JPH09504449A

JPH09504449A - Endoscope with movable front end

Info

Publication number: JPH09504449A
Application number: JP7507940A
Authority: JP
Inventors: グリュンドル，アンドレアス; ボブ，コンスタチン; ボブ，アレクサンダー
Original assignee: エステーエム、メディツィーンテヒニク、シュタルンベルク、ゲゼルシャフト、ミット、ベシュレンクテル、ハフツング
Priority date: 1993-08-30
Filing date: 1994-08-29
Publication date: 1997-05-06
Anticipated expiration: 2013-06-18
Also published as: JP2766899B2

Abstract

(57)【要約】この内視鏡は前端部に可動部を有する内視鏡軸（２）を含み、この内視鏡軸（２）は可動部（４）を移動させるための少なくとも１つのミニチュア電気式駆動部材（２２）をその内部に備える。 (57) [Summary] This endoscope includes an endoscope shaft (2) having a movable portion at a front end thereof, and the endoscope shaft (2) has at least one for moving the movable portion (4). A miniature electric drive member (22) is provided therein.

Description

【発明の詳細な説明】可動前端部を有する内視鏡本発明は前端部に可動部を有する内視鏡軸を含む内視鏡に関するものである。アクセスの困難なまたは少なからぬ操作によってのみアクセスできるチャンネル状空洞を検査するために技術面および医学面において重要な補助手段となっている。内視鏡はその遠位端に、その前方の空洞区域を視覚検査するための照明手段と光学システムとを備えている。内視鏡の遠位端において前端部で検出された光学情報は原則として、光ファイバシステムによって内視鏡軸を通して後方にその作動末端まで伝送され、または遠位端においてカメラチップによって検出され、内視鏡軸を通して導線によって後方に伝送されスクリーンモニター上に表示される。内視鏡は全体として、その操作後端とは別に、通常細長い可撓性のロッド状を有する。内視鏡の前端部分の可動部はチャンネル状空洞を検査する可能性を増進する。市販の内視鏡の場合、可動部は特に内視鏡前端の前方の検査される空洞の壁体部分の正面位置をとるために曲げる事ができる。市販の内視鏡はその作動後端に回転ホイールを形成され、このホイールによってボウデンワイヤーを介して可動部の曲げ運動が実施される。このような回転ホイールによる操作はきわめて不便である。特に比較的長い内視鏡軸または使用に際して湾曲部に配置される内視鏡軸の場合、ボウデンケーブルの相当の摩擦が可動部の微細な調整と正確な曲げ運動を困難にする。本発明による内視鏡は、その可動部を動かすために少なくとも１つのミニチュア電気式駆動部材を有する。本発明による可動部の電気式運動は操作をはるかに簡便にまた微調整可能とする。駆動運動が可動部に対して短い距離で伝達されるので、摩擦による問題点が減少される。さらに、ボウデンワイヤーによって長い距離に渡って正確に運動を伝達する事に伴う問題点、特にシーブ中のボウデンワイヤーの遊びによる空転、ボウデンワイヤーのシーブを短くしまっすぐにする事に伴う問題点などが除去される。好ましくは内視鏡軸の可動部の近くに少なくとも１つのミニチュア電気式駆動部材が備えられる。この表現は、駆動部材が可動部の後端に直接に隣接して配置される場合と、可動部そのものの中に配置される場合とを含むものとする。しかしまた駆動部材が可動部から一定距離後方に離間される場合をも含むものとする。しかしこの距離は、前述の問題点が顕著にならないように過度に大であってはならない。ミニチュア駆動部材として圧電式駆動部材を使用する事が好ましい。電圧が加えられる時に長さを変動する圧電性結晶およびセラミックスが存在する。実際上、圧電性結晶またはセラミックスの複数の薄層が相互に重ね合され、各薄層の間に導電層が配置される。順次の各導電層の間に電圧が加えられると、圧電材料の配向に従って圧電薄層堆積の長手方膨張が生じる。このような圧電素子はそのサイズに対比して非常に高い設定力を生じる。電圧を加えた時の長さ方向の膨張は圧電材料の長さの約１パーミルにすぎないので、望ましい方法は、線形駆動段階シーケンスによって必要な複数の設定運動を生じるにある。可動部を動かす駆動運動が必要な箇所に駆動部材を配置する事が困難な場合がある。従って本発明の実施態様において、駆動部材と可動部との間に運動伝達部材を配置する事が好ましい。運動伝達部材は好ましくは可撓性の固いまたは柔らかなストランドである。また運動伝達部材として任意幅の平坦なストランドを使用する事が好ましい。その具体例として、特に細いロッド状またはバンド状の単数または複数のロープ様引張部材があり、その材料として金属、プラスチック、繊維補強材料およびその他多くの材料を使用する事ができる。駆動部材が運動伝達部材に作用し、この運動伝達部材が内視鏡軸の可動部に連接される。内視鏡は好ましくは、駆動部材に対する運動伝達部材の長手方運動の位置を特定する位置測定手段を有する。下記に詳述するように、特に可動部を短縮させまたは延長させまた曲げる事ができるように、複数の駆動部材が内視鏡軸の中に周方向に離間して収容されている場合、運動伝達部材の位置が測定されるので、運動伝達部材が全部同様に前方または後方に移動されるように、すなわち内視鏡軸の可動部が直線的に延長または短縮されるように、これらの運動伝達部材を制御する事ができる。さらに運動伝達部材の位置の測定の故に、可動部が実際に直線的に整列されているかいなかの電気情報が得られる。可動部の曲げの場合に本来の操作が実施される。すなわち、曲げ操作に際しては、引張方向に作動する駆動部材は、可動部の曲げ抵抗に勝たなければならないので、曲げの凸形側において押し方向または外側方向に作用する駆動部材よりも低い運動伝達部材の速度を生じる。また運動伝達部材の位置検出の故に、曲げ操作に際しては、曲げの凸形側において運動伝達部材が前方に押されるのであるから、凹形側においては運動伝達部材を適当な対応速度で後方に引張るように駆動部材を制御する事ができる。可動部の曲げに際して、実際の曲げ条件に関する電気情報が得られ、これらの情報が検査医師に対してディスプレー上に表示される。特定の必要速度に関する駆動部材の前述のような制御は、好ましくは特定の駆動部材の運動行程の周波数を制御する事によって実施される。位置測定手段は好ましくは誘導作用に基づく位置測定手段の形をとる。このような位置測定手段はコイルの形に形成され、このコイルの中に運動伝達部材またはその特定部分が軸方向に多少とも進入する。コイルの瞬間的インダクタンスを測定する事により、運動伝達部材またはその一部の進入長さ、従って駆動部材に対する運動伝達部材の長手方運動位置を特定する事ができる。位置特定手段が駆動部材の両側に配置された２つのコイルを有する事が特に望ましい。このような実施態様は下記の実施態様において詳細に説明する。駆動部材はその操作中に熱損を生じる。圧電式駆動部材の場合、熱損により、その機能に必要な圧電効果が損なわれまで駆動部材の温度が上昇する。従って本発明の他の実施態様においては、少なくとも１つの駆動部材について冷却手段を備える。特に望ましい冷却手段は、圧電効果が顕著に劣化する温度より低い例えば５０℃の温度で沸騰する液状過フッ化炭化水素などの不活性液体を使用する蒸発浴冷却手段とする事ができる。蒸発浴冷却は、冷却液の局所的蒸発により圧電部品から特に強力な伝熱作用を生じる。このようにして形成された蒸気泡は冷却箇所そのものから一定距離において冷却液の中に凝縮する。冷却によって消費される絶対電力量はきわめて低いので、冷却液全体の過熱は生じない。前記の蒸発浴冷却は、内視鏡軸内部の少なくとも駆動部材の配置される部分を冷却液によって充填する事によってきわめて容易に実施する事ができる。さらに前記の型の冷却液はすぐれた絶縁特性を有するので、駆動部材の絶縁コストが低く保持される。さらに、前記の冷却の故に駆動部材が比較的狭い温度範囲で作動されるので、駆動部材と運動伝達部材との間の締付操作の嵌合度を密接に制御するために有効である。駆動部材は、運動伝達部材と交互係合するように２つの圧電作動締付部材を備える事が好ましい。２つの締付部材の作動手段と圧電線形ムーバとを整列させる事により、運動伝達部材と駆動部材との間の相対運動が生じる。用語「相対運動」とは、一方において駆動部材が静止運動伝達部材にそって運動できる事、他方において運動伝達部材が固定駆動部材によって移動させられる事を意味する。本発明の好ましい実施態様において、締付部材は少なくとも１つの締付係合体を含み、圧電作動運動が傾斜面を介して、前記締付係合体の締付運動に変換される。アクチュエータの作動方向に対する圧電締付部材の前記傾斜面の傾斜角度に応じて、運動伝達部材を締付ける力の増幅または締付係合体の締付運動の距離の増大を必要に応じて生じる事ができる。好ましくは相互間の運動伝達部材を締付けるために数個の締付係合体が使用される。１つの締付係合体のみが使用される場合には、この係合体は当接部材に対して運動伝達部材を締付ける。好ましくは、締付部材の動作の終了と同時に締付係合が弾性的に解除される。締付部材は一体部品とし、または数個の部品から成る事ができる。本発明のさらに他の好ましい実施態様においては、それぞれの締付部材は運動伝達部材に対して傾斜した少なくとも１つの締付係合体を有し、前記締付係合体が圧電作用のもとに枢転して運動伝達部材と締付係合させられるように構成される。望ましい締付部材において、締付係合体は固定枢着点回りに枢転させられる。傾斜面の傾斜角度と、枢着点と締付面との間隔および枢着点と圧電作動部材が締付係合体に係合する箇所との間隔とに依存して、てこの原理により、所望のように運動伝達部材の締付力を増幅させまたは締付運動間隔を増大させる事ができる。締付部材アクチュエータと締付係合体との間の連接は可撓性の柔らかな一体的連接とする事が好ましい。あるいは一方の側面に自由に当接するキャリパー部材とする事ができる。さらに、締付部材と運動伝達部材との間に力が伝達される時に締付係合力の増幅が生じるように、運動伝達部材に対する締付係合体の傾斜角度を与える事ができる。機能的には、締付係合体の幾何学的設計がどのようであれ、運動伝達部材の長手方方向と、締付係合体の締付面から締付運動中の締付係合体の実際上の枢着点までを結ぶ直線との成す鋭角が重要である。自己増幅の開始される限界角度が存在する。この場合、締付アクチュエータの作動力と自己増幅から生じる力とが協働して締付係合を生じる。鋭角の範囲内において、締付アクチュエータの作動力が最初の締付係合を生じるためにのみ必要とされ、その後の締付係合を自己増幅力のみが保証するような点に到達する。さきに数回説明した傾斜面は締付係合体上に、また／あるいはこれと協働する部品上に備える事ができる。運動伝達部材の一方の側に圧電駆動部材のすべての電気部品を配置する事が特に望ましい。このような構造は圧電駆動部材のサイズ、特に幅と高さを大幅に収縮できる利点がある。このようにして内視鏡軸の長手方の同一箇所に数個の駆動部材を収容する事が容易になる。さらに、このような構造は駆動部材の製造をきわめて簡単にする。運動伝達部材の２つの長手方運動方向のいずれか一方においてのみ自己増幅作用が利用される場合には、駆動部材の構成は特に簡単になる。一方の運動方向において、特に大きな力が加えられる場合、二、三の用途においては両側の締付部材を「同一方向」に配置する事が望ましい。締付部材がその外周にそって分布された数個の締付係合体を有する事が特に望ましい。この場合運動伝達部材はその外周の少なくとも一部において、締付プライヤーまたはドリルチャックと同様の作用で把持され締付られる。特に実際に簡単に使用する事のできる締付部材の設計は、その長さの少なくとも一部において溝穴を備えたリング部材から成る。運動伝達部材が細長いストランドである場合、技術的構成は特に容易になる。この場合数種の方法が考えられる。例えば金属またはプラスチックスの引張りロープまたは引張り力および／または押し力を伝達するためのロッドを運動伝達のために使用する事ができる。多数の運動可能性と製造費との優れた妥協は、内視鏡軸の中に周方向に離間した３個の駆動部材を配置するにある。このようにして内視鏡軸の可動部は任意方向に曲げる事ができる。可動部の一部の長さが不変に形成される場合、２つの駆動部材ですむ。しかしこの場合運動伝達部材はさらに押し力を伝達する事ができなければならない。内視鏡軸の長手方の同一箇所に数個の駆動部材を並置する事ができる。他の方法としては、内視鏡軸の長手方において数個の駆動部材を互い違いに配置する事ができる。これは特に、駆動部材が内視鏡軸の同一箇所に配置された時に作動チャンネルの通路のスペースが少なくなる場合、または駆動部材のサイズの故に内視鏡の同一箇所の配置が困難な場合に特に適当である。本発明の好ましい実施態様によれば、可動部の最も重要な運動可能性はその曲げ運動と長さの変動である。検査のために、この可動部の長さの変動は検査される空洞壁体部分に向かって運動できる利点がある。この両方の運動可能性を結合する事ができる。本発明は、一方においては検査のために使用されるが、他方においては技術的プラントおよび装置の中の操作を実施するために使用する事ができる。核反応炉、化学プラント、配管系統はその多数の例の一部にすぎない。他方、本発明は医学分野において、特に人体の空洞または血管の検査、または最小限度の進入手術を実施するために有効に使用する事ができる。内視鏡は特に、食道、胃の臨床検査、胃からの十二指腸の検査、肛門からの小腸の検査、尿道、膀胱および尿管の検査のために使用されている。内視鏡は原則としていわゆる作業チャンネルを有し、この作業チャンネルを通して種々の作業器具、例えば組織サンプルを採取するための小型プライヤー、生体組織検査針、加熱可能の切断ワイヤー、小型ハサミ、凝固用電極などを導入する事ができる。また、作業器具の一部は内視鏡の可動部と同様にミニチュア電気駆動部材によって作動できる事を指摘しなければならない。最後に原則として、洗滌液の流体チャンネルが内視鏡の中に備えられ、またこの流体チャンネルを空気または特定のガスによって膨張させるために使用する事ができる。用語「内視鏡」とは、光学検査のアスペクトが主目的でないような装置をも含むものとする。本発明は、特に高度に湾曲したチャンネル状空洞において使用される際に内視鏡の運動伝達部材にそった摩擦を大幅に減少させる事ができるので、内視鏡の可動部を非常に正確に配置できるという大きな利点を与える。従って内視鏡の利用は検査される空洞の長さと形状によって損なわれない。これは特に人体の直腸、大腸、および小腸の臨床検査について重要であり、また湾曲空洞システム中の困難な作業にとって重要である。内視鏡の駆動部材と可動部の制御が例えばジョイスティックと電子制御システムによって正確に実施され、操作者の必要注意力を低減させる。これは検査を実施する人によい効果を与える。検査者はもはや内視鏡の配置に注意を集中する必要がなく、空洞の検査に全注意力を集中できるからである。本発明の内視鏡の他の利点は可動部の長さの変動にあり、これによって内視鏡の前端が検査される空洞の壁体部分まで移動させられる。例えば大腸検査の際に腸壁が非常に不規則な構造を有するような場合に重要である。例えばこの場合、作業チャンネルを通して追加作業器具を導入する場合に、手術される壁体部分への接近運動は作業器具によって無関係部分に対して外傷を与えるリスクを低下させる。本発明の他の目的は、前端に可動部を有する内視鏡のミニチュア電気的線形駆動部材において、この駆動部材は圧電式駆動部材であって、圧電式線形ムーバと２つの圧電作動締付手段とを含み、これらの手段が交互に生かされて、線形駆動部材によって駆動される物体と締付係合するように成された圧電式駆動部材を提供するにある。本発明によるこの線形駆動部材は内視鏡軸の可動部の運動のために使用されるのみならず、ミニチュア電気式駆動部材の使用されるすべての場合に有効である事を注意しなければならない。従って本発明の主旨は、任意の応用分野において使用される前記の型のミニチュア電気式線形駆動部材を含む。さらに本発明の駆動部材は内視鏡に関連して説明されているが、この駆動部材のすべての設計上のフィーチャは、内視鏡以外の用途に使用される線形駆動部材の中にそれぞれ別個にまたは組合わせて使用できる事を注意しなければならない。前記の線形駆動部材に関して、「運動伝達部材」ではなく「線形駆動部材によって駆動される物体」と述べたのは、内視鏡以外の応用分野においては、言葉の厳密な意味で運動伝達部材が存在しない事が多いからである。以下、本発明を図面に示す実施例について詳細に説明するが本発明はこれに限定されない。第１図は本発明による内視鏡の前端部分の部分的断面図、第２図は本発明による駆動部材の拡大長手方断面図であって、下半分は本発明の第１実施態様を示し、上半分は本発明の第２実施態様を示す図、第３図は第２図による圧電駆動部材中の運動伝達部材の移動を生じる運動段階シーケンスを示す概略図、第４図、第５図および第６図はそれぞれ締付部材と運動伝達部材との係合部分の一部の長手方断面図、第７図は本発明による圧電駆動部材の他の実施態様の部分的断面を示す側面図、第８図は第７図の８−８線にそった横断面図、第９図は第７図の９−９線にそった横断面図、また第１０図は対応の位置測定手段を有する駆動部材の概略図である。第１図は、前端部の中に準剛性、可撓性本体６と可動部４とを有する内視鏡軸２の一部を示す。可動部４は本質的に弾性材料、例えばゴムで被覆された支持部材１０から成る。支持部材１０はコイルバネ状に形成する事ができる。可動部４はその前端８において閉鎖されている。前端８はその中にカメラチップ１２を収容し、このカメラチップ１２は光学情報を検出して、内視鏡軸中に延在する電線１４を通してこれらの情報を後方に伝送する。３本の運動伝達部材１６、１８、２０が前端部８の外周に隣接して１２０°の間隔で分布されている。運動伝達部材１６、１８、２０は、内視鏡軸の可動部４と本体６との間の遷移部２８の背後において、それぞれミニチュア圧電駆動部材２２、２４、２６に係合し、伝達部材はこれらの駆動部材を越えて後方に延在する。各運動伝達部材１６、１８、２０の後端に、これらの伝達部材が各駆動部材２２、２４、２６を通してさらに運動しないように、拡大部２７が備えられている。それぞれの駆動部材２２、２４、２６は遷移部２８の少し手前で内視鏡軸２の本体６の中に固着され、また導線３０、３２、３４を介して電力を供給される。図示の実施態様において、駆動部材２２、２４、２６は遷移部２８から実質的に同一距離に隣接配置されているが、これらの駆動部材は長手方に互い違いに配置する事ができる。駆動部材２２、２４、２６のいずれかが対応の運動伝達部材１６、１８、２０の短縮作用を生じると、その特定の運動伝達部材を含む軸方向面において可動部４の曲げを生じる。同時に数本の運動伝達部材に対して引張力が加えられると、曲げ方向はベクトル重ね合せの形を取る。このようにして駆動部材２２、２４、２６の協働作用で、可動部４は所望の任意方向に曲げられる。内視鏡軸の前端８において、カメラチップ１２のほか第１図において図示されていない操作チャンネルが終了し、この操作チャンネルの中に内視鏡軸の後端から操作器具を導入する事ができる。第２図に図示の駆動部材２２は本質的に第１締付手段３８（第２図において右側）、第２締付手段（第２図において左側）４０およびそれらの中間に配置された圧電線形ムーバ３６とから成る。駆動部材２２は全部で４プレートを有する。すなわち、第２図の右側から左側へ末端に配置された第１プレート４１と、第１締付手段３８と線形ムーバ３６との間に配置された第２プレート４３と、線形ムーバ３６と第２締付手段４０との間に配置された第３プレート４５と、左端の第４プレート４７とを有する。これらのプレート４１、４３、４５、４７は駆動部材２２の長手方軸線４９に対して直角に延在する。円形断面の運動伝達部材１６が駆動部材２２の中心チャンネルを通して長手方に延在する。締付手段３８と４０は同一構造であるので、第１締付手段３８のみを説明すれば十分であろう。第１締付手段３８は本質的に圧電式締付部材アクチュエータ４４と全体として円形構造の締付部材４８とから成る。アクチュエータ４４は、左側において第２プレート４３上に支持された圧電ディスクの堆積から成る。締付部材４８はその軸方向長さの半分以上にわたって、周方向に分布された複数の溝穴を備えているので、複数の指状締付係合体５１が形成され、各係合体５１はその放射方向内側に締付面５６を備える。締付部材４８はその右側面において第１プレート４１上に支持されている。第１プレート４１と第２プレート４３は、長手方軸線４９回りに分布された複数の軸方向ネジ５２によって相互に連接されている。締付部材アクチュエータ４４が供給電流によって生かされると、その右端面が右方に移動する。アクチュエータの前に配置されたディスク５０がすべての締付係合体５１の外側傾斜面５４に対して押圧され、これらの締付体５１の内側締付面５６を実質的に放射方向内側に移動させるので、これらの締付面５６が運動伝達部材１６の外側面と締付摩擦係合する。アクチュエータ４４が死なされると、締付係合体５１がその固有の弾性の故に、その放射方向外向きの初位置に戻る。第２締付手段４０は第１締付手段３８と同一方向に配向されている。従ってこの第２締付手段のアクチュエータ４４の静止面は第４プレート４７上に支持され、また第２締付手段の締付部材４８の静止面が第３プレート４５上に支持される。第２プレート４３と第３プレート４５との間に、同じく圧電ディスクの堆積の形の線形ムーバ３６が遊隙なしに配置されている。この線形ムーバ３６は軸方向において明かに締付手段３８および４０より長い。第２図の上部に見られるように、第２プレート４３と第３プレート４５は長手方軸線４９を中心として分布された複数のネジ５３によって相互に連接されている。前記のネジ５２とネジ５３は駆動部材２２の全長にそって連続する同型のネジ込まれたロッド様部品とする事ができる。第２図の下部に見られる実施態様においては、ネジ５３が欠けている。この実施態様においては、線形ムーバ３６の対向面がそれぞれ対応のプレート４３、４５に対して固着されているが、第２図の上部の実施態様においてはこのように固着する必要はない。ネジ５３が備えられている場合、これらのネジは線形ムーバ３６を生かした時に拡張して第２プレート４３と第３プレート４５を相互に離間させるが、線形ムーバ３６を死なせた時に、ネジ５３の弾性収縮が生じるような直径サイズを有する。これに対して、締付手段３８、４０のネジ５２はアクチュエータ４４を生かした時に軸方向に拡張しないように設計されている。ネジ５２のある程度の拡張は有害でない。圧電アクチュエータ４４の線形作動運動はこのアクチュエータ４４の圧電材料の長さの約１／１０００である。アクチュエータ４４を生かした時に締付部材４８の対向締付面５６を相互の方に移動させる距離は、アクチュエータ４４中の圧電材料の軸方向長さと、傾斜面５４の長手方軸線４９に対する傾斜角度とに依存する。第３図は駆動部材２２により運動伝達部材１６の運動を生じる段階Ｉ乃至ＶＩのシーケンスを示す。この第３図には、駆動部材２２の締付手段３８、４０および圧電線形ムーバ３６を概略図示する。駆動部材２２は締付手段３８の区域において、内視鏡軸２の本体６に対して固着されている。本体６は第２図および第３図には図示されていないが、影線で図示されている。この固着は、プレート４１、４３のいずれか一方または両方を固着する事によって実施される。段階Ｉにおいて、締付手段４０は運動伝達部材１６と摩擦係合し、線形ムーバ３６は電圧を加えられず、また締付手段３８は生かされていない。線形ムーバ３６を生かすと、線形ムーバは段階ＩＩに拡大図示されたように線形運動を生じ、従って締付手段４０を固定締付手段３８に対して移動させる。この締付手段４０の移動は同時に運動伝達部材１６を左方に引張る。この状態を段階ＩＩに示す。運動伝達部材１６のこれ以上の線形運動は、線形ムーバ３６が運動伝達部材１６に対してその初位置に戻った後ににのみ生じる事ができる。これには段階ＩＩＩと段階ＩＶに示すような数回の締付操作を必要とする。固定締付手段３８が生かされて、運動伝達部材１６に対して摩擦連接される（段階ＩＩＩ）。そこで締付手段４０が死なされる（段階ＩＶ）。そこで、死なされた線形ムーバ３６がその初短縮位置に戻る（段階Ｖ）。段階Ｖの位置に達すると、締付手段４０、３８の開閉運動を実施する。すなわち、締付手段４０を閉じ（段階ＶＩ）、締付手段３８を開いて、再び初段階Ｉに戻り、次に新段階シーケンスにおいて運動伝達部材１６の移動を生じる事ができる。圧電部材３６、４４の設定動作は非常に迅速に生じるので、この段階シーケンスの反復は運動伝達部材１６の十分に高い設定速度を生じる。運動段階Ｉ乃至ＶＩのシーケンスが逆順序で生じると、運動伝達部材１６は前記のように左から右ではなく、右から左に生じる。この運動を内視鏡の可動部４の前端８の運動に変換するためには、運動伝達部材が圧縮力を伝達できるように設計される必要があり、または運動伝達部材が一種の制御されたブレーキ作用を生じて支持部材１０の弾性運動が必要な押圧力を生じるようにしなければならない。さきに述べたように、対応の駆動部材２２、２４、２６による運動伝達部材１６、１８、２０のいずれかの短縮は、内視鏡軸２の本体６に対する可動部４の曲げを生じる。３運動伝達部材１６、１８、２０のすべてが同一長だけ短縮されると、その結果として可動部４の線方向短縮を生じる。内視鏡軸２の可動部４のこのような短縮がこの可動部４の支持部材の弾発力に対抗して生じる場合、運動伝達部材１６、１８、２０を解除する事により、可動部４は伸縮部材として前方に動く事ができる。曲げ運動と長さの変動運動とを組合わせる事により、内視鏡軸第２図の可動部４の前端８を検査される空洞の壁体部分に対して正確に配置する事ができる。第４図は第２図の締付部材４８とそのディスク５０との係合部分を拡大図示する。指状締付係合体５１がリング状締付部材４８の溝穴を備えていない部分と合体する前に、放射方向厚さの比較的薄い部分５８を備える。開閉に際しての締付係合体５１の弾性変形は本質的にこの部分５８の中で生じる。この部分５８の中心点６４と締付面５６の中心点６６とを通して直線が引かれている。この直線６２は長手方軸線４９または運動伝達部材１６の外周面に対して、締付係合の自己増幅の生じるような角度６０を成す。このような締付係合の自己増幅は一方の軸方向においてのみ有効である。すなわち、締付手段４８の第４図において左方への軸方向移動によって運動伝達部材１６の右方移動を生じる場合、または別の見方をすれば、運動伝達部材１６が第４図において右方への外部引張力を受ける場合にのみ、このような自己増幅が有効である。締付面５６と運動伝達部材１６の外周面との間に初摩擦力が形成されるような放射方向圧縮力のみが、締付部材アクチュエータ４４によって、ディスク５０と傾斜面５４を介して、周方向に分布された締付係合体５１に加えられなければならない。次に締付部材４８が第４図において左方に移動させられる時、締付面５６に作用する圧縮力が自己増幅されるので、締付部材４８と運動伝達部材１６との間に軸方向に任意大きさの力が伝達される。特定の用途において前述のような自己増幅作用が重要でない場合には、２つの締付手段３８、４０は、第２図のように同一方向ではなく、相互に鏡像として配置する事ができる。第５図と第６図は、締付部材４８の締付係合体５１の傾斜面５４と運動伝達部材１６の長手方軸線４９または周方向面との成す角度６８を選択する事により、締付面５６の放射方向圧縮距離の増大または締付面５６の放射方向押圧力の増大を選定できる事を示す。角度６８が４５°である場合、締付面５６の圧縮距離と押圧力は共に軸方向に加えられるアクチュエータ４４の軸方向距離および軸方向押圧力に対応する。これに対して角度６８が４５°より小である場合（第５図参照）、アクチュエータ４４によって軸方向に加えられる力と比較して押圧力の増大が見られ、もちろんこの場合、ディスク５０の軸方向運動距離と比較して締付面５６の運動距離の減少を伴なう。しかしもし角度６８が４５°より大であれば（第６図参照）、アクチュエータ４４を生かした際にディスク５０の軸方向運動距離と比較して締付面５６の放射方向走行距離が増大する。しかし同時に、アクチュエータ４４によって軸方向に加えられる力と比較して放射方向押圧力が低下する。第５図と第６図は指状締付係合体５１がその締付と解除に際して、その中心点６４回りに枢転運動を成す事を示す。第４図、第５図および第６図においては、ディスク５０の開口はその壁面が傾斜面５４の傾斜角度に対応して傾斜されるように図示されている。これは説得力のある設計ではない。必要なのは、ディスクの開口が傾斜面５４と技術的に合理的に係合する事である。また傾斜面５４は円錐形断面とする必要はない。例えば、同等の凸形湾曲面とする事ができる。場合によっては逆の状態として、ディスク５０上に機能的な傾斜面を備え、締付係合体５１上に対応の線形接触面を備える事ができる。第７図乃至第９図は本発明の圧電駆動部材の他の実施態様を示す。類似部品は第１図乃至第６図と同一の参照数字で示す。駆動部材２２は第１締付手段３８と、第２締付手段４０と、その間に配置された圧電線形ムーバ３６とを含む。第１および第２締付手段３８、４０の圧電アクチュエータ４４、および線形ムーバ３６は運動伝達部材１６の上方に配置されている。駆動部材２２は例えば金属のハウジング７０を有し、このハウジングは左から右に、第２図のプレート４１、４３、４５、４７と類似の支持壁体７２、７４、７６、７８を有する。支持壁体７４と７６の間に、線形ムーバ３６が遊隙なしに保持されている。支持壁体７６、７８と７２、７４はそれぞれ第１および第２図締付手段３８、４０の支持手段を成す。ハウジングの下部において、支持壁体７２、７４、７６、７８はそれぞれ、運動伝達部材１６を通すための長方形開口９２を有する。締付部材４８は、その機能において第２図乃至第６図のリング状締付部材４８に類似し、ベース８２を有し、このベース８２はその左側面において支持壁体７６に当接し、またその上端において指状締付係合体５１に弾性的に連接されている。係合体５１はその上端においてハウジングを支持するためのノーズ８４を有し、下端において締付面５６を有する。この係合体５１は全体として上方から運動伝達部材１６に向かって下方に傾斜して延在する。可撓性の柔らかな連接部８６と連接部品８８とによって、締付部材４８はアクチュエータ４４の左端に固着されている。アクチュエータ４４は調節ネジ８０によって支持され、このネジ８０は右端支持壁体７８のネジ山部分と協働する。調節ネジ８０による損傷を防止するため、中間部材９０がアクチュエータ４４から突出している。アクチュエータ４４を作動させると、このアクチュエータの左端が可撓性の柔らかな連接部８６を介して締付係合体５１の締付面５６を運動伝達部材１６に対して押圧し、ノーズ８４が上方にむかってのその脱出を防止する。ハウジング９０の底板９２は運動伝達部材１６に対する当接部品の機能を有する。アクチュエータ４４の力を伝達する可撓性の柔らかな連接部分８６が第７図の図示の位置よりもさらに上方に移動させられると、締付面５６が運動伝達部材１６に向かって移動する押圧距離がアクチュエータ４４の行程と共に増大するが、同時にアクチュエータによって伝達される押圧力が低下する。第５図と第６図について述べたと同様に、押圧力と押圧距離の間の所望の関係を選択する事ができ、この場合、傾斜条件とてこ作用条件とを適当に選択する。第２図の場合と同様に、締付手段３８と４０は同一方向に配向されている。第２締付手段４０の調節ネジ８０が締付部材４８と協働する。支持壁体７２の区域において、運動伝達部材１６の挿通された支持壁体７２の開口９２が見えるように駆動部材１２が長手方断面において示されている。第９図の断面に示すように、アクチュエータ４４はハウジング７０の幅全体にわたって延在するので、駆動部材２２は下方において底板９２によって、上方においてカバープレート９４によって閉じ込められている。底板９２とアクチュエータ４４との間に、運動伝達部材１６が備えられ、この運動伝達部材１６は長方形断面の平坦なバンドの形を成す。この平坦バンドの幅は任意に選択する事ができる。極端な場合、運動伝達部材１６の一方の縁のみが駆動部材２２と協働する。この場合、駆動部材２２はその一方の側面に連続的溝穴を備える。圧電線形ムーバ３６の区域における駆動部材２２の断面を第８図に図示する。この区域において、コーナロッド１００、１０２、１０４、１０６が２つの締付手段３８、４０の間の拡張性弾性連接を成す。上方開口９８と下方開口９６が第７図において破線で示されている。この駆動部材２２の機能は第２図乃至第６図の駆動部材２２と類似である。第１０図に図示の実施態様は好ましい位置測定手段を説明するためのものである。前記実施態様の機能部品に対応する部品は前記と同一の数字で示す。前記の実施態様と同様に、駆動部材２２は第１締付手段３８、第２図締付手段４０およびその間の圧電線形ムーバ３６を含む。しかし、矢印１１０で示した締付部材は逆方向に配置され、いずれも線形ムーバ３６に隣接配置されている。この実施態様における運動伝達部材１６は、駆動部材２２と直接に協働する区域において、（第７図乃至第９図の実施態様に示されるように）平坦なバンド１６ａから成り、他の区域において、バンド１６ａに対して１１２において溶接された鋼ロープ１６ｂから成り、この鋼ロープ１６ｂは内視鏡軸２の可動部４の前端８まで延在する。バンド１６ａの他端に対して案内ワイヤ１１４が溶接されている。第１０図はバンド１６ａの中央位置を示し、この位置からバンドは駆動部材２２によって左右に運動距離１１６づつ移動する事ができる。駆動部材２２の右端すなわち前端と左端すなわち後端にそれぞれ１つづつコイル１１８が取付けられている。操作に際して、ＡＣが両方のコイル１１８を通して流れ、コイル中のＡＣ抵抗がそれぞれの場合に評価回路によって測定され、測定されたＡＣ抵抗は対応のコイル１１８の中に軸方向に突出したバンド１６ａの長さに依存する。バンド１６ａの図示の中間位置においては、バンドの両端は両方のコイル１１８の中に少しだけ突出している。そこでバンド１６ａが例えば右方に移動させられると、右方コイル１１８のインダクタンスが変化する。右方コイル１１８の抵抗を前記のように測定する事によって、バンド１６ａが中間位置から移動した距離を正確に測定する事ができる。同様にバンド１６ａが図示の中間位置から駆動部材２２によって右方に移動させられると、左方コイル１１８の中に入ったバンド１６ａの長さが増大し、左方コイル１１８における抵抗測定によってバンド１６ａの位置を測定する事ができる。両方のコイル１１８の駆動部材２２から反対側の端面１２０はそれぞれ丸い小さな中心開口１２２を備える。それぞれの小さな開口１２２から鋼ロープ１６ｂと案内ワイヤ１１４が突出するが、バンド１６ａは突出できないので、このバンド１６ａおよび運動伝達部材１６全体の機械的ストッパが形成される。駆動部材２２に対向するコイル１１８の端面１２４はその中央部に通し孔１２６を有する。しかし通し孔１２６はバンド１６ａを通過させるサイズを有する。これに対して案内ワイヤ１１４は開口１２２および／または開口１２６中を案内され、バンド１６ａの左端の左方コイル１１８の中への運動中にこのバンド左端を案内する機能を有する。両方のコイル１１８が同一のインダクタンスと同一の抵抗値を測定すれば、運動伝達部材がその中間位置にあるという検出信号が位置測定手段から出力される。３駆動部材２２、２４、２６（第１図）全部についてこの信号が出力されるた時、可動部４はその整直位置にある。コイル１１８の評価回路は、バンド１６ａがその左端位置または右端位置に達するやいなや駆動部材２２の給電を遮断する経路制限回路を接続されているので、バンド１６ａは締付手段３８、４０の締付部分の外には移動しない。またコイル１１８の評価回路に運動検出回路を接続する事ができる。バンド１６ａが駆動部材２２に対する給電にも関わらず十分距離運動しない場合、運動伝達部材１６のこのような運動に対する閉塞状態が存在する。駆動部材２２を続けて作動すると、締付手段３８、４０と係合したバンド１６ａの係合部分に破断マークが形成される結果となる。このような場合、運動検出回路が駆動部材２２に対する給電を遮断する。この場合、バンド１６ａは逆方向に短距離移動する事ができる。その後、所期の方向への運動が再開される。締付手段３８、４０の休止位置、従って非締付状態における締付面５６と運動伝達部材１６との間の遊隙、および締付状態における締付面５６と運動伝達部材１６との間の押圧力の調節手段または再調節手段は、本発明による駆動部材２２の好ましいフィーチャである。その一例が第７図に図示の調節ネジ８０である。Detailed Description of the Invention Endoscope with movable front end The present invention relates to an endoscope including an endoscope shaft having a movable portion at its front end. Channels that can only be accessed by difficult or infrequent operations It becomes an important technical and medical aid for the inspection of the hollow cavity I have. The endoscope is at its distal end, Illuminated hand for visual inspection of the cavity area in front of it It comprises a step and an optical system. Detected at the anterior end at the distal end of the endoscope As a general rule, optical information A fiber optic system is used to guide it back through the endoscope axis. Transmitted to the working end of Or detected by the camera tip at the distal end , It is transmitted backwards by a wire through the endoscope axis and displayed on the screen monitor. It is. The endoscope as a whole Apart from the rear end of the operation, Usually elongated flexible rod Have a shape. The movable part of the front end portion of the endoscope enhances the possibility of examining the channel-shaped cavity. In the case of a commercially available endoscope, The movable part is especially the wall part of the cavity to be inspected in front of the front end of the endoscope. It can be bent to take the front position of the minute. Commercially available endoscopes are rotated at the rear end of their operation. Forming a rolling wheel, This wheel allows moving parts via Bowden wire Bending motion is performed. Operation with such a rotating wheel is extremely inconvenient is there. A relatively long endoscope axis or an endoscope axis that is placed in the bend when in use in the case of, The considerable friction of the Bowden cable causes a fine adjustment of the moving parts and an accurate bending movement. Make it difficult. The endoscope according to the present invention, At least one miniature to move its moving parts (A) It has an electric drive member. The electric movement of the moving part according to the invention makes the operation much easier and fine-adjustable. You. Since the driving motion is transmitted to the moving part at a short distance, The problem due to friction Is reduced. further, Precise exercise over long distances with Bowden wire Problems with communicating, Especially, idling due to play of Bowden wire during sheave, Problems such as shortening and straightening the bowden wire sheave are eliminated. It is. At least one miniature electric drive, preferably near the moving part of the endoscope axis A member is provided. This expression is Drive member placed directly adjacent to the rear end of the moving part And when Including the case where it is arranged in the movable part itself. Only However, it also includes the case where the driving member is separated from the movable portion by a certain distance rearward. . But this distance is To avoid the above-mentioned problems becoming noticeable, I won't. It is preferred to use a piezoelectric drive member as the miniature drive member. Voltage is added There are piezoelectric crystals and ceramics that vary in length when obtained. Practically , Multiple thin layers of piezoelectric crystals or ceramics are stacked on top of each other, Between each thin layer A conductive layer is disposed on the. When a voltage is applied between each successive conductive layer, Piezoelectric material Longitudinal expansion of the piezoelectric thin layer deposition occurs according to the orientation. Such a piezoelectric element is It produces a very high setting power as compared to Izu. Expansion in the longitudinal direction when a voltage is applied is only about 1 per mil of the length of the piezoelectric material So The preferred method is Multiple set motions required by linear drive step sequence To produce. In some cases, it may be difficult to place a drive member in a place that requires a drive motion to move the movable part. is there. Therefore, in an embodiment of the present invention, A motion transmission part between the driving member and the movable part It is preferable to arrange materials. The motion transmitting member is preferably flexible, stiff or soft. It is a kana strand. Also, use a flat strand of arbitrary width as the motion transmission member. It is preferable to use. As a concrete example, Especially a thin rod or band There are several or more rope-like tension members, Metal as its material, plastic, Fiber reinforced materials and many other materials can be used. Drive member is motion transmission Acts on the reaching member, This motion transmitting member is connected to the movable portion of the endoscope shaft. The endoscope is preferably The position of the longitudinal movement of the motion transmitting member with respect to the drive member is specified. It has a position measuring means for fixing. As detailed below, Especially, it is possible to shorten or extend the movable part and bend it. to be able to do, A plurality of driving members are housed in the endoscope shaft in a circumferentially spaced manner. If Since the position of the motion transmitting member is measured, All motion transmission members are forward as well Or to be moved backwards, That is, the movable part of the endoscope axis extends linearly or Is shortened, It is possible to control these motion transmitting members. Further exercise Due to the measurement of the position of the transmission member, Is the moving part actually aligned linearly? Electrical information can be obtained. The original operation is carried out in case of bending of the movable part. Sand Chi When bending, The drive member that operates in the pulling direction is For bending resistance of moving parts Because I have to win On the convex side of the bend, work in the pushing or outward direction. Results in a lower velocity of the motion transmitting member than the drive member used. Also, the position of the motion transmission member Because of the position detection, When bending, On the convex side of the bend, the motion transmission member is forward Because it is pushed by On the concave side, move the motion transmission member back at an appropriate speed. The drive member can be controlled to pull inward. When bending the movable part, In fact Electrical information about the bending conditions of This information is not available to the examining physician. Displayed on play. The aforementioned control of the drive member for a particular required speed is , Preferably carried out by controlling the frequency of movement of a particular drive member. You. The position measuring means preferably takes the form of a position measuring means based on inductive action. This Such a position measuring means is formed in the shape of a coil, In this coil, the motion transmission member A certain part of the slab penetrates axially more or less. The instantaneous inductance of the coil By measuring The penetration length of the motion transmitting member or a part thereof, Therefore, in the drive member The longitudinal movement position of the movement transmitting member can be specified. Position identification means It is particularly desirable to have two coils located on either side of the moving member. like this Embodiments are described in detail in the embodiments below. The drive member experiences heat loss during its operation. In the case of a piezoelectric drive member, Due to heat loss, The temperature of the drive member rises until the piezoelectric effect required for its function is impaired. Therefore the book In another embodiment of the invention, Cooling means for at least one drive member Prepare. A particularly desirable cooling means is Below the temperature at which the piezoelectric effect significantly deteriorates For example, using an inert liquid such as liquid fluorocarbon that boils at a temperature of 50 ° C. It can be used as a bath cooling means. Evaporative bath cooling is Piezoelectric due to local evaporation of the cooling liquid The components produce a particularly strong heat transfer action. The vapor bubbles formed in this way cool down It condenses in the cooling liquid at a certain distance from the point itself. Consumed by cooling Since the absolute amount of power that can be consumed is extremely low, Overheating of the entire cooling liquid does not occur. The evaporation bath cooling described above At least the portion where the drive member is arranged inside the endoscope shaft It can be carried out very easily by filling with a cooling liquid. further Since the above type of cooling fluid has excellent insulating properties, Low drive member insulation cost Will be retained. further, Drive member operates in a relatively narrow temperature range due to the aforementioned cooling Because it is done Closely control the degree of fit of the tightening operation between the drive member and the motion transmitting member. Is effective for. The drive member is Equipped with two piezoelectrically actuated clamping members for alternating engagement with the motion transmitting member It is preferable to obtain. Align the actuation means of the two clamping members with the piezoelectric linear mover By the way Relative motion between the motion transmitting member and the drive member occurs. The term "relative movement Is On the other hand, the drive member can move along the stationary motion transmitting member, The other Means that the motion transmitting member is moved by the fixed drive member. In a preferred embodiment of the invention, The fastening member is at least one fastening engagement body Including Piezoelectric actuated movements through the inclined surface, Is converted into the tightening movement of the tightening engagement body You. The inclination angle of the inclined surface of the piezoelectric clamping member with respect to the operating direction of the actuator Depending on, Amplification of the force to tighten the motion transmitting member or the distance of the tightening movement of the tightening body Increases can occur as needed. Preferably several clamping engagement bodies are used to clamp the movement transmitting members between one another. It is. If only one clamping engagement is used, This engaging body is opposed to the abutting member. And tighten the motion transmitting member. Preferably, Upon completion of the operation of the tightening member, the tightening engagement is elastically released. The tightening member is an integral part, Or it can consist of several parts. In yet another preferred embodiment of the present invention, Each tightening member is in motion At least one tightening engagement body inclined with respect to the transmission member, The tightening engagement body Is configured to pivot under piezoelectric action to be in tight engagement with the motion transmitting member. You. In the desired tightening member, The clamping engagement body is pivoted about a fixed pivot point . The angle of inclination of the inclined surface, The distance between the pivot point and the clamping surface and the pivot point and the piezoelectric actuating member Depending on the distance to the portion engaging with the tightening engagement body, By the lever principle, I want It is possible to increase the tightening force of the motion transmitting member or increase the tightening motion interval. You. The connection between the fastening member actuator and the fastening engagement body is flexible and soft. It is preferable to make a physical connection. Or a caliper part that freely abuts one side It can be used as a material. further, When the force is transmitted between the tightening member and the motion transmitting member, the tightening engagement force is increased. So that width occurs It is possible to give the inclination angle of the tightening engagement body to the motion transmitting member. Wear. Functionally, Whatever the geometric design of the clamping engagement, Motion transmission member Longitudinal direction of From the tightening surface of the tightening body, the actual pivot of the tightening body during the tightening motion. The acute angle formed by the straight line connecting the points is important. Limit angle at which self-amplification starts Exists. in this case, The operating force of the tightening actuator and the force resulting from self-amplification Cooperate to produce a clamping engagement. Within the range of acute angles, Work of tightening actuator Power is only needed to produce the initial clamping engagement, Self-tightening Reach a point where only amplification power guarantees. The inclined surface explained several times above is on the tightening engagement body, And / or work with it Can be prepared on the part. It is special to place all the electrical components of the piezoelectric drive member on one side of the motion transmitting member. Desirable for. Such a structure is the size of the piezoelectric drive member, Especially the width and height are greatly reduced. There is an advantage that can be shortened. In this way, several drives are driven at the same position in the longitudinal direction of the endoscope axis. It becomes easy to accommodate the member. further, Such a structure is important for manufacturing drive members. Make it easy. The self-amplification operation is performed only in one of the two longitudinal movement directions of the motion transmitting member. Is used, The construction of the drive member is particularly simple. In one direction Be careful When a particularly large force is applied, two, Tightening parts on both sides in the third application It is desirable to arrange the materials "in the same direction". It is particularly desirable for the fastening member to have several fastening engagement bodies distributed along its circumference. Good. In this case, the motion transmitting member has at least a part of its outer circumference, Tightening plastic It is gripped and tightened in the same manner as an ear or a drill chuck. Especially, the design of the tightening member that can be actually used easily is At least for its length Also partly consists of a ring member with slots. When the motion transmitting member is an elongated strand, The technical construction becomes particularly easy. In this case, several methods are possible. For example, pulling metal or plastic The rod for transmitting the pulling or pulling force and / or the pushing force, Can be used for A good compromise between numerous maneuverability and manufacturing costs is Circumferentially spaced within the endoscope axis In addition, three drive members are arranged. In this way, the movable part of the endoscope axis can be It can be bent in any direction. When the length of part of the movable part is formed unchanged, Two drive Only moving parts are needed. However, in this case, the motion transmitting member can further transmit the pushing force. There must be. Several driving members can be juxtaposed at the same position in the longitudinal direction of the endoscope shaft. Other people As a law, Staggering several driving members in the longitudinal direction of the endoscope axis Can be. This is especially When the drive member is placed at the same position on the endoscope axis, If the space in the channel passage is small, Or due to the size of the drive member It is particularly suitable when it is difficult to dispose the endoscope at the same place. According to a preferred embodiment of the present invention, The most important moving possibility of moving parts is the song It is a movement and length fluctuation. For inspection, Variations in the length of this moving part are inspected It has the advantage that it can be moved towards the hollow wall part. Combining both movement possibilities You can do it. The present invention On the one hand it is used for inspection, On the other hand technical It can be used to perform operations in plants and equipment. Nuclear reactor , Chemical plant, The plumbing system is only part of many examples. On the other hand, The present invention In the academic field, Especially the examination of cavities or blood vessels in the human body, Or minimal approach surgery Can be effectively used to implement. The endoscope is especially esophagus, Clinical examination of the stomach Check, Examination of the duodenum from the stomach, Examination of the small intestine from the anus, urethra, Bladder and ureteral Used for inspection. In principle, the endoscope has a so-called working channel. Then Various working equipment through this working channel, For example, take a tissue sample Small pliers for Biopsy needle, Heatable cutting wire, Small hat Mi, A coagulation electrode or the like can be introduced. Also, Part of the working equipment can be endoscope It must be pointed out that it can be actuated by a miniature electric drive member as well as a moving part. No. Finally, in principle, A fluid channel for the cleaning fluid is provided in the endoscope, Also used to expand this fluid channel by air or certain gases You can do it. The term "endoscope" means The aspect of optical inspection is not the main purpose Una Equipment shall be included. The present invention Endoscopic especially when used in highly curved channel-like cavities Since the friction along the movement transmitting member of the mirror can be greatly reduced, Can be endoscope It offers the great advantage that the moving parts can be arranged very accurately. Therefore, use of the endoscope Is not compromised by the length and shape of the cavity being inspected. This is especially the rectum of the human body, colon, And important for laboratory tests of the small intestine, Also the difficulty in curved cavity systems Important for difficult tasks. Control of the drive member and movable part of the endoscope is performed by, for example, a joystick and an electronic control system Accurately carried out by It reduces the attention required of the operator. This is the inspection Gives a good effect to the giver. Examiners no longer need to focus their attention on the placement of the endoscope. No need, This is because all attention can be focused on the inspection of the cavity. Another advantage of the endoscope of the present invention is the variation in the length of the movable part, This allows the endoscope The front end of the is moved to the wall portion of the cavity to be examined. For example, during a colon test It is important in cases where the intestinal wall has a very irregular structure. For example, in this case When introducing additional working equipment through the working channel, To the wall part to be operated Approaching movement reduces the risk of injury to unrelated parts by the work implement. Let Another object of the present invention is to Miniature electric linear drive for an endoscope with a moving part at the front end In the moving member, The drive member is a piezoelectric drive member, With a piezoelectric linear mover Including two piezoelectrically actuated fastening means, By alternately utilizing these means, Linear drive Providing a piezoelectric drive member adapted for clamping engagement with an object driven by the member. To serve. This linear drive member according to the invention is used for the movement of the moving part of the endoscope shaft. As well, Effective in all cases where miniature electric drive members are used You have to be careful. Therefore, the gist of the present invention is In any application It includes a miniature electric linear drive member of the type used above. Further, although the drive member of the present invention has been described in connection with an endoscope, This drive member All the design features of Linear drive members used for applications other than endoscopes It must be noted that each can be used individually or in combination . With respect to the linear drive member described above, Instead of "motion transmission member" "The object driven by" In application fields other than endoscopes, Of words This is because, in a strict sense, there are often no motion transmitting members. Less than, The present invention will be described in detail with reference to the embodiments shown in the drawings, but the present invention is not limited thereto. Not determined. FIG. 1 is a partial sectional view of a front end portion of an endoscope according to the present invention, FIG. 2 is an enlarged longitudinal sectional view of a driving member according to the present invention, The lower half is the invention Shows a first embodiment of The upper half is a diagram showing a second embodiment of the present invention, FIG. 3 is a motion stage which causes a movement of the motion transmitting member in the piezoelectric drive member according to FIG. Schematic showing the sequence, Figure 4, 5 and 6 show the engaging portion between the tightening member and the motion transmitting member, respectively. A longitudinal sectional view of a part of FIG. 7 is a side view showing a partial cross section of another embodiment of the piezoelectric driving member according to the present invention. , FIG. 8 is a cross-sectional view taken along line 8-8 of FIG. FIG. 9 is a cross-sectional view taken along the line 9-9 of FIG. Also FIG. 10 is a schematic view of a drive member having corresponding position measuring means. Figure 1 Semi-rigid in the front end, Endoscope shaft having flexible body 6 and movable part 4 2 is shown. The movable part 4 is essentially an elastic material, Supports covered with rubber, for example It consists of material 10. The support member 10 can be formed in a coil spring shape. Moving part 4 Is closed at its front end 8. The front end 8 houses the camera chip 12 in it Accept, This camera chip 12 detects optical information, An electric wire extending into the endoscope axis These information are transmitted backwards through 14. Three motion transmission members 16, 18, 20 are distributed adjacent to the outer periphery of the front end portion 8 at intervals of 120 °. Motion transmission Material 16, 18, 20 is Behind the transition 28 between the movable part 4 and the body 6 of the endoscope axis At Miniature piezoelectric drive member 22, 24, 26, Transmission unit The material extends rearwardly beyond these drive members. Each motion transmission member 16, 18, 2 At the rear end of 0, These transmission members are the driving members 22, 24, More luck through 26 Not to move The expansion part 27 is provided. Each drive member 22, 24, 26 is just before the transition part 28 Fixed in the body 6, Also, the conductor wire 30, 32, Power is supplied through 34. In the illustrated embodiment, Drive member 22, 24, 26 is essentially the transition 28 Although they are placed adjacent to each other at the same distance, These drive members are staggered longitudinally You can do it. Drive member 22, 24, The motion transmission member 16 to which any one of 26 corresponds, 18, 20 When the shortening effect of A movable part in an axial plane including the specific motion transmitting member. A bending of 4 results. When tensile force is applied to several motion transmission members at the same time, The bending direction takes the form of vector superposition. In this way, the drive member 22, 24, With the cooperation of 26, The movable portion 4 can be bent in any desired direction. At the front end 8 of the endoscope axis, In addition to the camera chip 12, shown in FIG. Not operating channel is closed, The rear end of the endoscope shaft It is possible to introduce an operating tool. The drive member 22 shown in FIG. 2 is essentially a first fastening means 38 (right in FIG. 2). side), Second tightening means (left side in FIG. 2) 40 and arranged in the middle thereof And a piezoelectric linear mover 36. The drive member 22 has a total of four plates. That is, A first plate 41 arranged at the end from the right side to the left side of FIG. 2; First A second plate 43 arranged between the fastening means 38 and the linear mover 36, Linear A third plate 45 arranged between the cover 36 and the second tightening means 40, Leftmost 4 plates 47. These plates 41, 43, 45, 47 is a drive unit It extends at right angles to the longitudinal axis 49 of the material 22. The motion transmitting member 16 having a circular cross section is longitudinally passed through the central channel of the driving member 22. Extend to. Since the fastening means 38 and 40 have the same structure, Explain only the first fastening means 38 Will be enough. The first fastening means 38 essentially consists of a piezoelectric fastening member actuator 44 and The fastening member 48 has a circular structure. The actuator 44 is Second on the left It consists of a stack of piezoelectric discs supported on a plate 43. The tightening member 48 is Over half the axial length, Equipped with multiple slots distributed in the circumferential direction So A plurality of finger-like tightening engagement bodies 51 are formed, Each engagement body 51 is radially inward Is provided with a tightening surface 56. The tightening member 48 is on the right side surface of the first plate 41. It is supported by. The first plate 41 and the second plate 43 are The compound distributed around the longitudinal axis 49 They are connected to each other by a number of axial screws 52. When the tightening member actuator 44 is activated by the supply current, The right edge Move to the right. The disc 50 located in front of the actuator ensures all tightening Pressed against the outer inclined surface 54 of the engaging body 51, Inside tightening of these tightening bodies 51 Since the surface 56 is moved substantially inward in the radial direction, These tightening surfaces 56 Tightening frictional engagement with the outer surface of the reach member 16. When the actuator 44 is killed, Due to the inherent elasticity of the tightening body 51, , It returns to its initial position outward in the radial direction. The second fastening means 40 are oriented in the same direction as the first fastening means 38. Therefore The stationary surface of the actuator 44 of the second tightening means is supported on the fourth plate 47. , Further, the stationary surface of the fastening member 48 of the second fastening means is supported on the third plate 45. Between the second plate 43 and the third plate 45, Also for the deposition of piezoelectric discs A linear mover 36 of the shape is arranged without play. This linear mover 36 is axial Clearly longer than the fastening means 38 and 40. As seen at the top of Figure 2 To The second plate 43 and the third plate 45 are distributed around the longitudinal axis 49. The plurality of screws 53 are connected to each other. The screw 52 and the screw 53 Is a threaded rod-like part of the same type that is continuous along the entire length of the drive member 22. Can do things. In the embodiment seen at the bottom of FIG. 2, Missing screw 53 You. In this embodiment, Play with the facing surfaces of the linear mover 36 To 43, It is fixed to 45, In the upper embodiment of FIG. It is not necessary to fix it like. If a screw 53 is provided, These screws When the linear mover 36 is used, the second plate 43 and the third plate 45 are expanded by expanding. Separate from each other, When the linear mover 36 was killed, Elastic contraction of the screw 53 is effective It has a whirling diameter size. On the contrary, Tightening means 38, 40 screws 52 Is designed not to expand axially when the actuator 44 is used . Some expansion of the screw 52 is not harmful. The linear actuating motion of the piezoelectric actuator 44 depends on the piezoelectric material of the actuator 44. Is about 1/1000 of the length. Tightening member 4 when the actuator 44 is utilized The distance to move the opposing tightening surfaces 56 of 8 toward each other is Pressure in actuator 44 The axial length of the electrical material, Depends on the inclination angle of the inclined surface 54 with respect to the longitudinal axis 49 I do. FIG. 3 shows steps I to VI in which the movement of the motion transmitting member 16 is generated by the driving member 22. Shows the sequence of. In Figure 3, Tightening means 38 for the drive member 22, 40 and And piezoelectric linear mover 36 is schematically illustrated. The drive member 22 is in the area of the tightening means 38. And It is fixed to the body 6 of the endoscope shaft 2. The main body 6 is shown in FIGS. Although not shown in the figure, It is illustrated by the shaded lines. This sticking is Plate 41 , It is implemented by fixing one or both of 43. In Phase I, The tightening means 40 frictionally engages the motion transmitting member 16, Linear mover 36 can not be applied voltage, Further, the tightening means 38 is not utilized. Linear mover 3 When 6 is saved, The linear mover produces a linear motion, as magnified in Phase II, Therefore, the fastening means 40 is moved with respect to the fixed fastening means 38. This tightening means 40 The movement simultaneously pulls the motion transmission member 16 to the left. This condition is shown in Stage II. Further linear motion of the motion transmitting member 16 is The linear mover 36 is the motion transmission member 16 Against can only occur after returning to its initial position. This is stage III And several tightening operations are required as shown in Step IV. Is the fixed fastening means 38 alive? Has been It is frictionally connected to the motion transmitting member 16 (step III). Tighten there Means 40 are killed (step IV). Therefore, The dead linear mover 36 Return to the initial shortened position (step V). When the position of stage V is reached, Tightening means 40, 38's Perform opening and closing exercises. That is, Close the fastening means 40 (step VI), Tightening means 3 Open 8, Returning to the first stage I again, Next, in the new sequence, the motion transmission member Sixteen movements can occur. Piezoelectric member 36, Since the setting operation of 44 occurs very quickly, This stage sequence Repeating the stroke results in a sufficiently high set speed of the motion transmitting member 16. If the sequence of movement stages I to VI occurs in reverse order, The motion transmitting member 16 is in front Not from left to right as noted It occurs from right to left. This movement is performed by the movable part 4 of the endoscope. To convert to the movement of the front end 8 of So that the motion transmitting member can transmit compressive force Needs to be designed, Or the motion transmitting member provides a kind of controlled braking action Must occur so that the elastic movement of the support member 10 produces the required pressing force. Yes. As mentioned earlier, Corresponding drive member 22, 24, Motion transmission member 1 by 26 6, 18, Shortening any of the 20 Bending of the movable part 4 with respect to the body 6 of the endoscope shaft 2 Cause baldness. 3 motion transmission member 16, 18, All 20 are shortened by the same length When, As a result, the movable portion 4 is shortened in the line direction. The movable part 4 of the endoscope shaft 2 When such shortening occurs against the elastic force of the support member of the movable portion 4, Movement Reaching member 16, 18, By releasing 20, The movable part 4 is a telescopic member and is moved forward. Can move. By combining bending motion and length fluctuation motion, Endoscope axis Accurately position the front end 8 of the movable part 4 of FIG. 2 with respect to the wall part of the cavity to be examined. Can do things. FIG. 4 is an enlarged view of an engaging portion between the tightening member 48 of FIG. 2 and the disc 50 thereof. You. The finger-like tightening engagement body 51 is joined with the portion of the ring-like tightening member 48 which is not provided with the slot. Before body A relatively thin portion 58 of radial thickness is provided. Tightening when opening and closing The elastic deformation of the engagement body 51 essentially takes place in this part 58. In this part 58 A straight line is drawn through the center point 64 and the center point 66 of the clamping surface 56. This straight line 6 2 is the longitudinal axis 49 or the outer peripheral surface of the motion transmitting member 16, Self-tightening engagement The angle 60 is such that amplification occurs. The self-amplification of such a clamping engagement is Only valid in the direction. That is, To the left in FIG. 4 of the fastening means 48 When the movement of the motion transmission member 16 to the right is caused by the axial movement of Or another look If you do When the motion transmitting member 16 receives an external pulling force to the right in FIG. Only when Such self-amplification is effective. Of the tightening surface 56 and the motion transmitting member 16 Only the radial compressive force that creates the initial frictional force with the outer peripheral surface, Tightening member a By the actuator 44, Via the disk 50 and the inclined surface 54, Distributed in the circumferential direction Must be added to the tightening engagement body 51. Next, the tightening member 48 is shown in FIG. When moved to the left at, The compression force acting on the tightening surface 56 is self-amplified So A force of an arbitrary magnitude is axially transmitted between the tightening member 48 and the motion transmitting member 16. Reached If the self-amplification effect described above is not important for a particular application, Two Tightening means 38, 40 is Not in the same direction as in Fig. 2, Arranged as mirror images of each other Can be placed. 5 and 6 show The inclined surface 54 of the tightening engagement body 51 of the tightening member 48 and the motion transmitting portion. By selecting the angle 68 formed by the longitudinal axis 49 of the material 16 or the circumferential surface, Increasing the radial compression distance of the tightening surface 56 or increasing the radial pressing force of the tightening surface 56 Indicates that can be selected. If the angle 68 is 45 °, The compression distance of the tightening surface 56 The pressing force is applied in the axial direction, and the axial distance and the axial direction of the actuator 44 Corresponds to pressing force. On the other hand, when the angle 68 is smaller than 45 ° (see Fig. 5). Teru), Increased pressing force compared to the force applied axially by the actuator 44 The big is seen, Of course, in this case, Tightening compared to the axial movement distance of the disk 50 There is a reduction in the distance traveled by surface 56. But if the angle 68 is greater than 45 ° (see FIG. 6), Actuator Radiation of the clamping surface 56 in comparison with the axial movement distance of the disk 50 when 44 is utilized Directional mileage increases. But at the same time, Actuator 44 axially The radial pressing force is reduced compared to the applied force. 5 and 6 show that when the finger-like tightening engagement body 51 is tightened and released, Its center point It shows that it makes a pivoting movement around 64. Figure 4, In FIGS. 5 and 6, The wall of the opening of the disk 50 is inclined It is illustrated as being inclined corresponding to the inclination angle of the slope 54. This is convincing There is no design. All you need is The disk opening is technically rational with the inclined surface 54 To be engaged. Further, the inclined surface 54 need not have a conical cross section. For example , The same convex curved surface can be used. In some cases, as the reverse state, This Equipped with a functional inclined surface on the 50, Provide a corresponding linear contact surface on the tightening engagement body 51 You can 7 to 9 show another embodiment of the piezoelectric driving member of the present invention. Similar parts It is designated by the same reference numeral as in FIGS. The drive member 22 includes a first tightening means 38, Second fastening means 40, Placed in between And a piezoelectric linear mover 36. First and second fastening means 38, 40 piezoelectric actuators Chute 44, And the linear mover 36 is disposed above the motion transmission member 16. I have. The driving member 22 has a metal housing 70, for example, This housing is left To the right, The plate 41 of FIG. 43, 45, A support wall 72 similar to 47, 7 4, 76, Have 78. Between the support walls 74 and 76, The linear mover 36 is free It is held in Support wall 76, 78 and 72, 74 is the first and the first, respectively 2 tightening means 38, It forms 40 support means. At the bottom of the housing, Support wall Body 72, 74, 76, 78 is Rectangular opening for passing the motion transmitting member 16 It has a mouth 92. The tightening member 48 is In its function, the ring-shaped tightening member 48 shown in FIGS. Similar to Having a base 82, The base 82 has a support wall 7 on its left side. Abut 6 Further, the upper end thereof is elastically connected to the finger-like tightening engagement body 51. You. The engaging body 51 has a nose 84 for supporting the housing at its upper end. Then It has a clamping surface 56 at the lower end. The engaging body 51 is operated from above as a whole. It extends inclining downward toward the motion transmitting member 16. Flexible and soft connecting part 8 6 and the connecting part 88, The tightening member 48 is fixed to the left end of the actuator 44. Have been. The actuator 44 is supported by the adjusting screw 80, This screw 8 0 cooperates with the threaded portion of the right end support wall 78. Prevents damage from adjusting screw 80 To do The intermediate member 90 projects from the actuator 44. When the actuator 44 is activated, The left end of this actuator is flexible The tightening surface 56 of the tightening engagement body 51 is opposed to the motion transmitting member 16 via the smooth connecting portion 86. And press, The nose 84 prevents its escape upwards. Housing 9 The bottom plate 92 of 0 has a function of an abutting part for the motion transmitting member 16. The flexible and soft connecting portion 86 for transmitting the force of the actuator 44 is shown in FIG. When moved further than the position shown, The tightening surface 56 is the motion transmitting member 1. Although the pressing distance moving toward 6 increases with the stroke of the actuator 44, At the same time, the pressing force transmitted by the actuator is reduced. 5 and 6 As I mentioned, You can select the desired relationship between pressing force and pressing distance , in this case, The tilt condition and the leverage condition are appropriately selected. As in the case of FIG. The tightening means 38 and 40 are oriented in the same direction. No. The adjusting screw 80 of the second tightening means 40 cooperates with the tightening member 48. Area of support wall 72 At The opening 92 of the support wall body 72 through which the motion transmitting member 16 is inserted can be seen. The drive member 12 is shown in longitudinal section. As shown in the cross section of FIG. The actuator 44 extends over the entire width of the housing 70. Because it extends over The drive member 22 is provided below by the bottom plate 92, Upward It is enclosed by the cover plate 94. Bottom plate 92 and actuator Between the data 44 and A motion transmission member 16 is provided, This motion transmission member 16 is rectangular Form a flat band with a profile cross section. The width of this flat band can be selected arbitrarily. Wear. In extreme cases, Only one edge of the motion transmitting member 16 cooperates with the drive member 22. . in this case, The drive member 22 comprises a continuous slot on one side thereof. A cross section of the drive member 22 in the area of the piezo linear mover 36 is shown in FIG. In this area, Corner rod 100, 102, 104, 106 is two tightening Means 38, Form an expandable elastic connection between 40. The upper opening 98 and the lower opening 96 are It is indicated by a broken line in FIG. The function of this drive member 22 is similar to that of the drive member 22 of FIGS. The embodiment shown in FIG. 10 is intended to illustrate the preferred position measuring means. You. Parts corresponding to the functional parts of the above-described embodiment are indicated by the same numerals as above. Similar to the previous embodiment, The drive member 22 is a first fastening means 38, Fig. 2 Fastening means 40 and a piezoelectric linear mover 36 therebetween. But, Tightening indicated by arrow 110 The attached members are arranged in the opposite direction, Both are arranged adjacent to the linear mover 36. The motion transmitting member 16 in this embodiment is Zones that cooperate directly with the drive member 22 In the area Flat band 1 (as shown in the embodiment of FIGS. 7-9) 6a, In other areas, Welded at 112 to band 16a Steel rope 16b This steel rope 16b is in front of the movable part 4 of the endoscope shaft 2. Extends to edge 8. The guide wire 114 is welded to the other end of the band 16a. I have. FIG. 10 shows the central position of the band 16a, From this position the band is the drive The material 22 can move to the left and right by the movement distance 116. One is provided at each of the right end, that is, the front end and the left end, that is, the rear end, of the drive member 22. A le 118 is attached. When operating, AC passes through both coils 118 Flow, The AC resistance in the coil is measured in each case by the evaluation circuit, Measurement The determined AC resistance is due to the axially protruding band 16a in the corresponding coil 118. Depends on length. In the illustrated intermediate position of the band 16a, Both ends of the band are both It projects slightly into one coil 118. So the band 16a is on the right When moved to The inductance of the right coil 118 changes. Right side By measuring the resistance of IL 118 as described above, Band 16a is in the middle position The distance moved from can be measured accurately. Similarly, the band 16a is shown in the figure. When it is moved to the right by the drive member 22 from the interposition, Of the left coil 118 The length of the band 16a that has entered increases, For resistance measurement in the left coil 118 Therefore, the position of the band 16a can be measured. The end faces 120 of both coils 118 on the opposite side of the drive member 22 are round small. A central opening 122 is provided. Steel rope 16b from each small opening 122 And the guide wire 114 protrudes, Since the band 16a cannot protrude, This van A mechanical stopper for the entire cord 16a and the movement transmitting member 16 is formed. Drive member The end surface 124 of the coil 118 facing 22 has a through hole 126 in the center thereof. . However, the through hole 126 has a size that allows the band 16a to pass therethrough. On the other hand Guide wire 114 is guided through opening 122 and / or opening 126, Van Guide the left end of this band during movement of the left end of the cord 16a into the left coil 118. Have a function. If both coils 118 measure the same inductance and the same resistance, luck A detection signal indicating that the motion transmitting member is in the intermediate position is output from the position measuring means. . 3 drive member 22, 24, This signal is output for all 26 (Fig. 1). Time, The movable part 4 is in its alignment position. The evaluation circuit of the coil 118 is Band 16a Power supply to the drive member 22 is cut off as soon as the left end position or the right end position is reached. Since the route limiting circuit is connected, The band 16a is a fastening means 38, Tightening 40 Do not move outside the part. A motion detection circuit can be connected to the evaluation circuit of the coil 118. Band 1 6a does not move sufficiently despite the power supply to the drive member 22, Movement An occlusion condition exists for such movement of the reach member 16. Continue drive member 22 When activated, Tightening means 38, A breaking mark is formed on the engaging portion of the band 16a engaged with the belt 40. Will result in the formation of slake. In such a case, Motion detection circuit on the drive member 22 Turn off the power supply to it. in this case, The band 16a may move a short distance in the opposite direction. it can. afterwards, Movement in the desired direction is resumed. Tightening means 38, 40 rest positions, Therefore, the tightening surface 56 and the movement in the non-tightened state Play with the transmission member 16, And the tightening surface 56 and the motion transmitting member in the tightened state The adjusting means or the readjusting means of the pressing force between 16 and Drive member 22 according to the invention Is a preferred feature of. One example is the adjusting screw 80 shown in FIG.

【手続補正書】特許法第１８４条の８【提出日】１９９５年７月５日【補正内容】請求の範囲１．前端部分の中に可動部（４）を有しまた運動伝達部材（１６）を介して前記可動部（４）を運動させるために内部に少なくとも１つのミニチュア圧電駆動部材（２２）を有する内視鏡軸（２）を含む内視鏡において、前記運動伝達部材（１６）が前記駆動部材（２２）と直接に協働するその長さの少なくとも一部において平坦なストランドを成し、また前記駆動部材（２２）は運動伝達部材（１６）と交互に締付係合するための２つの圧電作動締付部材（４８）を含み、それぞれ締付部材（４８）が少なくとも１つの締付係合体（５１）を有し、この締付係合体（５１）は運動伝達部材（１６）に対して傾斜しまた圧電作動運動の作用で枢転して運動伝達部材（１６）の平坦側面と締付係合するように構成されている事を特徴とする内視鏡。２．運動伝達部材（１６）の駆動部材（２２）に対する長手方相対運動位置を検出するための位置検出手段（１１８）を有する事を特徴とする請求項１に記載の内視鏡。３．前記位置検出手段（１１８）は誘導作用で作動する事を特徴とする請求項２に記載の内視鏡。４．前記位置検出手段は駆動部材（２２）の両側に配置された２つのコイル（１１８）を含む事を特徴とする請求項３に記載の内視鏡。５．少なくとも１つの駆動部材（２２）に対する冷却手段が備えられている事を特徴とする請求項１乃至４のいずれかに記載の内視鏡。６．前記冷却手段は蒸発浴冷却手段である事を特徴とする請求項５に記載の内視鏡。７．前記締付係合体（５１）は、締付部材（４８）と運動伝達部材（１６）との間に力の伝達が生じた時に締付係合の自己増幅を生じるような運動伝達部材（１６）に対する傾斜（角度６２）を有する事を特徴とする請求項１乃至６のいずれかに記載の内視鏡。８．圧電駆動部材（２２）の圧電部品（４４、３６）がすべて運動伝達部材（１６）の一方の側に配置される事を特徴とする請求項１乃至７のいずれかに記載の内視鏡。９．内視鏡軸（２）はその内部に周方向に離間配置された３駆動部材（２２、２４、２６）を有する事を特徴とする請求項１乃至８のいずれかに記載の内視鏡。１０．複数の駆動部材（２２、２４、２６）が内視鏡軸（２）の長手方にそってそれぞれ同一位置に相互に並置される事を特徴とする請求項１乃至９のいずれかに記載の内視鏡。１１．複数の駆動部材（２２、２４、２６）が内視鏡軸（２）の長手方に互い違いに配置される事を特徴とする請求項１乃至２０のいずれかに記載の内視鏡。１２．可動部（４）が曲げられるように少なくとも１つの駆動部材（２２）が可動部（４）に対して連接される事を特徴とする請求項１乃至１１のいずれかに記載の内視鏡。１３．可動部（４）の長さが変動されるように少なくとも１つの駆動部材（２２）が可動部（４）に対して連接される事を特徴とする請求項１乃至１２のいずれかに記載の内視鏡。１４．内視鏡軸（２）の前端部分の中に可動部（４）を有する内視鏡のミニチュア圧電線形駆動部材（２２）において、前記駆動部材は、圧電線形ムーバ（３６）と２つの圧電作動締付手段（３８、４０）とを含み、これらの締付手段は、線形駆動部材（２２）によって駆動される物体と締付係合するように交互に生かされ、前記可動物体は駆動部材（２２）と直接に協働するその長さの少なくとも一部において平坦なストランド（１６）を成し、また駆動部材（２２）は運動伝達部材（１６）と交互に締付係合するための２つの圧電作動締付部材（４８）を含み、それぞれ締付部材（４８）が少なくとも１つの締付係合体（５１）を有し、この締付係合体（５１）は運動伝達部材（１６）に対して傾斜しまた圧電作動運動の作用で枢転して運動伝達部材（１６）の平坦側面と締付係合するように構成されている事を特徴とするミニチュア圧電線形駆動部材。[Procedure of Amendment] Article 184-8 of the Patent Act [Submission date] July 5, 1995 [Correction contents] The scope of the claims 1. It has a movable part (4) in the front end part and through a motion transmission member (16) At least one miniature piezoelectric drive for moving the movable part (4). In an endoscope including an endoscope shaft (2) having a moving member (22), Its length with which said motion transmitting member (16) cooperates directly with said drive member (22) Forming a flat strand in at least a part of Also, the drive member (22) is alternately in tightening engagement with the motion transmitting member (16). 2 piezo-actuated fastening members (48), each with less fastening member (48) Both have one fastening engagement body (51), and this fastening engagement body (51) is a motion transmission member. Inclining with respect to (16) and pivoting by the action of piezoelectric actuating motion, the motion transmitting member (16 ) Is configured to be clamped to the flat side surface of the endoscope. 2. Longitudinal relative movement position of the motion transmitting member (16) with respect to the driving member (22) The device according to claim 1, further comprising a position detecting means (118) for detecting Mounted endoscope. 3. The position detecting means (118) is operated by inductive action. The endoscope according to item 2. 4. The position detecting means comprises two coils arranged on both sides of the driving member (22). The endoscope according to claim 3, wherein the endoscope includes (118). 5. Cooling means are provided for at least one drive member (22) The endoscope according to any one of claims 1 to 4, characterized in that. 6. 6. The cooling unit according to claim 5, wherein the cooling unit is an evaporation bath cooling unit. Endoscope. 7. The tightening engagement body (51) includes a tightening member (48) and a motion transmitting member (16). Motion transmitting member causing self-amplification of the clamping engagement when a force is transmitted between 7. The structure according to claim 1, wherein the structure has an inclination (angle 62) with respect to (16). The endoscope described above. 8. The piezoelectric components (44, 36) of the piezoelectric driving member (22) are all motion transmitting members. (16) The arrangement according to any one of claims 1 to 7, which is arranged on one side. Mounted endoscope. 9. The endoscope shaft (2) is internally provided with three drive members (22) spaced apart in the circumferential direction. , 24, 26) are included in the endoscopic view according to any one of claims 1 to 8. mirror. 10. A plurality of drive members (22, 24, 26) are arranged in the longitudinal direction of the endoscope shaft (2). 10. Any one of claims 1 to 9 is characterized in that they are juxtaposed to each other at the same position. The endoscope described there. 11. A plurality of drive members (22, 24, 26) are arranged in the longitudinal direction of the endoscope shaft (2). 21. The endoscope according to any one of claims 1 to 20, wherein the endoscopes are arranged differently. . 12. At least one drive member (22) so that the movable part (4) can be bent 12. The movable part (4) is connected to the movable part (4) according to any one of claims 1 to 11. An endoscope according to claim 1. 13. At least one drive member (so that the length of the movable part (4) is varied. 22) The movable member (4) is connected to the movable member (4). The endoscope described above. 14． Mini of an endoscope having a movable part (4) in the front end part of the endoscope shaft (2) In the piezo piezoelectric linear drive member (22), The drive member comprises a piezoelectric linear mover (36) and two piezoelectric actuating clamping means (38, 40) and these clamping means are driven by a linear drive member (22). Are used alternately so as to make a tight engagement with an object, The movable object is at least part of its length in direct cooperation with the drive member (22). Forming flat strands (16) at The drive member (22) is provided with two force-engaging members for alternately engaging the motion transmitting member (16). Includes a piezoelectrically actuated fastening member (48), each having at least one fastening member (48) Has a tightening engagement body (51), and the tightening engagement body (51) is a motion transmission member (16). The motion transmitting member (16) is flattened by being tilted with respect to and pivoting by the action of the piezoelectric actuating motion. Miniature piezoelectric linear drive characterized in that it is configured to engage in lateral engagement. Moving member.

───────────────────────────────────────────────────── フロントページの続き (81)指定国ＥＰ(ＡＴ，ＢＥ，ＣＨ，ＤＥ，ＤＫ，ＥＳ，ＦＲ，ＧＢ，ＧＲ，ＩＥ，ＩＴ，ＬＵ，ＭＣ，ＮＬ，ＰＴ，ＳＥ)，ＯＡ(ＢＦ，ＢＪ，ＣＦ，ＣＧ，ＣＩ，ＣＭ，ＧＡ，ＧＮ，ＭＬ，ＭＲ，ＮＥ，ＳＮ，ＴＤ，ＴＧ)，ＡＰ(ＫＥ，ＭＷ，ＳＤ)，ＡＭ，ＡＴ，ＡＵ，ＢＢ，ＢＧ，ＢＲ，ＢＹ，ＣＡ，ＣＨ，ＣＮ，ＣＺ，ＤＥ，ＤＫ，ＥＥ，ＥＳ，ＦＬ，ＧＢ，ＧＥ，ＨＵ，ＪＰ，ＫＥ，ＫＧ，ＫＰ，ＫＲ，ＫＺ，ＬＫ，ＬＲ，ＬＴ，ＬＵ，ＬＶ，ＭＤ，ＭＧ，ＭＮ，ＭＷ，ＮＬ，ＮＯ，ＮＺ，ＰＬ，ＰＴ，ＲＯ，ＲＵ，ＳＤ，ＳＥ，ＳＩ，ＳＫ，ＴＪ，ＴＴ，ＵＡ，ＵＳ，ＵＺ，ＶＮ (72)発明者ボブ，アレクサンダードイツ連邦共和国マンハイム、ラーンフェルスシュトラーセ、９アー────────────────────────────────────────────────── ─── Continuation of front page (81) Designated countries EP (AT, BE, CH, DE, DK, ES, FR, GB, GR, IE, IT, LU, M C, NL, PT, SE), OA (BF, BJ, CF, CG , CI, CM, GA, GN, ML, MR, NE, SN, TD, TG), AP (KE, MW, SD), AM, AT, AU, BB, BG, BR, BY, CA, CH, CN, C Z, DE, DK, EE, ES, FL, GB, GE, HU , JP, KE, KG, KP, KR, KZ, LK, LR, LT, LU, LV, MD, MG, MN, MW, NL, N O, NZ, PL, PT, RO, RU, SD, SE, SI , SK, TJ, TT, UA, US, UZ, VN (72) Inventor Bob, Alexander Larnfe, Mannheim, Federal Republic of Germany Russstrasse, 9

Claims

[Claims] 1. In an endoscope including an endoscope shaft (2) having a movable part (4) at a front end, The endoscope shaft (2) has at least one mirror for moving the movable part (4). An endoscope having a niture electric drive member (22) therein. 2. The drive member (22) is a piezoelectric drive member. An endoscope according to claim 1. 3. The drive member (22) is a piezoelectric drive that operates with a linear drive step sequence. The endoscope according to claim 2, wherein the endoscope is in the form of a moving member. 4. A motion transmitting member between the drive member (22) and the movable part (4) of the endoscope (2). (16) is provided, and in any one of Claim 1 thru | or 3 characterized by the above-mentioned. Endoscope. 5. The movement transmitting member (16) is an elongated strand. The endoscope according to 4. 6. The movement transmitting member (16) is a flat strand. The endoscope according to 5. 7. During longitudinal movement of the motion transmitting member (16) with respect to the drive member (22) Having a position detecting means (118) for detecting the position of the motion transmitting member (16) The endoscope according to any one of claims 4 to 6, wherein: 8. The position detecting means (118) operates on the principle of electrical induction. The endoscope according to item 7. 9. The position detecting means is composed of two coils (1 The endoscope according to claim 8, which includes 18). 10. Characterized in that it comprises at least one drive member (22) cooling means The endoscope according to any one of claims 1 to 9. 11. 11. The method according to claim 10, wherein the cooling means is a steam bath cooling means. Mounted endoscope. 12. The drive member (22) is alternately in tight engagement with the motion transmitting member (16). 12 to 11 including two piezoelectrically actuated clamping members (48) for The endoscope according to any one of 1. 13. Each fastening member (48) has at least one fastening engagement body (51) And a piezoelectric actuating movement of the clamping engagement body (51) via the inclined surface (54). The endoscope according to claim 12, wherein the endoscope is converted into a tightening motion. 14． Each tightening member (48) is inclined with respect to the motion transmitting member (16). At least one tightening engagement body (51), and said tightening engagement body (51) is , It is pivoted by the action of the piezoelectric actuating motion and is tightened and engaged with the motion transmitting member (16). The endoscope according to claim 12, wherein the endoscope is configured as described above. 15. Each fastening member (48) has at least one fastening engagement body (51) The tightening engagement body (51) includes a tightening member (48) and a motion transmitting member (16). Motion transmitting member causing self-amplification of the clamping engagement when a force is transmitted between 15. An inclination (angle 62) with respect to (16), characterized in that The endoscope according to any one of 1. 16. The piezoelectric components (44, 36) of the piezoelectric drive member (22) are all motion transmitting parts. Any of claims 12 to 15, characterized in that it is arranged on one side of the material (16). The endoscope described in Crab. 17． The tightening member (48) is composed of several tightening engagement members (( 51) The endoscope according to any one of claims 13 to 16, comprising: 18. Contractor characterized in that the tightening member (48) is a ring member having a slot. The endoscope according to claim 17. 19. The endoscope shaft (2) has three driving members (2 2, 24, 26) according to any one of claims 1 to 18, characterized in that Endoscope. 20. A plurality of drive members (22, 24, 26) are arranged in the longitudinal direction of the endoscope shaft (2). 20. The method according to any one of claims 1 to 19, characterized in that they are juxtaposed to each other at the same position. The endoscope described above. 21. A plurality of drive members (22, 24, 26) are arranged in the longitudinal direction of the endoscope shaft (2). 21. The endoscope according to any one of claims 1 to 20, wherein the endoscopes are arranged differently. . 22. At least one drive member (22) so that the movable part (4) can be bent 23. Any one of claims 1 to 22 characterized in that the is connected to the movable part (4). An endoscope according to claim 1. 23. At least one drive member (so that the length of the movable part (4) is varied. 22) An element according to any one of claims 1 to 22, characterized in that 22) is connected to the movable part (4). The endoscope described above. 24. Miniature electric linear drive member of endoscope having movable part (4) at front end In (22), the drive member is a piezoelectric drive member (22) and It includes a mover (36) and two piezoelectrically actuated fastening means (38, 40) for fastening them. The attachment means is in a clamping engagement with an object driven by the linear drive member (22). A miniature electric linear drive member (22) characterized in that they are utilized alternately. .