JPH06269401A - Endoscope - Google Patents

Abstract

PURPOSE:To improve operability in such a manner that an insertion part can surely be shifted to a free state and a locked state. CONSTITUTION:An operating part 7 of the endoscope is internally provided with a driving motor 27 for driving a curvilinear operating wire 36 for pulling a curving part and is disposed with a driving gear 30 connected to the revolving shaft of this driving motor 27 and a driven gear 31 to be meshed with or parted from this driving gear 30 so that the driving power from the driving motor 27 can be transmitted and released. A detecting switch 39 for detecting the connecting state of the driving gear 30 and the driven gear 31 is disposed. The driving motor 27 is repetitively rotated forward and backward and the driving gear 30 is so controlled as to be meshed with the driven gear while the driving gear 30 is kept rotated by inches in forward and backward directions by a driving control section in accordance with the output of this detecting switch 39 at the time of meshing the driving gear 30 and the driven gear 31.

Description

Detailed Description of the Invention

[0001]

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

Generally, in an endoscope having a flexible insertion portion, a bending portion is provided in the insertion portion to bend the bending portion by advancing and retracting a pulling member such as a bending wire inserted in the bending portion. There is. 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.

Recently, an electric motor is arranged in the endoscope operation section, and the power of the electric motor is used to pull a bending operation traction member to remotely bend the bending section. Endoscopes have been proposed. According to such an electric bending device, the operability is remarkably improved as compared with the conventionally used manual bending device.

Further, since a driving source of such an electric bending apparatus requires a high torque to bend the bending portion, for example, in German Patent No. 2504663, a gear having a large reduction ratio is provided for a motor. Endoscopes have been devised that have an associated bending device.

However, in the endoscope having the bending device in which the gears are combined, the insertion portion is inserted into the human body,
Even when the bending part presses the inside of the body cavity when pulling it out, a power transmission mechanism with a gear with a large reduction ratio is adopted, so the transmission of power from the motor to the bending part is released and a weak external force is released. There is a risk that the inside of the body cavity may be damaged because the curved portion is not bent, that is, the free state does not occur.

In view of this, Japanese Patent Application Laid-Open No. 53-39685 discloses a clutch in which a power transmission mechanism for transmitting power from a motor is incorporated to realize the free state.

In the endoscope disclosed in Japanese Patent Laid-Open No. 53-39685, one of the two gears that constitute the power transmission mechanism and are connected in the axial direction in the transmission gear train is mechanically shafted. In this state, the gears are disengaged to move the endoscope bending portion to the free state.

However, in the endoscope having such a clutch mechanism, the gears forming the transmission gear train are moved in the axial direction so as to mesh with and separate from each other.
When the teeth of the gear cannot be smoothly meshed when the gears are separated from each other and then meshed again, there arises a problem that the locked state in which the power from the motor can be transmitted cannot be reliably realized.

In order to solve such a problem, Japanese Unexamined Patent Publication No. 4-256724 discloses an internal view provided with a clutch means for engaging and disengaging a meshing gear with a meshing point in a direction substantially normal to a pitch circle. A mirror has been proposed.

[0011]

However, also in the endoscope of the above-mentioned Japanese Patent Laid-Open No. 4-256724, when the gears are separated by the clutch means and the gears are re-engaged, the tops of the gears collide with each other. In some cases, the meshing may not be successful, and there is a problem that the transition between the free state and the locked state cannot be performed smoothly.

The present invention has been made in view of these circumstances, and is an endoscope provided with a bending device having a clutch means for intermittently transmitting the power from the bending drive means,
It is an object of the present invention to provide an endoscope that can surely perform a transition between a free state and a locked state of an insertion portion and improve operability.

[0013]

The endoscope according to the present invention comprises:
A pulling operation means for bending the bending portion provided in the insertion portion with a pulling member, a bending drive means for outputting a driving force for driving the pulling operation means, and a pulling operation means for applying a driving force from the bending drive means. A driving force transmitting means having a plurality of gears for transmitting to, and a plurality of gears of the driving force transmitting means,
At least a pair of meshing gears, with respect to the meshing point,
Clutch means that meshes with the pitch circle of the gear in a direction substantially normal to and away from each other, clutch detecting means for detecting the movement of the clutch means, and the bending driving means based on the detection result of the clutch detecting means, It is provided with a clutch control means for meshing the driving force transmission means and for rotating the separated gears.

[0014]

The clutch means engages and disengages the gears provided in the driving force transmitting means to transmit and release the driving force from the bending driving means. During this engagement and disengagement, the clutch detection means detects the movement of the clutch means, and the clutch control means controls the bending drive means based on the detection result of the clutch detection means, so that the engagement in the drive force transmission means is achieved. , Rotate the separated gears.

[0015]

Embodiments of the present invention will be described below with reference to the drawings. 1 to 9 relate to a first embodiment of the present invention, FIG. 1 is a cross-sectional view showing a configuration of a bending drive section provided in an endoscope operation section, and FIG. 2 shows an overall configuration of an endoscope apparatus. Illustration,
3 to 5 are views as seen from the direction A in FIG.
3 is a diagram showing a state in which the drive gear and the driven gear are not connected, FIG. 4 is a diagram showing a state in which the drive gear and the driven gear are not connected and the detection switch is ON, and FIG. 5 is FIG. 6 is a diagram showing a state in which a drive gear and a driven gear are connected, FIG. 6 is a block diagram showing a configuration of a drive control unit including a detection switch, and FIG. 7 is a time chart showing each output in the drive control unit of FIG. FIG. 8 is a cross-sectional view showing the configuration of a freeze switch and a release switch of the endoscope operation section, and FIG. 9 is a cross-sectional explanatory view showing a signal cable inserted through the endoscope.

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 sensor such as a CCD is installed, a light source device 3 for supplying illumination light to the electronic endoscope 2, the solid-state image sensor, and an image pickup signal from the solid-state image sensor. And a monitor 5 for displaying the video signal output from the video control device 4.
And a bending motor control device 6 for controlling bending of the bending portion 10 of the electronic endoscope 2 described later.

The electronic endoscope 2 is provided with an operating section 7 and an inserting section 8 which is connected to the operating section 7 and which is formed in an elongated shape so as to be inserted into a subject.

The insertion portion 8 has a flexible portion 9, a bending portion 10 and a distal end forming portion 11 connected in this order from the operating portion 7 in the distal end 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, the distal end forming section 11 is internally provided with an objective optical system including a solid-state image pickup device, an illumination optical system and the like.

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 which is bifurcated midway is connected to a side portion of the operation portion 7. At the end of the universal cord 12, the motor control device connector 1 is detachably connected to the bending motor control device 6.
3 and a light guide connector 14 that is detachably connected to the light source device 3.

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 sucking 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 is provided with a freeze switch 19 for keeping the observation image still and a release switch 20 for taking the still observation image.

The freeze switch 19 freezes (freezes) the observation image taken in from the tip of the insertion portion 8 and operates the freeze function for obtaining a still image. Also,
The release switch 20 is used to obtain a still image in the freeze state and to instruct a camera photographing device (not shown) to photograph this still image.

Further, the operation portion 7 has a cross-shaped bending operation switch 21 for operating the bending portion 10, and a free / lock switch for switching the bending portion 10 between a free state and a locked state.
A lock knob (hereinafter, referred to as F / L knob) 22 is provided, and is connected to a control means provided in the bending motor control device 6 or the like.

FIG. 1 shows the construction of the bending drive section provided in the operation section 7. 3 to 5 are views as seen from the direction A in FIG.

Substrates A23 and B24, which are bases of the bending drive section, are provided in the operating section 7 substantially in parallel, and are fixed in the operating section 7 by a fixing means such as a spacer (not shown).

On the board A23, there is provided a motor fixing plate 26 which is connected to the board A23 via a compression spring 25 and is supported so as to be movable only in the left-right direction in the drawing.

On the motor fixing plate 26, there is provided a UD drive motor 27 comprising a DC motor as a bending drive means for bending the bending portion 10 in the up-down direction (also referred to as the UD direction),
As shown in FIG. 3, the UD drive motor 27 is provided with an RL drive motor 28 that bends the bending portion 10 provided in parallel in the left-right direction (also referred to as the RL direction). Each of the drive motors 27 and 28 has a gear train having a large reduction ratio so as to generate a high torque, and receives the input from the bending operation switch 21 and is provided in the bending motor control device 6 or the like. It operates according to the instructions of the control means.

Note that, in FIG. 1, only the bending drive portion in the vertical direction is shown for simplification, so that the UD drive motor 2
Only 7 is shown.

A drive gear 30 is fixed to the drive shaft 29 of the UD drive motor 27, and a driven gear 31 is provided on the same plane. In FIG. 1, the drive gear 3
0 and the driven gear 31 are in mesh with each other.

The driven gear 31 is rotatable around a driven shaft 32, and a sprocket 33 is further fixed to the driven shaft 32, and the driven gear 31 and the sprocket 33 are attached.
And are connected by a driven shaft 32. Sprocket 3
A chain 34 is wound around 3, and a bending operation wire 36 as a pulling operation means is connected to an end of the chain 34 via a connecting member 35.

The bending operation wire 36 is inserted through the flexible portion 9 and the bending portion 10, and the distal end portion is connected to a bending piece (not shown) at the distal end of the bending portion 10.

The bending drive section thus configured is connected to the bending motor control device 6, and by operating the bending operation switch 21, the UD drive motor 27 is driven and the bending operation wire 36 is pulled. The bending portion 10 is operated to bend in the vertical direction by being operated.

Although only the vertical bending drive section has been described here, the left and right bending drive sections have the same structure.

Further, on the operation unit 7, F / shown in FIG.
An L knob 22 is provided, and the F / L knob 22 has an F
The F / L cam 38 is connected via the / L knob shaft 37. A detection switch 39 as a clutch detection means for detecting an operation state of an F / L knob 22 described later is fixed on the board A23 near the F / L cam 38. The detection switch 39 is composed of, for example, a limit switch that turns on and off with a predetermined operation amount. That is, the driving gear 30, the driven gear 31, the sprocket 33, the chain 34, and the like constitute a driving force transmitting means, and the F / L
A clutch means is constituted by the drive gear 30 and the driven gear 31 that mesh with and separate from each other by the displacement of the cam 38 and the motor fixing plate 26.

Next, referring to FIGS. 3 to 5, F / L
The operation of the above-described bending drive section associated with the operation of the knob 22 will be described. FIG. 3 shows a state when the drive gear 30 and the driven gear 31 are not connected, and FIG. 4 shows a state when the drive gear 30 and the driven gear 31 are not connected and the detection switch 39 is ON. Shows the state when the drive gear 30 and the driven gear 31 are connected.

FIG. 3 shows a state in which the F / L knob 22 is rotated from the L (lock) side to the F (free) side in FIG. 2 (that is, rotated 90 ° clockwise).

That is, in the state of FIG. 3, the motor fixing plate 26 is displaced rightward in the figure by the F / L cam 38, and the compression spring 25 is compressed.

Here, the driving gear 30 is the motor fixing plate 2
Since it is fixed to the drive shafts of the drive motors 27 and 28 fixed to 6, it is displaced to the right like the motor fixing plate 26. Therefore, the drive gear 30 and the driven gear 31 are separated from each other, so that they are not connected to each other.

The actuator 40 of the detection switch 39 is not pressed by the F / L cam 38, and the detection switch 39 is in the OFF state.

Next, the state in which the F / L knob 22 is being rotated from the F side to the L side from the state of FIG. 3 is shown in FIG.
become that way.

That is, in the state of FIG. 4, the F / L cam 3
Since the pressure in the right direction in the drawing by 8 is weakened, the restoring force of the compression spring 25 causes the motor fixing plate 26 to move in the left direction in the drawing until it contacts the F / L cam 38.

Since the actuator section 40 of the detection switch 39 is pushed by the F / L cam 38, the detection switch 39 is in the ON state, but the drive gear 30 and the driven gear 31 have not meshed yet. It is in a connected state.

When the F / L knob 22 is completely turned to the L side from the state shown in FIG. 4, the state shown in FIG. 5 is obtained.

At this time, the detection switch 39 remains in the ON state as in the case of FIG. 4, the drive gear 30 is further displaced in the left direction in the figure, and the drive gear 30 approaches the driven gear 31 so that the two mesh with each other. It is in a connected state.

As described above, the drive gear 30 and the driven gear 31 are connected and separated from each other according to the operating state of the F / L knob 22.

FIG. 6 shows the configuration of the drive control unit including the detection switch 39. This drive control unit constitutes clutch control means. For simplicity, only the control of the UD drive motor 27 will be described here.

One contact of the detection switch 39 is a resistor 4
It is connected to a power source (not shown) of + V (for example, + 5V) via 1, and is pulled up by the resistor 41 and the power source, and the other contact is grounded.

The bending motor controller 6 includes a motor controller 42 for controlling the drive motor and a UD drive motor 27.
And a motor driver 43 that supplies driving power to the motor. The motor control unit 42 and the motor driver 43 can be provided in the operation unit 7 of the endoscope 2.

The motor controller 42 includes a detection switch 39.
One of the pulled-up contacts is connected and the ON / OFF signal of the detection switch 39 is input. Here, the detection switch 39 outputs a low level (“L”) ON signal when the switch is ON and a high level (“H”) OFF signal when the switch is OFF.

The motor control section 42 sends an instruction to the motor driver 43 based on the signal from the detection switch 39,
Driver output A which becomes driving power from the motor driver 43
44 and driver output B45.

Driver output A from the motor driver 43
44 and the driver output B45 are supplied to the input end A46 and the input end B47 of the UD drive motor 27, respectively. Here, when the UD drive motor 27 receives a signal of "H" at the input end A46 and a signal of "L" at the input end B47, the UD drive motor 27 rotates forward to bend the bending portion 10 in the upward direction (U direction), and A4
When the signal of "L" is received at 6 and the signal of "H" is received at the input terminal B47
It is configured to rotate in the reverse direction so as to bend the bending portion 10 in the downward direction (D direction).

When the motor control unit 42 receives the ON signal from the detection switch 39, that is, the "L" signal, the motor control unit 42 sends an instruction to the motor driver 43 so as to output the driver output as shown in FIG.

That is, the "L" signal from the detection switch 39 causes the driver output A from the motor driver 43.
44 as HLHLHLHLHL and 10 at intervals of time t
The output that changes with time t and then remains L changes to LHLHLHLHLH as the driver output B45,
After that, the output that remains L is generated.

Due to the driver output A44 and the driver output B45, the UD drive motor 27 repeats forward / reverse rotation such as forward / reverse forward / reverse forward / reverse forward / reverse only for a time of 10t.

Therefore, the F / L knob 22 shown in FIG.
When the (free) side is rotated to the L (lock) side, the detection switch 39 is turned on in the middle of the rotation, that is, in the state of FIG.
The UD drive motor 27 is configured to repeat forward and reverse rotation for a time of 10 t.

The operation of the RL drive motor 28 is the same as that of the UD drive motor 27, and the description thereof is omitted.

FIG. 8 shows the structure of the freeze switch 19 and the release switch 20 provided on the endoscope operating section 7.

The switch unit 48 constituting the freeze switch 19 or the release switch 20 is fixed to the operating portion 7 by a fixing means such as a spacer (not shown), and the outside is operated by a watertight rubber 49 adhesively fixed to the operating portion 7. It is kept watertight with respect to the outside of the part 7.

The switch unit 48 includes the top cover 5
0 and a bottom cover 51, and the inside of the unit comes into contact with a dish-shaped diaphragm 52 connected to a signal transmission wire (not shown), and when the diaphragm 52 is deformed and the central portion is displaced downward. A contact point 53 is provided.

The diaphragm 52 has its side end fixed by a ring 54 and is deformed by being pressed at the center so that it can be displaced in the vertical direction.
4 is fixed to the bottom cover 51. Also, contact 5
3 is also fixed on the bottom cover 51.

A stem 56 serving as an operating member having a flange 55 on the upper portion of the diaphragm 52, a projecting portion on the upper side, and a hemispherical portion 57 on the lower portion is provided so as to be able to press the diaphragm 52. There is. The stem 56 prevents the flange portion 55 from coming off in the upper direction in the figure by the flange portion 55 coming into contact with the upper surface portion inside the top cover 50. On the other hand, when the stem 56 is pushed and displaced downward, the flange portion 55 comes into contact with the upper end surface of the ring 54.

When the stem 56 is pushed downward through the watertight rubber 49 in the figure, the hemispherical portion 57 is also lowered and the diaphragm 52 is pushed. Along with this, the central portion of the diaphragm 52 is displaced downward and deformed, so that the diaphragm 52 comes into contact with the contact 53, and the switch is turned on.

At this time, the flange portion 55 of the stem 56
Is abutted against the upper end surface of the ring 54 and cannot be pressed further downward from the ON state of the switch. Therefore, excessive deformation of the diaphragm 52 can be prevented and the durability of the switch can be improved. It will be possible.

Further, FIG. 9 shows an inserted state of a signal cable for transmitting a signal to and from the image pickup device in the electronic endoscope 2.

Inside the tip portion of the insertion portion 8 of the electronic endoscope 2, a CCD 5 as a solid-state image sensor is provided at the rear of the objective optical system.
8 is provided and fixed by a fixing means (not shown). A signal cable 59 is connected to the CCD 58, and C
It extends out from the CD58.

The signal cable 59 is inserted through the insertion portion 8 to form the loop 60 within the operation portion 7, and then inserted through the universal cord 12, and the end portion is fixed inside the light guide connector 14 by a fixing means (not shown). It is fixed and is adapted to be connected to the video control cord 15 shown in FIG.

As described above, the signal cable 59 disposed inside the endoscope has both ends fixed, and receives a pulling force when the insertion portion 8 or the universal cord 12 is bent or twisted when the endoscope is used. However, the pulling force is absorbed by the loop 60 formed in the operating portion 7. That is, since the loop 60 becomes smaller, the pulling force due to the bending of the insertion portion 8 or the universal cord 12 can be absorbed, and the pulling force can be prevented from being applied to the signal cable 59 itself, so that a problem such as disconnection can be prevented. can do.

Next, the operation of this embodiment will be described.
When the F / L knob 22 shown in FIG. 2 is turned to the F (free) side in order to switch the insertion portion bending portion 10 between the free state and the locked state, in the operation portion 7, as shown in FIG. The F / L cam 38 rotates in conjunction with the L knob 22, and the F / L cam 38 pushes the motor fixing plate 26 to the right in the drawing, whereby the drive gear 30 and the driven gear 31 are separated.

Here, the drive gear 30 is connected to the drive motors 27 and 28 having a large reduction ratio, and the driven gear 31.
A bending operation wire 36 and the like reaching the tip of the insertion portion 8 are connected to the.

When the bending operation switch 21 is operated in the state shown in FIG. 3, the drive motor rotates but the drive gear 30 and the driven gear 31 are separated from each other. Therefore, the driven gear 31 moves to the tip side of the insertion portion 8 from the motor. Therefore, the bending portion 10 does not bend.

Further, when the bending portion 10 is pressed in this state, the driven gear 31 to which the bending operation wire 36 and the like are connected is disconnected from the drive motor side having a large reduction ratio, so that the driven gear 31 is It smoothly rotates, and the bending portion 10 bends smoothly.

That is, the insertion portion 8 is in a free state.

Next, from this free state, the F / L knob 2
When 2 is started to rotate to the L (lock) side, the F / L cam 38 rotates in the bending drive section in the operation section 7 in the middle thereof, and the motor fixing plate 26 is moved by the restoring force of the compression spring 25. It is displaced in the center left direction and becomes the state of FIG.

In the state of FIG. 4, as in the state of FIG. 3, the connection between the drive gear 30 and the driven gear 31 is broken, so that the insertion portion 8 remains in the free state.

However, when the F / L cam 38 rotates and the actuator section 40 of the detection switch 39 is pushed by the F / L cam 38, the detection switch 39 is turned on.

Here, when the detection switch 39 is turned on,
As shown in FIG. 7, the output of the detection switch 39 used to send the "H" signal to the motor control unit 42 until then.
It changes to the "L" signal.

Upon receipt of the "L" signal, the motor control unit 42 causes the motor driver 43 to output the driver output A44 and the driver output B45 which repeat H and L in opposite phases to each other, and causes the UD drive motor 27 to forward / reverse forward / reverse. It is controlled to rotate. Therefore, the drive gear 30 connected to the UD drive motor 27 also rotates while reversing in a regular direction.

When the F / L knob 22 is turned to the L side from the state shown in FIG. 4, the bending drive section in the operation section 7
Further, the F / L cam 38 rotates to displace the motor fixing plate 26 to the left in the figure, and the drive gear 30 rotates forward and backward,
It will be in the state of FIG. 5 by connecting with the driven gear 31. For this reason,
The tooth portion of the drive gear 30 and the tooth portion of the driven gear 31 mesh with each other securely while sliding, and the tooth top portions of the drive gear 30 and the driven gear 31 collide with each other and do not connect properly.

The time 10t for forward and reverse rotation when the drive gear 30 and the driven gear 31 are meshed with each other may be set to be slightly longer than the operation time from the state of FIG. 4 to the state of FIG. .

The control of the forward / reverse rotation does not have to be the forward / reverse five sets as shown in FIG. 7, but may be one to four sets or six or more sets.

The point is to set the time at which the forward and reverse rotations stop immediately after the state of FIG. 5 (the state in which the drive gear 30 and the driven gear 31 mesh with each other).

The detection switch 39 does not have to be a limit switch, and any normal on-off switch can be used.

As described above, according to this embodiment, when the bending portion of the insertion portion is switched from the free state to the locked state,
Since the gear trains of the drive gear 30 and the driven gear 31 that are separated and meshed with each other can be reliably meshed with each other, the transition between the free state and the locked state can be reliably performed, and the operability can be improved.

Further, in this embodiment, the clutch detecting means for detecting the meshing state of the drive gear 30 and the driven gear 31 is constituted by only one of the detection switches 39, so that the apparatus can be made smaller and lighter. It will be possible.

FIGS. 10 to 14 relate to the second embodiment of the present invention, and FIG. 10 is an operation explanatory view showing a state in which the drive gear and the driven gear are not connected in the bending drive portion provided in the operation portion. 11 shows that in the bending drive unit of FIG. 10, the drive gear and the driven gear are not connected and one detection switch is O.
FIG. 12 is an operation explanatory view showing a state when N, FIG. 12 is an operation explanatory view showing a state when the drive gear and the driven gear are coupled in the bending drive section of FIG. 10, and FIG. 13 is drive control including a detection switch. FIG. 14 is a block diagram showing the configuration of the unit.
3 is a time chart showing each output in the drive control unit of No. 3 of FIG.

In the second embodiment, in addition to the structure of the first embodiment, a plurality of detection switches for detecting the meshing state of the drive gear 30 and the driven gear 31 are provided and the structure of the drive control section is changed. .

With reference to FIGS. 10 to 12, the operation unit 7
The configuration of the bending drive unit including the detection switch provided inside,
The operation will be described. The other parts are configured in the same manner as in the first embodiment, and the same components as those in the first embodiment are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 10, F / L of the bending drive section
A detection switch A61 and a detection switch B63 for detecting the operation state of the F / L knob 22 are provided on the board A23 near the cam 38, and are arranged so as to be able to contact the motor fixing plate 26, respectively. These detection switches A61,
The detection switch B63 is arranged at a position slightly displaced in the displacement direction of the motor fixing plate 26 (horizontal direction in the drawing).

FIG. 10 is a view showing the state of the bending drive section when the F / L knob 22 is rotated to the F side.
The cam 38 presses the motor fixing plate 26 and displaces it in the right direction in the drawing, so that the drive gear 30 and the driven gear 31 are not connected.

In the state of FIG. 10, the detection switch A6
The actuator part 62 of No. 1 and the actuator part 64 of the detection switch B63 are not pressed by the motor fixing plate 26, and the detection switch A61 and the detection switch B63 are not pressed.
Is in the OFF state.

Next, the F / L knob 22 is changed from the state of FIG.
FIG. 11 shows a state in which is being rotated from the F side to the L side.

In the state of FIG. 11, the pressing of the F / L cam 38 in the right direction in the figure becomes weak, the motor fixing plate 26 is displaced in the left direction in the figure, and the driving gear 30 and the driven gear 31 come close to each other. It is in an unconnected state that has not meshed yet.

Here, the detection switch A61 is turned on when the actuator portion 62 is pushed by the motor fixing plate 26.
While the actuator switch 64 is not pushed by the motor fixing plate 26, the detection switch B63 is OF
It remains in the F state.

Then, from the state of FIG. 11, the F / L knob 22
FIG. 12 shows a state in which is completely rotated to the L side.

In the state of FIG. 12, the motor fixing plate 26 is further displaced to the left in the figure, and the drive gear 30 and the driven gear 31 are moved.
And are meshed with each other and are in a connected state.

At this time, the detection switch A61 and the detection switch B63 are both turned on because the actuator portions 62 and 64 are pushed by the motor fixing plate 26.

That is, the detection switch A61 is shown in FIG.
The switch B63 is OFF in the state of FIG. 10, OFF in the state of FIG. 11, and O in the state of FIG.
It is fixed at each position of N.

FIG. 13 shows the configuration of the drive control unit including the detection switch A61 and the detection switch B63. For simplicity, only the control of the UD drive motor 27 will be described here.

Detection switch A61, detection switch B63
Has one contact at + V via resistors 65 and 66, respectively.
It is connected to a power supply (not shown) of (for example, + 5V) and pulled up by the resistors 65 and 66 and the power supply.
The other contact is grounded.

A motor control unit 67 is provided in the bending motor control device 6, one of the pull-up contacts of the detection switch A61 and the detection switch B63 is connected, and the detection switch A61 and the detection switch B63 are turned on.
The / OFF signal is input. here,
From the detection switch A61 and the detection switch B63, an ON signal of "L" is output when the switch is ON, and an OFF signal of "H" is output when the switch is OFF.

The motor controller 67 uses the detection switch A6.
1, a circuit that sends an instruction to the motor driver 43 based on a signal from the detection switch B63 and causes the motor driver 43 to output a driver output A44 and a driver output B45.

When the motor control section 67 receives the ON signals from the detection switch A61 and the detection switch B63, that is, the "L" signal, it sends an instruction to the motor driver 43 to output the driver output as shown in FIG. Control to output.

That is, "L" from the detection switch A61
In response to the signal, the motor driver 43 generates an output that changes as HLHL ... HL at a certain pulse interval as the driver output A44 and an output that changes as LHLH ... LH as the driver output B45.

Then, the motor control section 67 responds to the "L" signal from the detection switch B63 by the motor driver 43.
The driver output A44 and the driver output B45 are controlled to be L.

The driver output A44 and the driver output B45 allow the UD drive motor 27 to detect the detection switch A.
When 61 is ON, the forward and reverse rotations are repeated, and when the detection switch B63 is ON, the operation is stopped.

In order to switch the insertion portion bending portion 10 between the free state and the locked state, the F / L knob 22 shown in FIG.
When turned to the (free) side, the F / L cam 38 rotates in conjunction with the F / L knob 22 in the operating section 7 as shown in FIG. 13, and the F / L cam 38 turns the motor fixing plate 26. By pushing in the right direction in the figure, the drive gear 30 and the driven gear 31 are separated from each other, and the insertion portion 8 becomes free.

From this free state, set the F / L knob 22 to L
When it starts to rotate to the (lock) side, the F / L cam 38 rotates in the middle of the rotation and the motor fixing plate 26 is displaced leftward in the figure, and the state shown in FIG. 11 is obtained.

In the state of FIG. 11, the drive gear 30 and the driven gear 31 are disconnected, but the detection switch A6 is used.
The first actuator portion 62 is pressed by the motor fixing plate 26, and the detection switch A61 is turned on. At this time, the detection switch B63 remains off.

When the "L" signal from the detection switch A61 is input, the motor control section 67 causes the motor driver 43 to output a driver output A44 and a driver output B45 which repeat H and L in opposite phases. , The UD drive motor 27 is rotated forward and backward. Therefore, the drive gear 30 connected to the UD drive motor 27 also rotates in the forward and reverse directions in small increments.

From the state shown in FIG. 11, the F / L knob 22
When is completely rotated to the L side, the F / L cam 38 is further rotated and the motor fixing plate 26 is displaced leftward in the drawing, and the driving gear 30 approaches the driven gear 31 while rotating in the forward and reverse directions, and both are moved. When connected, the state shown in FIG. 12 is obtained. At this time, the drive gear 30
The teeth of the driven gear 31 and the teeth of the driven gear 31 mesh with each other while sliding on each other.

In the state shown in FIG. 12, the motor fixing plate 26 causes the actuator portion 64 of the detection switch B63 to move.
Is pressed, and the detection switch B63 is turned on.

When the "L" signal from the detection switch B63 is input, the motor control section 67 receives the driver output A44 and the driver output B from the motor driver 43.
Both 45 are set to L, whereby the UD drive motor 27 stands still.

As described above, according to this embodiment, similarly to the first embodiment, when the bending portion of the insertion portion is switched from the free state to the locked state, the drive gear 30 and the driven gear 31 are separated and meshed with each other. The gear train of and can be surely meshed.

Further, in the present embodiment, since the drive gear 30 and the driven gear 31 are stopped immediately after they are meshed with each other, the insertion portion 8 is also almost moved when the drive gear 30 and the driven gear 31 are separated and meshed with each other as described above. Therefore, the safety during operation can be improved.

FIGS. 15 to 19 relate to a third embodiment of the present invention. FIG. 15 shows a bending drive unit provided in the operation unit when the drive gear and the driven gear are not connected and one detection switch is ON. FIG. 16 is an operation explanatory view showing a state, FIG. 16 is an operation explanatory view showing a state when the drive gear and the driven gear are not connected and both detection switches are OFF in the bending drive section of FIG. 15, and FIG. 18 is an operation explanatory view showing a state when the drive gear and the driven gear are coupled in the bending drive section of FIG. 18, FIG. 18 is a block diagram showing a configuration of a drive control section including a detection switch, and FIG. 19 is a drive control section of FIG. 3 is a time chart showing each output in FIG.

The third embodiment is a modification of the arrangement of the two detection switches provided in the second embodiment.

With reference to FIGS. 15 to 17, the operation portion 7
The configuration of the bending drive unit including the detection switch provided inside,
The operation will be described. The arrangement is the same as that of the second embodiment except the arrangement of the detection switch, and the same components as those of the second embodiment are designated by the same reference numerals and the description thereof will be omitted.

As shown in FIG. 15, F / L of the bending drive section
On the board A23 near the cam 38, the detection switch B6
3 is provided at a position similar to that of the second embodiment, and a detection switch A61 is provided at a position on a diagonal line with the detection switch B63 and the motor fixing plate 26 interposed therebetween, and the detection switch A61 is arranged so as to be able to contact the motor fixing plate 26, respectively. ing.

FIG. 15 is a view showing the state of the bending drive section when the F / L knob 22 is rotated to the F side.
The cam 38 presses the motor fixing plate 26 and displaces it in the right direction in the drawing, so that the drive gear 30 and the driven gear 31 are not connected.

In the state of FIG. 15, the detection switch A6
The actuator part 62 of No. 1 is pressed by the motor fixing plate 26 and the detection switch A61 is in the ON state, the actuator part 64 of the detection switch B63 is not pressed by the motor fixing plate 26, and the detection switch B63 is in the OFF state. Has become.

Next, from the state shown in FIG. 15, the F / L knob 22
FIG. 16 shows a state in which is being rotated from the F side to the L side.

In the state of FIG. 16, the pressing force of the F / L cam 38 to the right in the figure becomes weak, the motor fixing plate 26 is displaced to the left in the figure, and the drive gear 30 and the driven gear 31 come close to each other. It is in an unconnected state that has not meshed yet.

Here, the detection switch A61 is released when the pressing force of the motor fixing plate 26 of the actuator section 62 is released.
In the FF state, the detection switch B63 is also turned off because the actuator portion 64 is not pushed by the motor fixing plate 26.
It remains in the state.

From the state shown in FIG. 16, the F / L knob 22
FIG. 17 shows a state in which is completely rotated to the L side.

In the state of FIG. 17, the motor fixing plate 26 is further displaced to the left in the figure, and the driving gear 30 and the driven gear 31 are moved.
And are meshed with each other and are in a connected state.

At this time, the detection switch A61 is still in the OFF state, but the detection switch B63 is in the ON state because the actuator portion 64 is pushed by the motor fixing plate 26.

That is, the detection switch A61 is shown in FIG.
The detection switch B63 is turned off in the state of FIG. 15, turned off in the state of FIG. 16, and turned on in the state of FIG. It is fixed at each position.

FIG. 18 shows the structure of the drive control unit including the detection switch A61 and the detection switch B63. For simplicity, only the control of the UD drive motor 27 will be described here.

A motor control unit 68 is provided in the bending motor control device 6, and resistors 65 and 66 in the detection switch A61 and the detection switch B63 and one of the contacts pulled up by the power source are connected to the motor control unit 68. It is connected. That is, from the detection switch A61 and the detection switch B63, an "L" ON signal is output to the motor control unit 68 when the switch is ON, and an "H" OFF signal is output to the motor control unit 68 when the switch is OFF. The configuration of the other parts is the same as that of the second embodiment, and the description is omitted.

Here, the motor control unit 68 is operated only in the period in which it receives the OFF signal from the detection switch A61 and the detection switch B63, that is, the "H" signal at the same time.
The motor driver 43 is instructed to output the driver output as shown in FIG.

That is, the driver output A is output from the motor driver 43 only while the outputs of the detection switch A61 and the detection switch B63 are both "H" (the detection switch A61 and the detection switch B63 are both in the OFF state).
The output that changes as HLHL ... HL at a certain pulse interval as 44 and the output that changes as LHLH ... LH as the driver output B45 are generated.

When the condition of the detection switch is not satisfied and the signal from the detection switch A61 or the detection switch B63 becomes the "L" signal, the motor control unit 68 outputs the driver output A44 and the driver output B45 from the motor driver 43. Are controlled to be L together.

The driver output A44 and the driver output B45 allow the UD drive motor 27 to detect the detection switch A.
When both 61 and the detection switch B63 are OFF, the forward and reverse rotations are repeated, and when either the detection switch A61 or the detection switch B63 is in the ON state, the operation is stopped.

In order to switch the insertion portion bending portion 10 between the free state and the locked state, the F / L knob 22 shown in FIG.
When turned to the (free) side, the F / L cam 38 rotates in conjunction with the F / L knob 22 in the operating section 7 as shown in FIG. 15, and the F / L cam 38 turns the motor fixing plate 26. By pushing in the right direction in the figure, the drive gear 30 and the driven gear 31 are separated from each other, and the insertion portion 8 becomes free.

In the state of FIG. 15, the detection switch A6
In No. 1, the actuator portion 62 is pressed by the motor fixing plate 26 to be in the ON state, and the detection switch B63
Is in the OFF state.

From this free state, set the F / L knob 22 to L
When it starts to rotate to the (lock) side, the F / L cam 38 rotates and the motor fixing plate 26 is displaced leftward in the drawing in the middle, and the state shown in FIG. 16 is obtained.

In the state of FIG. 16, the drive gear 30 and the driven gear 31 are disconnected, but the detection switch A6 is used.
In No. 1, the pressing force of the motor fixing plate 26 of the actuator portion 62 is released, and the actuator 1 is turned off. At this time, the detection switch B63 remains off.

Here, when the "H" signal is inputted from the detection switch A61 and the detection switch B63, the motor control section 68 repeats H and L from the motor driver 43 in opposite phases to each other, the driver output A44 and the driver output B4.
5 is output to rotate the UD drive motor 27 forward and backward.
Therefore, the drive gear 3 connected to the UD drive motor 27
0 also rotates in the forward and reverse directions in small increments.

From the state shown in FIG. 16, the F / L knob 22
When is completely rotated to the L side, the F / L cam 38 is further rotated and the motor fixing plate 26 is displaced leftward in the drawing, and the driving gear 30 approaches the driven gear 31 while rotating in the forward and reverse directions, and both are moved. When connected, the state shown in FIG. 17 is obtained. At this time, the drive gear 30
The teeth of the driven gear 31 and the teeth of the driven gear 31 mesh with each other while sliding on each other.

In the state shown in FIG. 17, the motor fixing plate 26 causes the actuator portion 64 of the detection switch B63 to operate.
Is pressed, and the detection switch B63 is turned on.

When the "L" signal from the detection switch B63 is input, the motor control section 68 receives the driver output A44 and the driver output B from the motor driver 43.
Both 45 are set to L, whereby the UD drive motor 27 stands still.

As described above, according to this embodiment, similarly to the second embodiment, when the curved portion of the insertion portion is switched from the free state to the locked state, the gears that are separated from each other and mesh with each other can surely mesh with each other. In addition, it is possible to prevent the insertion portion from moving when the gears are separated and meshed.

[0150]

As described above, according to the present invention, in the endoscope provided with the bending device having the clutch means for intermittently transmitting the power from the bending drive means, the insertion portion is in the free state and the locked state. With this, there is an effect that it is possible to surely perform the transition to and the operability can be improved.

[Brief description of drawings]

1 to 9 relate to a first embodiment of the present invention,
FIG. 1 is a cross-sectional view showing the configuration of a bending drive unit provided in the endoscope operation unit.

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

3 is a view seen from the direction A in FIG. 1, and FIG. 3 is a view showing a state in which a drive gear and a driven gear are not connected.

FIG. 4 is a diagram showing a state in which a drive gear and a driven gear are not connected and a detection switch is ON.

FIG. 5 is a diagram showing a state in which a driving gear and a driven gear are connected to each other.

FIG. 6 is a block diagram showing a configuration of a drive control unit including a detection switch.

7 is a time chart showing each output in the drive control unit of FIG.

FIG. 8 is a cross-sectional view showing a configuration of a freeze switch and a release switch of an endoscope operation section.

FIG. 9 is a cross-sectional explanatory view showing a signal cable inserted through an endoscope.

10 to 14 relate to a second embodiment of the present invention, and FIG. 10 is an operation explanation showing a state in which a drive gear and a driven gear are not connected in a bending drive unit provided in an operation unit. Figure

11 is an operation explanatory view showing a state in which the drive gear and the driven gear are not connected and one detection switch is ON in the bending drive section of FIG.

FIG. 12 is an operation explanatory view showing a state in which the drive gear and the driven gear are connected to each other in the bending drive section of FIG.

FIG. 13 is a block diagram showing a configuration of a drive control unit including a detection switch.

FIG. 14 is a time chart showing each output in the drive control unit of FIG.

FIGS. 15 to 19 relate to a third embodiment of the present invention, and FIG. 15 shows a bending drive unit provided in the operation unit when the drive gear and the driven gear are not connected and one detection switch is ON. Operation explanatory diagram showing the state of

16 is an operation explanatory view showing a state in which the drive gear and the driven gear are not connected and both detection switches are off in the bending drive section of FIG. 15;

FIG. 17 is an operation explanatory view showing a state in which the drive gear and the driven gear are coupled in the bending drive section of FIG. 15.

FIG. 18 is a block diagram showing the configuration of a drive control unit including a detection switch.

FIG. 19 is a time chart showing each output in the drive control unit of FIG.

[Explanation of symbols]

 2 ... Electronic endoscope 6 ... Bending motor control device 7 ... Operating portion 8 ... Inserting portion 10 ... Bending portion 21 ... Bending operation switch 22 ... Free / lock knob (F / L knob) 26 ... Motor fixing plate 27, 28 ... Drive motor 30 ... Drive gear 31 ... Followed gear 36 ... Bending operation wire 38 ... F / L cam 39 ... Detection switch 42 ... Motor control unit 43 ... Motor driver

─────────────────────────────────────────────────── ───

[Procedure amendment]

[Submission date] June 3, 1993

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0113

[Correction method] Change

[Correction content]

In order to switch the insertion portion bending portion 10 between the free state and the locked state, the F / L knob 22 shown in FIG.
When it is turned to the (free) side, inside the operation unit 7, as shown in FIG.
Then, the F / L cam 38 rotates in conjunction with the F / L knob 22, and the F / L cam 38 pushes the motor fixing plate 26 to the right in the drawing, whereby the drive gear 30 and the driven gear 31 are separated. Are separated, and the insertion portion 8 becomes free.

Claims (1)

[Claims] 1. A pulling operation means for bending a bending portion provided on an insertion portion with a pulling member, a bending drive means for outputting a driving force for driving the pulling operation means, and a driving force from the bending drive means. Driving force transmitting means having a plurality of gears for transmitting to the pulling operation means, and among the plurality of gears of the driving force transmitting means, at least a pair of meshing gears are substantially equal to the pitch circle of the gears with respect to the meshing point. Clutch means for engaging and disengaging in the normal direction, clutch detecting means for detecting the movement of the clutch means, controlling the bending driving means based on the detection result of the clutch detecting means, and engaging the driving force transmitting means. And a clutch control unit that rotates a separated gear, and an endoscope.