JPH06169883A - Curving operation device for endoscope - Google Patents

Abstract

PURPOSE:To enable an operation instruction to be easily issued, so as to obtain desired curved state including curvature in a straight direction, regarding a curving operation for a curved section. CONSTITUTION:A curving operation switch 19 has a cross pad for issuing a curving instruction in four directions of up, down, right and left motions. Tact switches 34 to 37 are arrayed on the lower section of the cross pad in such a way as corresponding to each direction. Also, electrode films 60 and 61 as touch sensors for detecting the contact state of an operating finger are formed on the finger touch plane of the cross pad of the switch 19. In this case, the electrical continuity state of the films 60 and 61, and the on/off signals of the switches 34 to 37 are inputted to a control circuit 65 within a curving operation motor control device 6. The control circuit 65 drives and controls a curving operation motor 21, in order to make the curved section return to a straight direction, when the films 60 and 61 are not electrically live, or an operating finger is off the switch 19.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an endoscope bending apparatus for bending a bendable bending portion provided in an endoscope insertion portion.

[0002]

2. Description of the Related Art Conventionally, an endoscope apparatus has been widely used which is capable of observing a region to be examined and performing various treatments by inserting an elongated insertion portion into a body cavity or the like.

Generally, an endoscope having a flexible insertion portion is provided with a bending portion for bending the bending portion by providing a bending portion in the insertion portion and advancing and retracting a bending wire inserted through the insertion portion. By bending the bending portion to a desired angle by such a bending means, the distal end of the insertion portion can be observed in a desired direction and can be easily inserted into the site to be examined.

Now, let us consider the insertability when inserting the endoscope insertion part into the site to be examined. For example, when inserting the inside of a bent conduit or the like, the bending portion is bent in the direction in which the conduit is bent so that the tip of the insertion portion faces the center of the conduit so that the insertion can be smoothly performed. Although various proposals have been made to improve the insertability by the bending operation as described above, in particular, in the insertion procedure when inserting the endoscope into the large intestine, the insertion portion is curved to fold the inner wall of the large intestine. A series of operations of pulling and pulling toward the hand side, straightening the curved portion and pushing in the insertion portion are repeated, and insertion into the large intestine that is difficult to insert is performed.

At the time of insertion into the large intestine, there is a problem in that it is difficult to insert the insertion portion while keeping the curved portion straight, and the insertion cannot be performed properly because the timing cannot be obtained. Therefore, there is a demand for a device that can easily instruct and operate the curved state and the straight state.

As an apparatus provided with the bending means, there is provided an apparatus which uses a driving means such as a motor for bending a bending portion and drives the driving means according to an operation amount (instruction value) of an operation instruction means such as a joystick. It has been proposed in the past.

For example, in the endoscope apparatus disclosed in Japanese Patent Laid-Open No. 61-106125, the bending means is electrified by using a motor,
The bending operation is performed by the input from the bending switch. A joystick switch, a joypad switch, and the like have been proposed as the bending switch.

Further, Japanese Laid-Open Patent Publication No. 3-178630 discloses an endoscope apparatus provided with a switch for directing a bending portion in addition to a bending switch for instructing bending. With this straight switch, it is possible to easily change from an arbitrary curved state to a straight state.

[0009]

In the case where the bending state and the straight state are alternately instructed, for example, as in the above-described insertion procedure into the large intestine, the bending portion is brought into the straight state only by operating the bending switch. Is very difficult. For this reason, it is difficult to take timing with the pushing operation of the insertion portion, and the insertability is impaired.

On the other hand, in a device in which a straight switch is separately provided like the device disclosed in Japanese Patent Laid-Open No. 3-178630,
The operability in the straight state as described above can be improved. However, when using the bending switch and the straight switch together, it is necessary to alternately operate the bending switch and the straight switch when inserting into the large intestine, which requires a very troublesome operation. Therefore, there is a problem in that the operability regarding the bending operation at the time of insertion is not so good and the insertion procedure cannot be performed easily.

The present invention has been made in view of these circumstances, and in the bending operation of the bending portion, it is possible to easily give an operation instruction so as to obtain a desired bending state such as bending in a straight direction. An object is to provide an endoscopic bending device.

[0012]

An endoscope bending apparatus according to the present invention bends a bendable bending portion provided in an endoscope insertion portion, and bends to instruct bending of the bending portion. A switch, bending drive control means for bending the bending portion based on an instruction from the bending switch, and bending for controlling the bending portion into a predetermined bending state when an operating finger is released from the bending switch. And a state control means.

[0013]

[Function] The bending switch is used to instruct bending of the bending portion,
The bending portion is bent by the bending drive control means based on the instruction of the bending switch. Here, the bending state control means, when the operating finger is released from the bending switch,
The bending portion is controlled to be in a predetermined bending state.

[0014]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 8 relate to a first embodiment of the present invention, FIG. 1 is a block diagram showing a schematic functional configuration of an endoscope bending operation control unit, and FIG. 2 is an explanatory diagram showing an overall configuration of an endoscope apparatus. 3, FIG. 3 is an explanatory diagram showing a configuration of a main portion of a bending drive portion provided in the operation portion, FIG. 4 is a plan view showing a configuration of a bending operation switch, and FIG. 5 is a sectional view taken along line AA of the bending operation switch of FIG. 6 is a cross-sectional view showing a configuration of a touch sensor provided on a finger contact surface of the bending operation switch, FIG. 7 is a cross-sectional explanatory view showing a state where the touch sensor of FIG. 6 is pressed with a finger, and FIG. FIG. 4 is a plan view of a retainer of FIG.

This embodiment shows an example in which the bending device is applied to an electronic endoscope device.

As shown in FIG. 2, the electronic endoscope apparatus 1 includes
An electronic endoscope 2 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 electronic endoscope 2 and the solid-state image pickup device are driven, and an image pickup signal from the solid-state image pickup device is generated. A video control device 4 for converting the video signal, a monitor 5 for displaying the video signal output from the video control device 4,
A bending motor control device 6 that controls bending of the bending portion 10 of the electronic endoscope 2 described later is configured.

The electronic endoscope 2 is provided with an operation section 7 and an insertion section 8 connected to the operation section 7 and formed in an elongated shape so as to be inserted into an observation body.

The insertion portion 8 has a flexible portion 9, a bending portion 10 and a distal end portion 11 connected in this order from the operating portion 7 in the distal direction.

The bending portion 10 is formed by connecting a plurality of bending pieces, and is configured to be bendable in the vertical and horizontal directions.

Further, an objective optical system including a solid-state image pickup device, an illumination optical system, etc. are internally provided in the tip portion 11.

A signal cable (not shown) inserted through the insertion portion 8 is electrically connected to the solid-state image pickup device and extends to a video control device connector 16 described later.

As an illumination optical system, a light guide fiber bundle is arranged in the insertion portion 8 and extends to a light guide connector 14 described later. A universal cord 12 is connected to a side portion of the operation portion 7 so as to branch into two stages on the way.

At the end of the universal cord 12,
A motor control device connector 13 that is detachably connected to the bending motor control device 6 and a light guide connector 14 that is detachably connected to the light source device 3 are provided.

The light guide connector 14 has
A video control cord 15 extends from a side portion, and a video control device connector 16 detachably connected to the video control device 4 is provided at an end portion.

The operation unit 7 is also provided with an air / water supply button 17 for cleaning the observation window and a suction button 18 for suctioning body fluid and the like.

By operating the air / water supply button 17, air or water is supplied, and by operating the suction button 18, a suction channel (a treatment instrument insertion channel) provided in the electronic endoscope 2 is operated. ) Is sucked.

Further, the operation section 7 has a bending operation switch 19 which is a bending operation device for operating the bending section 10 for bending.
Is provided and is connected to a control circuit in the bending motor control device 6.

As shown in FIG. 3, a drive motor 21 composed of a DC motor for vertically bending the bending portion 10 and a drive shaft 22 of the drive motor 21 are fixed in the operating portion 7. A sprocket 23 and a chain 24 that meshes with the sprocket 23 are provided.

A bending operation wire 26 is connected to the end of the chain 24 via a connecting member 25. The bending operation wire 26 is inserted through the flexible portion 9 and the bending portion 10 and is connected to the bending piece at the tip of the bending portion 10.

The bending drive section thus constructed is connected to the bending motor control device 6, and by operating the bending operation switch 19, the drive motor 21 is driven to pull the operation wire 26. The bending portion 10 is driven to bend in the vertical direction. The bending drive section and the bending motor control device 6 constitute bending drive control means.

It should be noted that although the driving section for bending driving in the vertical direction has been described here, the driving section for bending driving in the horizontal direction is also configured in the same manner.

Next, the structure of the bending operation switch 19 will be described with reference to FIGS. 4 and 5
As shown in FIG. 7, the bending operation switch 19 is provided with a cross pad 32 in a counterbore 31 provided in the operation portion 7 and constitutes a main portion thereof.

The counterbore 31 has the cross pad 32.
It is formed in a circular concave shape that is one size larger than
A substrate 33 (see FIG. 5) is fixed to the bottom surface of the countersunk hole 31, and U (upper), D (lower), R are placed on the substrate 33.
Four tact switches 34, 35, 36, 37 corresponding to the respective directions of (right) and L (left) are provided substantially symmetrically in four directions from the center of the substrate 33. A pad shaft 38 having a spherical portion 38a at its upper end is erected upward at the center of the bottom surface of the counterbore 31.

The four protrusions forming the cross pad 32 correspond to respective bending operation directions of UDRL (upper, lower, left and right). As shown in FIG. 5, in the cross pad 32, the finger contact surface 41 on the upper end side opposite to the counterbore hole 31 is an arcuate recess, and the curvature in the RL direction is smaller than the curvature in the UD direction. The height of the protruding pad end of the cross pad 32 is also higher in the RL direction.

The finger contact surface 41 serves as a touch sensor for detecting the contact state of the operating finger as shown in FIG. That is, the finger contact surface 41 has two electrode films 6
A spacer 62 is interposed between 0 and 61, and the two electrode films 60 and 61 are kept at a constant distance by the spacer 62 when there is no load. This finger rest surface 41
When you press with your finger, the electrode film 6
0 and 61 are electrically connected. A signal line (not shown) is connected to the electrode films 60 and 61, and is connected to the bending motor control device 6 via the substrate 33.

On the other hand, a recess 42 is provided upward at the center of the lower end surface of the cross pad 32. By inserting the ball portion 38a of the pad shaft 38 into the recess 42, the pad 32 is supported tiltably around the ball portion 38a. Further, a retainer 43 having an eccentric hole 43a as shown in FIG. 8 is fixed to the opening of the recess 42 to prevent the spherical portion 38a from coming off. The cross pad 32 has four edges chamfered.

Further, at the lower end of the cross pad 32 on the counterbore 31 side, four pressing pins 45 for pressing the tact switches 34 to 37 are provided so as to protrude downward. The pressing pin 45 is located slightly outside the centers of the tact switches 34 to 37 as viewed from the pad shaft 38 so as to be located exactly in the center of the tact switch to be pressed when the cross pad 32 is tilted. Is provided.

On the substrate 33, a pair of thick shaft detents 46 on the D side and a pair of thin shaft detents 47 on the U side are fixed so as to sandwich the protruding portion of the cross pad 32, respectively. This prevents the positional displacement of the cross pad 32 in the rotation direction.

A schematic functional configuration of an endoscope bending operation control section including the bending operation switch 19 and the bending motor control device 6 configured as described above will be described with reference to the block diagram of FIG.

The bending operation switch 19 is a control circuit 6 provided in the bending motor control device 6 for performing various bending controls.
Connected to 5. That is, signal lines from the tact switches 34 to 37 are connected to the control circuit 65, the on / off states of the tact switches 34 to 37 are input as a bending operation instruction signal, and the electrode films 60 and 61 are connected to the signal lines and the substrate. 33, the electrode film 60
The conduction state of 61 and 61 is transmitted. As a result, the operating finger is placed on the finger contact surface 41 of the bending operation switch 19.
It is detected whether or not is pressed. In addition, the control circuit 6
5 includes a bending drive motor 21 and the drive motor 21.
Is connected to the encoder 66 connected to the rotating shaft of the tact switches 34 to 37 and the electrode film 6.
Drive power is supplied to the drive motor 21 based on the outputs of 0, 61 and the encoder 66.
That is, by operating the bending operation switch 19, the drive motor 21 is driven so as to reach the instructed predetermined bending state.

At this time, the tact switches 34 to 37 are turned off.
In the N state, the current supplied to the drive motor 21 gradually increases, and the bending portion 10 bends in the instructed direction. The bending amount of the bending portion 10 is read by the encoder 66 connected to the drive shaft 22 of the drive motor 21, and if the value of the encoder 66 reaches the set value corresponding to the bending amount instructed by the bending operation switch 19, the control circuit 65.
Keeps the curved state so that it will not bend further. When operating the bending operation switch 19,
The electrode films 60 and 61 are in a conductive state.

Further, the tact switches 34 to 37 are turned off.
When it is in the state and the electrode films 60 and 61 are in conduction, the control circuit 65 continues to supply electric power to the drive motor 21 so as to maintain the curved state at that time. That is, when the operation of the bending operation switch 19 is stopped and only the finger contact surface 41 of the switch is pressed with the operating finger, the drive motor 21 is held so as to maintain the current bending state.
To control.

On the other hand, the tact switches 34 to 37 are turned off.
When it is in the state and the electrode films 60 and 61 are not conductive, the control circuit 65 supplies electric power to the drive motor 21 so that the bending state of the bending portion 10 is straight. That is, when the operating finger is released from the bending operation switch 19, the drive motor 21 is controlled so that the bending portion 10 is in the straight state. In the straight state control, the output of the encoder 66 is monitored to monitor the bending portion 1.
Not only may 0 be straight, but the bending portion 10 may be controlled to a position where the load on the drive motor 21 is minimized. The bending operation switch 19 having the electrode films 60 and 61 and the control circuit 65 constitute a bending state control means.

For example, in an endoscope for a large intestine, as one of the insertion procedures, the bending portion is bent and the insertion portion is hooked on the fold of the inner wall of the large intestine, and the bending portion is straightened while pulling it toward the proximal side. There is a technique to push in. By repeating this series of operations, the insertion into the large intestine, which is difficult to insert, is performed.

In such an insertion procedure, a bending operation,
The timing of each operation such as the straight operation is difficult, and if the timing is not correct, the operation cannot be inserted properly. However, in the present embodiment, the operation finger is released from the bending operation switch 19 to release the conduction between the electrode films 60 and 61, and the bending operation is performed. Since the portion 10 returns to the straight state, it is not necessary to operate the cross pad 32 of the bending operation switch 19 to make it straight.
The bending portion 10 can be straightened by a simple operation. This facilitates the timing of each of the operations in the insertion procedure, and improves the insertability and operability.

When the bending angle of the bending portion 10 is desired to be maintained at a desired angle, the bending operation switch 19 is touched to bring the electrode films 60 and 61 into conduction so that the current bending state is maintained. Is controlled. That is, it is possible to easily switch between holding a desired bending angle and straightening.

As described above, according to the present embodiment, it is easy to achieve a desired bending state such as the straight state or the current bending state by a simple operation only by changing the pressing state of the bending operation switch. It is possible to give an operation instruction to the user.

As an operation of the control circuit 65, when the electrode films 60 and 61 are not electrically connected to each other, instead of controlling the drive motor 21 to be in a straight state, the power supply to the drive motor 21 is stopped. Good. Further, when the electrode films 60 and 61 are not electrically connected, instead of controlling the drive motor 21 to be in a straight state, an electromagnetic clutch is provided between the drive shaft 22 and the sprocket 23 of the bending drive unit. May be turned off.

Further, not only the control for the straight state but also the control for returning a predetermined bending amount in the straight direction from the current state may be performed.

Further, in order to make the bending operation switch 19 waterproof, the entire switch may be covered with a rubber sheet.
Further, the touch sensor provided on the finger contact surface 41 of the bending operation switch is not limited to the above-mentioned two electrode films, but may be one that detects a change in capacitance, a piezoelectric film, or the like.

9 to 15 relate to the second embodiment of the present invention, FIG. 9 is an explanatory view showing the overall construction of the endoscope apparatus, and FIG. 10 is a block diagram showing the schematic construction of the bending operation control means. 11 is a cross-sectional view showing the structure of the bending switch, FIG.
11 is a cross-sectional view taken along the line AA of FIG. 11, FIG. 13 is a cross-sectional view taken along the line BB of FIG. 11, FIG. 14 is a view of the bending switch of FIG. 11 seen from the direction D, and FIG. It is a flow chart which shows operation.

The second embodiment is an example in which the operation amount of the bending operation switch can be controlled so that a predetermined bending state is achieved.

As shown in FIG. 9, the endoscope device includes an endoscope 101 for observing a region to be examined, a light source device 102 for supplying illumination light connected to the endoscope 101, and an endoscope 101.
A camera control unit (hereinafter, referred to as CCU) 103 for processing the image signal obtained in 1., and a motor / fluid control device 104 for controlling a bending motor and fluid control such as air supply / water supply / suction Has been done.

A monitor 105 is connected to the CCU 103, which sends and receives signals to and from a solid-state image sensor such as a CCD (not shown) provided at the tip of the endoscope 101, and transmits an image signal picked up by the solid-state image sensor. After processing, the endoscopic observation image is displayed on the monitor 105. The motor / fluid control device 104 includes a suction pump 106 and a bottle 10.
7 and the like are connected, and air supply, water supply, suction and the like are performed from a channel (not shown) at the tip of the endoscope 101. Further, a lumen detection device 108 is connected to the CCU 103 and the motor / fluid control device 104 via cables 109 and 110, respectively.
The center of the lumen is detected from the image output signal from 3, and the motor / fluid control device 104 controls the bending motor based on the detection result.

The endoscope 101 includes an elongated insertion portion 111,
The operation portion 112, which also functions as a grip portion, is connected to the rear end side of the insertion portion 111, and the universal cord 113 extends from the side of the operation portion 112. The universal cord 113 is provided at the end portion. Is connected to the light source device 102 via the connector 114,
A light guide (not shown) in 13 is guided. Further, the endoscope 101 is connected to the C through the signal cable 116 connected to the base A115 of the connector 114.
The CU 103 is connected to the motor / fluid control device 104 via a signal cable 118 connected to the base B 117.

The insertion portion 111 of the endoscope 101 is formed by connecting a hard tip portion 119, a bendable bending portion 120, and a flexible tube portion 121 having flexibility from the tip side.
An operation section 112 is connected to the rear end side of the flexible tube section 121. The operation section 112 has a bending switch 122 for instructing a bending operation of the bending section 120 and a freeze for freezing an endoscopic image. A switch 123 and a release switch 124 that captures (releases) an endoscopic image are provided. Although not shown, an air supply switch, a water supply switch, a suction switch, etc. are provided as in the first embodiment.

FIG. 10 shows a schematic construction of a bending operation control means for controlling the bending operation of the bending portion 120 and the operation portion of the bending switch 122.

The video output signal processed by the process circuit 125 in the CCU 103 is input to the lumen center detecting circuit 126 provided in the lumen detecting device 108, where the dark portion is detected from the video output signal. Is used to detect the center of the lumen. Lumen center detection circuit 12
An output signal indicating the center of the lumen from 6 is input to the bending control means 127 in the motor / fluid control device 104. An automatic / manual changeover switch 128 is connected to the bending control means 127, and when this switch is automatically changed, the lumen center detection circuit 1 is described.
Bending control of the bending portion 120 is performed so that the distal end portion 119 faces the center of the lumen based on the output signal of 26.

The bending control means 127 is used for the bending motor 12
9 and 130 and encoders 131 and 132 that are connected to the rotation shafts of the bending motors 129 and 130, respectively, and control the driving of the bending motors 129 and 130, and also from the encoders 131 and 132. The bending angle of the bending portion 120 is detected by the output.
A pulley is continuously provided on the rotating shafts of the bending motors 129 and 130, and four bending wires 133a, 133b, 133c, and 133d whose one end is fixed to the distal end side of the bending portion 120 are wound. The bending wire 133 has 133a and 13a.
3b, 133c and 133d are a set of 2 and 2
The bending portion 120 is bent in four directions of up, down, left and right by advancing and retracting by one bending motor 129, 130 respectively.

Further, when the bending switch 122 is connected to the bending control means 127 and the automatic / manual switching switch 128 is switched to manual, the bending control is performed in accordance with the instruction of the bending switch 122. ing. The bending switch 122 is composed of a joystick type switch, and the variable resistors 134 and 135 are provided in the vertical and horizontal directions, respectively. The resistance values of the variable resistors 134 and 135 and the encoder 13
The bending control means 127 controls the rotations of the bending motors 129 and 130 so that the outputs of 1, 132 satisfy a predetermined function, whereby the bending portion 120 causes the bending switch 122 to rotate.
It is designed to be bent at a bending angle according to the instruction. As the predetermined function, a function in which the tilt angle of the operation lever of the bending switch 122 and the bending angle of the bending portion 120 are proportional to each other is used. Further, the bending switch 122 includes a joystick motor 1 for driving an operation portion of the switch.
36 and 137 are provided, are connected to the bending control means 127, and when the automatic / manual changeover switch 128 is automatically changed, the indicated value of the bending switch 122 corresponds to the actual bending angle of the bending portion 120. It is designed to drive the operating lever as described above.

Here, the detailed configuration of the bending switch 122 will be described with reference to FIGS.

As shown in FIG. 11, the bending switch 122
In the casing 141, an axis A 142 and an axis B 143 are orthogonal to each other, and each is rotatably provided.
The shaft A142 penetrates a hole provided in the casing 141,
Both ends 142a and 142b are crushed and pivotally supported on the side surface of the casing 141 like a rivet. Axis B143
12, is rotatably supported about the axis A142 like a rivet by penetrating the axis A142 and crushing both ends. This axis B143 has an axis B14
An operation lever 144 is fixed so that 3 penetrates and is orthogonal (also orthogonal to the axis A142). Also, the axis A1
At a portion of the shaft 42 where the shaft B143 is supported, a hollow portion 145 corresponding to the operating range of the operating lever 144 (regulating the operating range) is provided, and the operating lever 144 penetrates the hollow portion 145. , Hollow part 14
It is movable in only two directions within the range of length 5.
That is, by tilting the operation lever 144 along the longitudinal direction of the hollowed-out portion 145, the operation lever 144 is rotated about the axis B143, and by tilting the operation lever 144 in a direction orthogonal thereto, the operation lever 144 is rotated about the axis A142. Has become.

The upper part of the casing 141 is shown in FIG.
As shown in the dashed-dotted line circle part and FIG. 13, the four arm parts 1
46 extends upward, and the casing 147 of the operation unit 112 is
Is provided with a rectangular cutout portion 147a, and the flange portion 147b provided on two opposite sides of the cutout portion 147a is overcome by the elasticity of the arm portion 146, so that the arm portion 1
By engaging the claws of 46 with the flange portion 147b,
The casing 141 of the bending switch 122 has the operation unit 112.
It is fixed to the casing 147 of the.

At the bottom of the casing 141, a U-shaped rotating body A148 is rotatably supported with respect to the casing 141. Arms 14 at both ends of the rotating body A148
8a and 148b are provided with holes, respectively, and the arm portion 148
The rotation axis of the joystick motor 136 is shown in a, and the resistance setting axis of the variable resistor 134 is passed in the arm section 148b through the casing 141, respectively.
It is fixed to the surface with an adhesive or the like. The main bodies of the joystick motor 136 and the variable resistor 134 are fixed to the side of the casing 141. That is, when the rotating body A148 rotates with respect to the casing 141, the resistance setting shaft of the variable resistor 134 rotates and the resistance value changes, and when the joystick motor 136 rotates, the rotating body A148 rotates. Configured to move.

A long hole 149 is provided in the body of the rotating body A 148, and the tip end of the operating lever 144 is inserted and engaged with the long hole 149. Above the rotating body A148,
As shown in FIGS. 11 and 14, the rotating body B150 having a U-shape similar to the rotating body A148 is the rotating body A14.
8 is provided so as to be orthogonal to 8 and is rotatably supported by the casing 141 in the same manner as the rotating body A148. The rotary body B150 is provided with an elongated hole 151 similarly to the rotary body A148, and the distal end portion of the operation lever 144 is inserted and engaged therewith. Similarly to the rotating body A 148, the rotating shaft of the joystick motor 137 and the resistance setting shaft of the variable resistor 135 are fixed to the arm portions at both ends of the rotating body B 150.
7 and the main body of the variable resistor 135 are fixed to the casing 141. That is, the operation lever 144 is moved to the axis A14.
By tilting around B2 and B143,
148 and B150 rotate, and along with this, the variable resistor 1
The resistance values of 34 and 135 change. Further, by rotating the joystick motors 136 and 137, the rotating bodies A148 and B150 are rotated, and the operating lever 1
44 is inclined.

The casing 141 has shafts A142 and B1.
A partition wall 152 protruding inward is provided in a lower portion of 43, and a rectangular hole 153 is provided in a central portion of the partition wall 152 as shown in FIG. 12, and an operation lever 144 is inserted therethrough. The rectangular hole 153 is formed in the operation lever 144.
The operating range of is regulated. The operating range of the operation lever 144 can be changed by changing the size and shape of the rectangular hole 153. An operation lever 144 penetrates below the partition wall 152, and a plate 154 that is slidable in the axial direction of the operation lever 144 is disposed so as to contact the partition wall 152. Further, the rotating body B150 of the operation lever 144 is arranged. A flange portion 155 is provided on the upper portion of the plate 1
A compression spring 156 is arranged between 54 and the flange portion 155 so as to urge it in the vertical direction. This compression spring 156
The elastic force of the joystick motors 136, 1
When the operation lever 144 is not driven by 37, the operation lever 144 returns to the central position.

A knob 157 is provided on the head of the operating lever 144.
Is attached by screwing, and the knob 157 is further attached.
A rubber cover 158 is provided so as to cover in a watertight manner from the top to the casing 147 of the operation unit 112, and the operation unit 112 of the endoscope 101 is waterproofed.

Next, the operation of this embodiment will be described.
The insertion part 111 of the endoscope 101 is inserted into a body part such as a body cavity, and the bending switch 122 is operated to bend the bending part 120 to observe the body part to be examined. At this time, if the automatic / manual switch 128 is manual, the bending switch 1
22 by operating the operation lever 144, the shaft A142, B14
When the operation lever 144 is rotated about the rotation axis of the rotation lever 3 and tilted, the rotating bodies A148 and B150 rotate, and the variable resistor 1
The resistance values of 34 and 135 change. This resistance value is input to the bending control means 127. The bending control unit 127 rotates the bending motors 129 and 130 in accordance with the input resistance value, and the bending motors 129 and 130 so that the outputs of the encoders 131 and 132 and the resistance value satisfy a predetermined function.
The drive of 130 is controlled. As a result, the bending portion 120 is bent at a bending angle proportional to the tilt angle of the operation lever 144 of the bending switch 122.

When the automatic / manual changeover switch 128 is manual and the operating lever 144 is released,
The compression spring 156 in the bending switch 122 causes the operation lever 144 to return to the central position and the bending portion 120 to return to the straight position.

On the other hand, when the automatic / manual changeover switch 128 is set to automatic, the lumen center detection circuit 126 detects the darkest part of the image output signal of the process circuit 125, and judges that this is the center of the lumen. A signal indicating the center position is output to the bending control means 127. The bending control means 127
The bending motors 129 and 130 are controlled according to the lumen center direction instruction from the lumen center detection circuit 126, and the bending section 120 is controlled.
Bend toward the center of the lumen. When the insertion portion 111 is inserted, the automatic / manual switch 128 is automatically switched to bend the bending portion 120 toward the center of the lumen, so that the insertion portion can be easily inserted.

At this time, the bending control means 127 controls the bending motors 129 and 130, and causes the operation lever 144 of the bending switch 122 to tilt in the direction indicating the lumen center direction, that is, to bend the bending portion 120. The joystick motors 136 and 137 are controlled so that the angle to be made and the tilt angle of the operating lever 144 are proportional to rotate the rotating bodies A148 and B150. As a result, the operation lever 144 is driven so as to correspond to the bending angle of the bending portion 120. At this time, the joystick motors 136, 13 are controlled so that the signal indicating the lumen center direction and the resistance values of the variable resistors 134, 135 satisfy a predetermined function.
7 may be drive-controlled.

Bending motors 129, 130 and joystick motor 13 by the bending control means 127.
The control of 6,137 is shown in the flowchart of FIG. First, in step S1 (hereinafter, steps are omitted and simply S1
It is determined whether the automatic / manual switch 128 is automatic or manual. Here, in the case of manual operation, the process proceeds to S2, and the joystick motors 136 and 137 are turned off.
Set to F. Then, in S3, the variable resistors 134 and 135
Corresponding to the indicated value of, that is, the variable resistor 13
Bending motors 129, 1 so that the resistance values of 4, 135 and the outputs of encoders 131, 132 satisfy a predetermined function.
30 is driven and controlled. As a result, the bending portion 120 bends at an angle according to the instruction of the bending switch 122.

On the other hand, when the automatic / manual switch 128 is automatic, the process proceeds to S4, in which the bending motors 129 and 130 are driven and controlled in the lumen center indication direction by the lumen center detection circuit 126. Then, in S5, the operation lever 14 of the bending switch 122 is corresponding to the actual bending angle of the bending portion 120.
Joystick motor 136, so that 4 is positioned
Drive control of 137 is carried out. As a result, the bending switch 122 is set so that the instructed value corresponds to the bending angle of the bending portion 120.
The operating lever 144 of is driven.

As described above, in this embodiment, the bending switch 12 is adapted to follow the actual bending state of the bending portion 120.
2 is driven, the lumen center detection circuit 126
Even when the automatic bending control based on the lumen center instruction is switched to the manual bending operation by the bending switch 122, the instruction value of the bending switch 122 and the bending angle of the bending portion 120 always correspond. Therefore, when the automatic bending control is switched to the manual bending operation, bending is not suddenly driven to an unintended position, and there is no danger of damaging the lumen or the like. Therefore, it is possible to prevent an unintended bending operation due to a mismatch between the instruction value of the bending switch 122 and the bending angle of the bending portion 120, and it is possible to improve the safety in the bending driving operation of the bending portion.

Further, in the manual bending operation, the bending portion can be easily returned to the straight direction by releasing the operating finger from the bending switch, so that the desired bending state such as the straight state can be easily obtained. It becomes possible to give an operation instruction.

16 to 19 relate to the third embodiment of the present invention, FIG. 16 is an explanatory view showing the overall construction of the endoscope apparatus, and FIG. 17 is a block diagram showing the schematic construction of the bending operation control means. 18 is a cross-sectional view showing the configuration of the bending switch, and FIG. 19 is a cross-sectional view showing a state in which the operation lever of the bending switch of FIG. 18 is tilted.

The third embodiment is an example in which when the bending switch is not operated, it returns to the central position.

As shown in FIG. 16, an endoscope 161 used in this embodiment has an elongated insertion portion 111,
The light source device 10 is provided via a universal cord 113 extending from an operation unit 112 that is continuously provided at the rear end of the insertion unit 111.
2, CCU 103, and motor / fluid control device 104. The operation unit 112 of the endoscope 161
A bending switch 162 for instructing a bending operation is provided in the. That is, the configuration is similar to that of the second embodiment except that the lumen detecting device 108 of the second embodiment is not provided, and the same components are designated by the same reference numerals and the description thereof will be omitted.

The construction of the bending operation control means is shown in FIG.
The present embodiment has the same configuration as that of the second embodiment except that the lumen detecting device 108 and the joystick motors 136 and 137 shown in FIG. 10 are not provided, and the same components are designated by the same reference numerals and described. Is omitted. That is, the drive means for driving the bending switch 162 is not provided.

As shown in FIG. 18, the bending switch 162 has a shaft A142 on the casing 141 as in the second embodiment.
Is rotatably supported, and a shaft B143 is rotatably supported by the shaft A142 so as to be orthogonal to the shaft A142.
The operation lever 144 is provided so as to penetrate the shaft B143 and pass through the hollow portion 145 of the shaft A142, and the operation lever 144 is tilted about the shaft A142 and the shaft B143.

At the lower end of the casing 141, similarly to the second embodiment, the rotating bodies A148 and B150 are pivotally supported so as to be orthogonal to each other. The resistance setting shaft of the variable resistor 134 is fixed to one arm 148b of the rotating body A148, and the main body of the variable resistor 134 is fixed to the side surface of the casing 141. The other arm 1 of the rotating body A148
The pin 48a is pivotally supported by the pin 165, and both ends of the pin 165 are crushed and fixed like a rivet. With this configuration, by tilting the operation lever 144 about the axes A142 and B143, the rotating bodies A148 and B15 can be rotated.
0 rotates, and the resistance values of the variable resistors 134 and 135 change accordingly.

That is, the structure is the same as that of the second embodiment except that the joystick motor is not provided, and the same components are designated by the same reference numerals and the description thereof will be omitted.

When the operation lever 144 of the bending switch 162 is operated to rotate and tilt the operation lever 144 with the axes A142 and B143 as rotation axes, the rotary bodies A148 and B1 are rotated.
When 50 rotates, the resistance values of the variable resistors 134 and 135 change. This resistance value is input to the bending control means 127. The bending control unit 127 rotates the bending motors 129 and 130 according to the input resistance value, and the encoder 1
The driving of the bending motors 129, 130 is controlled so that the outputs of 31, 32 and the resistance value satisfy a predetermined function. As a result, the bending portion 120 is bent at a bending angle proportional to the tilt angle of the operation lever 144 of the bending switch 162.

When the operating lever 144 falls down, the plate 154 is pushed by the partition wall 152 of the casing 141 and slides toward the flange portion 155 of the operating lever 144, and the compression spring 156 is compressed, as shown in FIG. The operator operates the lever 1
While the finger 44 is being operated to give an instruction, the force of tilting the operation lever 144 with the finger is greater than the elastic force of the compression spring 156, so that the tilt is maintained. On the other hand, when the finger is released from the operation lever 144, the compression spring 156 pushes up the plate 154 so as to eliminate the downward biasing force by its elastic force. As a result, the operation lever 144 is returned to the central position.

As described above, in the third embodiment, the operating lever 144 returns to the center position when the bending switch 162 is not operated, and therefore, even when the bending switch 162 is manually operated for bending, the control lever 144 returns to the central position. It is possible to prevent a dangerous state in which the lumen or the like is damaged without being suddenly driven to bend, and it is possible to improve the safety in the bending drive operation of the bending portion.

When the operator cannot grasp the bending angle during the examination of the endoscope or when the endoscope is removed,
In principle, the tip of the insertion part should be straight. Therefore, in the present embodiment, when the hand is released from the bending switch 162, the operation lever 144 returns to the central position, so that the tip of the insertion portion bends in the straight direction, and the straight position can be easily grasped, and the inspection can be performed safely. It can be carried out. Further, by releasing the hand from the bending switch 162, the tip of the insertion portion can be easily straightened, and the operability can be improved.

FIG. 20 is a sectional view showing the structure of a bending switch according to the fourth embodiment of the present invention.

The fourth embodiment is a modification of the third embodiment, in which the elastic force of the waterproof rubber cover is used instead of returning the operating lever to the central position by the elastic force of the compression spring.

In the bending switch 171, as in the second embodiment, the claw of the arm portion 146 provided on the upper part of the casing 141 engages with the notch of the casing 147 of the operating portion 112, so that the operating portion 112. It is fixed to. A rubber cover 172 is integrally attached to the head of the operation lever 144. The rubber cover 172 has a skirt 173 around the entire circumference, and an end 174 is watertightly fixed to the casing 147 of the operation unit 112 to be waterproof. The hem 173 of the rubber cover 172 has a control lever 144.
Has a shape without slack when it is in the center position.
Others are the same as those in the third embodiment, and the same components are designated by the same reference numerals and the description thereof will be omitted.

When the operating lever 144 of the bending switch 171 is tilted, the rotary members A148 and B1 are moved in the same manner as in the third embodiment.
50 rotates, the resistance values of the variable resistors 134 and 135 change, the bending motors 129 and 130 are driven, and the bending portion 120 bends to a bending angle proportional to the tilt angle of the operation lever 144. At this time, when the operation lever 144 falls down, the skirt 173 of the rubber cover 172 on the side opposite to the falling direction.
Grows. In this state, when the finger is released from the operation lever 144, the hem 173 of the rubber cover 172 tries to return to the original position due to the elastic force, so that the operation lever 144 is returned to the central position.

As described above, in this embodiment, the rubber cover 1 is used.
Since 72 also serves as a waterproofing means and a returning means for the operation lever 144, the bending switch can be made compact and with a simpler structure, and the tip of the insertion portion can be easily straightened when the bending switch 171 is not operated. Therefore, it is possible to easily give an operation instruction so as to obtain a desired bending state.

Other functions and effects are similar to those of the third embodiment.

21 and 22 relate to the fifth embodiment of the present invention, FIG. 21 is a structural explanatory view showing a schematic structure of a bending device, and FIG. 22 is a flow chart for explaining the operation of the bending device of FIG.

The fifth embodiment is an example in which the bending portion is bent straight when the operating finger is released from the bending operation switch.

Bending portion 201 provided at the insertion portion of the endoscope
Is configured by connecting a plurality of bending pieces, and can be bent in the up, down, left, and right directions. Note that, for simplicity, only the case of bending in the up-down direction (UP / DN direction) will be illustrated and described below, but the same applies to the left-right direction.

A bending wire 202 for pulling and bending the bending portion 201 is inserted into the bending portion 201.
One end is fixed to the tip of the bending portion 201. The other end of the bending wire 202 is wound around the pulley 203.
The pulley 203 is fixed to a rotating shaft of a bending motor A204, is rotated by driving the motor A204, and pulls or loosens the bending wire 202. A bending angle detecting potentiometer A205 is coaxially fixed to the rotating shaft of the bending motor A204.
The bending angle of 01 is detected.

The output of the potentiometer A 205 is the control circuit 206 for controlling the bending operation of the bending portion 201.
The control circuit 206 controls the driver A207 that drives the motor A204 according to the detected bending angle and the like. That is, a drive signal is output from the control circuit 206 to the driver A 207, and the bending motor A 204 is rotated or stopped in the vertical direction according to an instruction from the control circuit 206.

Further, a joystick 208 as a bending instruction device is provided in the operation section of the endoscope. A finger rest 210 is provided at the end of the operation lever 209 of the joystick 208. Finger rest 210
Like the finger contact surface 41 of the bending switch of the first embodiment, the touch sensor 211 is provided to detect whether or not the operating finger or the like is in contact. The output of the touch sensor 211 is input to the control circuit 206 via a signal line 212 inserted through the operation lever 209.

A rotary shaft 21 on which an operating lever 209 is pivotally supported.
3, a potentiometer B214 for detecting the amount of movement of the operating lever 209 and a lever driving motor B215 for driving the rotating shaft 213 are provided at both ends. The operation lever 209 is attached so as to be rotatable about the rotation shaft 213 in the direction perpendicular to the paper surface. The output of the potentiometer B214 is input to the control circuit 206, and the control circuit 206 controls the driver B216 that drives the motor B215 according to the position of the operation lever 209 and the like. That is, a drive signal is output from the control circuit 206 to the driver B216, and the lever-driving motor B215 rotates and stops according to an instruction from the control circuit 206.

Next, the operation of the bending apparatus of this embodiment will be described with reference to FIG. The flowchart of FIG. 22 mainly shows the operation of the control circuit 206.

When the power of the bending device is turned on, first, S1
A flag F indicating the operation state of the joystick 208 when set to 1
Is set to 0. Next, in S12, ON / OFF of the touch sensor 211 provided on the operation lever of the joystick 208 is determined.

Here, when the touch sensor 211 is ON, that is, when the operating finger is touching the finger contact portion 210 of the operating lever 209, the process proceeds to S13 and the flag F is set to 1. Then, in S14, the motor B215 for driving the lever
Is made free, and the joystick 208 can freely tilt.

When a bending operation instruction is given in this state and the operation lever 209 of the joystick 208 is tilted, the output value of the potentiometer B214 in the joystick 208 changes, so that the output value of the potentiometer A205 for detecting the bending angle changes. There is a difference. Then, S15
Then, the control circuit 206 outputs a drive signal to the driver A207 to drive the bending motor A204 until the output value of the potentiometer B214 matches the output value of the potentiometer B214. This allows joystick 2
The bending angle of the bending portion 201 is determined according to the tilt angle of 08, and the bending portion 201 is bent to have this bending angle. In addition, S
15, in accordance with the difference between the value of the potentiometer A 205 and the value of the potentiometer B 214, for example, the larger the difference is, the larger the driving power is.
You may make it supply to 204. Then, the process returns from S15 to S12 and continues.

After operating the joystick 208,
When the finger is released from the finger contact portion 210 of the operation lever 209, the touch sensor 211 detects this and turns off. In this case, the process proceeds from S12 to S16, and the flag F is determined. Immediately after the operation of the joystick 208, the flag F = 1
Therefore, the process proceeds to S17 and the potentiometer B214
Determine the value of. Here, it is determined whether or not the bending portion 201 has a predetermined value, for example, a bending angle of 30 ° or more, from a value when the bending portion 201 is in a straight state (hereinafter, this is the center).

If the value is equal to or more than the predetermined value, the process proceeds to S18, and the lever driving motor B215 is rotated toward the center by a predetermined value, for example, a bending angle of 30 °. As a result, the operation lever 209 of the joystick 208 is driven toward the center by a predetermined value. Then, the flag F is set to 0 in S19, and the process proceeds to S14.

The control circuit 206 uses S14 and S15.
Then, similarly to the above, the motor B215 for driving the lever is made free, and the motor A20 for bending is rotated until the value of the potentiometer A205 matches the value of the potentiometer B214.
Drive 4 As a result, the bending portion 201 is driven to bend in the center direction (straight direction) by a predetermined angle.

Further, in S17, the potentiometer B21
When the value of 4 is a predetermined value, for example, the bending angle is 30 ° or less,
In step S20, the motor B215 for driving the lever is rotated to the center position. That is, joystick 2
The operation lever 209 of 08 is at the center position. Then, similarly to the above, the flag F is set to 0 in S19, and S
14 and S15, the motor B215 for driving the lever is freed, and the motor A for bending is rotated until the value of potentiometer A205 matches the value of potentiometer B214.
Drive 204. As a result, the bending portion 201 is driven to bend to the center position (straight position).

After performing the bending drive in the center direction, the process returns to S12 and the processing is continued, but the flag F = 0 is maintained until the touch sensor 211 is turned on.
The processing from S16 to S14 and S15 is repeated.

As described above, in this embodiment, when the joystick 208 is tilted and then the operating finger is released from the finger contact portion 210, the bending portion 201 returns to the straight direction by a predetermined value. The operator can easily confirm the straight direction. Further, when the finger is released from the operation lever 209 of the joystick 208, the operation lever 209 and the bending portion 201 naturally return to the straight direction, and this operation is suitable for the insertion procedure into the large intestine using the large intestine endoscope. It can be inserted easily and easily. In addition, even when it is dangerous that the bending portion returns to the straight position when the finger is released from the joystick 208, the safety can be improved by returning a predetermined angle in the straight direction as in the present embodiment. It is easy to operate while maintaining.

On the other hand, if the operation lever 209 is stopped without releasing the finger, the current bending angle can be maintained.

Even when the bending portion 201 returns to the straight direction when the finger is released from the joystick 208, the tilt angle of the joystick 208 and the bending angle of the bending portion 201 are always the same, so that the operability is good.

23 to 27 relate to the sixth embodiment of the present invention, FIG. 23 is a plan view showing the structure of a bending operation switch, FIG. 24 is a sectional view taken along the line A--A of FIG. 23, and FIG. The circuit diagram of the bending operation switch is shown in FIGS.
It is a flowchart explaining operation | movement of the bending apparatus of an Example.

The sixth embodiment is a modification of the fifth embodiment and is an example in which a cross pad type bending operation switch is used as a bending instruction device.

In the sixth embodiment, the joystick 208 and the lever driving motor B of the fifth embodiment shown in FIG.
215, potentiometer B214, driver B216
Instead of the above, a bending operation switch 220 configured by a four-direction two-stage ON / OFF switch shown in FIG. 23 is provided,
It is connected to the control circuit 206.

For simplicity, the vertical direction (UP
Only the case of bending in the / DN direction) will be described, but the same applies to the left-right direction.

The bending operation switch 220 has a total of eight contact points 222, each of which is formed by a click plate of an arc-shaped leaf spring, two in each direction, below the cross-shaped pad 221 similar to the first embodiment. It is installed and configured. FIG. 24 is a cross-sectional view of the bending operation switch 220. Upward (UP direction) contacts 222a and 222b and downward (DN direction) contacts 222c and 222d are provided to face the pad 221 respectively. Contact points 222 of these click plates
The pad 221 is crushed when the pad 221 is tilted into a flat plate shape, and is turned on in a state of being in contact with the substrate. That is, the bending operation switch 220 is similar to that shown in FIG.
As shown in FIG. 5, two on / off switches are provided in each direction. This UP contact 2
22a, 222b and contacts 222c, 22 in the DN direction
An ON / OFF signal indicating the ON / OFF state of 2d is input to the control circuit 206.

A hemispherical convex portion 223 is provided below the central portion of the pad 221, and the pad 221 can be tilted about the convex portion 223. For example, pad 2
When 21 is tilted in the UP direction, the contact 222a is crushed and turned ON. When the pad 221 is further tilted from this state, the contact 222a and the contact 222b are crushed and turned on. That is, the bending operation switch 220
Is a multi-stage switch that is turned on in two steps in accordance with the operation amount of the pad 221. As described above, by arranging a plurality of contacts side by side in the direction of the protruding portion of the cross pad, it is possible to configure a small multi-stage switch having a good click feeling. The same applies to the DN direction.

Next, the operation of the bending apparatus of this embodiment will be described with reference to FIGS. 26 and 27. FIG. 26,
The flowchart of FIG. 27 mainly shows the operation in the control circuit 206, and (A) and (B) in the figure are connected correspondingly.

When the power of the bending apparatus is turned on, first, S2
A flag F indicating the operation state of the bending operation switch 220 when set to 1
UL and FDL are set to FUL = 0 and FDL = 0, respectively. Next, in S22, the state of the bending operation switch 220 is determined.

When the bending operation switch 220 is not operated, since the contacts 222a to 222d are all OFF, it is determined to be STOP, and the process proceeds to S23 in FIG. S2
In 3, it is determined whether the value of FUL is 1 ≦ FUL ≦ 5. If NO, the process proceeds to S24 and the value of FDL is 1 ≦ FD.
It is determined whether L ≦ 5. At this time, FUL = 0,
Since FDL = 0, the process proceeds to S25 and the driver A20
A stop signal is output to 7, and the process returns to S22 through S26. That is, when the bending operation switch 220 is not operated, the bending motor A204 remains stopped.

Next, the pad 2 of the bending operation switch 220
When 21 is slightly tilted in the UP direction, first the contact point 222a
Turns on. Then, the control circuit 206 performs the UP in S22.
It is determined that the bending instruction is a directional bending instruction, and the process proceeds to S27 to determine whether the bending instruction is a low speed bending instruction (UPL) or a high speed bending instruction (UPH). Here, since the pad 221 is slightly tilted in the UP direction and only the contact 222a is ON, it is determined to be a low speed bending instruction, and the process proceeds to S28. In S28, the driver A207 is driven to rotate the bending motor A204 in the UP direction at a low speed (L speed). And S29
Then, the flag FUL is set to FUL ← FUL + 1. That is, FUL = 1, and further, in S30, the flag FDL
Is set to 0, and the process returns to S22.

Then, if the contact 222a remains ON, S27 to S30 are repeated. That is, the bending portion is further bent in the UP direction at a low speed, FUL is incremented by one, and eventually FUL> 5.

In this state, when the finger is released from the pad 221 of the bending operation switch 220, the contacts 222a to 222 are formed.
Since all d are turned off, it is determined in S22 that the instruction is a STOP instruction, and the process proceeds to S23 to determine the value of FUL. Since FUL> 5 here, the value of FDL is subsequently determined in S24, and since FDL = 0, the process proceeds to S25, in which a stop signal is output to the driver A207 to stop the bending motor A204. After that, in S26, FUL =
0 and FDL = 0 are set respectively, and the process returns to S22.

As described above, when only the contact point 222a is turned on and the low speed bending is instructed, the bending portion is driven to bend at a low speed, and the bending stops immediately when the finger is released from the bending operation switch 220.

Next, the pad 2 of the bending operation switch 220
When 21 is largely tilted in the UP direction, the contacts 222a and 222b are both turned ON. Then, the control circuit 206
Determines in S22 that the bending instruction is the UP direction, and proceeds to S27 to determine whether the bending instruction is a low speed bending instruction (UPL) or a high speed bending instruction (UPH). Here, since the contact points 222a and 222b are ON, it is determined to be a high-speed bending instruction, and the process proceeds to S31. In S31, the driver A207 is driven to rotate the bending motor A204 in the UP direction at high speed (H speed). Then, the flag FUL = 0 is set in S32, and the flag FDL is further set in S30.
= 0 and returns to S22.

In this state, when the finger is released from the pad 221 of the bending operation switch 220, first the contact 222b is turned on.
In the FF, the contact 222a becomes ON for a moment, and S27-
The process proceeds to S30 and FUL ← FUL + 1 is executed, but since it is a moment, there is no case where FUL> 5 by repeatedly looping. After that, the contacts 222a and 222b are both turned off, and it is determined in S22 that the STOP instruction has been issued,
Proceeding to step 3, the value of FUL is judged. It should be noted that the cycle of determining the state of the bending operation switch 220 in S22 and S2
The range (1 to 5) of the FUL and FDL values determined in S3 and S24 can be set arbitrarily according to the usage situation.

At this time, since 1 ≦ FUL ≦ 5, the routine proceeds to S33, where the current bending position is judged. Here, in the case where the curve is on the UP side, the process proceeds to S34, and it is further determined whether or not the curve angle is on the UP side by a predetermined value or more. It should be noted that this predetermined value may be, for example, a bending angle of 30 ° as in the fifth embodiment. If the curve is greater than or equal to the predetermined value to the UP side, the process proceeds to S35, and the motor A204 for bending is rotated by a predetermined value in the straight direction. The bending motor A204 is rotated until the position is reached. Then, in S25, a stop signal is output to the driver A207 to stop the bending motor A204. Note that S3
If the current bending position is on the DN side in step 3, the process proceeds to S25, and the bending motor A204 is immediately stopped. Next, in S26, FUL = 0 and FDL = 0 are set, and the process returns to S22.

Therefore, the pad 221 of the bending operation switch 220 is largely tilted to instruct a high-speed bending operation, and after bending at a high speed in the UP direction, the bending operation switch 220 is released at the bending position in the UP direction to instruct the bending operation. When it is stopped, the bending portion is driven to bend by a predetermined value in the straight direction (DN direction in this case) or to the straight position according to the bending angle.

Even when the bending is instructed in the DN direction, S
In 37 to S46, the bending control is performed in substantially the same manner as in the UP direction, and thus the description thereof will be omitted.

As described above, in the present embodiment, the high-speed bending used for quick insertion into the body cavity or the quick detection of the lesion site and the low-speed bending used for carefully observing and treating the lesion site. Since it is possible to easily switch between and by only the operation amount of the bending switch, operability is improved. In particular, when performing high-speed bending, the bending portion returns to the straight direction by a predetermined angle when the bending instruction is stopped, so that the insertability in the case of an insertion procedure into the large intestine with a large intestine endoscope can be improved. .

Further, when the bending instruction is stopped during the low speed bending, the bending is immediately stopped, so that the insertion portion can be quickly stopped at a desired position to be observed, and the operability and workability in endoscopic observation / procedure are improved. .

The driving means for the bending portion may be a driving means using a shape memory alloy or fluid pressure instead of the motor.

The bending direction of the bending portion is not limited to four directions and may be two directions.

Further, the endoscope used in the present invention may be either an electronic scope having a solid-state image pickup device or a fiberscope having an image guide.

Further, the present invention can be applied not only to medical endoscopes but also to industrial endoscopes.

Further, the driving means for the bending portion is provided in the operating portion,
It may be provided inside the connector of the universal cord or outside the endoscope.

[0137]

As described above, according to the present invention, in the bending operation of the bending portion, it is possible to easily give an operation instruction so as to obtain a desired bending state such as bending in the straight direction. is there.

[Brief description of drawings]

1 to 8 relate to a first embodiment of the present invention,
FIG. 1 is a block diagram showing a schematic functional configuration of an endoscope bending operation control unit.

FIG. 2 is an explanatory diagram showing the overall configuration of an endoscope device.

FIG. 3 is an explanatory diagram showing a configuration of a main part of a bending drive section provided in the operation section.

FIG. 4 is a plan view showing a configuration of a bending operation switch.

5 is a cross-sectional view taken along the line AA of the bending operation switch of FIG.

FIG. 6 is a cross-sectional view showing the configuration of a touch sensor provided on the finger contact surface of the bending operation switch.

FIG. 7 is an explanatory sectional view showing a state where the touch sensor of FIG. 6 is pressed with a finger.

FIG. 8 is a plan view of a retainer in the bending operation switch.

9 to 15 relate to a second embodiment of the present invention, and FIG. 9 is an explanatory diagram showing the overall configuration of the endoscope apparatus.

FIG. 10 is a block diagram showing a schematic configuration of a bending operation control means.

FIG. 11 is a cross-sectional view showing a configuration of a bending switch.

12 is a sectional view of the bending switch of FIG. 11 taken along the line AA.

13 is a cross-sectional view taken along the line BB of the bending switch of FIG.

14 is a view of the bending switch of FIG. 11 as seen from the direction D.

FIG. 15 is a flowchart showing the operation of the bending operation control means.

16 to 19 relate to a third embodiment of the present invention, and FIG. 16 is an explanatory diagram showing the overall configuration of the endoscope apparatus.

FIG. 17 is a block diagram showing a schematic configuration of a bending operation control means.

FIG. 18 is a sectional view showing the structure of a bending switch.

FIG. 19 is a cross-sectional view showing a state where the operation lever of the bending switch of FIG. 18 is tilted.

FIG. 20 is a sectional view showing the structure of a bending switch according to a fourth embodiment of the invention.

21 and 22 relate to a fifth embodiment of the present invention, and FIG. 21 is a structural explanatory view showing a schematic structure of a bending device.

FIG. 22 is a flowchart for explaining the operation of the bending device in FIG.

23 to 27 relate to a sixth embodiment of the present invention, and FIG. 23 is a plan view showing a configuration of a bending operation switch.

24 is a cross-sectional view taken along line AA of the bending operation switch of FIG. 23.

FIG. 25 is a circuit diagram of the bending operation switch of FIG. 23.

FIG. 26 is a flowchart (1) for explaining the operation of the bending device according to the sixth embodiment.

FIG. 27 is a flowchart (2) for explaining the operation of the bending device according to the sixth embodiment.

[Explanation of symbols]

 2 ... Electronic endoscope 6 ... Bending motor control device 7 ... Operating part 8 ... Inserting part 10 ... Bending part 19 ... Bending operation switch 21 ... Driving motor 32 ... Cross pad 34-37 ... Tact switch 41 ... Finger contact surface 60, 61 ... Electrode film 65 ... Control circuit 66 ... Encoder

Claims (1)

[Claims] 1. An endoscope bending apparatus for bending a bendable bending portion provided in an endoscope insertion portion, comprising: a bending switch for instructing bending of the bending portion; and an instruction of the bending switch. And a bending state control unit that controls the bending section to a predetermined bending state when the operating finger is released from the bending switch. A characteristic endoscope bending device.