, and FIG. 14 is one of the electrode pattern plates of FIG. Explanatory drawing showing an enlarged conductor
FIG. 15 is a circuit diagram showing the circuit configuration of the electrode pattern plate, FIG.
6 is a block diagram showing a configuration of a bending operation unit and a bending control unit.

In the third embodiment, in the bending operation switch, the structure of the electrode pattern plate used in the second embodiment is changed as the operation signal output means for detecting the operation position and outputting the operation signal according to the position. Here is an example. The other parts are configured in the same manner as in the second embodiment, and the same components are designated by the same reference numerals and description thereof is omitted.

As shown in FIG. 13, the electrode pattern plate 61 provided in the bending operation switch of the third embodiment has a conductor surface 62 formed on the upper surface portion which abuts the driven tip 37 so as to cover the entire upper surface portion. Has been done. This conductor surface 62 is
For example, + V (for example, + 5V) via 1kΩ resistor 63
It is connected to the.

On the conductor surface 62, elongated conductors 64 (U1 to U4, D1 to D4, R1 to R4, L1 to
L4) is the direction from the center (U, D, R, L
Direction). This conductor 64
14 is an enlarged view of FIG. The conductor 64 is in the shape of a prism, and each is surrounded by an insulating material 65 such as plastic and is embedded from the surface of the electrode pattern plate 61 to the bottom of the conductor surface 62. Therefore, the conductors 64 and the conductors 64
The conductor surface 62 and the conductor surface 62 are not in direct conduction with each other. Further, a grounded GND conductor 66 is embedded in the outer side of the conductor 64, that is, on the outermost periphery of the conductor surface 62 in the same manner as the conductor 64.

The circuit structure of the electrode pattern plate 61 is shown in FIG. FIG. 15 shows one direction (U direction here).
2 shows the circuit configuration in FIG. A resistor 63 of, for example, 1 kΩ is interposed between the conductors U1 and GND. The conductor U4 serves as an output end and is connected to a bending control unit 68 described later. Further, as described above, the conductor surface 62 is pulled up to + V via the resistor 63.

On the electrode pattern plate 61 shown in FIG. 13, the driven chip 37 that contacts the electrode pattern plate 61.
1 moves in the upward direction (U direction) and overlaps the conductor U1,
In 5, the conductor U1 and the conductor surface 62 are connected. Then, the output voltage output from the conductor U4 is
Since 0-5V is divided by 5 resistors, 1/5 × 5V =
It becomes 1V.

Similarly, the output voltage of the electrode pattern plate 61 is 5 / when the driven chip 37 overlaps the conductor U2.
4 = 1.25V, 5/3 = when overlapped with the conductor U3 =
1.67V, 5/2 = 2.5 when overlapping with conductor U4
It becomes V. The output is 0 V before the driven chip 37 overlaps the conductor U1, that is, when the driven chip 37 is located at the center. The same applies to the other D, R, and L directions.

FIG. 16 shows the construction of the bending operation section including the bending operation switch 67 provided with the electrode pattern plate 61, and the bending control section in the bending motor control device 6.

In the bending control unit 68 in the bending motor control device 6 to which the bending operation switch 67 is connected, the bending operation switch 6 is used instead of the data conversion unit C56 of the second embodiment.
From the output from 7, the conductor 6 with which the driven tip 37 is in contact
A data conversion unit D69 that detects the position of No. 4 and converts it into input angle data is provided. This data converter D69
Are the conductors U4, D4, R4 of the bending operation switch 67.
A total of four outputs from L4 are input.

Then, in the data conversion section D69, U,
The potential is 0 for the output lines in each direction of D, R, and L.
Convert the input angle data of 0 ° for V, 30 ° for 1V, 60 ° for 1.25V, 90 ° for 1.67V, and 120 ° for 2.5V. Has become.

This input angle data is input to the comparison unit 45 and compared with the output angle data from the data conversion unit B44, and the power supply control unit 46 controls the power supply 42 so that the output angle data becomes equal to the input angle data. Power is supplied to the drive motor 21.

In this embodiment, only four conductors 64 are provided in each direction for simplification of description, but the present invention is not limited to this, and the number may be increased to 10 or 100 per direction. Good, the more the number of conductors 64 is increased, the finer the angle control can be performed.

In order to bend the bending portion 10 of the insertion portion 2, for example, the operation tip 31 of the bending operation switch 67.
Is moved upward from the center (U direction), the driven tip 37 follows the movement of the operation tip 31 and moves from the center to the U side.
13 and moves to a position overlapping the conductor U1 in FIG.

Then, in the circuit diagram of FIG.
1 and the conductor surface 62 are connected, and +5 V is set to 5
Since the voltage is divided by the individual resistors, the output from the conductor U4 becomes 1V. At this time, the conductors D4, R4, L4 in the other directions
The output from is still at 0V. Output from the bending operation switch 67 (output from U4, D4, R4, L4)
Is supplied to the data conversion unit D69 in the bending control unit 68.

The data conversion section D69 detects the potentials of the four output lines, and outputs U, D, R, L according to the respective potentials.
The input angle data is converted to how many times in each direction. In this case, 30 ° in the U direction, 0 ° in the D direction, 0 ° in the R direction,
It is converted into input angle data of 0 ° in the L direction.

Then, the comparing unit 45 compares the input angle data with the output angle data from the data converting unit B44, and according to the comparison result, the power control unit 46 converts the output angle data into the input angle data. The power supply 42 is controlled so as to be equal. In this case, in the previous state (the state in which the driven tip 37 is in the center), the output angle data is U, D, R,
Since it was 0 ° in both the L direction, here it is 30
Power is supplied from the power supply 42 to the drive motor 21 so that the bending portion 10 bends up to 30 °.

Next, when the operating tip 31 is further moved in the U direction and the driven tip 37 overlaps with the conductor U4 following this, the output from U4 becomes 2.5V. At this time, the outputs from the other conductors D4, R4 and L4 remain 0V.

The output from the bending operation switch 67 is
120 ° in the U direction and 0 in the D direction in the data converter D69
The input angle data is converted to 0 ° in the R direction, 0 ° in the R direction, and 0 ° in the L direction, and the power source control unit 46 controls the bending drive so that the output angle data matches the input angle data, and the bending unit 10 is controlled. Bend up to 120 °.

According to the present embodiment, in addition to the effect of the second embodiment, no matter how the number of conductors for detecting the position of the operation tip 31 is increased, the output is only four. It can be miniaturized.

17 and 18 relate to the fourth embodiment of the present invention. FIG. 17 is an explanatory view showing the construction of a bending operation switch and an internal electrode pattern plate, and FIG. 18 is a sectional view taken along the line CC of FIG. Is.

The fourth embodiment is a modification of the third embodiment, in which the electrode pattern plate has a hemispherical shape, and conductive rubber is attached onto the electrode pattern plate instead of the operating chip or the driven chip, and the bending operation switch is formed. Is configured.

As shown in FIGS. 17 and 18, in the bending operation switch 71, a hemispherical electrode pattern plate 73 is arranged on a base 72, and a conductive rubber 74 is provided on the upper surface of the electrode pattern plate 73. Is attached and configured.
The conductive rubber 74 covering the upper surface of the electrode pattern plate 73 has such a characteristic that the electric resistance is infinite when not pressed by a finger or the like, and becomes 0 when pressure is applied. Further, a projection 74a indicating the central position is provided at a portion of the conductive rubber 74 located on the top of the hemisphere.

On the hemispherical electrode pattern plate 73, as shown in FIG.
Similarly to the electrode pattern plate of the third embodiment shown in FIG. 3, the conductor surface 62, the conductor 64 (U1 to U4, D1 to D4, R1 to R).
4, L1 to L4), and a GND conductor 66 are provided. These conductors are connected in the same manner as in FIG. 15, and four outputs are supplied from the conductors U4, D4, R4, L4 as the output of the bending operation switch 71 to the data conversion unit D69 in the bending control unit 68. Has become.

Others are the same as those in the third embodiment, and the description thereof will be omitted.

In order to perform the bending operation of the bending portion 10 of the insertion portion 2, for example, a conductive rubber 74 of the bending operation switch 71 is used with a finger.
When the position corresponding to the conductor U1 is pressed from above, the electric resistance of the conductive rubber 74 directly above the conductor U1 approaches 0, and the conductive rubber 7
The conductor U1 and the conductor surface 62 are electrically connected to each other through 4. Then, as described in the third embodiment, 1V is output from the conductor U4. At this time, the conductors D4, R4, L in the other directions
The output from 4 remains 0V.

Output from the bending operation switch 71 (U4,
D4, R4, L4) are supplied to the data converter D69, where 30 ° in the U direction, 0 ° in the D direction, and 0 in the R direction.
The input angle data is 0 ° in the L and L directions.

Based on this input angle data, the power control unit 4
Reference numeral 6 controls the power source 42 to supply electric power to the drive motor 21, whereby the bending portion 10 bends upward by 30 °.

Here, when the pushing of the bending switch is stopped (when no pushing is made), the conductors U4, D4, R
The outputs from 4 and L4 are all 0V, the input angle data are all 0 ° in the U, D, R, and L directions, and the bending portion 10 returns to the neutral position (neutral).

In other words, it can be said that this operates similarly to a joystick having a neutral return function.

During the bending operation, the operator can search for the reference neutral position by looking for the protrusion 74a at the top of the center of the conductive rubber 74.

According to this embodiment, since the bending operation switch is formed without providing the operation tip, the finger plays the role of the operation tip, and the conductive rubber transmits the operation position to the inside of the switch. In addition, since it is not necessary to attach and detach the operation tip at the time of cleaning, the cleaning property is further improved. Further, since the operation surface of the bending operation switch has a hemispherical shape, it is possible to easily grasp in which direction the bending operation switch is bent.

19 to 23 relate to the fifth embodiment of the present invention, FIG. 19 is an explanatory view showing the overall constitution of the endoscope apparatus, and FIG. 20 is a constitution showing the connection state of each part of the endoscope apparatus. Explanatory drawing, FIG. 21 is a perspective view showing the configuration of the rod lens, FIG.
2 is a cross-sectional view showing the configuration of the connecting portion between the rod lens and the illumination system path, and FIG. 23 is a cross-sectional view showing the configuration of the connecting portion of the rod lens.

The fifth embodiment is an example in which the connection form between the respective devices of the first embodiment is changed. The same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 19, the endoscope device 81 is
Similar to the first embodiment, an endoscope 82 in which a solid-state image pickup device such as a CCD is installed, a light source device 3 for supplying illumination light to the endoscope 82, and the solid-state image pickup device are driven to perform solid-state image pickup. Video control device 4 for converting an image pickup signal from an element into a video signal
And a monitor 5 for displaying a video signal from the video control device 4, and a bending motor control device 83 for controlling the bending operation of the bending portion 10 of the endoscope 82.

A universal cord 84 is connected to a side portion of the operation portion 8 of the endoscope 82, and a bending motor control device 83 is connected to an end portion of the universal cord 84.
85 for motor control device removably connected to
Is provided. The bending motor control device 83 is connected to the light source device 3 by a light source cord 86, and is connected to the video control device 4 by a video control cord 87.

FIG. 20 shows a connection state of each part of the endoscope device 81. An air supply pump 88 that constantly supplies air is provided in the light source device 3, and the air from the air supply pump 88 passes through an air supply conduit A89a, an air supply conduit B89b, and an air supply conduit C89c. , And is guided into the air supply duct D89d in the endoscope 82. These pipes are connected via an O-ring (not shown) or the like to prevent air from leaking.

The air supply conduit D89d is branched at a branching portion 89e, and one of them is connected to the water tank 90. The water tank 90 is composed of a sealed container and contains water,
The conduit from the branch portion 89e is open above the water surface. Further, a water supply pipeline A91a is connected to the water tank 90, and this pipeline opens in the water of the water tank 90.
The water supply conduit A91a is connected to the water supply conduit B9 via the water supply valve 92.
1b, is inserted through the inside of the insertion portion and opens at the tip of the insertion portion.

The other branching portion at the branch portion 89e of the air feeding conduit D89d is connected to the air feeding conduit G89g which is inserted through the insertion portion and opened at the tip of the insertion portion through the air feeding conduit F89f and the air feeding valve 93. ing.

Here, the air feeding valve 93 is opened by pushing the air feeding / water feeding button 17 in FIG. 19 one step, and the water feeding valve 92 is opened.
Is configured to open by pressing the air / water supply button 17 in two steps.

A lamp 94 for illumination is provided in the light source device 3. Illumination light from the lamp 94 is rod lens A95a, illumination system path A96a, rod lens B95b, rod lens C95c, illumination system path B96b, rod lens D95d, rod lens E95.
The light is guided to the illumination system path C96c in the endoscope 82 via e, transmitted through the insertion portion, and emitted from the tip of the insertion portion.

The rod lenses 95a to 95e are shown in FIG.
As shown in FIG. 1, it is a cylindrical transparent member having a length in the axial direction longer than the radial direction, and transmits the illumination light to the rod lens facing the connector portion of the cable. Further, the illumination system paths 96a to 96c are composed of optical fiber bundles.

Here, the connecting portion between the rod lens and the illumination system path is constructed as shown in FIG. Inside the hollow connecting cylinder A97, in which a screw is screwed on a part of the inner circumference,
The rod lens 95a is fitted and fixed by adhesion.
On the other hand, a hollow connecting cylinder B in which a screw is screwed on a part of the outer circumference
An illumination system path 96a is inserted into 98 and fixed by adhesion. The connecting cylinder B is connected to the threaded portion in the connecting cylinder A97.
By fixing 98 by screwing, the rod lens 9
5a and the illumination system path 96a face each other and are connected. The other connecting portions have the same structure.

The connecting portion between the rod lenses is shown in FIG.
It is configured as shown in. The connecting portion is provided with a connecting outer cylinder 99, and hollow connecting inner cylinders 100b and 100c into which the rod lenses 95b and 95c are fitted and fixed by adhesion are just fitted into the connecting outer cylinder 99. It is supposed to do. The fixed side rod lens (the rod lens 95c in this case) has the connecting inner cylinder 100c adhered and fixed in the connecting outer cylinder 99, and the rod lens on the insertion / removal side (the rod lens 95b in this case). The connection inner cylinder 100b is not adhered and can be freely inserted and removed.
As a result, the rod lenses 95b and 95c face each other,
It is supposed to be connected. The other connecting portions have the same structure.

A CCD provided at the tip of the endoscope 82
101 is a video cable A 102a and a video cable B1
02b, video cable C102c, video cable D10
2d through the signal processing unit 103 in the video control device 4
The image pickup signal, which is picked up by the CCD 101, is transmitted to the signal processing unit 103, and video signal processing is performed. The signal processing unit 103 converts the signal into a video signal, and an observation image is displayed on the monitor 5.

Next, the operation of the endoscope apparatus of this embodiment will be described. When the air / water feed is performed by the endoscope 82, when the air / water feed button 17 of FIG. 19 is pushed in one step, only the air feed valve 93 in FIG. 20 is opened. At this time, from the air supply pump 88 that constantly supplies air, the air supply pipeline 89a ...
Air is supplied to the branch portion 89e via 89d. Then, the air sent from the branch portion 89e to the air sending conduit F89f side passes through the air sending conduit G89g because the air sending valve 93 is open, and is sent from the tip opening of the insertion portion.

At this time, the water tank 90 is supplied from the branch portion 89e.
When the air guided to the side pushes down the water surface in the water tank 90, the water is pushed into the water supply pipe A91a, but since the water supply valve 92 is closed, the water does not flow into the water supply pipe B91b and the water is supplied. Is not done.

Next, when the air / water feeding button 17 is pushed in two steps, the air feeding valve 93 is closed and the water feeding valve 92 is opened. Then, the air supply to the air supply conduit G89g is stopped, and the air supply is stopped.

Further, by opening the water supply valve 92, the water in the water supply conduit A91a flows into the water supply conduit B91b and is supplied from the tip opening of the insertion portion.

When the air / water feeding button 17 is not pressed, both the air feeding valve 93 and the water feeding valve 92 are closed.
Neither air nor water is delivered.

The illumination light from the light source device 3 includes the rod lens A95a, the illumination system path A96a, and the rod lens B.
95b, rod lens C95c, illumination system path B96b,
Through the rod lens D95d, the rod lens E95e, and the illumination system path C96c, the light is guided to the tip of the insertion portion and emitted from the tip, and illuminates the observation site.

The image pickup signal picked up by the CCD 101 is the image cable A102a and the image cable B102.
b, video cable C102c, video cable D102d
Is transmitted to the signal processing unit 103 in the video control device 4, and is converted into a video signal that can be displayed on the monitor, and an observation image is displayed on the monitor 5.

When the bending portion 10 of the insertion portion 7 is bent, the bending motor control device 83 controls the driving motor 21 by operating the bending operation switch 19 as in the first embodiment. , The bending portion 10 is bent in a desired direction.

As described above, according to the present embodiment, one connector at the end of the universal cord is used, the endoscope is connected to only one device, and the other device is connected via this device. Therefore, in addition to the effect of the first embodiment, the endoscope can be easily attached to and detached from the peripheral device, and the operability in handling the device, cleaning, etc. can be improved.

[0136]

As described above, according to the present invention, the bending speed can be controlled by the bending operation means, the bending state of the bending portion can be grasped by hand, and the waterproof structure can be obtained. It has the effect of making it easy to downsize.

[Brief description of drawings]

1 to 6 relate to a first embodiment of the present invention,
FIG. 1 is a perspective view showing a schematic configuration of a bending operation switch.

FIG. 2 is an explanatory sectional view showing the structure of a bending operation switch.

FIG. 3 is an explanatory diagram showing the overall configuration of the endoscope device.

FIG. 4 is an explanatory diagram showing a configuration of a bending mechanism.

FIG. 5 is a block diagram showing a configuration of a bending operation unit and a bending control unit.

FIG. 6 is an explanatory diagram illustrating an operation position detected by a CCD of a bending operation switch.

7 to 12 relate to a second embodiment of the present invention, and FIG. 7 is a perspective view showing a schematic configuration of a bending operation switch.

FIG. 8 is an explanatory sectional view showing the structure of a bending operation switch.

FIG. 9 is a perspective view showing the configuration of an electrode pattern plate.

FIG. 10 is a circuit diagram showing a circuit configuration of an electrode pattern plate.

FIG. 11 is a block diagram showing configurations of a bending operation unit and a bending control unit.

FIG. 12 is an explanatory diagram showing a state where a driven chip on a conductor of an electrode pattern plate has moved.

13 to 16 relate to a third embodiment of the present invention, and FIG. 13 is an explanatory view showing a configuration of an electrode pattern plate provided in a bending operation switch.

FIG. 14 is an explanatory view showing one conductor in the electrode pattern plate of FIG. 13 in an enlarged manner.

FIG. 15 is a circuit diagram showing a circuit configuration of an electrode pattern plate.

FIG. 16 is a block diagram showing the configurations of a bending operation unit and a bending control unit.

FIG. 17 and FIG. 18 relate to a fourth embodiment of the present invention, and FIG. 17 is an explanatory view showing a configuration of a bending operation switch and an internal electrode pattern plate.

18 is a cross-sectional view taken along the line CC of FIG.

19 to 23 relate to a fifth embodiment of the present invention, and FIG. 19 is an explanatory diagram showing the overall configuration of the endoscope apparatus.

FIG. 20 is a structural explanatory view showing a connection state of each part of the endoscope apparatus.

FIG. 21 is a perspective view showing the configuration of a rod lens.

FIG. 22 is a cross-sectional view showing a configuration of a connecting portion between a rod lens and an illumination system path.

FIG. 23 is a cross-sectional view showing a configuration of a connecting portion of a rod lens.

[Explanation of symbols]

 2 ... Endoscope 6 ... Bending motor control device 7 ... Inserting portion 8 ... Operating portion 10 ... Bending portion 19 ... Bending operation switch 21 ... Driving motor 24 ... Encoder 30 ... Case 30a ... Case upper surface portion 31 ... Operation tip 32 ... recessed part on the upper surface of the case 33 ... recessed part inside the case 34 ... storage part 35 ... CCD 37 ... driven chip 40 ... miniature light bulb 41 ... bending control part

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[Procedure amendment]

[Submission date] November 25, 1992

[Procedure Amendment 1]

[Document name to be amended] Statement

[Correction target item name] 0043

[Correction method] Change

[Correction content]

The bending motor control device 6 is provided with a bending control section 41 and a power source 42 for supplying driving power to the driving motor 21 in the operating section 8. The bending operation switch 19 provided on the operation unit 8 is used for the bending motor control device 6
It is connected to the bending control section 41 inside.

[Procedure Amendment 2]

[Document name to be amended] Statement

[Correction target item name] 0068

[Correction method] Change

[Correction content]

FIG. 11 shows the construction of the bending operation section including the bending operation switch 51 and the bending control section in the bending motor control device 6.

Claims (1)

[Claims] 1. A bending mechanism for bending a distal end portion of an elongated insertion portion, a driving means for driving the bending mechanism, a bending operation means for instructing and operating a bending operation of the insertion portion, and a bending operation means for operating the bending operation. In an endoscope apparatus having a control means for controlling the driving means by an operation signal, the bending operation means includes a cover means for protecting the inside of the bending operation means, and an operation position based on an operation of an operator, Instructing means for instructing the bending motion of the insertion portion from the outer surface of the cover means, operating position transmitting means for transmitting the operating position of the instructing means from the outer surface of the cover means to the inside, and transmitting by the operating position transmitting means. An operation signal output means for outputting an operation signal to the control means according to the operated position, and an endoscope apparatus comprising: