JPH0641533Y2 - Bending drive unit - Google Patents

Bending drive unit

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Publication number
JPH0641533Y2
JPH0641533Y2 JP1988150069U JP15006988U JPH0641533Y2 JP H0641533 Y2 JPH0641533 Y2 JP H0641533Y2 JP 1988150069 U JP1988150069 U JP 1988150069U JP 15006988 U JP15006988 U JP 15006988U JP H0641533 Y2 JPH0641533 Y2 JP H0641533Y2
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bending
shape memory
memory material
joint
amount
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JPH0245702U (en
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康弘 植田
友尚 櫻井
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オリンパス光学工業株式会社
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Priority to JP63-65140 priority Critical
Priority to JP6514088 priority
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Priority to JP1988150069U priority patent/JPH0641533Y2/en
Priority claimed from US07/291,242 external-priority patent/US4930494A/en
Publication of JPH0245702U publication Critical patent/JPH0245702U/ja
Publication of JPH0641533Y2 publication Critical patent/JPH0641533Y2/en
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【考案の詳細な説明】 [産業上の利用分野] この考案は形状記憶材料を内蔵して能動的に湾曲する湾曲駆動装置に関する。 Description of invention] [Field of the Industrial] This invention relates to bending drive unit for actively bending incorporates a shape memory material.

[従来の技術] このような湾曲駆動装置の従来例として、内視鏡の挿入部に形状記憶合金を内蔵し、形状記憶合金を通電加熱した時の形状回復動作により挿入部を湾曲駆動する内視鏡が実開昭58-25140号公報、実開昭58-101601号公報、特開昭59-48710号公報、実開昭61-201018号公報において既に知られている。 Inner as a conventional example of the prior art] Such bending driving device incorporates a shape memory alloy in the insertion portion of the endoscope, which bend-driving the insertion portion by shape recovery operation when the shape memory alloy was energized and heated viewing mirror Japanese Utility Model 58-25140, JP-Utility Model 58-101601, JP-Sho 59-48710 and JP already known in Japanese Unexamined Utility Model Publication No. 61-201018.

[考案が解決しようとする課題] しかしながら、従来例では複雑な管路、例えば大腸への挿入性を向上しようとして挿入部の長い範囲を形状記憶合金により湾曲駆動しようとする場合、以下のような問題点があった。 Assignments devised to be Solved] However, if the conventional example to be complicated pipeline, bending driving the long range the shape memory alloy of the insertion portion in an attempt to improve the insertability into e.g. colon, as follows there is a problem. 一般に、形状記憶合金は長いものが製造できないので、この場合、多数の形状記憶合金を直列に接続する必要がある。 Generally, the shape memory alloy long can not be produced, in this case, it is necessary to connect a large number of shape memory alloys in series. すると、各形状記憶合金はそれより先端側の挿入部の自重も含めて湾曲する必要がある。 Then, the shape memory alloy is required to be curved, including self-weight of the insertion portion of it from the front end side.
そのため、同一の湾曲量を得る場合、基端側(以下、手元側と称する)の形状記憶合金ほどの湾曲に要する力量が大きく、先端側の形状記憶合金はその負荷が小さく、 Therefore, when obtaining the same bending amount, the base end side (hereinafter, referred to as the proximal side) large amount of force required to bend enough shape memory alloy, the distal end side of the shape memory alloy has a small its load,
必要力量は減少する。 Necessary competence is reduced. 従って、各形状記憶合金に同量の通電加熱を行なっても同じ湾曲量が得られず、挿入部を均一に湾曲、制御ができないという欠点があった。 Therefore, even when subjected to the same amount of current heating the shape memory alloy the same amount of curvature is not obtained, the insertion portion uniformly curved, has a drawback that can not be controlled.

この考案は上記課題に着目してなされたもので、その目的は直列に接続された形状記憶材料から湾曲部を構成し、それを通電加熱することにより湾曲駆動する湾曲駆動装置において、湾曲部を均一かつ確実に湾曲制御できるようにすることである。 This invention has been made in view of the above problems, the object thereof constitutes a curved portion of a shape memory material connected in series, bending drive unit for driving curved by electrically heating it, a curved portion it is to allow uniform and reliable bending control.

[課題を解決するための手段および作用] この考案による湾曲駆動装置は、それぞれが形状記憶材料を有してその形状回復動作により湾曲する関節体を複数個直列に接続してなる湾曲部と、湾曲部に接続され形状記憶材料を通電加熱する手段とを具備し、先端側の関節体は湾曲しにくく手元側の関節体ほど湾曲しやすくするか、あるいは同一の目標湾曲量に対する通電量を先端側の関節体は少なく手元側の関節体ほど通電量を多くすることにより、各関節体は先端側、手元側にかかわらず均一に湾曲駆動でき、湾曲部を均一かつ確実に湾曲制御できる。 [Means and operation for solving the problem] bending driving apparatus according to this invention includes a curved portion, each formed by connecting a joint body that is curved by its shape recovery operation has a shape memory material into a plurality series, the connected to the curved section shape memory material and means for electrically heating the tip energization amount to the joint of the tip side or easily bent about the joint of curved hardly hand side, or identical target bending amount by increasing the joint body is small power supply amount as joints of the hand side of the side, each joint body distal end, be uniformly bending drive regardless proximally, it can be uniformly and reliably bending control the bending portion.

[実施例] 以下図面を参照してこの考案による湾曲駆動装置の実施例を説明する。 [Example] With reference to the drawings illustrating an embodiment of a bending driving apparatus according to this invention. ここでは、実施例としては内視鏡装置を説明する。 Here, the endoscope apparatus will be described as an example. 第1図に第1実施例全体の構成を示す。 In Figure 1 shows the overall first embodiment configuration. 内視鏡11は操作部12と挿入部13とからなり、挿入部13の先端には複数(ここでは7個)の直列に接続された2方向に湾曲可能な関節体8a〜8gが設けられる。 The endoscope 11 is from the insertion portion 13. an operating unit 12, in series with bendable connected to two directions joints of 8a~8g is provided (seven in this case) more than the tip of the insertion portion 13 . 挿入部13の最先端には先端構成部14が設けられる。 The distal end construction part 14 is provided on the cutting edge of the insert portion 13. 挿入部13の基端(以下、手元端と称する)側部分は可撓管15で構成される。 Proximal end of the insertion portion 13 (hereinafter, referred to as the proximal end) portion consists of a flexible tube 15.
なお、図示していはいないが、挿入部13内には通常の内視鏡と同様に、観察光学系、照明光学系が設けられる。 Although not shown, it is in the insertion portion 13 like a normal endoscope, the observation optical system, an illumination optical system is provided.

各関節体8a〜8gのそれぞれは第2図に示すように同一長さで同様に構成される。 Each is configured in the same manner as in the same length as shown in FIG. 2 of the joint body 8 a to 8 g. すなわち、挿入部13の外皮16の内側には関節体8a〜8gを接続するとともに仕切るフランジ17が設けられる。 That is, the inside of the outer skin 16 of the insertion portion 13 a flange 17 which divides with connecting joint body 8a~8g is provided. 各フランジ17間にはコイルばね18が設置される。 Between the flanges 17 coil spring 18 is installed. コイルばね18は挿入部13の中心軸上に配置され、その両端は対応する前後のフランジ7に連結される。 Coil spring 18 is disposed on the central axis of the insertion portion 13, and both ends thereof are connected to the flange 7 of the front and rear supports. ただし、最先端ではコイルばね18の先端は先端構成部14に取り付けられる。 However, the cutting edge tip of the coil spring 18 is attached to the distal end construction part 14. コイルばね18はその張力により各関節体8a〜8gを直線状に維持し、力が加えられると湾曲する。 Coil spring 18 maintains each joint member 8a~8g linearly by its tension, curved and force is applied. コイルばね18の材料としては、通常のばね用線材、例えばばね用ステンレス線等がある。 The material of the coil spring 18, is usually of the spring wire material, for example spring stainless wire or the like.

この実施例では、これらのコイルばね18の湾曲特性(湾曲のしやすさ)は一様ではなく、その弾性度、硬さを挿入部13の先端構成部14側から手元側に向かうにつれて柔らかくしてある。 In this embodiment, the curved characteristic of these coil springs 18 (to ease the bending) is not uniform, to soften as their elasticity, towards the proximal side of the hardness from the distal end construction part 14 of the insertion portion 13 and Aru. 従って、挿入部13の各関節体8a〜8gの可撓性は先端側のものに対して手元側のものほど大きくなる。 Therefore, flexibility of the joints members 8a~8g of the insertion portion 13 increases as that of the proximal side with respect to that of the distal end side. 具体的には、コイルばね18の弾性度、硬さの程度を変えるため、コイルばね18の線径を手元側のものほど小さくしてある。 Specifically, elasticity of the coil spring 18, to vary the degree of hardness, are to reduce the wire diameter of the coil spring 18 as those on the hand side. なお、これ以外にも、有効径を大きくしたり、巻き数を増したり、これらを組み合せたりしても実現できる。 Incidentally, other than this, or to increase the effective diameter, or increasing the number of turns can be realized even or combination thereof. さらに、コイルばね18の材質を変え、手元側のものほど、弾性係数の大きいものを使用してもよい。 Moreover, changing the material of the coil spring 18, as those of the proximal side may be used having a large elastic modulus. これらの手段を第1表に示す。 These means are shown in Table 1.

第2図はコイルばね18を先端側ほど太くし、手元側のものほど細くした場合を示す。 Figure 2 is thicker coil spring 18 as the leading end side, showing a case where the thin as those of the proximal side.

また、各関節体8a〜8gにはそれぞれコイル状の形状記憶合金からなる湾曲駆動部材21a,21bが2本ずつ挿入部13 The insertion portion 13 each joint member each of the 8a~8g a coil-like shape memory alloy bending drive member 21a, 21b are each two
の軸方向に沿って配置されている。 It is arranged along the axial direction. コイル状の湾曲駆動部材21a,21bは各関節体8a〜8g内において上下に偏心して配置されるとともに、その前後のフランジ7,7間に架設される。 Coiled bending drive member 21a, 21b together with being eccentrically disposed vertically within each joint member 8 a to 8 g, is installed between the front and rear flanges 7,7. 湾曲駆動部材21a,21bを構成する形状記憶合金としては、NiTi系合金、CuZuAl系合金等があり、その記憶形状はたとえば密巻きコイルであり、各関節体8a〜 Bending drive member 21a, as the shape memory alloy constituting the 21b, NiTi alloy, there is CuZuAl based alloy, the memory shape is closely coiled coil for example, each joint member 8a~
8g内に設置する場合はこれを伸展して歪みを与えた状態で両端をフランジ7等に固定する。 When installing inside 8g is fixed at both ends in a state that distorts by stretching it to the flange 7 and the like. また、その変態温度(オーステナイト変態温度Af)は40〜60℃に設定しておく。 Also, the transformation temperature (austenite transformation temperature Af) is previously set to 40 to 60 ° C..

各関節体毎の湾曲駆動部材21a,21bの一端は共通に接続され、全関節体に共通の接地リード線20に接続される。 Bending drive member 21a of each joint member, one end of 21b are connected in common, are connected to a common ground lead 20 to the total joint body.
各関節体の上側の湾曲駆動部材21aの他端は通電リード線22にそれぞれ接続され、下側の湾曲駆動部材21bの他端も通電リード線23にそれぞれ接続されている。 The upper end of bending drive member 21a of each joint member is connected to the current supply lead 22, are connected to each other end of the bending drive member 21b of the lower side to the conduction leads 23. そして、これらのリード線20,22,23は挿入部13、操作部12、 Then, these leads 20, 22, 23 insertion portion 13, operation portion 12,
およびユニバーサルコード24の各内部を通じて外部の光源装置25内に設けられた通電部26に接続される。 And it is connected to the conductive portion 26 provided outside of the light source device 25 through the interior of the universal cord 24. 光源装置25内には抵抗検出部27も設けられる。 The light source device 25 is also provided resistance detection unit 27. 抵抗検出部27はリード線20,22,23を介して形状記憶合金からなる湾曲駆動部材21a,21bの相変態による抵抗値の変化を検出して、湾曲駆動部材21a,21bの変位量、つまり各関節体8a Resistance detection unit 27 is bending drive member 21a made of a shape memory alloy through the lead wires 20, 22, 23, by detecting the change in resistance due to phase transformation of 21b, bending drive member 21a, the displacement amount of 21b, i.e. each joint body 8a
〜8gの湾曲量を検出して、これを通電制御部28にフィードバックする。 By detecting the amount of curvature of to 8 g, and feeds back this to the power supply controller 28. 通電制御部28はこの検出湾曲量に応じて各関節体8a〜8gの湾曲量が所望の量に一致するような通電量指令を通電部26に与える。 The power supply controller 28 gives a current amount command such as bending amount of each joint member 8a~8g in accordance with the detected bending amount is consistent with the desired amount of the conductive portion 26. なお、通電方式としては通電量指令に応じて通電時間が可変されるパルス幅変調(PWM)方式を用い、各通電期間の間の休止期間に湾曲駆動部材21a,21bの抵抗値を検出する。 As the energization method using pulse width modulation (PWM) scheme energizing time is varied according to the current amount instruction, detecting the resistance value of the bending drive member 21a, 21b to the rest period between each conduction period.

次に、第1実施例の動作を説明する。 Next, the operation of the first embodiment. 通電部26よりリード線22、または23を通じて湾曲駆動部材21a、または21b Bending drive member 21a through the lead wire 22 or 23, from the conductive portion 26 or 21b,
を通電する。 The energized. 通電された湾曲駆動部材21a、または21bはそれ自身の電気抵抗により発熱し変態温度まで加熱される。 It energized bending drive member 21a or 21b is heated to generate heat by its own electrical resistance transformation temperature. この結果、加熱された湾曲駆動部材21a,21bは記憶形状である密巻き状態に戻ろうと変位する。 As a result, the heated bending drive member 21a, 21b is displaced to return to the close coiled state is memorized shape. これにより通電された湾曲駆動部材21a,21b側に関節体8a〜8gは湾曲される。 Thus bending drive member 21a which is energized, the joint body 8a~8g to 21b side is curved. この通電は湾曲が必要な関節体8a〜8gの湾曲駆動部材21a,21bのみに行なえばよい。 The energization bending drive member 21a of the bending is required joint member 8 a to 8 g, it is sufficient only to 21b. そして、通電量を湾曲駆動部材21a,21bの抵抗値を検出しながら制御すれば、所定の湾曲量に制御することができ、所望の湾曲形状が実現される。 The bending drive member 21a energization amount is controlled while detecting the resistance value of 21b, it can be controlled to a predetermined bending amount, the desired curved shape is achieved.

このような湾曲動作の場合、仮に、関節体8a〜8gの各コイルばね18の湾曲特性が同じであると、前述したようにコイルばね18を除いた各関節体8a〜8gを湾曲させるのに必要な駆動力量は手元側ほど大きくなる。 For such bending operation, if, when the bending characteristics of the coil spring 18 of the joint body 8a~8g are the same, for bending the respective joint bodies 8a~8g excluding the coil spring 18 as described above driving competence required increases as the hand side. つまり、手元側の関節体を湾曲させようとすると、それより先端側に接続されている関節体の自重を含めて動かす必要があり、手元側の関節体ほど湾曲力量が大きくなる。 That is, if an attempt is made curved joint of the proximal side, it is necessary to move, including the weight of the joint bodies connected thereto from the front end side, a bending force increases as the articulation of the hand side. これに対して、先端側の関節体を湾曲させる場合にはその負荷が小さくなり必要な湾曲力量は減少する。 In contrast, the bending force required decreases its load when bending the distal end side of the joint body is reduced. 第3図にこの関係を示す。 This relationship is shown in Figure 3. 従って、各関節体8a〜8gの湾曲駆動部材21 Therefore, bending drive member 21 of each joint member 8a~8g
a,21bに等しく通電し等しい湾曲力量を与えても、各関節体8a〜8gの湾曲角度は手元側ほど小さくなってしまう。 a, be given equally energized equal bending force to 21b, the bending angles of the joints members 8a~8g becomes smaller as the proximal side. 第4図にこの関係を示す。 This relationship is shown in Figure 4. この現象は抵抗値フィードバック制御を行ない、一定の通電量で一定の湾曲角度を実現しようとすることの妨げになる。 This phenomenon performs resistance feedback control, hinder trying to achieve a certain bending angle at a constant power supply amount.

これに対して、第1実施例においては関節体8a〜8gにおける各コイルばね18の弾性度、硬さを挿入部13の先端構成部14側から手元側に向かうにつれて柔らかくして、関節体自体を湾曲するに必要な力量を手元側のものほど小さくしてある。 In contrast, elasticity of the coil springs 18 in the joint body 8a~8g in the first embodiment, to soften toward the proximal side of the hardness from the distal end construction part 14 of the insertion portion 13, the joint body itself are small enough that the proximal necessary competence to curved. 従って、コイルばね18を除いた各関節体 Accordingly, each joint bodies excluding the coil spring 18
8a〜8gを湾曲する力量が手元側のものほど大きくても、 Also competent to bend the 8a~8g is large as that of the proximal side,
コイルばね18の湾曲力量を考慮した各関節体8a〜8g全体の湾曲力量としては先端側、手元側にかかわらず等しくなる。 The curved competence of the entire respective joint bodies 8a~8g Considering curved competence of the coil spring 18 becomes equal regardless tip side, the proximal side. 第5図にこの関係を示す。 This relationship is shown in Figure 5.

従って、各関節体8a〜8gの湾曲駆動部材21a,21bに等しく通電すれば、その通電量に応じて各関節体8a〜8gは第6図に示すように同じ湾曲角度を示す。 Therefore, bending drive member 21a of each joint member 8 a to 8 g, if equal energized 21b, each joint member 8 a to 8 g according to the energization amount has the same bending angle as shown in Figure 6. この現象は抵抗値フィードバック制御を行ない、一定通電量で一定の湾曲角度を得ようとする制御方式に適する。 This phenomenon performs resistance feedback control, suitable for the control system to be obtained a constant bending angle at a constant power supply amount.

このように第1実施例によれば、各関節体の湾曲しやすさを先端側のものに対して手元側のものほど大きくしたとにより、各関節体における湾曲駆動部材を同じように制御すれば、各関節体の湾曲量が一定になり、その湾曲制御が容易である。 According to the first embodiment, by the made large as those of the proximal curved ease of each joint body to that of the distal end side, by controlling the bending drive member at each joint member in the same way if the amount of curvature becomes constant of each joint member, the bending control is easy.

なお、各関節体を湾曲するのに必要な力量を同じくするためコイルばねの湾曲特性を変える代わりに、関節体の外皮の厚さを手元側のものほど薄くするようにしてもよい。 Instead of changing the curvature characteristics of the coil springs to also competence required to bend each joint member may be the thickness of the outer skin of the joint body as those of the proximal side. 例えば、関節体の外皮を構成する部材としてフレックス、ブレードなどを使用する場合、これの硬さを手元側のものほど柔らかくすればよい。 For example, flex as a member for constituting the outer skin of the joint body, when using the blade such as the hardness of this may be soft as those of the hand side. 具体的には、フレックスの肉厚、材質、ブレードの線径等を手元側ほど柔らかくなるようにすればよい。 Specifically, the thickness of the flex material, may be a line diameter of the blade so as to soften the more proximal side. また、通電加熱する湾曲駆動部材の冷却用に空気を流す場合等には、先端側のものほど送気量を増やし先端側の湾曲駆動部材ほど強く冷却されるようにして、一定通電に対する温度上昇を抑制し、先端側のものの湾曲力量を小さくするようにしてもよい。 Further, when such air to flow for cooling of the bending drive member energized heating so as to be cooled so strongly bending drive member on the distal end side to increase the feed amount as those of the distal end side, the temperature rise for a given energization suppressed, it may be reduced bending force of those distally.

次に、第2実施例を説明する。 Next, a description will be given of a second embodiment. 第7図に第2実施例の全体構成を示す。 In FIG. 7 shows an overall configuration of the second embodiment. ここでは、挿入部13の挿入距離を検出するために、挿入部13の外皮16の表面に一定間隔Δの縞模様からなるマーキング部44が設けられる。 Here, in order to detect the insertion distance of the insertion portion 13, the marking unit 44 is provided comprising a stripe pattern having a constant interval Δ to the surface of the outer skin 16 of the insertion portion 13. マーキング部 Marking unit
44の検出のためにそれぞれが発光部と受光部とからなる3個のフォトセンサ42が挿入方向に沿って1.5Δ間隔でマウスピースに設けられる。 Each for 44 detection is provided in the mouthpiece with 1.5Δ intervals along the three photosensors 42 insertion direction comprising a light emitting portion and a light receiving portion. フォトセンサ42の出力が挿入量検出部40を介して通電制御部28に供給される。 The output of the photosensor 42 is supplied to the power supply controller 28 through the insertion amount detecting section 40. 挿入量検出部40は3個のフォトセンサ42の出力パルスの位相の遅れ/進みから挿入方向を検出し、出力パルスの数から移動量(挿入量)を検出する。 Insertion amount detecting section 40 detects three insertion direction from a delay / advance of the phase of the output pulses of the photo sensor 42 detects the amount of movement (insertion amount) from the number of output pulses.

第8図は第2実施例の各関節体の構成を示す。 Figure 8 shows the arrangement of the joints of the second embodiment. ここでは、両端のフランジ17の間に中間フランジ17aも設けられ、形状記憶合金からなる湾曲駆動部材21a,21bは3重になっている。 Here, the intermediate flange 17a also provided between the ends of the flange 17, bending drive member 21a made of a shape memory alloy, 21b is in the triple. また、ここでは、全関節体の湾曲特性は同一になっている。 Further, here, the curved characteristic of the total joint body is in the same.

第9図は第2実施例の通電制御部28の詳細を示す図である。 Figure 9 is a diagram showing the details of the power supply controller 28 of the second embodiment. 挿入量検出部40で検出された挿入部13の挿入量信号と、操作部12により指示された挿入部13の先端の湾曲方向を決める操作信号が操作制御部281に入力される。 Insertion amount signal and the insertion amount detecting portion 40 insertion section 13 detected by an operation signal for determining the bending direction of the tip of which has been inserted portion 13 designated by the operation unit 12 is inputted to the operation control unit 281. 操作制御部281はこれらの信号を基に各関節体の湾曲量を決定する。 Operation control unit 281 determines the amount of curvature of each joint member on the basis of these signals. ここでは、いわゆるシフト制御が行われ、最も先端の関節体8aの湾曲方向と湾曲量の目標値は操作信号に基づいて設定され、挿入部13が1関節体分の距離だけ挿入されると、各関節体の湾曲方向と湾曲量が1つ手元側の関節体の湾曲方向と湾曲量の目標値として設定される。 Here, the so-called shift control is performed and the most desired value of the bending direction and a bending amount of the tip of the joint body 8a is set based on the operation signal, the insertion portion 13 is inserted by a distance of 1 joint body component, amount curved bending direction of each joint member is set as the target value of the bending amount and a bending direction of the joint body of one hand side. PWM制御回路282はこの湾曲方向と湾曲量に基づいてPWM信号を発生し、各関節体毎の通電回路26a〜26gに供給する。 PWM control circuit 282 a PWM signal generated based on the bending amount the bending direction, and supplies the energizing circuit 26a~26g of each joint member. 通電回路26a〜26gの電圧値は可変抵抗VRにより可変調整可能となっている。 The voltage value of the energizing circuit 26a~26g is variable adjustable by the variable resistor VR.

以下、第2実施例の動作を説明する。 Hereinafter, the operation of the second embodiment. 前述したように、 As previously mentioned,
先端側より手元側の方が関節体にとって負荷が大きいので、各関節体は湾曲特性が同一であるので同じ湾曲量を得ようとして同様のPWM制御を行っても同一の湾曲量は得られない。 Since towards the proximal side from the distal end side load is large for the joint body, each joint member can not be obtained the same bending amount even if the PWM control similar to an attempt to obtain the same bending amount because the bending characteristics are the same . そこで、第2実施例では同じ湾曲量に対する各関節体毎の通電量を変えている。 Therefore, and by changing the energizing amount for each joint body with respect to the same bending amount in the second embodiment. すなわち、手元側ほどPWM信号の電圧値を大きくし、手元側の方が通電量が大きくなるようにしている。 That is, as the hand side to increase the voltage value of the PWM signal, towards the proximal side so that the amount of current increases. 先端側の湾曲時の通電波形を第10図に、その時の挿入部13の様子を第11図に示す。 The energization waveform during bending of the distal in FIG. 10 shows a state of the insertion portion 13 at that time in FIG. 11. 手元側の湾曲時の通電波形を第12図に、その時の挿入部13の様子を第13図に示す。 The energization waveform during bending of the proximal side in FIG. 12, showing how the insertion portion 13 at that time in FIG. 13. 第10図と第12図からわかるように、手元側へのPWM電圧の振幅V1′,V2′を先端側のそれV1,V2より大きくし、通電量を大きくしている。 As can be seen from FIG. 10 and FIG. 12, the amplitude of the PWM voltage to the proximal V1 ', V2' and larger than V1, V2 of the distal end side, it has a larger power supply amount.
電圧振幅の調整は通電回路26に接続されている可変抵抗 Variable resistance adjusting voltage amplitude which is connected to the energizing circuit 26
VRにより行われる。 It is carried out by VR. この関節体毎の電圧振幅は第3図に示すような各関節体のコイルばねを除いた湾曲力量に応じて設定すればよい。 The voltage amplitude of the joint body each may be set in accordance with the curved amount of force except for the coil spring of the joints, such as shown in Figure 3. これによって、同量の湾曲量を得ようとする場合、先端側でも手元側でもPWM制御自体は同じで、加える電圧値を関節体の位置によって可変するだけでよく、簡単に均一な湾曲制御が実現できる。 Thereby, in the case of obtaining the amount of curvature of the same amount, PWM control itself is the same in the proximal side at the tip end, it is only necessary to variably depending on the position of the voltage value joint body addition, easy uniform bending control realizable.

この各関節体毎の通電量の調整は種々変形可能であり、 Adjustment of the energizing of the respective joint members each are various modifications can be made,
第1の変形例における先端側の関節体の通電波形を第14 The conduction waveform of the distal end side of the joint body in the first modification 14
図に、手元側の湾曲時の通電波形を第15図に示す。 Figure shows the current waveform at the time of the proximal bend in FIG. 15. ここでは、PWM制御ではなくパルス振幅制御を採用する。 Here, employing a pulse amplitude control rather than PWM control. すなわち、先端側の通電信号のパルス幅wは小さく設定し、自重などの負荷が大きくなる手元側の関節ほどパルス幅wを大きく設定する。 That is, setting the pulse width w of the energization signal of the distal small, setting a large joint as the pulse width w of the load increases hand side of its own weight. 湾曲量はパルスの振幅を変化させることによって制御する。 Bending amount is controlled by varying the amplitude of the pulse.

第2の変形例における先端側の関節体の通電波形を第16 The conduction waveform of the distal end side of the joint body according to the second modification 16
図に、手元側の通電波形を第17図に示す。 Figure shows the current waveform of the proximal in FIG. 17. ここでは、PW Here, PW
M制御において通電パルスにバイアス電圧VBを常時加えるようにしている。 And to apply a bias voltage VB constantly energizing pulse in the M control. そして、先端側より手元側の関節体の通電パルスのバイアス電圧VB′を大きく設定するようにする。 Then, to set a large bias voltage VB 'of the energizing pulse on the hand side of the joint body from the distal side. これによっても、手元側の方が通電量を大きくできる。 This also towards the proximal side can be increased energization amount.

第3の変形例における先端側の関節体の通電波形を第18 The conduction waveform of the distal end side of the joint body in a third modification example 18
図に、手元側の関節体の通電波形を第19図に示す。 Figure shows the current waveform of the proximal side of the joint body in FIG. 19. 形状記憶合金を通電加熱する際、形状回復動作の応答性、加熱速度を早めるために、加熱初期に一時的に通電量を大きくする方法が知られている。 When electrically heating the shape memory alloy, the responsiveness of the shape recovery operation, in order to accelerate the heating rate, temporarily method of increasing the power supply amount to the initial stage of heating is known. これを利用して、手元側の関節体ほど初期加熱のための通電時間toを長くするようにする。 Using this, so as to increase the energization time to for the initial heating as joints of the hand side. これによって、手元側ほど加熱速度が早まり、湾曲力量の初期発生量が大きくり、全体の湾曲力量を上昇させることができる。 Thus, as the proximal side heating rate accelerated, early development amount of the bending force is Okikuri, it can increase the overall curvature competence.

第9図は関節体の位置によって通電量を変化する手段をハードウェア回路により構成したものであるが、第20図に示すように、ソフトウェア的に実現してもよい。 Although Figure 9 is that the means for changing the amount of current depending on the position of the joint body constituted by a hardware circuit, as shown in FIG. 20, may be realized in software. すなわち、通電制御部28をCPU283と波形パターン記録ROM284 That is, the power supply controller 28 CPU283 and the waveform pattern recording ROM284
から構成し、各関節体毎の通電量の変化を予めROM284に記録させておいてもよい。 Consist of, it may have been a change in the current amount of each joint member is recorded in advance in the ROM284.

なお、上述の説明は内視鏡を実施例として行なったが、 Although the above description has been made an endoscope as an example,
この考案は内視鏡に限らずカテーテル等にも応用できるし、医療用以外にも適応できる。 It this invention can also be applied to the endoscope without being limited catheters, it can be adapted to other medical applications. また、PWM通電等のパルス通電の場合を説明したが、連続波形による駆動方法においても関節体毎に通電量に変化をもたせれば適応可能である。 Also, a case has been described of the pulse current such as PWM energization is adaptable if Motasere a change in power supply amount for each joint member even in the driving method according to a continuous waveform. また、関節体の湾曲方向は2方向に限定されずに、湾曲駆動部材を3以上設ければ、3方向以上に湾曲可能である。 Moreover, the bending direction of the joint body is not limited to two directions, by providing the bending drive member 3 or more, and can be bent in three or more directions.

[考案の効果] 以上説明したようにこの考案によれば、湾曲部を均一かつ確実に湾曲制御できる湾曲駆動装置を提供できる。 According as described [devised Effect] above this invention can provide a bending drive unit which can uniformly and reliably bending control the bending portion.

【図面の簡単な説明】 BRIEF DESCRIPTION OF THE DRAWINGS

第1図はこの発明による湾曲駆動装置の第1実施例としての内視鏡装置の全体を示す図、第2図はその挿入部の側断面図、第3図〜第6図はそれぞれ湾曲部の湾曲特性を示す図、第7図はこの発明の第2実施例の内視鏡装置の全体を示す図、第8図はその関節体の内部構成を示す斜視図、第9図は第2実施例の通電制御部の回路図、第 Figure 1 is a first diagram showing the entire endoscope apparatus as an embodiment, FIG. 2 is a side sectional view of the insertion portion, Fig. 3 - Fig. 6, each curved portion of the bending drive apparatus according to the invention shows a curved characteristic of FIG. 7 is a diagram showing an entire endoscope apparatus according to a second embodiment of the invention, FIG. 8 is a perspective view showing the internal structure of the joint body, FIG. 9 is a second circuit diagram of the power supply controller of embodiment, the
10図〜第13図は第2実施例の動作を説明する図、第14図〜第19図は第2実施例の変形例の動作を説明する図、第 10 Figure-13 Figure is a diagram for explaining the operation of the second embodiment, FIG. 14-FIG. 19 is a diagram for explaining the operation of a modified example of the second embodiment, the
20図は第2実施例の通電制御部の変形例を示すブロック図である。 FIG. 20 is a block diagram showing a modification of the power supply controller of the second embodiment. 8a〜8g……関節体、11……内視鏡、12……操作部、13… 8 a to 8 g ...... joint body, 11 ...... endoscope, 12 ...... Operation unit, 13 ...
…挿入部、18……コイルばね、21a,21b……湾曲駆動部材、26……通電部、28……通電制御部。 ... insertion portion, 18 ...... coil spring, 21a, 21b ...... bending drive member, 26 ...... conduction unit, 28 ...... energization control unit.

Claims (2)

    【実用新案登録請求の範囲】 [Range of utility model registration request]
  1. 【請求項1】加熱制御される第1の形状記憶材料と、 前記第1の形状記憶材料の形状回復動作により湾曲する第1の関節体と、 前記第1の形状記憶材料とは独立して加熱制御される第2の形状記憶材料と、 前記第2の形状記憶材料の形状回復動作により前記第1 And 1. A first shape memory material is heated controlled, a first joint member that is curved by the shape recovery operation of the first shape memory material, wherein the first shape memory material independently a second shape memory material that is heating control, the first by the shape recovery operation of the second shape memory material
    の関節体の湾曲力量より大きい湾曲力量で湾曲する第2 Second to the curved bending force larger bending force of the joint body
    の関節体とを具備し、前記第2の関節体を基端側とし、 Of comprising a joint body, the second joint body and the base end side,
    該第2の関節体に前記第1の関節体を直列に接続して湾曲部を構成することを特徴とする湾曲駆動装置。 Bending drive apparatus characterized by constituting the bending portion connecting the first joint member in series with the joint of the second.
  2. 【請求項2】加熱制御される第1の形状記憶材料と、 前記第1の形状記憶材料の形状回復動作により湾曲する第1の関節体と、 前記第1の関節体に設けられ、前記第1の形状記憶材料の形状回復動作を妨げる第1の弾性部材と、 前記第1の形状記憶材料とは独立して加熱制御される第2の形状記憶材料と、 前記第2の形状記憶材料の形状回復動作により湾曲する第2の関節体と、 前記第2の関節体に設けられ、前記第1の弾性部材より小さい力量で前記第2の形状記憶材料の形状回復動作を妨げる第2の弾性部材とを具備し、 前記第2の関節体を基端側とし、該第2の関節体に前記第1の関節体を直列に接続して湾曲部を構成することを特徴とする湾曲駆動装置。 2. A first shape memory material is heated controlled, a first joint member that is curved by the shape recovery operation of the first shape memory material, provided in the first joint member, said first a first elastic member that prevents the shape recovery operation of the first shape memory material, and a second shape memory material to be heated controlled independently of the first shape memory material, said second shape memory material a second joint member that is curved by the shape recovery operation, the provided second joint member, a second resilient small force than the first elastic member prevents the shape recovery operation of the second shape memory material ; and a member, said second joint body and the proximal end side, bending driving apparatus characterized by constituting the bending portion of the joints of the second first joint member are connected in series .
JP1988150069U 1988-05-19 1988-11-17 Bending drive unit Active JPH0641533Y2 (en)

Priority Applications (3)

Application Number Priority Date Filing Date Title
JP63-65140 1988-05-19
JP6514088 1988-05-19
JP1988150069U JPH0641533Y2 (en) 1988-05-19 1988-11-17 Bending drive unit

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Application Number Priority Date Filing Date Title
JP1988150069U JPH0641533Y2 (en) 1988-05-19 1988-11-17 Bending drive unit
US07/291,242 US4930494A (en) 1988-03-09 1988-12-28 Apparatus for bending an insertion section of an endoscope using a shape memory alloy

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JPH0245702U JPH0245702U (en) 1990-03-29
JPH0641533Y2 true JPH0641533Y2 (en) 1994-11-02

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JP5373632B2 (en) * 2007-01-29 2013-12-18 インテュイティブ サージカル オペレーションズ, インコーポレイテッド Surgical system that minimizes invasion and method of operating the system

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JPS6015643A (en) * 1983-07-07 1985-01-26 Canon Inc Photoconductive member
JPH0741018B2 (en) * 1986-06-12 1995-05-10 オリンパス光学工業株式会社 Endoscope

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