JPH06105800A - Endoscope device - Google Patents

Abstract

PURPOSE:To provide an endoscope device whose operation part can be embodied small and light and which can be set in the coupling condition capable of transmitting the power to drive the curving motion. CONSTITUTION:An endoscope device comprises a curving part installed in a thin and long insert part, an endoscope having a connector 10 which constitutes an input side connection part for an endoscope side power transmitting means to transmit the power for driving the curving motion to the mentioned curving part. a curving motor control device 3 installed outside of the endoscope and generating the drive force to curve the curving part, and a drive part side power transmission output part which transmits the power to curve from the device 3 to a drive force transmitting device 44 inside of the connector 10. This output part is furnished with a connector guide 61a which admits the guide cylinder 10a of the connector 10, and a guide mechanism is formed to make guidance to the specified coupling position by detaining the guide cylinder 10a with the connector guide 61a before the specified coupling position is reached.

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 a guide mechanism for guiding a drive section side power transmission section and an endoscope side power transmission section to a predetermined connecting position.

[0002]

2. Description of the Related Art In recent years, by inserting an elongated insertion portion into a body cavity, the organ in the body cavity can be observed and, if necessary,
2. Description of the Related Art Endoscopes that can perform various therapeutic treatments using a treatment instrument inserted in a treatment instrument channel are widely used. In addition, piping for boilers, gas turbine engines, chemical plants, etc.
BACKGROUND ART Industrial endoscopes are widely used for observing and inspecting scratches and corrosion inside automobile engine bodies and the like.

Such an endoscope generally has a mechanism for bending the bending portion on the distal end side, and is provided with an electric drive means such as a motor for driving the bending mechanism.
Such an endoscope constitutes and is used as an endoscope apparatus in combination with an endoscope, a bending control device for controlling the bending of the endoscope, a light source device, and the like.

When a motor is built in the operation section of the endoscope,
Since the weight of the operating portion is increased and the operability is deteriorated, for example, Japanese Patent Publication No. 57-22574 and Japanese Utility Model Publication No. 64-4920.
In the second publication, a motor provided outside the operation unit or near the connector is proposed.

[0005]

However, in this case, the bending wire becomes long, the wire forming the pulling means is loosened, and the bending driving force cannot be transmitted reliably, which deteriorates the function of the bending operation. It can happen.

Therefore, for example, Japanese Patent Application No. 4-112853
JP-A No. 2003-242242 proposes a mechanism for engaging a male coupler and a female coupler to transmit power for bending drive. However, when the centers of the male coupler and the female coupler do not coincide with each other, the male coupler and the female coupler come into contact with each other first, so that the male coupler does not abut the guide surface well. Therefore, there is a point to be improved in that the connection must be made while visually confirming that the axes of the male coupler and the female coupler are aligned.

The present invention has been made in view of the above points, and provides an endoscope apparatus in which the operating portion can be made smaller and lighter, and connection operation can be performed in a state where power can be transmitted easily and reliably. The purpose is to do.

[0008]

An endoscope provided in an elongated insertion portion and having a bendable bending portion and an endoscope-side power transmission portion for transmitting bending driving power to the bending portion. A drive unit provided outside the endoscope for bending and driving the bending unit; a drive unit-side power transmission unit for transmitting power for bending the bending unit to the endoscope; and a drive unit-side power Guide the drive unit side power transmission unit and the endoscope side power transmission unit to the coupling position before the transmission unit reaches a predetermined coupling position where power can be transmitted to the endoscope side power transmission unit. By providing a guide mechanism that operates, the operating section of the endoscope can be made smaller and lighter. When connecting the endoscope and the drive section, the guide mechanism allows the drive section side power transmission section and the endoscope side power transmission. Can be reliably guided to a predetermined connection position where power can be transmitted. It can be set to the state. Therefore, even if the connection is not visually confirmed, it can be set to a predetermined coupling position where power can be transmitted easily and reliably.

[0009]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 11 relate to a first embodiment of the present invention,
FIG. 1 is an overall configuration diagram of the endoscope apparatus of the first embodiment, FIG. 2 is a configuration diagram of an operating portion of an electric bending endoscope, and FIG. 3 is A- in FIG.
5 is a sectional view taken along the line A ', FIG. 4 is a configuration diagram showing a part of a connector and a bending motor control device to which the connector is connected, FIG.
4 is a plan view of the connector portion of FIG. 4, FIG. 6 is a perspective view showing a connecting portion with a shaft of a motor, FIG. 7 is a block diagram showing a configuration of a control system of a bending motor control device, and FIGS. 8 shows the control contents of the motor control device for a vehicle, and FIG. 8 is a flow chart of the process contents of mounting / not mounting the electric bending type endoscope,
FIG. 9 is a flowchart of the processing contents for detecting the operation of the clutch switch, FIG. 10 is a flowchart of the processing contents for the operating state of the clutch switch, and FIG. 11 is an explanatory view showing one state in which the connector is connected to the bending motor control device. is there.

As shown in FIG. 1, an endoscope apparatus 1 according to a first embodiment of the present invention includes an electronic electric bending endoscope 2 in which a solid-state image pickup device such as a CCD is installed, and this electronic bending endoscope. A light source device 6 that supplies illumination light to the electric bending endoscope 2, a video processor 4 that performs signal processing for the electronic electric bending endoscope 2, and a video signal output from the video processor 4 A monitor 5 for inputting and displaying a subject image, and a curving motor control device 3 for controlling curving of a curving portion 16 provided in the insertion portion 7 of the electronic electric curving endoscope 2 are provided. .

The electronic electric bending endoscope 2 has an elongated insertion portion 7 and an operation portion 8 formed at the rear end of the insertion portion 7.
And the universal cord 9 extended from the operation unit 8.
Consists of. The insertion portion 7 has a distal end forming portion 15, a bending portion 16 configured to be bendable, a long flexible tube portion 17, and the flexible tube portion 17 so as not to bend in order from the distal end side. It is composed of a bending prevention member 17a.

The operation section 8 includes an air / water supply button 18 for performing air supply and water supply operation, a suction button 19 for suction operation, and a bending operation switch section 20 for bending operation.
A clutch switch 25 for freeing and locking the electromagnetic clutch, which will be described later, and a video operating unit 26 for performing operations such as freezing are provided. By performing an operation of tilting the joystick 21 forming the bending operation switch section 20, the bending section 16 is bent in response to this operation.

A connector 10 is detachably connected to the bending motor control device 3 at the end of the universal cord 9. A connector 12 detachably connected to the video processor 4 is provided at one end thereof. A connector 22 detachably connected to the connector 10 is provided at the other end of the video processor cord 11. ing.

A connector 14 detachably connected to the light source device 6 is detachably connected to the connector 10 at the other end of the light source device cord 13 provided at one end. A connector 23 is provided.

FIG. 2 shows the inside of the operating portion 8 of the electronic electric bending type endoscope 2. A wire bending device 28 is built in the main body 27 of the operation unit 8. This wire bending device 2
The substrate 29 of No. 8 is formed to be shorter than the main body 27, and one end thereof is an inner metal fitting 30 and an outer metal fitting 31 which are metal bodies sandwiching one end wall of the main body 27 and fixed with screws 32. A pair of tongue pieces 30 a bent and formed on the body 30 are connected and fixed by screws 33. Outside metal fitting 3
Reference numeral 1 also serves as a connection body for attaching the video operation unit 26 to the main body 27.

The axes of the shafts 34 and 3 are provided at the substantially center of the substrate 29.
5 is protruding. This will be described with reference to FIG. 3 showing the AA ′ cross section of FIG. Pulleys 36 and 37 are rotatably provided on the shaft 35. Further, partition members 38 and 39 for the pulleys 36 and 37 are provided above and below. Pulleys 36,3
The nut 7 is prevented from coming off by the nut 40. Wires 41 are attached to the pulleys 36 and 37, respectively. Further, a wire guide 42 is provided so that the wire 41 is not displaced. The shaft 35 has the same structure as that of the shaft 34, and therefore the description thereof will be omitted.

The bending preventing member 17a is fixed to the main body 27 by a pressing fitting (not shown). The universal cord 9 is attached to the main body 27 by a pressing metal fitting (not shown).
It is fixed to.

4 and 5 show the mechanical connection between the connector 10 and the bending motor control device 3, and a guide cylinder 10a is provided at the end of the connector 10. As shown in FIG. In the main body 43 of the connector 10, a driving force transmission device 44 having a slack eliminating mechanism 44a for removing slack is built in vertically in two stages. The substrate 45 of each driving force transmission device 44 is fixed to the main body 43 by a spacer (not shown).
A shaft 46 is projectingly provided on one end side of the substrate 45 (which is a front end side connected to the bending motor control device 3). A sprocket 47 is rotatably provided on each shaft 46.

Each sprocket 47 has an A gear 48.
Is fixed to the shaft 46 so as to be rotatable. A chain 49 is engaged with each sprocket 47, and each chain 49 is engaged with the sprocket 47 and extends in a substantially U-shape. Each end of the chain 49 has a connecting member 50.
One end of the wire 41 is connected to the other end of the connecting member 50.

The other end of each wire 41 passes through the universal cord 9, the pulley of the operating portion 8, the flexible tube portion 17 and the bending portion 16, and is fixed to the rear end of the tip forming portion 15 or the front end of the bending portion 16. Has been done. When the sprocket 47 rotates, the rotation causes the chain 49 to move to one end side, the wire 41 connected to the other end via the connecting member 50 is pulled, and the end of this wire 41 is pulled. The bending portion 16 is bent to the fixed side. Therefore, the chain 4
9 and wire 41 form the traction means.

In this case, the other wire 41 side that is paired with this wire 41 (the other wire 41 and the connecting member 50)
(Including one side of the chain 49 connected via the) is in a loosened state, that is, a loosened state.

In this embodiment, the chain 4 is in a relaxed state.
A storage portion for storing the nine parts is provided to prevent the loosened wire 41 from going wild and to form a slack eliminating mechanism (slack eliminating mechanism) as described below so as to enable smooth bending. There is.

As shown in FIG. 5, a partition member 51 is fixed by a screw 52 at the center of the shaft 46 of the substrate 45 in the longitudinal direction. Guides 53 are fixed by screws 54 so as to surround the sprocket 47 from both sides of the partition member 51. The guide 53 has a sprocket 47.
The slack accommodating portion 53a is formed as a space portion capable of accommodating the portion of the chain 49 that engages with the slack when the unpulled side is slack.

The portion of the slack accommodating portion 53a on the connecting member 50 side has a width such that the chain 49 can be guided without slack. Further, the other end of the substrate 45 is formed with L-shaped tongues 55a, 55 so that the wire 41 is not exposed in a direction perpendicular to the direction in which the wire 41 should be guided.
b and 55c are provided to prevent the wire 41 forming the pulling means from loosening.

On the other hand, the main body 43 has a bearing 56.
And a male coupler shaft 57 is provided. As shown in FIG. 6, a cross-shaped male coupler 57a is provided at one end of the male coupler shaft 57, and a B gear 58 is provided at the other end of the male coupler 57a.
It is fixed so as to mesh with the gear 48. Further body 4
3, the groove 43a is provided all around. Since the driving force transmission device 44 has the same structure in both upper and lower stages, the description of the upper stage is omitted.

On the other hand, as shown in FIG. 4, the bending motor control device 3 has two built-in bending driving motors 59. The motor 59 includes a motor mounting member 60a fixed by screws (not shown) and a body (frame) 61 of the bending motor control device 3 by a motor support member 60b.
It is fixed to. An electromagnetic clutch 62 is provided on the shaft 59a of the motor 59. Shaft 62a of electromagnetic clutch 62
Is held by a holding plate 64 provided with a bearing 63. The holding plate 64 is fixed to the main body 61 by screws (not shown).

A flexible coupling 65 is attached to the other end of the shaft 62a. As shown in FIG. 6, the flexible coupling 65 is provided with a female coupler shaft 66 having a cross-shaped groove and a female coupler 66a having a guide surface 66b. The male coupler shaft 5 provided on the connector 10 is provided in the cross-shaped groove of the female coupler shaft 66.
7 male coupler 57a.

On the other hand, a connector guide 61a for guiding the guide tube 10a of the connector 10 is provided at the end of the main body 61, and as shown in FIG. 4, before being set to a predetermined coupling position capable of transmitting driving force, The connector guide 61a forms a guide mechanism that sets the guide cylinder 10a in an engaged state for guiding.

Since the groove 43a provided in the main body 43 of the connector 10 is pressed by the ball plunger 67 from the four directions of the connector guide 61a from above, below, left and right, the connector 10 is detachable. In addition, the upper motor row,
Since the motor row in the lower stage has the same structure, the description of the upper row is omitted.

FIG. 11 shows a state immediately before connecting the connector 10 to the bending motor control device 3. The guide cylinder 10a forming the input side connecting portion of the driving force transmitting portion on the endoscope side to which the driving force is transmitted is provided with an opening of the output side connecting portion of the driving force transmitting portion of the bending motor control device 3 for outputting the driving force. When guided by the connector guide 61a provided on the
7a and the center of the female coupler 66a (in other words, the centers of the male coupler shaft 57 and the female coupler shaft 66) are substantially aligned with each other. At this time, the male coupler 57a and the female coupler 66a are not in contact with each other.

FIG. 7 shows an electronic connection between the electronic electric bending endoscope 2 and the bending motor control device 3. The bending motor control device 3 includes a motor drive circuit 68 that drives the motor 59, and the electromagnetic clutch 62.
An electromagnetic clutch drive circuit 69 for driving the motor and a control circuit 70 as control means for controlling the bending operation are provided. Here, in order to simplify the description, only the case of up / down two directions will be described. In the case of four directions, another system for the bending operation switch, the motor train, and the electromagnetic clutch train is required.

The bending motor control device 3 includes the electromagnetic clutch drive circuit 69, the motor drive circuit 68, a bending operation switch 20 and a clutch switch 25 provided in the operation portion of the electronic electric bending endoscope 2. And control circuit 7
An input / output port (hereinafter referred to as I / O) 71 that intervenes between 0 and mediates signal input / output is provided.

Between the control circuit 70 and the I / O 71,
It is connected by a bus line. The bending operation switch 2
The up side terminal of 0 is connected to the U terminal of the I / O 71, the down side terminal is connected to the D terminal of the I / O 70, and the other end of the resistor R whose one end is connected to the power source is connected, while the common The terminal is grounded. The clutch switch 25
Is grounded at one end, the other end is connected to the K terminal of the I / O 71, and the other end of the resistor R having one end connected to the power supply is grounded.

The connector 10 is the same as the connector 10
In order to detect the attachment / detachment state from the bending motor control device 3, the E terminal and the F terminal are provided. The E terminal is connected to the F terminal. When this connector 10 is connected, E
The terminal is connected to the S terminal of the I / O 71 to which the other end of the resistor R whose one end is connected to the power supply is connected. On the other hand, the F terminal is grounded.

The motor drive circuit 68 is adapted to input a control signal via the A and B terminals of the I / O 71. The electromagnetic clutch drive circuit 69 inputs a control signal via the C terminal of the I / O 71. Figure 8
The operation of the first embodiment will be described with reference to the flowchart of FIG.

First, the power source of the bending motor control device 3 is turned on.
When N, the control circuit 70 reads the state of the S terminal of the I / O 71. If the S terminal is low (hereinafter "low" is "L" and high is "H") in step S1, it is determined in step S2 that the electronic electric bending endoscope 2 is not attached, and In S3, "L" is output to the A terminal and "L" is output to the B terminal, the motor 58 is maintained in a stationary state, and signals from others are not accepted.

If the S terminal is "H" in step S1, it is determined in step S4 that the electronic electric bending endoscope 2 is in the mounted state, and in step S5, the A terminal is "L" and the B terminal is "L" is output to the "L" and C terminals, the motor 58 is kept stationary, and the electromagnetic clutch 62 is turned off.

The electromagnetic clutch setting flag DK set inside the control circuit 70 is initially set to "0". The clutch switch 25 is turned on by the judgment in step S11 of FIG.
If it is turned on, it is judged whether it is turned on or not. If it is turned on, the flag DK is incremented by "1" in step S12,
Then, the process proceeds to next step S13. If the clutch switch 25 is not turned on in the determination in step S11, the flag DK
The current status is maintained until is turned on next time. Step S13
Then, it is determined whether or not the flag DK ≧ 2, and when it is “2” or more, the flag DK is returned to “0” again in step S14. That is, the flag DK is always controlled between "0" and "1".

In step S21 of FIG. 10, flag DK =
When it is determined to be "0", "L" is output to the C terminal and the electromagnetic clutch 62 is turned off in step S22. When it is determined in step S21 that the flag DK is not "0", that is, the flag DK is "1", C is determined in step S23.
"H" is output to the terminal to turn on the electromagnetic clutch 62.

Therefore, when the clutch switch 25 is turned on, the flag DK becomes "1" and "H" is output to the C terminal, the electromagnetic clutch 62 is turned on, and the power from the motor 59 can be transmitted.

When the bending operation switch 20 is operated to the up side, the U terminal of the I / O 71 becomes "H" and the D terminal becomes "L". The control circuit 70 has "H" at the A terminal and "L" at the B terminal.
Is output, and the motor 59 rotates in the up direction. When the motor 59 rotates, the electromagnetic clutch 62, the flexible coupling 65, and the female coupler shaft 66 rotate. Since the female coupler shaft 66 is engaged with the male coupler shaft 57, the male coupler shaft 57 and the B gear 58 rotate.

Since the B gear 58 meshes with the A gear 48, the sprocket 47 rotates. When the sprocket 47 rotates, the chain 49 and the wire 41 attached to the chain 49 are pulled, and the bending portion 16 bends in the up direction. Here, the chain 49 sags in the passage on the down side. This slack is absorbed by the chain 49 slackening or folding in the slack storage portion 53a, and it is possible to prevent the wire 41 on the right side (in FIG. 5) from this portion from slackening excessively. Since the operation is the same when applying the down curve, the description is omitted. Since the same applies to the case of four directions, the description thereof will be omitted.

On the other hand, when mounting (connecting) the electronic electric bending endoscope 2 to the bending motor control device 3, first, the male coupler shaft 57 and the female coupler shaft 66 are connected by the guide cylinder 10a and the connector guide 61a. The centers are almost the same. afterwards,
The male coupler shaft 57 and the female coupler shaft 66 come into contact with each other. However, since the female coupler shaft 66 has the guide surface 66b, the cross-shaped male coupler 57a of the male coupler shaft 57 is connected by eye. Even if it is not checked, the push-in operation enables the smooth attachment, and the attachment operation enables setting to a predetermined coupling position (state). That is, the driving force generated by the bending motor control device 3 can be set to a state in which the driving force can be reliably transmitted to the driving force transmitting means on the endoscope side. Further, by pulling the connector 10 side from the bending motor control device 3, it is possible to release the connector 10 from the bending motor control device 3 by releasing the predetermined coupling state.

The first embodiment has the following effects. With the guide mechanism, the male coupler 57a of the connector 10 can be mounted in a predetermined coupling state in which the driving force can be transmitted regardless of the position, and of course, it can be detached. Further, since the slack eliminating mechanism is provided, it is possible to prevent the slacked wire from moving around and to reliably transmit the driving force.

When the scope is not attached, it is safe because the motor 59 of the bending motor control device 3 does not rotate.
Further, since the bending drive source is provided in the bending motor control device 3 outside the operation unit 8, the operation unit 8 can be made smaller and lighter, and the bending operation can be easily performed. A structure similar to that of the connector 10 may be provided at the joint between the universal cord 9 and the operating portion 8.

Next, a second embodiment of the present invention will be described. Figure 1
2 to 16 relate to a second embodiment of the present invention, and FIG. 12 is an explanatory view showing a schematic configuration of an endoscope apparatus of the second embodiment, FIG.
3 is a sectional view showing a power transmission portion in the connector, FIG.
Is a cross-sectional view showing a power transmission portion in the operation portion, FIG. 15 is a cross-sectional view showing a connection portion between the operation portion and the universal cord,
FIG. 16 is an explanatory diagram showing a base of a universal cord.

As shown in FIG. 12, the electric endoscope apparatus 10
The endoscope 1 includes, for example, an endoscope 102 having a bending portion 122 in which a distal end portion of an insertion portion 120 can be bent, and the endoscope 102.
The control device 103, a monitor 104 that can observe the inside of the body cavity by connecting to the control device 103, and a light source device (not shown) that irradiates the observation site from the distal end of the endoscope 102.

In the endoscope 102, a distal end portion 121 that is harder than the distal end side of the insertion portion 120 that is inserted into the subject, a bending portion 122 that can be bent, and a flexible portion 123 that has flexibility are sequentially connected. At the rear end of the insertion portion 120, the operation portion 124
Are installed in series. The objective lens 1 is attached to the tip 121.
27, a light distribution lens 128 and the like are provided, and the solid-state image sensor 127a is formed at the image forming position of the objective lens 127.
On the other hand, a light guide 128a is continuously provided at the rear end of the light distribution lens 128.

The signal line 127b connected to the solid-state image pickup device 127a is inserted through the insertion section 120, the operation section 124 and the universal cord 126, and the connector 12 is inserted.
Is electrically connected to the control device 103 via 5,
The light guide 128a includes an insertion portion 120 and an operation portion 12
4, the universal cord 126 is inserted through each inside and connected to a light source device (not shown).

An operation switch 129 is provided at the rear end of the operation section 124, and the operation switch 1
A vertical direction (hereinafter referred to as UD) motor 1 provided inside the control device 103 by operating 29.
31a or a motor 131b for the left-right direction (hereinafter referred to as RL) can be driven. That is, the UD motor 131a and the RL motor 1
The driving force of 31 b is bent by the transmission means connected to the bending portion 122 via the bending mechanism 5 arranged inside the operation portion 124.

The control unit 103 includes the bending portion 12
UD motor 131 serving as a driving force for bending 2
a and RL motor 131b, and this UD motor 13
UD encoder 132a and RL encoder 13 for detecting the amount of rotation of 1a and RL motor 131b
2b and signals from the UD encoder 132a and the RL encoder 32b to receive the UD motor 31.
a and a bending angle detection unit 133 that converts the rotation of the RL motor 131b into the bending angle of the bending unit 122, and the bending switch 1 provided in the bending angle detection unit 133 and the operation unit 124.
A motor control unit 134 for controlling the UD motor 131a and the RL motor 131b in response to a signal from 29.
And a camera control unit 135 (abbreviated as CCU) for processing a signal from the solid-state image sensor 127a and displaying an image on the monitor 104.

The UD motors 131a and R
The driving force of the L motor 131b is the first driving force provided inside the detachable connector 125 provided at the end of the universal cord 126 extending from the side of the operation portion 125. The bending mechanism 105 provided inside the operation portion 124 is configured by the force transmission means 106.
To be transmitted to. A driving force transmission member 131c for transmitting the driving force of the motor is provided at the tip ends of the UD motor 131a and the RL motor 131b.
And 131d are provided.

As shown in FIG. 13, the first driving force transmitting means 6 has UD shafts 161a and RL which are detachably fitted to the driving force transmitting members 131c and 131d of the UD motor 131a and the RL motor 131b. Shaft 161b
And a first UD bevel gear 163a and a first RL bevel gear 163b provided at the rear ends of the UD shaft 161a and the RL shaft 161b, and the first UD bevel gear 163a and the first RL. Bevel gear 163
2nd bevel gear 164a for UD which meshes with b respectively
And the second RL bevel gear 164b and the second U
D bevel gear 164a and second RL bevel gear 1
UD shaft 161a and RL which are rotated by 64b
UD sprocket 162a and RL sprocket 162b provided at right angles to the shaft 161b, and the UD sprocket 162a and RL sprocket 1
UD drive force transmission wire 166 including UD chain 165a and RL chain 165b meshing with 62b
a and RL driving force transmission wire 166b.

The driving force transmitted to the UD sprocket 162a and the RL sprocket 162b is
UD chain 1 wound around by meshing with UD sprocket 162a and RL sprocket 162b
The bending force 105 is transmitted to the bending mechanism 105 by the UD driving force transmitting wire 166a and the RL driving force transmitting wire 166b connected to both ends of the 65a and RL chain 165b. The bending mechanism 105 has a first
By transmitting the driving force transmitted by the driving force transmitting means 106 to the second driving force transmitting means 107, the bending portion 122 arranged at the distal end of the endoscope is bent.

In the second embodiment, a member for preventing the wire wound around the pulley from coming off is provided in the structure of the structure as described below, so that a dead space is provided between the structure and the pulley. It is used to try to miniaturize this part. In addition, the wire does not come off from the pulley, the wire can be smoothly pulled, and the damage to the wire can be reduced.

As shown in FIGS. 14 to 16, the shaft 152
UD provided integrally with the UD pulley 153a
Sprocket 171a and RL pulley 153b, and an RL sprocket 171b integrally provided.

The UD sprocket 171a has a UD
The RL chain 172a is wound, and the RL sprocket 171b is wound with the RL chain 172b. Furthermore, a U is attached to the tip of the UD chain 172a.
An operation wire 173a for D is connected, and an operation wire 173b for RL is attached to the tip of the chain 172b for RL.
Are connected.

A partition plate 175 is arranged between the UD sprocket 171a and the RL sprocket 171b. Also, UD sprockets 171a and R
The L sprocket 171 b is arranged in the casing 181 arranged in the frame 151. The frame 151 has a gate-shaped universal cord fixture 190.
Is equipped with a universal cord 126 base 1
91 is inserted.

The base 191 has a cylindrical shape with a part cut away, and the UD pulley 153a and the RL pulley 153b are located inside thereof. U
D pulley 153a, RL pulley 153b, and base 1
UD pulley 153a and RL pulley 15 between 91
UD driving force transmission wire 166a wound around 3b
Further, a wire disengagement stopper 192 having an arcuate surface is provided on the base 191 for pressing the RL driving force transmission wire 166b so as not to come off from the UD pulley 153a and the RL pulley 153b.

In this embodiment, as shown in FIG. 12, the guide tube 125a is provided at the end of the connector 125 as in the first embodiment.
However, the control device 103 is provided with a connector guide 103a, and this guide tube 125a is provided in the connector guide 1.
At the initial stage of introduction into 03a, the centers of the UD shaft 161a and RL shaft 161b and the driving force transmission members 131c and 131d are substantially coincident with each other, but are not in contact with each other yet.

The UD shaft 161a, the RL shaft 161b and the driving force transmitting members 131c, 131d have the same structure as the female coupler shaft 66 and the male coupler shaft 57 of FIG. 6 in the first embodiment.

The operation of the electric endoscope apparatus 1 configured as described above will be described. First, the electric endoscope device 10
When using the connector 1, the surgeon is provided with a connector 1 that is disposed at the end of the universal cord 126 of the endoscope 102.
25 is connected to the control device 103. The connector 125
Is connected to the control device 103, the solid-state image sensor 127a provided inside the endoscope 102, the CCU 135 and the light guide 128a provided inside the control device 103, and a light source device (not shown) are connected. It is supposed to be done.

Furthermore, at this time, the first power transmission means 106 and the second power transmission means 107 for bending the bending portion 122 provided in the insertion portion 120 of the endoscope 102.
Of the UD motor 131a and the RL motor 131b for transmitting the driving force to the power transmission portion 13
1c and 131d, UD shaft 161a, and RL shaft 16
1b and 1b are matched and the driving force can be transmitted.

Specifically, in the initial state in which the guide tube 125a is guided by the connector guide 103a, the driving force transmission members 131c and 131d, the UD shafts 161a and RL.
The shaft centers of the shaft 161b are substantially coincident with each other. Further connector 12
By pushing in 5, the driving force transmitting members 131c, 1c
The axes of the UD shaft 161a and the RL shaft 161b coincide with 31d.

Next, the endoscope 102 is the endoscope 1
Operation switch 12 provided on the operation unit 124
9 is operated to bend the bending portion 122 and the insertion portion 1 is operated.
20 is inserted into the target observation site. For example, when the surgeon wants to bend the bending portion 122 upward, the operator operates the operation switch 129 so that the bending portion moves upward, whereby the UD provided in the control device 103.
Motor 131a starts to rotate.

The driving force of the UD motor 131a is U
The UD sprocket 162a provided inside the connector 125 is rotated via the D shaft 161a, the first bevel gear 163a, and the second bevel gear 164a. When the UD sprocket 162a rotates, the UD chain 165a that is wound around in mesh with the UD sprocket 162a moves to move the U chain.
The UD transmission wire 166a connected to the tip of the D chain 165a rotates the UD pulley 153a provided inside the operation portion 124.

At this time, the UD transmission wire 166a, which is wound around the UD pulley 153a, has the wire detachment stopper 1
Since it is held down by 92, it is pushed and pulled smoothly without coming off from the UD pulley 153a.

When the UD pulley 153a rotates, the UD sprocket 171a integrated with the UD pulley 153a also rotates.
The UD chain 172a wound around the D sprocket 171a also moves. UD chain 172a
Is moved, the UD operation wire 173a connected to the tip of the UD chain 172a is pulled to bend the bending portion 122 upward.

At this time, the bending angle of the bending portion 122 is
The UD motor 131a is controlled by calculating a bending angle based on a signal sent from a UD encoder 132a provided in the UD motor 131a. Thus, the connector 125 can be smoothly attached and detached regardless of the position of the UD shaft 161a and the RL shaft 161b.
The driving force can be surely transmitted.

The bending portion 122 of the endoscope 102 is
The driving force of the UD motor 131a arranged in the control device 103 provided outside is transferred to the first driving force transmission means 106.
And the bending portion 122 via the second driving force transmission means 107.
The first transmission wire 166a used in the first driving force transmission means 106 is inserted into the coil pipe 126a, so that the bending portion 122 can be pulled without attenuating the driving force. You can

Since the UD chains 165a and 172a are wound around the UD sprockets 162a and 171a to transmit the driving force,
D transmission wire 166a or UD operation wire 1
UD chain 165 even if slack occurs in 73a
a or 172a folds the chain-constituting piece corresponding to the slack of the UD transmission wire 166a and the UD operation wire 173a, and the wire 166a or 17
Since the slack of 3a can be absorbed, a predetermined bending angle can be obtained.

Further, the driving force transmitted to the UD pulley 153a of the bending mechanism 109 is the UD pulley 1
UD sprocket 17 that rotates integrally with 53a
By forming the diameter of 1a to be smaller than that of the UD pulley 153a, the driving force transmitted to the UD pulley 153a can be converted into a stronger bending portion traction force. Motor 131
It is possible to downsize a.

Needless to say, the above operations and effects are the same when the operation switch is operated downward, rightward and leftward.

Therefore, the electric endoscope apparatus 101 has a U
The transmission wire 16 regardless of whether it is for D or RL.
By eliminating the damping of the driving force generated by the sliding resistance generated in 6a, 166b and the slack in the transmission wires 166a, 166b and the operating wires 173a, 173b, the motor control unit 134 is eliminated.
Since the bending angle as controlled by can be obtained, the working efficiency is also improved.

FIG. 17 shows a main part in a modification of the second embodiment. In this modified example, the wire disconnection stopper 192 is integrated with the universal cord cap 191 in the second embodiment, and a part of the integrated universal cord cap 195 is bent at two places. 196.

The operation of this modification is the same as that of the second embodiment. Further, the effects can be reduced by the integration, and the cost can be reduced by reducing the number of parts.

FIG. 18 shows a part of both connecting portions of the endoscope side connector for transmitting the driving force and the bending motor control device side connector portion according to the third embodiment of the present invention. Is provided with a guide mechanism for guiding the connecting position.

The description of the same components as those of the first embodiment will be omitted. For simplification, FIG. 18 shows only the UD direction. The connector guide 161a has an inner diameter slightly larger than that of the guide cylinder 110a. This connector guide 161
A stopper portion 161c with which the end portion of the guide cylinder 110a abuts is provided at the end portion of a.

The end portion of the male coupler shaft 157 has a truncated cone shape, and its inclined surface 157a has a large frictional member having a large friction (for example, a rough outer surface or a rubber having a large friction is adhered thereto). There is). On the other hand, the end portion of the female coupler 166 is provided with a fitting hole 66a for receiving and fitting the inclined surface 157a. The inclined surface 1 provided in the fitting hole 66a, with which the inclined surface 157a abuts
66b is a large friction member similar to the inclined surface 157a.

In the operation of this embodiment, the guide cylinder 110a is guided by the connector guide 161a as in the first embodiment. FIG. 19 shows a connecting portion for transmitting driving force in the fourth embodiment of the present invention, and a guide mechanism is provided at this connecting portion.

The description of the same components as those in the third embodiment will be omitted. Further, for simplification, only the RL direction is shown. Power is transmitted to the shaft 257a by a bevel gear (not shown) to the connector gear 257, so that the shaft 257a rotates.

Similarly, the gear 266 on the apparatus side also has the shaft 266.
Power is transmitted to a. When the end of the guide cylinder 110a contacts the stopper 161c, the gears 257 and 266 mesh with each other. The operation of this embodiment is that the guide cylinder 110a is guided by the connector guide 161a as in the first embodiment. The present invention can also be applied to the case of an optical endoscope.

[0083]

As described above, according to the present invention, the bending drive source provided outside the endoscope operation section and the driving force from the bending drive source are transmitted to the power transmission section on the endoscope side. In order to connect the connection part for the purpose, a guide mechanism is provided to guide it to a predetermined coupling position, so the endoscope operation part can be made smaller and lighter, and the drive force can be reliably set to be operated. Enables flexible bending operation.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an electric bending endoscope apparatus according to a first embodiment.

FIG. 2 is a configuration diagram of an operation unit of the electric bending endoscope.

FIG. 3 is a sectional view taken along the line AA ′ of FIG.

FIG. 4 is a configuration diagram showing a part of a connector and a bending motor control device to which the connector is connected.

5 is a plan view of the driving force transmission device of FIG.

FIG. 6 is a perspective view showing a connecting portion with a shaft of a motor.

FIG. 7 is a block diagram showing a configuration of a control system of the bending motor control device.

FIG. 8 is a flowchart of processing contents of mounting / not mounting of the electric bending endoscope.

FIG. 9 is a flowchart of the processing contents corresponding to the operation of the clutch switch.

FIG. 10 is a flowchart of the processing contents for the state of the clutch switch.

FIG. 11 is a configuration diagram showing the periphery of a guide mechanism portion when the connector of the endoscope is connected to the bending motor control device.

FIG. 12 is an explanatory diagram showing a schematic configuration of an endoscope apparatus according to a second embodiment of the present invention.

FIG. 13 is a sectional view showing a power transmission portion in the connector.

FIG. 14 is a cross-sectional view showing a motion transmitting portion in the operation portion.

FIG. 15 is a cross-sectional view showing a connecting portion between the operating portion and the universal cord.

FIG. 16 is an explanatory diagram showing a universal cord base.

FIG. 17 is an explanatory view showing a base of a universal cord according to a modified example of the second embodiment.

FIG. 18 is a partial configuration diagram of a guide mechanism portion when the connector of the endoscope in the third embodiment of the present invention is connected to the bending motor control device.

FIG. 19 is a partial configuration diagram of a guide mechanism portion when the connector of the endoscope in the fourth embodiment of the present invention is connected to the bending motor control device.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 ... Endoscope device 2 ... Electric bending type endoscope 3 ... Curving motor control device 4 ... Video processor 5 ... Monitor 6 ... Light source device 7 ... Insertion part 8 ... Operation part 9 ... Universal cord 10 ... Connector 10a ... Guide Tube 11 ... Video processor code 13 ... Light source device code 16 ... Bending portion 20 ... Bending operation switch 41 ... Wire 43 ... Connector body 44 ... Driving force transmission device 44a ... Slack eliminating mechanism 45 ... Board 46 ... Shaft 47 ... Sprocket 48 , 58 ... Gear 49 ... Chain 50 ... Connection member 51 ... Partition member 53 ... Guide 53a ... Slack storage part 57 ... Male coupler shaft 57a ... Male coupler 59 ... Motor 61 ... Main body 61a ... Connector guide 62 ... Electromagnetic clutch 65 ... Flexible cup Ring 66 ... Female coupler shaft 66a ... Female coupler

Claims (1)

[Claims] 1. An endoscope, which is provided in an elongated insertion portion, and has a bendable bending portion, and an endoscope-side power transmission portion that transmits bending driving power to the bending portion; A drive unit that is provided outside and that bends and drives the bending unit, a drive unit-side power transmission unit that transmits power for bending the bending unit to the endoscope, and a drive unit-side power transmission unit A guide mechanism is provided for guiding the drive-side power transmission section and the endoscope-side power transmission section to the coupling position before reaching a predetermined coupling position where power can be transmitted to the mirror-side power transmission section. An endoscope apparatus characterized by the above.